wip(assembler): M1 round 4 PARTIAL -- stopped at owner's request (GPU coil whine at night)

Unverified mid-round state (cliff plates / horizon slab / routes in progress). Resume from here.

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01MmSoF64BbRFmk9C3p1VsBJ

Standalone/Core/src/FarShellsInternal.h

@@ -967,11 +967,38 @@ inline void AppendFarStratumShells(const FStandaloneOwnerWorld& World,const FSta
                 };
                 const int32 Base=static_cast<int32>(NewVertices.size());
                 const double Xs[4]={X0,X1,X1,X0},Ys[4]={Y0,Y0,Y1,Y1};
+                std::array<double,4> CornerZ{};
+                std::array<FVector,4> CornerNormals{};
+                bool bValidPatch=true;
                 for(int32 Corner=0;Corner<4;++Corner)
                 {
-                    const double Z=SurfaceZ(Xs[Corner],Ys[Corner]);
-                    NewVertices.emplace_back(Xs[Corner]*25.0,Ys[Corner]*25.0,Z*25.0);
-                    NewNormals.push_back(Normal);
+                    const double PredictedZ=SurfaceZ(Xs[Corner],Ys[Corner]);
+                    const std::vector<double> CornerCrossings=FindFarStratumCrossings(
+                        Shape,Xs[Corner],Ys[Corner],ZMin,ZMax);
+                    if(CornerCrossings.empty()){bValidPatch=false;break;}
+                    CornerZ[Corner]=*std::min_element(CornerCrossings.begin(),CornerCrossings.end(),
+                        [PredictedZ](double A,double B)
+                        {return std::abs(A-PredictedZ)<std::abs(B-PredictedZ);});
+                    const float CornerGX=Density(Xs[Corner]+2,Ys[Corner],CornerZ[Corner])
+                        -Density(Xs[Corner]-2,Ys[Corner],CornerZ[Corner]);
+                    const float CornerGY=Density(Xs[Corner],Ys[Corner]+2,CornerZ[Corner])
+                        -Density(Xs[Corner],Ys[Corner]-2,CornerZ[Corner]);
+                    const float CornerGZ=Density(Xs[Corner],Ys[Corner],CornerZ[Corner]+2)
+                        -Density(Xs[Corner],Ys[Corner],CornerZ[Corner]-2);
+                    CornerNormals[Corner]=FVector(CornerGX,CornerGY,CornerGZ);
+                    if(CornerNormals[Corner].SizeSquared()<1.0e-8)
+                        CornerNormals[Corner]=Normal;
+                    else CornerNormals[Corner].Normalize();
+                }
+                // A center crossing alone cannot justify a large tangent quad: it can
+                // bridge air over an isolated far-LOD feature and draw as a horizon slab.
+                // Keep the fallback only when the source field has a matching crossing
+                // at every corner, and place each corner on that source crossing.
+                if(!bValidPatch)continue;
+                for(int32 Corner=0;Corner<4;++Corner)
+                {
+                    NewVertices.emplace_back(Xs[Corner]*25.0,Ys[Corner]*25.0,CornerZ[Corner]*25.0);
+                    NewNormals.push_back(CornerNormals[Corner]);
                     if(bHasUVs)NewUVs.emplace_back(static_cast<float>((Xs[Corner]-Origin.X)/256.0),
                         static_cast<float>((Ys[Corner]-Origin.Y)/256.0));
                     if(bHasColors)NewColors.push_back(Color);

Standalone/Core/src/VoxelForgeCore.cpp

@@ -627,12 +627,42 @@ namespace VoxelForgeCore
         mesher.bGenerateSkirts=world.bGenerateSkirts;mesher.SkirtCells=static_cast<float>(world.SkirtCells);
         mesher.LODOctaveDrop=world.LODOctaveDrop;
         const int32 level=key.lod,extent=CHUNK_SIZE<<level;
-        const int32 cells=level<world.FullResClipLevels?CHUNK_SIZE:FMath::Max(1,world.CoarseTileCells);
-        const int32 step=FMath::Max(1,extent/cells);
-        int64 sampleCount=0;std::vector<float> densityValues;
         const FVoxelTileKey nativeKey=ToNative(key);
         const FIntVector origin=nativeKey.OriginVoxels();
+        int32 cells=level<world.FullResClipLevels?CHUNK_SIZE:FMath::Max(1,world.CoarseTileCells);
+        int32 step=FMath::Max(1,extent/cells);
+        bool bFeatureRefinedResolution=false;
+        if(impl_->worldAssembly&&level<=2)
+        {
+            constexpr std::int64_t Scale=VoxelForgeCore::WorldAssemblySubvoxelsPerVoxel;
+            const std::array<std::int64_t,3> tileMin={
+                static_cast<std::int64_t>(origin.X)*Scale,
+                static_cast<std::int64_t>(origin.Y)*Scale,
+                static_cast<std::int64_t>(origin.Z)*Scale};
+            const std::array<std::int64_t,3> tileMax={
+                static_cast<std::int64_t>(origin.X+extent)*Scale,
+                static_cast<std::int64_t>(origin.Y+extent)*Scale,
+                static_cast<std::int64_t>(origin.Z+extent)*Scale};
+            for(const auto& stratum:impl_->worldAssembly->plan.strates)
+            for(const auto& feature:stratum.features)
+            {
+                if(feature.type!=4)continue;
+                bool overlaps=true;
+                for(std::size_t axis=0;axis<3;++axis)
+                    overlaps=overlaps&&feature.minimumSubvoxels[axis]<=tileMax[axis]
+                        &&feature.maximumSubvoxels[axis]>=tileMin[axis];
+                if(overlaps)
+                {
+                    // A two-voxel shelf is only one sample wide at LOD1's normal step.
