Two complementary fixes for live-server "stuck on a step then replan"
on the 252.5,138,220.5 -> 244.5,122,188.5 route.
Search layer (ParkourFeasibility.HasRunUp): a long flat sprint parkour
(5 c2c, horiz~5) cannot launch from a cold start. Vanilla physics show
that gap=4 dy=0 reaches 5.1075m only with 12 momentum ticks of straight
sprint windup; a 0t standing jump tops out at gap=3 (=4 c2c). When the
previous move type is not Parkour/Descend (i.e. no carried airborne
momentum) we now require two aligned back-runway blocks instead of one
so the executor actually has room to spin sprint up.
Execution layer (GroundedSegmentController.ShouldComplete): the
LandingRecovery early-out used to live below the MinExitSpeed gate. A
Descend that landed inside the destination block but naturally settled
to zero speed (e.g. when the next segment is a fresh Traverse rather
than a chained Parkour) would fail the 0.03 MinExitSpeed check and idle
inside the target block until the per-segment timeout fired, triggering
an unnecessary replan. Move the LandingRecovery footprint check above
the speed gate so a fully-decelerated handoff is accepted.
Verified live on 1.21.11-Vanilla:
- 252.5,138,220.5 -> 244.5,122,188.5: 24 segments, 0 replans (was: 1)
- 244.5,122,188.5 -> 252.5,138,220.5: 48 segments, 0 replans
- 251.5,141,210.5 -> 252.5,138,220.5: 34 segments, 0 replans
- 252.5,138,220.5 -> 251.5,141,210.5: 24 segments, 0 replans
Test suite: 297 passed / 22 known pre-existing failures, no new
regressions vs 5de169db.
Made-with: Cursor
Fix a cluster of execution-layer issues that caused replans and void
falls when traversing narrow ledges and multi-block descents between
(251.5,141,210.5) and (252.5,138,220.5):
- WalkTemplate / GroundedSegmentController: suppress the pre-rotation
bias toward the next segment's exit heading on stable-footing Turn
exits where the next segment is not a jump. The next template
snaps yaw on its first tick anyway, and pre-rotating mid-stride on
a 1-block walkway pushes sprint drift perpendicular to the path and
walks the bot off the edge. Turn exits into a jump still get the
bias so the takeoff direction stays aligned.
- GroundedSegmentController.ShouldComplete: relax the headingReady
gate for Turn exits with stable footing so the segment can complete
once yaw is aligned with either the current or the next segment
heading (within 25/15 deg). Without this the removed bias would
leave the bot stuck at the end of a walkway waiting for a rotation
that never happens.
- DescendTemplate: restrict the airborne exit-heading bias so it only
kicks in when the footprint is inside the landing block, or on
single-step drops where the fall is too short for lateral drift to
miss the landing column. On 2+ block drops the bot now keeps yaw
pointed at the landing center for the whole fall.
- DescendTemplate: add a multi-block overshoot guard on PrepareJump
exits. Once airborne and past the landing end-plane on a 2+ Y
drop, release forward/sprint and press back briefly so air drag
pulls the bot back into the 1x1 landing column instead of sailing
one block past it into the neighbouring void.
Live round-trip between the two goal coordinates now completes with
zero replans in three consecutive runs in each direction. Full unit
test suite is unchanged from the pre-existing baseline (22 failing
tests, all orthogonal to this change).
Made-with: Cursor
Replace seven hand-written IMove classes (MoveTraverse, MoveDiagonal,
MoveAscend, MoveDiagonalAscend, MoveDiagonalDescend, MoveParkour,
MoveSidewallParkour) with a single MoveJump driven by a JumpDescriptor
(XOffset, ZOffset, YDelta, JumpFlavor). JumpFeasibility is the single
source of truth for the physics/cost rules of every jump-family move.
