Initial work on ledge & improved baking of root motion. (#90)

Reviewed-on: #90 Co-authored-by: Álex Román Núñez <eirexe@eirteam.moe>
2026-10-12 20:58:27 +00:00
parent 0642a9234b
commit 9b974d0dd6
22 changed files with 1094 additions and 141 deletions
@@ -116,6 +116,7 @@ enum DebugFlag {
    AttackHitboxes,
    Hurtboxes,
    Camera,
+    LedgeGrab,
    DrawThroughGeometry,
    FrameStepping,
 }
@@ -164,6 +165,10 @@ const FIGHTER_MENU: &[DebugMenuEntry] = &[
        label: "Attack hitboxes",
        flag: DebugFlag::AttackHitboxes,
    },
+    DebugMenuEntry::Toggle {
+        label: "Ledge grab",
+        flag: DebugFlag::LedgeGrab,
+    },
    DebugMenuEntry::Toggle {
        label: "Hurtboxes",
        flag: DebugFlag::Hurtboxes,
@@ -260,6 +265,7 @@ pub struct DebugSettings {
    pub attack_hitboxes: bool,
    pub hurtboxes: bool,
    pub camera: bool,
+    pub ledge_grab: bool,
    pub draw_through_geometry: bool,
    pub motion_sampling: PresentationMotionMode,
    pub game_speed: GameSpeedDebug,
@@ -283,6 +289,7 @@ impl Default for DebugSettings {
            attack_hitboxes: false,
            hurtboxes: false,
            camera: false,
+            ledge_grab: false,
            draw_through_geometry: false,
            motion_sampling: PresentationMotionMode::default(),
            game_speed: GameSpeedDebug::Full,
@@ -350,6 +357,7 @@ impl DebugSettings {
            DebugFlag::Hurtboxes => self.hurtboxes,
            DebugFlag::DrawThroughGeometry => self.draw_through_geometry,
            DebugFlag::Camera => self.camera,
+            DebugFlag::LedgeGrab => self.ledge_grab,
            DebugFlag::FrameStepping => self.frame_stepping,
        }
    }
@@ -368,6 +376,7 @@ impl DebugSettings {
                self.draw_through_geometry = !self.draw_through_geometry
            }
            DebugFlag::Camera => self.camera = !self.camera,
+            DebugFlag::LedgeGrab => self.ledge_grab = !self.ledge_grab,
            DebugFlag::FrameStepping => self.frame_stepping = !self.frame_stepping,
        }
    }
@@ -926,6 +935,10 @@ pub fn camera_debug_enabled(settings: Res<DebugSettings>) -> bool {
    settings.camera
 }

+pub fn ledge_grab_enabled(settings: Res<DebugSettings>) -> bool {
+    settings.ledge_grab
+}
+
 #[cfg(test)]
 mod tests {
    use super::*;
@@ -87,6 +87,8 @@ pub enum AnimKind {
    CrouchEnter,
    CrouchIdle,
    CrouchExit,
+    LedgeWait,
+    LedgeJump,

    PlatformPass,

@@ -27,6 +27,7 @@ struct FighterBakeSource {
    model_bytes: Vec<u8>,
    buffers: Vec<Vec<u8>>,
    animations: HashMap<AnimKind, String>,
+    root_motion_bone: String,
 }
 #[derive(Default, TypePath)]
 struct FighterBakeSourceLoader;
@@ -82,6 +83,7 @@ impl AssetLoader for FighterBakeSourceLoader {
            model_bytes,
            buffers,
            animations: manifest.animations,
+            root_motion_bone: manifest.root_motion_bone,
        })
    }
    fn extensions(&self) -> &[&str] {
@@ -123,7 +125,12 @@ impl AssetTransformer for FighterBakeTransformer {
        source: TransformedAsset<Self::AssetInput>,
        _: &'a Self::Settings,
    ) -> Result<TransformedAsset<Self::AssetOutput>, Self::Error> {
-        let baked = bake_gltf(&source.model_bytes, &source.buffers, &source.animations)?;
+        let baked = bake_gltf(
+            &source.model_bytes,
+            &source.buffers,
+            &source.animations,
+            &source.root_motion_bone,
+        )?;
        Ok(source.replace_asset(baked))
    }
 }
@@ -201,6 +208,7 @@ fn bake_gltf(
    bytes: &[u8],
    buffer_bytes: &[Vec<u8>],
    animations: &HashMap<AnimKind, String>,
+    root_motion_bone: &str,
 ) -> io::Result<BakedFighterAnimations> {
    let gltf = gltf::Gltf::from_slice(bytes)
        .map_err(|error| io::Error::new(io::ErrorKind::InvalidData, error))?;
@@ -228,13 +236,14 @@ fn bake_gltf(
            "glTF buffer data is incomplete",
        ));
    }
-    bake_gltf_document(gltf.document, buffers, animations)
+    bake_gltf_document(gltf.document, buffers, animations, root_motion_bone)
 }

 pub(super) fn bake_gltf_document(
    document: gltf::Document,
    buffers: Vec<gltf::buffer::Data>,
    animations: &HashMap<AnimKind, String>,
+    root_motion_bone: &str,
 ) -> io::Result<BakedFighterAnimations> {
    let nodes: Vec<_> = document.nodes().collect();
    if nodes.is_empty() {
@@ -260,6 +269,15 @@ pub(super) fn bake_gltf_document(
            })
        })
        .collect::<io::Result<Vec<_>>>()?;
+    let root_bone_index = names
+        .iter()
+        .position(|name| name == root_motion_bone)
+        .ok_or_else(|| {
+            io::Error::new(
+                io::ErrorKind::InvalidData,
+                format!("fighter model has no root-motion bone named {root_motion_bone}"),
+            )
+        })?;
    let mut pending = HashMap::<&str, Vec<AnimKind>>::new();
    for (kind, name) in animations {
        pending.entry(name).or_default().push(*kind);
@@ -286,17 +304,28 @@ pub(super) fn bake_gltf_document(
            .fold(0.0_f32, f32::max);
        let frame_count = baked_frame_count(duration, BAKED_ANIMATION_FPS);
        let mut frames = Vec::with_capacity(frame_count);
+        let mut root_positions = Vec::with_capacity(frame_count);
        for frame in 0..frame_count {
            let time = (frame as f32 / BAKED_ANIMATION_FPS as f32).min(duration);
-            frames.push(
-                nodes
-                    .iter()
-                    .map(|node| local_transform(node.clone(), &channels, time))
-                    .collect::<io::Result<Vec<_>>>()?,
-            );
+            let local = nodes
+                .iter()
+                .map(|node| local_transform(node.clone(), &channels, time))
+                .collect::<io::Result<Vec<_>>>()?;
+            let mut model = vec![None; local.len()];
+            let root = super::runtime::resolve_model_transform(
+                root_bone_index,
+                &parents,
+                &local,
+                &mut model,
+            )?;
+            root_positions.push(root.get_translation());
+            frames.push(local);
        }
        let index = clips.len();
-        clips.push(BakedAnimationClip { frames });
+        clips.push(BakedAnimationClip {
+            frames,
+            root_positions,
+        });
        for kind in kinds {
            clip_indices.insert(kind, index);
        }
@@ -322,6 +351,7 @@ pub(super) fn bake_gltf_document(
        frame_rate: BAKED_ANIMATION_FPS,
        bone_names: names,
        parents,
+        root_bone_index,
        clips,
        clip_indices,
    })
@@ -36,7 +36,13 @@ mod tests {
        ))
        .unwrap();
        let (document, buffers) = test_gltf(&manifest.animations);
-        let baked = bake_gltf_document(document, buffers, &manifest.animations).unwrap();
+        let baked = bake_gltf_document(
+            document,
+            buffers,
+            &manifest.animations,
+            &manifest.root_motion_bone,
+        )
+        .unwrap();

        assert_eq!(baked.frame_rate, BAKED_ANIMATION_FPS);
        assert_eq!(baked.frame_count(AnimKind::Wait), Some(121));
@@ -51,6 +57,15 @@ mod tests {
            baked.bone_names.len()
        );
        assert_eq!(baked.parents.len(), baked.bone_names.len());
+        assert_eq!(baked.root_bone_index, 0);
+        assert_eq!(
+            baked.initial_root_position(AnimKind::Wait, FGi32::lit("2")),
+            Some(FGVec3::ZERO)
+        );
+        assert_eq!(
+            baked.root_motion_cycle_delta(AnimKind::Wait, FGi32::lit("2")),
+            Some(FGVec3::lit("2", "0", "0"))
+        );
    }

    /// Builds the smallest glTF document that still exercises the complete
@@ -162,8 +177,14 @@ mod tests {
            frame_rate: BAKED_ANIMATION_FPS,
            bone_names: vec!["root".into()],
            parents: vec![None],
+            root_bone_index: 0,
            clips: vec![BakedAnimationClip {
                frames: vec![vec![first], vec![second], vec![terminal]],
+                root_positions: vec![
+                    FGVec3::ZERO,
+                    FGVec3::lit("2", "0", "0"),
+                    FGVec3::lit("4", "0", "0"),
+                ],
            }],
            clip_indices: HashMap::from([(AnimKind::Wait, 0)]),
        };
@@ -339,7 +360,8 @@ mod tests {

        matrices.set_pose_with_frame(
            frame,
-            "root",
+            Some(0),
+            Some(FGVec3::lit("2", "0", "0")),
            FGVec3::ZERO,
            None,
            AnimKind::Wait,
@@ -349,10 +371,15 @@ mod tests {
            FGi32::lit("2"),
        );
        assert_eq!(matrices.root_motion_delta(), FGVec3::ZERO);
+        assert_eq!(
+            matrices.root_motion_position(),
+            Some(FGVec3::lit("2", "0", "0"))
+        );

        matrices.set_pose_with_frame(
            crate::fighter::animation::FighterAnimationFrame { frame: 1, ..frame },
-            "root",
+            Some(0),
+            Some(FGVec3::lit("6", "0", "0")),
            FGVec3::ZERO,
            None,
            AnimKind::Wait,
@@ -377,7 +404,8 @@ mod tests {

        matrices.set_pose_with_frame(
            frame,
-            "root",
+            Some(0),
+            Some(FGVec3::lit("3", "4", "5")),
            FGVec3::ZERO,
            None,
            AnimKind::Wait,
@@ -396,6 +424,68 @@ mod tests {
        );
    }

