feat(core): reachable SW landmark chamber demo with a reachability audit (L45); research R12
Stamp vocabulary v2; the flagged SW demo opens through a side-facing portal and a bent ramp (max 14 deg, two landings) into a 17 x 15 m chamber with a rock dais. New reachability audit: a capsule surface search from walkable ground near the arrival mouth to the chamber floor (66 samples, 0 blocked/unsupported); the buried L43 layout fails it. Demo off: owner hashes identical to L44. fast/medium/full PASS (Clang+GCC). Research R12 (read-only): composite cavern-graph generator design and slices. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_016dhxM43dnWvUu2B5Ph1iG1
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#!/usr/bin/env python3
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"""Capture the L45 landmark views and audit player-scale built-shape limits."""
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from __future__ import annotations
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import argparse
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import importlib.util
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import json
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import math
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import os
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from pathlib import Path
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import subprocess
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import sys
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import time
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ROOT = Path(__file__).resolve().parents[4]
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VERIFY = ROOT / "Standalone/Tools/verify"
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LINUX37 = ROOT / "Standalone/Research/WorldAssemblerM3/Linux37"
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sys.path.insert(0, str(VERIFY))
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from runner import bounded_run, current_stamp, first_stamp
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def load_module(name: str, path: Path):
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spec = importlib.util.spec_from_file_location(name, path)
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if spec is None or spec.loader is None:
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raise RuntimeError(f"cannot import {path}")
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module = importlib.util.module_from_spec(spec)
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spec.loader.exec_module(module)
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return module
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PROFILE = load_module("l45_ring_profile", ROOT /
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"Standalone/Research/WorldAssemblerM3/Linux32/AuditRingTerraceL32.py")
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SHAPE = load_module("l45_shape_audit", LINUX37 / "AuditMouthShapeL37.py")
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PARSER = argparse.ArgumentParser(description=__doc__)
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PARSER.add_argument("--layout", type=Path, required=True)
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PARSER.add_argument("--artifact-dir", type=Path, required=True)
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PARSER.add_argument("--capture-dir", type=Path, required=True)
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PARSER.add_argument("--data", type=Path, default=ROOT / "Standalone/data/owner_world.json")
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OPTIONS = PARSER.parse_args()
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ARTIFACT_DIR = OPTIONS.artifact_dir.resolve()
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CAPTURE_DIR = OPTIONS.capture_dir.resolve()
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LAYOUT_PATH = OPTIONS.layout.resolve()
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ARTIFACT_DIR.mkdir(parents=True, exist_ok=True)
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CAPTURE_DIR.mkdir(parents=True, exist_ok=True)
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PNG_DIR = ARTIFACT_DIR / "capture-png"
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PNG_DIR.mkdir(parents=True, exist_ok=True)
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HEADLESS = Path(os.environ["VOXELFORGE_L37_HEADLESS"])
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RENDERER = Path(os.environ["VOXELFORGE_L37_RENDERER"])
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EXPECTED_STAMP = current_stamp()
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def run_logged(name: str, command: list[str], *, capture: bool = False) -> str:
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log = ARTIFACT_DIR / f"{name}.log"
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started = time.monotonic()
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with log.open("w", encoding="utf-8") as stream:
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result = bounded_run(command, timeout=1800, stdout=stream)
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elapsed = time.monotonic() - started
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output = log.read_text(encoding="utf-8", errors="replace")
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if result is None:
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raise RuntimeError(f"{name} timed out; see {log}")
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print(f"[L45CaptureRun] step={name} elapsed={elapsed:.1f}s "
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f"exit={result.returncode} log={log}", flush=True)
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if result.returncode != 0:
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raise RuntimeError(f"{name} failed; see {log}")
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if capture and (first_stamp(output) != EXPECTED_STAMP
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or first_stamp(bounded_run(
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[str(command[0]), "--print-source-stamp"], timeout=15).stdout or "")