A* no longer iterates a flat IMove[]. The Calculate loop now drives
an IMoveExpander[] that writes into a stackalloc Span<MoveNeighbor>,
eliminating per-iteration heap traffic. JumpExpander enumerates every
jump-family descriptor dynamically; LegacyMoveExpander wraps the
remaining dynamic-landing moves (MoveDescend, MoveSprintDescend,
MoveClimb, MoveFall) so callers that still pass a custom IMove[]
keep working.
Add two O(1) short-circuits at the top of JumpExpander.Expand:
- Hoist the per-node parkour preconditions (AllowParkour + CanSprint,
standing block climbability, feet-liquid, head clearance at y+2)
so ~170 SprintJump + Sidewall descriptors never call JumpFeasibility
when the node cannot take off at all.
- Precompute an 8-way "first step has no floor" table indexed by
(sign(dx), sign(dz)) so SprintJump descriptors in a direction that
has a walkable floor underneath are dropped without Evaluate.
- Add a conservative "any cardinal wall at y or y+1" probe that skips
all 112 Sidewall descriptors when no wall exists adjacent to the
takeoff.
Move tests switch to the new MoveJump.* factory methods. Behavior is
verified by the existing test suite: the 21 pre-existing baseline
failures are preserved exactly, 0 regressions introduced.
Made-with: Cursor
Introduce an EntryPreparationState carried on PathNode + A* context so
sidewall parkour can explicitly request one or more runway traverses
before takeoff instead of silently dropping the move. ParkourFeasibility
gains TryGetRequiredStaticEntryRunupSteps + HasPreparedRunup helpers so
long descends (major=5, dy=-1) only remain feasible when the preceding
node proved the runup.
Widen HasDominantAxisRunUp to accept cold-start sprint-jumps within
~3.1-3.5 blocks horizontally so lone overhang / staircase takeoffs stay
feasible without a 2-block runway (matches Baritone's MomentumBehavior
.ALLOWED contract).
Add a runtime SidewallParkourController that implements the corner
commitment + wall-hug chain during execution.
Extend pathing test fixtures with InitialMomentumTicks, add sidewall
accepted/rejected scenarios, and refresh timing + contract baselines to
reflect the new planner shapes. Document the design in
docs/superpowers/specs and plans.
Made-with: Cursor
Move PathSegmentManager's Replan to Task.Run so the main tick only reads
results and swaps executors, and introduce a _nextExecutor pre-planning
slot so upcoming segments can prepare while the current one finishes.
Relax per-tick yaw/pitch rate limiting: allow instantaneous snapping
before jump ticks (Baritone does this and servers do not kick for it).
Align jump-template success/failure contracts with Baritone:
- Success key shifts from "speed squared" to "feet-on-target block".
- Failure window widened to the ~200 tick range.
- AscendTemplate gets a headBonkClear + edge/side proximity
precondition so launches only happen from a safe takeoff.
Expose an initialMomentumTicks option on TemplateSimulationRunner so
follow-up sidewall scenarios can warm up physics before a template
starts.
Made-with: Cursor
Theory simulator:
- Add 2D side-wall jump physics with yaw sweep for worst-case margin
- Generate sidewall theory cases (flat/ascend/descend, wall_offset 0/1)
- Add momentum-capabilities.json with band compression and max_reach
- Extend models, capabilities, canonical, and renderers for sidewall
Full-coverage parkour test suite (tools/test-parkour.py):
- Derive test matrix from momentum-capabilities.json
- Build linear/neo/ceiling courses via RCON with 7-block clear margin
- Use /goto for pathfinding, parse A* and PathMgr log output
- Stop-at-first-failure per (family, subfamily, dy, ceil, wo) group
- Hierarchical --filter (e.g. linear/flat, ceiling/headhitter/ceil2.5)
- Exclude sidewall from default matrix (identical max_reach to linear)
Pathing execution fixes:
- Align parkour contracts and timing budgets with live test results
- Fix jump-entry yaw snapping for grounded handoffs
- Template helper and sprint jump template refinements
Made-with: Cursor
- MoveParkour: replace full-rectangle intermediate check with diagonal
strip check (CheckFlightPath) so walls outside the actual flight
corridor no longer block valid parkour jumps.
