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pathing: route Descend->turn handoff through LandingRecovery hints
When a Descend segment is followed by another Descend (or Traverse/ Diagonal) with a different heading, PathSegmentBuilder.Classify correctly assigned ExitTransition=LandingRecovery, but BuildHints fell into the `if (turning)` branch first and returned hints with RequireStableFooting=true. That gate forces GroundedSegmentController to wait for IsSettledOnTargetBlock (footprint inside, won't leave next tick, horizontal speed^2 <= 0.0016), so a multi-block diagonal Descend that landed inside the target block while still carrying ~0.02 m/tick of residual jump momentum oscillated in place for ~60 ticks (3 seconds) until the speed decayed. Move the LandingRecovery branch ahead of the turning branch so the Descend-carry handoff uses RequireStableFooting=false and the ShouldComplete shortcut (LandingRecovery + footprint inside target on the ground) fires the moment the bot reaches the landing column. Adds two regression tests covering the Descend->turning-Descend handoff and a sanity guard that ordinary Traverse->turning-Traverse still uses the turning branch. Also lifts DiagnosticsTailSize from 64 to 200 and emits an automatic "slow segment" tick dump from PathSegmentManager whenever a segment takes >=25 ticks, which is what surfaced this stall. Made-with: Cursor
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3 changed files with 94 additions and 15 deletions
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@ -49,6 +49,45 @@ public sealed class PathSegmentBuilderTests
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Assert.True(segments[0].PreserveSprint);
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}
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[Fact]
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public void FromPath_DescendIntoTurningDescend_UsesLandingRecoveryHints()
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{
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// Regression: a Descend that lands and immediately steps into a
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// perpendicular Descend (different heading) used to receive the
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// turning-branch hints with RequireStableFooting=true. That gate forces
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// GroundedSegmentController to wait for IsSettledOnTargetBlock, which
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// takes ~3 seconds while residual jump momentum decays. The
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// LandingRecovery branch (RequireStableFooting=false) lets the
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// ShouldComplete shortcut fire as soon as the bot's footprint is
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// inside the landing block.
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var nodes = BuildNodes(
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(255, 137, 220, MoveType.Traverse),
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(256, 134, 219, MoveType.Descend),
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(256, 132, 217, MoveType.Descend));
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List<PathSegment> segments = PathSegmentBuilder.FromPath(nodes);
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Assert.Equal(PathTransitionType.LandingRecovery, segments[0].ExitTransition);
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Assert.False(segments[0].ExitHints.RequireStableFooting);
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}
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[Fact]
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public void FromPath_TraverseIntoTurningTraverse_StillUsesTurnHints()
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{
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// Sanity guard: ordinary Traverse → turning-Traverse must still use the
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// turning branch (StableFooting=true) — only Descend/Parkour/Fall
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// sources should bypass it.
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var nodes = BuildNodes(
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(0, 80, 0, MoveType.Traverse),
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(1, 80, 0, MoveType.Traverse),
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(1, 80, 1, MoveType.Traverse));
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List<PathSegment> segments = PathSegmentBuilder.FromPath(nodes);
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Assert.Equal(PathTransitionType.Turn, segments[0].ExitTransition);
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Assert.True(segments[0].ExitHints.RequireStableFooting);
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}
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[Fact]
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public void FromPath_CopiesParkourProfile_ToRuntimeSegment()
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{
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