Author test-course rails and native grind spline geometry

crates/skate-game/src/app.rs

@@ -95,6 +95,7 @@ pub(crate) fn build(
         assets::GameAssetsPlugin,
         animation::AnimationPlugin,
         world::WorldPlugin,
+        crate::grind_world::GrindGeometryPlugin,
         camera::CameraPlugin,
         crate::graphics_menu::GraphicsMenuPlugin,
         crate::render_capacity::RenderCapacityPlugin,

crates/skate-game/src/grind_world.rs

@@ -0,0 +1,141 @@
+//! Authored test-course grind paths. Collision/visuals share these dimensions.
+//! This asset owner does not claim a nearby spline is an acquired grind.
+use skate_core::math::Vector3;
+use bevy::prelude::*;
+
+/// Retained geometry for the forthcoming native contact/scorer adapter. This
+/// deliberately does not publish selector candidate1488 or enter state400.
+#[derive(Resource)]
+pub(crate) struct GrindGeometry {
+    pub rails: Vec<Rail>,
+    pub native_blob: Vec<u8>,
+}
+
+pub(crate) struct GrindGeometryPlugin;
+impl Plugin for GrindGeometryPlugin {
+    fn build(&self, app: &mut App) {
+        let test_world = app.world().resource::<crate::config::Config>().map.is_none();
+        let geometry = if test_world {
+            GrindGeometry { rails: rails().to_vec(), native_blob: spline_blob() }
+        } else {
+            GrindGeometry { rails: Vec::new(), native_blob: Vec::new() }
+        };
+        if test_world {
+            info!("GRIND_GEOMETRY rails={} bytes={} native_acquisition=not_connected",
+                geometry.rails.len(), geometry.native_blob.len());
+            for rail in &geometry.rails {
+                info!("GRIND_RAIL id={} name={} start={:?} end={:?}",
+                    rail.id, rail.name, rail.start, rail.end);
+            }
+        }
+        app.insert_resource(geometry);
+    }
+}
+
+#[derive(Clone, Copy, Debug)]
+pub(crate) struct Rail {
+    pub id: u64,
+    pub name: &'static str,
+    pub start: Vector3,
+    pub end: Vector3,
+    pub width: f32,
+    pub thickness: f32,
+}
+
+pub(crate) fn rails() -> [Rail; 7] {
+    let floor = crate::physics::ground::FLOOR_HEIGHT;
+    let top = crate::physics::ground::HEIGHT;
+    let v = Vector3::new;
+    [
+        Rail { id: 1, name: "low_flat_rail", start: v(-7., floor + 0.45, 7.),
+            end: v(-7., floor + 0.45, 15.), width: 0.10, thickness: 0.10 },
+        Rail { id: 2, name: "high_flat_rail", start: v(4.5, floor + 0.70, 8.),
+            end: v(4.5, floor + 0.70, 16.), width: 0.10, thickness: 0.10 },
+        Rail { id: 3, name: "halfpipe_left_coping", start: v(7.5, floor + 2.5, -6.),
+            end: v(7.5, floor + 2.5, 6.), width: 0.08, thickness: 0.08 },
+        Rail { id: 4, name: "halfpipe_right_coping", start: v(16.5, floor + 2.5, -6.),
+            end: v(16.5, floor + 2.5, 6.), width: 0.08, thickness: 0.08 },
+        Rail { id: 5, name: "platform_back_edge", start: v(-3., top, -4.),
+            end: v(3., top, -4.), width: 0., thickness: 0. },
+        Rail { id: 6, name: "platform_right_edge", start: v(3., top, -4.),
+            end: v(3., top, 4.), width: 0., thickness: 0. },
+        Rail { id: 7, name: "platform_left_edge", start: v(-3., top, 4.),
+            end: v(-3., top, -4.), width: 0., thickness: 0. },
+    ]
+}
+
+/// Box rails have their spline on the top centre, not the centre of the tube.
+/// Coping is flush with the deck lip; the existing transition remains intact.
