planner: four-strate owner plan spawns (L66); pinned 2-strate regression fixture

- Core caps each passage mouth reach to its own strate's usable content band (owner DA_Strate1 exports ReachMax=5000 owner voxels, which put the SW->FI lower mouth 79.5 m below FI, inside TN). - Unreal adapter: SW route search keeps the old 64 m candidates first, then a bounded single-mouth search with shorter lengths; logs candidate/rejection counts. - Internal-chain passage floor/support tweaks (only with >2 strates): ripple 1-2 4.78->2.90 cm, 2-3 3.57->0.10 cm. Interfaces still 0/3 walkable (59/3/2 unsupported). - verify.py: legacy tiers use Standalone/data/regression/owner_world_2strate_l61.json; new four-strate stage reads its expectations from owner_world.json (currently red on interfaces). - Unreal trace L14 vs HEAD, same assets (16-chunk FlatPlain): 12.20 vs 12.56 worker-s; no x2. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_016dhxM43dnWvUu2B5Ph1iG1
2026-10-26 22:13:22 +01:00
1 parent 47148e0a0d
commit 5e2fc53d39
@@ -2325,8 +2325,22 @@ bool PlanResolvedLayoutPassagesV1(ResolvedLayoutSnapshotV3& layout,std::int32_t
        const std::int64_t midRadius=std::max<std::int64_t>(
            static_cast<std::int64_t>(std::llround((upperIsSurfaceWorld?3.5:1.5)*qPerMetre)),
            cfg?cfg->midRadiusSubvoxels:mouthRadius);
-        const std::int64_t reachMinimum=cfg?std::max<std::int64_t>(0,cfg->reachMinimumSubvoxels):8*qPerMetre;
-        const std::int64_t reachMaximum=cfg?std::max<std::int64_t>(reachMinimum,cfg->reachMaximumSubvoxels):24*qPerMetre;
+        const std::int64_t requestedReachMinimum=cfg
+            ?std::max<std::int64_t>(0,cfg->reachMinimumSubvoxels):8*qPerMetre;
+        const std::int64_t requestedReachMaximum=cfg
+            ?std::max<std::int64_t>(requestedReachMinimum,cfg->reachMaximumSubvoxels):24*qPerMetre;
+        // Keep the landing several metres inside the stratum's authored content.
+        // Near a band edge, the sampled native terrain can exist at the centerline
+        // while the full capsule footprint has no supporting ground.
+        const std::int64_t mouthClearance=std::max(mouthRadius,midRadius)+2*qPerMetre;
+        const auto usableReach=[&](const ResolvedLayoutStratumV2& stratum)
+        {
+            const std::int64_t depth=contentZQ(stratum.content.topMicrometres)
+                -contentZQ(stratum.content.bottomMicrometres);
+            return std::max<std::int64_t>(0,depth-mouthClearance);
+        };
+        const std::int64_t upperReachLimit=usableReach(upper);
+        const std::int64_t lowerReachLimit=usableReach(lower);
        const std::uint32_t style=cfg?std::min<std::uint32_t>(cfg->style,3u):1u;
        const std::uint32_t segments=cfg?std::clamp<std::uint32_t>(cfg->segments,16u,48u):20u;
        const std::int64_t wander=cfg?std::max<std::int64_t>(0,cfg->wanderSubvoxels):3*qPerMetre;
@@ -2362,16 +2376,30 @@ bool PlanResolvedLayoutPassagesV1(ResolvedLayoutSnapshotV3& layout,std::int32_t
                if(!hasUpperRoute)
                {
                    upperMouth[0]=xy[0];upperMouth[1]=xy[1];
-                    const auto reach=reachValue(PassageSeed(seed,upper.strateIndex,lower.strateIndex,
-                        connection,0x55505248u),reachMinimum,reachMaximum);
+                    const auto requestedReach=reachValue(PassageSeed(seed,upper.strateIndex,
+                        lower.strateIndex,connection,0x55505248u),
+                        requestedReachMinimum,requestedReachMaximum);
+                    const auto reach=std::min(requestedReach,upperReachLimit);
                    upperMouth[2]=contentZQ(upper.content.bottomMicrometres)+reach;
+                    if(requestedReach>upperReachLimit)
+                        std::printf("[ResolvedPassageReachClamp] id=%s side=upper sampled_m=%.3f usable_max_m=%.3f selected_m=%.3f status=CLAMPED\n",
+                            passage.stableId.c_str(),requestedReach/static_cast<double>(qPerMetre),
+                            upperReachLimit/static_cast<double>(qPerMetre),
+                            reach/static_cast<double>(qPerMetre));
                }
                if(!hasLowerRoute)
                {
                    lowerMouth[0]=xy[0];lowerMouth[1]=xy[1];
-                    const auto reach=reachValue(PassageSeed(seed,upper.strateIndex,lower.strateIndex,
-                        connection,0x4c4f5752u),reachMinimum,reachMaximum);
+                    const auto requestedReach=reachValue(PassageSeed(seed,upper.strateIndex,
+                        lower.strateIndex,connection,0x4c4f5752u),
+                        requestedReachMinimum,requestedReachMaximum);
+                    const auto reach=std::min(requestedReach,lowerReachLimit);
                    lowerMouth[2]=contentZQ(lower.content.topMicrometres)-reach;
+                    if(requestedReach>lowerReachLimit)
+                        std::printf("[ResolvedPassageReachClamp] id=%s side=lower sampled_m=%.3f usable_max_m=%.3f selected_m=%.3f status=CLAMPED\n",
+                            passage.stableId.c_str(),requestedReach/static_cast<double>(qPerMetre),
+                            lowerReachLimit/static_cast<double>(qPerMetre),
+                            reach/static_cast<double>(qPerMetre));
                }
            }
            if(!radialWithin(upperMouth,placementRadius)||!radialWithin(lowerMouth,placementRadius))
@@ -1045,6 +1045,7 @@ public:
        {
            const auto& passage=ResolvedLayout->passages[passageIndex];
            if(passage.controlPoints.size()<2)continue;
+            const bool internalChainPassage=passageIndex>0;
            const auto supportStratum=[&](std::int32_t strateIndex)
                ->const VoxelForgeCore::ResolvedLayoutStratumV2*
            {
@@ -1490,7 +1491,7 @@ public:
                // the nominal height smoothly as a tread approaches its landing.
