Steering reverse clamp was reverted (blocked arrival). Instead, when on floor
and (vlat && ncol && vert_sep band) or tight XZ + small vert_sep, clamp
horizontal speed to 1.35 m/s so move_and_slide does not drive riser ping-pong
at full MOVE_SPEED. Bump path steer min lookahead 0.22→0.28 m.
_walk_clamp_steering_reverse kept prior horizontal velocity whenever the new
steer-to-goal direction opposed current motion (dot < -0.35). That prevented
ever closing ARRIVE_EPS in many geometries, so walk never cleared, XZ stayed at
MOVE_SPEED, and air gravity could run indefinitely (y << 0).
Restore direct/path steering without the clamp; NAV_COLUMN_STEER_EXIT_DIST
back to 0.97.
Path lookahead vs direct goal could reverse horizontal velocity every physics
tick on treads (NEON-16), driving slide/snap Y jitter. Clamp new steer to
prior bearing when dot < -0.35 and speed is above a small threshold.
Widen NAV_COLUMN_STEER_EXIT_DIST (0.97→1.12) to reduce path/direct mode
chatter when horiz_dist wobbles near the old band.
DESCEND_LIP_SNAP_CAP (0.1) ran whenever goal was below feet by geometry,
independent of probe debounce. Feet_y noise on treads toggled 0.32 vs 0.1
snap and caused ~2–3 cm Y jitter. Apply lip cap only when debounced peel is
armed and not in peel suspend; otherwise keep FLOOR_SNAP_MOVING.
Continuation rays reject stair treads (~0.104 m) under WALK_CONTINUATION_MAX_BELOW_FEET
(0.078 m), so is_on_floor + probe flickered every tick and toggled peel vs full snap
(Y jitter ~1.0 m). Arm peel/snap aggression only after WALK_PEEL_PROBE_FALSE_FRAMES
consecutive probe failures; deep descent still arms immediately.
Widen horiz peel suspend (0.34→0.46 m vert, 2→5 m XZ) for goal/tread separation gaps.
Widen vertical-route latch off-sep (0.038→0.085) so descent toward floor
does not drop vlat while feet still wobble on stairs.
Add horiz+vert fallback: suspend peel and restore snap when vert_sep ≤0.34 m
and horiz_dist ≤2 m, covering ncol=false paths where goal Y matches slab
height but tread peel still fought snap (violet stairs ~y=0.92).
When vertical route is latched and nav column steering is active, peel
plus zero floor snap caused a 3-frame limit cycle (NEON-16 traces).
Skip peel and restore normal snap while feet are within 0.48 m of the
goal surface vertically.
Lower WALK_CONTINUATION_MAX_BELOW_FEET to 0.078 m (under ~0.104 m treads) so
the next tread is not treated as forward walk support; ledge peel runs on
descents and pulls down onto each step instead of gliding with weak air gravity.
Raise PLAYER_VERTICAL_ACCEL_MULTIPLIER to 9× for peel, walk-air, and idle-air.
Apply PLAYER_VERTICAL_ACCEL_MULTIPLIER (~2.45×) to walk-airborne gravity,
ledge peel integration, and idle-airborne gravity for snappier falls.
Peel used to clear when goal.y >= feet_y - DESCEND_GOAL_Y_MARGIN, which
stopped peeling ~6 cm above the click surface while XZ was already at the
destination — use vertical_arrival_error <= VERT_ARRIVE_EPS instead, with
a small guard when the goal is clearly above the feet (climb).
Direct global_position.y edits may not stick vs Jolt after move_and_slide.
Use move_and_collide for the peel step so motion goes through physics.
If get_gravity() is near zero, use -9.81 for peel, walk air, and idle air.
CharacterBody3D MOTION_MODE_GROUNDED move_and_slide clears downward
velocity while is_on_floor(), so gravity on velocity never produced
vertical motion off terrace lips (all prior probe/snap tweaks were no-ops).