+pub(crate) fn surfaces() -> Vec<[Vector3; 4]> {
+    let mut out = Vec::new();
+    let floor = crate::physics::ground::FLOOR_HEIGHT;
+    for rail in rails() {
+        // Ledge paths use the already authored platform collision.
+        if rail.width == 0. { continue; }
+        let x = rail.start.x;
+        let y = rail.start.y;
+        box_faces(&mut out, Vector3::new(x - rail.width * 0.5, y - rail.thickness, rail.start.z),
+            Vector3::new(x + rail.width * 0.5, y, rail.end.z));
+        if rail.id <= 2 {
+            for z in [rail.start.z + 0.6, rail.end.z - 0.6] {
+                box_faces(&mut out, Vector3::new(x - 0.04, floor, z - 0.04),
+                    Vector3::new(x + 0.04, y - rail.thickness, z + 0.04));
+            }
+        }
+    }
+    out
+}
+
+fn box_faces(out: &mut Vec<[Vector3; 4]>, min: Vector3, max: Vector3) {
+    let v = Vector3::new;
+    let top = [v(min.x, max.y, min.z), v(max.x, max.y, min.z),
+        v(max.x, max.y, max.z), v(min.x, max.y, max.z)];
+    out.push(top);
+    for i in 0..4 {
+        let a = top[i]; let b = top[(i + 1) % 4];
+        out.push([b, a, v(a.x, min.y, a.z), v(b.x, min.y, b.z)]);
+    }
+    out.push([v(min.x, min.y, max.z), v(max.x, min.y, max.z),
+        v(max.x, min.y, min.z), v(min.x, min.y, min.z)]);
+}
+
+/// Relocatable Pegasus tSplineData, matching the project's established native
+/// builder (owned/world/src/grind_spline.cpp). One straight segment per rail.
+/// Guest pointers stay blob-relative; the Rust owner retains stable rail IDs.
+pub(crate) fn spline_blob() -> Vec<u8> {
+    let rails = rails();
+    let segments = 16 + rails.len() * 32;
+    let mut bytes = vec![0; segments + rails.len() * 144];
+    word(&mut bytes, 0, rails.len() as u32);
+    word(&mut bytes, 4, rails.len() as u32);
+    word(&mut bytes, 8, 16);
+    word(&mut bytes, 12, segments as u32);
+    for (i, rail) in rails.iter().enumerate() {
+        let r = 16 + i * 32;
+        let s = segments + i * 144;
+        bytes[r..r + 8].copy_from_slice(&rail.id.to_be_bytes());
+        bytes[r + 8..r + 16].copy_from_slice(&0x2c7017070007004au64.to_be_bytes());
+        word(&mut bytes, r + 20, s as u32);
+        word(&mut bytes, r + 24, s as u32);
+        let delta = [rail.end.x - rail.start.x, rail.end.y - rail.start.y,
+            rail.end.z - rail.start.z];
+        let length = delta.iter().map(|v| v * v).sum::<f32>().sqrt();
+        vector(&mut bytes, s, [delta[0], delta[1], delta[2], 0.]);
+        vector(&mut bytes, s + 48, [rail.start.x, rail.start.y, rail.start.z, 1.]);
+        vector(&mut bytes, s + 64, [1. / length, 0., 0., 0.]);
+        vector(&mut bytes, s + 80, [rail.start.x.min(rail.end.x),
+            rail.start.y.min(rail.end.y), rail.start.z.min(rail.end.z), 0.]);
+        vector(&mut bytes, s + 96, [rail.start.x.max(rail.end.x),
+            rail.start.y.max(rail.end.y), rail.start.z.max(rail.end.z), 0.]);
+        word(&mut bytes, s + 112, length.to_bits());
+        word(&mut bytes, s + 120, r as u32);
+    }
+    bytes
+}
+
+fn word(bytes: &mut [u8], at: usize, value: u32) {
+    bytes[at..at + 4].copy_from_slice(&value.to_be_bytes());
+}
+fn vector(bytes: &mut [u8], at: usize, value: [f32; 4]) {
+    for (i, v) in value.into_iter().enumerate() { word(bytes, at + i * 4, v.to_bits()); }
+}

crates/skate-game/src/main.rs

@@ -17,6 +17,7 @@ mod render_capacity;
 mod presentation;
 mod replay;
 mod world;
+mod grind_world;
 mod skate_world;
 