+                    // Mesh feature-intersecting tiles at the one-voxel Core lattice so
+                    // the full-resolution block cannot turn into a one-cell plate.
+                    cells=extent;step=1;bFeatureRefinedResolution=true;break;
+                }
+            }
+        }
+        int64 sampleCount=0;std::vector<float> densityValues;
         TileMesh out;out.key=key;
+        out.diagnostics.featureRefinedResolution=bFeatureRefinedResolution;
         const bool bHasWorldAssembly=impl_->worldAssembly!=nullptr;
         const bool bNeedsFarShell=bHasWorldAssembly&&key.lod>=7
             &&(tileShape.HasFarWorld()||impl_->shape->HasFarWorld());
@@ -691,6 +721,18 @@ namespace VoxelForgeCore
             AppendFarStratumShells(world,farShape,nativeKey,step,mesh);
             AppendFarConnectorShells(farShape,nativeKey,step,world.CoarseTileCells,mesh);
         }
+        if(bHasWorldAssembly&&key.lod>=8&&mesh.NumCeilingTriangles>0)
+        {
+            // The finite sky cap remains in the composed field, queries, and local meshes.
+            // At the coarsest clipmap level its large planar triangles read as a detached
+            // horizon slab, so omit only that far render group after far-shell construction.
+            const int32 KeptTriangleCount=std::max(0,mesh.Triangles.Num()/3-mesh.NumCeilingTriangles);
+            const int32 KeptIndexCount=KeptTriangleCount*3;
+            out.diagnostics.farCapTrianglesSuppressed=static_cast<std::uint64_t>(mesh.NumCeilingTriangles);
+            mesh.Triangles.SetNum(KeptIndexCount);
+            mesh.TriangleSkirtFaceMasks.SetNum(KeptTriangleCount);
+            mesh.NumCeilingTriangles=0;
+        }
 
         out.densitySampleCount=static_cast<std::uint64_t>(std::max<int64>(0,sampleCount));
         if(bHasWorldAssembly)

Standalone/Core/src/WorldAssemblerInternal.h

@@ -16,6 +16,7 @@ namespace VoxelForgeCore
 namespace world_assembly_detail
 {
     constexpr std::int64_t Q16 = 1ll << 16;
+    constexpr std::int64_t MinimumCliffShelfThicknessSubvoxels = 2 * WorldAssemblySubvoxelsPerVoxel;
     constexpr std::int64_t MaxSerializedMagnitude = 1000000000000ll;
     constexpr std::size_t MaxBiomeCount = 8;
     constexpr std::size_t MaxStrateCount = 64;
@@ -228,6 +229,60 @@ namespace world_assembly_detail
                 || !std::all_of(point.positionSubvoxels.begin(), point.positionSubvoxels.end(), ValidScalar))
             { error = "world assembly route point has an invalid feature ID, position or radius"; return false; }
         }
+        std::vector<std::uint64_t> routeIds;
+        routeIds.reserve(stratum.route.size());
+        for (const auto& point : stratum.route)
+        {
+            if (std::find(routeIds.begin(), routeIds.end(), point.stableFeatureId) != routeIds.end())
+            { error = "world assembly route point IDs must be unique"; return false; }
+            routeIds.push_back(point.stableFeatureId);
+        }
+        for (std::size_t i = 1; i < stratum.route.size(); ++i)
+        {
+            std::uint64_t squared = 0;
+            for (std::size_t axis = 0; axis < 3; ++axis)
+            {
+                const std::int64_t delta = stratum.route[i].positionSubvoxels[axis]
+                    - stratum.route[i - 1].positionSubvoxels[axis];
+                if (std::abs(delta) > 4096 * WorldAssemblySubvoxelsPerVoxel)
+                { error = "world assembly route segment exceeds its bounded sweep length"; return false; }
+                squared += static_cast<std::uint64_t>(delta * delta);
+            }
