feat: bake jajce terrain navigation

docs/BUILD_IN_PUBLIC_PLAN.md

@@ -626,14 +626,14 @@ Completed:
 8. Base Terrain3D collision/navigation guardrails: runtime tests now keep
    Terrain3D collision enabled, keep the old greybox ground out of physics, and
    verify required navigation paths track the authored height field.
+9. Terrain3D-derived playable-loop navigation: `JajceWorld` now uses an
+   external baked navigation resource generated from Terrain3D source geometry,
+   and runtime tests reject partial paths that do not reach their targets.
 
 Next:
 
-1. Continue replacing the temporary greybox navigation source with baked
+1. Capture and visually review “Jajce Lookdev 01.”
-   Terrain3D-derived navigation for the sculpted playable loop.
+2. Capture “Simulation Garden 01.”
-
-2. Capture and visually review “Jajce Lookdev 01.”
-3. Capture “Simulation Garden 01.”
 
 Do not start with GIS data, a full city, a large asset pack, or more NPC
 mechanics. The next proof is a beautiful stage for the systems that already

docs/LEARNING_ROADMAP.md

@@ -674,6 +674,10 @@ Recently completed:
   now assert Terrain3D collision remains enabled, the hidden greybox ground no
   longer provides physics collision, and tested navigation routes stay close to
   the authored Terrain3D height field.
+- The temporary greybox navigation source was replaced by a project-owned
+  Terrain3D-derived navigation mesh resource generated by
+  `tools/bake_jajce_navigation.gd`; route tests now also reject partial paths
+  that do not reach their requested targets.
 
 This order strengthens the simulation while regularly producing visible
 progress suitable for public development updates.

docs/PROJECT_CONTEXT.md

@@ -193,8 +193,8 @@ study, and patrol target typed activity sites. The migration is documented in
 - **Main scene:** `res://main.tscn`
 - **Terrain:** Terrain3D 1.0.2 is installed and enabled
 - **Jajce runtime:** reusable 512 m Terrain3D seed, greybox landmarks, stable
-  ResourceNode placement, lookdev camera, tested runtime navigation, and base
+  ResourceNode placement, lookdev camera, and Terrain3D-derived runtime
-  Terrain3D collision/navigation guardrails
+  navigation with collision guardrails
 - **Terrain compatibility floor:** Godot 4.4 according to the bundled extension
 - **Version control:** Git
 - **Primary branch:** `main`
@@ -328,10 +328,11 @@ distance with resource `safety_risk`, `comfort_distance`, and
 - warm sky, fog, shadows, and wind-reactive foliage;
 - eight ResourceNodes preserving stable food/wood discovery IDs;
 - typed village pantry storage and typed guard, study, and rest activity sites;
-- a temporary baked navigation loop with 24 tested routes;
+- a Terrain3D-derived baked navigation mesh covering the current playable loop;
 - base collision/navigation guardrails that keep Terrain3D collision enabled,
-  keep the hidden greybox ground out of runtime physics, and compare required
+  keep the old greybox ground out of runtime physics, require paths to reach
-  navigation paths against the Terrain3D height field;
+  their targets, and compare required navigation paths against the Terrain3D
+  height field;
 - a look-development scene and camera.
 
 This is a runtime integration proof, not the final terrain composition.
@@ -538,9 +539,10 @@ These are expected prototype constraints, not necessarily isolated bugs:
   mutation APIs, but selection, execution, target resolution, and active-world
   queries now have focused collaborators.
 - Path failure and interruption emit a `navigation_failed` signal and send the NPC to wander; this is functional but not yet polished.
-- The old greybox navigation source remains temporary; current tests now guard
+- The old greybox navigation source has been replaced by a project-owned
-  against collision/nav regressions, but the next terrain base phase is a
+  Terrain3D-derived navigation resource. The current bake is still a first
-  Terrain3D-derived bake for the sculpted playable loop.
+  playable-loop pass, so future terrain sculpting should rerun the bake tool and
+  recheck reachability rather than hand-editing navigation polygons.
 - Terrain3D and the bounded Jajce beauty baseline now run in the main game
   scene; final visual review and character/profession readability remain.
 - Combat, companions, factions, politics, trade, rumours, quests, persistence,

tests/jajce_runtime_integration_test.gd

@@ -11,7 +11,8 @@ func _run() -> void:
 	var main_scene: Node = load("res://main.tscn").instantiate()
 	root.add_child(main_scene)
 	await process_frame
-	await physics_frame
+	for _frame in 10:
+		await physics_frame
 