After each walk move_and_slide, when the goal surface is below the feet
and probes/deep-descent say drop, accumulate peel_vy += g·dt and apply
global_position.y += peel_vy·dt. Airborne walk still uses velocity gravity.
Set physics/3d/default_gravity=9.81 explicitly in project.godot.
Rays and is_on_floor() can still agree the capsule is supported while the
authoritative click is on the main floor far below (TerracePlatformB lip).
When feet are >0.42 m above the goal surface Y, always add walk gravity and
zero moving floor snap. Shorter drops (e.g. gold step to floor) still use
the probe heuristic only.
Degenerate XZ (velocity and want_goal_h ~0) made _walk_has_close_floor_probe_below
return after center-only, suppressing ledge gravity for the whole move.
Add _resolve_walk_probe_dir_xz: when goal surface is below feet, prefer
horizontal bearing to the goal, else nav path lookahead, else fallbacks.
Non-descending motion keeps velocity-first probes.
Remove the nav-column-only want_goal_h override (superseded by descending
branch). Reverts the regression where the capsule stayed on violet until XZ.
Column steering follows path tangents on the violet deck while the
authoritative goal sits on the lower floor; velocity-aligned support rays
kept hitting deck in the tangent direction and suppressed ledge gravity.
Use want_goal_h for probe offsets when vertical routing + column steer
+ on floor + goal surface below feet.
Down-rays use 0.32 m depth; a gold step is ~0.3 m above the slab, so a
forward sample over empty space still intersected the gray floor and
passed the up-normal test. That looked like continued support, so ledge
gravity and snap-off never fired.
Only treat a hit as walk support if its Y is within 0.14 m below the
current feet (one tread scale); deeper hits are a lower deck / pit.
Walk support used any ray hit under the foot disk, so the center sample
could still see the platform while the leading edge was over a void.
is_on_floor() stayed true from the lip, snap stayed strong, and vy was
zeroed each tick — horizontal skate until XZ arrival.
Now require a center hit plus at least one forward-biased sample in the
movement direction when horizontal intent is non-zero; use velocity XZ
for probe direction so nav/path steering matches the rays.
Single center ray + flat floor-normal gate missed tilted lip contacts
and still hit deck under capsule center while leading edge hung over void.
Moving FLOOR_SNAP_MOVING then cancelled gravity each tick.
Sample down rays at center and offsets along walk direction; depth 0.32;
set floor_snap_length 0 when is_on_floor but no probe hit.
Jolt + floor snap could keep is_on_floor true over open space toward a
lower click target, so vy stayed 0 until arrival. Add a short downward
ray under the capsule feet (WALK_SUPPORT_PROBE_DEPTH) and apply gravity
when no upward-facing hit is close, only on fairly level floor normals.
Vertical+column branch scanned path for first point with XZ offset >5 cm;
Jolt moved the body across that edge each tick and flipped the chosen
waypoint → 180° velocity oscillation (vlat && ncol).
Use NavigationAgent3D.get_next_path_position() when navigation not
finished; fall back to auth goal when finished or degenerate.
Raise stable-idle floor up-dot entry to 0.998 so Jolt normals on a flat
box can latch the idle anchor; 0.999 rarely tripped and corrective
move_and_slide + rim/bump nudges kept moving XZ.
Add STABLE_IDLE_ENTER_STREAK_FRAMES (2) before first latch; arrival
path still latches immediately. Unlatch budget 8→10 ticks.
feet_y wobble from move_and_slide on approach treads crossed
DESCEND_GOAL_Y_MARGIN each frame, toggling path vs direct steer.
Schmitt latch (WALK_VERT_ROUTE_LATCH_ON_SEP/OFF_SEP) with reset on
nav lifecycle. Extend debug_idle_trace with feet_y, vert_sep, vlat,
ncol. Add player_test for latch reset.