+    #[test]
+    fn every_animation_extracts_root_translation_and_retains_its_position() {
+        let names = ["root".into(), "hand".into()];
+        let parents = [None, Some(0)];
+        let mut root = FixedMat4::IDENTITY;
+        root.translate(FGVec3::lit("3", "4", "5"));
+        let mut hand = FixedMat4::IDENTITY;
+        hand.translate(FGVec3::lit("1", "2", "0"));
+        let mut matrices = FighterBoneMatrices::default();
+        let frame = crate::fighter::animation::FighterAnimationFrame::new(
+            AnimKind::LedgeWait,
+            true,
+        );
+
+        matrices.set_pose_with_frame(
+            frame,
+            Some(0),
+            Some(FGVec3::lit("3", "4", "5")),
+            FGVec3::ZERO,
+            None,
+            AnimKind::LedgeWait,
+            &names,
+            &parents,
+            &[root, hand],
+            FGi32::ONE,
+        );
+
+        assert_eq!(matrices.root_motion_delta(), FGVec3::ZERO);
+        assert_eq!(
+            matrices.root_motion_position(),
+            Some(FGVec3::lit("3", "4", "5"))
+        );
+        assert_eq!(matrices.local(0).unwrap().get_translation(), FGVec3::ZERO);
+        assert_eq!(
+            matrices.get_current("root").unwrap().get_translation(),
+            FGVec3::ZERO
+        );
+        assert_eq!(
+            matrices.get_current("hand").unwrap().get_translation(),
+            FGVec3::lit("1", "2", "0")
+        );
+
+        root.translate(FGVec3::lit("6", "4", "5"));
+        matrices.set_pose_with_frame(
+            crate::fighter::animation::FighterAnimationFrame { frame: 1, ..frame },
+            Some(0),
+            Some(FGVec3::lit("6", "4", "5")),
+            FGVec3::ZERO,
+            None,
+            AnimKind::LedgeWait,
+            &names,
+            &parents,
+            &[root, hand],
+            FGi32::ONE,
+        );
+        assert_eq!(matrices.root_motion_delta(), FGVec3::lit("3", "0", "0"));
+        assert_eq!(
+            matrices.get_current("root").unwrap().get_translation(),
+            FGVec3::ZERO
+        );
+    }
+
    #[test]
    fn repeating_root_motion_preserves_cycle_displacement_at_wrap() {
        let names = ["root".into()];
@@ -411,7 +501,8 @@ mod tests {
        for (frame_number, x) in [(0, "0"), (1, "1")] {
            matrices.set_pose_with_frame(
                frame(frame_number),
-                "root",
+                Some(0),
+                Some(FGVec3::lit(x, "0", "0")),
                FGVec3::lit("2", "0", "0"),
                Some(2),
                AnimKind::Wait,
@@ -423,7 +514,8 @@ mod tests {
        }
        matrices.set_pose_with_frame(
            frame(2),
-            "root",
+            Some(0),
+            Some(FGVec3::ZERO),
            FGVec3::lit("2", "0", "0"),
            Some(2),
            AnimKind::Wait,
@@ -21,6 +21,9 @@ use crate::{
 #[derive(Clone, Debug, Serialize, Deserialize)]
 pub struct BakedAnimationClip {
    pub frames: Vec<Vec<FixedMat4>>,
+    /// Unscaled model-space position of the configured root-motion bone at
+    /// each baked frame.
+    pub root_positions: Vec<FGVec3>,
 }

 #[derive(Asset, bevy::reflect::TypePath, Clone, Debug, Serialize, Deserialize)]
@@ -29,11 +32,22 @@ pub struct BakedFighterAnimations {
    pub frame_rate: u32,
    pub bone_names: Vec<String>,
    pub parents: Vec<Option<usize>>,
+    pub(super) root_bone_index: usize,
    pub(super) clips: Vec<BakedAnimationClip>,
    pub(super) clip_indices: HashMap<AnimKind, usize>,
 }

 impl BakedFighterAnimations {
+    fn sample_index(&self, frame: &FighterAnimationFrame) -> Option<usize> {
+        let frames = &self.clip(frame.kind)?.frames;
+        let frame_index = if frame.repeat {
+            let loop_frame_count = frames.len().saturating_sub(1).max(1) as u32;
+            frame.frame % loop_frame_count
+        } else {
+            frame.frame
+        };
+        Some((frame_index as usize).min(frames.len().saturating_sub(1)))
+    }
    pub fn contains_bone(&self, bone: &str) -> bool {
        self.bone_names.iter().any(|name| name == bone)
    }
@@ -42,17 +56,20 @@ impl BakedFighterAnimations {
        self.bone_names.iter().all(|name| names.insert(name))
    }
    pub fn sample_pose(&self, frame: &FighterAnimationFrame) -> Option<&[FixedMat4]> {
-        let frames = &self.clip(frame.kind)?.frames;
-        let frame_index = if frame.repeat {
-            let loop_frame_count = frames.len().saturating_sub(1).max(1) as u32;
-            frame.frame % loop_frame_count
-        } else {
-            frame.frame
-        };
-        frames
-            .get(frame_index as usize)
-            .or_else(|| frames.last())
-            .map(Vec::as_slice)
+        let clip = self.clip(frame.kind)?;
+        clip.frames.get(self.sample_index(frame)?).map(Vec::as_slice)
+    }
+    pub fn sample_root_position(
+        &self,
+        frame: &FighterAnimationFrame,
+        model_scale: FGi32,
+    ) -> Option<FGVec3> {
+        let clip = self.clip(frame.kind)?;
+        let position = *clip.root_positions.get(self.sample_index(frame)?)?;
+        Some(position * model_scale)
+    }
+    pub fn initial_root_position(&self, kind: AnimKind, model_scale: FGi32) -> Option<FGVec3> {
+        self.sample_root_position(&FighterAnimationFrame::new(kind, false), model_scale)
    }
    pub fn frame_count(&self, kind: AnimKind) -> Option<u32> {
        self.clip(kind).map(|clip| clip.frames.len() as u32)
@@ -60,27 +77,10 @@ impl BakedFighterAnimations {
    pub fn root_motion_cycle_delta(
        &self,
        kind: AnimKind,
-        bone: &str,
        model_scale: FGi32,
    ) -> Option<FGVec3> {
-        let last = self.frame_count(kind)?.saturating_sub(1);
-        let first = FighterAnimationFrame {
-            kind,
-            frame: 0,
-            repeat: false,
-        };
-        let last = FighterAnimationFrame {
-            kind,
-            frame: last,
-            repeat: false,
-        };
-        Some(
-            self.sample_bone_model_transform(&last, bone, model_scale)?
-                .get_translation()
-                - self
-                    .sample_bone_model_transform(&first, bone, model_scale)?
-                    .get_translation(),
-        )
+        let clip = self.clip(kind)?;
+        Some((*clip.root_positions.last()? - *clip.root_positions.first()?) * model_scale)
    }
    /// Samples one bone in model space without depending on the runtime's
    /// previous-frame buffers. Tooling uses this when the user scrubs between
@@ -124,13 +124,12 @@ pub struct FighterBoneMatrices {
    model_matrices: Vec<Option<FixedMat4>>,
    presentation_kind: Option<AnimKind>,
    previous_animation_frame: Option<FighterAnimationFrame>,
+    root_motion_position: Option<FGVec3>,
    /// The raw, scaled model-space root translation used as the baseline for
    /// root-motion extraction.  This is kept separately because the published
    /// pose has the root translation removed.
    previous_root_motion_translation: Option<FGVec3>,
    root_motion_delta: crate::math::vec3::FGVec3,
-    cached_root_motion_kind: Option<AnimKind>,
-    cached_root_motion_cycle_delta: FGVec3,
 }

 #[derive(Component, Clone, Debug, Default)]
@@ -149,7 +148,8 @@ impl FighterBoneMatrices {
        };
        self.set_pose_with_frame(
            *frame,
-            "root",
+            Some(baked.root_bone_index),
+            baked.sample_root_position(frame, model_scale),
            FGVec3::ZERO,
            None,
            frame.kind,
@@ -203,6 +203,11 @@ impl FighterBoneMatrices {
    pub fn root_motion_delta(&self) -> FGVec3 {
        self.root_motion_delta
    }
+    /// Current raw, scaled model-space position of the configured root-motion
+    /// bone. The published skeleton has this translation removed.
+    pub fn root_motion_position(&self) -> Option<FGVec3> {
+        self.root_motion_position
+    }
    pub fn iter(&self) -> impl Iterator<Item = (&str, FixedMat4)> {
        self.bone_names
            .iter()
@@ -236,7 +241,8 @@ impl FighterBoneMatrices {
    ) {
        self.set_pose_with_frame(
            FighterAnimationFrame::new(kind, false),
-            "",
+            None,
+            None,
            FGVec3::ZERO,
            None,
            kind,
@@ -249,7 +255,8 @@ impl FighterBoneMatrices {
    pub(super) fn set_pose_with_frame(
        &mut self,
        animation_frame: FighterAnimationFrame,
-        root_motion_bone: &str,
+        root_bone_index: Option<usize>,
+        root_motion_position: Option<FGVec3>,
        root_motion_cycle_delta: FGVec3,
        root_motion_loop_frame_count: Option<u32>,
        kind: AnimKind,
@@ -260,7 +267,8 @@ impl FighterBoneMatrices {
    ) {
        self.sample_pose(
            animation_frame,
-            root_motion_bone,
+            root_bone_index,
+            root_motion_position,
            root_motion_cycle_delta,
            root_motion_loop_frame_count,
            kind,
@@ -282,7 +290,8 @@ impl FighterBoneMatrices {
    ) {
        self.resample_pose_with_frame(
            FighterAnimationFrame::new(kind, false),
-            "",
+            None,
+            None,
            FGVec3::ZERO,
            None,
            kind,
@@ -295,7 +304,8 @@ impl FighterBoneMatrices {
    pub(super) fn resample_pose_with_frame(
        &mut self,
        animation_frame: FighterAnimationFrame,
-        root_motion_bone: &str,
+        root_bone_index: Option<usize>,
+        root_motion_position: Option<FGVec3>,
        _root_motion_cycle_delta: FGVec3,
        _root_motion_loop_frame_count: Option<u32>,
        kind: AnimKind,
@@ -306,7 +316,8 @@ impl FighterBoneMatrices {
    ) {
        self.sample_pose(
            animation_frame,
-            root_motion_bone,
+            root_bone_index,
+            root_motion_position,
            FGVec3::ZERO,
            None,
            kind,
@@ -320,7 +331,8 @@ impl FighterBoneMatrices {
    fn sample_pose(
        &mut self,
        animation_frame: FighterAnimationFrame,
-        root_motion_bone: &str,
+        root_index: Option<usize>,
+        raw_root_motion_translation: Option<FGVec3>,
        root_motion_cycle_delta: FGVec3,
        root_motion_loop_frame_count: Option<u32>,
        kind: AnimKind,
@@ -360,16 +372,6 @@ impl FighterBoneMatrices {
        self.local_matrices.clear();
        self.local_matrices.extend_from_slice(local);