+            if (squared == 0)
+            { error = "world assembly route contains a zero-length segment"; return false; }
+        }
+        const auto& constraints = stratum.routeConstraints;
+        if (constraints.version == 0)
+        {
+            if (constraints.capsuleRadiusSubvoxels != 0 || constraints.capsuleHeightSubvoxels != 0
+                || constraints.maximumGradeQ16 != 0 || constraints.sweepSpacingSubvoxels != 0
+                || constraints.supportProbeRadiusSubvoxels != 0
+                || constraints.supportSearchDepthSubvoxels != 0
+                || constraints.minimumClearanceSubvoxels != 0 || constraints.minimumSupportProbes != 0)
+            { error = "world assembly route constraints need a supported version"; return false; }
+        }
+        else if (constraints.version != 1
+            || !ValidScalar(constraints.capsuleRadiusSubvoxels)
+            || !ValidScalar(constraints.capsuleHeightSubvoxels)
+            || !ValidScalar(constraints.maximumGradeQ16)
+            || !ValidScalar(constraints.sweepSpacingSubvoxels)
+            || !ValidScalar(constraints.supportProbeRadiusSubvoxels)
+            || !ValidScalar(constraints.supportSearchDepthSubvoxels)
+            || !ValidScalar(constraints.minimumClearanceSubvoxels)
+            || constraints.capsuleRadiusSubvoxels <= 0
+            || constraints.capsuleHeightSubvoxels < 2 * constraints.capsuleRadiusSubvoxels
+            || constraints.maximumGradeQ16 <= 0 || constraints.maximumGradeQ16 > Q16
+            || constraints.sweepSpacingSubvoxels <= 0
+            || constraints.sweepSpacingSubvoxels > WorldAssemblySubvoxelsPerVoxel / 2
+            || constraints.supportProbeRadiusSubvoxels <= 0
+            || constraints.supportSearchDepthSubvoxels <= 0
+            || constraints.minimumClearanceSubvoxels < 0
+            || constraints.minimumSupportProbes == 0 || constraints.minimumSupportProbes > 5)
+        { error = "world assembly route support constraints are outside the supported range"; return false; }
+        if (constraints.version == 1)
+            for (const auto& point : stratum.route)
+                if (point.radiusSubvoxels < constraints.capsuleRadiusSubvoxels)
+                { error = "world assembly route corridor is narrower than its player capsule"; return false; }
         return true;
     }
 
@@ -310,6 +365,20 @@ namespace world_assembly_detail
             for (const auto value : feature.maximumSubvoxels) HashWord(hash, static_cast<std::uint64_t>(value), 8);
             for (const auto value : feature.parametersSubvoxels) HashWord(hash, static_cast<std::uint64_t>(value), 8);
         }
+        if (stratum.routeConstraints.version != 0)
+        {
+            const auto& constraints = stratum.routeConstraints;
+            HashWord(hash, 0x524f5554455631ull, 8);
+            HashWord(hash, constraints.version, 4);
+            HashWord(hash, static_cast<std::uint64_t>(constraints.capsuleRadiusSubvoxels), 8);
+            HashWord(hash, static_cast<std::uint64_t>(constraints.capsuleHeightSubvoxels), 8);
+            HashWord(hash, static_cast<std::uint64_t>(constraints.maximumGradeQ16), 8);
+            HashWord(hash, static_cast<std::uint64_t>(constraints.sweepSpacingSubvoxels), 8);
+            HashWord(hash, static_cast<std::uint64_t>(constraints.supportProbeRadiusSubvoxels), 8);
+            HashWord(hash, static_cast<std::uint64_t>(constraints.supportSearchDepthSubvoxels), 8);
+            HashWord(hash, static_cast<std::uint64_t>(constraints.minimumClearanceSubvoxels), 8);
