Release Healer Man 0.1.36

PLAYTEST_NOTES.md

@@ -2305,3 +2305,137 @@ Vite's existing large-chunk advisory remains informational.
   compression, and release-bundle verification passed. Existing build-size
   advisories and deprecated physics initialization warnings remain. No hosted
   release was published.
+
+## 2026-09-12 - Non-blocking players and combat actors
+
+- Removed party soft separation and crowd-triggered combat repositioning.
+  Companions may overlap or cross one another without push-apart corrections
+  changing their routes. Normal follow formations and role-specific attack
+  ranges remain; a tank already in melee range does not move just because an
+  ally occupies the same position.
+- Added a shared actor collision layer that interacts only with physical
+  terrain. The player capsule uses this layer. Player controller movement,
+  ground probes, camera sweeps, party direct/route validation, party grounding,
+  and combat ground-position queries use terrain-only filters. Actor body type
+  cannot turn an actor into a floor or movement obstruction. Party members,
+  remote players, mobs, and bosses currently render without physical colliders;
+  any future actor capsule must use the shared actor layer.
+- Walls, floors, ceilings, dungeon objects, and the Stockades walking ramps
+  retain their terrain collision. Target-selection meshes, combat visibility,
+  damage, and attack-range checks were not removed.
+- Ten new Rapier regressions cover overlapping actors with no contacts or
+  displacement, movement through fixed/kinematic/dynamic actors (including an
+  overlapped starting position), continued wall/floor collision, and ignoring
+  actors in ground, party-route, and camera queries. A terrain-layer control
+  confirms real actor/terrain contacts are still detected. Stockades shipping-
+  asset regressions now use the live player collision policy and still pass
+  down/up all three ramps without jumping.
+- Browser smoke pass at 1280 x 720 used offline level-15 Priest Rolecheck with
+  Blood DK, Combat Rogue, Unholy DK, and Frost Mage companions. Inline roster
+  and dungeon screenshots show character bodies, weapons, unchanged visible
+  stairs, and the existing warm lighting. Attack moved companions down from
+  the entrance and out of its view without ROUTE BLOCKED; the tank took aggro
+  and melee/caster combat events continued. Experience rose from 11,098 to
+  13,359. Stop followed by Recall returned the party to the nearby player.
+  Selecting Morvane and casting Power Word: Shield applied the buff successfully.
+- Live QA was an entrance/trash/recall smoke pass, not a full dungeon clear or
+  a manual traversal of both wings. Actor overlap and passage guarantees are
+  backed by the physics regressions; physical Android and multiplayer QA remain
+  open.
+- Validation: all 225 Vitest files passed, 1,390 tests passed, and six existing
+  tests remained skipped. The final focused checks passed again after cleanup.
+  Production TypeScript/Vite build, texture/performance audits, static bundle
+  compression, and release-bundle verification passed. Existing chunk-size
+  advisories and deprecated physics initialization warnings remain. No hosted
+  release was published.
+
+## 2026-09-12 - Individual companion navigation recovery
+
+- Replaced the old distant, whole-party stuck Recall with an individual
+  navigation watchdog in a separately tested game module. Two seconds without
+  meaningful waypoint progress invalidates that companion's route; five seconds
+  requests a safe recovery landing. Failed replans do not restart the timer,
+  back-and-forth movement cancels forward progress, and dense waypoint chains
+  still count genuine movement around corners.
+- Recovery prefers a recently visited party/player trail point near the group
+  on the same floor, then falls back to a validated player position. Actual
+  terrain checks require walkable ground, clear companion body space, and a
+  route back to the group. Blocked or invalid landings are not applied. Each
+  companion has an independent ten-second teleport cooldown.
+- Intentional attack-range holds, casting/channeling, crowd control, Stop,
+  death, inactive simulation, and UI pauses do not accumulate stuck time.
+  Automatic recovery changes only the affected companion's position and routing
+  state; it does not heal, resurrect, reset threat, or teleport other companions.
+  Manual Recall keeps its existing whole-party behavior and party order.
+- Added regressions for recovery timing, oscillation, replanning, independent
+  cooldowns and member isolation, exclusions, safe-trail/player selection, wall
+  and ceiling rejection, missing floors, and actor-independent landing checks.
+  Shipping Stockades navigation/collision assets validate recovery landings on
+  all three ramps and along approaches to all five boss objectives.
+- Browser smoke pass at 1280 x 720 used offline Priest Rolecheck and Blood DK,
+  Combat Rogue, Unholy DK, and Frost Mage companions. Inline roster and dungeon
+  screenshots show unchanged character bodies, equipment, stairs, and warm
+  lighting. The first catalog load needed a retry. Attack moved companions down
+  from the entrance without ROUTE BLOCKED, and combat continued with the player
+  stationary. The unattended party eventually died; Stop remained selected
+  after Recall returned the fallen companions without resurrecting them.
+- The intermittent side-room trap and its automatic recovery were not reproduced
+  live. Recovery triggers and terrain safety are backed by automated tests;
+  extended side-room playtesting, a healed full clear, and physical Android QA
+  remain open. This pass did not modify existing ramp or actor-collision policy.
+- Validation: all 227 Vitest files passed, 1,416 tests passed, and six existing
+  tests remained skipped. The final 37 focused checks passed after correcting a
+  test-helper type annotation. Production TypeScript/Vite compilation, texture
+  and performance audits, static compression, and bundle verification passed.
+  Existing chunk-size advisories and deprecated physics initialization warnings
+  remain. No hosted release was published.
+
+## 2026-09-12 - Wall-aware combat pursuit and individual mob recovery
+
+- Hostile mob actions now require both attack range and terrain line of sight.
+  Losing either cancels a pending hostile cast so pursuit can resume; companion
+  hostile casts also cancel when sight is lost. Self buffs and friendly heals
+  cannot make an otherwise obstructed mob hold an attack position. Proximity
+  aggro also checks sight instead of pulling enemies through nearby walls.
+- Static enemies, roaming packs, and summoned enemies share separately tested
+  imperative pursuit rules over the already-loaded dungeon navigation surface.
+  Blocked direct approaches use approved routes through doorways. Routes may
+  finish at a reachable attack position only when that position is both in
+  range and visible; off-surface connectors still require body clearance.
+- Two seconds without meaningful waypoint progress requests a replan. After
+  five seconds, a stuck mob within ten meters of its target may recover to a
+  validated nearby landing on the same floor and within its home leash. Ground,
+  body clearance, route connectivity, attack range, and sight must all pass.
+  This teleport preserves health and threat and has a ten-second cooldown.
+- Distant, wrong-floor, out-of-leash, or unsafe near-target recovery requests
+  instead reset only that mob's combat state and restore its health. A validated
+  home landing is preferred; otherwise it evades and navigates home without a
+  blind teleport. Ten seconds of evade prevents immediate proximity, damage,
+  or taunt re-engagement. Dead enemies are never resurrected. Casting, control,
+  pauses, inactive simulation, and non-authoritative online clients do not
+  accumulate navigation failures or trigger automatic recovery.
+- Regression coverage includes range-plus-sight attack/cast gating, immediate
+  cast cancellation, doorway detours, recovery timing and safety, reset/member
+  isolation, cooldown bypass protection, and near-teleport health/threat
+  preservation. Shipping Stockades meshes independently verify real wall
+  occlusion in both directions and clear sight across all three stair ramps.
+  Pursuing mobs traverse each actual ramp uphill and downhill without false
+  teleport/reset recovery. Existing party and player ramp checks still pass.
+- Browser smoke pass at 1280 x 720 used offline level-16 Priest Rolecheck and
+  Blood DK, Combat Rogue, Unholy DK, and Frost Mage companions. Power Word:
+  Shield applied to Morvane; Attack moved companions down from the entrance
+  and out of its view without ROUTE BLOCKED, and Defias melee/cast events and
+  tank damage followed. Stop plus Recall returned all four living companions
+  to the nearby player while retaining Stop. Inline screenshots show character
+  bodies, equipment, unchanged visible steps, and the existing warm lighting.
+  The browser console had no errors and the existing physics initialization
+  deprecation warning only.
+- Live QA was a short entrance/combat/recall smoke test, not a healed full clear
+  or a manually reproduced side-room wall trap. Wall-blocked pursuit and mob
+  recovery triggers are backed by automated tests; extended side-room combat,
+  physical Android, and live multiplayer QA remain open. Existing lighting,
+  ramp assets, and non-blocking actor collision policy were not changed.
+- Validation: all 229 Vitest files passed, 1,444 tests passed, and six existing
+  tests remained skipped. Final production TypeScript/Vite compilation, texture
+  and performance audits, static compression, and bundle verification passed.
+  Existing chunk-size advisories remain. No hosted release was published.

package-lock.json

@@ -1,12 +1,12 @@
 {
   "name": "healer-man",
-  "version": "0.1.34",
+  "version": "0.1.36",
   "lockfileVersion": 3,
   "requires": true,
   "packages": {
     "": {
       "name": "healer-man",
-      "version": "0.1.34",
+      "version": "0.1.36",
       "dependencies": {
         "@capacitor/android": "8.4.1",
         "@capacitor/core": "8.4.1",

package.json

@@ -1,7 +1,7 @@
 {
   "name": "healer-man",
   "private": true,
-  "version": "0.1.34",
+  "version": "0.1.36",
   "type": "module",
   "scripts": {
     "dev": "vite --host 0.0.0.0",

release-version.json

@@ -1,4 +1,4 @@
 {
-  "versionName": "0.1.34",
-  "versionCode": 1034
+  "versionName": "0.1.36",
+  "versionCode": 1036
 }

src/game/combatSpatial.ts

@@ -1,3 +1,5 @@
+import type { PartyNavigationGraph } from "./partyNavigation";
+
 export type CombatSpatialPosition = readonly [x: number, y: number, z: number];
 
 export interface CombatSpatialActorSnapshot {
@@ -8,6 +10,8 @@ export interface CombatSpatialActorSnapshot {
 }
 
 export interface CombatSpatialProvider {
+  /** The already-loaded, reviewed dungeon surface shared by actor navigation. */
+  readonly navigationGraph?: () => PartyNavigationGraph | null;
   readonly actor: (actorId: string) => CombatSpatialActorSnapshot | null;
   readonly hasLineOfSight: (
     source: CombatSpatialPosition,
@@ -45,6 +49,10 @@ export function combatHasLineOfSight(
   return provider?.hasLineOfSight(source, target) ?? true;
 }
 
+export function combatNavigationGraph(): PartyNavigationGraph | null {
+  return provider?.navigationGraph?.() ?? null;
+}
+
 export function projectCombatGroundPoint(
   requested: CombatSpatialPosition,
   maximumDistance: number,

src/game/combatStore.ts

@@ -372,6 +372,7 @@ export interface MobCombatState {
   readonly lastDamageAt: number;
   readonly engaged: boolean;
   readonly combatPhase: "idle" | "chasing" | "attacking" | "returning";
+  readonly navigationEvadeUntil?: number;
   readonly homePosition: CombatPosition | null;
   readonly nextAttackAt: number;
   readonly abilityReadyAt: Readonly<Record<string, number>>;
@@ -723,6 +724,7 @@ export interface CombatState {
   cancelCast: (message?: string) => boolean;
   engageNearbyMobs: (now?: number, playerPosition?: CombatPosition) => number;
   advanceMobCombat: (now?: number, playerPosition?: CombatPosition) => number;
+  resetMobForNavigation: (id: string, atHome: boolean, now?: number) => boolean;
   tick: (deltaSeconds: number, now?: number) => void;
   resetEncounter: (options?: {
     readonly preserveDefeated?: boolean;
@@ -2418,6 +2420,7 @@ function engageMobGroup(
   let changed = false;
   for (const [id, mob] of Object.entries(mobs)) {
     if (mob.dead || mob.despawned || mobGroupId(id) !== groupId) continue;
+    if (mob.combatPhase === "returning" || (mob.navigationEvadeUntil ?? 0) > now) continue;
     const threatByActor = groupWasEngaged
       ? mob.threatByActor
       : seedActorThreat(mob.threatByActor, sourceActorId);
@@ -2459,7 +2462,7 @@ function nearestAggroActorId(
   let nearestDistanceSquared = aggroRange * aggroRange;
   if (state.health > 0) {
     const playerDistanceSquared = distanceSquared(mobPosition, state.playerPosition);
-    if (playerDistanceSquared <= nearestDistanceSquared) {
+    if (playerDistanceSquared <= nearestDistanceSquared && combatHasLineOfSight(mobPosition, state.playerPosition)) {
       nearestId = PLAYER_AGGRO_ID;
       nearestDistanceSquared = playerDistanceSquared;
     }
@@ -2469,7 +2472,7 @@ function nearestAggroActorId(
     const position = getPartyRuntimePosition(member.id);
     if (!position) continue;
     const memberDistanceSquared = distanceSquared(mobPosition, position);
-    if (memberDistanceSquared < nearestDistanceSquared) {
+    if (memberDistanceSquared < nearestDistanceSquared && combatHasLineOfSight(mobPosition, position)) {
       nearestId = member.id;
       nearestDistanceSquared = memberDistanceSquared;
     }
@@ -2479,7 +2482,7 @@ function nearestAggroActorId(
     const position = getPartyRuntimePosition(actor.id);
     if (!position) continue;
     const actorDistanceSquared = distanceSquared(mobPosition, position);
-    if (actorDistanceSquared < nearestDistanceSquared) {
+    if (actorDistanceSquared < nearestDistanceSquared && combatHasLineOfSight(mobPosition, position)) {
       nearestId = actor.id;
       nearestDistanceSquared = actorDistanceSquared;
     }
@@ -2487,7 +2490,7 @@ function nearestAggroActorId(
   for (const summon of state.summons) {
     if (summon.health <= 0) continue;
     const summonDistanceSquared = distanceSquared(mobPosition, summon.position);
-    if (summonDistanceSquared < nearestDistanceSquared) {
+    if (summonDistanceSquared < nearestDistanceSquared && combatHasLineOfSight(mobPosition, summon.position)) {
       nearestId = summon.id;
       nearestDistanceSquared = summonDistanceSquared;
     }
@@ -2533,7 +2536,9 @@ function damageMobInWork(
   combatResult?: CombatResult,
 ): DamageResult {
   const mob = work.mobs[id];
-  if (!mob || mob.dead || amount <= 0) return { amount: 0, killed: false, xpAwarded: 0, levelsGained: 0 };
+  if (!mob || mob.dead || amount <= 0 || (mob.navigationEvadeUntil ?? 0) > now) {
+    return { amount: 0, killed: false, xpAwarded: 0, levelsGained: 0 };
+  }
   const mitigatedBeforeAuras = combatResult?.finalDamage ?? damageAfterMobResistance(
       amount,
       mob,
@@ -2678,7 +2683,7 @@ function resolveAndDamageMobInWork(
   rules: CombatResultRules = {},
 ): DamageResult {
   const mob = work.mobs[id];
-  if (!mob || mob.dead || amount <= 0) {
+  if (!mob || mob.dead || amount <= 0 || (mob.navigationEvadeUntil ?? 0) > now) {
     return { amount: 0, killed: false, xpAwarded: 0, levelsGained: 0 };
   }
   const sourceAuras = aurasForEntity(work.auras, source.actorId);
@@ -5656,7 +5661,7 @@ export const useCombatStore = create<CombatState>((set, get) => ({
 
   tauntMob: (id, source, durationMs, now = combatNow()) => {
     const target = get().mobs[id];
-    if (!target || target.dead || durationMs <= 0) return false;
+    if (!target || target.dead || durationMs <= 0 || (target.navigationEvadeUntil ?? 0) > now) return false;
     const previous = target.tauntDiminishingReturns;
     const applications = target.boss && previous && previous.resetAt > now ? previous.applications : 0;
     const multiplier = target.boss ? [1, 0.65, 0.4225, 0][Math.min(3, applications)] : 1;
@@ -5676,6 +5681,7 @@ export const useCombatStore = create<CombatState>((set, get) => ({
       ));
       for (const [mobId, mob] of Object.entries(mobs)) {
         if (mob.dead || mobGroupId(mobId) !== groupId) continue;
+        if ((mob.navigationEvadeUntil ?? 0) > now) continue;
         const seeded = groupWasEngaged
           ? mob.threatByActor
           : seedActorThreat(mob.threatByActor, source.actorId);
@@ -6441,7 +6447,8 @@ export const useCombatStore = create<CombatState>((set, get) => ({
     let engagedGroups = 0;
     for (const id of Object.keys(mobs)) {
       const mob = mobs[id];
-      if (mob.dead || mob.despawned || mob.engaged || mob.aggroRange <= 0) continue;
+      if (mob.dead || mob.despawned || mob.engaged || mob.aggroRange <= 0
+        || mob.combatPhase === "returning" || (mob.navigationEvadeUntil ?? 0) > now) continue;
       const position = getMobPosition(id);
       if (!position) continue;
       const actorId = nearestAggroActorId(runtimeState, position, mob.aggroRange);
@@ -6452,6 +6459,38 @@ export const useCombatStore = create<CombatState>((set, get) => ({
     return engagedGroups;
   },
 