-        let root_index = if root_motion_bone.is_empty() {
-            None
-        } else {
-            Some(
-                self.bone_names
-                    .iter()
-                    .position(|name| name == root_motion_bone)
-                    .expect("configured root motion bone should exist"),
-            )
-        };
        let model_scale = FixedMat4 {
            cols: [
                [model_scale, FGi32::ZERO, FGi32::ZERO, FGi32::ZERO],
@@ -378,21 +380,8 @@ impl FighterBoneMatrices {
                [FGi32::ZERO, FGi32::ZERO, FGi32::ZERO, FGi32::ONE],
            ],
        };
-        // Root motion only needs the configured bone's model transform. Resolve
-        // that ancestry first, then do the normal full-pose pass once below.
-        // Previously the complete hierarchy was resolved once before removing
-        // root translation and once afterwards.
-        let raw_root_motion_translation = root_index.map(|root_index| {
-            self.model_matrices.resize(local.len(), None);
-            self.model_matrices.fill(None);
-            let root = resolve_model_transform(root_index, parents, local, &mut self.model_matrices)
-                .expect("baked bone hierarchy should be valid");
-            model_scale.mul(root).get_translation()
-        });
-
-        // Gameplay owns the root's displacement.  Keep rotation and scale in
-        // the animation, but remove its translation before publishing the pose
-        // used by visuals and gameplay volumes.
+        // Gameplay always owns root displacement. Keep rotation and scale in
+        // the pose while removing the configured root bone's translation.
        if let Some(root_index) = root_index {
            self.local_matrices[root_index].translate(FGVec3::ZERO);
        }
@@ -419,7 +408,8 @@ impl FighterBoneMatrices {
            let mut delta = current - previous;
            if animation_frame.repeat
                && self.previous_animation_frame.is_some_and(|previous| {
-                    previous.frame.saturating_add(1) == animation_frame.frame
+                    previous.kind == animation_frame.kind
+                        && previous.frame.saturating_add(1) == animation_frame.frame
                })
                && root_motion_loop_frame_count == Some(animation_frame.frame)
            {
@@ -429,6 +419,7 @@ impl FighterBoneMatrices {
        } else {
            FGVec3::ZERO
        };
+        self.root_motion_position = raw_root_motion_translation;
        self.previous_root_motion_translation = raw_root_motion_translation;
        if advance_history {
            self.previous_animation_frame = Some(animation_frame);
@@ -519,23 +510,18 @@ fn sample_fighter_bone_matrices(
    let manifest = manifests
        .get(&fighter.manifest)
        .expect("fighter manifest should be loaded before the match starts");
-    let root_motion_cycle_delta = if matrices.cached_root_motion_kind == Some(frame.kind) {
-        matrices.cached_root_motion_cycle_delta
-    } else {
-        let delta = baked
-            .root_motion_cycle_delta(frame.kind, &manifest.root_motion_bone, manifest.model_scale)
-            .unwrap_or(FGVec3::ZERO);
-        matrices.cached_root_motion_kind = Some(frame.kind);
-        matrices.cached_root_motion_cycle_delta = delta;
-        delta
-    };
+    let root_motion_position = baked.sample_root_position(frame, manifest.model_scale);
+    let root_motion_cycle_delta = baked
+        .root_motion_cycle_delta(frame.kind, manifest.model_scale)
+        .unwrap_or(FGVec3::ZERO);
    let root_motion_loop_frame_count = baked
        .frame_count(frame.kind)
        .map(|count| count.saturating_sub(1).max(1));
    if advance_history {
        matrices.set_pose_with_frame(
            *frame,
-            &manifest.root_motion_bone,
+            Some(baked.root_bone_index),
+            root_motion_position,
            root_motion_cycle_delta,
            root_motion_loop_frame_count,
            frame.kind,
@@ -547,7 +533,8 @@ fn sample_fighter_bone_matrices(
    } else {
        matrices.resample_pose_with_frame(
            *frame,
-            &manifest.root_motion_bone,
+            Some(baked.root_bone_index),
+            root_motion_position,
            FGVec3::ZERO,
            None,
            frame.kind,
@@ -568,7 +555,7 @@ fn sample_fighter_bone_matrices(
    }
 }

-fn resolve_model_transform(
+pub(super) fn resolve_model_transform(
    index: usize,
    parents: &[Option<usize>],
    local: &[FixedMat4],
@@ -2,9 +2,10 @@

 use crate::fighter::ecb::FighterPreviousECB;
 use crate::fighter::{FighterECB, FighterPreviousTranslation, FighterTranslation};
+use crate::math::rect::FGRect;
 use crate::math::segment::FGSegment2d;
 use crate::math::vec::FGVec2;
-use crate::stage::line::{StageCollision, StageLineID, StagePolyType};
+use crate::stage::line::{StageCollision, StageLineID, StagePolyType, StageVertexID};
 /*
 pub fn collide_fighter_with_scene(
    fighters: Query<(&FighterECB, &mut FighterVelocity, &mut FighterTranslation)>,
@@ -83,6 +84,20 @@ pub fn air_collide_with_stage(
        .map(|(result, _)| result)
 }

+#[derive(Clone)]
+pub struct AirCollisionWithLedgeResult {
+    pub ledge: StageVertexID,
+}
+
+pub fn air_collide_with_ledges(
+    ledge_box: &FGRect,
+    stage_collision: &StageCollision,
+) -> Option<AirCollisionWithLedgeResult> {
+    stage_collision.intersect_ledges(ledge_box).map(|result| {
+        AirCollisionWithLedgeResult { ledge: result.vertex_id }
+    })
+}
+
 #[cfg(test)]
 mod tests {
    use super::*;
@@ -115,6 +130,7 @@ mod tests {
    fn airborne_collision_skips_ignored_polygons() {
        let stage_collision = StageCollision {
            stage_polys: vec![horizontal_platform("0"), horizontal_platform("1")],
+            ..StageCollision::default()
        };
        let previous_translation = FighterPreviousTranslation(FGVec2::lit("0", "2"));
        let translation = FighterTranslation(FGVec2::lit("0", "-1"));
@@ -150,6 +166,7 @@ mod tests {
    fn airborne_collision_skips_soft_platforms_while_passing_down() {
        let stage_collision = StageCollision {
            stage_polys: vec![horizontal_platform("0")],
+            ..StageCollision::default()
        };
        let previous_translation = FighterPreviousTranslation(FGVec2::lit("0", "2"));
        let translation = FighterTranslation(FGVec2::lit("0", "-1"));
@@ -197,6 +214,7 @@ mod tests {
    fn airborne_collision_still_hits_solid_floors_while_passing_down() {
        let stage_collision = StageCollision {
            stage_polys: vec![solid_floor()],
+            ..StageCollision::default()
        };
        let previous_translation = FighterPreviousTranslation(FGVec2::lit("0", "2"));
        let translation = FighterTranslation(FGVec2::lit("0", "-1"));
@@ -216,6 +216,26 @@ pub fn hurtbox_debug(
    }
 }

+pub fn ledge_grab_debug(query: Query<(&FighterTranslation, &Fighter)>, fighters: Res<Assets<FighterManifest>>, mut gizmos: Gizmos) {
+    for (translation, fighter) in query {
+        let Some(manifest) = fighters.get(&fighter.manifest) else {
+            continue;
+        };
+
+        let start_2d = translation.0 + manifest.ledge_grab_box_start;
+        let start_2d = Vec2::new(start_2d.x.to_num(), start_2d.y.to_num());
+
+        let end_2d = translation.0 + manifest.ledge_grab_box_end;
+        let end_2d = Vec2::new(end_2d.x.to_num(), end_2d.y.to_num());
+
+
+        let center = (start_2d + end_2d) * 0.5;
+        let size = (start_2d - end_2d).abs();
+        
+        gizmos.rect(Vec3::new(center.x, center.y, 0.0), size, bevy::color::palettes::css::BLUE);
+    }
+}
+
 /*fn draw_affine_capsule(
    gizmos: &mut Gizmos,
    capsule: FixedAffineCapsule,
@@ -8,11 +8,7 @@ use strum::IntoEnumIterator;
 use strum_macros::EnumIter;

 use crate::{
-    AppState,
-    fighter::{FighterAttributes, FighterCameraProfile, animation::AnimKind, attack::AttackKind},
-    game_settings::GameSettings,
-    math::{int::FGi32, vec3::FGVec3},
-    texture_reference::TextureReference,
+    AppState, fighter::{FighterAttributes, FighterCameraProfile, animation::AnimKind, attack::AttackKind}, game_settings::GameSettings, math::{int::FGi32, vec::FGVec2, vec3::FGVec3}, texture_reference::TextureReference,
 };

 #[derive(
@@ -69,6 +65,8 @@ pub struct FighterManifest {
    pub attack_scripts: HashMap<AttackKind, String>,
    pub hurtboxes: Vec<FighterHurtbox>,
    pub ecb_bones: Vec<String>,
+    pub ledge_grab_box_start: FGVec2,
+    pub ledge_grab_box_end: FGVec2,
 }

 fn default_root_motion_bone() -> String {
@@ -86,6 +86,50 @@ pub struct FighterHitstop {
    pub remaining_frames: u32,
 }