+            HashWord(hash, constraints.minimumSupportProbes, 4);
+        }
         HashWord(hash, stratum.route.size(), 4);
         for (const auto& point : stratum.route)
         {
@@ -440,6 +509,24 @@ namespace world_assembly_detail
             { error = "world assembly stratum has malformed optional evaluator-2 fields"; return false; }
             if(hasWaterBoolean)stratum.waterEnabled=waterEnabled.Boolean(false);
             if(hasWaterNumber)stratum.waterEnabled=waterEnabled.Number()!=0.0;
+            const VFJson::Value& routeConstraintsValue = item.Get("route_constraints");
+            if (!std::holds_alternative<std::nullptr_t>(routeConstraintsValue.Data))
+            {
+                auto& constraints = stratum.routeConstraints;
+                std::uint32_t minimumSupportProbes = 0;
+                if (!routeConstraintsValue.IsObject()
+                    || !ReadU32(routeConstraintsValue.Get("version"), constraints.version)
+                    || !ReadInteger(routeConstraintsValue.Get("capsule_radius_q"), constraints.capsuleRadiusSubvoxels)
+                    || !ReadInteger(routeConstraintsValue.Get("capsule_height_q"), constraints.capsuleHeightSubvoxels)
+                    || !ReadInteger(routeConstraintsValue.Get("maximum_grade_q16"), constraints.maximumGradeQ16)
+                    || !ReadInteger(routeConstraintsValue.Get("sweep_spacing_q"), constraints.sweepSpacingSubvoxels)
+                    || !ReadInteger(routeConstraintsValue.Get("support_probe_radius_q"), constraints.supportProbeRadiusSubvoxels)
+                    || !ReadInteger(routeConstraintsValue.Get("support_search_depth_q"), constraints.supportSearchDepthSubvoxels)
+                    || !ReadInteger(routeConstraintsValue.Get("minimum_clearance_q"), constraints.minimumClearanceSubvoxels)
+                    || !ReadU32(routeConstraintsValue.Get("minimum_support_probes"), minimumSupportProbes))
+                { error = "world assembly route constraints are missing a fixed-scale field"; return false; }
+                constraints.minimumSupportProbes = minimumSupportProbes;
+            }
             for (const auto& featureValue : item.Get("features").AsArray())
             {
                 WorldAssemblyFeatureV1 feature;
@@ -1109,7 +1196,7 @@ namespace world_assembly_detail
     inline std::int64_t CliffShelfDensity(const WorldAssemblyFeatureV1& feature,
         const WorldAssemblyRecipeV1& recipe,const WorldAssemblyStratumPlanV1& plan,
         std::int64_t x,std::int64_t y,std::int64_t z,
-        const HeightfieldPointSample& localColumn)
+        const HeightfieldPointSample& localColumn,bool enforceMinimumThickness)
     {
         const auto& lo=feature.minimumSubvoxels;const auto& hi=feature.maximumSubvoxels;
         if(x<lo[0]||x>hi[0]||y<lo[1]||y>hi[1]||z<lo[2]||z>hi[2])
@@ -1134,17 +1221,36 @@ namespace world_assembly_detail
             return std::numeric_limits<std::int64_t>::max()/4;
         const std::uint32_t vertical=SmoothQ16(static_cast<std::uint32_t>(
             std::clamp<std::int64_t>(aboveGround*Q16/height,0,Q16)));
-        const std::int64_t sourceOffset=MulQ16(reach,vertical);
+        // Evaluator v4 samples the source column on the shelf's root line. The offset
+        // therefore follows horizontal progress through the block and stays fixed for
+        // every z slice. Advancing it with z can make the shelf switch on at its top;
+        // sampling the far end everywhere instead can pull a distant cliff cap across
+        // the whole shelf. Earlier evaluators retain their height-dependent taper.