+  resetMobForNavigation: (id, atHome, now = combatNow()) => {
+    const state = get();
+    const mob = state.mobs[id];
+    if (!mob || mob.dead || mob.despawned || !Number.isFinite(now)) return false;
+    set({
+      mobs: { ...state.mobs, [id]: {
+        ...mob,
+        engaged: false,
+        combatPhase: atHome ? "idle" : "returning",
+        navigationEvadeUntil: Math.max(mob.navigationEvadeUntil ?? 0, now + 10_000),
+        health: mob.maxHealth,
+        statuses: [],
+        controlDiminishingReturns: {},
+        tauntDiminishingReturns: { applications: 0, resetAt: 0 },
+        auras: [],
+        abilityReadyAt: {},
+        abilityCastCounts: {},
+        activeCast: null,
+        schoolLockedUntil: {},
+        nextAttackAt: 0,
+        nextAttackIndex: 0,
+        threatByActor: {},
+        targetActorId: null,
+        forcedTarget: null,
+      } },
+      effects: state.effects.filter((effect) => effect.targetId !== id && effect.sourceActorId !== id),
+      auras: state.auras.filter((aura) => aura.targetId !== id && aura.sourceId !== id),
+      areaEffects: state.areaEffects.filter((area) => area.sourceActorId !== id),
+    });
+    return true;
+  },
+
   advanceMobCombat: (now = combatNow(), playerPosition) => {
     const state = get();
     const runtimeState = playerPosition
@@ -6527,6 +6566,7 @@ export const useCombatStore = create<CombatState>((set, get) => ({
       const dy = position[1] - targetPosition[1];
       const dz = position[2] - targetPosition[2];
       const distanceSquared = dx * dx + dy * dy + dz * dz;
+      const targetVisible = combatHasLineOfSight(position, targetPosition);
       const abilityReadyAt = Object.keys(mob.abilityReadyAt).length
         ? { ...mob.abilityReadyAt }
         : { ...initialEnemyAbilityReadyAt(mob, now) };
@@ -6537,6 +6577,20 @@ export const useCombatStore = create<CombatState>((set, get) => ({
       let enemyActiveCast = cannotAttack || (silenced && mob.activeCast?.school !== "physical")
         ? null
         : mob.activeCast;
+      if (enemyActiveCast) {
+        const pendingAttack = mob.attacks.find((attack) => attack.id === enemyActiveCast!.attackId);
+        const pendingPosition = enemyActiveCast.targetActorId
+          ? actorPosition(runtimeState, enemyActiveCast.targetActorId) : null;
+        if (pendingAttack && enemyAbilityNeedsHostileRange(pendingAttack)
+          && (!pendingPosition || !combatHasLineOfSight(position, pendingPosition)
+            || Math.hypot(position[0] - pendingPosition[0], position[1] - pendingPosition[1],
+              position[2] - pendingPosition[2]) > pendingAttack.range)) {
+          emitEnemyAttackPresentation(mob, pendingAttack, "cast-cancel", now, position,
+            enemyActiveCast.targetActorId, pendingPosition);
+          abilityReadyAt[pendingAttack.id] = now + 250;
+          enemyActiveCast = null;
+        }
+      }
       let completingEnemyCast = false;
       let selectedAttackIndex = -1;
       let selectedAttack: EnemyAttackDefinition | null = null;
@@ -6551,7 +6605,7 @@ export const useCombatStore = create<CombatState>((set, get) => ({
           const attack = mob.attacks[index];
           const attackKind = enemyAttackKind(attack);
           const inAbilityRange = !enemyAbilityNeedsHostileRange(attack)
-            || distanceSquared <= attack.range * attack.range;
+            || (targetVisible && distanceSquared <= attack.range * attack.range);
           if (
             inAbilityRange
             && !(silenced && attackKind === "spell")
@@ -6567,10 +6621,24 @@ export const useCombatStore = create<CombatState>((set, get) => ({
           }
         }
       }
-      const inRange = mob.attacks.some((attack) => (
-        !enemyAbilityNeedsHostileRange(attack)
-        || distanceSquared <= attack.range * attack.range
-      ));
+      // A self buff/heal must not pin an otherwise blocked attacker in place.
+      const hostileAttacks = mob.attacks.filter(enemyAbilityNeedsHostileRange);
+      const inRange = targetVisible && (hostileAttacks.length
+        ? hostileAttacks.some((attack) => distanceSquared <= attack.range * attack.range)
+        : distanceSquared <= mob.attackRange * mob.attackRange);
+      if (selectedAttack && completingEnemyCast && enemyAbilityNeedsHostileRange(selectedAttack)) {
+        const castTargetPosition = enemyActiveCast?.targetActorId
+          ? actorPosition(runtimeState, enemyActiveCast.targetActorId) : null;
+        if (!castTargetPosition || !combatHasLineOfSight(position, castTargetPosition)
+          || Math.hypot(position[0] - castTargetPosition[0], position[1] - castTargetPosition[1],
+            position[2] - castTargetPosition[2]) > selectedAttack.range) {
+          emitEnemyAttackPresentation(mob, selectedAttack, "cast-cancel", now, position,
+            enemyActiveCast?.targetActorId ?? resolution.targetActorId, castTargetPosition);
+          abilityReadyAt[selectedAttack.id] = now + 250;
+          enemyActiveCast = null;
+          selectedAttack = null;
+        }
+      }
       const phase: MobCombatState["combatPhase"] = inRange ? "attacking" : rooted ? "idle" : "chasing";
       let nextAttackAt = Math.min(...Object.values(abilityReadyAt), Number.POSITIVE_INFINITY);
       let attackRevision = mob.attackRevision;

src/game/dungeonWallCombat.test.ts

@@ -0,0 +1,139 @@
+import { afterEach, beforeEach, describe, expect, it } from "vitest";
+import { useCombatStore } from "./combatStore";
+import { registerCombatSpatialProvider, resetCombatSpatialProvider } from "./combatSpatial";
+import { clearMobRuntimeRegistry, setMobPosition } from "./mobRuntimeRegistry";
+import { clearPartyRuntimeRegistry } from "./partyRuntimeRegistry";
+import { usePartyStore } from "./partyStore";
+import { advanceDungeonPartyCombat, resetPartyRuntimeClock } from "./partyRuntime";
+import { registerPartyRuntimePosition, updatePartyRuntimeTargetVisibility } from "./partyRuntimeRegistry";
+import { DEFAULT_ENEMY_ATTACK, type EnemyAttackDefinition } from "./enemyAttacks";
+import { createMobPursuit } from "./mobPursuit";
+import { subscribeCombatPresentation, type CombatPresentationEvent } from "./combatPresentation";
+
+let visible = true;
+const melee = { ...DEFAULT_ENEMY_ATTACK, id: "swing", range: 4, initialCooldownMs: [0, 0] as const };
+const spell: EnemyAttackDefinition = { ...melee, id: "bolt", range: 30, school: "shadow", animation: "cast", castTimeMs: 1_000 };
+function register(id = "enemy", attacks: readonly EnemyAttackDefinition[] = [melee]) {
+  setMobPosition(id, [2, 0, 0]);
+  useCombatStore.getState().registerMob(id, { name: id, attacks, maxHealth: 1_000, xpReward: 0 });
+  useCombatStore.getState().damageMob(id, 1, 1_000);
+}
+
+describe("dungeon wall combat authorization", () => {
+  beforeEach(() => {
+    resetCombatSpatialProvider(); clearMobRuntimeRegistry(); clearPartyRuntimeRegistry(); resetPartyRuntimeClock();
+    useCombatStore.getState().initializeCharacter({ classId: "priest", level: 20 });
+    useCombatStore.getState().setPlayerPosition([0, 0, 0]);
+    usePartyStore.getState().initializeParty("walls", 20, useCombatStore.getState().health);
+    visible = true;
+    registerCombatSpatialProvider({ actor: () => null, hasLineOfSight: () => visible, projectGroundPoint: (point) => point });
+  });
+  afterEach(resetCombatSpatialProvider);
+
+  it("does not swing or consume an attack cooldown through a wall despite melee distance", () => {
+    register(); visible = false;
+    const health = useCombatStore.getState().health;
+    const events: CombatPresentationEvent[] = [];
+    const unsubscribe = subscribeCombatPresentation((message) => { if (message.kind === "event") events.push(message.event); });
+    expect(useCombatStore.getState().advanceMobCombat(2_000)).toBe(0);
+    expect(useCombatStore.getState().mobs.enemy).toMatchObject({ combatPhase: "chasing", attackRevision: 0 });
+    expect(useCombatStore.getState().health).toBe(health);
+    expect(events.filter((event) => event.sourceActorId === "enemy")).toHaveLength(0);
+    visible = true;
+    expect(useCombatStore.getState().advanceMobCombat(2_100)).toBeGreaterThan(0);
+    expect(useCombatStore.getState().mobs.enemy.combatPhase).toBe("attacking");
+    unsubscribe();
+  });
+
+  it("does not start an obstructed cast and cancels a pending cast when sight is lost", () => {
+    register("enemy", [spell]); visible = false;
+    useCombatStore.getState().advanceMobCombat(1_000);
+    expect(useCombatStore.getState().mobs.enemy.activeCast).toBeNull();
+    visible = true;
+    useCombatStore.getState().advanceMobCombat(1_100);
+    expect(useCombatStore.getState().mobs.enemy.activeCast).not.toBeNull();
+    const health = useCombatStore.getState().health;
+    visible = false;
+    expect(useCombatStore.getState().advanceMobCombat(1_200)).toBe(0);
+    expect(useCombatStore.getState().mobs.enemy).toMatchObject({ activeCast: null, combatPhase: "chasing", attackRevision: 0 });
+    expect(useCombatStore.getState().health).toBe(health);
+  });
+
+  it("does not let a self buff keep a wall-blocked melee mob in attack mode", () => {
+    register("enemy", [melee, { ...melee, id: "buff", target: "self", effect: { kind: "aura", aura: "enrage", durationMs: 10_000 } }]);
+    visible = false;
+    useCombatStore.getState().advanceMobCombat(2_000);
+    expect(useCombatStore.getState().mobs.enemy.combatPhase).toBe("chasing");
+  });
+
+  it("does not proximity-pull a visible-distance mob through a wall", () => {
+    setMobPosition("idle", [2, 0, 0]);
+    useCombatStore.getState().registerMob("idle", { name: "idle", attacks: [melee] });
+    visible = false;
+    expect(useCombatStore.getState().engageNearbyMobs(1_000)).toBe(0);
+    visible = true;
+    expect(useCombatStore.getState().engageNearbyMobs(1_001)).toBe(1);
+  });
+
+  it("resets only the stuck living mob, clears its threat/cast, restores health, and delays repulls", () => {
+    register("enemy", [spell]); register("other");
+    useCombatStore.getState().advanceMobCombat(1_000);
+    const other = useCombatStore.getState().mobs.other;
+    expect(useCombatStore.getState().resetMobForNavigation("enemy", true, 2_000)).toBe(true);
+    expect(useCombatStore.getState().mobs.enemy).toMatchObject({ health: 1_000, engaged: false,
+      combatPhase: "idle", activeCast: null, targetActorId: null, threatByActor: {}, navigationEvadeUntil: 12_000,
+      dead: false, experienceGranted: false });
+    expect(useCombatStore.getState().mobs.other).toBe(other);
+    expect(useCombatStore.getState().engageNearbyMobs(11_999)).toBe(0);
+    expect(useCombatStore.getState().engageNearbyMobs(12_000)).toBe(1);
+  });
+
+  it("does not recover or resurrect a dead mob", () => {
+    register();
+    useCombatStore.getState().damageMob("enemy", 10_000, 2_000);
+    expect(useCombatStore.getState().resetMobForNavigation("enemy", true, 3_000)).toBe(false);
+    expect(useCombatStore.getState().mobs.enemy.dead).toBe(true);
+  });
+
+  it("rejects damage against a navigation-reset mob during its evade cooldown", () => {
+    register();
+    useCombatStore.getState().resetMobForNavigation("enemy", true, 2_000);
+    expect(useCombatStore.getState().damageMob("enemy", 500, 3_000).amount).toBe(0);
+    expect(useCombatStore.getState().tauntMob("enemy", { actorId: "__player__", role: "healer" }, 3_000, 3_000)).toBe(false);
+    expect(useCombatStore.getState().mobs.enemy.health).toBe(1_000);
+  });
+
+  it("cancels an NPC teammate's hostile cast immediately on lost sight so it can pursue", () => {
+    register();
+    const member = usePartyStore.getState().members[0];
+    registerPartyRuntimePosition(member.id, [0, 0, 0]);
+    updatePartyRuntimeTargetVisibility(member.id, "enemy", true);
+    usePartyStore.setState((state) => ({ members: state.members.map((candidate) => candidate.id === member.id
+      ? { ...candidate, activeCastTargetId: "enemy", activeCast: {
+        abilityId: "mage-frostbolt", school: "frost", mode: "cast", startedAt: 1_000,
+        completesAt: 5_000, originalDurationMs: 4_000, pushbackHits: 0,
+        origin: [0, 0, 0] as const, targetId: "enemy",
+      } } : candidate) }));
+    visible = false;
+    advanceDungeonPartyCombat(1_100);
+    expect(usePartyStore.getState().members[0]).toMatchObject({ activeCast: null, status: "advancing" });
+  });
+
+  it("nearby teleport recovery leaves mob health, threat, target, and other mobs unchanged", () => {
+    register(); register("other");
+    const before = useCombatStore.getState().mobs;
+    const navigator = createMobPursuit({ graph: () => null, hasLineOfSight: (from) => from[0] > 2,
+      directAllowed: () => false, routeAllowed: () => true, validateLanding: (point) => point });
+    const position: [number, number, number] = [0, 0, 0];
+    const sample = { id: "enemy", targetId: "tank", position, target: [4, 0, 0] as const,
+      home: [0, 0, 0] as const, phase: "chasing" as const, health: before.enemy.health,
+      engaged: true, active: true, casting: false, controlled: false, attackRange: 1.5,
+      leashRange: 40, maximumStep: 0, nowMs: 0 };
+    navigator.step(sample);
+    navigator.step({ ...sample, nowMs: 2_000 });
+    expect(navigator.step({ ...sample, nowMs: 5_000 })).toBe("teleported");
+    expect(position[0]).toBeGreaterThan(2);
+    expect(useCombatStore.getState().mobs.enemy).toBe(before.enemy);
+    expect(useCombatStore.getState().mobs.other).toBe(before.other);
+  });
+});

src/game/mobPursuit.test.ts

@@ -0,0 +1,133 @@
+import { describe, expect, it } from "vitest";
+import { createMobPursuit, chooseMobPursuitLanding, type MobPursuitSample, type MobPursuitSpatial } from "./mobPursuit";
+import type { PartyNavigationGraph } from "./partyNavigation";
+
+function sample(patch: Partial<MobPursuitSample> = {}): MobPursuitSample {
+  return { id: "mob", targetId: "tank", position: [0, 0, 0], target: [4, 0, 0], home: [0, 0, 0],
+    phase: "chasing", health: 100, engaged: true, active: true, casting: false, controlled: false,
+    attackRange: 1.5, leashRange: 40, maximumStep: 0, nowMs: 0, ...patch };
+}
+
+function spatial(patch: Partial<MobPursuitSpatial> = {}): MobPursuitSpatial {
+  return { graph: () => null, hasLineOfSight: () => false, directAllowed: () => false,
+    routeAllowed: () => true, validateLanding: (point) => point, ...patch };
+}
+
+describe("wall-aware mob pursuit", () => {
+  it("moves toward a blocked target even when the old combat snapshot says attacking", () => {
+    const navigator = createMobPursuit(spatial({ directAllowed: () => true }));
+    const state = sample({ phase: "attacking", attackRange: 6, maximumStep: 0.2 });
+    expect(navigator.step(state)).toBe("none");
+    expect(state.position[0]).toBeCloseTo(0.2);
+  });
+
+  it("holds only when range and clear sight agree", () => {
+    const navigator = createMobPursuit(spatial({ hasLineOfSight: () => true, directAllowed: () => true }));
+    const state = sample({ attackRange: 6, maximumStep: 0.2 });
+    navigator.step(state);
+    expect(state.position).toEqual([0, 0, 0]);
+    expect(navigator.step({ ...state, nowMs: 10_000 })).toBe("none");
+  });
+
+  it("routes around a wall through a doorway rather than cutting through it", () => {
+    const positions = [[-2, 0, 0], [-2, 0, 3], [2, 0, 3], [2, 0, 0]] as const;
+    const graph: PartyNavigationGraph = {
+      nodes: positions.map((position, id) => ({ id, position, neighbors: [id - 1, id + 1]
+        .filter((to) => to >= 0 && to < positions.length).map((to) => ({ to, cost: 4 })) })),
+      weldTolerance: 0.001, sourceVertexCount: 4, sourceTriangleCount: 0,
+      weldedNodeCount: 4, componentCount: 1, discardedNodeCount: 0,
+    };
+    const clear = (a: readonly number[], b: readonly number[]) => {
+      if (a[0] * b[0] >= 0) return true;
+      const t = -a[0] / (b[0] - a[0]);
+      return a[2] + (b[2] - a[2]) * t >= 2.5;
+    };
+    const navigator = createMobPursuit(spatial({ graph: () => graph, directAllowed: clear, hasLineOfSight: clear }));
+    const state = sample({ position: [-2, 0, 0], home: [-2, 0, 0], target: [2, 0, 0], maximumStep: 0.1, attackRange: 0.5 });
+    let reachedDoorway = false;
+    for (let frame = 0; frame < 120; frame += 1) {
+      const previous = [...state.position];
+      expect(navigator.step({ ...state, nowMs: frame * 50 })).toBe("none");
+      expect(clear(previous, state.position)).toBe(true);
+      if (state.position[2] >= 2.5) reachedDoorway = true;
+    }
+    expect(reachedDoorway).toBe(true);
+    expect(Math.hypot(state.position[0] - 2, state.position[2])).toBeLessThanOrEqual(0.6);
+  });
+
+  it("recovers a nearby stalled mob only after five seconds and preserves a ten-second cooldown", () => {
+    const navigator = createMobPursuit(spatial({ hasLineOfSight: (a) => a[0] > 2 }));
+    const state = sample();
+    navigator.step(state);
+    expect(navigator.step({ ...state, nowMs: 2_000 })).toBe("none");
+    expect(navigator.step({ ...state, nowMs: 4_999 })).toBe("none");
+    expect(navigator.step({ ...state, nowMs: 5_000 })).toBe("teleported");
+    expect(state.position[0]).toBeGreaterThan(2);
+    state.position[0] = 0;
+    navigator.step({ ...state, nowMs: 5_001 });
+    navigator.step({ ...state, nowMs: 7_001 });
+    expect(navigator.step({ ...state, nowMs: 14_999 })).toBe("none");
+    expect(navigator.step({ ...state, nowMs: 15_000 })).toBe("teleported");
+  });
+
+  it.each([
+    { active: false }, { casting: true }, { controlled: true }, { health: 0 }, { engaged: false },
+  ])("does not recover intentional immobility %j", (exclusion) => {
+    const navigator = createMobPursuit(spatial());
+    const state = sample(exclusion);
+    navigator.step(state);
+    expect(navigator.step({ ...state, nowMs: 10_000 })).toBe("none");
+    expect(state.position).toEqual([0, 0, 0]);
+  });
+
+  it.each([
+    { target: [12, 0, 0] as const }, { target: [4, 5, 0] as const }, { leashRange: 2 },
+  ])("resets instead of teleporting to a distant, wrong-floor, or out-of-leash target %j", (patch) => {
+    const navigator = createMobPursuit(spatial());
+    const state = sample(patch);
+    navigator.step(state);
+    navigator.step({ ...state, nowMs: 2_000 });
+    expect(navigator.step({ ...state, nowMs: 5_000 })).toBe("reset");
+    expect(state.position).toEqual(state.home);
+  });
+
+  it("resets when every nearby target landing is blocked without applying an invalid home landing", () => {
+    const navigator = createMobPursuit(spatial({ validateLanding: () => null }));
+    const state = sample({ position: [1, 0, 0] });
+    navigator.step(state);
+    navigator.step({ ...state, nowMs: 2_000 });
+    expect(navigator.step({ ...state, nowMs: 5_000 })).toBe("reset");
+    expect(state.position).toEqual([1, 0, 0]);
+  });
+
+  it("recovers a stalled return to validated home, never to the old target", () => {
+    const navigator = createMobPursuit(spatial());
+    const state = sample({ engaged: false, phase: "returning", position: [5, 0, 0] });
+    navigator.step(state);
+    navigator.step({ ...state, nowMs: 2_000 });
+    expect(navigator.step({ ...state, nowMs: 5_000 })).toBe("home");
+    expect(state.position).toEqual(state.home);
+  });
+
+  it("bounds landing checks, rejects unsafe projections, and never blindly uses the target", () => {
+    let checks = 0;
+    const result = chooseMobPursuitLanding(sample(), spatial({
+      hasLineOfSight: () => true,
+      validateLanding: () => { checks += 1; return [20, 0, 0]; },
+    }));
+    expect(result).toBeNull();
+    expect(checks).toBe(16);
+  });
+
+  it("keeps different mobs' timers independent", () => {
+    const navigator = createMobPursuit(spatial({ hasLineOfSight: (a) => a[0] > 2 }));
+    const first = sample();
+    const second = sample({ id: "other", position: [0, 0, 0] });
+    navigator.step(first);
+    navigator.step({ ...second, nowMs: 4_000 });
+    navigator.step({ ...first, nowMs: 2_000 });
+    expect(navigator.step({ ...first, nowMs: 5_000 })).toBe("teleported");
+    expect(navigator.step({ ...second, nowMs: 5_000 })).toBe("none");
+    expect(second.position).toEqual([0, 0, 0]);
+  });
+});

