proto: liminal pass 2 - hills to the horizon, swept road over a cloud floor, pillar grid (L142)
Captures stream LOD0-8 (hills repeat at 80 m to the horizon). Road: cubic swept solid deck, 376.8 m, 8 m wide, max 12.06 deg, 17 supports, cloud floor ~45 m below; walk audit 0 blocked/unsupported, 300 m negative control fails as expected. 15x15 identical pillar grid at 76 m. Owner canonical hashes unchanged; fast tier, Clang/GCC green. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_016dhxM43dnWvUu2B5Ph1iG1
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Fr0zkaandClaude Opus 5.5 committed
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@@ -2966,53 +2966,122 @@ namespace StandaloneStreamBenchmark
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{
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bool found=false;
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bool passed=true;
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std::vector<const VoxelForgeCore::ResolvedLayoutStampV1*> deck;
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constexpr std::string_view DeckPrefix="liminal/road-clouds-v2/deck/";
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for(const auto& road:ResolvedLayout->stamps)
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{
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if(road.stableId!="liminal/raised-road-v1")continue;
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if(road.stableId.starts_with(DeckPrefix))deck.push_back(&road);
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}
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if(!deck.empty())
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{
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found=true;
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const bool longAxisX=(road.yawQuarterTurns&1u)==0;
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const double centerX=road.positionMicrometres[0]/1.0e6;
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const double centerY=road.positionMicrometres[1]/1.0e6;
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const double centerZ=road.positionMicrometres[2]/1.0e6;
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const double halfLength=road.halfExtentsMicrometres[longAxisX?0:1]/1.0e6;
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const double halfWidth=road.halfExtentsMicrometres[longAxisX?1:0]/1.0e6;
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const double deckZ=centerZ+road.halfExtentsMicrometres[2]/1.0e6;
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constexpr double CapsuleRadiusMetres=0.34;
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std::sort(deck.begin(),deck.end(),[](const auto* a,const auto* b)
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{return a->stableId<b->stableId;});
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constexpr double CapsuleHeightMetres=1.76;
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constexpr double HalfCapsuleHeightMetres=CapsuleHeightMetres*0.5;
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constexpr double EndInsetMetres=1.0;
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constexpr double SlopeCapsuleClearanceMetres=0.12;
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std::vector<std::array<double,3>> roadPath;
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const double inset=std::min(EndInsetMetres,halfLength*0.25);
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for(const double along:{-halfLength+inset,halfLength-inset})
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roadPath.push_back({(centerX+(longAxisX?along:0.0))/coreMetres,
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(centerY+(longAxisX?0.0:along))/coreMetres,
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(deckZ+HalfCapsuleHeightMetres)/coreMetres});
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roadPath.reserve(deck.size()*4);
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std::vector<std::array<double,3>> centerline;
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centerline.reserve(deck.size()+1);
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bool surfacePathValid=true;
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for(std::size_t i=0;i<deck.size();++i)
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{
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const auto* segment=deck[i];
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if(segment->kind!=VoxelForgeCore::ResolvedSdfStampKindV1::fillSweptDeckSegment)
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surfacePathValid=false;
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const auto point=[&](std::size_t endpoint)
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{return std::array<double,3>{
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segment->sweepEndpointsMicrometres[endpoint][0]/1.0e6,
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segment->sweepEndpointsMicrometres[endpoint][1]/1.0e6,
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segment->sweepEndpointsMicrometres[endpoint][2]/1.0e6};};
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const auto a=point(0),b=point(1);
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if(i==0)centerline.push_back(a);
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else if(std::abs(centerline.back()[0]-a[0])>1.0e-6
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||std::abs(centerline.back()[1]-a[1])>1.0e-6
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||std::abs(centerline.back()[2]-a[2])>1.0e-6)
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surfacePathValid=false;
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centerline.push_back(b);
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}
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double pathLengthMetres=0.0,maxGradeDegrees=0.0;
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std::uint64_t surfaceProbes=0,surfaceMisses=0;
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const auto surfaceTopAt=[&](double xMetres,double yMetres,
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double nominalTop,double& surfaceTop)
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{
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++surfaceProbes;
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double low=nominalTop-0.25,high=nominalTop+1.0;
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if(Shape.densityAt({xMetres/coreMetres,yMetres/coreMetres,
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low/coreMetres})>=0.0f
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||Shape.densityAt({xMetres/coreMetres,yMetres/coreMetres,
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high/coreMetres})<0.0f)
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{++surfaceMisses;return false;}
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for(int iteration=0;iteration<20;++iteration)
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{
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const double middle=(low+high)*0.5;
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if(Shape.densityAt({xMetres/coreMetres,yMetres/coreMetres,
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middle/coreMetres})<0.0f)low=middle;
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else high=middle;
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}
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surfaceTop=high;
