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#124 twist-sign VERIFIED correct (live missile bench) + the rig to do it

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The frame-adapter's inferred twist-sign flip (SelectSlice theta -= twist,
vs the binary's += pre-reflection) was the last unverified half of #124 --
every earlier probe ran at twist 0.  Bench: stationary madcat target with
the torso PINNED at 0 / +140 / -140 deg, LRM salvos from a fixed shooter
(missiles = the authentic cylinder path; the binary DROPPED zone -1 beam
damage).  Result: slice picks track the physically-facing flank in BOTH
directions (twist-left -> right-family zones for left-flank impacts,
twist-right -> left-family), deterministic, wrong-sign outcome (slice 7
vs observed slice 1) clearly excluded.  No game-code change needed.

Instrumentation added (all env-gated):
- torso.cpp BT_FORCE_TWIST=<-1..1>: HOLD the sim's analogTwistAxis (the
  input-level pin was dead -- live input rides the CONTROLS.MAP device
  push, and Basic mode auto-centers; sim-level is plumbing-independent).
- dmgtable.cpp [slice] line: rot flag, live twist, thetaIn/thetaAdj,
  chosen slice -- the weighted leaf roll made zone-only logs ambiguous.
- [dmgresolve] now names the zone (BTMechZoneSegAndName).
- mech4.cpp BT_FORCE_TWIST input pin + one-shot mode cycle (kept as doc
  of the dead path), mechmppr [mppr] mode probe.
- scratchpad/night11/twistsign.sh: the 3-config bench.

Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
This commit is contained in:
Joe DiPrima
2026-08-04 15:49:14 -05:00
co-authored by Claude Fable 5
parent 952f10b18d
commit 1f995ee35a
5 changed files with 122 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
game/reconstructed/dmgtable.cpp
+23 -1
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@@ -175,6 +175,7 @@ DamageZonePercentTable *
{
if (sliceCount <= 0) return 0;
Scalar thetaIn = theta;
if (rotateWithTorso) // binary this[3] != 0
{
// #124 frame adapter, angular half: theta arrives in the 1995 frame
@@ -189,6 +190,19 @@ DamageZonePercentTable *
int index = (int)floorf(theta * (Scalar)sliceCount * (1.0f / TwoPi));
if (index < 0) index = 0;
if (index > sliceCount - 1) index = sliceCount - 1;
// #124 twist-sign bench: expose the twist term itself -- the leaf is a
// weighted roll, so the SLICE choice (not the rolled zone) is the signal.
if (getenv("BT_DMGTABLE_LOG"))
{
static int s_sl = 0;
if (s_sl++ < 400)
DEBUG_STREAM << "[slice] rot=" << (int)rotateWithTorso
<< " twist=" << (float)owner->TorsoHeading()
<< " thetaIn=" << (float)thetaIn
<< " thetaAdj=" << (float)theta
<< " -> slice " << index << "/" << sliceCount << std::endl;
}
return slices[index];
}
@@ -327,6 +341,12 @@ int
{
static int s_rh = 0;
if (s_rh++ < 400)
{
extern int BTMechZoneSegAndName(void *mech_v, int zone_idx,
int *seg_out, const char **name_out);
int seg = -1; const char *zname = 0;
if (resolved >= 0)
BTMechZoneSegAndName((void *)owner, resolved, &seg, &zname);
DEBUG_STREAM << "[dmgresolve] impact=(" << impact.x << ","
<< impact.y << "," << impact.z << ")"
<< " local=(" << local.x << "," << local.y << "," << local.z << ")"
@@ -334,7 +354,9 @@ int
<< " frac=" << (depth / heightRef)
<< " layer=" << layerIndex << "/" << layerCount
<< " theta=" << theta
<< " -> zone " << resolved << std::endl;
<< " -> zone " << resolved
<< " '" << (zname ? zname : "?") << "'" << std::endl;
}
}
return resolved;
}
game/reconstructed/mech4.cpp
+28
View File
@@ -3384,6 +3384,34 @@ void
}
sPrevXT = xtNow;
gBTTwistAxis = sTwist;
// DIAG (BT_FORCE_TWIST=<-1..1>): pin the twist axis for
// the #124 twist-sign bench (the axis is a RATE demand,
// so a pinned axis slews the torso to its per-mech
// LIMIT and holds -- a known, stable twist state).
// Same pattern as BT_FORCE_ELEV below.
{
static float s_ft = -2.0f;
if (s_ft < -1.5f)
{
const char *ft = getenv("BT_FORCE_TWIST");
s_ft = ft ? (float)atof(ft) : -3.0f;
}
if (s_ft >= -1.0f)
{
gBTTwistAxis = s_ft;
// BASIC mode ignores the twist axis (the stick
// steers the legs; the torso auto-centers), so
// the pin also cycles the control mode ONCE:
// Basic -> Standard puts the mapper's twist
// branch in charge.
static int s_ftMode = 0;
if (!s_ftMode)
{
s_ftMode = 1;
gBTModeCycle = 1;
}
}
}
// TORSO ELEVATION (pitch aim -- the pod stick's Y
// axis; every 1995 control mode routes it to
game/reconstructed/mechmppr.cpp
+9
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@@ -840,6 +840,15 @@ void
extern float gBTElevAxis;
stickPosition.y = gBTElevAxis;
}
// #124 twist-sign bench probe: is the axis routed, and in what mode?
if (getenv("BT_TORSO_LOG"))
{
static int s_mp = 0;
if ((s_mp++ % 60) == 0 && s_mp < 1200)
DEBUG_STREAM << "[mppr] mode=" << (int)controlMode
<< " twistAxis=" << gBTTwistAxis
<< " keyTurn=" << key_turn << "\n" << std::flush;
}
if (controlMode == BasicMode)
{
stickPosition.x = key_turn;
game/reconstructed/torso.cpp
+17
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@@ -587,6 +587,23 @@ void
static int s_sweep = 0;
analogTwistAxis = ((++s_sweep / 90) & 1) ? -1.0f : 1.0f; // +/- every ~90 frames
}
// #124 twist-sign bench (BT_FORCE_TWIST=<-1..1>): HOLD the analog axis at a
// constant (the sweep above alternates) -- the sim integrates currentTwist
// to the per-mech limit and stays, giving the cylinder-table bench a known
// twist state at the SIM level, independent of the input plumbing.
{
static float s_forceTwist = -2.0f;
if (s_forceTwist < -1.5f)
{
const char *ft = getenv("BT_FORCE_TWIST");
s_forceTwist = ft ? (float)atof(ft) : -3.0f;
}
if (s_forceTwist >= -1.0f)
{
effectiveTwistRate = baseTwistRate;
analogTwistAxis = s_forceTwist;
}
}
// TORSO GATE PROBE (BT_TORSO_LOG): why is the twist rate zero?
if (getenv("BT_TORSO_LOG"))
scratchpad/night11/twistsign.sh
+45
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@@ -0,0 +1,45 @@
#!/usr/bin/env bash
# #124 TWIST-SIGN VERIFY -- the follow-up the frame-adapter work left open:
# SelectSlice's torso-twist term sign was INFERRED from the z-negation
# reflection, never exercised (every probe ran at twist 0). Rig: stationary
# madcat TARGET pinned at full twist (BT_FORCE_TWIST, rate-demand axis ->
# slews to the per-mech limit and holds), shooter approaches to a fixed
# bearing and pulses LRM salvos (BT_AF_MISSILE -- missiles are the authentic
# cylinder-path weapon; beams with zone -1 were DROPPED by the binary).
# Two configs: twist +1 vs -1. READ: target's [dmgresolve] zone spread --
# hull-fixed wheels (legs/hip) must NOT move between runs (control); torso
# wheels must swap L/R families to match the flank visibly facing the
# shooter (A's BT_SHOT captures are the ground truth).
set -x
. /c/git/bt411/scratchpad/night6/bench_common.sh
cd /c/git/bt411/content || exit 1
bt_assert_player_env
for TW in 0 +1 -1; do
TAG=Z; [ "$TW" = "+1" ] && TAG=P; [ "$TW" = "-1" ] && TAG=N
taskkill //F //IM btl4.exe > /dev/null 2>&1
sleep 2
rm -f ts_${TAG}_a.log ts_${TAG}_b.log ts${TAG}_*.png
bt_expert_egg MP.EGG TS.EGG
sed -i "s/^map=.*/map=grass/; s/^time=.*/time=day/; s/^vehicle=.*/vehicle=madcat/" TS.EGG
# TARGET: stationary, torso pinned; log every cylinder resolution.
BT_FORCE_TWIST=$TW BT_DMGTABLE_LOG=1 BT_CYL_LOG=1 BT_DMG_LOG=1 BT_MP_LOG=1 \
bt_launch ts_${TAG}_b.log TS.EGG 0x0C -net 1601
sleep 2
# SHOOTER: approach to fixed range, missile salvos only, periodic captures.
BT_GOTO=enemy BT_GOTO_STOP=90 BT_KEY_NOFOCUS=1 \
BT_AF_MISSILE=1 BT_AF_PERIOD=6 \
BT_DMG_LOG=1 BT_MP_LOG=1 BT_SHOT_EVERY=300 BT_SHOT_PREFIX=ts$TAG \
bt_launch ts_${TAG}_a.log TS.EGG 0x03 -net 1501
sleep 5
python ../tools/btconsole.py TS.EGG 127.0.0.1:1501 127.0.0.1:1601 \
> ts_${TAG}_relay.log 2>&1 &
RELAY=$!
sleep 170
kill $RELAY 2>/dev/null
taskkill //F //IM btl4.exe > /dev/null 2>&1
sleep 3
done
echo "=== resolves per run:"
grep -c dmgresolve ts_Z_b.log ts_P_b.log ts_N_b.log