src/game/mobPursuit.ts

@@ -0,0 +1,142 @@
+import type { PartyNavigationGraph } from "./partyNavigation";
+import { distanceSquared, moveMobToward, type MobAiPhase, type MobAiPosition, type MutableMobAiPosition } from "./mobAi";
+import { emptyPartyRouteState, nextPartyRouteRecoveryWaypoint, nextPartyRouteWaypoint, partyRouteNeedsPlanning, planPartyRoute } from "./partyPathing";
+import { createPartyStuckRecoveryState, markPartyStuckRecovered, updatePartyStuckRecovery, type PartyStuckRecoveryState } from "./partyStuckRecovery";
+
+export const MOB_NEAR_RECOVERY_DISTANCE = 10;
+const SAME_FLOOR_TOLERANCE = 1.25;
+
+export interface MobPursuitSample {
+  readonly id: string;
+  readonly targetId: string | null;
+  readonly position: MutableMobAiPosition;
+  readonly target: MobAiPosition;
+  readonly home: MobAiPosition;
+  readonly phase: MobAiPhase;
+  readonly health: number;
+  readonly engaged: boolean;
+  readonly active: boolean;
+  readonly casting: boolean;
+  readonly controlled: boolean;
+  readonly attackRange: number;
+  readonly leashRange: number;
+  readonly maximumStep: number;
+  readonly nowMs: number;
+}
+
+export interface MobPursuitSpatial {
+  readonly graph: () => PartyNavigationGraph | null;
+  readonly hasLineOfSight: (from: MobAiPosition, to: MobAiPosition) => boolean;
+  readonly directAllowed: (from: MobAiPosition, to: MobAiPosition) => boolean;
+  readonly routeAllowed: (from: MobAiPosition, to: MobAiPosition) => boolean;
+  readonly validateLanding: (point: MobAiPosition, anchor: MobAiPosition) => MobAiPosition | null;
+}
+
+/** Never blindly land inside the target, a wall, or an overlapping dungeon floor. */
+export function chooseMobPursuitLanding(sample: MobPursuitSample, spatial: MobPursuitSpatial): MobAiPosition | null {
+  const { position, target, home } = sample;
+  if (distanceSquared(position, target) > MOB_NEAR_RECOVERY_DISTANCE ** 2
+    || Math.abs(position[1] - target[1]) > SAME_FLOOR_TOLERANCE
+    || distanceSquared(home, target) > sample.leashRange ** 2) return null;
+  const bearing = Math.atan2(position[0] - target[0], position[2] - target[2]);
+  const radius = Math.max(0.85, Math.min(2, sample.attackRange * 0.6));
+  for (let offset = 0; offset < 16; offset += 1) {
+    const angle = bearing + offset * Math.PI / 8;
+    const candidate: MobAiPosition = [target[0] + Math.sin(angle) * radius, target[1], target[2] + Math.cos(angle) * radius];
+    const landing = spatial.validateLanding(candidate, target);
+    if (landing?.every(Number.isFinite) && distanceSquared(landing, candidate) <= 0.85 ** 2
+      && distanceSquared(landing, target) <= sample.attackRange ** 2
+      && distanceSquared(landing, home) <= sample.leashRange ** 2
+      && Math.abs(landing[1] - target[1]) <= SAME_FLOOR_TOLERANCE
+      && spatial.hasLineOfSight(landing, target)) return [...landing];
+  }
+  return null;
+}
+
+/** Shared imperative adapter for static spawns, roaming packs, and summoned enemies. */
+export function createMobPursuit(spatial: MobPursuitSpatial) {
+  const states = new Map<string, {
+    route: ReturnType<typeof emptyPartyRouteState>;
+    watchdog: PartyStuckRecoveryState;
+    graph: PartyNavigationGraph | null;
+  }>();
+  const desired: MutableMobAiPosition = [0, 0, 0];
+  const next: MutableMobAiPosition = [0, 0, 0];
+  return {
+    clear: () => states.clear(),
+    step(sample: MobPursuitSample): "none" | "teleported" | "reset" | "home" {
+      const { position, target, home, nowMs } = sample;
+      if (![...position, ...target, ...home, nowMs, sample.attackRange, sample.leashRange, sample.maximumStep].every(Number.isFinite)) return "none";
+      let state = states.get(sample.id);
+      if (!state) {
+        state = { route: emptyPartyRouteState(), watchdog: createPartyStuckRecoveryState(position, nowMs), graph: spatial.graph() };
+        states.set(sample.id, state);
+      }
+      const returning = sample.phase === "returning";
+      const goal = returning ? home : target;
+      const visible = spatial.hasLineOfSight(position, target);
+      const inRange = visible && distanceSquared(position, target) <= sample.attackRange ** 2;
+      const movementExpected = returning ? distanceSquared(position, home) > 0.2 ** 2 : sample.engaged && !inRange;
+      const excluded = !sample.active || sample.health <= 0 || sample.controlled || sample.casting;
+      const goalKey = returning ? "return-home" : `target:${sample.targetId}`;
+      const graph = spatial.graph();
+      if (state.graph !== graph) {
+        state.graph = graph;
+        state.route = emptyPartyRouteState();
+      }
+      let waypoint: MobAiPosition | null = null;
+      let approvedRouteStep = false;
+      if (movementExpected && !excluded) {
+        if (spatial.directAllowed(position, goal)) waypoint = goal;
+        else {
+          if (partyRouteNeedsPlanning(state.route, goalKey, position, goal, nowMs, { replanIntervalMs: 350, blockedRetryMs: 800 })) {
+            state.route = planPartyRoute(graph, goalKey, position, goal, nowMs, {
+              maxOriginSnapDistance: 3, maxDestinationSnapDistance: 3,
+              directSegmentAllowed: spatial.directAllowed,
+              routeSegmentAllowed: graph?.triangles?.length ? spatial.routeAllowed : undefined,
+              destinationReached: (surface, destination) => distanceSquared(surface, destination)
+                <= (returning ? 0.2 : sample.attackRange) ** 2
+                && (returning || spatial.hasLineOfSight(surface, destination)),
+            });
+          }
+          if (nextPartyRouteWaypoint(state.route, position, desired)) {
+            waypoint = desired;
+            approvedRouteStep = true;
+          } else if (nextPartyRouteRecoveryWaypoint(state.route, position, desired, spatial.directAllowed)) waypoint = desired;
+        }
+        if (waypoint) {
+          moveMobToward(position, waypoint, sample.maximumStep, next);
+          // Recast edges are already agent-radius eroded. A second full-radius
+          // sweep at boundary vertices can reject a valid stair corridor;
+          // use the same center/wall check as companions on approved edges.
+          // Off-surface connectors and direct shortcuts still need body sweeps.
+          if (spatial.directAllowed(position, next) || (approvedRouteStep && spatial.routeAllowed(position, next))) {
+            position[0] = next[0]; position[1] = next[1]; position[2] = next[2];
+          }
+        }
+      }
+      const recovery = updatePartyStuckRecovery(state.watchdog, {
+        position, waypoint, goalKey, movementExpected, nowMs, health: sample.health,
+        paused: !sample.active, stopped: false, casting: sample.casting, controlled: sample.controlled,
+      });
+      if (returning && !excluded && !movementExpected) return "home";
+      if (recovery !== "none") state.route = emptyPartyRouteState();
+      if (recovery !== "recover") return "none";
+      const landing = returning ? spatial.validateLanding(home, home) : chooseMobPursuitLanding(sample, spatial);
+      if (landing && (!returning || distanceSquared(landing, home) <= 0.85 ** 2)) {
+        position[0] = landing[0]; position[1] = landing[1]; position[2] = landing[2];
+        markPartyStuckRecovered(state.watchdog, position, nowMs);
+        return returning ? "home" : "teleported";
+      }
+      if (!returning) {
+        const homeLanding = spatial.validateLanding(home, home);
+        if (homeLanding?.every(Number.isFinite) && distanceSquared(homeLanding, home) <= 0.85 ** 2) {
+          position[0] = homeLanding[0]; position[1] = homeLanding[1]; position[2] = homeLanding[2];
+        }
+        markPartyStuckRecovered(state.watchdog, position, nowMs);
+        return "reset";
+      }
+      return "none";
+    },
+  };
+}

src/game/partyMovement.test.ts

@@ -7,15 +7,11 @@ import {
   nextPartyBreadcrumbWaypoint,
   partyCombatMovementGoal,
   partyFormationPosition,
-  partyMadeStuckProgress,
   partyMovementProfile,
   partyNaturalFollowPosition,
   partyPersonalizedCombatMovementGoal,
   partyPresentationY,
-  partySeparationGoal,
-  partyShouldRecallForStuck,
   partyShouldMoveToComfortTarget,
-  PARTY_STUCK_RECALL_DISTANCE,
   personalizedPartyCombatRangeBand,
   resetPartyBreadcrumbTrail,
   stepPartyPosition,
@@ -102,7 +98,7 @@ describe("party world movement", () => {
     }
   });
 
-  it("uses a stable combat bearing and separates overlapping allies", () => {
+  it("uses a stable combat bearing without forcing in-range actors to reposition", () => {
     const out: [number, number, number] = [0, 0, 0];
     expect(partyPersonalizedCombatMovementGoal(
       [20, 0, 0],
@@ -110,34 +106,20 @@ describe("party world movement", () => {
       true,
       { minimum: 10, preferred: 14, maximum: 18 },
       Math.PI / 2,
-      false,
       out,
     )).toBe("approach");
     expect(out[0]).toBeCloseTo(14);
     expect(out[1]).toBe(0);
     expect(out[2]).toBeCloseTo(0);
 
-    const separated: [number, number, number] = [0, 0, 0];
-    expect(partySeparationGoal(
+    expect(partyPersonalizedCombatMovementGoal(
       [1, 0, 1],
-      [2, 0, 2],
-      [[1, 0, 1]],
+      [0, 0, 0],
+      true,
+      { minimum: 0, preferred: 2.9, maximum: 3.15 },
       Math.PI / 2,
-      separated,
-    )).toBe(true);
-    expect(separated[0]).toBeGreaterThan(2);
-    expect(separated[2]).toBeCloseTo(2);
-  });
-
-  it("recalls only distant allies that should be moving and stopped making progress", () => {
-    expect(partyMadeStuckProgress([0, 0, 0], [0.45, 4, 0])).toBe(true);
-    expect(partyMadeStuckProgress([0, 0, 0], [0.44, 0, 0])).toBe(false);
-
-    expect(PARTY_STUCK_RECALL_DISTANCE).toBe(80);
-    expect(partyShouldRecallForStuck([80, 0, 0], [0, 0, 0], true, 4_500, 1_000)).toBe(true);
-    expect(partyShouldRecallForStuck([79.9, 0, 0], [0, 0, 0], true, 4_500, 1_000)).toBe(false);
-    expect(partyShouldRecallForStuck([80, 0, 0], [0, 0, 0], false, 4_500, 1_000)).toBe(false);
-    expect(partyShouldRecallForStuck([80, 0, 0], [0, 0, 0], true, 4_499, 1_000)).toBe(false);
+      out,
+    )).toBe("hold");
   });
 
   it("makes melee approach a fleeing target and hold once in range", () => {

src/game/partyMovement.ts

@@ -19,7 +19,7 @@ export interface PartyBreadcrumbCursor {
   breadcrumbId: number | null;
 }
 
-export type PartyCombatMovementIntent = "hold" | "approach" | "retreat" | "reposition";
+export type PartyCombatMovementIntent = "hold" | "approach" | "retreat";
 
 export interface PartyMovementProfile {
   readonly followDistanceJitter: number;
@@ -86,45 +86,6 @@ export function partyMovementProfile(memberId: string, livingRank: number): Part
   };
 }
 
-// Allow companions to operate across a full boss arena before the stuck
-// watchdog treats their separation from the player as a reason to recall.
-export const PARTY_STUCK_RECALL_DISTANCE = 80;
-export const PARTY_STUCK_RECALL_DELAY_MS = 3_500;
-export const PARTY_STUCK_PROGRESS_DISTANCE = 0.45;
-
-/** Tests whether an expected move has made enough planar progress to reset the stuck timer. */
-export function partyMadeStuckProgress(
-  previous: PartyWorldPosition,
-  current: PartyWorldPosition,
-  minimumDistance = PARTY_STUCK_PROGRESS_DISTANCE,
-): boolean {
-  const minimum = Math.max(0, Number.isFinite(minimumDistance) ? minimumDistance : 0);
-  const distance = Math.hypot(current[0] - previous[0], current[2] - previous[2]);
-  return Number.isFinite(distance) && distance >= minimum;
-}
-
-/**
- * A distant ally is stuck only while it should be moving and its progress
- * timer has expired. Intentional ranged/melee holds never enter this state.
- */
-export function partyShouldRecallForStuck(
-  current: PartyWorldPosition,
-  player: PartyWorldPosition,
-  movementExpected: boolean,
-  nowMs: number,
-  lastProgressAtMs: number,
-  recallDistance = PARTY_STUCK_RECALL_DISTANCE,
-  stuckDelayMs = PARTY_STUCK_RECALL_DELAY_MS,
-): boolean {
-  if (!movementExpected || !Number.isFinite(nowMs) || !Number.isFinite(lastProgressAtMs)) return false;
-  const distance = Math.hypot(current[0] - player[0], current[2] - player[2]);
-  const minimumDistance = Math.max(0, Number.isFinite(recallDistance) ? recallDistance : 0);
-  const delay = Math.max(0, Number.isFinite(stuckDelayMs) ? stuckDelayMs : 0);
-  return Number.isFinite(distance)
-    && distance >= minimumDistance
-    && nowMs - lastProgressAtMs >= delay;
-}
-
 export function createPartyBreadcrumbTrail(): PartyBreadcrumbTrail {
   return { points: [], nextId: 0 };
 }
@@ -427,44 +388,6 @@ export function personalizedPartyCombatRangeBand(
   };
 }
 
