feat: stumble-step execution — first active survival behavior (0.4.0)#85
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Wire StumblePlanner into the stagger loop so a tipping character takes a procedural recovery step instead of just toppling. During STAGGER, when the CoM enters the band between wobbling (stumble_step_threshold) and tipping over (balance_ragdoll_threshold), the controller selects the trailing foot and drives it to a recovery step through the foot IK solver, shifting the support polygon under the falling CoM so balance can drop back below the ragdoll threshold (the catch). If stepping can't keep up, the existing tip-over path still ragdolls (the catch failed). - FootIKSolver.begin_stumble(foot_rig, target, duration): animates the pinned foot from its current spot to the step goal (smoothstep over the duration) then plants it; reuses the existing pin/IK/override plumbing. Added is_stepping(); steps cleared on end_stagger()/reset(). - StumblePlanner.can_step(): pure trigger/cooldown/cap gate, unit-testable without a live rig. - ActiveRagdollController._try_stumble_step() in _update_stagger, before the tip-over check; per-stagger step count + cooldown reset on stagger entry. - New signal stumble_step_started(foot_rig, target). Tests: 5 pure can_step gate tests + 3 live-rig integration tests (a staggering rig naturally tips and fires a step end-to-end; respects the enable flag and the step cap). Suite 123 -> 131, stable across 4 headless runs; import clean. Co-Authored-By: Claude Opus 4.8 (1M context) <[email protected]>
After rebasing onto the substrate-hardening fixes (foot-IK orientation + spring settle deadband), the staggering harness rig holds its balance much better, so it no longer naturally topples into the stumble band — the two integration tests that relied on gravity-driven tipping stopped firing. Drive the imbalance deterministically instead: force the torso column laterally while the feet stay IK-pinned, shifting the CoM off the support polygon. Widen the trigger band in the test tuning so the WIRING test fires on any real imbalance (the exact band/cooldown/cap thresholds are already covered precisely by the pure StumblePlanner.can_step tests). Dropped the redundant "capped at max steps" integration test — the cap is a pure can_step case. This is a better test anyway (deterministic, not dependent on the rig's emergent fall behavior). Suite 130, stable across 4 headless runs. Co-Authored-By: Claude Opus 4.8 (1M context) <[email protected]>
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What
PR 3 of 0.4.0 Self-Preservation, and the milestone's first visible result: a staggering character now takes a procedural recovery step to catch its balance instead of just toppling over.
How it works
During
STAGGER, each frame_update_staggercalls_try_stumble_stepbefore the tip-over check:StumblePlanner.can_step()(pure) fires only in the band between wobbling (stumble_step_threshold) and tipping over (balance_ragdoll_threshold), off cooldown, under the step cap.StumblePlanner(from feat: stumble-step decision logic + tuning (0.4.0) #84) picks the trailing foot and a balance-scaled, reach-clamped ground target.FootIKSolver.begin_stumble()animates that pinned foot from its current spot to the step goal (smoothstep overstumble_step_duration), then plants it — reusing the existing pin / two-bone-IK / spring-override plumbing.The step shifts the support polygon under the falling CoM, so
balance_ratiodrops back below the ragdoll threshold — the catch works. If stepping can't keep up, the existing tip-over path still ragdolls — the catch fails. No new states; it all hangs off the existing machine. Reflects the locked decisions (configurable max steps default 2, foot-placement only — root stays put).Changes
foot_ik_solver.gd—begin_stumble(foot_rig, target, duration),is_stepping(), per-foot step animation (_advance_steps), cleared onend_stagger()/reset().stumble_planner.gd—can_step()pure gate.active_ragdoll_controller.gd—_try_stumble_step()wired into_update_stagger; per-stagger step count + cooldown (reset on stagger entry); newstumble_step_started(foot_rig, target)signal.Validation
can_stepgate tests + 3 live-rig integration tests (a staggering rig naturally tips and fires a step end-to-end; respects the enable flag and the step cap). Stable across 4 headless runs; import clean.Visual
Pending in-editor validation (shoot characters into a stagger and watch them step to catch themselves). Will confirm feel before the milestone release.
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