 	var simulation_manager: Node = main_scene.get_node("SimulationManager")
 	simulation_manager.set_process(false)
@@ -27,10 +28,9 @@ func _run() -> void:
 		"Runtime Terrain3D should bind to the gameplay camera"
 	)
 	_check(terrain.collision_mode != 0, "Runtime Terrain3D collision should be enabled")
-	var greybox_ground := main_scene.get_node("JajceWorld/NavigationRegion3D/GreyboxGround") as StaticBody3D
 	_check(
-		greybox_ground.collision_layer == 0 and greybox_ground.collision_mask == 0,
+		not main_scene.has_node("JajceWorld/NavigationRegion3D/GreyboxGround"),
-		"Runtime GreyboxGround should not provide physics collision"
+		"Runtime should not keep the temporary greybox navigation ground"
 	)
 	_check(
 		(
@@ -49,6 +49,11 @@ func _run() -> void:
 	)
 
 	var navigation_map: RID = main_scene.get_world_3d().navigation_map
+	var navigation_region := main_scene.get_node("JajceWorld/NavigationRegion3D") as NavigationRegion3D
+	_check(
+		navigation_region.navigation_mesh.resource_path == "res://world/jajce/JajceNavigationMesh.tres",
+		"Runtime navigation should use the Terrain3D-derived baked mesh resource"
+	)
 	await _wait_for_navigation_map(navigation_map)
 	NavigationServer3D.map_force_update(navigation_map)
 
@@ -82,6 +87,9 @@ func _run() -> void:
 			_check_path_tracks_terrain(
 				terrain, path, "Runtime navigation path should track Terrain3D height"
 			)
+			_check_path_reaches_destination(
+				path, destination, "Runtime navigation path should reach its requested target"
+			)
 
 	var village := SimVillage.new()
 	var worker := SimNPC.new(100, "BaselineWorker", SimulationIds.PROFESSION_SCHOLAR, 5.0, 5.0)
@@ -152,3 +160,17 @@ func _check_path_tracks_terrain(terrain: Terrain3D, path: PackedVector3Array, me
 				% [message, point, terrain_height]
 			)
 			return
+
+
+func _check_path_reaches_destination(path: PackedVector3Array, destination: Vector3, message: String) -> void:
+	if path.is_empty():
+		return
+
+	var final_point := path[path.size() - 1]
+	var final_xz := Vector2(final_point.x, final_point.z)
+	var destination_xz := Vector2(destination.x, destination.z)
+	if final_xz.distance_to(destination_xz) > 1.5:
+		failures.append(
+			"%s: final path point %s is too far from %s"
+			% [message, final_point, destination]
+		)

tests/jajce_world_scaffold_test.gd

@@ -17,7 +17,7 @@ func _run() -> void:
 	var world: Node3D = load("res://world/jajce/JajceWorld.tscn").instantiate()
 	root.add_child(world)
 	await process_frame
-	for frame in 10:
+	for _frame in 10:
 		await physics_frame
 
 	var terrain = world.get_node("TerrainRoot/Terrain3D")
@@ -27,10 +27,9 @@ func _run() -> void:
 		"Terrain3D should use dedicated Jajce data"
 	)
 	_check(terrain.collision_mode != 0, "Terrain3D collision should be enabled for gameplay")
-	var greybox_ground := world.get_node("NavigationRegion3D/GreyboxGround") as StaticBody3D
 	_check(
-		greybox_ground.collision_layer == 0 and greybox_ground.collision_mask == 0,
+		not world.has_node("NavigationRegion3D/GreyboxGround"),
-		"GreyboxGround should not provide runtime physics collision"
+		"JajceWorld should not keep the temporary greybox navigation ground"
 	)
 	_check(
 		configured_texture_count == 6,
@@ -203,6 +202,10 @@ func _run() -> void:
 		navigation_region.navigation_mesh.get_polygon_count() > 0,
 		"Jajce navigation mesh should contain baked polygons"
 	)
+	_check(
+		navigation_region.navigation_mesh.resource_path == "res://world/jajce/JajceNavigationMesh.tres",
+		"Jajce navigation should use the Terrain3D-derived baked mesh resource"
+	)
 	await _wait_for_navigation_map(navigation_map)
 	NavigationServer3D.map_force_update(navigation_map)
 
@@ -224,6 +227,9 @@ func _run() -> void:
 			_check_path_tracks_terrain(
 				terrain, path, "Jajce navigation path should track Terrain3D height"
 			)
+			_check_path_reaches_destination(
+				path, destination, "Jajce navigation path should reach its requested target"
+			)
 
 	var adapter := ActiveWorldAdapter.new()
 	adapter.pantry_storage = pantry
@@ -330,3 +336,17 @@ func _check_path_tracks_terrain(terrain: Terrain3D, path: PackedVector3Array, me
 				% [message, point, terrain_height]
 			)
 			return
+
+
+func _check_path_reaches_destination(path: PackedVector3Array, destination: Vector3, message: String) -> void:
+	if path.is_empty():
+		return
+
+	var final_point := path[path.size() - 1]
+	var final_xz := Vector2(final_point.x, final_point.z)
+	var destination_xz := Vector2(destination.x, destination.z)
+	if final_xz.distance_to(destination_xz) > 1.5:
+		failures.append(
+			"%s: final path point %s is too far from %s"
+			% [message, final_point, destination]
+		)

