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VoxelForge/Standalone/Research/WorldAssemblerM3/Linux148/l148-exclusion-envelope.patch
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Fr0zkaandClaude Opus 5.5 f21aab775f research: passage exclusion envelope at plan time (L148, 7/16; kept as patch) 
Seed-2 shell carver measured: vertical-shafts route-edge-0, the layer's own connection edge from the 2-3 lower
mouth. Connection edges legitimately run beside the passage 12-20 m from the mouth, so an 8 m mouth-sphere exclusion
rejects 9/16 otherwise valid plans. Points to one continuous tube across the mouth instead of two overlapping ones.

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_016dhxM43dnWvUu2B5Ph1iG1
2026-11-01 14:18:19 +01:00

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diff --git a/Standalone/Core/include/VoxelForgeCore/VoxelForgeCore.h b/Standalone/Core/include/VoxelForgeCore/VoxelForgeCore.h
index 8c44461..a271b75 100644
--- a/Standalone/Core/include/VoxelForgeCore/VoxelForgeCore.h
+++ b/Standalone/Core/include/VoxelForgeCore/VoxelForgeCore.h
@@ -1226,6 +1226,39 @@ namespace VoxelForgeCore
std::vector<ResolvedLayoutPassagePointV1> controlPoints;
};
+ // Passage shell, relief, smooth-max support, and rounding guard in the shared
+ // planner's integer micrometre coordinate space. Keep this aligned with the
+ // passage evaluator's L130 reach contract.
+ inline constexpr double ResolvedPassageInfluenceReachMicrometresV1 =
+ (0.75 + 0.21 + 0.50 / 6.0 + 0.01) * 1000000.0;
+ // The bounded joint covers the planner's 2 m mouth overlap and 6 m portal lead.
+ inline constexpr std::int64_t ResolvedPassageMouthJointRadiusMicrometresV1 = 8000000;
+
+ // A planner passes the conservative bounds of each layer primitive through this
+ // shared gate. Only explicitly associated mouth-joint primitives may overlap
+ // the bounded spatial joint around their named passage mouth.
+ struct ResolvedLayoutPrimitiveBoundsV1
+ {
+ std::string stableId;
+ std::int32_t strateIndex = -1;
+ std::array<std::int64_t, 3> boundsMinimumMicrometres{};
+ std::array<std::int64_t, 3> boundsMaximumMicrometres{};
+ std::string mouthJointPassageStableId;
+ std::int64_t mouthJointRadiusMicrometres = 0;
+ };
+
+ struct ResolvedLayoutPassageExclusionAuditV1
+ {
+ std::uint64_t primitivesChecked = 0;
+ std::uint64_t overlapsOutsideJoint = 0;
+ std::uint64_t mouthJointAssociations = 0;
+ std::uint32_t negativeControlsRun = 0;
+ std::uint32_t negativeControlsRejected = 0;
+ std::string firstOverlappingPrimitive;
+ std::string firstOverlappingPassage;
+ bool passed = false;
+ };
+
struct ResolvedLayoutPassageConfigV1
{
std::int32_t upperStrateIndex = -1;
@@ -1340,6 +1373,14 @@ namespace VoxelForgeCore
std::vector<ResolvedCavernRoomV1>& rooms,
std::vector<ResolvedCavernEdgeV1>& edges,
std::string& error);
+ VFCORE_API bool IsResolvedLayoutPrimitiveOutsidePassageEnvelopeV1(
+ const ResolvedLayoutSnapshotV3& layout,
+ const ResolvedLayoutPrimitiveBoundsV1& primitive,
+ std::string& conflictingPassageStableId);
+ VFCORE_API ResolvedLayoutPassageExclusionAuditV1
+ AuditResolvedLayoutPassageExclusionV1(
+ const ResolvedLayoutSnapshotV3& layout,
+ std::span<const ResolvedLayoutPrimitiveBoundsV1> primitives);
VFCORE_API bool ResolveResolvedLayoutOreVeinsV1(
ResolvedLayoutSnapshotV3& layout, std::int32_t seed,
