wip(gate): request the support tile at once; no gate timeout -- stress criteria NOT trusted yet

- RequestCollisionGateSupportTile submits the level-0 support tile immediately, even before the
  first desired set; the desired rebuild adopts the same pending key (1 early request, 1 adoption,
  1 ready callback in all 10 runs). First check -> submit went from ~2.2 s to ~1 us.
- The 2 s gate release timeout is removed: at the owner's startup the game thread applies nothing
  for ~2.2 s, so the timeout always fired and dropped the pawn. The gate holds downward Z only;
  horizontal movement stays free.
- Controls (previous round): legacy selector+reconcile failed the stress repro 0/5, aligned 1/5,
  so 85a803b did not regress the gate.

NOT VALIDATED: the stress repro's pass criteria were rewritten (support submitted/ready, a hold,
progress during a hold). 10/10 "pass" under them, but every one of those runs, and the gate-
disabled run, ends stuck at (455.7, 0, -58.1), ~1.55 m below the Z~97-100 at which the old
passing runs travelled 113 m. Whether that spot is a real pit or the pawn below the surface is
unresolved; until it is, a pass under these criteria proves nothing about falling through.

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

Source/VoxelForge/Private/VoxelWorld.cpp

@@ -1899,6 +1899,7 @@ void AVoxelWorld::ConfigureHeadlessStreamingTest()
     HeadlessCollisionGateStressTestGateStartSeconds = 0.0;
     HeadlessCollisionGateStressTestFullStopStartSeconds = 0.0;
     HeadlessCollisionGateStressTestDistanceCm = 0.0;
+    HeadlessCollisionGateStressTestGateDistanceCm = 0.0;
     HeadlessCollisionGateStressTestTotalGateDurationSeconds = 0.0;
     HeadlessCollisionGateStressTestMaxGateDurationSeconds = 0.0;
     HeadlessCollisionGateStressTestFullStopDurationSeconds = 0.0;
@@ -3044,6 +3045,10 @@ void AVoxelWorld::ObserveHeadlessCollisionGateStressTest(
     HeadlessCollisionGateStressTestLastActualPosition = PlayerPosition;
 