While _idle_stable_latched, use STABLE_IDLE_FLOOR_HOLD_MIN_UP_DOT (0.992) for
idle_support floor flatness so tread-edge normal flicker does not unlatch as
often. idle_support_is_stable gains optional min_flat_up_dot; unlatch streak 8.
Prototype position label updates in main _physics_process. Add GdUnit for param.
loose_ticks+ridged no longer forces ~0.8s corrective idle when floor normal
is still level (tread corner with vertical riser). Gate that branch on
shallow floor (dot < IDLE_RIM_MIN_FLOOR_UP_DOT). Bump unlatch streak to 5.
Update GdUnit + NEON-29 plan.
Hold latched zero-vel idle through STABLE_IDLE_UNLATCH_TICKS consecutive
unstable readings so thin tread lips do not drop into corrective move_and_slide
every other frame. Idle anchor now freezes Y as well as XZ. Reset latch on
goal/snap/arrival; seed latch on arrival when support is stable after idle tick.
Update hold_idle_anchor GdUnit expectation.
Single-radius switch at DIRECT_APPROACH_RADIUS let horiz_dist cross every
frame between direct-to-goal and nav-path steering, flipping velocity ~180°.
Schmitt band NAV_COLUMN_STEER_ENTER/EXIT with latched _walk_nav_column_steering;
reset on new goal, snap, arrival, clear.
Stop forcing moving floor_max_angle for the full post-stop window on open
flat support; tighten ridged wallish threshold; relax stable floor dot;
on arrival, take stable-idle path when support is already stable after
one idle tick. Add GdUnit case for shallow seam normals.
idle_support_is_stable no longer treats every post-stop loose-tick frame as
unstable; only slide normals showing floor+wall (lip) keep corrective idle.
Deduplicate ridged-contact check via idle_slide_contacts_are_ridged.
Relax STABLE_IDLE_FLOOR_MIN_UP_DOT slightly for Jolt normal flicker.
Update GdUnit cases and NEON-29 plan note.
TerracePlatformB top is ~0.6 m above the floor; agent_max_climb only
limited nav links, while chained step assist could still climb in one
click. Refuse assist when goal surface is more than 0.35 m above feet
so the gold TerraceStepB path (or a second click) is required.
Default get_next_path_position steering caused crawl/stuck behavior with
Jolt at 120 Hz. Steer XZ toward the authoritative target always except
when the goal surface is meaningfully above/below the feet and the
player is within DIRECT_APPROACH_RADIUS — then use the baked path for
ramps/treads. Update README and NEON-29 plan.
Revert path_desired_distance and target_desired_distance to 0.35; 0.22
was below practical per-tick progress toward waypoints and led to
oscillation or stuck path state. When NavigationAgent reports finished
but horizontal distance still exceeds ARRIVE_EPS, steer directly
toward the authoritative goal in XZ.
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.
Step assist stayed active when is_on_wall from mesh seams after landing on
the goal height — keep reduced snap and odd slides. Clear assist when
vert_err and feet vs goal show we are on the target slab.
If horizontal speed stays low with a far goal, refresh NavigationAgent3D
target after 8 ticks to break stale paths.
Cap walk floor snap to WALK_STEP_ASSIST_SNAP when climbing into a blocking
wall (stops 0.32m snap fighting step assist). Restore descend lip snap cap;
relax floor_block when descend stalls (low vh, still far in xz). Step assist
lift 0.16 m, cooldown 1 tick.
Step assist: use is_on_wall + get_wall_normal opposing want; keep slide loop
with dot < -0.02.
Descend: relax floor_block on shallow floor normal at internal edges; widen
vertical-ish slide threshold slightly.
Raise TerracePlatformA Y by 0.012 m vs main floor for coplanarity.
Remove the forward-velocity dot gate that blocked assist when pushing
head-on into a step (dot ~1 vs max 0.52).
Relax floor_block_on_wall only for true descends (goal below feet) when
is_on_wall or slide hits a vertical-ish normal, so platform deck motion
stays stable.