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!= EXPECTED_STAMP):
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raise RuntimeError(f"{name} executable source stamp mismatch")
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return output
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def stamp_by_id(layout: dict, stable_id: str) -> dict:
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for stamp in layout.get("stamps", []):
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if stamp.get("stable_id") == stable_id:
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return stamp
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raise RuntimeError(f"missing stamp {stable_id}")
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def metres(stamp: dict, key: str = "position_um") -> tuple[float, float, float]:
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return tuple(value / 1_000_000.0 for value in stamp[key])
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def camera_angles(camera, target):
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dx, dy, dz = (target[index] - camera[index] for index in range(3))
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return (math.degrees(math.atan2(dx, dy)),
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math.degrees(math.atan2(dz, math.hypot(dx, dy))))
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def fmt(values) -> str:
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return ",".join(f"{value:.6f}" for value in values)
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def camera_spec(camera, target):
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yaw, pitch = camera_angles(camera, target)
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return (*camera, yaw, pitch)
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layout = json.loads(LAYOUT_PATH.read_text(encoding="utf-8"))
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if layout.get("stamp_vocabulary_version") not in (1, 2):
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raise RuntimeError("L45 capture needs a prior resolved L45 stamp layout")
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entrance_stamp = stamp_by_id(layout, "landmark/sw-arrival-chamber-ramp-000")
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next_ramp_stamp = stamp_by_id(layout, "landmark/sw-arrival-chamber-ramp-001")
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portal_stamp = stamp_by_id(layout, "landmark/sw-arrival-chamber-mouth-approach-v1")
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chamber_stamp = stamp_by_id(layout, "landmark/sw-arrival-chamber-v1")
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floor_stamp = stamp_by_id(layout, "landmark/sw-arrival-chamber-v1-floor")
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dais_stamp = stamp_by_id(layout, "landmark/sw-arrival-chamber-v1-dais")
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entrance = metres(entrance_stamp)
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next_ramp = metres(next_ramp_stamp)
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portal = metres(portal_stamp)
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chamber = metres(chamber_stamp)
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floor = metres(floor_stamp)
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floor_top = floor[2] + floor_stamp["half_extents_um"][2] / 1_000_000.0
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dais = metres(dais_stamp)
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dais_top = dais[2] + dais_stamp["half_extents_um"][2] / 1_000_000.0
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ground_z = entrance[2] - 1.6
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direction_length = math.hypot(next_ramp[0] - entrance[0], next_ramp[1] - entrance[1])
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direction = ((next_ramp[0] - entrance[0]) / direction_length,
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(next_ramp[1] - entrance[1]) / direction_length)
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outward_length = math.hypot(entrance[0] - chamber[0], entrance[1] - chamber[1])
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outward = ((entrance[0] - chamber[0]) / outward_length,
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(entrance[1] - chamber[1]) / outward_length)
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mouth_normal = (-direction[1], direction[0])
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mesh = ARTIFACT_DIR / "landmark-l45.vfmesh"
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export_camera = ((entrance[0] + chamber[0]) * 0.5,
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(entrance[1] + chamber[1]) * 0.5,
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(ground_z + floor_top) * 0.5)
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export_target = (chamber[0], chamber[1], floor_top)
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run_logged("landmark-export", [str(HEADLESS), str(OPTIONS.data), "--workers=12",
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"--world-assembler-prototype", "--stream-benchmark", "--stream-pipeline",
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"--force-generate", "--clip-radius=3", "--max-clip-level=0", "--max-level=0",
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"--render-distance-chunks=0", "--recipe=surface-world", "--landmark-chamber-demo",
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f"--camera={fmt(camera_spec(export_camera, export_target))}",
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f"--mesh-export={mesh}", f"--resolved-layout-output={LAYOUT_PATH}"], capture=True)
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layout = json.loads(LAYOUT_PATH.read_text(encoding="utf-8"))
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if layout.get("stamp_vocabulary_version") != 2:
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raise RuntimeError("L45 export did not resolve ellipsoidal-dais stamp vocabulary v2")
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entrance_stamp = stamp_by_id(layout, "landmark/sw-arrival-chamber-ramp-000")
