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…gine Implement the three Phase 0 prerequisites for the pathfinding rewrite: - Pose system (vanilla Player.updatePlayerPose): dynamic AABB height based on current pose -- Standing (1.8), Sneaking (1.5), Swimming/Crawling (0.6). Automatically downgrades pose when headroom is insufficient (Standing -> Sneaking -> Swimming), matching vanilla 1.14+ forced-crawl behavior. - Slime block bounce (vanilla SlimeBlock.bounceUp / stepOn): reverses downward velocity on landing, with sneaking suppression via isSuppressingBounce(). Also applies the horizontal slowdown effect from SlimeBlock.stepOn when walking on slime with low vertical velocity. - Per-pose dimension constants in PhysicsConsts with eye heights for each pose, sourced from vanilla Avatar.POSES (26.1 decompiled). - Debug logging for pose transitions, slime bounces, and periodic physics state dumps routed through McClient's ILogger. Tested on a real 1.21.11 server: crawling triggers correctly under 1-block ceilings, sneaking under 1.5-block ceilings, slime bounce produces correct decaying oscillation, and pose recovery works when obstacles are removed. Made-with: Cursor
Implements the new Baritone-inspired A* pathfinding system: - Core types: PathNode, PathResult, MoveResult, MoveType, ActionCosts - BinaryHeapOpenSet min-heap for A* open set - AStarPathFinder with timeout, cancellation, partial path support - CalculationContext for thread-safe world state snapshots - MoveHelper for block passability checks - IGoal interface + GoalBlock, GoalXZ, GoalNear, GoalComposite - IMove interface + MoveTraverse, MoveDiagonal, MoveAscend, MoveDescend, MoveClimb - /pathfind command for testing the new pathfinder Made-with: Cursor
The X and Z fields shared bit 36, causing nodes like (1,80,0) and (0,80,0) to hash to the same value. Fixed by using proper non-overlapping bit allocation: X in bits 38-63, Z in bits 12-37, Y in bits 0-11. Added diagnostic logging to pathfind command. Made-with: Cursor
Remove verbose per-node insertion tracking from A*. Keep essential logging: start, goal reached, partial/failed results. Clean up pathfind command with exception handling and cleaner output. Made-with: Cursor
- Add MoveFall move for straight-down falls beyond MoveDescend range - Register MoveFall in default move set - Create /goto command using new A* pathfinder - Add MoveToAStar() method to McClient bridging A* results to existing path execution system (Queue<Location> + UpdatePathfindingInput) - Add translation entries for goto command Made-with: Cursor
- Fix MoveHelper.CanWalkThrough to treat climbable blocks (ladders, vines) as passable, not solid -- MCC's IsSolid() incorrectly classifies them - Fix MoveHelper.CanWalkOn to exclude climbable blocks from ground check - Add fence gate passability in MoveHelper - Fix start position calculation in MoveToAStar to handle solid-block floor rounding (player at y=79.9 → floor y=79 inside solid) - Fix ReachedWaypoint to require vertical proximity for climb waypoints, preventing premature waypoint consumption during ladder ascent - Fix SetInputToward to handle ladder climbing with Jump input and proper wall-facing when OnClimbable Made-with: Cursor
…dling Refactor movement tick into AdvanceWaypoint(), add look-ahead logic that detects vertical-only waypoints and merges to the next horizontal waypoint early to handle ladder-to-platform transitions, and add jump input when horizontally aligned but needing to reach a higher Y level. 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
…anilla 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
…mentum Templates now set Forward/Sprint input before checking completion conditions. This prevents a 1-tick input gap during template transitions that caused the player to lose sprint speed, making parkour jumps fail due to insufficient horizontal velocity. Made-with: Cursor
…port 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
- Fix MoveHelper.IsOpenGate: MangroveWood -> MangroveFenceGate - Fix ResetStateForTransfer to cancel and clear pathSegmentManager - Fix GetCurrentMovementGoal to return correct goal during A* navigation - Fix SetMovementSpeed(Sneak) speed value consistency (2 -> 1) - Migrate /pathfind command to use MoveToAStar + PathSegmentManager - Add NavigateToGoal(IGoal) to McClient for flexible goal navigation - Refactor MoveToAStar to delegate to NavigateToGoal - Add ChatBot API: NavigateTo, CancelMovement, GetCurrentMovementGoal - Expose PathSegmentManager.Goal property for external goal inspection Made-with: Cursor
WalkTemplate now detects when physics.OnClimbable is true (player entering a ladder/vine block) and switches from Sprint to Jump input, with extended stuck detection thresholds. This prevents the template from failing when the path walks through climbable blocks. Tested on 1.21.11: all movement types pass (walk, diagonal, ascend, descend, climb, parkour 2-4 gap, mixed courses with direction changes). 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
…king - 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
- 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
- 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
…end checks - MoveParkour: replace full-rectangle intermediate check with diagonal strip check (CheckFlightPath) so walls outside the actual flight corridor no longer block valid parkour jumps. - MoveParkour: require both cardinal neighbors passable for diagonal parkour takeoff; a wall on either side clips the AABB and prevents reaching the target. - MoveSprintDescend: replace full-rectangle check with explicit per-axis intermediate column check. - SprintJumpTemplate: track diagonal jumps and skip approach delay for short diagonal jumps to avoid overshooting small starting platforms. Made-with: Cursor
… and documentation
