Merge native no-complys, footplants and handplants

docs/plants.md

@@ -0,0 +1,257 @@
+# No-complys, footplants and handplants
+
+The stock graphs now reach physical states 602 (no-comply/boneless/fastplant),
+601 (air footplant) and 600 (handplant). The implementation connects the TU3
+contact selectors, authored animation events, VLT curves, board drives, skeleton
+roots, limb IK, release trajectories and state publication. `IsFootPlanting` is
+registered in both graphs so its formerly unsupported leaf no longer pauses the
+one-foot path.
+
+## Controller controls
+
+These are the existing Xbox mappings and stock graph transitions. Stance and
+contact determine which animation and physical state can enter.
+
+| Action | Input |
+| --- | --- |
+| No-comply | Begin a front-foot push (X in regular, A in goofy), then flick the right stick for an ollie during push entry. The graph accepts the Square gesture group. |
+| Boneless / fastplant | Hold one grab trigger fully, then press A or X. The chosen trigger, push foot and stance select the stock variant. |
+| Air footplant | Ollie, hold LT or RT for a grab, then press and hold A or X for a one-foot air while approaching a reachable surface. Contact prediction and the extended foot determine entry. |
+| Handplant | Hold RB while riding up a steep transition toward reachable coping. Move the right stick to tweak; A/X select one-foot variants and B selects the no-foot variant. |
+
+No-comply launches come from the clip's `FootJump` event. Footplants release at
+the manager's calculated curve duration. Handplant entry requires upward travel,
+the authored minimum speed/slope, a selected edge and a valid surface
+investigation. Holding RB on flat ground does not force a handplant.
+
+## Local build
+
+Use the standard build and launch scripts with your prepared assets. The test
+world supports no-complys and reachable footplant surfaces; handplants require
+transition/coping geometry satisfying the native selector. Select a converted
+map from the pause menu or supply it through `--map`.
+
+Every launcher run now saves both console output streams, build identity and the
+exit code to a separate `logs/plants-<timestamp>-<random>.log`. Rust panic
+backtraces are enabled. On failure the launcher displays the saved output and
+keeps the console open. Earlier launcher runs did not save output, so their
+simulation error messages cannot be recovered from this directory.
+
+The RMB/RB crash recorded at tick259 was an explicit Ground error on
+`GrabWorld` (Processed2476 bit22). That older placeholder misidentified
+`82D38430` as an unsupported Skitch query. The TU3 function actually submits
+the handplant candidate via `82D61268`, or resets it via `82D62F20` when the
+input is released. Those paths already run through `handplant::ground_query`
+and `ground_update`. The obsolete error and its unused duplicate manager have
+been removed; input still reaches the stock graphs and handplant selector.
+
+The subsequent normal-map run failed at tick4225 in KnownAir because enabled
+foot part15 carried volume group4. This is the existing native
+DisableCollisionWithWorld classification, not an unsupported shape. Enabled
+group4 shapes now stay in the assembly collision pass but are excluded from
+the world query. Re-enabling world collision by restoring group0 takes effect
+on the next query. This fixes that explicit exit.
+
+Off-board GrabWorld no longer exits when the host has no interactable object
+instances. The current static-world adapter returns an empty candidate result
+(`82D4D150`'s zero-count path), cannot manufacture a candidate key, and commits
+no object action. Authored input, static line/edge queries and skeleton updates
+continue. Actual interactable-object loading, queries and actions still require
+an object-scene adapter; this change does not implement those features.
+The separately logged off-board non-finite follower velocity remains under
+investigation, with source target values included in diagnostic builds.
+
+The handplant outgoing selector now distinguishes the surface contact used
+for admission from the trajectory position at contact time used for the
+landing anchor (`82D66B64..98`, `82D66BC0..BF8`). The host query adapter also
+rejects lifted landing targets at or above the apex: those cannot produce a
+descending `82D608A0` arc and previously reached its negative square root.
+It continues the six authored queries and uses the existing three-second
+fallback if none is feasible. This feasibility gate is a host query adaptation,
+not a claim that the additional gate occurs in TU3.
+
+The tick2032 grind crash reached `IsDroppingIn` in the ActionGraph, which
+previously registered the condition only in MotionGraph. Both now read the
+same completed Grinds324 flag. Handplant attempts additionally log admission
+inputs every half second while GrabWorld is held on ground, every selected
+candidate and its surface classification, and relevant state transitions.