 fn main() -> bevy::app::AppExit {

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

@@ -64,6 +64,7 @@ pub(crate) fn surfaces() -> [Vec<[Vector3; 4]>; 3] {
             v(-3.0, y1, z1),
         ]);
     }
+    platform.extend(crate::grind_world::surfaces());
     // Open ends at z +/-6 allow entry from the landing floor. Circular
     // transitions meet the four-metre flat bottom tangentially.
     let radius = 2.5;

docs/GRIND_INTEGRATION.md

@@ -0,0 +1,58 @@
+# Grinding integration
+
+## Current milestone: authored geometry, not playable grinding
+
+The test course now owns seven named paths in `grind_world.rs`: two flat bars,
+both half-pipe lips, and the three exposed platform edges. The downhill entrance
+is not an edge, and triangle diagonals/transition tessellation are not splines.
+Bar top centres and coping paths share the collision/render dimensions.
+Climbing geometry from the other task is preserved.
+
+`GrindGeometry` retains a relocatable Pegasus tSplineData blob. Its layout matches
+the existing recomp's `owned/world/src/grind_spline.cpp`: 16-byte header,
+32-byte rail records, 144-byte segments, signature `2C7017070007004A`, straight
+segment delta at +0, origin at +48, inverse length at +64, bounds +80/+96,
+length +112, cumulative length +116, and owner/previous/next +120/+124/+128.
+IDs are stable host-authored integers, not guessed retail asset IDs.
+
+This registry is not yet connected to contact acquisition or state selection.
+Startup explicitly logs `native_acquisition=not_connected`. The game therefore
+still treats the bars as ordinary collision geometry. Do not call this playable
+grinding or replace the existing empty-edge providers with a proximity snap.
+
+## Native integration audit
+
+Evidence image: TU3 `default_82000000_011B0000.bin`, base `82000000`, SHA-256
+`f4aa113eb541bfba03dbc108cf5ab43f58c965b20fa3b82f9c40938a0ad841c4`.
+Community symbols plus generated PPC instruction comments were consulted.
+The disposable IDA database's decompiler misdecodes some VMX128 operations;
+its truncated pseudocode is not sufficient to port the nonempty branches.
+
+- `82D8A828` GrindManager input update: constructs an AABB around processed
+  position112 with half-extent1.2 (`821659F4`), unless byte2476 bit0 disables it.
+- `82C1EAD8`: static asset/segment bounds collection, source order, maximum40;
+  entries are48 bytes with endpoints and retained owner/flags. The final16
+  bytes must not be invented as a surface normal.
+- `82D875A8`: candidate acquisition/scoring. Dispatches truck/deck contact
+  queries (`82C1FDC0`, `82C20130`, `82C1FB98`, `82C1F968`) before scoring. For
+  example `82D89150` handles a two-truck candidate; it is not a nearest-rail
+  angle classifier. Selection output has candidate byte384 in a416-byte record.
+- `82D8AB08`: post-input manager publication precedes state selection.
+- Native selector maps actual candidate grind type0..5 to states401,400,402,
+  403,404,405. `player_state/selection.rs` currently publishes no candidate.
+- Boardslide Enter `82D41100` calls shared grind entry `82D3F318`, then clears
+  bytes240/241. Shared entry resets board controller settings, skeleton state
+  and the grind manager; merely allowing state400 in transition.rs is unsafe.
+- The active force/contact owner, output conditioner and graph attributes
+  still need wiring. `player_state/publication.rs` currently uses default grind
+  output; camera output has the same inactive assumption.
+- Air acquisition also needs the nonempty trajectory path: `82D69F80`,
+  `82D6A168`, `82D6A398`, `82D6A840` and GrindAirAdjust `82D712E0` onward.
+  The clone's GRIND_CONTACT_SPEC explicitly leaves parts of this arbitration
+  unresolved, so it cannot serve as a complete implementation.
+
+Next implementation boundary: native endpoint/contact queries and candidate
+record/scorer, then lifecycle/constraint/output integration as one coherent
+vertical slice. Do not enable selector candidates before those owners exist.
+
+Validation: build only; no gameplay or automated tests, per user instruction.