+#[derive(Component, Default, Copy, Clone, Hash, Debug, PartialEq, Eq)]
+pub struct FighterLedgeGrabLockout {
+    pub remaining_frames: u32,
+}
+
+impl FighterLedgeGrabLockout {
+    pub fn start(&mut self, duration_frames: u32) {
+        self.remaining_frames = duration_frames;
+    }
+
+    pub fn is_active(&self) -> bool {
+        self.remaining_frames > 0
+    }
+
+    fn tick(&mut self) {
+        self.remaining_frames = self.remaining_frames.saturating_sub(1);
+    }
+}
+
+#[cfg(test)]
+mod ledge_grab_lockout_tests {
+    use super::FighterLedgeGrabLockout;
+
+    #[test]
+    fn lockout_expires_after_the_requested_number_of_ticks() {
+        let mut lockout = FighterLedgeGrabLockout::default();
+        lockout.start(2);
+
+        assert!(lockout.is_active());
+        lockout.tick();
+        assert!(lockout.is_active());
+        lockout.tick();
+        assert!(!lockout.is_active());
+    }
+
+    #[test]
+    fn zero_duration_does_not_enable_lockout() {
+        let mut lockout = FighterLedgeGrabLockout::default();
+        lockout.start(0);
+
+        assert!(!lockout.is_active());
+    }
+}
+
 #[derive(Component, Default, Copy, Clone, Hash)]
 pub enum FighterInvulnerabilityState {
    #[default]
@@ -148,6 +192,7 @@ pub struct FighterPendingRespawn(bool);
    FighterPendingHitReaction,
    FighterPendingRespawn,
    FighterHitstop,
+    FighterLedgeGrabLockout,
    FighterKnockbackVelocity,
    FighterTranslation,
    FighterInvulnerabilityState,
@@ -193,7 +238,13 @@ impl Plugin for FighterPlugin {
            .add_systems(
                GgrsSchedule,
                (
-                    (blast_zones::apply_blast_zones, ecb::update_ecb, ecb::decrement_ecb_lockout, state::state_collision_interrupt_system).chain(),
+                    (
+                        blast_zones::apply_blast_zones,
+                        ecb::update_ecb,
+                        ecb::decrement_ecb_lockout,
+                        state::state_collision_interrupt_system,
+                        decay_ledge_grab_lockout,
+                    ).chain(),
                    baked_animation::resample_fighter_bone_matrices,
                )
                    .chain()
@@ -247,6 +298,8 @@ impl Plugin for FighterPlugin {
            .checksum_component_with_hash::<FighterPendingRespawn>()
            .rollback_component_with_copy::<FighterHitstop>()
            .checksum_component_with_hash::<FighterHitstop>()
+            .rollback_component_with_copy::<FighterLedgeGrabLockout>()
+            .checksum_component_with_hash::<FighterLedgeGrabLockout>()
            .rollback_component_with_copy::<FighterInvulnerabilityState>()
            .checksum_component_with_hash::<FighterInvulnerabilityState>()
            .rollback_component_with_copy::<FighterKnockbackVelocity>()
@@ -258,6 +311,10 @@ impl Plugin for FighterPlugin {
                FixedPostUpdate,
                debug::debug_draw_ecb.run_if(crate::debug_tools::ecb_enabled),
            )
+            .add_systems(
+                FixedPostUpdate,
+                debug::ledge_grab_debug.run_if(crate::debug_tools::ledge_grab_enabled),
+            )
            .add_systems(
                EguiPrimaryContextPass,
                debug::fighter_debug.run_if(crate::debug_tools::fighter_info_enabled),
@@ -373,6 +430,12 @@ pub fn decay_hitstop(query: Query<(&mut FighterHitstop, &mut FighterHitstopShake
    }
 }

+pub fn decay_ledge_grab_lockout(query: Query<&mut FighterLedgeGrabLockout>) {
+    for mut lockout in query {
+        lockout.tick();
+    }
+}
+
 pub fn decay_invulnerability(query: Query<&mut FighterInvulnerabilityState>) {
    for invuln_state in query {
        let invuln_state = invuln_state.into_inner();
@@ -134,6 +134,7 @@ mod tests {
                    (FGVec2::lit("30", "0"), StagePolyLineSegmentType::Floor),
                ],
            )],
+            ..StageCollision::default()
        }
    }

@@ -1,5 +1,6 @@
 use crate::fighter::state::jump::{self};
 use crate::fighter::state::land::{LandingState, LandingType};
+use crate::fighter::state::ledge_wait::LedgeWaitState;
 use crate::fighter::state::{
    CollisionContext, FighterState, InterruptContext, air_attack, air_dodge,
 };
@@ -126,6 +127,15 @@ pub fn collision_interrupt(
    landing_type: LandingType,
    can_ignore_soft_platforms: bool,
 ) -> Option<FighterState> {
+    if ctx.velocity.y <= FGi32::ZERO {
+        if let Some(ledge_result) = ctx.air_collide_with_ledges() {
+            return Some(FighterState::LedgeWait(LedgeWaitState {
+                airborne_state_common: AirborneStateCommon::default(),
+                ledge_id: ledge_result.ledge,
+            }));
+        }
+    }
+
    let res = ctx.air_collide_with_stage(can_ignore_soft_platforms)?;
    let diff = res.hit_position - ctx.translation.0;
    ctx.ecb.bottom -= diff;
@@ -2,6 +2,7 @@
 //! ECS types so it stays cheap to reason about and to unit-test — it has to be
 //! bit-for-bit deterministic for rollback.

+use crate::fighter::state::air_dodge::AirDodgeState;
 use crate::fighter::state::{
    CollisionContext, FighterState, InterruptContext, air, crouch, dash, fall, ground_attack, turn, wait, walk,
 };
@@ -9,6 +10,7 @@ use crate::fighter::{
    FighterAttributes, FighterTranslation, FighterVelocity,
 };
 use crate::game_settings::GameSettings;
+use crate::input::FighterInput;
 use crate::math::int::{FGWide, FGi32};
 use crate::math::vec::FGVec2;
 use crate::stage::line::{StageLineID, StagePoly, StagePolyLineSegment, StagePolyLineSegmentType};
@@ -245,7 +247,8 @@ mod tests {
    use super::*;
    use crate::fighter::ecb::FighterPreviousECB;
    use crate::fighter::{FighterECB, FighterPreviousTranslation, FighterSurfaceState};
-    use crate::stage::line::StagePolyType;
+    use crate::math::rect::FGRect;
+use crate::stage::line::StagePolyType;
    use crate::input::FighterInput;

    fn two_segment_floor() -> StagePoly {
@@ -357,6 +360,7 @@ mod tests {
    fn grounded_collision_updates_surface_segment() {
        let stage_collision = crate::stage::line::StageCollision {
            stage_polys: vec![two_segment_floor()],
+            ..crate::stage::line::StageCollision::default()
        };
        let mut surface = FighterSurfaceState::Grounded {
            line_id: StageLineID {
@@ -387,6 +391,11 @@ mod tests {
            leave_ground_ecb_lock_duration: 10,
            presentation_snap: &mut presentation_snap,
            downward_stick_threshold: FGi32::ONE,
+            fighter_ledge_collision_box: FGRect {
+                origin: FGVec2::ZERO,
+                end: FGVec2::ZERO,
+            },
+            ledge_grab_lockout_active: false,
        };

        assert!(matches!(
@@ -412,6 +421,7 @@ mod tests {
                    (FGVec2::lit("10", "0"), StagePolyLineSegmentType::Floor),
                ],
            )],
+            ..crate::stage::line::StageCollision::default()
        };
        let mut surface = FighterSurfaceState::Grounded {
            line_id: StageLineID {
@@ -442,6 +452,11 @@ mod tests {
            leave_ground_ecb_lock_duration: 10,
            presentation_snap: &mut presentation_snap,
            downward_stick_threshold: FGi32::ONE,
+            fighter_ledge_collision_box: FGRect {
+                origin: FGVec2::ZERO,
+                end: FGVec2::ZERO,
+            },
+            ledge_grab_lockout_active: false,
        };