+        const std::int64_t sourceOffset=enforceMinimumThickness
+            ?std::clamp<std::int64_t>(along,0,reach):MulQ16(reach,vertical);
         const std::int64_t sourceX=x-dirX*sourceOffset;
         const std::int64_t sourceY=y-dirY*sourceOffset;
         const HeightfieldPointSample source=CachedColumn(recipe,plan,sourceX,sourceY);
         if(source.groundHeightSubvoxels<=localColumn.groundHeightSubvoxels)
             return std::numeric_limits<std::int64_t>::max()/4;
-        std::int64_t candidate=std::max({localColumn.groundHeightSubvoxels-z,
-            z-source.groundHeightSubvoxels,-along,along-reach,
-            std::abs(lateral)-halfWidth,-aboveGround,aboveGround-height});
         const std::uint32_t edgeFade=FeatureFadeQ16(feature,x,y,Feather);
-        candidate+=static_cast<std::int64_t>(Q16-edgeFade)*Feather/Q16;
+        const std::int64_t edgeInset=static_cast<std::int64_t>(Q16-edgeFade)*Feather/Q16;
+        const std::int64_t sourceTop=enforceMinimumThickness
+            ?std::max(source.groundHeightSubvoxels,
+                localColumn.groundHeightSubvoxels+MinimumCliffShelfThicknessSubvoxels)
+            :source.groundHeightSubvoxels;
+        std::int64_t candidate=std::max({localColumn.groundHeightSubvoxels-z,
+            z-sourceTop,-aboveGround,aboveGround-height});
+        if(enforceMinimumThickness)
+        {
+            // The feather narrows the shelf footprint. It must not offset the top and
+            // bottom surfaces, or their vertical separation collapses into MC sheets.
+            candidate=std::max({candidate,-along+edgeInset,along-reach+edgeInset,
+                std::abs(lateral)-halfWidth+edgeInset});
+        }
+        else
+            candidate=std::max({candidate,-along,along-reach,
+                std::abs(lateral)-halfWidth})+edgeInset;
         return candidate;
     }
 
@@ -1192,6 +1298,26 @@ bool WorldAssemblyManifest::finalize(std::string& error)
     for (auto& stratum : plan.strates)
     {
         if (!world_assembly_detail::ValidateStratum(stratum, error)) return false;
+        if (recipe.evaluatorVersion >= 4)
+        {
+            if (stratum.routeConstraints.version != 1 || stratum.route.size() < 2)
+            { error = "world assembly evaluator 4 requires a versioned entrance-to-exit route"; return false; }
+            const std::int64_t bottomZ = static_cast<std::int64_t>(stratum.bottomChunkZ)
+                * 32 * WorldAssemblySubvoxelsPerVoxel;
+            const std::int64_t topZ = (static_cast<std::int64_t>(stratum.topChunkZ) + 1)
+                * 32 * WorldAssemblySubvoxelsPerVoxel;
+            const std::int64_t halfHeight = stratum.routeConstraints.capsuleHeightSubvoxels / 2;
+            for (const auto& point : stratum.route)
+            {
+                if (point.positionSubvoxels[2] - halfHeight < bottomZ
+                    || point.positionSubvoxels[2] + halfHeight > topZ)
+                { error = "world assembly route capsule escapes its finite stratum Z bounds"; return false; }
+            }
+            for (const auto& feature : stratum.features)
+                if (feature.type == 4 && feature.parametersSubvoxels[2]
+                    < 2 * WorldAssemblySubvoxelsPerVoxel)
+                { error = "world assembly evaluator 4 cliff shelf is thinner than its two-voxel minimum"; return false; }
+        }
         if (std::find(strateIds.begin(), strateIds.end(), stratum.strateIndex) != strateIds.end())
         { error = "world assembly plan contains a duplicate strate index"; return false; }
         strateIds.push_back(stratum.strateIndex);
@@ -1322,7 +1448,21 @@ std::string WorldAssemblyManifest::ToJson() const
                 << feature.parametersSubvoxels[0] << ',' << feature.parametersSubvoxels[1] << ','
                 << feature.parametersSubvoxels[2] << ',' << feature.parametersSubvoxels[3] << "]}";
         }
-        out << "],\"route\":[";
+        out << ']';
+        if (stratum.routeConstraints.version != 0)
+        {
+            const auto& constraints = stratum.routeConstraints;
+            out << ",\"route_constraints\":{\"version\":" << constraints.version