                double floorOffset=bridgeDeck
                    ?PassageBridgeDeckOffsetMetres(passageIndex,static_cast<std::size_t>(index))
-                    :std::lerp(0.15,0.20,lowerMouthBlend);
+                    :std::lerp(internalChainPassage?0.20:0.15,0.20,lowerMouthBlend);
                const double horizontalLengthSq=dx*dx+dy*dy;
                const bool overlapSupportJoin=index+12<lastIndex
                    &&!IsPassageShortSpanSegment(passageIndex,static_cast<std::size_t>(index))
@@ -1524,7 +1525,7 @@ public:
                            +(2.0*v0-5.0*v1+4.0*v2-v3)*t2
                            +(-v0+3.0*v1-3.0*v2+v3)*t3);
                    };
-                    constexpr double SmoothSupportHeightWeight=0.25;
+                    const double SmoothSupportHeightWeight=internalChainPassage?0.0:0.25;
                    centerZ+=(interpolate(p0.positionSubvoxels[2],segmentA.positionSubvoxels[2],
                        segmentB.positionSubvoxels[2],p3.positionSubvoxels[2])-centerZ)
                        *SmoothSupportHeightWeight;
@@ -1576,12 +1577,14 @@ public:
                // Keep the supported ramp to a comfortable walking width. Extending a
                // full bore-radius shelf across overlapping helix coils can block the
                // capsule on the neighbouring turn.
-                const bool lowerMouthBodyOverlap=index>=lowerMouthIndex-2
+                const bool lowerMouthBodyOverlap=ResolvedLayout->strates.size()>2
+                    &&index>=lowerMouthIndex-2
                    &&supportQueryDepth<0.98*qPerMetre;
                // Keep a narrow walk core, but place its top on the native surface
                // so the support remains a worn ramp instead of a route-height slab.
-                const bool mouthTread=entryMouthShoulder
-                    &&(!floatingIslandPassage||passage.style==0);
+                const bool mouthTread=lowerMouthBodyOverlap
+                    ||(entryMouthShoulder
+                        &&(!floatingIslandPassage||passage.style==0||internalChainPassage));
                double distanceFromMouthMetres=std::numeric_limits<double>::infinity();
                if(entryMouthShoulder)
                {
@@ -1656,7 +1659,8 @@ public:
                    *(3.0-2.0*supportEdgeT);
                const double mouthSupportThicknessVoxels=std::lerp(
                    0.35*supportThicknessVoxels,supportThicknessVoxels,mouthSupportT);
-                const double localSupportThicknessVoxels=entryMouthShoulder
+                const double localSupportThicknessVoxels=(entryMouthShoulder
+                    ||lowerMouthBodyOverlap)
                    ?mouthSupportThicknessVoxels*(1.0-0.72*supportEdgeSmooth)
                    :supportThicknessVoxels;
                double mouthSupportBlend=1.0;
@@ -1668,8 +1672,8 @@ public:
                        *(3.0-2.0*mouthBlendT);
                }
                const double supportEdgeDepth=mouthTread?0.25:0.35;
-                const double mouthFloorOffset=mouthTread
-                    ?std::lerp(0.15,0.19,lowerMouthBlend):floorOffset;
+                const double mouthFloorOffset=internalChainPassage?0.20
+                    :mouthTread?std::lerp(0.15,0.19,lowerMouthBlend):floorOffset;
                const double baseFloorQ=centerZ-radius+mouthFloorOffset*qPerMetre
                    -supportEdgeSmooth*supportEdgeDepth*qPerMetre;
                const double nativeSurfaceQ=static_cast<double>(qz)
@@ -1678,7 +1682,8 @@ public:
                // blends the source field directly instead of extending this SDF top.
                const double nativeFieldOffset=std::clamp(nativeSurfaceQ-baseFloorQ,
                    -0.80*qPerMetre,0.80*qPerMetre);
-                const double nativeSurfaceBlend=mouthTread?1.0:1.0-mouthReliefT;
+                const double nativeSurfaceBlend=mouthTread
+                    ?internalChainPassage?0.0:1.0:1.0-mouthReliefT;
                const double nativeTreadOffset=std::clamp(
                    nativeFieldOffset*nativeSurfaceBlend+floorReliefOffset
                        -std::abs(treadRelief)*0.08*qPerMetre