* JumpFeasibility.EvaluateStepDescend now requires BOTH cardinal
shoulder columns to be passable. Axis-separated collision
resolution at the corner zeros one velocity component when a
shoulder is walled, sliding the bot straight down past the intended
diagonal landing into a multi-block fall-through (observed on the
251 -> 244 route around (249,136,207)).
* ParkourFeasibility now distinguishes Parkour-carry from
Descend-carry for flat (yDelta == 0) jumps. A Descend often
overshoots the takeoff block, killing the sprint runway the
SprintJumpTemplate needs to reach 5 c2c. Treat Descend-carry like a
cold start: 3.5 m threshold and 2 aligned back-runway blocks. This
prevents the planner from picking impossible 5 c2c flat jumps right
after a Descend (e.g. (248,122,197) -> (248,122,192)).
Verified live on 1.21.11 across all 6 directions between
(251.5,141,210.5), (252.5,138,220.5) and (244.5,122,188.5):
0 replans, 0 segment failures, no mid-path stalls.
Made-with: Cursor
1c2e6fba2b