feat: multi-level stair climbing demo with landing zone constraint - #8
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March 17, 2026 20:35
- Add landingZonePolygons + useLandingZoneCheck parameters (parameters.h/cpp) - Step expansion validates foot containment in terrain patches - demo_stairs.cpp: 22-step L-shaped stair path with terrain patches - demo_visualize.py: terrain patch rendering (blue dashed polygons) - assets/stairs.gif: multi-level stair climbing visualization - README: all 3 demos documented (flat/obstacle/stairs) Key fix: terrain patches must use CCW vertex ordering (setClockwiseOrder(false)) for isConvexPolygonContained to work correctly with isPoint2DOnSideOfLine2D.
- 9 large (0.80×0.70m), sparse, rotated terrain patches - All 22 footsteps verified contained in patches (22/22 ✓) - Patches overlap to form continuous stepping-stone path - demo_visualize.py: distinct color per patch, white borders - New demo_stairs.cpp: 'shoot first, aim later' approach 1. Unconstrained planner → 22 steps 2. Design patches around path 3. Verify containment 4. Export for visualization - assets/stairs.gif: 348 KB animated GIF
- New start (0.05, 0.02) → goal (1.05, -0.55), diagonal path - 13 random patches: each unique hw (0.18-0.42), hh (0.15-0.42), angle - LCG random with seed 500 produces 19-step valid path - No 'aim first': planner searches patches from scratch - Patches overlap for A* to traverse end-to-end - assets/stairs.gif: 478 KB
- Heuclid v2.4: intersection area CW/CCW winding fix - isFootAreaContainedInTerrain: 70% overlap threshold - MaxStepLength=40cm, MaxStepWidth=35cm for sparse steps - 6 random patches (0.8-2.0m), unique size/rotation each - 11-step natural A* path through patches - New diagonal path: start(0.1,0.1) → goal(1.2,-0.5) - stairs.gif: 120 KB
- New demo design: large flat base plane (height=0) + 4~6 elevated stones (5~15cm) - 3.5m distance, 11 steps reaching goal - Stones evenly distributed along path, random heights - Visualization: base=grey dashed, stones=blue gradient by height - Height annotations on stones, step labels with white background - body path hidden in stairs mode (cleaner view) - terrain_heights.csv for height metadata - FollowBodyPath disabled for better long-distance search - GIF: 82KB, 12 frames
- README: all 3 demos in single row (table layout) - Added description table with step counts - Updated stairs to 'Stepping Stones' terminology - Chinese README: same layout, clean old sections - Stairs GIF updated in assets/
Mr-tooth
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Mar 20, 2026
feat: multi-level stair climbing demo with landing zone constraint
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Summary
Replaces overlapping-patch approach with base plane + stepping stones design. Also fixes pre-existing segfault and obstacle collision bugs.
Demo Layout
All 3 demos in single-row table with compact styling.
Bug Fixes
Segfault (issue #6):
parameters::debugFlagdefaulted totrue, causingplotExpansion()to crash in matplotlibcpp on every A* expansion. Fixed by defaulting tofalse.Obstacle collision:
isAnyVertexOfFootInsideStairRegiononly rejected steps where foot vertices were inside the obstacle — partial overlaps were missed. Replaced withisFootPolygonCollidedWithPolygon(full polygon-polygon intersection viaisConvexPolygonIntersect).demo_stairs.cpp (new)
FollowBodyPath=falsefor long-distance searchdemo_obstacle.cpp (rewritten)
isFootPolygonCollidedWithPolygonfor robust collisiondemo_visualize.py
load_body_path()with graceful fallback when body_path.csv is missingAll GIFs regenerated
flat.gif(238KB, 25 steps) — body path followingobstacle.gif(251KB, 8 steps) — collision avoidancestairs.gif(241KB, 11 steps) — stepping stones