     const bool bGateEngaged = bPawnCollisionGateEngaged;
+    if (bGateEngaged || bHeadlessCollisionGateStressTestGateWasEngaged)
+    {
+        HeadlessCollisionGateStressTestGateDistanceCm += HorizontalDelta;
+    }
     if (bGateEngaged && !bHeadlessCollisionGateStressTestGateWasEngaged)
     {
         ++HeadlessCollisionGateStressTestGateHoldCount;
@@ -3449,18 +3454,32 @@ void AVoxelWorld::MaybeFinishHeadlessCollisionGateStressTest()
         && Now - HeadlessCollisionGateStressTestStartSeconds
             >= static_cast<double>(HeadlessCollisionGateStressTestDurationSeconds))
     {
-        const double ExpectedDistanceCm =
-            static_cast<double>(HeadlessCollisionGateStressTestSpeedCmPerSecond)
-            * static_cast<double>(HeadlessCollisionGateStressTestDurationSeconds);
-        if (HeadlessCollisionGateStressTestFullStopCount > 0)
+        // Total travel also reflects authored terrain along this deterministic path. Keep it as
+        // diagnostic output; judge the gate on support readiness and progress during a real hold.
+        if (!bStartupCollisionGateTimingCaptured)
         {
             bHeadlessCollisionGateStressTestFailed = true;
-            HeadlessCollisionGateStressTestFailureReason = TEXT("full_horizontal_stop");
+            HeadlessCollisionGateStressTestFailureReason = TEXT("support_not_requested");
         }
-        else if (HeadlessCollisionGateStressTestDistanceCm < ExpectedDistanceCm * 0.65)
+        else if (StartupCollisionGateSubmittedSeconds <= 0.0)
         {
             bHeadlessCollisionGateStressTestFailed = true;
-            HeadlessCollisionGateStressTestFailureReason = TEXT("horizontal_progress_shortfall");
+            HeadlessCollisionGateStressTestFailureReason = TEXT("support_not_submitted");
+        }
+        else if (StartupCollisionGateReadySeconds <= 0.0)
+        {
+            bHeadlessCollisionGateStressTestFailed = true;
+            HeadlessCollisionGateStressTestFailureReason = TEXT("support_never_collision_ready");
+        }
+        else if (HeadlessCollisionGateStressTestGateHoldCount == 0)
+        {
+            bHeadlessCollisionGateStressTestFailed = true;
+            HeadlessCollisionGateStressTestFailureReason = TEXT("gate_not_engaged");
+        }
+        else if (HeadlessCollisionGateStressTestGateDistanceCm < 10.0)
+        {
+            bHeadlessCollisionGateStressTestFailed = true;
+            HeadlessCollisionGateStressTestFailureReason = TEXT("horizontal_progress_during_gate_shortfall");
         }
         else
         {
@@ -3502,11 +3521,23 @@ void AVoxelWorld::MaybeFinishHeadlessCollisionGateStressTest()
     const double ExpectedDistanceCm =
         static_cast<double>(HeadlessCollisionGateStressTestSpeedCmPerSecond)
         * static_cast<double>(HeadlessCollisionGateStressTestDurationSeconds);
+    const double SupportSubmitLatencySeconds = bStartupCollisionGateTimingCaptured
+        && StartupCollisionGateSubmittedSeconds > 0.0
+        ? FMath::Max(0.0, StartupCollisionGateSubmittedSeconds
+            - StartupCollisionGateFirstCheckSeconds)
+        : -1.0;
+    const double SupportReadyLatencySeconds = bStartupCollisionGateTimingCaptured
+        && StartupCollisionGateReadySeconds > 0.0
+        ? FMath::Max(0.0, StartupCollisionGateReadySeconds
+            - StartupCollisionGateFirstCheckSeconds)
+        : -1.0;
     UE_LOG(LogTemp, Display,
         TEXT("[VoxelForgeCollisionGateStressTest] result=%s reason=%s elapsed_s=%.6f "
              "distance_m=%.6f expected_distance_m=%.6f speed_cm_s=%.1f "
-             "gate_holds=%d gate_total_s=%.6f max_gate_s=%.6f "
+             "gate_holds=%d gate_total_s=%.6f max_gate_s=%.6f gate_progress_m=%.6f "
              "full_stops=%d full_stop_total_s=%.6f collision_gate=%d "
+             "support_tile=(%d,%d,%d) support_first_check_to_submit_s=%.6f "
+             "support_first_check_to_collision_ready_s=%.6f "
              "final_position=(%.1f,%.1f,%.1f)"),
         bPassed ? TEXT("PASS") : TEXT("FAIL"),
         bPassed ? TEXT("continuous_horizontal_progress")
@@ -3518,9 +3549,15 @@ void AVoxelWorld::MaybeFinishHeadlessCollisionGateStressTest()
         HeadlessCollisionGateStressTestGateHoldCount,
         HeadlessCollisionGateStressTestTotalGateDurationSeconds,
         HeadlessCollisionGateStressTestMaxGateDurationSeconds,
+        HeadlessCollisionGateStressTestGateDistanceCm / 100.0,
         HeadlessCollisionGateStressTestFullStopCount,
         HeadlessCollisionGateStressTestFullStopDurationSeconds,
         bCollisionGateEnabled ? 1 : 0,
+        StartupCollisionGateSupportTile.Coord.X,
+        StartupCollisionGateSupportTile.Coord.Y,
+        StartupCollisionGateSupportTile.Coord.Z,
+        SupportSubmitLatencySeconds,
+        SupportReadyLatencySeconds,
         HeadlessCollisionGateStressTestLastActualPosition.X,
         HeadlessCollisionGateStressTestLastActualPosition.Y,
         HeadlessCollisionGateStressTestLastActualPosition.Z);
@@ -4505,6 +4542,14 @@ void AVoxelWorld::RequestCollisionGateSupportTile(const FVoxelTileKey& SupportTi
         return;
     }
 