Applying gravity whenever the nav goal was below feet stayed true for the
entire walk across TerracePlatformB (feet ~0.6 m vs floor goal Y=0),
corrupting horizontal velocity and slide behavior.
Drop the descend bee-line branch; follow the nav mesh for vertical routing.
Restore full horizontal velocity set with vy=0 and air-only gravity.
Update README and NEON-29 plan to match.
Steer only XZ in _set_horizontal_velocity_toward so vy can accumulate.
Apply gravity when airborne or goal-below-feet; stomp vy on grounded
non-descend moves. Drop descend floor_block relax and on-floor gravity
mult; cap snap for full descend without a feet_y band that flipped
snap length at the lip.
Reverts the 15mm TerraceStepB/TerracePlatformB root offset that regressed
floor-to-step movement.
When the walk goal is below the feet, apply gravity even while is_on_floor
so lip contacts are not stuck with vy cleared every tick; cap descend
floor_snap_length so the upper surface does not win over internal edges.
Raise TerraceStepB and TerracePlatformB 15mm so boxes are not coplanar
with the main floor top, reducing Jolt internal-edge hangs.
Remove descend lip stall, peel multipliers, and snap cap; keep a single
floor_block_on_wall=false policy for the whole descend branch to avoid
oscillation. Document in NEON-29 plan.
Relax floor_block whenever feet are >7 cm above a lower goal — stall/wall was too
late for step1→floor. Re-tighten only in the last centimeters (wallish/stall).
Apply DESCEND_WEAK_PEEL_MULT on_floor while descending every frame; ramp to
DESCEND_LIP_GRAVITY_MULT when stalled/wallish/carry. Skip peel when airborne
(full gravity from _apply_walk_air_gravity).
Always-on gravity while on_floor and descending made platform→floor feel glued
(slow vertical creep, no horizontal until landing). Remove that; use 7x gravity
only when lip_stall>0, wallish slide, or prior move left low horizontal speed
while still far from goal (carry_lip_from_prior_move).
Track _descend_lip_stall_ticks after descend/nomap moves; reset on new goal,
arrival, snap, clear_nav.
Relax floor_block_on_wall when goal is above feet and wallish (floor→step) or
goal below and (wallish or stall) so slides can clear terrace lips.
Reset floor_block_on_wall when idle or arrival.
Wall/slide heuristics missed many step→floor stalls (e.g. far floor clicks).
While descending with is_on_floor, always add gravity to vy before move_and_slide.
Cap floor_snap_length when feet stay meaningfully above the goal so strong snap
cannot yank the capsule back onto the step internal edge; cap lifts near landing
(feet within 8 cm of goal Y). Apply snap helper on nomap + descend branches.
First terrace step to main floor could stall: is_on_floor stayed true on the
step top while a vertical face zeroed horizontal motion; vy was reset to 0 so
no gravity ran. Taller drops broke contact sooner so second→floor worked.
While descending (goal below feet) and on floor, if is_on_wall or any slide
normal is wall-ish (ny < 0.55), integrate gravity into vy before move_and_slide.
_physics_idle_tick zeroed velocity with no gravity, so after walking off a
terrace or arriving slightly above the floor FLOOR_SNAP_IDLE could not reach
the ground and the body hovered until a new walk goal. Apply get_gravity()*delta
and FLOOR_SNAP_MOVING while !is_on_floor(). Budgeted idle branch now runs the
same physics when airborne instead of returning without move_and_slide.
- _set_horizontal_velocity_toward: optional fallback xz when delta.xz ~ 0 (avoids +X hack).
- Direct-approach branch: if horiz_dist to goal is ~0 but not arrived vertically, steer
using the first navigation path point with horizontal separation.
- Apply get_gravity()*delta while walking and not on_floor so capsules land and Jolt
registers floor contacts.
- Set Player collision_mask=3 explicitly; README collision bullet updated.
VinPropane