std::span<const ResolvedLayoutOreVeinRequestV1> requests,
diff --git a/Standalone/Core/src/ResolvedLayoutInternal.h b/Standalone/Core/src/ResolvedLayoutInternal.h
index 7b7520a..2550c77 100644
--- a/Standalone/Core/src/ResolvedLayoutInternal.h
+++ b/Standalone/Core/src/ResolvedLayoutInternal.h
@@ -2306,6 +2306,301 @@ bool ResolveResolvedCavernGraphV1(ResolvedLayoutSnapshotV3& layout,std::int32_t
layout=std::move(candidate);return true;
}
+namespace
+{
+ struct FResolvedPassageEnvelopeSegment
+ {
+ std::string stableId;
+ std::int32_t upperStrateIndex=-1,lowerStrateIndex=-1;
+ std::array<double,3> a{},b{};
+ std::array<double,3> upperMouthCenter{},lowerMouthCenter{};
+ double radiusMicrometres=0.0;
+ double alongMicrometres=0.0,lengthMicrometres=0.0,totalLengthMicrometres=0.0;
+ };
+
+ std::vector<FResolvedPassageEnvelopeSegment> BuildResolvedPassageEnvelopeSegments(
+ const ResolvedLayoutSnapshotV3& layout)
+ {
+ std::vector<FResolvedPassageEnvelopeSegment> result;
+ for(const auto& passage:layout.passages)
+ {
+ if(passage.controlPoints.size()<2||layout.coreVoxelSizeMicrometres==0)continue;
+ const std::size_t routeEnd=std::clamp<std::size_t>(
+ passage.lowerMouthControlIndex,1,passage.controlPoints.size()-1);
+ std::vector<PassageSpline::FPoint> controls;
+ controls.reserve(passage.controlPoints.size());
+ const double scale=static_cast<double>(layout.coreVoxelSizeMicrometres)
+ /WorldAssemblySubvoxelsPerVoxel;
+ for(const auto& point:passage.controlPoints)
+ controls.push_back({point.positionSubvoxels[0]*scale,
+ point.positionSubvoxels[1]*scale,point.positionSubvoxels[2]*scale,
+ point.radiusSubvoxels*scale});
+ const auto segments=PassageSpline::BuildSegments(controls,routeEnd,2.0,
+ 1000000.0);
+ if(segments.empty())continue;
+ const double totalLength=(segments.back().alongMetres
+ +segments.back().lengthMetres)*1000000.0;
+ const std::size_t lowerMouthIndex=std::min(routeEnd,controls.size()-1);
+ for(const auto& segment:segments)
+ {
+ FResolvedPassageEnvelopeSegment envelope;
+ envelope.stableId=passage.stableId;
+ envelope.upperStrateIndex=passage.upperStrateIndex;
+ envelope.lowerStrateIndex=passage.lowerStrateIndex;
+ for(std::size_t axis=0;axis<3;++axis)
+ {
+ envelope.a[axis]=segment.a[axis];
+ envelope.b[axis]=segment.b[axis];
+ envelope.upperMouthCenter[axis]=controls.front()[axis];
+ envelope.lowerMouthCenter[axis]=controls[lowerMouthIndex][axis];
+ }
+ envelope.radiusMicrometres=std::max(segment.a[3],segment.b[3]);
+ envelope.alongMicrometres=segment.alongMetres*1000000.0;
+ envelope.lengthMicrometres=segment.lengthMetres*1000000.0;
+ envelope.totalLengthMicrometres=totalLength;
+ result.push_back(std::move(envelope));
+ }
+ }
+ return result;
+ }
+
+ bool ResolvedPrimitiveBoundsOverlap(const ResolvedLayoutPrimitiveBoundsV1& primitive,
+ const std::array<double,3>& segmentA,const std::array<double,3>& segmentB,
+ double envelopeRadius)
+ {
+ std::array<double,3> direction{};
+ std::vector<double> breakpoints{0.0,1.0};
+ for(std::size_t axis=0;axis<3;++axis)
+ {
+ direction[axis]=segmentB[axis]-segmentA[axis];
+ if(std::abs(direction[axis])<=1.0e-18)continue;
+ for(const auto boundary:{static_cast<double>(primitive.boundsMinimumMicrometres[axis]),
+ static_cast<double>(primitive.boundsMaximumMicrometres[axis])})
+ {
