Filter world-disabled skater volumes without dropping assembly contacts

crates/skate-game/src/physics/skeleton_colliders.rs

@@ -16,6 +16,27 @@ use skate_core::{
 pub(super) fn world_volumes(
     skeleton: &SkeletonBody,
     collision: &SkeletonCollisionMode,
+) -> Result<Vec<BoardWorldVolume>, String> {
+    let mut volumes = enabled_volumes(skeleton, collision)?;
+    retain_world_volumes(&mut volumes, collision);
+    Ok(volumes)
+}
+
+/// Volume+84 group4 disables world contacts only. Keep these shapes available
+/// to the separate SkaterSkaterCollisionPipeline and its own pair filters.
+pub(super) fn retain_world_volumes(
+    volumes: &mut Vec<BoardWorldVolume>,
+    collision: &SkeletonCollisionMode,
+) {
+    volumes.retain(|volume| match volume.body {
+        CollisionBody::Attached(part) => collision.parts[part].volume_group != 4,
+        _ => unreachable!("skeleton volumes must reference attached bodies"),
+    });
+}
+
+pub(super) fn enabled_volumes(
+    skeleton: &SkeletonBody,
+    collision: &SkeletonCollisionMode,
 ) -> Result<Vec<BoardWorldVolume>, String> {
     let transforms = skeleton.part_transforms();
     let mut volumes = Vec::new();
@@ -29,7 +50,7 @@ pub(super) fn world_volumes(
         if !state.enabled {
             continue;
         }
-        if state.volume_group != 0 {
+        if !matches!(state.volume_group, 0 | 4) {
             return Err(format!(
                 "Skater part{index} requires volume group{} world filtering",
                 state.volume_group

crates/skate-game/src/physics/solve.rs

@@ -23,7 +23,7 @@ pub(super) fn advance(
         Vec::new()
     };
     let skeleton_volumes =
-        skeleton_colliders::world_volumes(&skater.skeleton, &skater.skeleton_collision)?;
+        skeleton_colliders::enabled_volumes(&skater.skeleton, &skater.skeleton_collision)?;
     // Each native assembly has its own query record and retention buffer.
     // Skeleton82BE5094 passes false to82768728: its edge threshold is -1,
     // whereas the board requests .999. GroundPipeline supplies the remaining
@@ -37,8 +37,10 @@ pub(super) fn advance(
     let skeleton_timer = crate::performance::Scope::new("skeleton_world_contacts");
     let mut skeleton_query = physics.query;
     skeleton_query.edge_cos_bend_normal_threshold = -1.0;
+    let mut skeleton_world_volumes = skeleton_volumes.clone();
+    skeleton_colliders::retain_world_volumes(&mut skeleton_world_volumes, &skater.skeleton_collision);
     contacts.extend_from_slice(physics.world.query_primitives(
-        &skeleton_volumes,
+        &skeleton_world_volumes,
         skeleton_query,
         physics.retention,
     ));

docs/plants.md

@@ -47,6 +47,14 @@ 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; the separately logged
+off-board world-object query and non-finite-pose failures remain under investigation.
+
 The task executable is a separate copy, built with:
 
 ```powershell