NEON-29: Roll back walk oscillation on treads (stall replan, seam clear).
Remove walk-stall nav replan and seam-based step-assist clearing that churned targets and toggled floor_block_on_wall on small rises. Restore 0.11 m assist with 8-tick cooldown; cap wallish snap only when the goal is meaningfully above the feet. Drop descending_stall floor_block branch. Document rollback in the implementation plan.pull/41/head
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@ -32,19 +32,12 @@ const DESCEND_GOAL_Y_MARGIN: float = 0.06
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## Cap snap while dropping off a pad so Jolt cannot glue the capsule to the upper surface.
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const DESCEND_LIP_SNAP_CAP: float = 0.1
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## Y lift when blocked by wall-ish slide but nav goal is higher (stepped bumps).
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const WALK_STEP_ASSIST_DELTA: float = 0.16
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const WALK_STEP_ASSIST_COOLDOWN_TICKS: int = 1
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const WALK_STEP_ASSIST_DELTA: float = 0.11
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const WALK_STEP_ASSIST_COOLDOWN_TICKS: int = 8
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## Floor-snap length while step-climbing. Small enough that it cannot reach the lower floor
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## (~0.11 m away after the first lift) but large enough to catch the step surface once the
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## capsule clears the face (~0.03 m away after the third lift for a 0.3 m step).
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const WALK_STEP_ASSIST_SNAP: float = 0.09
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## Clear step-assist when feet match the goal slab even if `is_on_wall()` (mesh seams / tread lip).
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const STEP_ASSIST_CLEAR_VERT_ERR: float = 0.1
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const STEP_ASSIST_CLEAR_FEET_BELOW_GOAL_MAX: float = 0.05
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## Low horizontal speed with an active far goal: refresh nav target to break stale paths.
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const WALK_STALL_VH_MAX: float = 0.22
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const WALK_STALL_HORIZ_MIN: float = 0.4
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const WALK_STALL_REPATH_TICKS: int = 8
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## CapsuleShape3D in scene: height = 1.0 (cylinder portion), radius = 0.4.
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## Total half-height from body origin to physical bottom = 0.5 + 0.4 = 0.9
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## (`CAPSULE_HALF_HEIGHT + PLAYER_CAPSULE_RADIUS`).
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@ -77,8 +70,6 @@ var _debug_last_idle_xz: Vector2 = Vector2.INF
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var _debug_idle_heartbeat: int = 0
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var _debug_last_transform_xz: Vector2 = Vector2.INF
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var _debug_trace_frame: int = 0
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var _walk_stall_repath_ticks: int = 0
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@onready var _nav_agent: NavigationAgent3D = $NavigationAgent3D
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@ -98,7 +89,6 @@ func set_authoritative_nav_goal(world_pos: Vector3) -> void:
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_step_assist_active = false
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_idle_anchor_active = false
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_idle_manual_correction_ticks = 0
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_walk_stall_repath_ticks = 0
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_nav_agent.set_target_position(world_pos)
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@ -109,7 +99,6 @@ func clear_nav_goal() -> void:
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_step_assist_active = false
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_idle_anchor_active = false
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_idle_manual_correction_ticks = 0
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_walk_stall_repath_ticks = 0
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_nav_agent.set_target_position(global_position)
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@ -146,7 +135,6 @@ func snap_to_server(world_pos: Vector3) -> void:
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_step_assist_active = false
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_idle_anchor_active = false
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_idle_manual_correction_ticks = 0
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_walk_stall_repath_ticks = 0
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_nav_agent.set_target_position(settled)
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reset_physics_interpolation()
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@ -250,32 +238,13 @@ func _after_walk_move_and_slide() -> void:
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move_and_slide()
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func _finalize_walk_move_tick(horiz_dist: float, feet_y: float, vert_err: float) -> void:
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var vh_post: float = Vector2(velocity.x, velocity.z).length()
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if _step_assist_active:
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if is_on_floor() and not is_on_wall():
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_step_assist_active = false
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elif not is_on_floor() and get_slide_collision_count() == 0:
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_step_assist_active = false
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elif (
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is_on_floor()
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and vert_err <= STEP_ASSIST_CLEAR_VERT_ERR
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and feet_y >= _auth_walk_goal.y - STEP_ASSIST_CLEAR_FEET_BELOW_GOAL_MAX
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):
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_step_assist_active = false
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if not _has_walk_goal:
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_walk_stall_repath_ticks = 0
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func _clear_step_assist_after_walk_move() -> void:
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if not _step_assist_active:
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return
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if horiz_dist > WALK_STALL_HORIZ_MIN:
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if vh_post < WALK_STALL_VH_MAX:
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_walk_stall_repath_ticks += 1
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if _walk_stall_repath_ticks >= WALK_STALL_REPATH_TICKS:
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_nav_agent.set_target_position(_auth_walk_goal)
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_walk_stall_repath_ticks = 0
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else:
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_walk_stall_repath_ticks = 0
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else:
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_walk_stall_repath_ticks = 0
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if is_on_floor() and not is_on_wall():
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_step_assist_active = false
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elif not is_on_floor() and get_slide_collision_count() == 0:
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_step_assist_active = false
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func _set_horizontal_velocity_toward(
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@ -310,9 +279,9 @@ func _walk_floor_snap_length(feet_y: float, want_goal_h: Vector3) -> float:
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if _has_walk_goal:
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if want_goal_h.length_squared() > 1e-10:
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var want: Vector3 = want_goal_h.normalized()
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# Climb: FLOOR_SNAP_MOVING reaches past the lip and snaps the capsule back to the slab
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# below every tick — fights step assist on cardinal box faces (teal pad).