+ const double t=(boundary-segmentA[axis])/direction[axis];
+ if(t>0.0&&t<1.0)breakpoints.push_back(t);
+ }
+ }
+ std::sort(breakpoints.begin(),breakpoints.end());
+ breakpoints.erase(std::unique(breakpoints.begin(),breakpoints.end()),
+ breakpoints.end());
+ const auto distanceSquared=[&](double t)
+ {
+ double result=0.0;
+ for(std::size_t axis=0;axis<3;++axis)
+ {
+ const double position=segmentA[axis]+direction[axis]*t;
+ const double gap=position<primitive.boundsMinimumMicrometres[axis]
+ ?primitive.boundsMinimumMicrometres[axis]-position
+ :position>primitive.boundsMaximumMicrometres[axis]
+ ?position-primitive.boundsMaximumMicrometres[axis]:0.0;
+ result+=gap*gap;
+ }
+ return result;
+ };
+ double closestSquared=std::min(distanceSquared(0.0),distanceSquared(1.0));
+ for(std::size_t index=1;index<breakpoints.size();++index)
+ {
+ const double low=breakpoints[index-1],high=breakpoints[index];
+ const double middle=(low+high)*0.5;
+ double quadratic=0.0,linear=0.0;
+ for(std::size_t axis=0;axis<3;++axis)
+ {
+ const double position=segmentA[axis]+direction[axis]*middle;
+ double boundary=0.0;
+ bool active=false;
+ if(position<primitive.boundsMinimumMicrometres[axis])
+ {boundary=primitive.boundsMinimumMicrometres[axis];active=true;}
+ else if(position>primitive.boundsMaximumMicrometres[axis])
+ {boundary=primitive.boundsMaximumMicrometres[axis];active=true;}
+ if(!active)continue;
+ quadratic+=direction[axis]*direction[axis];
+ linear+=direction[axis]*(segmentA[axis]-boundary);
+ }
+ if(quadratic>1.0e-18)
+ {
+ const double closest=std::clamp(-linear/quadratic,low,high);
+ closestSquared=std::min(closestSquared,distanceSquared(closest));
+ }
+ closestSquared=std::min(closestSquared,distanceSquared(low));
+ closestSquared=std::min(closestSquared,distanceSquared(high));
+ }
+ return closestSquared<=envelopeRadius*envelopeRadius;
+ }
+}
+
+bool IsResolvedLayoutPrimitiveOutsidePassageEnvelopeV1(
+ const ResolvedLayoutSnapshotV3& layout,
+ const ResolvedLayoutPrimitiveBoundsV1& primitive,
+ std::string& conflictingPassageStableId)
+{
+ conflictingPassageStableId.clear();
+ for(std::size_t axis=0;axis<3;++axis)
+ if(primitive.boundsMinimumMicrometres[axis]
+ >primitive.boundsMaximumMicrometres[axis])
+ {conflictingPassageStableId="invalid-primitive-bounds";return false;}
+ if(primitive.mouthJointRadiusMicrometres<0
+ ||primitive.mouthJointRadiusMicrometres
+ >ResolvedPassageMouthJointRadiusMicrometresV1)
+ {conflictingPassageStableId="invalid-mouth-joint-radius";return false;}
+
+ const auto envelope=BuildResolvedPassageEnvelopeSegments(layout);
+ bool matchedMouthJoint=primitive.mouthJointPassageStableId.empty();
+ for(const auto& segment:envelope)
+ {
+ const bool isUpper=primitive.strateIndex==segment.upperStrateIndex;
+ const bool isLower=primitive.strateIndex==segment.lowerStrateIndex;
+ if(!isUpper&&!isLower)continue;
+ const bool authorized=primitive.mouthJointPassageStableId==segment.stableId;
+ if(authorized)matchedMouthJoint=true;
+ const double radius=segment.radiusMicrometres
+ +ResolvedPassageInfluenceReachMicrometresV1+1000.0;
+ const auto rejectAt=[&](double t)
+ {
+ conflictingPassageStableId=segment.stableId;
+ const std::array<double,3> center{
+ std::lerp(segment.a[0],segment.b[0],t),
+ std::lerp(segment.a[1],segment.b[1],t),
+ std::lerp(segment.a[2],segment.b[2],t)};