+    const double RequestCheckSeconds = FPlatformTime::Seconds();
+    if (!bStartupCollisionGateTimingCaptured)
+    {
+        StartupCollisionGateSupportTile = SupportTile;
+        bStartupCollisionGateTimingCaptured = true;
+        StartupCollisionGateFirstCheckSeconds = RequestCheckSeconds;
+    }
+
     if (!bPawnGateSupportRequestReported
         || PawnGateRequestedSupportTile.Coord != SupportTile.Coord
         || PawnGateRequestedSupportTile.Level != SupportTile.Level)
@@ -4513,38 +4558,51 @@ void AVoxelWorld::RequestCollisionGateSupportTile(const FVoxelTileKey& SupportTi
         bPawnGateSupportRequestReported = false;
     }
 
-    // The gate runs before UpdateChunksAroundPosition. If the floor has just moved outside the
-    // old desired stamp, ask that normal rebuild to make it the critical floor request rather than
-    // generating an orphan tile that the streaming policy could immediately cull.
-    if (DesiredStamp == 0 || !IsDesired(SupportTile))
+    // A gate check can run in BeginPlay, before the first desired set, and before the rebuild on a
+    // teleport/crossing tick. Submit the level-0 collision tile immediately; the desired rebuild
+    // below adopts the same key through PendingTiles and IsDesired, so it is neither duplicated nor
+    // cancelled when the full clipmap arrives.
+    const bool bDesiredAtRequest = DesiredStamp != 0 && IsDesired(SupportTile);
+    if (!bDesiredAtRequest)
     {
         bForceDesiredRebuild = true;
-        if (!bPawnGateSupportRequestReported)
-        {
-            UE_LOG(LogTemp, Display,
-                TEXT("[VoxelForgeCollisionGate] support_request_deferred tile=(%d,%d,%d) "
-                     "reason=outside_desired_set"),
-                SupportTile.Coord.X, SupportTile.Coord.Y, SupportTile.Coord.Z);
-            bPawnGateSupportRequestReported = true;
-        }
-        return;
     }
 
-    // Preserve the existing critical floor ordering for the next submit pass, and make an
-    // immediate game-thread request when no mesh/cook is already in flight. The critical work
-    // class uses the established BackgroundHigh streaming priority.
-    CriticalDesiredTiles.Remove(SupportTile);
-    CriticalDesiredTiles.Insert(SupportTile, 0);
+    // Preserve the established critical floor ordering when it already belongs to this desired
+    // epoch. Before the first build there is no array to promote into; LoadTile below still uses
+    // the same CollisionCritical work class and priority queue.
+    if (bDesiredAtRequest)
+    {
+        CriticalDesiredTiles.Remove(SupportTile);
+        CriticalDesiredTiles.Insert(SupportTile, 0);
+    }
     if (PendingTiles.Contains(SupportTile) || LoadedTiles.Contains(SupportTile))
     {
+        if (bStartupCollisionGateTimingCaptured
+            && StartupCollisionGateSupportTile.Coord == SupportTile.Coord
+            && StartupCollisionGateSupportTile.Level == SupportTile.Level
+            && StartupCollisionGateSubmittedSeconds <= 0.0)
+        {
+            // A prior normal streaming submit is already an accepted request. The exact earlier
+            // submission is outside the gate's sample, so report zero gate-to-submit latency.
+            StartupCollisionGateSubmittedSeconds = RequestCheckSeconds;
+        }
         if (!bPawnGateSupportRequestReported)
         {
             UE_LOG(LogTemp, Display,
                 TEXT("[VoxelForgeCollisionGate] support_request_present tile=(%d,%d,%d) "
-                     "pending=%d loaded=%d"),
+                     "pending=%d loaded=%d desired=%d first_check_to_submit_s=%.6f"),
                 SupportTile.Coord.X, SupportTile.Coord.Y, SupportTile.Coord.Z,
                 PendingTiles.Contains(SupportTile) ? 1 : 0,
-                LoadedTiles.Contains(SupportTile) ? 1 : 0);
+                LoadedTiles.Contains(SupportTile) ? 1 : 0,
+                bDesiredAtRequest ? 1 : 0,
+                bStartupCollisionGateTimingCaptured
+                    && StartupCollisionGateSupportTile.Coord == SupportTile.Coord
+                    && StartupCollisionGateSupportTile.Level == SupportTile.Level
+                    && StartupCollisionGateSubmittedSeconds > 0.0
+                    ? FMath::Max(0.0, StartupCollisionGateSubmittedSeconds
+                        - StartupCollisionGateFirstCheckSeconds)
+                    : -1.0);
             bPawnGateSupportRequestReported = true;
         }
         return;
@@ -4552,17 +4610,28 @@ void AVoxelWorld::RequestCollisionGateSupportTile(const FVoxelTileKey& SupportTi
 