+                << ",\"capsule_radius_q\":" << constraints.capsuleRadiusSubvoxels
+                << ",\"capsule_height_q\":" << constraints.capsuleHeightSubvoxels
+                << ",\"maximum_grade_q16\":" << constraints.maximumGradeQ16
+                << ",\"sweep_spacing_q\":" << constraints.sweepSpacingSubvoxels
+                << ",\"support_probe_radius_q\":" << constraints.supportProbeRadiusSubvoxels
+                << ",\"support_search_depth_q\":" << constraints.supportSearchDepthSubvoxels
+                << ",\"minimum_clearance_q\":" << constraints.minimumClearanceSubvoxels
+                << ",\"minimum_support_probes\":" << constraints.minimumSupportProbes << '}';
+        }
+        out << ",\"route\":[";
         for (std::size_t p = 0; p < stratum.route.size(); ++p)
         {
             const auto& point = stratum.route[p];
@@ -1391,7 +1531,8 @@ HeightfieldPointSample Heightfield2D::point(std::int64_t x, std::int64_t y,
             }
             else if(feature.type==4&&recipe_->evaluatorVersion>=3)
             {
-                const std::int64_t shelf=CliffShelfDensity(feature,*recipe_,*plan_,x,y,z,out);
+                const std::int64_t shelf=CliffShelfDensity(feature,*recipe_,*plan_,x,y,z,out,
+                    recipe_->evaluatorVersion>=4);
                 out.densitySubvoxels=SmoothMinSubvoxels(out.densitySubvoxels,shelf,
                     4*WorldAssemblySubvoxelsPerVoxel);
             }
@@ -1592,6 +1733,9 @@ FieldDetailEnvelope Heightfield2D::detailEnvelope() const noexcept
                 (feature.maximumSubvoxels[2]-feature.minimumSubvoxels[2])/2}));
         if(feature.type==4)maximum=std::max(maximum,feature.parametersSubvoxels[2]
             +WorldAssemblySubvoxelsPerVoxel);
+        if(feature.type==4&&recipe_->evaluatorVersion>=4)
+            minimumFeature=std::min(minimumFeature,
+                world_assembly_detail::MinimumCliffShelfThicknessSubvoxels);
         if(feature.type==3)maximum=std::max(maximum,std::abs(feature.parametersSubvoxels[0]));
     }
     out.maximumAbsoluteDisplacementSubvoxels = maximum;
@@ -1746,4 +1890,203 @@ WorldAssemblyBoundsAuditResult AuditHeightfieldBounds(const Heightfield2D& block
         && result.unknownBounds == 0 && result.negativeControlDetected;
     return result;
 }
+
+WorldAssemblyShelfThicknessAuditResult AuditHeightfieldShelfThickness(const Heightfield2D& block)
+{
+    WorldAssemblyShelfThicknessAuditResult result;
+    const auto* recipe=block.recipe();
+    const auto* plan=block.plan();
+    if(!block.isValid()||!recipe||!plan||recipe->evaluatorVersion<4)return result;
+    constexpr std::int64_t sampleStep=WorldAssemblySubvoxelsPerVoxel/4;
+    constexpr std::int64_t xyStep=WorldAssemblySubvoxelsPerVoxel/2;
+    std::int64_t minimumObserved=std::numeric_limits<std::int64_t>::max();
+    for(std::size_t featureIndex=0;featureIndex<plan->features.size();++featureIndex)
+    {
+        const auto& feature=plan->features[featureIndex];
+        if(feature.type!=4)continue;
+        ++result.featuresTested;
+        auto baselinePlan=*plan;
+        baselinePlan.features.erase(baselinePlan.features.begin()+featureIndex);
+        const Heightfield2D baseline(*recipe,baselinePlan);
+        const std::int64_t firstX=feature.minimumSubvoxels[0]+WorldAssemblySubvoxelsPerVoxel;
+        const std::int64_t lastX=feature.maximumSubvoxels[0]-WorldAssemblySubvoxelsPerVoxel;
+        const std::int64_t firstY=feature.minimumSubvoxels[1]+WorldAssemblySubvoxelsPerVoxel;
+        const std::int64_t lastY=feature.maximumSubvoxels[1]-WorldAssemblySubvoxelsPerVoxel;
+        for(std::int64_t y=firstY;y<=lastY;y+=xyStep)
+        for(std::int64_t x=firstX;x<=lastX;x+=xyStep)
+        {
+            ++result.columnsTested;
+            const std::int64_t ground=baseline.point(x,y,0).groundHeightSubvoxels;
+            const std::int64_t range=std::max<std::int64_t>(feature.parametersSubvoxels[2],
+                world_assembly_detail::MinimumCliffShelfThicknessSubvoxels)+sampleStep;
+            std::int64_t currentRun=0,legacyCurrentRun=0;
+            std::int64_t currentStart=0,legacyCurrentStart=0;
+            bool columnActive=false,columnSubVoxel=false,legacyColumnSubVoxel=false;