+ const auto mouthDistance=[&](const auto& mouth)
+ {
+ const double dx=center[0]-mouth[0],dy=center[1]-mouth[1],
+ dz=center[2]-mouth[2];
+ return std::sqrt(dx*dx+dy*dy+dz*dz)/1.0e6;
+ };
+ std::printf("[PassageExclusionConflictDetail] primitive=%s passage=%s station_m=%.3f authorized_joint=%s joint_radius_m=%.3f envelope_radius_m=%.3f nearest_mouth_m=%.3f center_m=(%.3f,%.3f,%.3f) bounds_min_m=(%.3f,%.3f,%.3f) bounds_max_m=(%.3f,%.3f,%.3f)\n",
+ primitive.stableId.c_str(),segment.stableId.c_str(),
+ (segment.alongMicrometres+segment.lengthMicrometres*t)/1.0e6,
+ authorized?"true":"false",
+ primitive.mouthJointRadiusMicrometres/1.0e6,radius/1.0e6,
+ std::min(mouthDistance(segment.upperMouthCenter),
+ mouthDistance(segment.lowerMouthCenter)),
+ center[0]/1.0e6,center[1]/1.0e6,center[2]/1.0e6,
+ primitive.boundsMinimumMicrometres[0]/1.0e6,
+ primitive.boundsMinimumMicrometres[1]/1.0e6,
+ primitive.boundsMinimumMicrometres[2]/1.0e6,
+ primitive.boundsMaximumMicrometres[0]/1.0e6,
+ primitive.boundsMaximumMicrometres[1]/1.0e6,
+ primitive.boundsMaximumMicrometres[2]/1.0e6);
+ return false;
+ };
+ const auto overlaps=[&](double t0,double t1)
+ {
+ if(t1<=t0)return false;
+ std::array<double,3> a{},b{};
+ for(std::size_t axis=0;axis<3;++axis)
+ {
+ a[axis]=std::lerp(segment.a[axis],segment.b[axis],t0);
+ b[axis]=std::lerp(segment.a[axis],segment.b[axis],t1);
+ }
+ return ResolvedPrimitiveBoundsOverlap(primitive,a,b,radius);
+ };
+ if(authorized&&primitive.mouthJointRadiusMicrometres>0)
+ {
+ const auto& center=isUpper?segment.upperMouthCenter:segment.lowerMouthCenter;
+ std::array<double,3> delta{};
+ double quadratic=0.0,linear=0.0,constant=0.0;
+ for(std::size_t axis=0;axis<3;++axis)
+ {
+ delta[axis]=segment.b[axis]-segment.a[axis];
+ const double offset=segment.a[axis]-center[axis];
+ quadratic+=delta[axis]*delta[axis];
+ linear+=offset*delta[axis];
+ constant+=offset*offset;
+ }
+ const double jointReach=primitive.mouthJointRadiusMicrometres+radius;
+ constant-=jointReach*jointReach;
+ const double discriminant=linear*linear-quadratic*constant;
+ if(quadratic<=1.0e-18)
+ {
+ // A degenerate segment that is wholly in the joint is authorized;
+ // one outside it remains subject to the full envelope check.
+ if(constant<=0.0)continue;
+ if(overlaps(0.0,1.0))
+ return rejectAt(0.5);
+ continue;
+ }
+ if(discriminant<0.0)
+ {
+ if(overlaps(0.0,1.0))
+ return rejectAt(0.5);
+ continue;
+ }
+ const double root=std::sqrt(discriminant);
+ const double insideFirst=(-linear-root)/quadratic;
+ const double insideLast=(-linear+root)/quadratic;
+ const double clippedFirst=std::clamp(insideFirst,0.0,1.0);
+ const double clippedLast=std::clamp(insideLast,0.0,1.0);
+ if(insideFirst>=1.0||insideLast<=0.0)
+ {
+ if(overlaps(0.0,1.0))
+ return rejectAt(0.5);
+ continue;
+ }
+ if(overlaps(0.0,clippedFirst)||overlaps(clippedLast,1.0))
+ return rejectAt(clippedFirst>0.0?clippedFirst*0.5:
+ (1.0+clippedLast)*0.5);
+ continue;
+ }
+ if(overlaps(0.0,1.0))
+ return rejectAt(0.5);
+ }
+ if(!matchedMouthJoint)
+ {conflictingPassageStableId=primitive.mouthJointPassageStableId;return false;}
+ return true;
+}
+
+ResolvedLayoutPassageExclusionAuditV1 AuditResolvedLayoutPassageExclusionV1(
+ const ResolvedLayoutSnapshotV3& layout,
+ std::span<const ResolvedLayoutPrimitiveBoundsV1> primitives)