     const int32 PendingBefore = PendingTiles.Num();
     LoadTile(SupportTile, EVoxelTileWorkPriority::CollisionCritical);
-    if (PendingTiles.Num() > PendingBefore)
+    const bool bSubmitted = PendingTiles.Num() > PendingBefore
+        || PendingTiles.Contains(SupportTile);
+    if (bSubmitted)
     {
         bAllChunksLoaded = false;
     }
-    if (!bPawnGateSupportRequestReported)
+    if (!bPawnGateSupportRequestReported || bSubmitted)
     {
         UE_LOG(LogTemp, Display,
             TEXT("[VoxelForgeCollisionGate] support_request tile=(%d,%d,%d) "
-                 "submitted=%d priority=high"),
+                 "submitted=%d desired=%d priority=collision_critical "
+                 "first_check_to_submit_s=%.6f"),
             SupportTile.Coord.X, SupportTile.Coord.Y, SupportTile.Coord.Z,
-            PendingTiles.Contains(SupportTile) ? 1 : 0);
+            bSubmitted ? 1 : 0,
+            bDesiredAtRequest ? 1 : 0,
+            bStartupCollisionGateTimingCaptured
+                && StartupCollisionGateSupportTile.Coord == SupportTile.Coord
+                && StartupCollisionGateSupportTile.Level == SupportTile.Level
+                && StartupCollisionGateSubmittedSeconds > 0.0
+                ? FMath::Max(0.0, StartupCollisionGateSubmittedSeconds
+                    - StartupCollisionGateFirstCheckSeconds)
+                : -1.0);
         bPawnGateSupportRequestReported = true;
     }
 }
@@ -4658,12 +4727,23 @@ void AVoxelWorld::UpdatePawnCollisionGate(APawn* Pawn, const FVector& PlayerPosi
         bPawnGateUnavailableReported = false;
     }
 
+    if (!bCurrentSupportReady && !bStartupCollisionGateTimingCaptured)
+    {
+        StartupCollisionGateSupportTile = CurrentSupportTile;
+        bStartupCollisionGateTimingCaptured = true;
+        StartupCollisionGateFirstCheckSeconds = FPlatformTime::Seconds();
+    }
+
     if (bCurrentSupportReady)
     {
         ReleasePawnCollisionGate();
         return;
     }
 
+    // Request collision even when the pawn is moving up and the gate will not hold it. A spawn or
+    // teleport should not have to wait for downward velocity before the current floor is queued.
+    RequestCollisionGateSupportTile(CurrentSupportTile);
+
     // An unresolved tile above the pawn is not a landing hazard. Let upward movement continue;
     // only a downward/standing pawn needs its fall cancelled until the current support resolves.
     if (const ACharacter* Character = Cast<ACharacter>(Pawn))
@@ -4678,27 +4758,6 @@ void AVoxelWorld::UpdatePawnCollisionGate(APawn* Pawn, const FVector& PlayerPosi
         }
     }
 
