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https://github.com/MCCTeam/Minecraft-Console-Client
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c1831b2730
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 |
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