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next_ramp_stamp = stamp_by_id(layout, "landmark/sw-arrival-chamber-ramp-001")
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portal_stamp = stamp_by_id(layout, "landmark/sw-arrival-chamber-mouth-approach-v1")
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chamber_stamp = stamp_by_id(layout, "landmark/sw-arrival-chamber-v1")
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floor_stamp = stamp_by_id(layout, "landmark/sw-arrival-chamber-v1-floor")
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dais_stamp = stamp_by_id(layout, "landmark/sw-arrival-chamber-v1-dais")
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entrance = metres(entrance_stamp)
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next_ramp = metres(next_ramp_stamp)
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portal = metres(portal_stamp)
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chamber = metres(chamber_stamp)
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floor = metres(floor_stamp)
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floor_top = floor[2] + floor_stamp["half_extents_um"][2] / 1_000_000.0
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dais = metres(dais_stamp)
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dais_top = dais[2] + dais_stamp["half_extents_um"][2] / 1_000_000.0
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ground_z = entrance[2] - 1.6
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direction_length = math.hypot(next_ramp[0] - entrance[0], next_ramp[1] - entrance[1])
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direction = ((next_ramp[0] - entrance[0]) / direction_length,
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(next_ramp[1] - entrance[1]) / direction_length)
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outward_length = math.hypot(entrance[0] - chamber[0], entrance[1] - chamber[1])
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outward = ((entrance[0] - chamber[0]) / outward_length,
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(entrance[1] - chamber[1]) / outward_length)
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if not mesh.is_file() or mesh.stat().st_size == 0:
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raise RuntimeError(f"missing mesh export {mesh}")
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voxel_um, triangles, tile_count = PROFILE.read_scene(str(mesh), 0,
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floor_top - 8.0, entrance[2] + 9.0,
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(min(entrance[0], chamber[0]) - 20.0, max(entrance[0], chamber[0]) + 20.0,
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min(entrance[1], chamber[1]) - 20.0, max(entrance[1], chamber[1]) + 20.0))
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bounds = (min(entrance[0], chamber[0]) - 20.0, max(entrance[0], chamber[0]) + 20.0,
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min(entrance[1], chamber[1]) - 20.0, max(entrance[1], chamber[1]) + 20.0)
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buckets = PROFILE.build_buckets(triangles, True, bounds, cell_size=1.0)
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ground_candidates = []
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for ix in range(-20, 21):
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for iy in range(-20, 21):
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x, y = portal[0] + ix * 0.5, portal[1] + iy * 0.5
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dx, dy = x - portal[0], y - portal[1]
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distance = math.hypot(dx, dy)
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if not 6.0 <= distance <= 10.0:
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continue
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hit = PROFILE.sample_surface(buckets, x, y, True, 1.0,
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preferred_height=ground_z)
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if hit is None or abs(hit[0] - ground_z) > 3.0 or hit[1][2] < 0.85:
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continue
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alignment = max(-1.0, min(1.0,
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(dx * mouth_normal[0] + dy * mouth_normal[1]) / distance))
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angle = math.acos(alignment)
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score = abs(distance - 7.0) + angle * 4.0
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ground_candidates.append((score, x, y, hit[0]))
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if not ground_candidates:
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raise RuntimeError("no walkable mesh ground lies 6 to 10 m from the cave mouth")
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_, ground_x, ground_y, outside_ground = min(ground_candidates)
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inside_floor = PROFILE.sample_surface(buckets, chamber[0], chamber[1], True, 1.0,
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preferred_height=floor_top)
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if inside_floor is None or abs(inside_floor[0] - floor_top) > 1.5:
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raise RuntimeError(f"chamber floor mesh hit {inside_floor} does not match designed floor {floor_top:.3f} m")
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floor_top = inside_floor[0]
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ground_camera = (ground_x, ground_y, outside_ground + 1.6)
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entry_ground = PROFILE.sample_surface(buckets, entrance[0], entrance[1], True, 1.0,
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preferred_height=ground_z)
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if entry_ground is None:
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raise RuntimeError("cave mouth has no walkable ground surface in the exported mesh")
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entry_camera = (entrance[0] + mouth_normal[0] * 3.8,