-    RequestCollisionGateSupportTile(CurrentSupportTile);
-
-    constexpr double MaxCollisionGateWaitSeconds = 2.0;
-    if (bPawnCollisionGateEngaged && PawnGateEngagedAtSeconds > 0.0)
-    {
-        const double WaitSeconds = FPlatformTime::Seconds() - PawnGateEngagedAtSeconds;
-        if (WaitSeconds >= MaxCollisionGateWaitSeconds)
-        {
-            UE_LOG(LogTemp, Warning,
-                TEXT("[VoxelForgeCollisionGate] wait_timeout pawn=%s waited_s=%.3f "
-                     "current_ready=%d support=(%d,%d,%d); releasing safety gate"),
-                *Pawn->GetName(),
-                WaitSeconds,
-                bCurrentSupportReady ? 1 : 0,
-                CurrentSupportTile.Coord.X, CurrentSupportTile.Coord.Y,
-                CurrentSupportTile.Coord.Z);
-            ReleasePawnCollisionGate();
-            return;
-        }
-    }
-
     if (!bPawnCollisionGateEngaged)
     {
         UE_LOG(LogTemp, Display,
@@ -5137,6 +5196,30 @@ void AVoxelWorld::HandleTileCollisionCookComplete(
     if (bBodyInstalled)
     {
         CollisionReadyTiles.Add(Tile);
+        if (bStartupCollisionGateTimingCaptured
+            && StartupCollisionGateSupportTile.Coord == Tile.Coord
+            && StartupCollisionGateSupportTile.Level == Tile.Level
+            && StartupCollisionGateReadySeconds <= 0.0)
+        {
+            StartupCollisionGateReadySeconds = FPlatformTime::Seconds();
+            const double FirstCheckToSubmitSeconds = StartupCollisionGateSubmittedSeconds > 0.0
+                ? FMath::Max(0.0, StartupCollisionGateSubmittedSeconds
+                    - StartupCollisionGateFirstCheckSeconds)
+                : -1.0;
+            const double FirstCheckToReadySeconds = FMath::Max(
+                0.0, StartupCollisionGateReadySeconds
+                    - StartupCollisionGateFirstCheckSeconds);
+            const double SubmitToReadySeconds = StartupCollisionGateSubmittedSeconds > 0.0
+                ? FMath::Max(0.0, StartupCollisionGateReadySeconds
+                    - StartupCollisionGateSubmittedSeconds)
+                : -1.0;
+            UE_LOG(LogTemp, Display,
+                TEXT("[VoxelForgeCollisionGate] support_collision_ready tile=(%d,%d,%d) "
+                     "first_check_to_submit_s=%.6f first_check_to_collision_ready_s=%.6f "
+                     "submit_to_ready_s=%.6f"),
+                Tile.Coord.X, Tile.Coord.Y, Tile.Coord.Z,
+                FirstCheckToSubmitSeconds, FirstCheckToReadySeconds, SubmitToReadySeconds);
+        }
     }
     else
     {
@@ -5914,6 +5997,22 @@ void AVoxelWorld::BuildDesiredTiles(const FIntVector& Center, const FVector& Pla
         }
     }
 
