[sunzenshen]

ntre_rise_ctg: navmesh rework

One file, neo/maps/nav/ntre_rise_ctg.nav.

Dependencies and status

Needs: none. Measured on neo master 092203f36 with no open PR (A/B below). The bot changes this mesh carries data for are
in master now:

• NAV_MESH_AVOID annotation penalizes bot path costs neo#2170 ("NAV_MESH_AVOID annotation penalizes bot path costs", merged): the mesh marks 89 areas
  NAV_MESH_AVOID: the basement pool (87) and the balcony rail top above it, so no path drops into the pool as a
  shortcut, and the foot room of ladder 1, whose first rung is 54 u up and where ghost carriers piled up, so paths avoid
  the room unless the ladder saves a long way round. On stock neo master, areas 2720 and 2777 load without AVOID (they
  also carry NAV_MESH_STAIRS, and loading clears the other marks on a STAIRS area); Keep nav area attributes when marking stairs neo#2225 (draft) keeps them.
  The A/B below ran without it: within 100 u of either area, 0.02 and 0.04 events a match on this mesh (one match
  each), 0 on master's; pool areas 0 events a match (master's mesh 0.15).
• More tweaks to bot ladder approaches, climbs and dismounts neo#2176 ("Fix bot ladder approaches, climbs and dismounts", merged): the mesh's 6 nav ladders.

Helped by (measured better with it; the mesh does not wait on it):

• Bots re-check a skipped-to goal when pushed off their path neo#2200 ("Bots re-check a skipped-to goal when pushed off their path", draft): the stair-top landing
  near (-225, -492), 18 stuck events in its survey, 1 with it. On neo master without it, this mesh: 2.69 events a match
  there, master's mesh 8.33.

At a glance

	master	this PR
nav areas	1330	1057
file size	648,467 bytes	402,893 bytes (-38 %)
nav ladders	3 (one with no top)	6, linked up and down
areas no spawn reaches over any link	24 in 7 pockets	21 in 9
the same, links any class plans (climbs up to 65 u)	241 in 13	22 in 10
per class: Recon / Assault / Support	224 / 247 / 255	22 / 29 / 74
areas entered with no way back	21	0
objectives reached only over links no class plans	ghost spawn 1, capture zones 1 and 4	none
bot events a match on neo master (stuck, fell off the path, no path; 48 matches)	27.7	10.1
stuck episodes a match on neo master	3.69	2.12
deaths to the map's trigger_hurt a match	0	0
engine hull audit, level pairs blocked and not resolved	not run	0 (6 kept with a reason, 15 breakables / a door)

What changed

• Capture zones 1 and 4 are reachable. Their decks are reached by prop switchback staircases that master crossed
  with one 66-76 u jump link (zone 1) or not at all (zone 4). Each flight gets a sloped area over its steps, linked both
  ways to its landing and to the floor or deck. Ghost spawn 1 is reachable too: bots picked up the ghost in 48 of 48
  matches here, 36 of 48 on master's mesh.
• Ladders 3 -> 6, each linked at both ends. Master's ladder near (730, -807) has no top area and sits in a 4-area
  pocket with no link to the rest of the mesh; its ladder is removed, the ledge kept (below).
• Ladder 4's top on its wall cap. The ladder rises 30 u above the top floor over a 16 u wall cap, under a 48 u hatch
  only a crouching Recon fits. A CROUCH area on the cap (3589, z -344) carries the ladder's top, linked to the floor
  behind it by a 30 u climb. With Jinrai spawned at the top and the ghost at the foot, 8 matches each: bots reached the
  foot 19 times with it and 14 without, stuck events at the top 4 against 1,839, ghost picked up at 15.9 s against
  21.8 s; every descent was a Recon.
• The west-wall drop cut. Master's drop 3548 -> 3542 lands 158 u down on a 24 u ledge over the drop west of
  x -961; bots overshot it and fell to the trigger_hurt (0.87 deaths a match with the drop, NSF bots chasing the ghost
  carrier). It is cut, with the drop 3305 -> 642 above it, whose areas had no other way out.
• The ledge near (600, -790, -424). Recons reach it off the ramp east of it (area 118). Master's four areas there
  (190, 778, 1902, 1907) are kept, now with a one-way drop to the floor below (1907 -> 604), so a bot that gets up has a
  path down.
• The basement fountain. Bots dropped in off the balcony rail and had no way out. A strip on its curb, the handrail
  top and the step outside give the 43 u climb out the fence allows; the pool is AVOID so no path uses it as a shortcut.
• Drops cut where no bot can make them: the drops from areas 3569 and 3570 through 1 hp func_breakable floor
  panels, where bots walked to the panel rim and pressed into the wall, and into the walled pit 415 / 3570, whose only
  floor exit is a Recon climb. The climb out stays, for a Recon who falls in.
• The beam near (-386, -274). A 4 u beam falls at 45 degrees to the floor across this mesh's strip 3374 (master's
  areas there are laid out differently); on an earlier revision, bots walking under it pressed the beam. The strip is
  now split, its middle (3588) CROUCH. No test match had an event there.
• Removed: a vent-duct pocket near (590, -420, -426) that no link reaches (bots chasing a target there logged "no
  path"), slivers merged into their neighbors, and islands no spawn reaches. Also the raised bamboo bed near
  (1025, -100, -1047), 14 areas on a displacement planter 72 u above the floor: its only way in was a Recon climb from
  a strip inside the bench beside it (removed too), and three of its areas sit in bamboo clumps.
• Engine hull audit rows resolved: pairs it reads clear both ways get their missing direction back; pairs it reads
  blocked both ways (sofas, a copier, a crate, a water cooler, a stair handrail, a table top) are cut; floor strips
  inside a prop or wall (a copier, file boxes, a forklift, a handrail, the balcony wall, under a sofa) are removed.
• Marks: OBSTACLE_TOP 67 -> 8, NO_MERGE 113 -> 21, CROUCH 20 -> 15.
• Ids follow master's: 1042 of 1057 areas keep a master id, 941 of them at the same place; new areas take the next
  free ids. Ladders 1 and 2 keep their ids; ladder 3 is new and reuses the id of master's ladder 3, which was removed
  with its pocket.
• Re-analyzed in game after the edits, so the visibility lists bots use are current.

