Keep handplant landing arcs finite for nearby ledge queries

crates/skate-game/src/physics/handplant/trajectory.rs

@@ -112,11 +112,22 @@ impl Handplant {
             if hit.contact_time < 0.0 {
                 continue;
             }
-            let point = hit.contact_position; //PredictionResults::GetPosition82D2D988.
-            if self.anchor[1] - point[1] <= 0.5 {
+            let contact = hit.contact_position; //Admission uses GetPosition82D2D988.
+            if self.anchor[1] - contact[1] <= 0.5 {
                 continue;
             }
             let normal = hit.landing_normal;
+            //82D66B64..98/82D66BC0..BF8 evaluate the query trajectory at
+            //contact time for the landing anchor, not the surface contact.
+            let point = trajectory.position_at(hit.contact_time);
+            //The host sphere query can return a nearby ledge whose lifted
+            //landing target lies above the apex. It cannot define a descending
+            //arc (82D608A0 takes sqrt(2*g*drop)). Keep searching; if none is
+            //feasible, use the existing native three-second fallback below.
+            let destination = madd(normal, 0.56, point);
+            if !destination.iter().all(|v| v.is_finite()) || !(destination[1] < apex[1]) {
+                continue;
+            }
             if normal[1] < 0.71 {
                 selected = Some((point, normal));
                 break;

docs/plants.md

@@ -63,6 +63,15 @@ 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 task executable is a separate copy, built with:
 
 ```powershell