Two coupled fixes for live 258<->237 / 237<->244 routes that previously
hit 5 replans and gave up on Ascend exit=Turn segments.
DescendTemplate: when biasTowardExitInAir is false on a multi-block
diagonal descend, the per-tick targetYaw rotates as the bot drifts past
the landing column mid-fall (e.g. dx=-1 dz=-1 drop yaw cycles 135 -> 90
-> 0 -> 315 over six air ticks). With Forward held, that rotating yaw
pushes air-control momentum perpendicular to the planned trajectory,
sliding the bot ~0.5 m off the landing onto an adjacent block one tier
below. Lock airborne yaw to the segment's start->end heading for those
descends so air drift stays aligned with the diagonal.
AscendTemplate: add a post-landing completion shortcut for non-FinalStop
exits. Once the jump arc puts the bot back on ground at the target's
elevation with its center inside the target column, hand off to the
next template (which snaps yaw on its first tick). Holding the segment
runs both AscendTemplate's top-level yaw smoothing toward a moving
targetYaw AND GroundedSegmentController's segment/exit-heading rotation
each tick. The competing yaw targets oscillate the bot ~80 ticks until
it walks off the 1-block landing's edge and the segment fails. Mirrors
the existing PrepareJump completion gate. FinalStop is excluded so the
last segment still uses IsSettledAtEnd to detect a true stop.
Live verification on 1.21.11 (round-trip 244<->237 plus the originally
failing 237->244 route): four navigations, 0 replans, all 25/41/24/41
segments completed.
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
- 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
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
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
