- Ground = centre ray + stance-wide sphere cast (face normal from a ray inside the contact):
planks and lips keep support.
- Higher ground is stood on when the hips are over it and the body presses onto it (hands
braced, a just-finished press, legs tucked over it, or airborne) - no hips-well-above rule.
- Bracing counts heavy/frozen physics objects (>= 15 kg), not what the hand carries.
- Knee up: braced + hips held back tucks the legs collider.
- Support goal capped at straight legs (tiptoe/over-tall head floated the body).
- Arms never get collision exceptions with held objects (they disabled whole crag rocks).
- Spike: heavy-box mantle, 15 cm plank, chest-high ledge two hands yes / one hand no.
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