-/** Adds a bounded local repulsion so allies do not occupy the same point. */
-export function partySeparationGoal(
-  current: PartyWorldPosition,
-  desired: PartyWorldPosition,
-  peers: readonly PartyWorldPosition[],
-  fallbackAngle: number,
-  out: MutablePartyWorldPosition,
-  separationDistance = 0.85,
-  maximumCorrection = 0.35,
-): boolean {
-  let offsetX = 0;
-  let offsetZ = 0;
-  const safeSeparation = Math.max(EPSILON, separationDistance);
-  for (const peer of peers) {
-    const dx = current[0] - peer[0];
-    const dz = current[2] - peer[2];
-    const distance = Math.hypot(dx, dz);
-    if (!Number.isFinite(distance) || distance >= safeSeparation) continue;
-    const weight = (safeSeparation - distance) / safeSeparation;
-    if (distance <= EPSILON) {
-      offsetX += Math.sin(fallbackAngle) * weight;
-      offsetZ += Math.cos(fallbackAngle) * weight;
-    } else {
-      offsetX += dx / distance * weight;
-      offsetZ += dz / distance * weight;
-    }
-  }
-  const length = Math.hypot(offsetX, offsetZ);
-  out[0] = desired[0];
-  out[1] = desired[1];
-  out[2] = desired[2];
-  if (length <= EPSILON) return false;
-  const correction = Math.min(Math.max(0, maximumCorrection), length);
-  out[0] += offsetX / length * correction;
-  out[2] += offsetZ / length * correction;
-  return true;
-}
-
 /**
  * Chooses an individual combat destination. Melee only closes distance;
  * ranged attackers also back out when a target collapses their preferred band.
@@ -524,7 +447,6 @@ export function partyPersonalizedCombatMovementGoal(
   targetVisible: boolean,
   rangeBand: PartyCombatRangeLike,
   preferredBearing: number,
-  forceReposition: boolean,
   out: MutablePartyWorldPosition,
 ): PartyCombatMovementIntent {
   const intent = partyCombatMovementGoal(
@@ -538,10 +460,10 @@ export function partyPersonalizedCombatMovementGoal(
     Math.sin(preferredBearing),
     Math.cos(preferredBearing),
   );
-  if (!targetVisible || (intent === "hold" && !forceReposition)) return intent;
+  if (!targetVisible || intent === "hold") return intent;
 
   out[0] = target[0] + Math.sin(preferredBearing) * rangeBand.preferred;
   out[1] = target[1];
   out[2] = target[2] + Math.cos(preferredBearing) * rangeBand.preferred;
-  return intent === "hold" ? "reposition" : intent;
+  return intent;
 }

src/game/partyPathing.test.ts

@@ -92,6 +92,19 @@ describe("party path controller", () => {
     expect(route.blocked).toBe(true);
   });
 
+  it("accepts an in-range surface finish only when combat sight approves it", () => {
+    const options = { maxSnapDistance: 1, localFinishDistance: 1, directSegmentAllowed: () => false };
+    const visible = planPartyRoute(corridorGraph, "mob", [0, 0, 0], [2.5, 0, 2], 100, {
+      ...options, destinationReached: (surface, target) => Math.hypot(surface[0] - target[0], surface[2] - target[2]) <= 1,
+    });
+    expect(visible.blocked).toBe(false);
+    expect(visible.waypoints.at(-1)).toEqual([2, 0, 2]);
+    const obstructed = planPartyRoute(corridorGraph, "mob", [0, 0, 0], [2.5, 0, 2], 100, {
+      ...options, destinationReached: () => false,
+    });
+    expect(obstructed.blocked).toBe(true);
+  });
+
   it("advances only one close-spaced waypoint at a corner", () => {
     const route = {
       ...emptyPartyRouteState(),

src/game/partyPathing.ts

@@ -34,6 +34,8 @@ export interface PartyRouteOptions {
     start: PartyWorldPosition,
     end: PartyWorldPosition,
   ) => boolean;
+  /** Combat may finish on the retained surface only when range AND sight allow a hit. */
+  readonly destinationReached?: (surface: PartyWorldPosition, destination: PartyWorldPosition) => boolean;
 }
 
 const DEFAULT_MAX_SNAP_DISTANCE = 3;
@@ -117,7 +119,7 @@ export function planPartyRoute(
   ) return blocked(waypoints);
   const finishDistance = fullDistance(waypoints[waypoints.length - 1], destination);
   if (finishDistance > localFinishDistance) return blocked(waypoints);
-  if (finishDistance > reachedDistance * 0.5) {
+  if (finishDistance > reachedDistance * 0.5 && !options.destinationReached?.(waypoints[waypoints.length - 1], destination)) {
     if (!options.directSegmentAllowed?.(waypoints[waypoints.length - 1], destination)) {
       return blocked(waypoints);
     }

src/game/partyRuntime.ts

@@ -611,7 +611,7 @@ function emitPartyAbility(
   member: PartyMember,
   ability: AbilityDefinition,
   targetId: string,
-  phase: "cast-start" | "release" | "impact",
+  phase: "cast-start" | "cast-cancel" | "release" | "impact",
   now: number,
   instantCast = false,
 ): void {
@@ -1148,6 +1148,16 @@ export function advanceDungeonPartyCombat(now = Date.now()): void {
         const desiredStatus = hostileCast
           ? member.role === "tank" ? "guarding" : "attacking"
           : "healing";
+        const hostilePosition = hostileCast ? getMobPosition(castTargetId) : null;
+        if (hostileCast && (!hostilePosition || !combatHasLineOfSight(
+          getPartyRuntimePosition(member.id) ?? currentCombat.playerPosition, hostilePosition,
+        ))) {
+          emitPartyAbility(member, castingAbility, castTargetId, "cast-cancel", now);
+          memberTargetIds[member.id] = castTargetId;
+          nextMembers[index] = { ...member, activeCast: null, activeCastTargetId: null,
+            status: "advancing", nextActionAt: now + 250 };
+          continue;
+        }
         if (now < member.activeCast.completesAt) {
           nextMembers[index] = member.status === desiredStatus ? member : { ...member, status: desiredStatus };
           if (hostileCast) memberTargetIds[member.id] = castTargetId;

src/game/partyStuckRecovery.test.ts

@@ -0,0 +1,181 @@
+import { describe, expect, it } from "vitest";
+import {
+  applyPartyStuckRecoveryLanding,
+  choosePartyStuckRecoveryPosition,
+  createPartyStuckRecoveryState,
+  markPartyStuckRecovered,
+  resetPartyStuckRecoveryProgress,
+  updatePartyStuckRecovery,
+  type PartyStuckRecoverySample,
+} from "./partyStuckRecovery";
+import type { MutablePartyWorldPosition, PartyWorldPosition } from "./partyRuntimeRegistry";
+
+const origin: PartyWorldPosition = [0, 0, 0];
+const sample = (nowMs: number, overrides: Partial<PartyStuckRecoverySample> = {}): PartyStuckRecoverySample => ({
+  position: origin, waypoint: [10, 0, 0], goalKey: "follow:leader", movementExpected: true,
+  health: 100, paused: false, stopped: false, casting: false, controlled: false, nowMs, ...overrides,
+});
+
+describe("per-teammate stuck navigation", () => {
+  it("replans at two seconds and recovers at five, without a player-distance gate", () => {
+    const state = createPartyStuckRecoveryState(origin, 0);
+    expect(updatePartyStuckRecovery(state, sample(0))).toBe("none");
+    expect(updatePartyStuckRecovery(state, sample(1_999))).toBe("none");
+    expect(updatePartyStuckRecovery(state, sample(2_000))).toBe("replan");
+    expect(updatePartyStuckRecovery(state, sample(2_500))).toBe("none");
+    expect(updatePartyStuckRecovery(state, sample(4_999))).toBe("none");
+    expect(updatePartyStuckRecovery(state, sample(5_000))).toBe("recover");
+    expect(updatePartyStuckRecovery(state, sample(5_100))).toBe("none");
+    expect(updatePartyStuckRecovery(state, sample(6_000))).toBe("recover");
+  });
+
+  it("does not restart the timer when a replan changes waypoints or yields no path", () => {
+    const state = createPartyStuckRecoveryState(origin, 0);
+    updatePartyStuckRecovery(state, sample(0));
+    expect(updatePartyStuckRecovery(state, sample(2_000))).toBe("replan");
+    updatePartyStuckRecovery(state, sample(3_000, { waypoint: [0, 0, 10] }));
+    updatePartyStuckRecovery(state, sample(4_000, { waypoint: null }));
+    expect(updatePartyStuckRecovery(state, sample(5_000, { waypoint: null }))).toBe("recover");
+  });
+
+  it("cancels back-and-forth doorway shuffling instead of treating it as repeated progress", () => {
+    const state = createPartyStuckRecoveryState(origin, 0);
+    updatePartyStuckRecovery(state, sample(0));
+    updatePartyStuckRecovery(state, sample(500, { position: [0.6, 0, 0] }));
+    const actions: string[] = [];
+    for (let tick = 1; tick <= 10; tick += 1) {
+      actions.push(updatePartyStuckRecovery(state, sample(500 + tick * 500, {
+        position: tick % 2 ? origin : [0.6, 0, 0],
+      })));
+    }
+    expect(actions).toContain("replan");
+    expect(actions.at(-1)).toBe("recover");
+    expect(state.lastProgressAtMs).toBe(500);
+  });
+
+  it("counts movement toward route waypoints even when the route goes away from the player", () => {
+    const state = createPartyStuckRecoveryState(origin, 0);
+    updatePartyStuckRecovery(state, sample(0));
+    for (let tick = 1; tick <= 12; tick += 1) {
+      expect(updatePartyStuckRecovery(state, sample(tick * 500, { position: [tick * 0.5, 0, 0] }))).toBe("none");
+    }
+    expect(state.lastProgressAtMs).toBe(6_000);
+  });
+
+  it("does not mistake target movement or sideways motion for useful actor progress", () => {
+    const state = createPartyStuckRecoveryState(origin, 0);
+    updatePartyStuckRecovery(state, sample(0));
+    for (let tick = 1; tick <= 5; tick += 1) {
+      updatePartyStuckRecovery(state, sample(tick * 1_000, { position: [0, 0, tick % 2], waypoint: [10 + tick, 0, 0] }));
+    }
+    expect(state.lastProgressAtMs).toBe(0);
+  });
+
+  it("advances through dense waypoint chains and corners without false recovery", () => {
+    const state = createPartyStuckRecoveryState(origin, 0);
+    updatePartyStuckRecovery(state, sample(0, { waypoint: [0.08, 0, 0] }));
+    for (let frame = 1; frame <= 400; frame += 1) {
+      const point = (step: number): PartyWorldPosition => step <= 200
+        ? [step * 0.08, 0, 0] : [16, 0, (step - 200) * 0.08];
+      expect(updatePartyStuckRecovery(state, sample(frame * 1000 / 60, {
+        position: point(frame), waypoint: point(frame + 1),
+      }))).toBe("none");
+    }
+    expect(state.lastProgressAtMs).toBeGreaterThan(6_000);
+  });
+
+  it.each([
+    { movementExpected: false }, { health: 0 }, { paused: true }, { stopped: true }, { casting: true }, { controlled: true },
+  ])("excludes intentional immobility %j and starts a fresh timer afterward", (excluded) => {
+    const state = createPartyStuckRecoveryState(origin, 0);
+    updatePartyStuckRecovery(state, sample(0));
+    expect(updatePartyStuckRecovery(state, sample(10_000, excluded))).toBe("none");
+    expect(updatePartyStuckRecovery(state, sample(11_000))).toBe("none");
+    expect(updatePartyStuckRecovery(state, sample(12_999))).toBe("none");
+    expect(updatePartyStuckRecovery(state, sample(13_000))).toBe("replan");
+  });
+
+  it("keeps a ten-second teleport cooldown across pauses, holds, and goal changes", () => {
+    const state = createPartyStuckRecoveryState(origin, 0);
+    markPartyStuckRecovered(state, origin, 5_000);
+    updatePartyStuckRecovery(state, sample(5_100));
+    expect(updatePartyStuckRecovery(state, sample(7_100))).toBe("replan");
+    expect(updatePartyStuckRecovery(state, sample(10_100))).toBe("none");
+    resetPartyStuckRecoveryProgress(state);
+    updatePartyStuckRecovery(state, sample(10_200, { goalKey: "mob:new-target" }));
+    expect(updatePartyStuckRecovery(state, sample(12_200, { goalKey: "mob:new-target" }))).toBe("replan");
+    expect(updatePartyStuckRecovery(state, sample(14_999, { goalKey: "mob:new-target" }))).toBe("none");
+    expect(updatePartyStuckRecovery(state, sample(15_200, { goalKey: "mob:new-target" }))).toBe("recover");
+  });
+
+  it("keeps independent teammate timers", () => {
+    const stuck = createPartyStuckRecoveryState(origin, 0);
+    const moving = createPartyStuckRecoveryState(origin, 0);
+    updatePartyStuckRecovery(stuck, sample(0));
+    updatePartyStuckRecovery(moving, sample(0));
+    updatePartyStuckRecovery(stuck, sample(2_000));
+    for (let tick = 1; tick <= 10; tick += 1) updatePartyStuckRecovery(moving, sample(tick * 500, { position: [tick * 0.5, 0, 0] }));
+    expect(updatePartyStuckRecovery(stuck, sample(5_000))).toBe("recover");
+    expect(updatePartyStuckRecovery(moving, sample(5_001, { position: [5, 0, 0] }))).toBe("none");
+    expect(moving.cooldownUntilMs).toBe(0);
+  });
+
+  it("moves only the affected teammate and starts only its teleport cooldown", () => {
+    const positions = new Map<string, MutablePartyWorldPosition>([
+      ["tank", [0, 0, 0]], ["rogue", [2, 0, 1]], ["mage", [3, 0, 2]],
+    ]);
+    const states = new Map([...positions].map(([id, position]) => [id, createPartyStuckRecoveryState(position, 0)]));
+    expect(applyPartyStuckRecoveryLanding(positions, "rogue", [10, 0, 0], states.get("rogue")!, 5_000)).toBe(true);
+    expect(positions.get("rogue")).toEqual([10, 0, 0]);
+    expect(positions.get("tank")).toEqual([0, 0, 0]);
+    expect(positions.get("mage")).toEqual([3, 0, 2]);
+    expect(states.get("rogue")!.cooldownUntilMs).toBe(15_000);
+    expect(states.get("tank")!.cooldownUntilMs).toBe(0);
+    expect(states.get("mage")!.cooldownUntilMs).toBe(0);
+  });
+
+  it("does not apply missing or malformed landings", () => {
+    const positions = new Map<string, MutablePartyWorldPosition>([["tank", [0, 0, 0]]]);
+    const state = createPartyStuckRecoveryState(origin, 0);
+    expect(applyPartyStuckRecoveryLanding(positions, "missing", [10, 0, 0], state, 5_000)).toBe(false);
+    expect(applyPartyStuckRecoveryLanding(positions, "tank", [NaN, 0, 0], state, 5_000)).toBe(false);
+    expect(positions.get("tank")).toEqual(origin);
+    expect(state.cooldownUntilMs).toBe(0);
+  });
+
+  it("handles malformed samples without poisoning later progress", () => {
+    const state = createPartyStuckRecoveryState(origin, 0);
+    expect(updatePartyStuckRecovery(state, sample(NaN))).toBe("none");
+    expect(updatePartyStuckRecovery(state, sample(1, { position: [NaN, 0, 0] }))).toBe("none");
+    expect(updatePartyStuckRecovery(state, sample(10_000))).toBe("none");
+  });
+});
+
+describe("safe stuck-recovery landings", () => {
+  const player: PartyWorldPosition = [10, 0, 0];
+  const choose = (trailPoints: readonly PartyWorldPosition[],
+    validate: (point: PartyWorldPosition) => PartyWorldPosition | null = (point) => point) => choosePartyStuckRecoveryPosition({
+    current: origin, player, groupAnchor: player, trailPoints, validate,
+  });
+
+  it("prefers a visited trail point near the group over returning to the player", () => {
+    expect(choose([[2, 0, 0], [9, 0, 0]])).toEqual({ position: [9, 0, 0], source: "trail" });
+  });
+
+  it("skips wrong floors, distant points, current position, and blocked/unsafe landings", () => {
+    const result = choose([[0.2, 0, 0], [10, 5, 0], [50, 0, 0], [9, 0, 0], [8, 0, 0]],
+      (point) => point[0] === 9 ? null : point);
+    expect(result).toEqual({ position: [8, 0, 0], source: "trail" });
+  });
+
+  it("falls back to a validated player point when no safe local trail exists", () => {
+    expect(choose([], (point) => point)).toEqual({ position: player, source: "player" });
+    expect(choose([[9, 0, 0]], (point) => point[0] === 10 ? point : null)).toEqual({ position: player, source: "player" });
+  });
+
+  it("never blindly teleports to an invalid player point or a far-away projected room", () => {
+    expect(choose([], () => null)).toBeNull();
+    expect(choose([[9, 0, 0]], () => [10, 0, 5])).toBeNull();
+    expect(choose([], () => [10, -5, 0])).toBeNull();
+  });
+});