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return true;
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};
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const double halfThickness=deck.front()->halfExtentsMicrometres[2]/1.0e6;
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for(std::size_t segment=1;segment<centerline.size();++segment)
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{
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const auto& a=centerline[segment-1];const auto& b=centerline[segment];
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const double dx=b[0]-a[0],dy=b[1]-a[1];
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const double horizontal=std::hypot(dx,dy);
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pathLengthMetres+=horizontal;
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const std::uint64_t intervals=std::max<std::uint64_t>(1,
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static_cast<std::uint64_t>(std::ceil(horizontal/0.5)));
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for(std::uint64_t step=0;step<=intervals;++step)
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{
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if(segment>1&&step==0)continue;
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const double t=static_cast<double>(step)/intervals;
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const double x=a[0]+dx*t,y=a[1]+dy*t;
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const double nominalTop=a[2]+(b[2]-a[2])*t+halfThickness;
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double actualTop=nominalTop;
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if(!surfaceTopAt(x,y,nominalTop,actualTop))surfacePathValid=false;
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roadPath.push_back({x/coreMetres,y/coreMetres,
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(actualTop+HalfCapsuleHeightMetres
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+SlopeCapsuleClearanceMetres)/coreMetres});
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}
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}
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for(std::size_t i=1;i<roadPath.size();++i)
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{
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const double dx=(roadPath[i][0]-roadPath[i-1][0])*coreMetres;
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const double dy=(roadPath[i][1]-roadPath[i-1][1])*coreMetres;
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const double dz=std::abs(roadPath[i][2]-roadPath[i-1][2])*coreMetres;
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const double horizontal=std::hypot(dx,dy);
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maxGradeDegrees=std::max(maxGradeDegrees,
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std::atan2(dz,horizontal)*57.29577951308232);
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}
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const FWalkAudit roadAudit=auditPlayerPath(Shape,roadPath,
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0.125,0.125,1.125,3,0.45);
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const double widthMetres=2.0*halfWidth;
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const double horizontal=std::hypot(roadPath[1][0]-roadPath[0][0],
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roadPath[1][1]-roadPath[0][1])*coreMetres;
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const double vertical=std::abs(roadPath[1][2]-roadPath[0][2])*coreMetres;
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const double gradeDegrees=std::atan2(vertical,horizontal)*
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57.29577951308232;
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passed=road.kind==VoxelForgeCore::ResolvedSdfStampKindV1::fillDais
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&&widthMetres>=2.0*CapsuleRadiusMetres
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&&gradeDegrees<=15.0&&roadAudit.passed;
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std::printf("[LiminalRoadWalkAudit] id=%s stations=%llu capsule_samples=%llu "
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const double widthMetres=2.0*deck.front()->halfExtentsMicrometres[1]/1.0e6;
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passed=std::all_of(deck.begin(),deck.end(),[](const auto* road)
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{return road->kind==VoxelForgeCore::ResolvedSdfStampKindV1::fillSweptDeckSegment;})
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&&pathLengthMetres>=300.0&&widthMetres>=3.0
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&&maxGradeDegrees<=15.0&&surfacePathValid&&roadAudit.passed;
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std::printf("[LiminalRoadWalkAudit] id=liminal/road-clouds-v2 "
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"deck_stamps=%zu path_length_m=%.3f stations=%llu capsule_samples=%llu "
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"blocked=%llu support_samples=%llu unsupported=%llu grade_failures=%llu "
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"width_m=%.3f capsule_diameter_m=%.3f grade_deg=%.3f grade_limit_deg=15.000 "
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"status=%s\n",road.stableId.c_str(),
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"surface_probes=%llu surface_misses=%llu width_m=%.3f minimum_width_m=3.000 "
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"max_grade_deg=%.3f grade_limit_deg=15.000 status=%s\n",
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deck.size(),pathLengthMetres,
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static_cast<unsigned long long>(roadAudit.centers),
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static_cast<unsigned long long>(roadAudit.capsuleSamples),
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static_cast<unsigned long long>(roadAudit.blocked),
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static_cast<unsigned long long>(roadAudit.supportSamples),
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static_cast<unsigned long long>(roadAudit.unsupported),
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static_cast<unsigned long long>(roadAudit.gradeFailures),widthMetres,
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2.0*CapsuleRadiusMetres,gradeDegrees,passed?"PASS":"FAIL");
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static_cast<unsigned long long>(roadAudit.gradeFailures),
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static_cast<unsigned long long>(surfaceProbes),
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static_cast<unsigned long long>(surfaceMisses),widthMetres,
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maxGradeDegrees,passed?"PASS":"FAIL");
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}
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if(!found&&required)
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{
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std::printf("[LiminalRoadWalkAudit] status=FAIL reason=road_stamp_missing\n");
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std::printf("[LiminalRoadWalkAudit] status=FAIL reason=road_path_missing\n");
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return false;
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}
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return passed;
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