+            const auto recordRun=[&](std::int64_t run,std::int64_t start,bool legacy)
+            {
+                if(run<=0)return;
+                if(legacy)
+                {
+                    if(run<WorldAssemblySubvoxelsPerVoxel)
+                    {++result.legacySubVoxelRuns;legacyColumnSubVoxel=true;}
+                    return;
+                }
+                columnActive=true;
+                ++result.negativeRuns;
+                if(run<minimumObserved)
+                {
+                    minimumObserved=run;
+                    result.minimumThicknessColumnXSubvoxels=x;
+                    result.minimumThicknessColumnYSubvoxels=y;
+                    result.minimumThicknessGroundSubvoxels=ground;
+                    result.minimumThicknessBottomSubvoxels=start;
+                    result.minimumThicknessTopSubvoxels=start+run-sampleStep;
+                }
+                if(run<WorldAssemblySubvoxelsPerVoxel)
+                {++result.subVoxelRuns;columnSubVoxel=true;}
+            };
+            for(std::int64_t dz=sampleStep;dz<=range;dz+=sampleStep)
+            {
+                const std::int64_t z=ground+dz;
+                const auto baselineSample=baseline.point(x,y,z);
+                if(baselineSample.densitySubvoxels<=0)
+                {
+                    recordRun(currentRun,currentStart,false);currentRun=0;
+                    recordRun(legacyCurrentRun,legacyCurrentStart,true);legacyCurrentRun=0;
+                    continue;
+                }
+                const auto composedSample=block.point(x,y,z);
+                if(composedSample.densitySubvoxels<0)
+                {
+                    if(currentRun==0)currentStart=z;
+                    currentRun+=sampleStep;
+                }
+                else {recordRun(currentRun,currentStart,false);currentRun=0;}
+
+                const std::int64_t oldShelf=world_assembly_detail::CliffShelfDensity(feature,*recipe,baselinePlan,
+                    x,y,z,baselineSample,false);
+                const std::int64_t legacyDensity=world_assembly_detail::SmoothMinSubvoxels(
+                    baselineSample.densitySubvoxels,oldShelf,4*WorldAssemblySubvoxelsPerVoxel);
+                if(legacyDensity<0)
+                {if(legacyCurrentRun==0)legacyCurrentStart=z;legacyCurrentRun+=sampleStep;}
+                else {recordRun(legacyCurrentRun,legacyCurrentStart,true);legacyCurrentRun=0;}
+            }
+            recordRun(currentRun,currentStart,false);
+            recordRun(legacyCurrentRun,legacyCurrentStart,true);
+            if(columnActive)++result.activeColumns;
+            if(columnSubVoxel)++result.subVoxelColumns;
+            if(legacyColumnSubVoxel)++result.legacySubVoxelColumns;
+        }
+    }
+    if(minimumObserved!=std::numeric_limits<std::int64_t>::max())
+        result.minimumObservedThicknessSubvoxels=minimumObserved;
+    result.negativeControlDetected=result.legacySubVoxelColumns>0;
+    result.passed=result.featuresTested>0&&result.activeColumns>0
+        &&result.minimumObservedThicknessSubvoxels>=world_assembly_detail::MinimumCliffShelfThicknessSubvoxels
+        &&result.subVoxelRuns==0&&result.negativeControlDetected;
+    return result;
+}
+
+WorldAssemblyRouteAuditResult AuditHeightfieldRoute(const Heightfield2D& block)
+{
+    WorldAssemblyRouteAuditResult result;
+    const auto* plan=block.plan();
+    if(!block.isValid()||!plan||plan->routeConstraints.version!=1||plan->route.size()<2)
+        return result;
+    using namespace world_assembly_detail;
+    const auto& constraints=plan->routeConstraints;
+    const std::int64_t radius=constraints.capsuleRadiusSubvoxels;
+    const std::int64_t halfHeight=constraints.capsuleHeightSubvoxels/2;
+    const std::int64_t axisHalf=std::max<std::int64_t>(0,halfHeight-radius);
+    const std::int64_t spacing=std::min<std::int64_t>(constraints.sweepSpacingSubvoxels,
+        WorldAssemblySubvoxelsPerVoxel/2);
+    const std::int64_t supportSpacing=std::min<std::int64_t>(spacing,
+        WorldAssemblySubvoxelsPerVoxel/4);
+    std::int64_t minimumClearance=std::numeric_limits<std::int64_t>::max();
+    std::int64_t maximumSupportDepth=0;
