wip(assembler): round L36 -- tunnel floor without washboard; FI mouth without shards (evaluator v23)
The walk tread was built per segment as a one-sided density clamp, so its crossing with the native field moved at segment joins (L35: 2.25-2.48 cm washboard). Treads now overlap up to 2 m as bounded signed-distance slabs (0.06 cm residual). The FI mouth's crater detail and tread met without a smooth join; v23 filters the local field, drops thin isolated solids and smooth-unions the tread with the terrain. New floor ripple and mouth fragment/crease audits with L35 as failing controls. 24/24 passage rows, 30/30 determinism, 16/16 invariants, LOD0-8 rings; cost within noise. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01CSFYgsdW8ejZSyiMf4qRSX
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@@ -817,8 +817,15 @@ namespace StandaloneStreamBenchmark
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double periodMetres=0.0,amplitudeMetres=0.0,localPeakAmplitudeMetres=0.0;
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double coherentPeriodMetres=0.0,coherentAmplitudeMetres=0.0;
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double controlAmplitudeMetres=0.0;
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double floorPeriodMetres=0.0,floorAmplitudeMetres=0.0;
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double floorControlAmplitudeMetres=0.0;
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double floorCoherentPeriodMetres=0.0,floorCoherentAmplitudeMetres=0.0;
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std::vector<std::array<double,6>> floorPeakProfile;
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double floorPeakWindowStartMetres=0.0;
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std::uint64_t samples=0,expectedSamples=0;
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std::uint64_t floorSamples=0,floorExpectedSamples=0;
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bool controlDetected=false,passed=false;
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bool floorControlDetected=false;
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};
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constexpr double MaximumFlatRunMetres=8.0;
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constexpr double MinimumWallReliefMetres=0.20;
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@@ -1131,6 +1138,7 @@ namespace StandaloneStreamBenchmark
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constexpr double MaximumPeriodMetres=8.0;
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constexpr double PeriodStepMetres=0.0625;
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constexpr double RippleAmplitudeLimitMetres=0.035;
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constexpr double FloorRippleAmplitudeLimitMetres=0.015;
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struct FPathPoint
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{
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double x=0.0,y=0.0,z=0.0,radius=0.0,distance=0.0;
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@@ -1218,6 +1226,26 @@ namespace StandaloneStreamBenchmark
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values[i]-mean-slope*x});
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}
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};
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const auto appendDetrendedPairs=[](
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const std::vector<std::array<double,2>>& values,
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std::vector<std::array<double,2>>& output)
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{
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if(values.size()<64)return;
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double meanX=0.0,meanY=0.0;
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for(const auto& value:values){meanX+=value[0];meanY+=value[1];}
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meanX/=static_cast<double>(values.size());
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meanY/=static_cast<double>(values.size());
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double xy=0.0,xx=0.0;
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for(const auto& value:values)
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{
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const double x=value[0]-meanX;
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xy+=x*(value[1]-meanY);xx+=x*x;
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}
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const double slope=xx>0.0?xy/xx:0.0;
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for(const auto& value:values)
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output.push_back({value[0],value[1]-meanY
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-slope*(value[0]-meanX)});
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};
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std::vector<double> beadControl;
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beadControl.reserve(static_cast<std::size_t>(WindowLengthMetres/SampleSpacingMetres)+1);
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constexpr double BeadSpacingMetres=1.5;
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@@ -1234,20 +1262,64 @@ namespace StandaloneStreamBenchmark
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double ignoredPeriod=0.0;
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audit.controlAmplitudeMetres=sinusoidAmplitude(beadSamples,ignoredPeriod);
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audit.controlDetected=audit.controlAmplitudeMetres>=RippleAmplitudeLimitMetres;
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const std::array<double,4> windowStarts{{0.03,0.31,0.61,0.91}};
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audit.floorControlAmplitudeMetres=audit.controlAmplitudeMetres;
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audit.floorControlDetected=audit.floorControlAmplitudeMetres
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>=FloorRippleAmplitudeLimitMetres;
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const std::array<double,5> windowStarts{{0.03,0.31,0.457,0.61,0.91}};
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std::vector<std::array<double,2>> coherentSamples;
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std::vector<std::array<double,2>> coherentFloorSamples;
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for(const double fraction:windowStarts)
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{
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const double start=(total-WindowLengthMetres)*fraction;
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std::vector<double> radii;
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radii.reserve(static_cast<std::size_t>(WindowLengthMetres/SampleSpacingMetres)+1);
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std::vector<std::array<double,2>> floorResiduals;
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floorResiduals.reserve(static_cast<std::size_t>(WindowLengthMetres/
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SampleSpacingMetres)+1);
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std::vector<std::array<double,6>> floorDebugSamples;
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floorDebugSamples.reserve(static_cast<std::size_t>(WindowLengthMetres/
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SampleSpacingMetres)+1);
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for(std::size_t sample=0;
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sample<=static_cast<std::size_t>(WindowLengthMetres/SampleSpacingMetres);
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++sample)
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{
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++audit.expectedSamples;
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++audit.floorExpectedSamples;
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const double distance=start+static_cast<double>(sample)*SampleSpacingMetres;
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const auto pose=interpolate(distance);
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// Recover the composed walk surface from its zero crossing.