src/game/partyStuckRecovery.ts

@@ -0,0 +1,175 @@
+import type { MutablePartyWorldPosition, PartyWorldPosition } from "./partyRuntimeRegistry";
+
+export const PARTY_STUCK_REPLAN_MS = 2_000;
+export const PARTY_STUCK_RECOVER_MS = 5_000;
+export const PARTY_STUCK_RECOVERY_COOLDOWN_MS = 10_000;
+const PROGRESS_DISTANCE = 0.45;
+const RECOVERY_RETRY_MS = 1_000;
+const MAX_TRAIL_GROUP_DISTANCE = 12;
+const MAX_TRAIL_HEIGHT_DIFFERENCE = 1.25;
+const MIN_RECOVERY_DISTANCE = 1;
+
+export interface PartyStuckRecoveryState {
+  goalKey: string | null;
+  readonly previousPosition: MutablePartyWorldPosition;
+  waypoint: MutablePartyWorldPosition | null;
+  netProgress: number;
+  lastProgressAtMs: number;
+  replanned: boolean;
+  cooldownUntilMs: number;
+  retryAtMs: number;
+}
+
+export interface PartyStuckRecoverySample {
+  readonly position: PartyWorldPosition;
+  readonly waypoint: PartyWorldPosition | null;
+  readonly goalKey: string;
+  readonly movementExpected: boolean;
+  readonly health: number;
+  readonly paused: boolean;
+  readonly stopped: boolean;
+  readonly casting: boolean;
+  readonly controlled: boolean;
+  readonly nowMs: number;
+}
+
+function distance(a: PartyWorldPosition, b: PartyWorldPosition): number {
+  return Math.hypot(a[0] - b[0], a[1] - b[1], a[2] - b[2]);
+}
+
+function finitePosition(position: PartyWorldPosition): boolean {
+  return position.every(Number.isFinite);
+}
+
+export function createPartyStuckRecoveryState(position: PartyWorldPosition, nowMs: number): PartyStuckRecoveryState {
+  return {
+    goalKey: null,
+    previousPosition: [...position],
+    waypoint: null,
+    netProgress: 0,
+    lastProgressAtMs: nowMs,
+    replanned: false,
+    cooldownUntilMs: 0,
+    retryAtMs: 0,
+  };
+}
+
+/** Clear navigation timing without letting pauses/holds bypass a teleport cooldown. */
+export function resetPartyStuckRecoveryProgress(state: PartyStuckRecoveryState): void {
+  state.goalKey = null;
+  state.waypoint = null;
+  state.netProgress = 0;
+  state.replanned = false;
+}
+
+/** Signed progress toward the previous waypoint cancels doorway back-and-forth. */
+export function updatePartyStuckRecovery(
+  state: PartyStuckRecoveryState,
+  sample: PartyStuckRecoverySample,
+): "none" | "replan" | "recover" {
+  const { position, waypoint, nowMs } = sample;
+  if (!Number.isFinite(nowMs) || !finitePosition(position) || (waypoint && !finitePosition(waypoint))) {
+    resetPartyStuckRecoveryProgress(state);
+    return "none";
+  }
+  const excluded = !sample.movementExpected || sample.health <= 0 || sample.paused
+    || sample.stopped || sample.casting || sample.controlled;
+  if (excluded || state.goalKey !== sample.goalKey || nowMs < state.lastProgressAtMs) {
+    resetPartyStuckRecoveryProgress(state);
+    state.lastProgressAtMs = nowMs;
+    if (!excluded) state.goalKey = sample.goalKey;
+  } else if (state.waypoint) {
+    // Target/waypoint movement itself is not actor progress. Count only the
+    // actor's displacement relative to the last sampled route waypoint.
+    // Once the old waypoint was reached, movement belongs to the next leg.
+    // Otherwise dense waypoint chains would count every forward step as
+    // moving away from the just-completed point.
+    const progressWaypoint = waypoint && distance(state.previousPosition, state.waypoint) <= 0.06
+      && distance(waypoint, state.waypoint) > 0.04 ? waypoint : state.waypoint;
+    state.netProgress += distance(state.previousPosition, progressWaypoint) - distance(position, progressWaypoint);
+    if (state.netProgress >= PROGRESS_DISTANCE) {
+      state.netProgress = 0;
+      state.lastProgressAtMs = nowMs;
+      state.replanned = false;
+    }
+  }
+  state.previousPosition[0] = position[0];
+  state.previousPosition[1] = position[1];
+  state.previousPosition[2] = position[2];
+  if (waypoint && !excluded) {
+    state.waypoint ??= [0, 0, 0];
+    state.waypoint[0] = waypoint[0];
+    state.waypoint[1] = waypoint[1];
+    state.waypoint[2] = waypoint[2];
+  } else state.waypoint = null;
+  if (excluded) return "none";
+
+  const elapsed = nowMs - state.lastProgressAtMs;
+  if (!state.replanned && elapsed >= PARTY_STUCK_REPLAN_MS) {
+    state.replanned = true;
+    return "replan";
+  }
+  if (elapsed >= PARTY_STUCK_RECOVER_MS && nowMs >= state.cooldownUntilMs && nowMs >= state.retryAtMs) {
+    state.retryAtMs = nowMs + RECOVERY_RETRY_MS;
+    return "recover";
+  }
+  return "none";
+}
+
+export function markPartyStuckRecovered(state: PartyStuckRecoveryState, position: PartyWorldPosition, nowMs: number): void {
+  resetPartyStuckRecoveryProgress(state);
+  state.previousPosition[0] = position[0];
+  state.previousPosition[1] = position[1];
+  state.previousPosition[2] = position[2];
+  state.lastProgressAtMs = nowMs;
+  state.cooldownUntilMs = nowMs + PARTY_STUCK_RECOVERY_COOLDOWN_MS;
+  state.retryAtMs = state.cooldownUntilMs;
+}
+
+/** Position-only recovery: no squad recall, healing, threat reset, or resurrection. */
+export function applyPartyStuckRecoveryLanding(
+  positions: ReadonlyMap<string, MutablePartyWorldPosition>,
+  memberId: string,
+  landing: PartyWorldPosition,
+  state: PartyStuckRecoveryState,
+  nowMs: number,
+): boolean {
+  const current = positions.get(memberId);
+  if (!current || !finitePosition(landing) || !Number.isFinite(nowMs)) return false;
+  current[0] = landing[0];
+  current[1] = landing[1];
+  current[2] = landing[2];
+  markPartyStuckRecovered(state, current, nowMs);
+  return true;
+}
+
+/** Only visited trail positions are local candidates; never jump to an arbitrary nearest room. */
+export function choosePartyStuckRecoveryPosition({
+  current, player, groupAnchor, trailPoints, validate,
+}: {
+  readonly current: PartyWorldPosition;
+  readonly player: PartyWorldPosition;
+  readonly groupAnchor: PartyWorldPosition;
+  readonly trailPoints: readonly PartyWorldPosition[];
+  readonly validate: (position: PartyWorldPosition, anchor: PartyWorldPosition) => PartyWorldPosition | null;
+}): { readonly position: PartyWorldPosition; readonly source: "trail" | "player" } | null {
+  if (!finitePosition(current) || !finitePosition(player) || !finitePosition(groupAnchor)) return null;
+  const candidates = trailPoints.filter((point) => finitePosition(point)
+    && distance(point, current) >= MIN_RECOVERY_DISTANCE
+    && distance(point, groupAnchor) <= MAX_TRAIL_GROUP_DISTANCE
+    && Math.abs(point[1] - groupAnchor[1]) <= MAX_TRAIL_HEIGHT_DIFFERENCE)
+    .sort((a, b) => distance(a, groupAnchor) - distance(b, groupAnchor));
+  // Bound expensive path/physics checks even when a looping trail has many samples.
+  for (const candidate of candidates.slice(0, 16)) {
+    const position = validate(candidate, groupAnchor);
+    if (position && finitePosition(position) && distance(position, current) >= MIN_RECOVERY_DISTANCE
+      && distance(position, candidate) <= 0.85
+      && Math.abs(position[1] - groupAnchor[1]) <= MAX_TRAIL_HEIGHT_DIFFERENCE) {
+      return { position: [...position], source: "trail" };
+    }
+  }
+  const position = validate(player, player);
+  return position && finitePosition(position) && distance(position, player) <= 0.85
+    ? { position: [...position], source: "player" }
+    : null;
+}

src/game/stockadesNavigation.test.ts

@@ -2,7 +2,7 @@ import { NodeIO } from "@gltf-transform/core";
 import RAPIER from "@dimforge/rapier3d-compat";
 import { ALL_EXTENSIONS } from "@gltf-transform/extensions";
 import { MeshoptDecoder } from "meshoptimizer";
-import { BufferAttribute, BufferGeometry, Group, Mesh } from "three";
+import { BufferAttribute, BufferGeometry, Group, Mesh, Ray, Vector3 } from "three";
 import { beforeAll, describe, expect, it } from "vitest";
 import { requireDungeonDefinition } from "./dungeonRegistry";
 import {
@@ -16,9 +16,13 @@ import { shouldLoadPartyNavigation } from "./partyNavigationPolicy";
 import { planPartyRoute } from "./partyPathing";
 import { partyCombatMovementGoal, stepPartyPosition } from "./partyMovement";
 import { derivePartySpawnSlots } from "./partySpawnSlots";
-import { collisionTrimeshes, prepareCollision } from "../scene/productionDungeonCollision";
-import { createPartyDirectSegmentValidator, createPartyRouteSegmentValidator } from "../scene/partyTraversal";
+import { collisionTrimeshes, collisionLineOfSightTrimeshes, prepareCollision } from "../scene/productionDungeonCollision";
+import { DUNGEON_PHYSICAL_COLLISION_GROUPS, DUNGEON_SIGHT_BLOCKER_COLLISION_GROUPS, hasDungeonLineOfSight } from "../scene/dungeonLineOfSight";
+import { createPartyDirectSegmentValidator, createPartyRouteSegmentValidator, createPartyRecoveryPointValidator } from "../scene/partyTraversal";
 import { configurePlayerCharacterController, PLAYER_CHARACTER_CONTROLLER_OFFSET } from "./playerMovement";
+import { ACTOR_COLLISION_GROUPS, ACTOR_TERRAIN_QUERY_GROUPS } from "../scene/actorCollision";
+import { choosePartyStuckRecoveryPosition } from "./partyStuckRecovery";
+import { createMobPursuit } from "./mobPursuit";
 
 const STOCKADES_NAVIGATION = "public/assets/game/manastorm/34-stormwindjail/navigation.glb";
 const TANK_RANGE = Object.freeze({ minimum: 0, preferred: 2.9, maximum: 3.15 });
@@ -82,13 +86,20 @@ beforeAll(async () => {
   }
 });
 
-function collisionWorld(useRamps = true): RAPIER.World {
+function collisionWorld(useRamps = true, includeSight = false): RAPIER.World {
   const world = new RAPIER.World({ x: 0, y: -18, z: 0 });
   const prepared = prepareCollision(sourceCollision, useRamps ? stockades.traversalRamps : []);
   for (const trimesh of collisionTrimeshes(prepared)) {
     world.createCollider(RAPIER.ColliderDesc.trimesh(
       Float32Array.from(trimesh.vertices), Uint32Array.from(trimesh.indices),
-    ));
+    ).setCollisionGroups(DUNGEON_PHYSICAL_COLLISION_GROUPS));
+  }
+  if (includeSight) {
+    for (const trimesh of collisionLineOfSightTrimeshes(prepared)) {
+      world.createCollider(RAPIER.ColliderDesc.trimesh(
+        Float32Array.from(trimesh.vertices), Uint32Array.from(trimesh.indices),
+      ).setCollisionGroups(DUNGEON_SIGHT_BLOCKER_COLLISION_GROUPS).setSensor(true));
+    }
   }
   for (const child of prepared.children) (child as Mesh).geometry.dispose();
   world.step();
@@ -100,6 +111,91 @@ function distance(left: readonly number[], right: readonly number[]): number {
 }
 
 describe("Stormwind Stockade party navigation", () => {
+  it("blocks combat sight across shipping room walls in both directions while preserving clear stair sight", () => {
+    const world = collisionWorld(true, true);
+    try {
+      const prepared = prepareCollision(sourceCollision, stockades.traversalRamps);
+      let checkedWalls = 0;
+      for (const mesh of collisionLineOfSightTrimeshes(prepared)) {
+        for (let offset = 0; offset < mesh.indices.length && checkedWalls < 12; offset += 3) {
+          const a = Number(mesh.indices[offset]) * 3;
+          const b = Number(mesh.indices[offset + 1]) * 3;
+          const c = Number(mesh.indices[offset + 2]) * 3;
+          const v = mesh.vertices;
+          const ab = [Number(v[b]) - Number(v[a]), Number(v[b + 1]) - Number(v[a + 1]), Number(v[b + 2]) - Number(v[a + 2])];
+          const ac = [Number(v[c]) - Number(v[a]), Number(v[c + 1]) - Number(v[a + 1]), Number(v[c + 2]) - Number(v[a + 2])];
+          const normalX = ab[1] * ac[2] - ab[2] * ac[1];
+          const normalZ = ab[0] * ac[1] - ab[1] * ac[0];
+          const length = Math.hypot(normalX, normalZ);
+          if (length < 0.1) continue;
+          const center = [0, 1, 2].map((axis) => (Number(v[a + axis]) + Number(v[b + axis]) + Number(v[c + axis])) / 3);
+          const first = findNearestPartyNavigationSurface(graph,
+            [center[0] + normalX / length, center[1] - 1.05, center[2] + normalZ / length], 2.5)?.position;
+          const second = findNearestPartyNavigationSurface(graph,
+            [center[0] - normalX / length, center[1] - 1.05, center[2] - normalZ / length], 2.5)?.position;
+          if (!first || !second || Math.abs(first[1] - second[1]) > 0.4 || distance(first, second) < 1.5
+            || Math.abs((first[1] + second[1]) / 2 + 1.05 - center[1]) > 0.15
+            || Math.hypot(first[0] - center[0], first[2] - center[2]) > 1.3
+            || Math.hypot(second[0] - center[0], second[2] - center[2]) > 1.3) continue;
+          const sideA = (first[0] - center[0]) * normalX + (first[2] - center[2]) * normalZ;
+          const sideB = (second[0] - center[0]) * normalX + (second[2] - center[2]) * normalZ;
+          if (sideA * sideB >= 0) continue;
+          // Nearby decorative faces/door-frame triangles are not room walls
+          // unless the actors' chest ray actually crosses this source face.
+          const origin = new Vector3(first[0], first[1] + 1.05, first[2]);
+          const destination = new Vector3(second[0], second[1] + 1.05, second[2]);
+          const ray = new Ray(origin, destination.clone().sub(origin).normalize());
+          const intersection = ray.intersectTriangle(
+            new Vector3(Number(v[a]), Number(v[a + 1]), Number(v[a + 2])),
+            new Vector3(Number(v[b]), Number(v[b + 1]), Number(v[b + 2])),
+            new Vector3(Number(v[c]), Number(v[c + 1]), Number(v[c + 2])), false, new Vector3(),
+          );
+          if (!intersection || intersection.distanceTo(origin) >= destination.distanceTo(origin)) continue;
+          expect(hasDungeonLineOfSight(RAPIER, world, first, second), JSON.stringify({ center, first, second })).toBe(false);
+          expect(hasDungeonLineOfSight(RAPIER, world, second, first), JSON.stringify({ center, first, second })).toBe(false);
+          checkedWalls += 1;
+        }
+      }
+      for (const child of prepared.children) (child as Mesh).geometry.dispose();
+      expect(checkedWalls).toBeGreaterThanOrEqual(8);
+      for (const ramp of stockades.traversalRamps ?? []) {
+        expect(hasDungeonLineOfSight(RAPIER, world, ramp.start, ramp.end)).toBe(true);
+        expect(hasDungeonLineOfSight(RAPIER, world, ramp.end, ramp.start)).toBe(true);
+      }
+    } finally { world.free(); }
+  }, 20_000);
+
+  it("moves pursuing mobs up and down all shipping ramps without a false teleport or reset", () => {
+    const world = collisionWorld(true, true);
+    try {
+      const directAllowed = createPartyDirectSegmentValidator(RAPIER, world);
+      const routeAllowed = createPartyRouteSegmentValidator(RAPIER, world);
+      const navigator = createMobPursuit({ graph: () => graph, directAllowed, routeAllowed,
+        hasLineOfSight: (a, b) => hasDungeonLineOfSight(RAPIER, world, a, b),
+        validateLanding: createPartyRecoveryPointValidator(RAPIER, world, graph) });
+      for (const ramp of stockades.traversalRamps ?? []) {
+        for (const [start, target] of [[ramp.start, ramp.end], [ramp.end, ramp.start]]) {
+          const initialRoute = planPartyRoute(graph, "probe", start, target, 0, {
+            maxOriginSnapDistance: 3, maxDestinationSnapDistance: 3,
+            directSegmentAllowed: directAllowed, routeSegmentAllowed: routeAllowed,
+            destinationReached: (surface, destination) => distance(surface, destination) <= 1.5
+              && hasDungeonLineOfSight(RAPIER, world, surface, destination),
+          });
+          expect(initialRoute.blocked, JSON.stringify({ ramp: ramp.id, waypoints: initialRoute.waypoints })).toBe(false);
+          const position: [number, number, number] = [...start];
+          for (let frame = 0; frame < 500 && distance(position, target) > 1.5; frame += 1) {
+            const before = [...position];
+            expect(navigator.step({ id: `${ramp.id}:${start[1]}`, targetId: "target", position,
+              target, home: start, phase: "chasing", health: 100, engaged: true, active: true,
+              casting: false, controlled: false, attackRange: 1.5, leashRange: 40,
+              maximumStep: 0.175, nowMs: frame * 50 }), JSON.stringify({ ramp: ramp.id, start, target, before, frame })).toBe("none");
+          }
+          expect(distance(position, target)).toBeLessThanOrEqual(1.5);
+        }
+      }
+    } finally { world.free(); }
+  });
+
   it("uses the reviewed warm indoor lighting profile", () => {
     expect(stockades.presentation).toMatchObject({
       background: "#171815",
@@ -302,13 +398,49 @@ describe("Stormwind Stockade party navigation", () => {
     const body = world.createRigidBody(RAPIER.RigidBodyDesc.kinematicPositionBased().setTranslation(
       player[0], player[1] + 0.84, player[2],
     ));
-    world.createCollider(RAPIER.ColliderDesc.capsule(0.48, 0.36), body);
+    world.createCollider(RAPIER.ColliderDesc.capsule(0.48, 0.36).setCollisionGroups(ACTOR_COLLISION_GROUPS), body);
     world.step();
     expect(createPartyDirectSegmentValidator(RAPIER, world)(point(0.4), point(0.6))).toBe(true);
     expect(createPartyRouteSegmentValidator(RAPIER, world)(point(0.4), point(0.6))).toBe(true);
     world.free();
   });
 