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if _auth_walk_goal.y > feet_y + 0.035 and _step_assist_wallish_blocks(want):
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# Climb: cap snap only for a **meaningful** rise (not shallow tread-to-tread), or we
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# fight the approach stairs with snap ↔ assist oscillation.
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if _auth_walk_goal.y > feet_y + 0.12 and _step_assist_wallish_blocks(want):
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return WALK_STEP_ASSIST_SNAP
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if (
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_auth_walk_goal.y < feet_y - DESCEND_GOAL_Y_MARGIN
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@ -325,14 +294,12 @@ func _walk_floor_snap_length(feet_y: float, want_goal_h: Vector3) -> float:
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## Descend only: relax `floor_block_on_wall` when pressed against a vertical face so Jolt can
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## slide off terrace lips. Never when the goal is above the feet (climb) — avoids platform-wide
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## toggling that broke horizontal motion.
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func _apply_floor_block_for_descend_at_wall(feet_y: float, horiz_dist: float) -> void:
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func _apply_floor_block_for_descend_at_wall(feet_y: float) -> void:
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floor_block_on_wall = true
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if not _has_walk_goal:
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return
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if _auth_walk_goal.y >= feet_y - DESCEND_GOAL_Y_MARGIN:
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return
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var vh: float = Vector2(velocity.x, velocity.z).length()
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var descending_stall: bool = horiz_dist > 0.12 and vh < 0.55
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if is_on_wall():
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floor_block_on_wall = false
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return
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@ -345,8 +312,6 @@ func _apply_floor_block_for_descend_at_wall(feet_y: float, horiz_dist: float) ->
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if absf(n.y) < 0.58:
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floor_block_on_wall = false
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return
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if descending_stall:
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floor_block_on_wall = false
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## When the authoritative goal shares XZ with the capsule (e.g. terrace above), horizontal
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@ -689,7 +654,6 @@ func _physics_process(delta: float) -> void:
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_step_assist_active = false
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_idle_anchor_active = false
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_idle_manual_correction_ticks = 0
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_walk_stall_repath_ticks = 0
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_nav_agent.set_target_position(global_position)
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_physics_idle_tick(delta)
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if _apply_idle_manual_correction():
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@ -703,7 +667,7 @@ func _physics_process(delta: float) -> void:
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var feet_y: float = capsule_feet_y(
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global_position.y, CAPSULE_HALF_HEIGHT + PLAYER_CAPSULE_RADIUS
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)
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_apply_floor_block_for_descend_at_wall(feet_y, horiz_dist)
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_apply_floor_block_for_descend_at_wall(feet_y)
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var nav_map: RID = _nav_agent.get_navigation_map()
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if NavigationServer3D.map_get_iteration_id(nav_map) == 0:
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@ -712,7 +676,7 @@ func _physics_process(delta: float) -> void:
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floor_snap_length = _walk_floor_snap_length(feet_y, want_goal_h)
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move_and_slide()
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_after_walk_move_and_slide()
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_finalize_walk_move_tick(horiz_dist, feet_y, vert_err)
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_clear_step_assist_after_walk_move()
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_debug_trace_transform("physics")
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_snap_capsule_upright()
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return
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@ -739,6 +703,6 @@ func _physics_process(delta: float) -> void:
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floor_snap_length = _walk_floor_snap_length(feet_y, want_goal_h)
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move_and_slide()
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_after_walk_move_and_slide()
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_finalize_walk_move_tick(horiz_dist, feet_y, vert_err)
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_clear_step_assist_after_walk_move()
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_debug_trace_transform("physics")
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_snap_capsule_upright()
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@ -112,9 +112,8 @@ No new automated GDScript tests are added for this story — there is no new GDS
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- **Terrace B descend / climb (resolved, iterated):** Scene lifts and **descend-bypass** bee-lines caused regressions (stuck climbs, lip oscillation, wrong-direction slides). **Removed the descend bypass:** vertical moves (e.g. platform ↔ floor) use the **baked nav path + step assist** only. **Walk gravity** is **`!is_on_floor()`** again — never “goal below feet” while still walking on an upper surface (that applied gravity across the whole **TerracePlatformB** deck and destroyed horizontal motion). **`velocity.y`** is cleared by the horizontal steer each tick as before.