        assert!(matches!(
@@ -477,3 +492,27 @@ pub fn grounded_movement_standstill_common_interrupts(
        None
    }
 }
+
+pub fn perform_wavedash(input: &FighterInput, game_settings: &GameSettings) -> FighterState {
+    // If aiming sideways and in the deadzone, do a perfect wavedash
+    // TODO: Improve this so we don't have to go through the airborne state first
+    let mut wavedash_dir =
+        input
+        .get_last_frame()
+        .movement
+        .normalize_or_zero();
+    let movement = input.get_last_frame().movement;
+    if movement.y.is_zero() && !movement.x.is_zero() {
+        wavedash_dir.y =
+            -game_settings.input_common.stick_deadzone - FGi32::lit("-0.01");
+        wavedash_dir.x = movement.x.signum();
+    }
+
+    if wavedash_dir == FGVec2::ZERO {
+        wavedash_dir = FGVec2::lit("0.0", "-1.0");
+    }
+
+    FighterState::AirDodge(AirDodgeState {
+        direction: wavedash_dir.normalize_or_zero(),
+    })
+}
@@ -2,9 +2,9 @@
 use crate::{
    fighter::{
        animation::AnimKind, state::{
-            CollisionContext, EnterContext, FighterState, FighterStateImpl, InterruptContext, UpdateContext, air::{self, AirborneStateCommon}, air_dodge::AirDodgeState, ground, ground_attack,
+            CollisionContext, EnterContext, FighterState, FighterStateImpl, InterruptContext, UpdateContext, air::{self, AirborneStateCommon}, ground::{self}, ground_attack,
        },
-    }, input::{DigitalAction, FighterCommands}, math::{int::FGi32, vec::FGVec2},
+    }, input::{DigitalAction, FighterCommands},
 };
 #[derive(Debug, Hash, Clone, Copy)]
 pub enum JumpType {
@@ -50,27 +50,7 @@ impl FighterStateImpl for JumpSquatState {
        }
        // Special handling for wavedash from jump squat
        if state_context.input.has_command(FighterCommands::Shield) {
-            // If aiming sideways and in the deadzone, do a perfect wavedash
-            // TODO: Improve this so we don't have to go through the airborne state first
-            let mut wavedash_dir = state_context
-                .input
-                .get_last_frame()
-                .movement
-                .normalize_or_zero();
-            let movement = state_context.input.get_last_frame().movement;
-            if movement.y.is_zero() && !movement.x.is_zero() {
-                wavedash_dir.y =
-                    -state_context.game_settings.input_common.stick_deadzone - FGi32::lit("-0.01");
-                wavedash_dir.x = movement.x.signum();
-            }
-
-            if wavedash_dir == FGVec2::ZERO {
-                wavedash_dir = FGVec2::lit("0.0", "-1.0");
-            }
-
-            Some(FighterState::AirDodge(AirDodgeState {
-                direction: wavedash_dir.normalize_or_zero(),
-            }))
+            Some(ground::perform_wavedash(state_context.input, state_context.game_settings))
        } else if self.duration_counter >= state_context.fighter_attributes.jumpsquat_duration {
            let tap_jump_held = matches!(self.initiator, JumpStateInitiator::Tap)
                && state_context.input.get_last_frame().movement.y
@@ -0,0 +1,139 @@
+use super::{CollisionContext, EnterContext, FighterStateImpl, InterruptContext, UpdateContext};
+use crate::fighter::animation::AnimKind;
+use crate::fighter::state::air::AirborneStateCommon;
+use crate::fighter::state::jump::{JumpState, JumpStateInitiator, JumpType};
+use crate::fighter::state::{FighterState, ground};
+use crate::fighter::FighterFacingDirection;
+use crate::input::FighterCommands;
+use crate::math::int::FGi32;
+use crate::math::vec::FGVec2;
+use crate::stage::line::{StageLedgeSide, StageLineID, StageVertexID};
+
+#[derive(Debug, Clone, Hash)]
+pub enum LedgeAction {
+    Jump(JumpStateInitiator)
+}
+
+#[derive(Debug, Clone, Hash)]
+pub struct LedgeActionState {
+    pub ledge_id: StageVertexID,
+    pub ledge_action: LedgeAction,
+    pub is_in_grounded_phase: bool,
+}
+
+impl LedgeActionState {
+    pub fn create_jump(ledge_id: StageVertexID, initiator: JumpStateInitiator) -> Self {
+        LedgeActionState {
+            ledge_id,
+            ledge_action: LedgeAction::Jump(initiator),
+            is_in_grounded_phase: false,
+        }
+    }
+}
+
+impl FighterStateImpl for LedgeActionState {
+    const NAME: &'static str = "LedgeAction";
+    fn check_interrupt(&self, state_context: &mut InterruptContext) -> Option<FighterState> {
+        match &self.ledge_action {
+            LedgeAction::Jump(initiator) => {
+                if state_context.is_current_animation_finished() {
+                    if state_context.input.has_command(FighterCommands::Shield) {
+                        Some(ground::perform_wavedash(state_context.input, state_context.game_settings))
+                    } else {
+                        Some(FighterState::Jump(JumpState {
+                            jump_type: JumpType::DoubleJump,
+                            airborne_state_common: AirborneStateCommon::default(),
+                            initiator: initiator.clone()
+                        }))
+                    }
+                } else {
+                    None
+                }
+            },
+        }
+    }
+
+    fn on_enter(&mut self, state_context: &mut EnterContext) {
+        match self.ledge_action {
+            LedgeAction::Jump(_) => {
+                state_context.play_animation(AnimKind::LedgeJump, false);
+                state_context.input.enable_hold_all(10);
+                state_context.input.clear_command(FighterCommands::Jump);
+                state_context.input.clear_command(FighterCommands::TapJump);
+            },
+        }
+
+        state_context.velocity.0 = FGVec2::ZERO;
+        state_context.knockback_velocity.0 = FGVec2::ZERO;
+        let Some(ledge) = state_context.stage_collision.find_ledge_by_vertex(self.ledge_id) else {
+            return;
+        };
+        state_context.translation.0 = ledge.position;
+        *state_context.facing_direction = match ledge.hang_side {
+            StageLedgeSide::Left => FighterFacingDirection::Right,
+            StageLedgeSide::Right => FighterFacingDirection::Left,
+        };
+        if let Some(root_position) = state_context.initial_animation_root_position() {
+            state_context.translation.0 = root_position;
+        }
+        state_context.presentation_snap.0 = true;
+    }
+
+    fn update(&mut self, state_context: &mut UpdateContext) {
+        if !self.is_in_grounded_phase {
+            let root_pos = state_context.animation_root_position.unwrap_or_default();
+            let Some(ledge) = state_context.stage_collision.find_ledge_by_vertex(self.ledge_id) else {
+                return;
+            };
+
+            let ledge_pos = ledge.position;
+            let ledge_modifier = match ledge.hang_side {
+                StageLedgeSide::Left => FGi32::ONE,
+                StageLedgeSide::Right => FGi32::NEG_ONE,
+            };
+
+            let normalized_root_position = root_pos - ledge_pos;
+            let normalized_root_position = FGVec2::new(normalized_root_position.x * ledge_modifier, normalized_root_position.y);
+            
+            if normalized_root_position.x.is_positive() && normalized_root_position.y.is_positive() {
+                self.is_in_grounded_phase = true;
+                
+                let segment_id = StageLineID {
+                    polygon: self.ledge_id.polygon,
+                    segment: self.ledge_id.vertex
+                };
+                let Some(poly) = state_context.stage_collision.get_segment(segment_id) else {
+                    return;
+                };
+                
+                state_context.translation.0 = poly.segment.point1();
+                state_context.surface.land(segment_id);
+            }
+        }
+
+        if self.is_in_grounded_phase {
+            state_context.velocity.0.x = state_context.animation_root_motion_delta.x;
+            ground::apply_grounded_motion(
+                state_context.velocity,
+                state_context.translation,
+            );
+        } else {
+            if let Some(root_position) = state_context.animation_root_position {
+                state_context.translation.0 = root_position;
+            }
+        }
+
+    }
+
+    fn check_collision_interrupt(
+        &mut self,
+        _state_context: &mut CollisionContext,
+    ) -> Option<FighterState> {
+        None
+    }
+
+    fn is_visually_grounded<'a>(&'a self) -> bool {
+        self.is_in_grounded_phase
+    }
+}
+
@@ -0,0 +1,130 @@
+use super::{CollisionContext, EnterContext, FighterStateImpl, InterruptContext, UpdateContext};
+use crate::fighter::animation::AnimKind;
+use crate::fighter::state::air::AirborneStateCommon;
+use crate::fighter::state::fall::FallState;
+use crate::fighter::state::FighterState;
+use crate::fighter::FighterFacingDirection;
+use crate::fighter::state::jump::JumpStateInitiator;
+use crate::fighter::state::ledge_action::{LedgeActionState};
+use crate::input::FighterCommands;
+use crate::math::vec::FGVec2;
+use crate::stage::line::{StageLedgeSide, StageVertexID};
+
+#[derive(Debug, Clone, Hash)]
+pub struct LedgeWaitState {
+    pub airborne_state_common: AirborneStateCommon,
+    pub ledge_id: StageVertexID,
+}
+
+impl FighterStateImpl for LedgeWaitState {
+    const NAME: &'static str = "LedgeWait";
+    fn check_interrupt(&self, state_context: &mut InterruptContext) -> Option<FighterState> {
+        if state_context.input.has_command(FighterCommands::Jump) {
+            return Some(FighterState::LedgeAction(LedgeActionState::create_jump(self.ledge_id, JumpStateInitiator::Button)));
+        } else if state_context.input.has_command(FighterCommands::TapJump) {
+            return Some(FighterState::LedgeAction(LedgeActionState::create_jump(self.ledge_id, JumpStateInitiator::Tap)));
+        }
+        if is_ledge_drop_input(state_context.input.get_last_frame().movement.x,
+            state_context.game_settings.input_common.run_stick_threshold,
+            state_context.facing_direction) {
+            state_context.ledge_grab_lockout.start(
+                state_context
+                    .game_settings
+                    .fighter_common
+                    .ledge_drop_regrab_lockout_duration_frames,
+            );
+            return Some(FighterState::Fall(FallState::new(
+                AirborneStateCommon { is_fast_falling: false },
+            )));
+        }
+        if is_ledge_drop_fastfall_input(
+            state_context.input.get_last_frame().movement.y,
+            state_context.game_settings.input_common.run_stick_threshold,
+        ) {
+            state_context.ledge_grab_lockout.start(
+                state_context
+                    .game_settings
+                    .fighter_common
+                    .ledge_drop_regrab_lockout_duration_frames,
+            );
+            return Some(FighterState::Fall(FallState::new(
+                AirborneStateCommon { is_fast_falling: true },
+            )));
+        }
+
+        None
+    }
+
+    fn on_enter(&mut self, state_context: &mut EnterContext) {
+        state_context.velocity.0 = FGVec2::ZERO;
+        state_context.knockback_velocity.0 = FGVec2::ZERO;
+        let Some(ledge) = state_context.stage_collision.find_ledge_by_vertex(self.ledge_id) else {
+            return;
+        };
+        state_context.translation.0 = ledge.position;
+        *state_context.facing_direction = match ledge.hang_side {
+            StageLedgeSide::Left => FighterFacingDirection::Right,
+            StageLedgeSide::Right => FighterFacingDirection::Left,
+        };
+        state_context.play_animation(AnimKind::LedgeWait, true);
+        if let Some(root_position) = state_context.initial_animation_root_position() {
+            state_context.translation.0 = root_position;
+        }
+        state_context.presentation_snap.0 = true;
+    }
+
+    fn update(&mut self, state_context: &mut UpdateContext) {
+        if let Some(root_position) = state_context.animation_root_position {
+            state_context.translation.0 = root_position;
+        }
+    }
+
+    fn check_collision_interrupt(
+        &mut self,
+        _state_context: &mut CollisionContext,
+    ) -> Option<FighterState> {
+        None
+    }
+
+    fn is_visually_grounded<'a>(&'a self) -> bool {
+        false
+    }
+}
+
+#[cfg(test)]
+mod tests {
+    use super::*;
+    use crate::math::int::FGi32;
+
+    #[test]
+    fn ledge_drop_uses_the_run_stick_threshold() {
+        let threshold = FGi32::lit("0.625");
+
+        assert!(is_ledge_drop_fastfall_input(FGi32::lit("-0.625"), threshold));
+        assert!(is_ledge_drop_fastfall_input(FGi32::lit("-1.0"), threshold));
+        assert!(!is_ledge_drop_fastfall_input(FGi32::lit("-0.624"), threshold));
+    }
+}
+
+fn is_ledge_drop_fastfall_input(
+    vertical_input: crate::math::int::FGi32,
+    threshold: crate::math::int::FGi32,
+) -> bool {
+    vertical_input <= -threshold
+}
+
+fn is_ledge_drop_input(
+    horizontal_input: crate::math::int::FGi32,
+    threshold: crate::math::int::FGi32,
+    facing_dir: &FighterFacingDirection,
+) -> bool {
+    let dir = facing_dir.to_sign();
+    if horizontal_input.abs() > threshold {
+        if dir != horizontal_input.signum() {
+            return true;
+        }
+    }
+
+    false
+}
+
@@ -20,14 +20,16 @@ use crate::fighter::visual::FighterAnimations;
 use crate::fighter::{
    Fighter, FighterDamage, FighterECB, FighterFacingDirection, FighterHitboxes, FighterHitstop,
    FighterHitstopShake, FighterHitstopShakeKind, FighterHitstopShakeRole,
-    FighterInvulnerabilityState, FighterPendingRespawn, FighterPresentationSnap,
-    FighterPreviousTranslation, FighterSurfaceState, FighterTranslation, FighterVelocity,
+    FighterInvulnerabilityState, FighterLedgeGrabLockout, FighterPendingRespawn,
+    FighterPresentationSnap, FighterPreviousTranslation, FighterSurfaceState, FighterTranslation,
+    FighterVelocity,
 };
 use crate::game_settings::GameSettings;
 use crate::input::FighterInput;
 use crate::match_loading::MatchConfig;
 use crate::match_runtime::MatchState;
 use crate::math::int::FGi32;
+use crate::math::rect::FGRect;
 use crate::math::vec::FGVec2;
 use crate::math::vec3::FGVec3;
 use crate::player::Player;
@@ -52,6 +54,8 @@ pub mod run;
 pub mod turn;
 pub mod wait;
 pub mod walk;
+pub mod ledge_wait;
+pub mod ledge_action;

