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pathing: relax cardinal sprint-jump side and overshoot gates

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The cardinal-jump side-wall gate previously demanded BOTH lateral
columns be passable along the trajectory, and the landing-overshoot
gate rejected jumps with a wall one block past the landing on the
takeoff axis. Both rules rejected feasible jumps in the live world:
breaking a single head-height block in a corridor with a continuous
wall on one side could leave a +1 ascend cardinal sprint jump as the
only reachable route, but the planner returned no path.

Side-wall check now accepts when at least one lateral side is
passable. The bot footprint (0.6m centred) stays >=0.2m clear of an
adjacent wall under on-axis yaw, so a single-side wall does not
contact the arc; only a fully-walled tunnel is rejected so the
executor's 5-degree yaw drift has bail-out room.

Landing-overshoot check is now a no-op. The LandingRecovery brake
profile keeps cardinal-jump overshoot under 0.3m so the footprint
stays inside the landing block when the brake engages, making the
"wall one cell past landing" check a false positive in practice.

Updated the conflicting Rejects2x1GapWhenSideWallNarrowsLanding test
to assert the new accept-with-single-side-wall behaviour, added a
fully-walled-tunnel rejection test to guard the bail-out lower bound,
and added a regression covering the live "+1 ascend over a broken
head-height block in a single-walled corridor" scenario.

Made-with: Cursor
This commit is contained in:
BruceChen 2026-04-26 06:22:47 +00:00
parent b35cdfc40f
commit 512693dcd0
2 changed files with 111 additions and 7 deletions
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81
MinecraftClient.Tests/Pathing/Moves/MoveParkourTests.cs
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@ -83,8 +83,16 @@ public sealed class MoveParkourTests
}
[Fact]
public void Rejects2x1GapWhenSideWallNarrowsLanding()
public void Accepts2x1GapWithSingleSideWall()
{
// Cardinal 2 c2c flat parkour with a wall along ONE lateral side
// (z=-1) and clear air on the other (z=+1). The bot's footprint at
// z=0.5 stays z=[0.2,0.8], so the z=-1 wall (occupies z=[-1,0]) is
// 0.2 m clear of the bot under on-axis yaw. The previous check
// rejected this for safety; the relaxed gate accepts as long as at
// least one lateral side is passable. Mirrors the live scenario
// where breaking a head-height obstruction in a corridor leaves a
// jump-over-the-gap option as the only reachable route.
var world = FlatWorldTestBuilder.CreateStoneFloor(FloorY);
FlatWorldTestBuilder.ClearBox(world, -1, FloorY, -2, 4, FloorY + 4, 2);
FlatWorldTestBuilder.SetSolid(world, 0, FloorY, 0);
@ -100,9 +108,80 @@ public sealed class MoveParkourTests
move.Calculate(ctx, 0, FloorY + 1, 0, ref result);
Assert.False(result.IsImpossible);
Assert.Equal(2, result.DestX);
Assert.Equal(FloorY + 1, result.DestY);
Assert.Equal(0, result.DestZ);
}
[Fact]
public void Rejects2x1GapInsideFullyWalledTunnel()
{
// Cardinal 2 c2c parkour with walls on BOTH lateral sides at body
// and head height. With no lateral bail-out margin, an executor
// yaw drift of >5 degrees during the arc can clip a wall, so the
// planner still rejects this shape. Guards against accidentally
// turning the relaxed-gate into "accept everything cardinal".
var world = FlatWorldTestBuilder.CreateStoneFloor(FloorY);
FlatWorldTestBuilder.ClearBox(world, -1, FloorY, -2, 4, FloorY + 4, 2);
FlatWorldTestBuilder.SetSolid(world, 0, FloorY, 0);
FlatWorldTestBuilder.SetSolid(world, 2, FloorY, 0);
FlatWorldTestBuilder.SetSolid(world, 1, FloorY + 1, -1);
FlatWorldTestBuilder.SetSolid(world, 1, FloorY + 2, -1);
FlatWorldTestBuilder.SetSolid(world, 2, FloorY + 1, -1);
FlatWorldTestBuilder.SetSolid(world, 2, FloorY + 2, -1);
FlatWorldTestBuilder.SetSolid(world, 1, FloorY + 1, 1);
FlatWorldTestBuilder.SetSolid(world, 1, FloorY + 2, 1);
FlatWorldTestBuilder.SetSolid(world, 2, FloorY + 1, 1);
FlatWorldTestBuilder.SetSolid(world, 2, FloorY + 2, 1);
var ctx = BuildContext(world);
var move = MoveJump.Parkour(2, 0);
var result = default(MoveResult);
move.Calculate(ctx, 0, FloorY + 1, 0, ref result);
Assert.True(result.IsImpossible);
}
[Fact]
public void Accepts2x0Plus1AscendOverHeadObstructionGap()
{
// Live regression: bot at (256,127,225) with floor (256,126,225) and
// a head-height stone at (255,128,225). After breaking the stone,
// the bot should plan a +1 ascend cardinal sprint jump straight to
// (254,128,225). One lateral side (z=224) is a continuous wall, the
// other (z=226) is open. The gap column (255,*,225) and the cell
// beyond the landing (253,128,225) used to be rejected by
// HasCardinalSideClearance and HasLandingOvershootClearance.
var world = FlatWorldTestBuilder.CreateStoneFloor(FloorY);
FlatWorldTestBuilder.ClearBox(world, -2, FloorY, -2, 4, FloorY + 4, 2);
FlatWorldTestBuilder.SetSolid(world, 0, FloorY, 0);
FlatWorldTestBuilder.SetSolid(world, -2, FloorY + 1, 0);
FlatWorldTestBuilder.SetSolid(world, -3, FloorY + 1, 0);
FlatWorldTestBuilder.SetSolid(world, -3, FloorY + 2, 0);
FlatWorldTestBuilder.SetSolid(world, -3, FloorY + 3, 0);
for (int dx = -3; dx <= 1; dx++)
{
FlatWorldTestBuilder.SetSolid(world, dx, FloorY + 1, -1);
FlatWorldTestBuilder.SetSolid(world, dx, FloorY + 2, -1);
}
var ctx = BuildContext(world);
var move = MoveJump.Parkour(-2, 0, yDelta: 1);
var result = default(MoveResult);
move.Calculate(ctx, 0, FloorY + 1, 0, ref result);
Assert.False(result.IsImpossible, "+1 ascend cardinal 2 c2c should plan past a single-side wall and a wall-bookended landing");
Assert.Equal(-2, result.DestX);
Assert.Equal(FloorY + 2, result.DestY);
Assert.Equal(0, result.DestZ);
}
[Fact]
public void RejectsDiagonalWhenShoulderBlocked()
{