+These traces diagnose rejected entries and bails; they do not establish that
+handplants are gameplay-validated.
+
+The task executable is a separate copy, built with:
+
+```powershell
+$env:CARGO_TARGET_DIR = Join-Path $PWD 'target'
+$env:CARGO_TARGET_X86_64_PC_WINDOWS_MSVC_RUSTFLAGS = '-C target-feature=+crt-static'
+cargo build --release --locked --target x86_64-pc-windows-msvc -p skate-game --no-default-features
+```
+
+The shared target is retained. Copy its `x86_64-pc-windows-msvc/release/skate3rust.exe`
+to `bin/plants/skate3rust.exe` after rebuilding this branch. No installed or
+running desktop executable is replaced. The launcher contains a machine-local
+asset path; other installations must update that path.
+
+If another worktree has populated this shared target with different workspace
+crates, refresh the modification times of `crates/skate-core/src/lib.rs`,
+`crates/skate-data/src/lib.rs` and `crates/skate-game/src/main.rs` before building.
+That forces the local crates to rebuild without deleting the dependency cache.
+
+## Native provenance
+
+Evidence is the owned TU3 executable image `default_82000000_011B0000.bin`, base
+`82000000`, SHA256
+`f4aa113eb541bfba03dbc108cf5ab43f58c965b20fa3b82f9c40938a0ad841c4`, generated PPC
+instruction listings, stock OnBoard graphs, OnBoard.abin, and skaterschema/VLT.
+Registration strings and vtables identify the graph leaves. VMX128 instruction
+operands take precedence over unreliable decompiler output and community names.
+
+| Behavior | TU3 evidence |
+| --- | --- |
+| Input | `8259A554/8259AF60` emits GrabWorld from packed bit28; `8259BB18` emits five handplant controls, named by constructors `82F84F28..82F84F98`. Existing A/X pushes feed the authored no-comply and one-foot paths. |
+| No-comply / boneless | State602 vtable `82327434`; entry `82D4C900`, update `82D4C9B8`, launch `82D4CB18/82D4CC18`. Anchors the completed physical toe, uses the stock linear/angular drive modes and four launch curves. |
+| Footplant | State601 vtable `82327400`; manager Start `82D704B0`, adjustment `82D70CE0`, update `82D70E40`, publication `82D71040`, nearby-edge refinement `82D6FBB0`. Foot/toe volume setup `82D91330`; postphysics `82D4C6D8`. |
+| Handplant contact | Manager `82D61040`; ground query `82D38430`, admission `82D61D88`, position selector `82D63D40`, frame/window/edge clipping `82D640F0..82D65D58`. Uses actual world grind primitives, capped at 40 broadphase candidates. |
+| Handplant motion | Launch `82D613B0`; six outgoing queries `82D66318`, selection `82D66948`; arc constructors `82D60770/82D608A0`; COM `82D625C0`, Bezier `82D62408`, orientation `82D62C88`, time warp `82D631A8/82D63280`. Collision position accessor `82D2D988` and landing-normal accessor `82D2D9E8`. |
+| Handplant skeleton | State600 vtable `823273CC`; entry/update `82D4C350/82D4C3D8`; reckoning `82D8E1C0`; hand IK `82D633B0`, target clamp `82BD9728/82BD97D0`, upper-body volume suppression `82D91298`. |
+| Shared skeleton | Anchored-foot path `82BDEC48`, COM path `82BDF090`, root positioning `82BDEEB8/82BE0E80`. Uses the existing completed animation, physical skeleton, board and four-limb IK owners. |
+| Graph timing | `IsFootPlanting` `82BBD888`; preparation `82BBD7F0`; FootPlantAbsorb Update `82BBE4E0`; handplant phase/new-position `82BBDA98/82BBDB98`; antic Begin `82BBE5D0`; handplant scoring Update `82BBF758`. |
+| Lifecycle | Footplant release `82D8B970` reads big-endian byte2480 bit0, hence full-word bit24. Common handplant publication `82DB7130..82DB7190`; FootPlant wipeout check `82D8FDC0`; HandPlant post `82D4C530` calls Air `82D90358(false)`. Teleport/reset paths clear active plant state. |
+
+Settings are loaded from the installation, using the schema's cached layout:
+
+| Collection class | Used data |
+| --- | --- |
+| `CCB95A83C78B4FF9/default` | Four PointNegGraphData8 launch curves for state602. |
+| `physics_footplantmanager/default` (`172D553937D8E07C`) | Radial speed curve; contact/deck dimensions; leg lengths; Bezier handles; minimum/maximum plant duration; release and wipeout limits. |
+| `55B5940075F78842/default` | Seven PointGraph4 query-window curves; depth and vertical drop. |
+| `physics_handplantmanager/default` (`0F38084037CB9175`) | Time warp; orientation/heading curves; hand-radius curve; entry/release/IK timings; admission thresholds; apex and outgoing-velocity parameters. |
+| `anim_handplant/default` (`F190522E738EC5CB`) | Out/into/antic thresholds at offsets0/4/8. |
+
+The antic blend reads actual clip lengths: `INVERT_HANDPLANT_FS_0_ANTIC` is
+0.2 seconds and `INVERT_HANDPLANT_FS_0_ANTIC_LATE` is 1/30 second. FootPlantAbsorb
+publishes `absorblength` from the physical manager; no host animation timer or
+extra jump impulse selects these launches.
