feat: stop moving at target

src/main/java/symbolics/division/armistice/mecha/ChassisPart.java

@@ -54,6 +54,7 @@ public class ChassisPart extends AbstractMechaPart {
 	protected boolean legsReady = false;
 	protected Vec3 prevPos = Vec3.ZERO;
 	private boolean firstTick = true;
+	private boolean atRest = true;
 
 	// todo notes: chassis schematic/skeleton needs to tell us
 	// - number of legs
@@ -142,6 +143,7 @@ public void serverTick() {
 
 		// update desired movement
 		if (pathingTarget != null && !pathingTarget.closerThan(new Vec3(absPos()).with(Direction.Axis.Y, pathingTarget.y), followTolerance)) {
+			atRest = false;
 			// if we're not facing the target, try to rotate towards it.
 			Vec3 targetHorizontalDir = pathingTarget.subtract(core.position()).with(Direction.Axis.Y, 0).normalize();
 			if (direction().dot(targetHorizontalDir) < 0.95) {
@@ -156,6 +158,7 @@ public void serverTick() {
 				legMap.setMapRotation(0);
 			}
 		} else {// don't need to go anywhere, give our legs a rest
+			atRest = true;
 			legMap.setMapOffset(Vec3.ZERO);
 			legMap.setMapRotation(0);
 		}
@@ -186,7 +189,7 @@ public void serverTick() {
 			// move to centroid
 			if (prevPos == Vec3.ZERO) prevPos = core.position();
 			var curPos = IKUtil.f2m(skeleton.getChain(0).getBone(0).getEndLocation());
-			float ticksPerBlock = 2;
+			float ticksPerBlock = 4;
 			var delta = desiredPos.subtract(curPos);
 			Vec3f tgt = IKUtil.m2f(curPos.add(delta.normalize().scale(1 / ticksPerBlock)));
 
@@ -212,7 +215,9 @@ public void serverTick() {
 			}
 
 			if (ArmisticeDebugValues.ikSolving) {
-				skeleton.solveForTarget(tgt);
+				if (!atRest) {
+					skeleton.solveForTarget(tgt);
+				}
 				legsReady = true;
 			}
 			core.entity().setPos(IKUtil.f2m(skeleton.getChain(0).getBone(0).getEndLocation()));
@@ -237,6 +242,10 @@ public void serverTick() {
 			new Vec3(movement.x, 0, movement.z);
 	}
 
+	public boolean atRest() {
+		return atRest;
+	}
+
 	@Override
 	public void clientTick(float tickDelta) {
 		super.clientTick(tickDelta);

src/main/java/symbolics/division/armistice/mecha/movement/ChassisLeg.java

@@ -158,11 +158,12 @@ public void tick() {
 		Vec3 mapTarget = chassis.legMap().legTarget(legIndex);
 		Vec3 tip = tipPos();
 		float mapDelta = (float) mapTarget.distanceTo(tip);
-		boolean inRange = mapDelta <= chassis.legMap().stepTolerance();
+		double horzMapDelta = mapTarget.multiply(1, 0, 1).distanceTo(tip.multiply(1, 0, 1));
+		boolean inRange = horzMapDelta <= chassis.legMap().stepTolerance();
 
 
 		// check if we need to do a new step
-		if (!stepping() && !inRange && !chassis.neighborsStepping(legIndex)) {
+		if (!chassis.atRest() && !stepping() && !inRange && !chassis.neighborsStepping(legIndex)) {
 			if (prevStepTarget != finalStepTarget) {
 				prevStepTarget = tip;
 			}
@@ -212,7 +213,7 @@ protected Vec3 nearestValidStepPosition(Vec3 ideal) {
 		int checkHeight = 10;
 		var step = level.findSupportingBlock(entity,
 			new AABB(
-				ideal.add(1, checkHeight, 1), ideal.subtract(-1, checkHeight, -1)
+				ideal.add(1, checkHeight * 2, 1), ideal.subtract(-1, checkHeight * 3, -1)
 			)
 		);
 		return step.map(BlockPos::getCenter).orElse(ideal);

src/main/java/symbolics/division/armistice/mecha/movement/LegMap.java

@@ -16,7 +16,7 @@ public class LegMap {
 	protected final Vec3 centroidOffset;
 	protected Vec3 mapOffset = Vec3.ZERO;
 	protected float mapYaw = 0;
-	protected double stepTolerance = 3;
+	protected double stepTolerance = 5;
 	protected double[] directionWeights;
 
 	public LegMap(MechaModelData data, ChassisPart chassis) {