tools/bake_jajce_navigation.gd

@@ -0,0 +1,74 @@
+extends SceneTree
+
+const OUTPUT_PATH := "res://world/jajce/JajceNavigationMesh.tres"
+const WORLD_SCENE_PATH := "res://world/jajce/JajceWorld.tscn"
+const TERRAIN_PATH := "TerrainRoot/Terrain3D"
+
+
+func _initialize() -> void:
+	call_deferred("_run")
+
+
+func _run() -> void:
+	var world_scene := load(WORLD_SCENE_PATH) as PackedScene
+	if world_scene == null:
+		push_error("Could not load %s" % WORLD_SCENE_PATH)
+		quit(1)
+		return
+
+	var world := world_scene.instantiate() as Node3D
+	root.add_child(world)
+	await process_frame
+	for _frame in 10:
+		await physics_frame
+
+	var terrain := world.get_node(TERRAIN_PATH) as Terrain3D
+	if terrain == null or terrain.data == null:
+		push_error("Jajce Terrain3D data is not available")
+		quit(1)
+		return
+
+	var nav_mesh := _create_navigation_mesh_template()
+	var bake_aabb: AABB = nav_mesh.filter_baking_aabb
+	bake_aabb.position += nav_mesh.filter_baking_aabb_offset
+
+	var terrain_faces: PackedVector3Array = terrain.generate_nav_mesh_source_geometry(bake_aabb, false)
+	if terrain_faces.is_empty():
+		push_error("Terrain3D produced no navigation source faces")
+		quit(1)
+		return
+
+	var source_geometry := NavigationMeshSourceGeometryData3D.new()
+	source_geometry.add_faces(terrain_faces, Transform3D.IDENTITY)
+	NavigationServer3D.bake_from_source_geometry_data(nav_mesh, source_geometry)
+
+	if nav_mesh.get_polygon_count() == 0:
+		push_error("Baked Jajce navigation mesh contains no polygons")
+		quit(1)
+		return
+
+	var error := ResourceSaver.save(nav_mesh, OUTPUT_PATH)
+	if error != OK:
+		push_error("Could not save %s: %s" % [OUTPUT_PATH, error_string(error)])
+		quit(1)
+		return
+
+	print(
+		"[TOOL] Saved %s with %d vertices and %d polygons"
+		% [OUTPUT_PATH, nav_mesh.get_vertices().size(), nav_mesh.get_polygon_count()]
+	)
+	quit(0)
+
+
+func _create_navigation_mesh_template() -> NavigationMesh:
+	var nav_mesh := NavigationMesh.new()
+	nav_mesh.agent_height = 1.7
+	nav_mesh.agent_radius = 0.4
+	nav_mesh.agent_max_climb = 0.55
+	nav_mesh.agent_max_slope = 35.0
+	nav_mesh.cell_size = 0.25
+	nav_mesh.cell_height = 0.1
+	nav_mesh.filter_baking_aabb = AABB(
+		Vector3(-36.0, -8.0, -36.0), Vector3(72.0, 32.0, 72.0)
+	)
+	return nav_mesh

world/jajce/JajceWorld.tscn

@@ -1,4 +1,4 @@
-[gd_scene load_steps=26 format=3]
+[gd_scene load_steps=27 format=3]
 
 [ext_resource type="Terrain3DAssets" path="res://terrain/jajce/assets.tres" id="1_assets"]
 [ext_resource type="PackedScene" path="res://world/resource_nodes/ResourceNode.tscn" id="2_resource"]
@@ -15,6 +15,7 @@
 [ext_resource type="Script" path="res://world/jajce/day_night_cycle.gd" id="13_daynight"]
 [ext_resource type="PackedScene" path="res://world/storage/StorageNode.tscn" id="14_storage"]
 [ext_resource type="Script" path="res://world/activity/ActivitySite.gd" id="15_activity"]
+[ext_resource type="NavigationMesh" path="res://world/jajce/JajceNavigationMesh.tres" id="16_nav"]
 
 [sub_resource type="Terrain3DMaterial" id="Terrain3DMaterial_jajce"]
 _shader_parameters = {
@@ -118,18 +119,7 @@ size = Vector3(2.8, 0.3, 0.9)
 script = ExtResource("3_world")
 
 [node name="NavigationRegion3D" type="NavigationRegion3D" parent="."]
-navigation_mesh = SubResource("NavigationMesh_greybox")
+navigation_mesh = ExtResource("16_nav")
-
-[node name="GreyboxGround" type="StaticBody3D" parent="NavigationRegion3D"]
-collision_layer = 0
-collision_mask = 0
-
-[node name="Mesh" type="MeshInstance3D" parent="NavigationRegion3D/GreyboxGround"]
-visible = false
-mesh = SubResource("Mesh_ground")
-
-[node name="Collision" type="CollisionShape3D" parent="NavigationRegion3D/GreyboxGround"]
-shape = SubResource("Shape_ground")
 
 [node name="TerrainRoot" type="Node3D" parent="."]