+
+## Validation and boundaries
+
+Release compilation succeeded. Static inspection checked all 32 operation names
+in the seven plant templates against source registrations, the five stock
+collection classes and point-graph layouts, both antic clip lengths, and the
+`FootJump` attributes in the no-comply/boneless/fastplant clips. This is not a
+runtime graph-coverage or gameplay-parity result.
+
+The game, launcher, recomp and gameplay harnesses were not executed. In-game
+entry/release, contacts, stance combinations, wipeouts, visuals and preservation
+of skating/off-board/grind behavior remain for the user's validation.
+
+Queries use the engine's existing synchronous static-world collision and grind
+geometry adapters. The outgoing batch is consumed on handplant entry rather
+than using TU3's asynchronous job-completion gate and redundant ground-probe
+completion dependency. Moving-object coping is not supplied by this adapter.
+Scalar vector/trigonometric helpers and quaternion-derived axis-angle rotation
+reuse existing engine math; bit-exact Xenon/VMX execution is not claimed.
+Handplant scoring updates the existing internal score packet, whose presentation
+remains outside this change. Stock assets and private research/build files are
+excluded from the commit.
+
+## Handplant bail and delayed revert crash (8 September)
+
+The supplied run entered HandPlant at tick745 and WipeoutGround at746, then
+stopped at tick1318 on the missing PhysicsGround -> RevertGround adapter.
+HandPlant incorrectly used FootPlant collision checks with unconditional trick
+impact limits (stock XZ0.1/Y0.6). It now dispatches the native Air(false) checks,
+including their contact, difficulty, cooldown and actual danger-state gates.
+The original bail reason was not recorded, so the causal gameplay result still
+requires a user retest. PLANT_BAIL now records reason indices and collision/pose
+observations when either plant requests a bail.
+
+RevertGround102 now owns Enter82D43488, Update82D43518, empty Exit, Ground
+Post82D4C070 and Fill82D43B10. It loads the five fields from stock class
+018E8A2E5028AB3F, captures approach velocity after the authored delay, applies
+the directed rotation-speed curve, manual/anti-flip corrections and pumping,
+and publishes active State66 for the existing selector's normal exit.
+No gameplay execution was performed during this repair.
+
+Validation for this repair: six core wipeout tests and two revert numerical
+tests passed. Two pre-existing game test fixtures were updated for their current
+map-menu and render-material API signatures so these tests could compile.
+
+## Folded-pose report and wall-jump exit (8 September, later run)
+
+Log plants-20260908-174254-418-287 entered HandPlant at tick581, returned to
+PhysicsGround at603 and stopped at605 in Ground's wall-jump callback. That
+callback was still an explicit error stub. It now converts the complete retained
+launch packet to the existing trajectory selector and executes Launch/Update,
+including the wall-jump velocity in both native velocity fields. A focused packet
+transfer test passes. No gameplay was executed to validate the result.
+
+The user's folded-body report remains unresolved. HANDPLANT_POSE now records
+COM/orientation, root transform, target versus physical hips/head/hands/toes and
+external hand targets at entry and every six ticks. This distinguishes pose/IK
+errors from physical tracking errors on the next user-provided reproduction.