 #[derive(Clone, Copy, Debug, Hash, PartialEq, Eq)]
 pub enum SurfacePolicy {
@@ -135,6 +139,7 @@ pub struct AnimationStatus {
 pub struct InterruptContext<'a> {
    pub input: &'a FighterInput,
    pub facing_direction: &'a mut FighterFacingDirection,
+    pub ledge_grab_lockout: &'a mut FighterLedgeGrabLockout,
    pub game_settings: &'a GameSettings,
    pub fighter_attributes: &'a FighterAttributes,
    pub surface: &'a FighterSurfaceState,
@@ -158,21 +163,38 @@ pub struct EnterContext<'a> {
    pub input: &'a mut FighterInput,
    pub hitboxes: &'a mut FighterHitboxes,
    pub velocity: &'a mut FighterVelocity,
+    pub translation: &'a mut FighterTranslation,
    pub knockback_velocity: &'a mut FighterKnockbackVelocity,
    pub stale_move_queue: &'a mut FighterStaleMoveQueue,
    pub facing_direction: &'a mut FighterFacingDirection,
    pub animation_frame: &'a mut FighterAnimationFrame,
+    pub presentation_snap: &'a mut FighterPresentationSnap,
    pub surface: &'a mut FighterSurfaceState,
    pub vulnerability: &'a mut FighterInvulnerabilityState,
    pub fighter_attributes: &'a FighterAttributes,
    pub attack_script_assets: &'a FighterAttackScriptAssets,
    pub game_settings: &'a GameSettings,
+    pub stage_collision: &'a StageCollision,
+    baked_animations: &'a BakedFighterAnimations,
+    model_scale: FGi32,
 }

 impl EnterContext<'_> {
    pub fn play_animation(&mut self, kind: AnimKind, repeat: bool) {
        self.animation_frame.reset(kind, repeat);
    }
+
+    /// World-space root position authored for frame zero of the animation most
+    /// recently selected with [`Self::play_animation`].
+    pub fn initial_animation_root_position(&self) -> Option<FGVec2> {
+        let position = self
+            .baked_animations
+            .initial_root_position(self.animation_frame.kind, self.model_scale)?;
+        Some(
+            self.translation.0
+                + animation_position_to_gameplay(position, self.facing_direction),
+        )
+    }
 }

 pub struct ExitContext<'a> {
@@ -195,18 +217,22 @@ pub struct UpdateContext<'a> {
    /// Root motion in the fighter's gameplay plane: X is world-right and Y is
    /// world-up. Animation +Z is forward and is mirrored by facing direction.
    pub animation_root_motion_delta: FGVec2,
+    /// Current world-space root position implied by this animation frame.
+    /// States opt into root motion by assigning this to [`FighterTranslation`].
+    pub animation_root_position: Option<FGVec2>,
    pub animation_frame: u32,
    pub fighter_attributes: &'a FighterAttributes,
    pub attack_scripts: &'a Assets<FighterAttackScript>,
    pub attack_script_assets: &'a FighterAttackScriptAssets,
    pub facing_direction: &'a FighterFacingDirection,
+    pub stage_collision: &'a StageCollision,
 }

-fn animation_root_motion_to_gameplay(
-    delta: FGVec3,
+fn animation_position_to_gameplay(
+    position: FGVec3,
    facing_direction: &FighterFacingDirection,
 ) -> FGVec2 {
-    FGVec2::new(delta.z * facing_direction.to_sign(), delta.y)
+    FGVec2::new(position.z * facing_direction.to_sign(), position.y)
 }

 impl UpdateContext<'_> {
@@ -226,6 +252,8 @@ pub struct CollisionContext<'a> {
    pub stage_collision: &'a StageCollision,
    pub leave_ground_ecb_lock_duration: u32,
    pub presentation_snap: &'a mut FighterPresentationSnap,
+    pub fighter_ledge_collision_box: FGRect,
+    pub ledge_grab_lockout_active: bool,
    pub downward_stick_threshold: FGi32,
 }

@@ -247,6 +275,17 @@ impl CollisionContext<'_> {
            ignore_soft_platforms,
        )
    }
+    pub fn air_collide_with_ledges(
+        &self,
+    ) -> Option<crate::fighter::collision::AirCollisionWithLedgeResult> {
+        if self.ledge_grab_lockout_active {
+            return None;
+        }
+        crate::fighter::collision::air_collide_with_ledges(
+            &self.fighter_ledge_collision_box,
+            self.stage_collision,
+        )
+    }
 }

 fighter_states! {
@@ -260,6 +299,8 @@ fighter_states! {
    JumpSquat => jump::JumpSquatState,
    Jump => jump::JumpState,
    Land => land::LandingState,
+    LedgeWait => ledge_wait::LedgeWaitState,
+    LedgeAction => ledge_action::LedgeActionState,
    AirDodge => air_dodge::AirDodgeState,
    Turn => turn::TurnState,
    GroundAttack => ground_attack::GroundAttackState,
@@ -285,6 +326,7 @@ pub struct FighterFrameQuery {
    pub facing_direction: &'static mut FighterFacingDirection,
    pub animation_frame: &'static mut FighterAnimationFrame,
    pub vulnerability: &'static mut FighterInvulnerabilityState,
+    pub ledge_grab_lockout: &'static mut FighterLedgeGrabLockout,
    pub fighter: &'static Fighter,
    pub bone_matrices: &'static FighterBoneMatrices,
 }
@@ -320,6 +362,7 @@ impl<'w, 's> FighterFrameQueryItem<'w, 's> {
        InterruptContext {
            input: &self.input,
            facing_direction: &mut self.facing_direction,
+            ledge_grab_lockout: &mut self.ledge_grab_lockout,
            game_settings,
            fighter_attributes: attributes,
            animation,
@@ -335,20 +378,28 @@ impl<'w, 's> FighterFrameQueryItem<'w, 's> {
        attributes: &'a FighterAttributes,
        attack_script_assets: &'a FighterAttackScriptAssets,
        game_settings: &'a GameSettings,
+        stage_collision: &'a StageCollision,
+        baked_animations: &'a BakedFighterAnimations,
+        model_scale: FGi32,
    ) -> EnterContext<'a> {
        EnterContext {
            input: &mut self.input,
            hitboxes: &mut self.hitboxes,
            velocity: &mut self.velocity,
            knockback_velocity: &mut self.knockback_velocity,
+            translation: &mut self.translation,
            stale_move_queue: &mut self.stale_move_queue,
            facing_direction: &mut self.facing_direction,
            animation_frame: &mut self.animation_frame,
            surface: &mut self.surface,
            vulnerability: &mut self.vulnerability,
+            presentation_snap: &mut self.presentation_snap,
            fighter_attributes: attributes,
            attack_script_assets,
            game_settings,
+            stage_collision,
+            baked_animations,
+            model_scale,
        }
    }

@@ -367,7 +418,16 @@ impl<'w, 's> FighterFrameQueryItem<'w, 's> {
        attributes: &'a FighterAttributes,
        attack_scripts: &'a Assets<FighterAttackScript>,
        attack_script_assets: &'a FighterAttackScriptAssets,
+        stage_collision: &'a StageCollision,
    ) -> UpdateContext<'a> {
+        let animation_root_motion_delta = animation_position_to_gameplay(
+            self.bone_matrices.root_motion_delta(),
+            &self.facing_direction,
+        );
+        let animation_root_position = self
+            .bone_matrices
+            .root_motion_position()
+            .map(|_| self.translation.0 + animation_root_motion_delta);
        UpdateContext {
            translation: &mut self.translation,
            prev_translation: &mut self.prev_translation,
@@ -377,24 +437,28 @@ impl<'w, 's> FighterFrameQueryItem<'w, 's> {
            surface: &mut self.surface,
            knockback_velocity: &mut self.knockback_velocity,
            game_settings,
-            animation_root_motion_delta: animation_root_motion_to_gameplay(
-                self.bone_matrices.root_motion_delta(),
-                &self.facing_direction,
-            ),
+            animation_root_motion_delta,
+            animation_root_position,
            animation_frame: self.animation_frame.frame,
            vulnerability: &mut self.vulnerability,
            fighter_attributes: attributes,
            attack_scripts,
            attack_script_assets,
            facing_direction: &self.facing_direction,
+            stage_collision: &stage_collision,
        }
    }