- MoveParkour: require both cardinal neighbors passable for diagonal
parkour takeoff; a wall on either side clips the AABB and prevents
reaching the target.
- MoveSprintDescend: replace full-rectangle check with explicit
per-axis intermediate column check.
- SprintJumpTemplate: track diagonal jumps and skip approach delay for
short diagonal jumps to avoid overshooting small starting platforms.
Made-with: Cursor
- MoveDiagonal: allow single-side-blocked diagonals (corner walk) so
the bot can hug an open side to cut around a wall; both-sides-blocked
remains impossible. Walk-speed cost when one side is blocked.
- MoveSprintDescend: sprint off a ledge covering 2 horizontal blocks
while dropping 1-3 blocks. Registered for cardinal and diagonal
offsets.
- MoveParkour: support negative yDelta (-1, -2) for descending parkour
where the bot sprint-jumps across a gap and lands on a lower
platform. Registered cardinal (dist 2-4, y-1/-2) and diagonal
variants.
- DescendTemplate: sprint when horizontal distance > 1.5 blocks.
- SprintJumpTemplate: increase vertical landing tolerance for descend.
Made-with: Cursor
- Add MoveDiagonalAscend and MoveDiagonalDescend for "corner" moves:
step diagonally around a wall edge while ascending/descending 1 block.
Requires at least one intermediate cardinal direction to be passable.
- Fix pitch calculation: look toward target's eye level (same height
delta as feet delta) instead of subtracting eye height, which caused
the player to stare at the ground during flat walks.
- Add Yaw/Pitch smoothing via SmoothYaw/SmoothPitch in TemplateHelper.
Max 35 deg/tick for yaw, 25 deg/tick for pitch. Prevents instant
camera snaps between path segments while still being responsive
enough for sprint-jumps and tight maneuvers.
- Apply smoothing to all five action templates (Walk, Ascend, Descend,
Climb, SprintJump).
Made-with: Cursor
- WalkTemplate: remove OnClimbable jump/sprint logic that caused the
player to jump when walking past vine blocks during flat traversal
- TemplateHelper: add CalculatePitch() for computing the look angle
toward a 3D target relative to eye height
- All templates (Walk, Ascend, Descend, Climb, SprintJump): set
physics.Pitch each tick so the player visually looks toward the
current path target direction
- McClient: sync playerPitch and set _yaw/_pitch after pathfinding
ticks so rotation is included in position update packets sent to
the server
Made-with: Cursor
- ClimbTemplate: add explicit descent handling with horizontal drift
correction instead of relying on no-input gravity alone
- DescendTemplate: on climbable blocks, suppress Forward input to
prevent HorizontalCollision-triggered upward bumps, allowing gravity
to slide the player down naturally
- MoveClimb: restrict climb-up past the top of a climbable column --
only allow if there is solid ground to stand on at destination,
preventing impossible vine-top exits where the player would fall back
Made-with: Cursor
WalkTemplate now detects when physics.OnClimbable is true (player entering
a ladder/vine block) and switches from Sprint to Jump input, with extended
stuck detection thresholds. This prevents the template from failing when
the path walks through climbable blocks.
Tested on 1.21.11: all movement types pass (walk, diagonal, ascend, descend,
climb, parkour 2-4 gap, mixed courses with direction changes).
Made-with: Cursor
MoveParkour rewritten to support both cardinal and diagonal sprint jumps
with unified (xOff, zOff) interface. New capabilities:
- 4-block cardinal sprint jumps with edge-approach timing in template
- Diagonal parkour: (2,1), (1,2), (2,2), (3,1), (1,3) in all quadrants
- Ascending parkour extended to dist=3 (cardinal)
- Overshoot safety check after landing destination
- Block parkour from climbable starting blocks (vine/ladder)
MoveDescend/MoveFall enhanced with Baritone-style dynamic fall scanning:
- Water landing: accepts falls of any height into water
- Mid-fall ladder/vine grab: resets effective fall height (<=11 blocks)
- CalculationContext gains MaxFallHeightWater, AllowLadderGrabDuringFall
SprintJumpTemplate gains distance-based approach timing:
- Long jumps (>=3.5 blocks): delays jump until 0.5 blocks from center
- Medium jumps (>=2.5): 0.35 blocks approach
- Landing tolerance scales with jump distance
All movements verified on 1.21.11 local server.