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- **Lip stuck (floor→platform / platform→floor):** QA screenshots for this were on **`TerracePlatformA`** (10 × 10 large SE pad, **0.3 m** single step — not the NW **Terrace B** step/platform pair). Step assist required **`vel_h.dot(want) ≤ 0.52`**, so a **head-on** push into the vertical face (dot ≈ 1) **never** triggered the lift. **Removed** that gate. For **platform→floor**, **`floor_block_on_wall = false`** only when the nav goal is **below** the feet **and** **`is_on_wall()`** or a **wall-ish slide normal** exists, so open deck walking stays stable.
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- **Teal pad still stuck (follow-up):** Step assist used **slide normals only**; Jolt often exposes the lip via **`is_on_wall()`** / **`get_wall_normal()`** instead — re-added a **directional** wall check (`wnh.dot(want) < -0.02`). Descend relax now also triggers on **shallow floor normal** (`get_floor_normal().dot(UP) < 0.992`) and slightly wider vertical-ish slide band. **`TerracePlatformA`** root **Y = 0.012 m** breaks **coplanarity** with the main floor without the larger gap that hurt **TerraceStepB** approach.
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- **Teal cardinal both ways (follow-up):** **Climb:** **`FLOOR_SNAP_MOVING` (0.32 m)** was still active while **`_step_assist_wallish_blocks`** was true, snapping the capsule back to the lower floor each tick and cancelling lifts — cap snap to **`WALK_STEP_ASSIST_SNAP`** in that state; **bigger per-tick lift** (`WALK_STEP_ASSIST_DELTA` **0.16**) and **cooldown 1** tick. **Descend:** reintroduced **`DESCEND_LIP_SNAP_CAP`** when clearly above the lower goal, plus **`descending_stall`** (`horiz_dist` not trivial, **`vh < 0.55`**) to relax **`floor_block_on_wall`** when Jolt reports neither wall nor shallow floor at a cardinal lip.
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- **Teal cardinal / tread shake (rollback):** Aggressive tweaks (**0.16** lift, **1**-tick cooldown, **`descending_stall`** toggling **`floor_block_on_wall`**, **seam-based** step-assist clear, **walk-stall nav replan**) caused **oscillation** on the small approach treads. **Reverted** to **`WALK_STEP_ASSIST_DELTA = 0.11`**, **`WALK_STEP_ASSIST_COOLDOWN_TICKS = 8`**, **no** stall replan, **no** `descending_stall` branch, **no** seam-based assist clear — only the original clear (clean floor without wall, or airborne with no slides). **Climb** wallish snap cap applies only when **`goal.y > feet_y + 0.12`** so shallow tread-to-tread motion is not capped to assist snap every frame.
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- **Teal pad — geometry wins:** Script-only mitigations still failed in practice; **`TerracePlatformA_Approach`** adds **twelve** `walkable` **`StaticBody3D`** treads (three per cardinal) with **~0.104 m** rise each, **darker teal** albedo, flush to the platform lip — nav + `CharacterBody3D` use **sloped contact** instead of fighting a **single vertical face**.
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- **Intermittent “stuck until re-click”:** **`_step_assist_active`** only cleared when **`not is_on_wall()`**; harmless **wall** flags from tread/platform seams left **reduced snap** on and blocked the old “clean landing” path — added clear when **feet are on the goal slab** (`vert_err` / feet vs goal Y). **Nav** can go stale when physics stalls (`vh` low, goal still far): after **8** ticks, **`set_target_position(_auth_walk_goal)`** again to replan.
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## Open questions / risks
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