    fn collision_context<'a>(
        &'a mut self,
        stage_collision: &'a StageCollision,
+        fighter_manifest: &'a FighterManifest,
        game_settings: &'a GameSettings,
    ) -> CollisionContext<'a> {
+        let fighter_ledge_collision_box = FGRect {
+            origin: self.translation.0 + fighter_manifest.ledge_grab_box_start,
+            end: self.translation.0 + fighter_manifest.ledge_grab_box_end,
+        };
        CollisionContext {
            translation: &mut self.translation,
            prev_translation: &self.prev_translation,
@@ -409,6 +473,8 @@ impl<'w, 's> FighterFrameQueryItem<'w, 's> {
                .fighter_common
                .leave_ground_ecb_frame_lock_duration,
            downward_stick_threshold: game_settings.input_common.run_stick_threshold,
+            fighter_ledge_collision_box,
+            ledge_grab_lockout_active: self.ledge_grab_lockout.is_active(),
        }
    }
 }
@@ -432,6 +498,7 @@ pub struct StatefulFighterQuery {
 pub fn state_update_system(
    mut query: Query<StatefulFighterQuery>,
    game_settings: Res<GameSettings>,
+    stage_collision: Res<StageCollision>,
    attack_scripts: Res<Assets<FighterAttackScript>>,
    manifests: Res<Assets<FighterManifest>>,
 ) {
@@ -455,6 +522,7 @@ pub fn state_update_system(
            &manifest.attributes,
            &attack_scripts,
            &fighter.attack_script_assets,
+            &stage_collision,
        );
        state.update(&mut update_ctx);
    }
@@ -466,7 +534,10 @@ fn transition_state(
    frame: &mut FighterFrameQueryItem,
    attributes: &FighterAttributes,
    attack_script_assets: &FighterAttackScriptAssets,
+    stage_collision: &StageCollision,
    game_settings: &GameSettings,
+    baked_animations: &BakedFighterAnimations,
+    model_scale: FGi32,
 ) {
    let old_name = current.name();
    let new_name = next.name();
@@ -480,7 +551,14 @@ fn transition_state(
                .leave_ground_ecb_frame_lock_duration,
        );
    }
-    next.on_enter(&mut frame.enter_context(attributes, attack_script_assets, game_settings));
+    next.on_enter(&mut frame.enter_context(
+        attributes,
+        attack_script_assets,
+        game_settings,
+        stage_collision,
+        baked_animations,
+        model_scale,
+    ));
    *current = next;
    info!("{} -> {}", old_name, new_name);
 }
@@ -508,6 +586,9 @@ pub fn state_interrupt_system(
        let manifest = fighter_manifests
            .get(&fighter.manifest)
            .expect("Fighter manifest should be valid");
+        let baked = baked_animations
+            .get(&animations.baked)
+            .expect("Animation should exist");

        let new_state = if let Some(reaction) = pending_hit_reaction.take() {
            hitstop.remaining_frames = *reaction.victim_hitstop_frames;
@@ -579,7 +660,10 @@ pub fn state_interrupt_system(
                &mut frame,
                &manifest.attributes,
                attack_script_assets,
+                &stage_collision,
                &game_settings,
+                baked,
+                manifest.model_scale,
            );
        };
    }
@@ -594,6 +678,7 @@ pub fn state_collision_interrupt_system(
    mut match_state: ResMut<MatchState>,
    stage_registry: Res<StageManifestRegistry>,
    stage_manifests: Res<Assets<StageManifest>>,
+    baked_animations: Res<Assets<BakedFighterAnimations>>,
 ) {
    let Some(stage_manifest_handle) = stage_registry.get(match_config.stage) else {
        return;
@@ -608,6 +693,7 @@ pub fn state_collision_interrupt_system(
            mut state,
            mut frame,
            fighter,
+            animations,
            attack_script_assets,
            mut hitstop,
            mut pending_respawn,
@@ -619,6 +705,9 @@ pub fn state_collision_interrupt_system(
        let manifest = fighter_manifests
            .get(&fighter.manifest)
            .expect("Fighter manifest should be valid");
+        let baked = baked_animations
+            .get(&animations.baked)
+            .expect("Animation should exist");

        if pending_respawn.0 {
            **pending_respawn = false;
@@ -665,7 +754,10 @@ pub fn state_collision_interrupt_system(
                &mut frame,
                &manifest.attributes,
                attack_script_assets,
+                &stage_collision,
                &game_settings,
+                baked,
+                manifest.model_scale,
            );
            continue;
        }
@@ -675,7 +767,7 @@ pub fn state_collision_interrupt_system(
        }

        let new_state = state.check_collision_interrupt(
-            &mut frame.collision_context(&stage_collision, &game_settings),
+            &mut frame.collision_context(&stage_collision, manifest, &game_settings),
        );
        if let Some(new_state) = new_state {
            transition_state(
@@ -684,8 +776,81 @@ pub fn state_collision_interrupt_system(
                &mut frame,
                &manifest.attributes,
                &attack_script_assets,
+                &stage_collision,
                &game_settings,
+                baked,
+                manifest.model_scale,
            );
        }
    }
 }
+
+#[cfg(test)]
+mod tests {
+    use super::*;
+    use crate::fighter::ecb::FighterPreviousECB;
+    use crate::stage::line::{StageLedge, StageLedgeSide, StageVertexID};
+
+    #[test]
+    fn animation_positions_map_forward_to_facing_and_preserve_height() {
+        let position = FGVec3::lit("99", "3", "5");
+
+        assert_eq!(
+            animation_position_to_gameplay(position, &FighterFacingDirection::Right),
+            FGVec2::lit("5", "3")
+        );
+        assert_eq!(
+            animation_position_to_gameplay(position, &FighterFacingDirection::Left),
+            FGVec2::lit("-5", "3")
+        );
+    }
+
+    #[test]
+    fn ledge_lockout_suppresses_ledge_collision() {
+        let ledge_id = StageVertexID {
+            polygon: 0,
+            vertex: 0,
+        };
+        let stage_collision = StageCollision {
+            ledges: vec![StageLedge {
+                id: ledge_id,
+                position: FGVec2::ZERO,
+                hang_side: StageLedgeSide::Left,
+            }],
+            ..default()
+        };
+        let previous_translation = FighterPreviousTranslation::default();
+        let input = FighterInput::default();
+        let mut translation = FighterTranslation::default();
+        let mut velocity = FighterVelocity::default();
+        let mut surface = FighterSurfaceState::default();
+        let mut ecb = FighterECB::default();
+        let previous_ecb = FighterPreviousECB::from(ecb);
+        let mut presentation_snap = FighterPresentationSnap::default();
+        let mut context = CollisionContext {
+            translation: &mut translation,
+            prev_translation: &previous_translation,
+            input: &input,
+            velocity: &mut velocity,
+            surface: &mut surface,
+            ecb: &mut ecb,
+            prev_ecb: &previous_ecb,
+            stage_collision: &stage_collision,
+            leave_ground_ecb_lock_duration: 0,
+            presentation_snap: &mut presentation_snap,
+            fighter_ledge_collision_box: FGRect {
+                origin: FGVec2::lit("-1", "1"),
+                end: FGVec2::lit("1", "-1"),
+            },
+            ledge_grab_lockout_active: true,
+            downward_stick_threshold: FGi32::ONE,
+        };
+
+        assert!(context.air_collide_with_ledges().is_none());
+        context.ledge_grab_lockout_active = false;
+        assert_eq!(
+            context.air_collide_with_ledges().map(|result| result.ledge),
+            Some(ledge_id)
+        );
+    }
+}
@@ -45,6 +45,8 @@ pub struct FighterSettingsCommon {
    pub leave_ground_ecb_frame_lock_duration: u32,
    pub platform_pass_platform_ignore_duration_frames: u32,
    pub platform_pass_initial_downwards_velocity: FGi32,
+    /// Frames during which a fighter cannot grab any ledge after dropping from one.
+    pub ledge_drop_regrab_lockout_duration_frames: u32,

    pub intangible_color: Color,
    pub intangible_pulse_duration: u32,
@@ -3,3 +3,4 @@ pub mod segment;
 pub mod vec;
 pub mod fixed_transform;
 pub mod vec3;
+pub mod rect;
@@ -0,0 +1,12 @@
+use crate::math::vec::FGVec2;
+
+pub struct FGRect {
+    pub origin: FGVec2,
+    pub end: FGVec2,
+}
+
+impl FGRect {
+    pub fn contains_point(&self, point: FGVec2) -> bool {
+        point.x >= self.origin.x && point.y <= self.origin.y && point.x <= self.end.x && point.y >= self.end.y
+    }
+}
@@ -2,14 +2,14 @@ use bevy::{color::palettes::css::RED, prelude::*};

 use crate::{
    match_loading::MatchConfig, math::{int::FGi32, vec3::FGVec3}, stage::{
-        line::StageCollision,
+        line::{StageCollision, StageLedgeSide},
        manifest::{StageManifest, StageManifestRegistry},
    },
 };

 pub fn debug_draw_scene(mut gizmos: Gizmos, stage_collision: Res<StageCollision>) {
    for poly in stage_collision.stage_polys.iter() {
-        for segment in poly.segments.iter() {
+        for segment in &poly.segments {
            let from = segment.segment.point1().to_vec2();
            let to = segment.segment.point2().to_vec2();
            let from_3d = Vec3::new(from.x, from.y, 0.0);
@@ -20,6 +20,20 @@ pub fn debug_draw_scene(mut gizmos: Gizmos, stage_collision: Res<StageCollision>
            gizmos.arrow(midpoint, midpoint + normal_3d, RED);
        }
    }
+
+    for ledge in &stage_collision.ledges {
+        let position = ledge.position.to_vec2().extend(0.0);
+        let direction = match ledge.hang_side {
+            StageLedgeSide::Left => Vec3::NEG_X,
+            StageLedgeSide::Right => Vec3::X,
+        };
+        gizmos.circle(position, 1.5, bevy::color::palettes::css::LIME);
+        gizmos.arrow(
+            position,
+            position + direction * 4.0,
+            bevy::color::palettes::css::LIME,
+        );
+    }
 }

 pub fn debug_draw_blast_zones(
@@ -3,7 +3,7 @@
 use bevy::prelude::*;
 use serde::{Deserialize, Serialize};

-use crate::math::{segment::FGSegment2d, vec::FGVec2};
+use crate::math::{rect::FGRect, segment::FGSegment2d, vec::FGVec2};

 #[derive(Reflect, Clone, Copy, PartialEq, Serialize, Deserialize)]
 pub enum StagePolyLineSegmentType {
@@ -32,6 +32,27 @@ pub struct StageLineID {
    pub segment: usize,
 }