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entrance[1] + mouth_normal[1] * 3.8, ground_z + 1.6)
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entry_ramp_stamps = sorted((stamp for stamp in layout.get("stamps", [])
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if stamp.get("stable_id", "").startswith("landmark/sw-arrival-chamber-ramp-")),
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key=lambda stamp: stamp["stable_id"])
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if not entry_ramp_stamps:
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raise RuntimeError("resolved layout has no chamber ramp stamps")
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entry_target_stamp = entry_ramp_stamps[min(8, len(entry_ramp_stamps) - 1)]
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entry_target_center = metres(entry_target_stamp)
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entry_target = (entry_target_center[0],entry_target_center[1],entry_target_center[2]-1.2)
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to_dais = (dais[0] - chamber[0], dais[1] - chamber[1])
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to_dais_length = math.hypot(*to_dais)
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opposite_dais = (-to_dais[0] / to_dais_length, -to_dais[1] / to_dais_length)
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inside_x = chamber[0]
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inside_y = chamber[1]
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inside_floor = PROFILE.sample_surface(buckets, inside_x, inside_y, True, 1.0,
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preferred_height=floor_top)
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inside_eye_z = inside_floor[0] + 1.6
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chamber_camera = (chamber[0] + opposite_dais[0] * 5.5,
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chamber[1] + opposite_dais[1] * 5.5, inside_eye_z)
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chamber_target = (dais[0], dais[1], dais_top - 0.25)
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overview_camera = (entrance[0] + outward[0] * 18.0,
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entrance[1] + outward[1] * 18.0, outside_ground + 15.0)
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overview_target = ((entrance[0] + chamber[0]) * 0.5,
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(entrance[1] + chamber[1]) * 0.5,
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(ground_z + floor_top) * 0.5)
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inward = (-outward[0], -outward[1])
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clip_point = (entrance[0] + outward[0] * 0.5,
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entrance[1] + outward[1] * 0.5)
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overview_clip = (inward[0], inward[1], 0.0,
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-(inward[0] * clip_point[0] + inward[1] * clip_point[1]))
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views = (
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("ground-entrance", ground_camera, (portal[0], portal[1], portal[2]),
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(portal[0], portal[1], ground_z, 20.0), -509.0),
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("entrance-looking-in", entry_camera, entry_target, (entrance[0], entrance[1], entrance[2], 16.0), -507.0),
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("inside-to-dais", chamber_camera, chamber_target,
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(chamber[0], chamber[1], chamber[2], 15.0), chamber[2]),
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("overview-entrance-and-chamber", overview_camera, overview_target,
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((entrance[0] + chamber[0]) * 0.5,
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(entrance[1] + chamber[1]) * 0.5,
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(ground_z + floor_top) * 0.5, 34.0), -509.0),
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)
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for name, camera, target, focus, height_center in views:
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png = PNG_DIR / f"{name}.png"
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jpg = CAPTURE_DIR / f"{name}.jpg"
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yaw, pitch = camera_angles(camera, target)
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fov = (80.0 if name == "overview-entrance-and-chamber" else
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70.0 if name in ("inside-to-dais", "entrance-looking-in") else 65.0
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if name == "ground-entrance" else 60.0)
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if name == "ground-entrance":
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fov = 55.0
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print(f"[L45CaptureCamera] view={name} camera_m=({fmt(camera)}) "
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f"target_m=({fmt(target)}) yaw_deg={yaw:.3f} pitch_deg={pitch:.3f} "
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f"fov_deg={fov:.1f} entrance_distance_m={math.dist(camera, portal):.3f}", flush=True)
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render = [str(RENDERER), str(mesh), str(png), "--size=1600x900", f"--fov-deg={fov:.1f}",
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f"--camera-m={fmt(camera)}", f"--yaw-deg={yaw:.6f}", f"--pitch-deg={pitch:.6f}",
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"--shade=readable", "--headlamp=on", "--height-tint=on",
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"--light-direction=0.3,-0.4,0.85",
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f"--height-center-m={(floor_top if name == 'inside-to-dais' else height_center):.6f}",
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f"--height-range-m={4 if name == 'inside-to-dais' else 16}",
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"--tile-skirts=off", "--tile-edges=off",