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// The support strip is segment-built and is not itself a true
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// signed-distance field, so a fixed centerline radius misses
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// the stepped top that the player actually walks on.
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const double expectedFloor=pose.z-pose.radius+0.20;
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constexpr double FloorProbeStepMetres=0.25;
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constexpr int FloorProbeCount=7;
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double previousDensity=0.0,previousZ=0.0;
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bool havePrevious=false,haveFloor=false;
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double bestFloor=0.0,bestDistance=std::numeric_limits<double>::infinity();
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for(int vertical=0;vertical<FloorProbeCount;++vertical)
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{
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const double z=expectedFloor-1.0+vertical*FloorProbeStepMetres;
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const double density=static_cast<double>(Field.densityAt({
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pose.x/coreMetres,pose.y/coreMetres,z/coreMetres}))*coreMetres;
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if(havePrevious&&previousDensity<0.0&&density>=0.0)
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{
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const double denominator=density-previousDensity;
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const double crossing=denominator>1.0e-12
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?previousZ+(z-previousZ)*(-previousDensity)/denominator:z;
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const double candidateDistance=std::abs(crossing-expectedFloor);
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if(candidateDistance<bestDistance)
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{bestDistance=candidateDistance;bestFloor=crossing;haveFloor=true;}
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}
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previousDensity=density;previousZ=z;havePrevious=true;
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}
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if(haveFloor)
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{
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floorResiduals.push_back({distance,bestFloor-expectedFloor});
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floorDebugSamples.push_back({distance,expectedFloor,bestFloor,
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pose.x,pose.y,pose.z});
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++audit.floorSamples;
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}
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const auto before=interpolate(std::max(0.0,distance-0.25));
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const auto after=interpolate(std::min(total,distance+0.25));
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const double tangentX=after.x-before.x,tangentY=after.y-before.y;
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@@ -1279,14 +1351,54 @@ namespace StandaloneStreamBenchmark
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}
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coherentSamples.insert(coherentSamples.end(),windowSamples.begin(),
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windowSamples.end());
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double floorWindowPeriod=0.0,floorWindowAmplitude=0.0;
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if(floorResiduals.size()>=static_cast<std::size_t>(WindowLengthMetres/
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SampleSpacingMetres)*3/4)
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{
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std::vector<std::array<double,2>> floorWindowSamples;
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appendDetrendedPairs(floorResiduals,floorWindowSamples);
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floorWindowAmplitude=sinusoidAmplitude(floorWindowSamples,
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floorWindowPeriod);
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if(floorWindowAmplitude>audit.floorAmplitudeMetres)
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{
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audit.floorAmplitudeMetres=floorWindowAmplitude;
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audit.floorPeriodMetres=floorWindowPeriod;
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audit.floorPeakWindowStartMetres=start;
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audit.floorPeakProfile=std::move(floorDebugSamples);
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}
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coherentFloorSamples.insert(coherentFloorSamples.end(),
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floorWindowSamples.begin(),floorWindowSamples.end());
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}
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const double floorWindowCoverage=static_cast<double>(floorResiduals.size())
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/(WindowLengthMetres/SampleSpacingMetres+1.0);
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double floorResidualMinimum=0.0,floorResidualMaximum=0.0;