+    const std::array<std::array<std::int64_t,2>,5> supportOffsets{{
+        {{0,0}},{{constraints.supportProbeRadiusSubvoxels,0}},
+        {{-constraints.supportProbeRadiusSubvoxels,0}},
+        {{0,constraints.supportProbeRadiusSubvoxels}},
+        {{0,-constraints.supportProbeRadiusSubvoxels}}}};
+
+    const auto sweepCapsule=[&](const std::array<std::int64_t,3>& center)
+    {
+        ++result.centerSamples;
+        const std::int64_t footZ=center[2]-halfHeight;
+        const std::int64_t firstDz=-halfHeight+constraints.minimumClearanceSubvoxels;
+        for(std::int64_t dz=firstDz;dz<=halfHeight;dz+=spacing)
+        {
+            const std::int64_t capOffset=std::max<std::int64_t>(0,std::abs(dz)-axisHalf);
+            const std::int64_t radialSquared=radius*radius-capOffset*capOffset;
+            if(radialSquared<0)continue;
+            for(std::int64_t oy=-radius;oy<=radius;oy+=spacing)
+            for(std::int64_t ox=-radius;ox<=radius;ox+=spacing)
+            {
+                if(ox*ox+oy*oy>radialSquared)continue;
+                const auto sample=block.point(center[0]+ox,center[1]+oy,center[2]+dz);
+                ++result.capsuleFieldSamples;
+                minimumClearance=std::min(minimumClearance,sample.densitySubvoxels);
+                if(sample.densitySubvoxels<constraints.minimumClearanceSubvoxels)
+                    ++result.blockedCapsuleSamples;
+            }
+        }
+        std::uint32_t supportedProbes=0;
+        for(const auto& offset:supportOffsets)
+        {
+            ++result.supportProbeSamples;
+            bool supported=false;
+            for(std::int64_t depth=supportSpacing;
+                depth<=constraints.supportSearchDepthSubvoxels;depth+=supportSpacing)
+            {
+                const auto sample=block.point(center[0]+offset[0],center[1]+offset[1],footZ-depth);
+                if(sample.densitySubvoxels<0)
+                {
+                    supported=true;
+                    maximumSupportDepth=std::max(maximumSupportDepth,depth);
+                    break;
+                }
+            }
+            if(supported)++supportedProbes;
+        }
+        if(supportedProbes<constraints.minimumSupportProbes)
+            ++result.unsupportedCenterSamples;
+    };
+
+    for(std::size_t segment=1;segment<plan->route.size();++segment)
+    {
+        ++result.segmentsTested;
+        const auto& from=plan->route[segment-1].positionSubvoxels;
+        const auto& to=plan->route[segment].positionSubvoxels;
+        const std::int64_t dx=to[0]-from[0],dy=to[1]-from[1],dz=to[2]-from[2];
+        const std::uint64_t horizontalSquared=static_cast<std::uint64_t>(dx*dx+dy*dy);
+        const std::uint64_t horizontalLength=IntegerSqrt(horizontalSquared);
+        const std::uint64_t rise=static_cast<std::uint64_t>(std::abs(dz));
+        if(horizontalLength==0||rise*static_cast<std::uint64_t>(Q16)
+            >horizontalLength*static_cast<std::uint64_t>(constraints.maximumGradeQ16))
+            ++result.gradeFailures;
+        const std::uint64_t length=IntegerSqrt(horizontalSquared
+            +static_cast<std::uint64_t>(dz*dz));
+        const std::uint64_t sampleCount=std::max<std::uint64_t>(1,
+            (length+static_cast<std::uint64_t>(spacing)-1)/static_cast<std::uint64_t>(spacing));
+        const std::uint64_t first=segment==1?0:1;
+        for(std::uint64_t i=first;i<=sampleCount;++i)
+        {
+            const auto interpolate=[&](std::size_t axis)
+            {
+                const std::int64_t delta=to[axis]-from[axis];
+                return from[axis]+delta*static_cast<std::int64_t>(i)
+                    /static_cast<std::int64_t>(sampleCount);
+            };
+            sweepCapsule({interpolate(0),interpolate(1),interpolate(2)});
+        }
+    }
+    result.minimumClearanceSubvoxels=minimumClearance==std::numeric_limits<std::int64_t>::max()
+        ?0:minimumClearance;
+    result.maximumSupportDepthSubvoxels=maximumSupportDepth;
+    result.passed=result.segmentsTested>0&&result.centerSamples>0
+        &&result.blockedCapsuleSamples==0&&result.unsupportedCenterSamples==0
+        &&result.gradeFailures==0;
+    return result;
+}
 }