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f"--focus-region={fmt(focus)}"]
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if name == "overview-entrance-and-chamber":
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render.append(f"--clip-plane={fmt(overview_clip)}")
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run_logged(f"{name}-render", render, capture=True)
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for quality in (4, 6, 8):
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run_logged(f"{name}-jpeg-q{quality}", ["ffmpeg", "-nostdin", "-hide_banner",
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"-loglevel", "error", "-y", "-i", str(png), "-frames:v", "1",
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"-q:v", str(quality), str(jpg)])
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if jpg.is_file() and 0 < jpg.stat().st_size <= 300_000:
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break
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if not jpg.is_file() or not 0 < jpg.stat().st_size <= 300_000:
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raise RuntimeError(f"{jpg.name} exceeds the 300 KB capture limit")
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quality_log = run_logged(f"{name}-quality", [sys.executable,
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str(VERIFY / "capture_quality.py"), str(jpg)])
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print(f"[L45CaptureJPEG] file={jpg} bytes={jpg.stat().st_size} "
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f"quality_log={quality_log.strip().replace(chr(10), ' ')} status=PASS", flush=True)
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def region_triangles(center, radius_xy, z_min, z_max):
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selected = []
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for triangle in triangles:
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points = tuple(vertex[0] for vertex in triangle[2])
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centroid = tuple(sum(point[axis] for point in points) / 3.0 for axis in range(3))
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if (math.hypot(centroid[0] - center[0], centroid[1] - center[1]) <= radius_xy
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and z_min <= centroid[2] <= z_max):
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selected.append(triangle)
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return selected
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def audit_shape(name, region, center):
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metrics = SHAPE.analyze_triangles(region, center[:2], center[2],
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crop_to_center=False, include_sides=True)
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passed = (metrics["triangles"] > 0
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and metrics["planar_area"] < SHAPE.PLANE_LIMIT_M2
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and metrics["straight"] <= SHAPE.STRAIGHT_LIMIT_M
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and metrics["corners"] == 0)
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print(f"[LandmarkBuiltShape] region={name} triangles={metrics['triangles']} "
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f"planar_patch_m2={metrics['planar_area']:.4f} "
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f"straight_run_m={metrics['straight']:.4f} sharp_corners={metrics['corners']} "
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f"corner_turn_max_deg={metrics['corner_turn_max']:.2f} "
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f"thresholds=({SHAPE.PLANE_LIMIT_M2:.2f}m2,{SHAPE.STRAIGHT_LIMIT_M:.2f}m,"
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f"{SHAPE.CORNER_TURN_LIMIT_DEG:.0f}deg) status={'PASS' if passed else 'FAIL'}",
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flush=True)
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if not passed:
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raise RuntimeError(f"L37 built-shape thresholds failed in {name}")
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return metrics
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entrance_metrics = audit_shape("cave-mouth", region_triangles(
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portal, 5.0, ground_z + 0.8, ground_z + 4.5),
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(portal[0], portal[1], ground_z))
|
||||
dais_surface = PROFILE.sample_surface(buckets, dais[0], dais[1], True, 1.0,
|
||||
preferred_height=dais_top - 0.4)
|
||||
if dais_surface is None:
|
||||
raise RuntimeError("dais stamp has no upward-facing surface in the exported mesh")
|
||||
dais_rise = dais_surface[0] - floor_top
|
||||
print(f"[LandmarkDaisSurface] center_m=({dais[0]:.3f},{dais[1]:.3f}) "
|
||||
f"floor_z_m={floor_top:.3f} top_z_m={dais_surface[0]:.3f} "
|
||||
f"rise_m={dais_rise:.3f} minimum_m=1.000 "
|
||||
f"status={'PASS' if dais_rise >= 1.0 else 'FAIL'}", flush=True)
|
||||
if dais_rise < 1.0:
|
||||
raise RuntimeError(f"dais rises only {dais_rise:.3f} m above the chamber floor")
|
||||
dais_metrics = audit_shape("dais-platform", region_triangles(
|
||||
dais, 1.7, floor_top + 0.6, dais_top + 0.4),
|
||||
(dais[0], dais[1], dais_surface[0]))
|
||||
metrics_path = ARTIFACT_DIR / "landmark-shape-metrics.json"
|
||||
metrics_path.write_text(json.dumps({
|
||||
"vocabulary_version": layout["stamp_vocabulary_version"],
|
||||
"entry_m": entrance, "portal_m": portal, "entry_ground_m": ground_z,
|
||||
"chamber_center_m": chamber, "chamber_floor_m": floor_top,
|
||||
"dais_center_m": dais, "dais_top_m": dais_top,
|
||||
"dais_surface_m": dais_surface[0], "dais_rise_m": dais_rise,
|
||||
"l37_thresholds": {"planar_patch_m2_lt": SHAPE.PLANE_LIMIT_M2,
|
||||
"straight_run_m_lte": SHAPE.STRAIGHT_LIMIT_M,
|
||||
"corner_turn_deg_lt": SHAPE.CORNER_TURN_LIMIT_DEG},
|
||||
"entrance_arch": entrance_metrics, "dais_platform": dais_metrics,
|
||||
"mesh_tiles": tile_count, "mesh_voxel_um": voxel_um,
|
||||
}, indent=2) + "\n", encoding="utf-8")
|
||||
print(f"[L45CaptureShapeMetrics] file={metrics_path} status=PASS", flush=True)
|
||||
Reference in new issue
Block a user