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ThrustAllocator: zero intent returns exact zeros before the solve; the 1e-9 output flush is deleted (zero-intent-warm-nonzero, zero-intent-at-the-cap)

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Nothing asked, nothing fired is a fact about the intent: when all three clamped intents are exactly zero Allocate returns the zeroed buffer before the solve, so a warm solve that stops at the iteration cap can no longer fire thrusters. The output flush is gone. The warm start is left at the last solved point. Tests: the two 40-thruster hulls Soul found, and a small intent still answered at any column scale. Builds untested locally; verified on Yggdrasil.

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
This commit is contained in:
Meta Vens 2026-10-10 09:08:55 +02:00
commit 8bfce1899e
2 changed files with 60 additions and 5 deletions
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14
Assets/Scripts/ServerShared/ThrustAllocator.cs
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@ -23,9 +23,6 @@ public sealed class ThrustAllocator
const float ErrorCostWeight = .3f;
const float ErrorCostOffset = 10f;
const float Ridge = .1f;
// The solver stops within its tolerance of the optimum, so a throttle that should be zero can come back as 1e-34 after
// a warm start. Below this a throttle is that residue, not an ask: nothing asked is nothing fired.
const float ThrottleResidue = 1e-9f;
const float ErrorMax = 2f;
const double KktRelativeTolerance = 1e-12;
const int ErrorVariables = 4;
@ -40,6 +37,10 @@ public sealed class ThrustAllocator
if (n != _columns) Resize(n);
for (var i = 0; i < n; i++) throttle[i] = 0;
// Nothing asked, nothing fired: that is a fact about the intent, decided before the solve. The solver's warm
// start is left as the last solved point, which is where the next non-zero call resumes.
if (Intent(move, turn, 0) == 0 && Intent(move, turn, 1) == 0 && Intent(move, turn, 2) == 0) return;
var vars = n + ErrorVariables;
var rows = FixedRows + n;
@ -54,7 +55,7 @@ public sealed class ThrustAllocator
else if (c < 0) minus -= c;
}
var extreme = Math.Max(plus, minus);
var intent = Math.Min(Math.Max(axis == 0 ? move.x : axis == 1 ? move.y : turn, -1f), 1f);
var intent = Intent(move, turn, axis);
var weight = axis == 2 ? YawWeight : TranslationWeight;
// Intent is a fraction of the half-axis extreme it points into.
var demand = intent >= 0 ? intent * plus : intent * minus;
@ -80,9 +81,12 @@ public sealed class ThrustAllocator
var status = BoundedLeastSquares.Solve(rows, vars, _a, _b, _lo, _hi, _x, _workspace, out _, KktRelativeTolerance);
if (status == BoundedLeastSquaresStatus.InvalidInput) return;
for (var i = 0; i < n; i++) throttle[i] = _x[i] > ThrottleResidue ? _x[i] : 0;
for (var i = 0; i < n; i++) throttle[i] = _x[i];
}
static float Intent(float2 move, float turn, int axis) =>
Math.Min(Math.Max(axis == 0 ? move.x : axis == 1 ? move.y : turn, -1f), 1f);
static float Component(float3 c, int axis) => axis == 0 ? c.x : axis == 1 ? c.y : c.z;
void Resize(int n)