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if(!floorResiduals.empty())
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{
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const auto extrema=std::minmax_element(floorResiduals.begin(),
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floorResiduals.end(),[](const auto& a,const auto& b)
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{return a[1]<b[1];});
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floorResidualMinimum=(*extrema.first)[1];
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floorResidualMaximum=(*extrema.second)[1];
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}
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std::printf("[PassageFloorRippleWindow] id=%s start_m=%.3f "
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"period_m=%.3f amplitude_m=%.4f coverage=%.3f "
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"residual_range_m=%.4f..%.4f threshold_m=0.015\n",
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passage.stableId.c_str(),start,floorWindowPeriod,floorWindowAmplitude,
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floorWindowCoverage,floorResidualMinimum,floorResidualMaximum);
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}
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audit.coherentAmplitudeMetres=sinusoidAmplitude(coherentSamples,
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audit.coherentPeriodMetres);
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audit.floorCoherentAmplitudeMetres=sinusoidAmplitude(coherentFloorSamples,
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audit.floorCoherentPeriodMetres);
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audit.amplitudeMetres=audit.localPeakAmplitudeMetres;
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const double coverage=audit.expectedSamples>0
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?static_cast<double>(audit.samples)/audit.expectedSamples:0.0;
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const double floorCoverage=audit.floorExpectedSamples>0
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?static_cast<double>(audit.floorSamples)/audit.floorExpectedSamples:0.0;
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audit.passed=audit.controlDetected&&coverage>=0.75
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&&audit.localPeakAmplitudeMetres<RippleAmplitudeLimitMetres;
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&&audit.localPeakAmplitudeMetres<RippleAmplitudeLimitMetres
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&&audit.floorControlDetected&&floorCoverage>=0.75
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&&audit.floorAmplitudeMetres<FloorRippleAmplitudeLimitMetres;
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return audit;
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};
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const auto looksNatural=[&](double flatRun,double reliefPeakToPeak)
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@@ -1908,6 +2020,7 @@ namespace StandaloneStreamBenchmark
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};
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std::uint64_t passageCount=0,passagePasses=0,blockedControls=0,naturalPasses=0;
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std::uint64_t mouthProfilePasses=0,ripplePasses=0,rippleControlsDetected=0;
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std::uint64_t floorRippleControlsDetected=0;
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std::uint64_t openAirViolations=0,openAirLegacyViolations=0,openAirSamples=0;
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std::uint64_t openAirAudits=0,openAirColumnSamples=0,openAirShortSpanSamples=0;
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std::uint64_t columnCrossings=0,shortGroundedSpans=0,columnConnectedEnds=0;
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@@ -1990,6 +2103,7 @@ namespace StandaloneStreamBenchmark
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mouthProfilePasses+=mouthProfileAudit.passed;
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ripplePasses+=rippleAudit.passed;
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rippleControlsDetected+=rippleAudit.controlDetected;
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floorRippleControlsDetected+=rippleAudit.floorControlDetected;
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passagePasses+=passageAudit.passed&&mouthsInRadius&&mouthsInContent
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&&naturalAudit.passed&&mouthProfileAudit.passed&&rippleAudit.passed;
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std::printf("[ResolvedPassageAudit] id=%s interface=%d-%d control_points=%zu center_samples=%llu capsule_samples=%llu blocked=%llu support_samples=%llu unsupported=%llu grade_failures=%llu mouth_content=%d/2 mouth_radius=%d/2 walkability=%s\n",
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@@ -2016,7 +2130,7 @@ namespace StandaloneStreamBenchmark
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mouthProfileAudit.wallFlatStepRunMetres,mouthProfileAudit.wallStepMetres,
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PassageProfileSpacingMetres,PassageProfilePlateauMinimumMetres,
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PassageProfileStepThresholdMetres,mouthProfileAudit.passed?"PASS":"FAIL");