…live test fixes Theory simulator: - Add 2D side-wall jump physics with yaw sweep for worst-case margin - Generate sidewall theory cases (flat/ascend/descend, wall_offset 0/1) - Add momentum-capabilities.json with band compression and max_reach - Extend models, capabilities, canonical, and renderers for sidewall Full-coverage parkour test suite (tools/test-parkour.py): - Derive test matrix from momentum-capabilities.json - Build linear/neo/ceiling courses via RCON with 7-block clear margin - Use /goto for pathfinding, parse A* and PathMgr log output - Stop-at-first-failure per (family, subfamily, dy, ceil, wo) group - Hierarchical --filter (e.g. linear/flat, ceiling/headhitter/ceil2.5) - Exclude sidewall from default matrix (identical max_reach to linear) Pathing execution fixes: - Align parkour contracts and timing budgets with live test results - Fix jump-entry yaw snapping for grounded handoffs - Template helper and sprint jump template refinements Made-with: Cursor
Move PathSegmentManager's Replan to Task.Run so the main tick only reads results and swaps executors, and introduce a _nextExecutor pre-planning slot so upcoming segments can prepare while the current one finishes. Relax per-tick yaw/pitch rate limiting: allow instantaneous snapping before jump ticks (Baritone does this and servers do not kick for it). Align jump-template success/failure contracts with Baritone: - Success key shifts from "speed squared" to "feet-on-target block". - Failure window widened to the ~200 tick range. - AscendTemplate gets a headBonkClear + edge/side proximity precondition so launches only happen from a safe takeoff. Expose an initialMomentumTicks option on TemplateSimulationRunner so follow-up sidewall scenarios can warm up physics before a template starts. Made-with: Cursor
Introduce an EntryPreparationState carried on PathNode + A* context so sidewall parkour can explicitly request one or more runway traverses before takeoff instead of silently dropping the move. ParkourFeasibility gains TryGetRequiredStaticEntryRunupSteps + HasPreparedRunup helpers so long descends (major=5, dy=-1) only remain feasible when the preceding node proved the runup. Widen HasDominantAxisRunUp to accept cold-start sprint-jumps within ~3.1-3.5 blocks horizontally so lone overhang / staircase takeoffs stay feasible without a 2-block runway (matches Baritone's MomentumBehavior .ALLOWED contract). Add a runtime SidewallParkourController that implements the corner commitment + wall-hug chain during execution. Extend pathing test fixtures with InitialMomentumTicks, add sidewall accepted/rejected scenarios, and refresh timing + contract baselines to reflect the new planner shapes. Document the design in docs/superpowers/specs and plans. Made-with: Cursor
Replace seven hand-written IMove classes (MoveTraverse, MoveDiagonal, MoveAscend, MoveDiagonalAscend, MoveDiagonalDescend, MoveParkour, MoveSidewallParkour) with a single MoveJump driven by a JumpDescriptor (XOffset, ZOffset, YDelta, JumpFlavor). JumpFeasibility is the single source of truth for the physics/cost rules of every jump-family move. A* no longer iterates a flat IMove[]. The Calculate loop now drives an IMoveExpander[] that writes into a stackalloc Span<MoveNeighbor>, eliminating per-iteration heap traffic. JumpExpander enumerates every jump-family descriptor dynamically; LegacyMoveExpander wraps the remaining dynamic-landing moves (MoveDescend, MoveSprintDescend, MoveClimb, MoveFall) so callers that still pass a custom IMove[] keep working. Add two O(1) short-circuits at the top of JumpExpander.Expand: - Hoist the per-node parkour preconditions (AllowParkour + CanSprint, standing block climbability, feet-liquid, head clearance at y+2) so ~170 SprintJump + Sidewall descriptors never call JumpFeasibility when the node cannot take off at all. - Precompute an 8-way "first step has no floor" table indexed by (sign(dx), sign(dz)) so SprintJump descriptors in a direction that has a walkable floor underneath are dropped without Evaluate. - Add a conservative "any cardinal wall at y or y+1" probe that skips all 112 Sidewall descriptors when no wall exists adjacent to the takeoff. Move tests switch to the new MoveJump.* factory methods. Behavior is verified by the existing test suite: the 21 pre-existing baseline failures are preserved exactly, 0 regressions introduced. 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
Two complementary fixes for live-server "stuck on a step then replan" on the 252.5,138,220.5 -> 244.5,122,188.5 route. Search layer (ParkourFeasibility.HasRunUp): a long flat sprint parkour (5 c2c, horiz~5) cannot launch from a cold start. Vanilla physics show that gap=4 dy=0 reaches 5.1075m only with 12 momentum ticks of straight sprint windup; a 0t standing jump tops out at gap=3 (=4 c2c). When the previous move type is not Parkour/Descend (i.e. no carried airborne momentum) we now require two aligned back-runway blocks instead of one so the executor actually has room to spin sprint up. Execution layer (GroundedSegmentController.ShouldComplete): the LandingRecovery early-out used to live below the MinExitSpeed gate. A Descend that landed inside the destination block but naturally settled to zero speed (e.g. when the next segment is a fresh Traverse rather than a chained Parkour) would fail the 0.03 MinExitSpeed check and idle inside the target block until the per-segment timeout fired, triggering an unnecessary replan. Move the LandingRecovery footprint check above the speed gate so a fully-decelerated handoff is accepted. Verified live on 1.21.11-Vanilla: - 252.5,138,220.5 -> 244.5,122,188.5: 24 segments, 0 replans (was: 1) - 244.5,122,188.5 -> 252.5,138,220.5: 48 segments, 0 replans - 251.5,141,210.5 -> 252.5,138,220.5: 34 segments, 0 replans - 252.5,138,220.5 -> 251.5,141,210.5: 24 segments, 0 replans Test suite: 297 passed / 22 known pre-existing failures, no new regressions vs 5de169d. Made-with: Cursor
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