+  it("finds grounded recovery landings on all three stair ramps", () => {
+    const world = collisionWorld();
+    const allowed = createPartyRecoveryPointValidator(RAPIER, world, graph);
+    for (const ramp of stockades.traversalRamps!) {
+      const point = (t: number): [number, number, number] => [
+        ramp.start[0] + (ramp.end[0] - ramp.start[0]) * t,
+        ramp.start[1] + (ramp.end[1] - ramp.start[1]) * t + 0.05,
+        ramp.start[2] + (ramp.end[2] - ramp.start[2]) * t,
+      ];
+      expect(allowed(point(0.5), point(0.52)), ramp.id).not.toBeNull();
+    }
+    world.free();
+  });
+
+  it("recovers from boss-room approaches onto a validated visited trail near the group", () => {
+    const world = collisionWorld();
+    const allowed = createPartyRecoveryPointValidator(RAPIER, world, graph);
+    const routeAllowed = createPartyRouteSegmentValidator(RAPIER, world);
+    const entrance = findNearestPartyNavigationSurface(graph, stockades.entrance.footPosition, 6)!.position;
+    for (const objective of stockades.objectiveOrder) {
+      const current = findNearestPartyNavigationSurface(graph, objective.position, 15)!.position;
+      const path = findPartyNavigationPath(graph, entrance, current, { routeSegmentAllowed: routeAllowed })!;
+      const trail = path.slice(1).map((point, index): [number, number, number] => [
+        (path[index][0] + point[0]) / 2, (path[index][1] + point[1]) / 2, (path[index][2] + point[2]) / 2,
+      ]).filter((point) => distance(point, current) >= 2 && distance(point, current) <= 12
+        && Math.abs(point[1] - current[1]) <= 1.25 && allowed(point, point));
+      expect(trail.length, objective.name).toBeGreaterThan(0);
+      const anchor = trail.at(-1)!;
+      const landing = choosePartyStuckRecoveryPosition({ current, player: entrance, groupAnchor: anchor,
+        trailPoints: trail, validate: allowed });
+      expect(landing?.source, objective.name).toBe("trail");
+      expect(allowed(landing!.position, anchor), objective.name).not.toBeNull();
+    }
+    world.free();
+  });
+
   it("walks the player capsule down and back up every ramp without jumping", () => {
     for (const ramp of stockades.traversalRamps!) {
       const world = collisionWorld();
@@ -321,7 +453,7 @@ describe("Stormwind Stockade party navigation", () => {
       const body = world.createRigidBody(RAPIER.RigidBodyDesc.kinematicPositionBased().setTranslation(
         ramp.start[0] + dx * startT, startY + centerHeight + 0.02, ramp.start[2] + dz * startT,
       ));
-      const collider = world.createCollider(RAPIER.ColliderDesc.capsule(0.48, 0.36), body);
+      const collider = world.createCollider(RAPIER.ColliderDesc.capsule(0.48, 0.36).setCollisionGroups(ACTOR_COLLISION_GROUPS), body);
       world.step();
       const controller = configurePlayerCharacterController(world.createCharacterController(PLAYER_CHARACTER_CONTROLLER_OFFSET));
       const progress = () => {
@@ -338,7 +470,7 @@ describe("Stormwind Stockade party navigation", () => {
             x: dx / length * direction * 4.8 / 60,
             y: -0.5 / 60,
             z: dz / length * direction * 4.8 / 60,
-          }, RAPIER.QueryFilterFlags.EXCLUDE_SENSORS | RAPIER.QueryFilterFlags.EXCLUDE_DYNAMIC);
+          }, RAPIER.QueryFilterFlags.EXCLUDE_SENSORS, ACTOR_TERRAIN_QUERY_GROUPS);
           const position = body.translation();
           const move = controller.computedMovement();
           body.setNextKinematicTranslation({ x: position.x + move.x, y: position.y + move.y, z: position.z + move.z });

src/scene/MobPopulation.tsx

@@ -27,7 +27,7 @@ import {
   sampleMobAnimation,
 } from "../game/mobAnimation";
 import type { MobAnimationState } from "../game/mobAnimation";
-import { useCombatStore } from "../game/combatStore";
+import { useCombatStore, type MobCombatState } from "../game/combatStore";
 import { PRIMARY_MOUSE_BUTTON } from "../game/inputManager";
 import { TimedEffectStrip } from "../ui/TimedEffectStrip";
 import { AuraStrip } from "../ui/AuraStrip";
@@ -76,9 +76,10 @@ import {
   resolveMobAnimationInterval,
 } from "./mobAnimationCadence";
 import { useGameGLTF } from "./useGameGLTF";
-import { onlineSynchronizedMobTransform, requestOnlineInteraction } from "../game/onlineSessionRuntime";
+import { onlineSessionOwnsWorldSimulation, onlineSynchronizedMobTransform, requestOnlineInteraction } from "../game/onlineSessionRuntime";
 import { isMobAggroRangeVisible } from "./mobAggroRangeVisibility";
 import { DungeonOccludedHtml } from "./DungeonOccludedHtml";
+import { useMobNavigation } from "./mobNavigation";
 
 const MOVEMENT_LOCKING_MOB_STATUSES: ReadonlySet<string> = new Set([
   "stun", "root", "sleep", "knockdown", "freeze", "charm", "confuse",
@@ -119,8 +120,32 @@ function mobTargetPosition(
   playerPosition: MobVector3,
 ): MobVector3 {
   if (!targetActorId || targetActorId === PLAYER_AGGRO_ID) return playerPosition;
+  const summon = useCombatStore.getState().summons.find((candidate) => candidate.id === targetActorId);
+  if (summon) return summon.position;
   return getPartyRuntimePosition(targetActorId) ?? playerPosition;
 }
+
+function navigateMob(
+  navigator: ReturnType<typeof useMobNavigation>, mob: MobCombatState,
+  position: MutableMobVector3, target: MobVector3, home: MobVector3,
+  maximumStep: number, active: boolean, nowMs: number, controlled = false,
+): void {
+  const game = useGameStore.getState();
+  const hostileRanges = mob.attacks.filter((attack) => attack.target === "primary"
+    || attack.target === "random-party" || attack.target === "nearby-party").map((attack) => attack.range);
+  const result = navigator.step({
+    id: mob.id, targetId: mob.targetActorId, position, target, home,
+    phase: mob.combatPhase, health: mob.health, engaged: mob.engaged,
+    active: active && onlineSessionOwnsWorldSimulation() && !game.paused && !game.mapOpen && !game.companionOpen,
+    casting: mob.activeCast !== null, controlled,
+    attackRange: hostileRanges.length ? Math.max(...hostileRanges) : mob.attackRange,
+    leashRange: mob.leashRange, maximumStep, nowMs,
+  });
+  if (result === "reset" || result === "home") {
+    useCombatStore.getState().resetMobForNavigation(mob.id,
+      result === "home" || Math.hypot(position[0] - home[0], position[1] - home[1], position[2] - home[2]) <= 0.85, nowMs);
+  }
+}
 const PROXIMITY_CHECK_INTERVAL = 0.3;
 const AGGRO_RANGE_VISIBILITY_CHECK_INTERVAL = 0.25;
 let preparedCreatureTemplates = new WeakMap<Object3D, Object3D>();
@@ -771,23 +796,6 @@ function isPlayerOrPartyNear(points: readonly MobVector3[], maxDistance: number)
   });
 }
 
-function stepToward(
-  current: MutableMobVector3,
-  target: MobVector3,
-  maximumStep: number,
-): number {
-  const dx = target[0] - current[0];
-  const dy = target[1] - current[1];
-  const dz = target[2] - current[2];
-  const distance = Math.hypot(dx, dy, dz);
-  if (distance <= 0.001) return 0;
-  const step = Math.min(Math.max(0, maximumStep), distance);
-  current[0] += dx / distance * step;
-  current[1] += dy / distance * step;
-  current[2] += dz / distance * step;
-  return distance;
-}
-
 /**
  * Activates content when the player or an autonomous party member approaches.
  * The stores are read
@@ -1159,6 +1167,7 @@ function RoamingPack({
   useOriginalModels,
   allowedRuntimeIds,
 }: RoamingPackProps) {
+  const navigator = useMobNavigation();
   const path = useMemo(() => createLoopedPath(definition.waypoints), [definition.waypoints]);
   const distanceRef = useRef(definition.startDistance ?? 0);
   const { scratchPositions, scratchForwards, chasePositions } = useMemo(() => {
@@ -1277,7 +1286,7 @@ function RoamingPack({
         const maximumStep = Math.min(delta, 0.05)
           * mob!.moveSpeed
           * Math.max(0.1, 1 - slow);
-        if (!movementLocked && feared) {
+        if (active && !movementLocked && feared) {
           stepFearedMobAway(
             chasePosition,
             targetPosition,
@@ -1286,19 +1295,16 @@ function RoamingPack({
             mob!.leashRange,
             chasePosition,
           );
-        } else if (!movementLocked && mob!.combatPhase === "chasing") {
-          stepToward(
-            chasePosition,
-            targetPosition,
-            maximumStep,
-          );
         }
+        navigateMob(navigator, mob!, chasePosition, targetPosition,
+          mob!.homePosition ?? patrolPosition, maximumStep, active, now, movementLocked || feared);
         position = chasePosition;
         const facingSign = feared && !movementLocked ? -1 : 1;
         forward[0] = (targetPosition[0] - position[0]) * facingSign;
         forward[2] = (targetPosition[2] - position[2]) * facingSign;
       } else if (mob?.combatPhase === "returning") {
-        stepToward(chasePosition, patrolPosition, Math.min(delta, 0.05) * mob.moveSpeed * 1.25);
+        navigateMob(navigator, mob, chasePosition, targetPosition,
+          mob.homePosition ?? patrolPosition, Math.min(delta, 0.05) * mob.moveSpeed * 1.25, active, now);
         position = chasePosition;
       } else {
         chasePosition[0] = patrolPosition[0];
@@ -1360,6 +1366,7 @@ interface StaticPopulationProps {
 }
 
 function StaticPopulationMember({ spawn, entities, active, showLabels, useOriginalModels }: StaticPopulationProps) {
+  const navigator = useMobNavigation();
   const entity = entities[spawn.entityId];
   const groupRef = useRef<Group>(null);
   const positionRef = useRef<MutableMobVector3>([...spawn.position]);
@@ -1398,7 +1405,7 @@ function StaticPopulationMember({ spawn, entities, active, showLabels, useOrigin
       feared = mob.statuses.some((status) => status.endsAt > now && status.kind === "fear");
       const slow = mob.statuses.find((status) => status.endsAt > now && status.kind === "slow")?.magnitude ?? 0;
       const maximumStep = Math.min(delta, 0.05) * mob.moveSpeed * Math.max(0.1, 1 - slow);
-      if (!movementLocked && feared) {
+      if (active && !movementLocked && feared) {
         stepFearedMobAway(
           position,
           targetPosition,
@@ -1407,11 +1414,12 @@ function StaticPopulationMember({ spawn, entities, active, showLabels, useOrigin
           mob.leashRange,
           position,
         );
-      } else if (!movementLocked && mob.combatPhase === "chasing") {
-        stepToward(position, targetPosition, maximumStep);
       }
+      navigateMob(navigator, mob, position, targetPosition, mob.homePosition ?? spawn.position,
+        maximumStep, active, now, movementLocked || feared);
     } else if (mob?.combatPhase === "returning") {
-      stepToward(position, spawn.position, Math.min(delta, 0.05) * mob.moveSpeed * 1.25);
+      navigateMob(navigator, mob, position, targetPosition, mob.homePosition ?? spawn.position,
+        Math.min(delta, 0.05) * mob.moveSpeed * 1.25, active, now);
     } else {
       position[0] = spawn.position[0];
       position[1] = spawn.position[1];
@@ -1500,6 +1508,7 @@ function SummonedPopulationMember({
   readonly active: boolean;
   readonly useOriginalModels: boolean;
 }) {
+  const navigator = useMobNavigation();
   const groupRef = useRef<Group>(null);
   const initial = getMobRuntimeTransform(instanceId)?.position ?? [0, 0, 0];
   const positionRef = useRef<MutableMobVector3>([...initial]);
@@ -1515,7 +1524,7 @@ function SummonedPopulationMember({
     const feared = mob.statuses.some((status) => status.endsAt > now && status.kind === "fear");
     const slow = mob.statuses.find((status) => status.endsAt > now && status.kind === "slow")?.magnitude ?? 0;
     const maximumStep = Math.min(delta, 0.05) * mob.moveSpeed * Math.max(0.1, 1 - slow);
-    if (!movementLocked && feared) {
+    if (active && !movementLocked && feared) {
       stepFearedMobAway(
         position,
         targetPosition,
@@ -1524,9 +1533,9 @@ function SummonedPopulationMember({
         mob.leashRange,
         position,
       );
-    } else if (!movementLocked && mob.combatPhase === "chasing") {
-      stepToward(position, targetPosition, maximumStep);
     }
+    navigateMob(navigator, mob, position, targetPosition, mob.homePosition ?? initial,
+      maximumStep, active, now, movementLocked || feared);
     const facingSign = feared && !movementLocked ? -1 : 1;
     const yaw = Math.atan2(
       (targetPosition[0] - position[0]) * facingSign,

src/scene/PartyPopulation.tsx

@@ -33,13 +33,10 @@ import {
   createPartyBreadcrumbTrail,
   nextPartyBreadcrumbFollowWaypoint,
   partyFormationPosition,
-  partyMadeStuckProgress,
   partyMovementProfile,
   partyNaturalFollowPosition,
   partyPersonalizedCombatMovementGoal,
   partyPresentationY,
-  partySeparationGoal,
-  partyShouldRecallForStuck,
   partyShouldMoveToComfortTarget,
   personalizedPartyCombatRangeBand,
   resetPartyBreadcrumbTrail,
@@ -48,6 +45,15 @@ import {
   type PartyBreadcrumbCursor,
   type PartyMovementProfile,
 } from "../game/partyMovement";
+import {
+  applyPartyStuckRecoveryLanding,
+  choosePartyStuckRecoveryPosition,
+  createPartyStuckRecoveryState,
+  markPartyStuckRecovered,
+  resetPartyStuckRecoveryProgress,
+  updatePartyStuckRecovery,
+  type PartyStuckRecoveryState,
+} from "../game/partyStuckRecovery";
 import {
   findNearestPartyNavigationSurface,
   type PartyNavigationGraph,
@@ -84,12 +90,13 @@ import { registerCombatSpatialProvider } from "../game/combatSpatial";
 import { PLAYER_AGGRO_ID } from "../game/aggro";
 import { hasDungeonLineOfSight } from "./dungeonLineOfSight";
 import { registerCombatEffectAnchor } from "./combatEffectAnchorRegistry";
+import { ACTOR_TERRAIN_QUERY_GROUPS } from "./actorCollision";
 import {
   createPartyDirectSegmentValidator,
   createPartyRouteSegmentValidator,
+  createPartyRecoveryPointValidator,
   PARTY_FLOOR_RAY_DEPTH,
   PARTY_FLOOR_RAY_HEIGHT,
-  partyTerrainQueryFlags,
 } from "./partyTraversal";
 
 const PARTY_MOVE_SPEED = 5.25;
@@ -113,11 +120,6 @@ interface PartyAvatarMetrics {
   readonly hitCenterY: number;
 }
 
-interface PartyStuckProgress {
-  readonly position: MutablePartyWorldPosition;
-  lastProgressAt: number;
-}
-
 interface PartyCombatAnchor {
   readonly targetId: string;
   readonly bearing: number;
@@ -300,7 +302,8 @@ function PartyActors({
       ray,
       PARTY_FLOOR_RAY_DEPTH,
       true,
-      partyTerrainQueryFlags(rapier),
+      rapier.QueryFilterFlags.EXCLUDE_SENSORS,
+      ACTOR_TERRAIN_QUERY_GROUPS,
     );
     const floorY = floor ? ray.origin.y - floor.timeOfImpact : null;
     return partyPresentationY(position[1], floorY, PARTY_MAX_GROUND_CORRECTION);
@@ -317,6 +320,10 @@ function PartyActors({
     () => createPartyRouteSegmentValidator(rapier, world),
     [rapier, world],
   );
+  const recoveryPointAllowed = useMemo(
+    () => createPartyRecoveryPointValidator(rapier, world, navigationGraph),
+    [rapier, world, navigationGraph],
+  );
   // Authored-link graphs use their eroded Recast node edges directly. Their
   // boundary vertices are already agent-radius safe, while a center ray can
   // falsely read the stair floor as a wall across a short vertical seam.
@@ -344,7 +351,7 @@ function PartyActors({
   const lastLeaderWaypointRef = useRef<MutablePartyWorldPosition | null>(null);
   const lastCommandRef = useRef(usePartyStore.getState().command);
   const lastRecallRevisionRef = useRef(usePartyStore.getState().recallRevision);
-  const stuckProgressRef = useRef(new Map<string, PartyStuckProgress>());
+  const stuckProgressRef = useRef(new Map<string, PartyStuckRecoveryState>());
   const movementProfilesRef = useRef(new Map<string, PartyMovementProfile>());
   const directFollowMovingRef = useRef(new Map<string, boolean>());
   const combatAnchorsRef = useRef(new Map<string, PartyCombatAnchor>());
@@ -381,6 +388,7 @@ function PartyActors({
       return { id: actorId, position: mobPosition, yaw };
     },
     hasLineOfSight: hasStaticLineOfSight,
+    navigationGraph: () => navigationGraphRef.current,
     projectGroundPoint: (requested, maximumDistance, requestedOrigin) => {
       const origin = requestedOrigin ?? useGameStore.getState().playerPosition;
       const dx = requested[0] - origin[0];
@@ -394,7 +402,8 @@ function PartyActors({
         ray,
         20,
         true,
-        rapier.QueryFilterFlags.EXCLUDE_SENSORS | rapier.QueryFilterFlags.EXCLUDE_DYNAMIC,
+        rapier.QueryFilterFlags.EXCLUDE_SENSORS,
+        ACTOR_TERRAIN_QUERY_GROUPS,
       );
       return hit ? [x, ray.origin.y - hit.timeOfImpact, z] : null;
     },
@@ -424,10 +433,9 @@ function PartyActors({
       if (movingSignal) movingSignal.current = false;
       const body = bodyRefs.current[index];
       if (body) body.position.y = 0;
-      stuckProgressRef.current.set(member.id, {
-        position: [position[0], position[1], position[2]],
-        lastProgressAt: now,
-      });
+      const progress = stuckProgressRef.current.get(member.id) ?? createPartyStuckRecoveryState(position, now);
+      markPartyStuckRecovered(progress, position, now);
+      stuckProgressRef.current.set(member.id, progress);
     });
     const firstLiving = party.members.find((member) => member.health > 0);
     resetPartyBreadcrumbTrail(playerTrailRef.current, player);
@@ -568,7 +576,7 @@ function PartyActors({
 