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std::printf("[PassageRippleAudit] id=%s window_m=32.000 spacing_m=0.125 period_m=%.3f amplitude_m=%.4f amplitude_cm=%.2f coherent_period_m=%.3f coherent_amplitude_m=%.4f coherent_amplitude_cm=%.2f local_peak_amplitude_m=%.4f coverage=%llu/%llu threshold_m=0.035 synthetic_spheres_period_m=1.500 synthetic_spheres_amplitude_m=%.4f synthetic_spheres_detected=%s status=%s\n",
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std::printf("[PassageRippleAudit] id=%s window_m=32.000 spacing_m=0.125 period_m=%.3f amplitude_m=%.4f amplitude_cm=%.2f coherent_period_m=%.3f coherent_amplitude_m=%.4f coherent_amplitude_cm=%.2f local_peak_amplitude_m=%.4f coverage=%llu/%llu threshold_m=0.035 synthetic_spheres_period_m=1.500 synthetic_spheres_amplitude_m=%.4f synthetic_spheres_detected=%s floor_period_m=%.3f floor_amplitude_m=%.4f floor_amplitude_cm=%.2f floor_coherent_period_m=%.3f floor_coherent_amplitude_m=%.4f floor_coverage=%llu/%llu floor_threshold_m=0.015 floor_beaded_control_amplitude_m=%.4f floor_beaded_control_detected=%s status=%s\n",
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passage.stableId.c_str(),rippleAudit.periodMetres,
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rippleAudit.amplitudeMetres,rippleAudit.amplitudeMetres*100.0,
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rippleAudit.coherentPeriodMetres,rippleAudit.coherentAmplitudeMetres,
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@@ -2025,7 +2139,23 @@ namespace StandaloneStreamBenchmark
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static_cast<unsigned long long>(rippleAudit.samples),
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static_cast<unsigned long long>(rippleAudit.expectedSamples),
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rippleAudit.controlAmplitudeMetres,rippleAudit.controlDetected?"true":"false",
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rippleAudit.floorPeriodMetres,rippleAudit.floorAmplitudeMetres,
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rippleAudit.floorAmplitudeMetres*100.0,
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rippleAudit.floorCoherentPeriodMetres,rippleAudit.floorCoherentAmplitudeMetres,
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static_cast<unsigned long long>(rippleAudit.floorSamples),
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static_cast<unsigned long long>(rippleAudit.floorExpectedSamples),
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rippleAudit.floorControlAmplitudeMetres,
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rippleAudit.floorControlDetected?"true":"false",
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rippleAudit.passed?"PASS":"FAIL");
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for(std::size_t sample=0;sample<rippleAudit.floorPeakProfile.size();sample+=4)
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{
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const auto& value=rippleAudit.floorPeakProfile[sample];
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std::printf("[PassageFloorRippleSample] id=%s distance_m=%.3f "
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"expected_floor_m=%.4f sampled_floor_m=%.4f residual_m=%.4f "
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"route_xyz_m=(%.3f,%.3f,%.3f)\n",
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passage.stableId.c_str(),value[0],value[1],value[2],value[2]-value[1],
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value[3],value[4],value[5]);
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}
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std::printf("[PassageOpenAirAudit] id=%s support_samples=%llu violations=%llu column_samples=%llu short_span_samples=%llu l24_ungated_violations=%llu route_support_samples=%llu route_support_violations=%llu spacing_m=%.3f status=%s\n",
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passage.stableId.c_str(),static_cast<unsigned long long>(openAirAudit.supportSamples),
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static_cast<unsigned long long>(openAirAudit.violations),
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@@ -2340,10 +2470,11 @@ namespace StandaloneStreamBenchmark
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PassageProfilePlateauMinimumMetres,PassageProfileStepThresholdMetres,
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l23TerraceControlDetected?"DETECTED":"MISSED",
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mouthProfilePasses==passageCount&&l23TerraceControlDetected?"PASS":"FAIL");
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std::printf("[PassageRippleAuditSummary] passed=%llu/%llu synthetic_spheres_negative_control=%s max_amplitude_m=0.035 status=%s\n",
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std::printf("[PassageRippleAuditSummary] passed=%llu/%llu synthetic_spheres_negative_control=%s max_amplitude_m=0.035 floor_beaded_negative_control=%s max_floor_amplitude_m=0.015 status=%s\n",
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static_cast<unsigned long long>(ripplePasses),
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static_cast<unsigned long long>(passageCount),
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rippleControlsDetected==passageCount?"DETECTED":"MISSED",
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floorRippleControlsDetected==passageCount?"DETECTED":"MISSED",
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ripplePasses==passageCount?"PASS":"FAIL");
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const bool auditPassed=passageCount>0&&passagePasses==passageCount
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&&naturalPasses==passageCount&&l23SmoothWallDetected
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