+
+## Handplant apex correction (8 September, folded-body trace)
+
+The 17:48 run shows the head/hips tracking their targets while feet fall roughly
+0.5m behind at tick486. A later attempt at1353 produces a NaN incoming arc from
+COM[-6.9291053,3.925457,4.9562364]. These are observations; visual recovery still
+requires the user's gameplay validation.
+
+TU3 Launch82D61458 calls cosine82473930, then82D61464 calls sine824531C8.
+Raw byte-permute mask822FBAC0 is00010203000102030001020314151617. Applying it
+to the sine/cosine registers and shifting eight bytes produces[sin,cos,0,0].
+82D61520..C4 therefore multiplies UP by radius*cos and side by radius*sin.
+The port had these components reversed. With stock radius0.8/angle-0.3 and
+copingY3.8850045/Z5.5987973, the corrected apex isY4.649274/Z5.362381;
+the old target wasY3.648588/Z6.363067. This placed the old target below and
+beyond the lip, consistent with the blocked feet and invalid late-entry arc.
+The port now uses the native component order and standalone sin/cos helpers.
+Regression tests cover the observed late-entry COM, apex arrival/zero vertical
+velocity, and zero-angle symmetry. Pose traces remain enabled for verification.
+
+## Arm and variation investigation (8 September, 17:54 run)
+
+User reports the normal body animation improved, with one arm misplaced;
+A/B variations still bail. In plants-20260908-175441-712-2596.log, HandPlant
+requests reason1 (pose displacement) at ticks2209 and5093, without board
+contact or closing velocity. The previous HANDPLANT_POSE samples compare
+current targets with the previous physical pose and cannot identify the
+within-tick source of that displacement.
+
+HANDPLANT_SOLVED now captures authored, IK-adjusted and solved arm positions
+in world coordinates, arm drive strengths, four limb modes/blends, partial
+ragdoll state and per-part pose errors before the handplant bail check. It
+samples every six ticks, or every tick when maximum pose error reaches0.15.
+This is diagnostic only: neither the arm problem nor variation bails are
+claimed fixed. Native82D633B0,82BE3220,82BD9728 and82BEDC10 were inspected;
+the selected arm, two0.65m clamps and feet-only external post pass match the
+existing port. Need another normal/A/B reproduction to locate the divergence.
+The same run later terminates in unsupported IsGrindBluntingBackslash at8059;
+that separate grind condition remains unresolved by this diagnostic change.
+
+## Handplant collision-mask correction (8 September, 18:06 run)
+
+The requested normal/A/B reproduction is plants-20260908-180656-119-4993.log.
+Normal plant316..395 returns to Ground; variations767..788 and1139..1166
+request pose-displacement bail1. Solved traces show the free hand tracking
+within0.006m at324, then falling0.57m behind at340. Its IK adjustment is
+only0.002m at340. Collision weight drops to0 and the arm switches to soft
+drives with local/root strengths0.5/0.0. Both variation attempts repeat this
+sequence. No crash was recorded in this run.
+
+Confirmed source error:82D91298's five volume-pointer writes use offsets
+3120,3104,3124,3108,3096; matching counter writes are8156,8140,8160,8144,8132.
+The generic EnableBone82BE7190 independently establishes the volume base as
+4*773=3092 and counter base as4*2032=8128. Both address sets therefore resolve
+to parts7,3,8,4,1 (hands, forearms, head). The port incorrectly disabled
+8,4,9,5,2, leaving the hands and head collidable. TU3 dump identity remains
+SHA256 f4aa113eb541bfba03dbc108cf5ab43f58c965b20fa3b82f9c40938a0ad841c4.
+Evidence: logs/recomp-82d91298.asm and logs/recomp-82be7190.asm.
+
+Handplant now calls a shared collision-owner method with the corrected
+five-part mask and native two-frame countdown. A regression test checks
+refresh during the plant, survival across normal driven-state setup, other
+bones retaining contact, and automatic re-enabling after exit. Bail
+thresholds and authored animation/IK targets are unchanged. The native mask
+error is fixed; visual recovery and successful variations need gameplay
+confirmation from the user. The game has not been launched by the agent.