   // Time spent in a pause/menu must not count toward the stuck watchdog.
   useEffect(() => {
-    stuckProgressRef.current.clear();
+    for (const state of stuckProgressRef.current.values()) resetPartyStuckRecoveryProgress(state);
   }, [active]);
 
   useEffect(() => clearPartyRuntimeAttackCorridor, []);
@@ -596,6 +604,7 @@ function PartyActors({
     const playerNavigation = game.playerNavigationPosition;
     appendPartyBreadcrumb(playerTrailRef.current, playerNavigation);
     const routeNow = clock.elapsedTime * 1_000;
+    const combatNow = Date.now();
     const playerTrail = playerTrailRef.current.points;
     const latestPlayerTrailPoint = playerTrail[playerTrail.length - 1];
     const previousPlayerTrailPoint = playerTrail[playerTrail.length - 2];
@@ -636,11 +645,9 @@ function PartyActors({
     const nextPosition: MutablePartyWorldPosition = [0, 0, 0];
     const leaderDestination: MutablePartyWorldPosition = [0, 0, 0];
     const naturalFollowTarget: MutablePartyWorldPosition = [0, 0, 0];
-    const separatedDesired: MutablePartyWorldPosition = [0, 0, 0];
     const livingIndices = party.members
       .map((member, index) => member.health > 0 ? index : -1)
       .filter((index) => index >= 0);
-    const livingIds = new Set(livingIndices.map((index) => party.members[index].id));
     const movementProfileFor = (memberId: string, memberIndex: number): PartyMovementProfile => {
       const livingRank = Math.max(0, livingIndices.indexOf(memberIndex));
       const key = `${memberId}|${livingRank}`;
@@ -651,13 +658,6 @@ function PartyActors({
       }
       return profile;
     };
-    const peerPositionsFor = (memberId: string): PartyWorldPosition[] => {
-      const peers: PartyWorldPosition[] = [];
-      for (const [id, position] of positionsRef.current) {
-        if (id !== memberId && livingIds.has(id)) peers.push(position);
-      }
-      return peers;
-    };
     let leaderHasWaypoint = false;
     let leaderMovementExpected = false;
     let leaderFollowingPlayer = false;
@@ -712,15 +712,12 @@ function PartyActors({
           };
           combatAnchorsRef.current.set(leader.id, combatAnchor);
         }
-        const peers = peerPositionsFor(leader.id);
-        const crowded = peers.some((peer) => planarDistance(leaderPosition, peer) < 0.85);
         const movementIntent = partyPersonalizedCombatMovementGoal(
           leaderPosition,
           targetPosition,
           hasStaticLineOfSight(leaderPosition, targetPosition),
           rangeBand,
           combatAnchor.bearing,
-          crowded,
           leaderDestination,
         );
         if (movementIntent === "hold") {
@@ -900,6 +897,13 @@ function PartyActors({
               localFinishDistance: leaderLocalFinishDistance,
               directSegmentAllowed,
               routeSegmentAllowed: navigationRouteSegmentAllowed,
+              destinationReached: targetPosition ? (surface) => {
+                const band = personalizedPartyCombatRangeBand(partyCombatRangeBand(leaderMember),
+                  movementProfileFor(leaderMember.id, leaderIndex));
+                const distance = fullDistance(surface, targetPosition);
+                return distance >= band.minimum && distance <= band.maximum
+                  && hasStaticLineOfSight(surface, targetPosition);
+              } : undefined,
             },
           );
         }
@@ -964,7 +968,6 @@ function PartyActors({
           : navigationFailed || Boolean(navigationGraph && routeRef.current.blocked)
       ),
     );
-    let autoRecallRequested = false;
 
     for (let index = 0; index < party.members.length; index += 1) {
       const member = party.members[index];
@@ -1011,6 +1014,8 @@ function PartyActors({
         if (signal) signal.current = false;
       } else if (party.command === "stop") {
         // Holding is represented by retaining the current world-space tuple.
+      } else if (member.activeCast || member.controlledUntil > combatNow) {
+        // Casting and crowd control are intentional immobility, not stuck navigation.
       } else if (index === leaderIndex) {
         hasDesired = leaderHasWaypoint;
         movementExpected = leaderMovementExpected;
@@ -1039,15 +1044,12 @@ function PartyActors({
             };
             combatAnchorsRef.current.set(member.id, combatAnchor);
           }
-          const peers = peerPositionsFor(member.id);
-          const crowded = peers.some((peer) => planarDistance(current, peer) < 0.85);
           const movementIntent = partyPersonalizedCombatMovementGoal(
             current,
             memberTargetPosition,
             canSeeActiveTarget,
             rangeBand,
             combatAnchor.bearing,
-            crowded,
             desired,
           );
           movementExpected = movementIntent !== "hold";
@@ -1083,6 +1085,11 @@ function PartyActors({
                   blockedRetryMs: 800,
                   directSegmentAllowed,
                   routeSegmentAllowed: navigationRouteSegmentAllowed,
+                  destinationReached: (surface) => {
+                    const distance = fullDistance(surface, memberTargetPosition);
+                    return distance >= rangeBand.minimum && distance <= rangeBand.maximum
+                      && hasStaticLineOfSight(surface, memberTargetPosition);
+                  },
                 },
               );
               combatRoutesRef.current.set(member.id, route);
@@ -1245,23 +1252,6 @@ function PartyActors({
       }
 
       const movementProfile = movementProfileFor(member.id, index);
-      if (hasDesired) {
-        const peers = peerPositionsFor(member.id);
-        if (
-          partySeparationGoal(
-            current,
-            desired,
-            peers,
-            movementProfile.swayPhase,
-            separatedDesired,
-          )
-          && directSegmentAllowed(current, separatedDesired)
-        ) {
-          desired[0] = separatedDesired[0];
-          desired[1] = separatedDesired[1];
-          desired[2] = separatedDesired[2];
-        }
-      }
 
       const currentPlanarDistance = planarDistance(current, playerNavigation);
       if (member.health > 0 && party.command !== "stop" && hasDesired) {
@@ -1294,30 +1284,59 @@ function PartyActors({
 
       let stuckProgress = stuckProgressRef.current.get(member.id);
       if (!stuckProgress) {
-        stuckProgress = {
-          position: [current[0], current[1], current[2]],
-          lastProgressAt: routeNow,
-        };
+        stuckProgress = createPartyStuckRecoveryState(current, routeNow);
         stuckProgressRef.current.set(member.id, stuckProgress);
       }
-      if (member.health <= 0 || party.command === "stop" || !movementExpected) {
-        stuckProgress.position[0] = current[0];
-        stuckProgress.position[1] = current[1];
-        stuckProgress.position[2] = current[2];
-        stuckProgress.lastProgressAt = routeNow;
-      } else if (partyMadeStuckProgress(stuckProgress.position, current)) {
-        stuckProgress.position[0] = current[0];
-        stuckProgress.position[1] = current[1];
-        stuckProgress.position[2] = current[2];
-        stuckProgress.lastProgressAt = routeNow;
-      } else if (partyShouldRecallForStuck(
-        current,
-        playerNavigation,
+      const recoveryGoal = memberTargetPosition ? `mob:${memberTargetId}`
+        : index === leaderIndex ? `objective:${party.objectiveBossId}` : `follow:${leaderMember?.id}`;
+      const recovery = updatePartyStuckRecovery(stuckProgress, {
+        position: current,
+        waypoint: hasDesired ? desired : null,
+        goalKey: `${party.command}|${recoveryGoal}`,
         movementExpected,
-        routeNow,
-        stuckProgress.lastProgressAt,
-      )) {
-        autoRecallRequested = true;
+        health: member.health,
+        paused: !active || game.paused || game.mapOpen || game.companionOpen,
+        stopped: party.command === "stop",
+        casting: member.activeCast !== null,
+        controlled: member.controlledUntil > combatNow,
+        nowMs: routeNow,
+      });
+      if (recovery !== "none") {
+        // Invalidate only this actor's route. Keep its watchdog running across
+        // replans so an endlessly blocked connector cannot restart the timer.
+        combatRoutesRef.current.delete(member.id);
+        followerCursorsRef.current.delete(member.id);
+        directFollowMovingRef.current.delete(member.id);
+        if (index === leaderIndex) {
+          routeRef.current = emptyPartyRouteState();
+          leaderPlayerCursorRef.current.breadcrumbId = null;
+          lastLeaderWaypointRef.current = null;
+        }
+        if (recovery === "recover") {
+          const landing = choosePartyStuckRecoveryPosition({
+            current,
+            player: playerNavigation,
+            groupAnchor: index === leaderIndex ? playerNavigation : leaderPosition ?? playerNavigation,
+            trailPoints: [...leaderTrailRef.current.points, ...playerTrailRef.current.points].map((point) => point.position),
+            validate: recoveryPointAllowed,
+          });
+          if (landing && applyPartyStuckRecoveryLanding(positionsRef.current, member.id, landing.position, stuckProgress, routeNow)) {
+            updatePartyRuntimePosition(member.id, current[0], current[1], current[2]);
+            actor.position.set(current[0], presentationY(current), current[2]);
+            const movingSignal = movingSignalsRef.current.get(member.id);
+            if (movingSignal) movingSignal.current = false;
+            shouldMove = false;
+            combatAnchorsRef.current.delete(member.id);
+            updatePartyRuntimeTargetVisibility(member.id, memberTargetId, Boolean(memberTargetPosition
+              && hasStaticLineOfSight(current, memberTargetPosition)));
+            if (index === leaderIndex) {
+              // Do not record a teleport as a straight, walkable breadcrumb segment.
+              resetPartyBreadcrumbTrail(leaderTrailRef.current, current);
+              followerCursorsRef.current.clear();
+              clearPartyRuntimeAttackCorridor();
+            }
+          }
+        }
       }
 
       if (Math.hypot(faceX, faceZ) > 0.001) {
@@ -1336,12 +1355,6 @@ function PartyActors({
         body.rotation.x = 0;
       }
     }
-    if (autoRecallRequested) {
-      party.recallParty();
-      lastRecallRevisionRef.current = usePartyStore.getState().recallRevision;
-      teleportPartyToPlayer(playerNavigation, routeNow);
-      return;
-    }
     party.setRouteBlocked(frameRouteBlocked);
   });
 

src/scene/PlayerRig.tsx

@@ -60,6 +60,7 @@ import {
 import { activeManastormStageAssetPackage } from "../game/manastormStageLoader";
 import { useGameStore } from "../game/store";
 import { registerCombatEffectAnchor } from "./combatEffectAnchorRegistry";
+import { ACTOR_COLLISION_GROUPS, ACTOR_TERRAIN_QUERY_GROUPS } from "./actorCollision";
 
 const PLAYER_RADIUS = 0.36;
 const PLAYER_CAPSULE_HALF_HEIGHT = 0.48;
@@ -212,8 +213,8 @@ function PlayerController({
       groundRay,
       groundProbeLength,
       true,
-      rapier.QueryFilterFlags.EXCLUDE_SENSORS | rapier.QueryFilterFlags.EXCLUDE_DYNAMIC,
-      undefined,
+      rapier.QueryFilterFlags.EXCLUDE_SENSORS,
+      ACTOR_TERRAIN_QUERY_GROUPS,
       undefined,
       body,
     );
@@ -267,7 +268,8 @@ function PlayerController({
         y: verticalVelocity * movementDeltaSeconds,
         z: worldZ * MOVE_SPEED * movementDeltaSeconds,
       },
-      rapier.QueryFilterFlags.EXCLUDE_SENSORS | rapier.QueryFilterFlags.EXCLUDE_DYNAMIC,
+      rapier.QueryFilterFlags.EXCLUDE_SENSORS,
+      ACTOR_TERRAIN_QUERY_GROUPS,
     );
     const computedMovement = characterController.computedMovement();
     const nextTranslation = {
@@ -347,7 +349,11 @@ function PlayerController({
         spawn.footPosition[2],
       ]}
     >
-      <CapsuleCollider args={[PLAYER_CAPSULE_HALF_HEIGHT, PLAYER_RADIUS]} friction={0} />
+      <CapsuleCollider
+        args={[PLAYER_CAPSULE_HALF_HEIGHT, PLAYER_RADIUS]}
+        friction={0}
+        collisionGroups={ACTOR_COLLISION_GROUPS}
+      />
       <group ref={avatarRef} position={[0, -PLAYER_CENTER_HEIGHT, 0]}>
         <CharacterModel
           identity={identity}
@@ -408,7 +414,7 @@ function ThirdPersonCamera({
 
     // Cast a small sphere instead of a single ray. This behaves like a camera
     // spring arm and keeps the whole near-camera volume out of walls, pillars,
-    // and low ceilings. The player's own capsule is explicitly ignored.
+    // and low ceilings. All actor capsules are ignored, including the player.
     const hit = world.castShape(
       target,
       shapeRotation,
@@ -417,8 +423,8 @@ function ThirdPersonCamera({
       CAMERA_WALL_GAP,
       fullDistance,
       false,
-      rapier.QueryFilterFlags.EXCLUDE_SENSORS | rapier.QueryFilterFlags.EXCLUDE_DYNAMIC,
-      undefined,
+      rapier.QueryFilterFlags.EXCLUDE_SENSORS,
+      ACTOR_TERRAIN_QUERY_GROUPS,
       undefined,
       body,
     );

src/scene/actorCollision.test.ts

@@ -0,0 +1,114 @@
+import RAPIER from "@dimforge/rapier3d-compat";
+import { beforeAll, describe, expect, it } from "vitest";
+import { configurePlayerCharacterController, PLAYER_CHARACTER_CONTROLLER_OFFSET } from "../game/playerMovement";
+import { isWalkableGroundHit } from "../game/playerJump";
+import { ACTOR_COLLISION_GROUPS, ACTOR_TERRAIN_QUERY_GROUPS } from "./actorCollision";
+import { DUNGEON_PHYSICAL_COLLISION_GROUPS, DUNGEON_WALL_COLLISION_GROUPS } from "./dungeonLineOfSight";
+import { createPartyDirectSegmentValidator, createPartyRouteSegmentValidator } from "./partyTraversal";
+
+const BODY_TYPES = ["fixed", "kinematic", "dynamic"] as const;
+type BodyType = typeof BODY_TYPES[number];
+
+beforeAll(async () => {
+  await RAPIER.init();
+});
+
+function actor(world: RAPIER.World, bodyType: BodyType, z = 0, groups = ACTOR_COLLISION_GROUPS) {
+  const description = bodyType === "fixed"
+    ? RAPIER.RigidBodyDesc.fixed()
+    : bodyType === "kinematic"
+      ? RAPIER.RigidBodyDesc.kinematicPositionBased()
+      : RAPIER.RigidBodyDesc.dynamic();
+  const body = world.createRigidBody(description.setTranslation(0, 0.84, z));
+  const collider = world.createCollider(
+    RAPIER.ColliderDesc.capsule(0.48, 0.36)
+      .setCollisionGroups(groups)
+      .setActiveCollisionTypes(RAPIER.ActiveCollisionTypes.ALL),
+    body,
+  );
+  return { body, collider };
+}
+
+function terrain(world: RAPIER.World, wall = false) {
+  const floor = world.createCollider(RAPIER.ColliderDesc.cuboid(5, 0.1, 8)
+    .setTranslation(0, -0.1, 0).setCollisionGroups(DUNGEON_PHYSICAL_COLLISION_GROUPS));
+  if (wall) world.createCollider(RAPIER.ColliderDesc.cuboid(5, 2, 0.1)
+    .setTranslation(0, 2, 2.5).setCollisionGroups(DUNGEON_WALL_COLLISION_GROUPS));
+  return floor;
+}
+
+describe("non-blocking combat actors", () => {
+  it.each(BODY_TYPES)("has no physical contacts with overlapping %s actors", (bodyType) => {
+    const world = new RAPIER.World({ x: 0, y: 0, z: 0 });
+    const player = actor(world, "dynamic");
+    // Party members, mobs, bosses, and remote players use the same actor policy.
+    const others = ["party", "mob", "boss", "remote-player"].map(() => actor(world, bodyType));
+    world.step();
+    for (const other of others) {
+      world.contactPair(player.collider, other.collider, () => {
+        throw new Error("Actors must not produce physical contacts");
+      });
+      expect(other.body.translation().z).toBeCloseTo(0);
+    }
+    expect(player.body.translation().z).toBeCloseTo(0);
+    world.free();
+  });
+
+  it("detects contacts when an actor mistakenly uses the terrain layer", () => {
+    const world = new RAPIER.World({ x: 0, y: 0, z: 0 });
+    const player = actor(world, "dynamic");
+    const obstacle = actor(world, "fixed", 0.4, DUNGEON_PHYSICAL_COLLISION_GROUPS);
+    world.step();
+    let contacts = 0;
+    world.contactPair(player.collider, obstacle.collider, (manifold) => { contacts += manifold.numContacts(); });
+    expect(contacts).toBeGreaterThan(0);
+    world.free();
+  });
+
+  it.each(BODY_TYPES)("walks through %s actors but still stops at a dungeon wall", (bodyType) => {
+    for (const hasWall of [false, true]) {
+      const world = new RAPIER.World({ x: 0, y: 0, z: 0 });
+      terrain(world, hasWall);
+      actor(world, bodyType);
+      actor(world, bodyType, -2); // Start overlapped: no depenetration or detour.
+      const player = actor(world, "kinematic", -2);
+      const controller = configurePlayerCharacterController(world.createCharacterController(PLAYER_CHARACTER_CONTROLLER_OFFSET));
+      world.step();
+      for (let frame = 0; frame < 90; frame += 1) {
+        controller.computeColliderMovement(player.collider, { x: 0, y: -0.5 / 60, z: 4.8 / 60 },
+          RAPIER.QueryFilterFlags.EXCLUDE_SENSORS, ACTOR_TERRAIN_QUERY_GROUPS);
+        const position = player.body.translation();
+        const movement = controller.computedMovement();
+        player.body.setNextKinematicTranslation({ x: position.x + movement.x, y: position.y + movement.y, z: position.z + movement.z });
+        world.step();
+      }
+      const position = player.body.translation();
+      if (hasWall) {
+        expect(position.z).toBeGreaterThan(1.8);
+        expect(position.z).toBeLessThan(2.1);
+      } else expect(position.z).toBeGreaterThan(5);
+      expect(position.x).toBeCloseTo(0);
+      expect(position.y).toBeCloseTo(0.84, 1);
+      world.removeCharacterController(controller);
+      world.free();
+    }
+  });
+
+  it.each(BODY_TYPES)("never treats a %s actor as ground, a route obstacle, or a camera wall", (bodyType) => {
+    const world = new RAPIER.World({ x: 0, y: 0, z: 0 });
+    const floor = terrain(world);
+    actor(world, bodyType);
+    world.step();
+    const ground = world.castRayAndGetNormal(new RAPIER.Ray({ x: 0, y: 4, z: 0 }, { x: 0, y: -1, z: 0 }),
+      5, true, RAPIER.QueryFilterFlags.EXCLUDE_SENSORS, ACTOR_TERRAIN_QUERY_GROUPS);
+    expect(ground?.collider.handle).toBe(floor.handle);
+    expect(ground?.timeOfImpact).toBeCloseTo(4);
+    expect(isWalkableGroundHit(ground, 5)).toBe(true);
+    expect(createPartyDirectSegmentValidator(RAPIER, world)([0, 0, -1.5], [0, 0, 1.5])).toBe(true);
+    expect(createPartyRouteSegmentValidator(RAPIER, world)([0, 0, -1.5], [0, 0, 1.5])).toBe(true);
+    expect(world.castShape({ x: 0, y: 0.9, z: -1.5 }, { x: 0, y: 0, z: 0, w: 1 },
+      { x: 0, y: 0, z: 1 }, new RAPIER.Ball(0.24), 0.08, 3, false,
+      RAPIER.QueryFilterFlags.EXCLUDE_SENSORS, ACTOR_TERRAIN_QUERY_GROUPS)).toBeNull();
+    world.free();
+  });
+});