Made-with: Cursor
Templates now set Forward/Sprint input before checking completion
conditions. This prevents a 1-tick input gap during template transitions
that caused the player to lose sprint speed, making parkour jumps fail
due to insufficient horizontal velocity.
Made-with: Cursor
Two bugs in CollisionDetector caused persistent Y-axis bouncing (0.6 block
oscillation) while walking on flat ground:
1. GetAxisStepOrder used a complex 6-branch sorting that often placed
horizontal axes before Y. Vanilla's Direction.Axis.axisStepOrder always
resolves Y first, then the larger horizontal axis. Replaced with the
simple two-case vanilla logic.
2. The horizontal-blocked checks (blockedX/blockedZ) used exact != which
triggered on floating-point noise (~1e-15) from sin/cos in movement
input. Vanilla uses Mth.equal (1e-5 threshold). This false positive
caused step-up to fire every few ticks on flat terrain.
Also includes DescendTemplate robustness fixes from the previous session
(fail on unintended climbing, suppress forward input on climbable blocks).
Made-with: Cursor
Phase 2.2: MoveParkour for sprint-jump across 1-2 block gaps (distance 2-3)
and ascending parkour (distance 2, +1Y). Registered in BuildDefaultMoves
with CalculationContext.AllowParkour gating.
Phase 3.1-3.2: Template execution engine replacing the waypoint queue system.
- IActionTemplate interface with per-tick state machine pattern
- Templates: Walk, Ascend, Descend, Climb, Fall, SprintJump
- ActionTemplateFactory maps MoveType to the correct template
- PathExecutor drives sequential template execution with logging
- PathSegmentManager handles replanning on failure (up to 5 retries)
- McClient integration: MoveToAStar now creates PathSegmentManager,
UpdatePathfindingInput delegates to it, CancelMovement/ClientIsMoving
updated for both old and new systems.
Tested on 1.21.11: straight walk, zigzag maze, stair ascent,
1-gap and 2-gap sprint jumps all pass.
Made-with: Cursor
- Fix MoveHelper.CanWalkThrough to treat climbable blocks (ladders, vines)
as passable, not solid -- MCC's IsSolid() incorrectly classifies them
- Fix MoveHelper.CanWalkOn to exclude climbable blocks from ground check
- Add fence gate passability in MoveHelper
- Fix start position calculation in MoveToAStar to handle solid-block
floor rounding (player at y=79.9 → floor y=79 inside solid)
- Fix ReachedWaypoint to require vertical proximity for climb waypoints,
preventing premature waypoint consumption during ladder ascent
- Fix SetInputToward to handle ladder climbing with Jump input and proper
wall-facing when OnClimbable
Made-with: Cursor
The X and Z fields shared bit 36, causing nodes like (1,80,0)
and (0,80,0) to hash to the same value. Fixed by using proper
non-overlapping bit allocation: X in bits 38-63, Z in bits 12-37,
Y in bits 0-11. Added diagnostic logging to pathfind command.
Made-with: Cursor
Implements the new Baritone-inspired A* pathfinding system:
- Core types: PathNode, PathResult, MoveResult, MoveType, ActionCosts
- BinaryHeapOpenSet min-heap for A* open set
- AStarPathFinder with timeout, cancellation, partial path support
- CalculationContext for thread-safe world state snapshots
- MoveHelper for block passability checks
- IGoal interface + GoalBlock, GoalXZ, GoalNear, GoalComposite
- IMove interface + MoveTraverse, MoveDiagonal, MoveAscend, MoveDescend, MoveClimb
- /pathfind command for testing the new pathfinder
Made-with: Cursor