+{
+ ResolvedLayoutPassageExclusionAuditV1 result;
+ for(const auto& primitive:primitives)
+ {
+ ++result.primitivesChecked;
+ if(!primitive.mouthJointPassageStableId.empty())
+ ++result.mouthJointAssociations;
+ std::string conflict;
+ if(!IsResolvedLayoutPrimitiveOutsidePassageEnvelopeV1(layout,primitive,conflict))
+ {
+ ++result.overlapsOutsideJoint;
+ if(result.firstOverlappingPrimitive.empty())
+ {
+ result.firstOverlappingPrimitive=primitive.stableId;
+ result.firstOverlappingPassage=std::move(conflict);
+ }
+ }
+ }
+
+ const auto passage=std::find_if(layout.passages.begin(),layout.passages.end(),
+ [](const auto& value){return value.controlPoints.size()>=2;});
+ if(passage!=layout.passages.end()&&layout.coreVoxelSizeMicrometres>0)
+ {
+ const auto& point=passage->controlPoints[passage->controlPoints.size()/2]
+ .positionSubvoxels;
+ ResolvedLayoutPrimitiveBoundsV1 control;
+ control.stableId="negative-control/forced-inside-passage-envelope";
+ control.strateIndex=passage->lowerStrateIndex;
+ const double scale=static_cast<double>(layout.coreVoxelSizeMicrometres)
+ /WorldAssemblySubvoxelsPerVoxel;
+ for(std::size_t axis=0;axis<3;++axis)
+ {
+ const auto center=static_cast<std::int64_t>(std::llround(point[axis]*scale));
+ control.boundsMinimumMicrometres[axis]=center-250000;
+ control.boundsMaximumMicrometres[axis]=center+250000;
+ }
+ ++result.negativeControlsRun;
+ std::string conflict;
+ if(!IsResolvedLayoutPrimitiveOutsidePassageEnvelopeV1(layout,control,conflict)
+ &&conflict==passage->stableId)
+ ++result.negativeControlsRejected;
+ }
+ result.passed=result.overlapsOutsideJoint==0
+ &&result.negativeControlsRun==1
+ &&result.negativeControlsRejected==result.negativeControlsRun;
+ return result;
+}
+
bool PlanResolvedCavernNetworkV1(const ResolvedLayoutSnapshotV3& layout,
std::int32_t seed,std::int32_t strateIndex,
const ResolvedCavernPlannerSettingsV1& settings,
@@ -3484,6 +3779,127 @@ bool PlanResolvedCavernNetworkV1(const ResolvedLayoutSnapshotV3& layout,
std::atan2(static_cast<double>(rise),static_cast<double>(run))
*180.0/3.14159265358979323846);
}
+ auto boundedGraph=layout;
+ std::string boundsError;
+ if(!ResolveResolvedCavernGraphV1(boundedGraph,seed,rooms,edges,boundsError))
+ {error="cavern planner could not validate primitive bounds: "+boundsError;return false;}
+ std::vector<ResolvedLayoutPrimitiveBoundsV1> primitiveBounds;
+ primitiveBounds.reserve(boundedGraph.cavernRooms.size()+boundedGraph.cavernEdges.size());
+ const std::int64_t mouthJointFeatureSpanMicrometres=
+ MouthOverlap+PortalLeadLength+2*settings.destinationRadiusMicrometres;
+ const auto mouthJointAtProfileDistance=[&](std::int64_t distance)
+ ->std::string
+ {
+ if(distance<=mouthJointFeatureSpanMicrometres)
+ return arrivalPassage->stableId;
+ if(departurePassage&&totalRouteLength-distance
+ <=mouthJointFeatureSpanMicrometres)
+ return departurePassage->stableId;
+ return {};
+ };
+ const auto associateSpatialMouthJoint=[&](ResolvedLayoutPrimitiveBoundsV1& bounds)
+ {
+ if(!bounds.mouthJointPassageStableId.empty())return;
+ const double jointRadius=
+ static_cast<double>(ResolvedPassageMouthJointRadiusMicrometresV1);
+ double nearestSquared=jointRadius*jointRadius;
+ for(const auto& passage:layout.passages)
+ {
+ if(bounds.strateIndex!=passage.upperStrateIndex