src/scene/actorCollision.ts

@@ -0,0 +1,15 @@
+import { interactionGroups } from "@react-three/rapier";
+
+export const TERRAIN_COLLISION_GROUP = 0;
+export const ACTOR_COLLISION_GROUP = 1;
+
+// Players, companions, mobs, and bosses never block or push one another.
+// Any actor capsule added in future must use this layer, not the terrain layer.
+export const ACTOR_COLLISION_GROUPS = interactionGroups(
+  ACTOR_COLLISION_GROUP,
+  TERRAIN_COLLISION_GROUP,
+);
+
+// Movement, ground probes, and camera sweeps see only physical terrain,
+// regardless of whether an actor's body is fixed, kinematic, or dynamic.
+export const ACTOR_TERRAIN_QUERY_GROUPS = ACTOR_COLLISION_GROUPS;

src/scene/dungeonLineOfSight.ts

@@ -1,4 +1,5 @@
 import { interactionGroups } from "@react-three/rapier";
+import { TERRAIN_COLLISION_GROUP } from "./actorCollision";
 import type {
   QueryFilterFlags,
   Ray,
@@ -17,9 +18,9 @@ interface RapierApi {
 type WorldPosition = readonly [number, number, number];
 
 export const DUNGEON_LINE_OF_SIGHT_GROUP = 15;
-export const DUNGEON_PHYSICAL_COLLISION_GROUPS = interactionGroups(0);
+export const DUNGEON_PHYSICAL_COLLISION_GROUPS = interactionGroups(TERRAIN_COLLISION_GROUP);
 export const DUNGEON_SIGHT_BLOCKER_COLLISION_GROUPS = interactionGroups(DUNGEON_LINE_OF_SIGHT_GROUP);
-export const DUNGEON_WALL_COLLISION_GROUPS = interactionGroups([0, DUNGEON_LINE_OF_SIGHT_GROUP]);
+export const DUNGEON_WALL_COLLISION_GROUPS = interactionGroups([TERRAIN_COLLISION_GROUP, DUNGEON_LINE_OF_SIGHT_GROUP]);
 export const DUNGEON_SIGHT_QUERY_GROUPS = interactionGroups(
   DUNGEON_LINE_OF_SIGHT_GROUP,
   DUNGEON_LINE_OF_SIGHT_GROUP,

src/scene/mobNavigation.ts

@@ -0,0 +1,32 @@
+import { useRapier } from "@react-three/rapier";
+import { useEffect, useMemo } from "react";
+import { combatNavigationGraph } from "../game/combatSpatial";
+import { createMobPursuit } from "../game/mobPursuit";
+import { registerDungeonRuntimeReset } from "../game/dungeonRuntimeReset";
+import { hasDungeonLineOfSight } from "./dungeonLineOfSight";
+import { createPartyDirectSegmentValidator, createPartyRecoveryPointValidator, createPartyRouteSegmentValidator } from "./partyTraversal";
+
+/** Uses terrain only; actors remain non-blocking and the graph is loaded only once. */
+export function useMobNavigation() {
+  const { rapier, world } = useRapier();
+  const navigator = useMemo(() => {
+    let graph = combatNavigationGraph();
+    let landing = createPartyRecoveryPointValidator(rapier, world, graph);
+    return createMobPursuit({
+      graph: combatNavigationGraph,
+      hasLineOfSight: (from, to) => hasDungeonLineOfSight(rapier, world, from, to),
+      directAllowed: createPartyDirectSegmentValidator(rapier, world),
+      routeAllowed: createPartyRouteSegmentValidator(rapier, world),
+      validateLanding: (point, anchor) => {
+        const currentGraph = combatNavigationGraph();
+        if (graph !== currentGraph) {
+          graph = currentGraph;
+          landing = createPartyRecoveryPointValidator(rapier, world, graph);
+        }
+        return landing(point, anchor);
+      },
+    });
+  }, [rapier, world]);
+  useEffect(() => registerDungeonRuntimeReset(navigator.clear), [navigator]);
+  return navigator;
+}

src/scene/partyTraversal.test.ts

@@ -0,0 +1,73 @@
+import RAPIER from "@dimforge/rapier3d-compat";
+import { BufferAttribute, BufferGeometry } from "three";
+import { beforeAll, describe, expect, it } from "vitest";
+import { buildPartyNavigationGraph } from "../game/partyNavigation";
+import { ACTOR_COLLISION_GROUPS } from "./actorCollision";
+import { DUNGEON_PHYSICAL_COLLISION_GROUPS, DUNGEON_WALL_COLLISION_GROUPS } from "./dungeonLineOfSight";
+import { createPartyRecoveryPointValidator } from "./partyTraversal";
+
+beforeAll(async () => { await RAPIER.init(); });
+
+function floorWorld() {
+  const world = new RAPIER.World({ x: 0, y: 0, z: 0 });
+  world.createCollider(RAPIER.ColliderDesc.cuboid(5, 0.1, 5).setTranslation(0, -0.1, 0)
+    .setCollisionGroups(DUNGEON_PHYSICAL_COLLISION_GROUPS));
+  return world;
+}
+
+function floorGraph() {
+  const geometry = new BufferGeometry();
+  geometry.setAttribute("position", new BufferAttribute(new Float32Array([
+    -4, 0.05, -4, 4, 0.05, -4, -4, 0.05, 4, 4, 0.05, 4,
+  ]), 3));
+  geometry.setIndex([0, 2, 1, 1, 2, 3]);
+  const graph = buildPartyNavigationGraph(geometry);
+  geometry.dispose();
+  return graph;
+}
+
+describe("safe recovery terrain", () => {
+  it("accepts walkable, unobstructed landings connected to the group", () => {
+    const world = floorWorld();
+    world.step();
+    const allowed = createPartyRecoveryPointValidator(RAPIER, world, floorGraph());
+    expect(allowed([-2, 0.05, 0], [2, 0.05, 0])).not.toBeNull();
+    world.free();
+  });
+
+  it("rejects a landing inside a wall and a route cut off by a wall", () => {
+    const world = floorWorld();
+    world.createCollider(RAPIER.ColliderDesc.cuboid(0.1, 2, 5).setTranslation(0, 2, 0)
+      .setCollisionGroups(DUNGEON_WALL_COLLISION_GROUPS));
+    world.step();
+    const allowed = createPartyRecoveryPointValidator(RAPIER, world, floorGraph());
+    expect(allowed([0, 0.05, 0], [-2, 0.05, 0])).toBeNull();
+    expect(allowed([-2, 0.05, 0], [2, 0.05, 0])).toBeNull();
+    expect(allowed([-2, 0.05, 0], [-3, 0.05, 0])).not.toBeNull();
+    world.free();
+  });
+
+  it("rejects low ceilings, missing floors, and points on the wrong vertical level", () => {
+    const world = floorWorld();
+    world.createCollider(RAPIER.ColliderDesc.cuboid(0.5, 0.1, 0.5).setTranslation(-2, 1.4, 0)
+      .setCollisionGroups(DUNGEON_PHYSICAL_COLLISION_GROUPS));
+    world.step();
+    const allowed = createPartyRecoveryPointValidator(RAPIER, world, floorGraph());
+    expect(allowed([-2, 0.05, 0], [2, 0.05, 0])).toBeNull();
+    expect(allowed([0, 5, 0], [2, 0.05, 0])).toBeNull();
+    const noFloor = new RAPIER.World({ x: 0, y: 0, z: 0 });
+    noFloor.step();
+    expect(createPartyRecoveryPointValidator(RAPIER, noFloor, floorGraph())([0, 0.05, 0], [0, 0.05, 0])).toBeNull();
+    noFloor.free();
+    world.free();
+  });
+
+  it("allows a grounded player fallback without a navigation asset and ignores actor occupancy", () => {
+    const world = floorWorld();
+    const body = world.createRigidBody(RAPIER.RigidBodyDesc.kinematicPositionBased().setTranslation(0, 0.84, 0));
+    world.createCollider(RAPIER.ColliderDesc.capsule(0.48, 0.36).setCollisionGroups(ACTOR_COLLISION_GROUPS), body);
+    world.step();
+    expect(createPartyRecoveryPointValidator(RAPIER, world, null)([0, 0, 0], [0, 0, 0])).toEqual([0, 0, 0]);
+    world.free();
+  });
+});

src/scene/partyTraversal.ts

@@ -1,6 +1,9 @@
 import type RAPIER from "@dimforge/rapier3d-compat";
 import type { World } from "@dimforge/rapier3d-compat";
 import type { PartyWorldPosition } from "../game/partyRuntimeRegistry";
+import { ACTOR_TERRAIN_QUERY_GROUPS } from "./actorCollision";
+import { findNearestPartyNavigationSurface, type PartyNavigationGraph } from "../game/partyNavigation";
+import { planPartyRoute } from "../game/partyPathing";
 
 const COLLISION_RADIUS = 0.34;
 const COLLISION_HALF_HEIGHT = 0.48;
@@ -11,14 +14,6 @@ export const PARTY_FLOOR_RAY_DEPTH = 2;
 const FLOOR_SAMPLE_SPACING = 0.6;
 const MAX_FLOOR_DELTA = 0.55;
 
-export function partyTerrainQueryFlags(rapier: typeof RAPIER) {
-  // Actor capsules are not terrain. Crowd spacing is handled separately by
-  // party separation; counting the player here blocks recalls and replans.
-  return rapier.QueryFilterFlags.EXCLUDE_SENSORS
-    | rapier.QueryFilterFlags.EXCLUDE_DYNAMIC
-    | rapier.QueryFilterFlags.EXCLUDE_KINEMATIC;
-}
-
 /** Shared by live party routing and collision-backed traversal regressions. */
 export function createPartyDirectSegmentValidator(rapier: typeof RAPIER, world: World) {
   const capsule = new rapier.Capsule(
@@ -26,7 +21,7 @@ export function createPartyDirectSegmentValidator(rapier: typeof RAPIER, world:
     COLLISION_RADIUS,
   );
   const rotation = { x: 0, y: 0, z: 0, w: 1 };
-  const flags = partyTerrainQueryFlags(rapier);
+  const flags = rapier.QueryFilterFlags.EXCLUDE_SENSORS;
   return (start: PartyWorldPosition, end: PartyWorldPosition): boolean => {
     const dx = end[0] - start[0];
     const dy = end[1] - start[1];
@@ -43,6 +38,7 @@ export function createPartyDirectSegmentValidator(rapier: typeof RAPIER, world:
       distance,
       false,
       flags,
+      ACTOR_TERRAIN_QUERY_GROUPS,
     );
     if (obstacle && obstacle.time_of_impact < distance - 0.04) return false;
     const sampleCount = Math.max(1, Math.ceil(distance / FLOOR_SAMPLE_SPACING));
@@ -54,7 +50,7 @@ export function createPartyDirectSegmentValidator(rapier: typeof RAPIER, world:
         y: expectedY + PARTY_FLOOR_RAY_HEIGHT,
         z: start[2] + dz * progress,
       }, { x: 0, y: -1, z: 0 });
-      const floor = world.castRay(ray, PARTY_FLOOR_RAY_DEPTH, true, flags);
+      const floor = world.castRay(ray, PARTY_FLOOR_RAY_DEPTH, true, flags, ACTOR_TERRAIN_QUERY_GROUPS);
       if (!floor || Math.abs(ray.origin.y - floor.timeOfImpact - expectedY) > MAX_FLOOR_DELTA) return false;
     }
     return true;
@@ -63,7 +59,7 @@ export function createPartyDirectSegmentValidator(rapier: typeof RAPIER, world:
 
 /** Triangle corridors need wall/overhang validation, not a second radius erosion. */
 export function createPartyRouteSegmentValidator(rapier: typeof RAPIER, world: World) {
-  const flags = partyTerrainQueryFlags(rapier);
+  const flags = rapier.QueryFilterFlags.EXCLUDE_SENSORS;
   return (start: PartyWorldPosition, end: PartyWorldPosition): boolean => {
     const dx = end[0] - start[0];
     const dy = end[1] - start[1];
@@ -74,7 +70,43 @@ export function createPartyRouteSegmentValidator(rapier: typeof RAPIER, world: W
     const ray = new rapier.Ray({
       x: start[0], y: start[1] + 0.9, z: start[2],
     }, { x: dx / distance, y: dy / distance, z: dz / distance });
-    const hit = world.castRay(ray, distance, true, flags);
+    const hit = world.castRay(ray, distance, true, flags, ACTOR_TERRAIN_QUERY_GROUPS);
     return !hit || hit.timeOfImpact >= distance - 0.04;
   };
 }
+
+/** Recovery landings must have real walkable ground, free body space, and a route back to the group. */
+export function createPartyRecoveryPointValidator(rapier: typeof RAPIER, world: World, graph: PartyNavigationGraph | null) {
+  const directAllowed = createPartyDirectSegmentValidator(rapier, world);
+  const routeAllowed = createPartyRouteSegmentValidator(rapier, world);
+  const capsule = new rapier.Capsule(COLLISION_HALF_HEIGHT - WALKABLE_STEP_HEIGHT * 0.5, COLLISION_RADIUS);
+  const flags = rapier.QueryFilterFlags.EXCLUDE_SENSORS;
+  const project = (point: PartyWorldPosition): PartyWorldPosition | null => {
+    const surface = graph ? findNearestPartyNavigationSurface(graph, point, 0.6)?.position : point;
+    if (!surface || Math.abs(surface[1] - point[1]) > 0.55) return null;
+    if (graph && Math.hypot(surface[0] - point[0], surface[1] - point[1], surface[2] - point[2]) > 0.04
+      && !directAllowed(point, surface)) return null;
+    const ray = new rapier.Ray({ x: surface[0], y: surface[1] + PARTY_FLOOR_RAY_HEIGHT, z: surface[2] }, { x: 0, y: -1, z: 0 });
+    const floor = world.castRayAndGetNormal(ray, PARTY_FLOOR_RAY_DEPTH, true, flags, ACTOR_TERRAIN_QUERY_GROUPS);
+    if (!floor || floor.normal.y < 0.65 || Math.abs(ray.origin.y - floor.timeOfImpact - surface[1]) > MAX_FLOOR_DELTA) return null;
+    const obstruction = world.intersectionWithShape(
+      { x: surface[0], y: surface[1] + COLLISION_CENTER_HEIGHT + WALKABLE_STEP_HEIGHT * 0.5, z: surface[2] },
+      { x: 0, y: 0, z: 0, w: 1 }, capsule, flags, ACTOR_TERRAIN_QUERY_GROUPS,
+    );
+    return obstruction ? null : surface;
+  };
+  return (point: PartyWorldPosition, anchor: PartyWorldPosition): PartyWorldPosition | null => {
+    const position = project(point);
+    const destination = project(anchor);
+    if (!position || !destination) return null;
+    if (!graph) return directAllowed(position, destination) ? position : null;
+    const route = planPartyRoute(graph, "stuck-recovery-validation", position, destination, 0, {
+      maxOriginSnapDistance: 0.1,
+      maxDestinationSnapDistance: 0.1,
+      localFinishDistance: 0.2,
+      directSegmentAllowed: directAllowed,
+      routeSegmentAllowed: graph.triangles?.length ? routeAllowed : undefined,
+    });
+    return route.blocked ? null : position;
+  };
+}