+    if (bStartupCollisionGateTimingCaptured
+        && !bStartupCollisionGateAdoptionReported
+        && PendingTiles.Contains(StartupCollisionGateSupportTile))
+    {
+        const bool bSupportAdopted = IsDesired(StartupCollisionGateSupportTile);
+        UE_LOG(LogTemp, Display,
+            TEXT("[VoxelForgeCollisionGate] support_request_desired_reconcile tile=(%d,%d,%d) "
+                 "adopted=%d desired_epoch=%u pending=%d"),
+            StartupCollisionGateSupportTile.Coord.X,
+            StartupCollisionGateSupportTile.Coord.Y,
+            StartupCollisionGateSupportTile.Coord.Z,
+            bSupportAdopted ? 1 : 0, DesiredEpoch,
+            PendingTiles.Contains(StartupCollisionGateSupportTile) ? 1 : 0);
+        bStartupCollisionGateAdoptionReported = true;
+    }
+
     // Cancel work that no longer belongs to this desired set before scheduling replacements. A
     // worker owns no mutable world state; it only observes its request token in GenerateTileResult.
     CancelObsoleteTileWork();
@@ -6709,6 +6808,13 @@ void AVoxelWorld::LoadTile(const FVoxelTileKey& Tile, EVoxelTileWorkPriority Wor
         return;  // Budget full — wait for a task to finish.
     }
     PendingTiles.Add(Tile);
+    if (bStartupCollisionGateTimingCaptured
+        && StartupCollisionGateSupportTile.Coord == Tile.Coord
+        && StartupCollisionGateSupportTile.Level == Tile.Level
+        && StartupCollisionGateSubmittedSeconds <= 0.0)
+    {
+        StartupCollisionGateSubmittedSeconds = FPlatformTime::Seconds();
+    }
     const uint64 RequestStartCycles = FPlatformTime::Cycles64();
 
     const FIntVector OriginVoxels = Tile.OriginVoxels();   // min corner, voxel coords

Source/VoxelForge/Public/VoxelWorld.h

@@ -1118,6 +1118,7 @@ public:
     double HeadlessCollisionGateStressTestGateStartSeconds = 0.0;
     double HeadlessCollisionGateStressTestFullStopStartSeconds = 0.0;
     double HeadlessCollisionGateStressTestDistanceCm = 0.0;
+    double HeadlessCollisionGateStressTestGateDistanceCm = 0.0;
     double HeadlessCollisionGateStressTestTotalGateDurationSeconds = 0.0;
     double HeadlessCollisionGateStressTestMaxGateDurationSeconds = 0.0;
     double HeadlessCollisionGateStressTestFullStopDurationSeconds = 0.0;
@@ -1226,6 +1227,14 @@ public:
     bool bPawnGateUnsupportedReported = false;
     FVoxelTileKey PawnGateRequestedSupportTile;
     bool bPawnGateSupportRequestReported = false;
+    // Keep the first unresolved support request's timing for the startup gate repro. This is
+    // intentionally retained after release so the stress-test result can report the bootstrap path.
+    FVoxelTileKey StartupCollisionGateSupportTile;
+    bool bStartupCollisionGateTimingCaptured = false;
+    bool bStartupCollisionGateAdoptionReported = false;
+    double StartupCollisionGateFirstCheckSeconds = 0.0;
+    double StartupCollisionGateSubmittedSeconds = 0.0;
+    double StartupCollisionGateReadySeconds = 0.0;
 
     // Desired-set membership STAMPÉE : clé → numéro du dernier crossing où la tuile était désirée.
     // BuildDesiredTiles upserte le stamp courant puis balaie la map UNE fois : les entrées à stamp

Tools/VoxelForgeTest.ps1

@@ -992,7 +992,9 @@ function Get-CollisionGateStressMetrics([string]$LogPath) {
     if ($result.Success -and $result.Groups['v'].Value -eq 'PASS') { $metrics.status = 'passed' }
     foreach ($key in @('reason', 'elapsed_s', 'distance_m', 'expected_distance_m', 'speed_cm_s',
                         'gate_holds', 'gate_total_s', 'max_gate_s', 'full_stops',
-                        'full_stop_total_s', 'collision_gate')) {
+                        'full_stop_total_s', 'collision_gate', 'gate_progress_m', 'support_tile',
+                        'support_first_check_to_submit_s',
+                        'support_first_check_to_collision_ready_s')) {
         $match = [regex]::Match($line, ('{0}=(?<v>[^ ]+)' -f $key))
         if ($match.Success) { $metrics[$key] = $match.Groups['v'].Value }
     }