+ &&bounds.strateIndex!=passage.lowerStrateIndex)
+ continue;
+ if(passage.controlPoints.size()<2)continue;
+ const std::size_t lowerMouthIndex=std::min(
+ passage.lowerMouthControlIndex,passage.controlPoints.size()-1);
+ const std::array<std::size_t,2> mouthIndices={0,lowerMouthIndex};
+ double passageDistanceSquared=std::numeric_limits<double>::infinity();
+ for(const auto mouthIndex:mouthIndices)
+ {
+ double distanceSquared=0.0;
+ for(std::size_t axis=0;axis<3;++axis)
+ {
+ const double center=static_cast<double>(qToMicrometres(
+ passage.controlPoints[mouthIndex].positionSubvoxels[axis]));
+ const double gap=center<bounds.boundsMinimumMicrometres[axis]
+ ?bounds.boundsMinimumMicrometres[axis]-center
+ :center>bounds.boundsMaximumMicrometres[axis]
+ ?center-bounds.boundsMaximumMicrometres[axis]:0.0;
+ distanceSquared+=gap*gap;
+ }
+ passageDistanceSquared=std::min(passageDistanceSquared,distanceSquared);
+ }
+ if(passageDistanceSquared<=nearestSquared)
+ {
+ if(bounds.mouthJointPassageStableId.empty()
+ ||passageDistanceSquared<nearestSquared
+ ||passage.stableId<bounds.mouthJointPassageStableId)
+ {
+ bounds.mouthJointPassageStableId=passage.stableId;
+ nearestSquared=passageDistanceSquared;
+ }
+ }
+ }
+ if(!bounds.mouthJointPassageStableId.empty())
+ bounds.mouthJointRadiusMicrometres=
+ ResolvedPassageMouthJointRadiusMicrometresV1;
+ };
+ for(const auto& room:boundedGraph.cavernRooms)
+ {
+ ResolvedLayoutPrimitiveBoundsV1 bounds{room.stableId,room.strateIndex,
+ room.boundsMinimumMicrometres,room.boundsMaximumMicrometres};
+ if(room.floorProfileStableId==backboneFloorProfileId
+ &&room.floorProfileDistanceMicrometres>=0)
+ bounds.mouthJointPassageStableId=mouthJointAtProfileDistance(
+ room.floorProfileDistanceMicrometres);
+ if(!bounds.mouthJointPassageStableId.empty())
+ bounds.mouthJointRadiusMicrometres=
+ ResolvedPassageMouthJointRadiusMicrometresV1;
+ associateSpatialMouthJoint(bounds);
+ primitiveBounds.push_back(std::move(bounds));
+ }
+ const auto mouthJointForAnchor=[](const std::string& anchor)
+ {
+ constexpr std::string_view Lower="/lower-mouth";
+ constexpr std::string_view Upper="/upper-mouth";
+ if(anchor.ends_with(Lower))return anchor.substr(0,anchor.size()-Lower.size());
+ if(anchor.ends_with(Upper))return anchor.substr(0,anchor.size()-Upper.size());
+ return std::string{};
+ };
+ for(const auto& edge:boundedGraph.cavernEdges)
+ {
+ ResolvedLayoutPrimitiveBoundsV1 bounds{edge.stableId,edge.strateIndex,
+ edge.boundsMinimumMicrometres,edge.boundsMaximumMicrometres};
+ bounds.mouthJointPassageStableId=mouthJointForAnchor(edge.startAnchorStableId);
+ if(bounds.mouthJointPassageStableId.empty()
+ &&edge.floorProfileStableId==backboneFloorProfileId
+ &&edge.floorProfileStartDistanceMicrometres>=0
+ &&edge.floorProfileEndDistanceMicrometres>=0)
+ {
+ const auto midpoint=(edge.floorProfileStartDistanceMicrometres
+ +edge.floorProfileEndDistanceMicrometres)/2;
+ bounds.mouthJointPassageStableId=mouthJointAtProfileDistance(midpoint);
+ }
+ if(!bounds.mouthJointPassageStableId.empty())
+ bounds.mouthJointRadiusMicrometres=
+ ResolvedPassageMouthJointRadiusMicrometresV1;
+ associateSpatialMouthJoint(bounds);
+ primitiveBounds.push_back(std::move(bounds));
+ }
+ const auto exclusionAudit=AuditResolvedLayoutPassageExclusionV1(layout,primitiveBounds);