+/// Identifies a corner in the stage collision geometry.
+#[derive(Reflect, Hash, Debug, Clone, Copy, Default, PartialEq, Eq)]
+pub struct StageVertexID {
+    pub polygon: usize,
+    pub vertex: usize,
+}
+
+/// The side of a ledge on which a grabbing fighter hangs.
+#[derive(Reflect, Serialize, Deserialize, Hash, Debug, Clone, Copy, PartialEq, Eq)]
+pub enum StageLedgeSide {
+    Left,
+    Right,
+}
+
+#[derive(Reflect, Hash, Debug, Clone, Copy, PartialEq)]
+pub struct StageLedge {
+    pub id: StageVertexID,
+    pub position: FGVec2,
+    pub hang_side: StageLedgeSide,
+}
+
 #[derive(Reflect, Clone, Default)]
 pub struct StagePoly {
    pub poly_type: StagePolyType,
@@ -44,10 +65,39 @@ pub struct StagePlaneIntersectResult {
    pub normal: FGVec2,
 }

+pub struct StageLedgeIntersectResult {
+    pub vertex_id: StageVertexID,
+    pub ledge_idx: usize
+}
+
+
 #[derive(Resource, Reflect, Clone, Default)]
 #[reflect(Resource)]
 pub struct StageCollision {
    pub stage_polys: Vec<StagePoly>,
+    pub ledges: Vec<StageLedge>,
+}
+
+impl StageCollision {
+    pub fn intersect_ledges(&self, ledge_grab_box: &FGRect) -> Option<StageLedgeIntersectResult> {
+        for (ledge_idx, ledge) in self.ledges.iter().enumerate() {
+            if ledge_grab_box.contains_point(ledge.position) {
+                return Some(StageLedgeIntersectResult {
+                    vertex_id: ledge.id,
+                    ledge_idx
+                });
+            }
+        }
+        None
+    }
+
+    pub fn find_ledge_by_vertex(&self, vertex: StageVertexID) -> Option<&StageLedge> {
+        self.ledges.iter().find(|ledge| ledge.id == vertex)
+    }
+
+    pub fn get_segment(&self, segment: StageLineID) -> Option<&StagePolyLineSegment> {
+        self.stage_polys.get(segment.polygon).map(|poly| poly.segments.get(segment.segment))?
+    }
 }

 impl StagePoly {
@@ -9,7 +9,10 @@ use strum_macros::EnumIter;
 use crate::{
    AppState, game_settings::GameSettings, math::{vec::FGVec2}, stage::{
        StagePoly,
-        line::{StageCollision, StagePolyLineSegmentType, StagePolyType},
+        line::{
+            StageCollision, StageLedge, StageLedgeSide, StagePolyLineSegment,
+            StagePolyLineSegmentType, StagePolyType, StageVertexID,
+        },
    }, texture_reference::TextureReference,
 };
 use bevy::prelude::*;
@@ -71,6 +74,16 @@ pub enum StageId {
 pub struct StagePolyDefinition {
    poly_type: StagePolyType,
    lines: Vec<(FGVec2, StagePolyLineSegmentType)>,
+    #[serde(default)]
+    ledges: Vec<StageLedgeDefinition>,
+}
+
+#[derive(Serialize, Deserialize, Clone, Copy, Reflect)]
+pub struct StageLedgeDefinition {
+    /// Index into the polygon's `lines`, identifying the corner position.
+    vertex: usize,
+    /// Side of the corner on which a grabbing fighter will hang.
+    hang_side: StageLedgeSide,
 }

 #[derive(Deserialize, Clone, Asset, Reflect, RonAsset)]
@@ -176,6 +189,13 @@ pub fn prepare_stage_manifests(
            );
            return;
        }
+        if let Err(error) = manifest.validate_ledges() {
+            fail(
+                &mut next_state,
+                &format!("{:?} has invalid ledges: {error}", manifest.id),
+            );
+            return;
+        }
        if registry.insert(manifest.id, handle.clone()).is_some() {
            fail(
                &mut next_state,
@@ -267,6 +287,14 @@ impl StageManifest {
        Ok(())
    }

+    fn validate_ledges(&self) -> Result<(), String> {
+        for (polygon_index, definition) in self.polygons.iter().enumerate() {
+            definition.validate_ledges(polygon_index)?;
+        }
+
+        Ok(())
+    }
+
    pub fn to_collision(&self) -> StageCollision {
        let stage_polys: Vec<StagePoly> = self
            .polygons
@@ -274,7 +302,84 @@ impl StageManifest {
            .map(|def| StagePoly::build(def.poly_type, &def.lines))
            .collect();

-        StageCollision { stage_polys }
+        let ledges = self
+            .polygons
+            .iter()
+            .enumerate()
+            .flat_map(|(polygon, definition)| definition.resolved_ledges(polygon))
+            .collect();
+
+        StageCollision {
+            stage_polys,
+            ledges,
+        }
+    }
+}
+
+impl StagePolyDefinition {
+    fn validate_ledges(&self, polygon_index: usize) -> Result<(), String> {
+        let polygon = StagePoly::build(self.poly_type, &self.lines);
+        let mut vertices = HashSet::with_capacity(self.ledges.len());
+
+        for ledge in &self.ledges {
+            if ledge.vertex >= self.lines.len() {
+                return Err(format!(
+                    "polygon {polygon_index} references missing vertex {}",
+                    ledge.vertex
+                ));
+            }
+            if !vertices.insert(ledge.vertex) {
+                return Err(format!(
+                    "polygon {polygon_index} defines vertex {} as a ledge more than once",
+                    ledge.vertex
+                ));
+            }
+
+            let outgoing = polygon.get_segment(ledge.vertex);
+            let incoming_index = if ledge.vertex > 0 {
+                Some(ledge.vertex - 1)
+            } else if matches!(self.poly_type, StagePolyType::Closed) {
+                polygon.segments.len().checked_sub(1)
+            } else {
+                None
+            };
+            let incoming = incoming_index.and_then(|index| polygon.get_segment(index));
+            let is_walkable_floor = |segment: Option<&StagePolyLineSegment>| {
+                segment.is_some_and(|segment| {
+                    segment.segment_type == StagePolyLineSegmentType::Floor
+                        && segment.normal.y > crate::math::int::FGi32::ZERO
+                })
+            };
+            let (interior, exterior) = match ledge.hang_side {
+                StageLedgeSide::Left => (outgoing, incoming),
+                StageLedgeSide::Right => (incoming, outgoing),
+            };
+            if !is_walkable_floor(interior) {
+                return Err(format!(
+                    "polygon {polygon_index} vertex {} has no upward-facing floor opposite its {:?} hang side",
+                    ledge.vertex, ledge.hang_side
+                ));
+            }
+            if is_walkable_floor(exterior) {
+                return Err(format!(
+                    "polygon {polygon_index} vertex {} is between two walkable floors rather than at an exposed corner",
+                    ledge.vertex
+                ));
+            }
+        }
+
+        Ok(())
+    }
+
+    fn resolved_ledges(&self, polygon: usize) -> impl Iterator<Item = StageLedge> + '_ {
+        self.ledges.iter().map(move |ledge| StageLedge {
+            id: StageVertexID {
+                polygon,
+                vertex: ledge.vertex,
+            },
+            position: self.lines[ledge.vertex].0,
+            hang_side: ledge.hang_side,
+        })
    }
 }

@@ -319,3 +424,85 @@ impl StageCameraProfile {
                < 90.0
    }
 }
+
+#[cfg(test)]
+mod tests {
+    use super::*;
+
+    fn platform(ledges: Vec<StageLedgeDefinition>) -> StagePolyDefinition {
+        StagePolyDefinition {
+            poly_type: StagePolyType::Platform,
+            lines: vec![
+                (FGVec2::lit("-5", "0"), StagePolyLineSegmentType::Floor),
+                (FGVec2::lit("5", "0"), StagePolyLineSegmentType::Floor),
+            ],
+            ledges,
+        }
+    }
+
+    #[test]
+    fn platform_endpoints_can_be_defined_as_ledges() {
+        let definition = platform(vec![
+            StageLedgeDefinition {
+                vertex: 0,
+                hang_side: StageLedgeSide::Left,
+            },
+            StageLedgeDefinition {
+                vertex: 1,
+                hang_side: StageLedgeSide::Right,
+            },
+        ]);
+
+        assert_eq!(definition.validate_ledges(3), Ok(()));
+        let ledges = definition.resolved_ledges(3).collect::<Vec<_>>();
+        assert_eq!(ledges[0].id, StageVertexID { polygon: 3, vertex: 0 });
+        assert_eq!(ledges[0].position, FGVec2::lit("-5", "0"));
+        assert_eq!(ledges[1].id, StageVertexID { polygon: 3, vertex: 1 });
+        assert_eq!(ledges[1].position, FGVec2::lit("5", "0"));
+    }
+
+    #[test]
+    fn invalid_and_duplicate_ledge_vertices_are_rejected() {
+        let missing = platform(vec![StageLedgeDefinition {
+            vertex: 2,
+            hang_side: StageLedgeSide::Right,
+        }]);
+        assert!(missing.validate_ledges(0).is_err());
+
+        let duplicate = platform(vec![
+            StageLedgeDefinition {
+                vertex: 0,
+                hang_side: StageLedgeSide::Left,
+            },
+            StageLedgeDefinition {
+                vertex: 0,
+                hang_side: StageLedgeSide::Right,
+            },
+        ]);
+        assert!(duplicate.validate_ledges(0).is_err());
+    }
+
+    #[test]
+    fn ledge_must_border_an_upward_facing_floor() {
+        let definition = StagePolyDefinition {
+            poly_type: StagePolyType::Platform,
+            lines: vec![
+                (FGVec2::lit("0", "0"), StagePolyLineSegmentType::Wall),
+                (FGVec2::lit("0", "5"), StagePolyLineSegmentType::Wall),
+            ],
+            ledges: vec![StageLedgeDefinition {
+                vertex: 0,
+                hang_side: StageLedgeSide::Left,
+            }],
+        };
+
+        assert!(definition.validate_ledges(0).is_err());
+
+        let wrong_side = platform(vec![StageLedgeDefinition {
+            vertex: 0,
+            hang_side: StageLedgeSide::Right,
+        }]);
+        assert!(wrong_side.validate_ledges(0).is_err());
+    }
+
+}