How it was tested

• Reachability: every spawn reaches every objective for both teams; no dead end, no area a class enters and cannot
  leave, no one-way climb of 60 u or more except a 200 u walk link up ladder 3's shaft, which no class
  takes. Two deliberate one-way edges: the pit climb above, and a level crossing past an AC unit near (762, 475, -80)
  that every class walks one way only (Support stuck on the unit the other way). Two markers sit off the mesh as on
  master (capture zone 3 by 9 u, ghost spawn 2 by 46 u). Routes are within 5 % of master's but one: capture zone 3 for
  defenders, 3,593 -> 3,975 u.
• Engine hull audit of this file (every level link swept with a player hull in game):
  BLOCKED_LINKS map=ntre_rise_ctg level_pairs=1562 oneway=0 keep=6 cut=0 area=0 check=0 dynamic=0 entity=15 one_way_drops=43 sinks(any/recon/assault/support)=0/0/0/0 audit_links=3397 mesh_walk_links=3397.
  The 15 entity rows are breakable panels, a breakable on the ledge above and a fence door, runtime state. The 6 kept:
  the AC unit crossing above, the feet of the four stair flights to capture zones 1 and 4 (the audit's stand test
  starts inside the slope; every class walks each flight), and a 16-24 u ledge on the west wall at z -864, where a
  player stands with its center over the drop.
• Master against this mesh, neo master's bot code (092203f36, no open PR, Release). Byte-identical copies of the
  map, one carrying each .nav, matches interleaved: CTG, the ghost pinned at each of the 4 ghost spawns in turn, 30
  bots, default weapon damage, 1 round, all players at one XP rank (rotated over the four ranks across the spawns), 8
  matches at a time, 48 matches a mesh. Every match reached match end with 0 asserts. Events are stuck events
  (OnStuck plus FAIL_STUCK, without the spawn crush at round start and weapon scavenging), "fell off the path" and
  "no path". A stuck bot logs about one stuck event a second; a stuck episode is one bot's stuck events less than 10 s
  apart, counted once. Ratios are paired by spawn and pass, with 95 % intervals.

a match (48 each)	master	this mesh	this / master
bot events	27.7	10.1	x0.48 [0.32, 0.73]
stuck events	24.2	9.0	x0.50 [0.32, 0.77]
stuck episodes	3.69	2.12	x0.71 [0.55, 0.90]
no path / fell off the path	1.88 / 1.62	1.02 / 0.10
deaths to trigger_hurt	0	0
kills	26.2	25.4

Every ghost spawn is lower (x0.32-0.74), and every XP rank (stuck a match 17-38 on master, 6-12 here).

• The leading master spot, the metal wall and door near (-227, -496), 8.33 events a match, is 2.69 here.
• Ladder 1's foot near (1260, 1200): 1.38 events a match on master, 0.38 here. The off-mesh ledge near (640, -720,
  -424): 1.08 on master, 0.02 here.

Earlier batches, the harness's research build

These ran the harness's research build (neo master plus the open bot PRs and further research bot changes), not
master's bot code. 48 matches a mesh against master, on the previous revision of this file (1052 areas, before the
west-wall drop cut and the ladder 4 cap): events a match 8.9 [5.5, 13.1] (master) -> 6.5 [1.3, 15.8],
stuck episodes 1.3 -> 0.5. An older revision, 72 matches a mesh (1079 areas): 13.3 -> 5.7, stuck episodes 1.28 -> 1.04.
On neo master's own code the previous revision was not better than master's mesh (104 matches a mesh: events x0.84
[0.68, 1.05], stuck episodes x1.22 [1.07, 1.40], 0.87 trigger_hurt deaths a match), which the west-wall drop cut
fixes.

Known, not changed

• Ladder 4's hatch fits only a crouching Recon; Assault and Support going down take another way. Going down is rare
  in play: 1 bot at its top in 64 matches, none rode it down.
• Ladders 3 and 4, going up. On master's bot code, bots plan the climb, stand at the foot and press the wall:
  0.69 events a match at ladder 3's foot near (-237, -899) in 9 of 48 matches (Recons on the 56 u block beside the foot),
  0.04 at ladder 4's foot in 1 of 48 (0.43 a match over 104 matches on the previous revision, bots on area 145 pressing
  the shaft's south side); master has no ladder at either. The ladders are the only way onto the -336 / -374 floor
  between them, so both stay linked up; the climbs are bot code, which no mesh edit reaches. Ladder 3's 200 u walk link
  up the shaft stays, which no class takes.
• Ladder 1's foot near (1260, 1200), beside the freight-elevator prop: 0.38 events a match here, 1.38 on master.
  The first rung is 54 u above the floor, and the bot ladder code does not reliably mount a ladder that high; a bot
  that planned up the ladder can stand under it to the round's end. That is bot code, which no mesh edit reaches. The
  ladder is master's, and the foot is master's two floor areas merged into one.
• 21 areas in 9 pockets no spawn reaches over any link: the west-wall ledges below the cut drop (9), master's ledge areas
  above (4, reached off the mesh), the walled pit above, and five pockets of one or two areas with a link out and none
  in. Support also misses 52 more, behind 47-65 u climbs and the ladders. No objective in any of them.

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