+ std::printf("[CavernPassageExclusionAudit] strate=%d primitives=%llu outside_joint=%llu mouth_joint=%llu negative_controls=%u/%u first_primitive=%s first_passage=%s status=%s\n",
+ strateIndex,static_cast<unsigned long long>(exclusionAudit.primitivesChecked),
+ static_cast<unsigned long long>(exclusionAudit.overlapsOutsideJoint),
+ static_cast<unsigned long long>(exclusionAudit.mouthJointAssociations),
+ exclusionAudit.negativeControlsRejected,exclusionAudit.negativeControlsRun,
+ exclusionAudit.firstOverlappingPrimitive.empty()?"none":exclusionAudit.firstOverlappingPrimitive.c_str(),
+ exclusionAudit.firstOverlappingPassage.empty()?"none":exclusionAudit.firstOverlappingPassage.c_str(),
+ exclusionAudit.passed?"PASS":"FAIL");
+ if(!exclusionAudit.passed)
+ {
+ error="cavern planner primitive bounds overlap a passage exclusion envelope outside its mouth joint: "+
+ exclusionAudit.firstOverlappingPrimitive+" -> "+exclusionAudit.firstOverlappingPassage;
+ return false;
+ }
const double plannerMilliseconds=std::chrono::duration<double,std::milli>(
std::chrono::steady_clock::now()-plannerStarted).count();
std::printf("[CavernPlannerV1] strate=%d seed=%d route=%s->%s route_nodes=%zu room_primitives=%zu shafts=%zu edges=%zu branches=%zu route_horizontal_m=%.3f floor_delta_m=%.3f max_grade_deg=%.3f mouth_tangent_min_dot=%.3f grade_limit_deg=11.310 clearance_radius_m=%.3f clearance_height_m=%.3f destination_radius_m=%.3f plan_ms=%.3f status=PASS\n",
diff --git a/Standalone/Source/StreamBenchmarkPipeline.h b/Standalone/Source/StreamBenchmarkPipeline.h
index 48b5a30..80677e3 100644
--- a/Standalone/Source/StreamBenchmarkPipeline.h
+++ b/Standalone/Source/StreamBenchmarkPipeline.h
@@ -4709,6 +4709,19 @@ namespace StandaloneStreamBenchmark
const auto& route=allPassageSmoothRoutes[passageIndex];
if(route.size()<2)return audit;
const double totalRouteLength=route.back().distance;
+ const double mouthJointRadiusMetres=
+ static_cast<double>(VoxelForgeCore::
+ ResolvedPassageMouthJointRadiusMicrometresV1)/1000000.0;
+ const auto insideMouthJoint=[&](double x,double y,double z)
+ {
+ const auto inside=[&](const auto& mouth)
+ {
+ const double dx=x-mouth.x,dy=y-mouth.y,dz=z-mouth.z;
+ return dx*dx+dy*dy+dz*dz
+ <=mouthJointRadiusMetres*mouthJointRadiusMetres;
+ };
+ return inside(route.front())||inside(route.back());
+ };
const double bodyFloorDepth=allPassageBodyFloorDepths[passageIndex];
constexpr std::array<std::array<double,2>,5> floorOffsets{{
{{0.0,0.0}},{{0.30,0.0}},{{-0.30,0.0}},
@@ -4859,11 +4872,6 @@ namespace StandaloneStreamBenchmark
}
const double tangentLength=std::hypot(dx,dy);
if(tangentLength<=1.0e-6)continue;
- if(std::min(along,totalRouteLength-along)<5.0)
- {
- audit.wallMouthBlendSkips+=5;
- continue;
- }
const double nx=-dy/tangentLength,ny=dx/tangentLength;
const double floorDepth=passageTubeDepthAt(radius,bodyFloorDepth);
double floorZ=passageFloorAtXY(passageIndex,centerX,centerY,
@@ -4897,6 +4905,11 @@ namespace StandaloneStreamBenchmark
}
sampleZ=floorZ+probe.height;
}
+ if(insideMouthJoint(sampleX,sampleY,sampleZ))
+ {
+ ++audit.wallMouthBlendSkips;
+ continue;
+ }
const VoxelForgeCore::Vec3d wallPosition{sampleX/coreMetres,
sampleY/coreMetres,sampleZ/coreMetres};
if(passageInteriorWinsAt(sampleX,sampleY,sampleZ))
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