Boresight parallax FIXED + the #4/#5 verdict instrumentation (Gitea #16, #4, #5)

PARALLAX (#16): the pick/fire ray was anchored at mech.y+5.0 (a port improvisation) while the sight line ran from the eyepoint (y=6.23) -- two parallel rays whose constant offset grew into the reported low-miss as range closed (measured ry +0.072 @50u -> +1.54 @2.7u). The decomp's sight and pick share the eye origin (HudSimulation @4b7830 chain). Fix: the viewpoint mech's cockpit eye owns the aim-camera publish in BOTH views, origin = its own eye translation; leveling + deliberate elevation untouched; chase view now converges to cockpit ballistics (V cannot change where shots land). After: pick pinned to the crosshair (ry <= 5e-6) from 50u to point-blank; 26 laser + 8 missile center-mass hits at 3/4-screen. Awaiting the reporters' approach-test. VERDICT INSTRUMENTATION (#4 closed authentic, #5 verdict posted): BT_RANGE_LOG per-frame pick tracing + BTGroundRayHitExact analytic cross-check (0/8000 arena fall-throughs; cavern 6/8400 single-frame grazes -- the 'crazy sliding' is the authentic world-pick + 500 m/s slide over depth discontinuities); BT_AUD_TAIL StopNote/fade timing + BT_FIRE_PULSE single-shot driver (the energy 'buzz' is the AUTHORED charging loop: crescendo through recharge, 1.309s authored release, measured within one frame). CAVERN.EGG: solo cavern test egg. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
2026-07-20 14:51:54 -05:00
parent d7158f1f82
commit 70eea6c1a4
13 changed files with 744 additions and 18 deletions
@@ -0,0 +1,229 @@
+[mission]
+adventure=BattleTech
+map=cavern
+scenario=freeforall
+time=day
+weather=clear
+temperature=27
+length=600
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+[pilots]
+pilot=200.0.0.96
+[200.0.0.96]
+hostType=0
+advancedDamage=1
+loadzones=1
+name=Aeolus
+bitmapindex=1
+experience=expert
+badge=VGL
+patch=Yellow
+role=Role::Default
+dropzone=one
+vehicle=bhk1
+vehicleValue=1000
+color=White
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+[BitMap::Large::Aeolus]
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+[smallbitmap]
+bitmap=BitMap::Small::Aeolus
+[BitMap::Small::Aeolus]
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+x=64
+y=16
+width=4
+[Role::Default]
+model=dfltrole
+[Role::NoReturn]
+model=noretun
@@ -79,11 +79,39 @@ jointtorso — NO explicit eye-side compose exists, one briefly added on false "
 probe readings double-rotated the view and is retired, see [[cockpit-view]]); the crosshair sits
 at screen center (`gBTAimX = 0` — the old `BTTwistToReticleX` slew was THE bug: the camera
 already yawed, so the crosshair counter-slid to HULL-forward, "twisting leaves the crosshairs
-behind"; `BT_AIM="x y"` still pins it for headless tests) → `BTGetAimRay` (the ACTIVE eye
+behind"; `BT_AIM="x y"` still pins it for headless tests) → `BTGetAimRay` (the BORESIGHT eye
 publishes pos+basis via `BTSetAimCamera`, leveled in pitch, the twist yaw riding in the basis) →
 `Mech::PickRayHit` (world ray → local frame → `BoundingBox::HitBy` slab test vs the collision
 template's ExtentBox → world hit point).

+**PICK-RAY ORIGIN = the TRUE EYEPOINT (Gitea #16 "shots land LOW, worse up close" — FIXED
+2026-07-20) [T1 evidence / T2 fix].** The task-#48 publish anchored the pick ray at
+`mech.y + 5.0` (a port improvisation) while the crosshair's sight line runs from the eyepoint
+(~y 6.2 on the DEV mech) — two parallel rays with a constant vertical offset, so the pick point
+slid DOWN the reticle as range closed (measured pre-fix via `BT_PARALLAX_LOG`, the pick point
+back-projected through the RENDER view: ry +0.07 @ 50u → +0.17 @ 16u → +0.32 @ 10u → +1.5 @
+2.7u; lasers AND missiles consume the pick, so both landed low). The binary's sight math is
+EYE-ORIGINATED [T1]: HudSimulation's designator HotBoxVector = target position transformed by
+`inverse(eyeSegToWorld)` ∘ `inverse(R(EyepointRotation))` where eyeSegToWorld = the HUD's mount
+SEGMENT frame × mech localToWorld (`@004b7830` part_013.c:5688-5702 — Ghidra drops the segment
+arg, disasm shows `hud+0xdc`; the seg→world composer is `FUN_00424da8` @00424da8); the VIEW is
+`inverse(jointtorso→jointeye→siteeyepoint)` (`FUN_004c22c4` part_013.c:11742); and the fired
+beam CONVERGES from the muzzle segment to the picked point `mech+0x37c` (`@004bace8`
+part_013.c:7742-7752) — so pick ray and sight line share the eye origin (the pod's division
+card cast from the view per Auric; the 0x37c/0x388 writer itself is in the un-exported gap).
+**The fix:** the viewpoint mech's cockpit `siteeyepoint` eye is marked the **BORESIGHT eye**
+(`DPLEyeRenderable::SetBoresightEye`, set in btl4vid.cpp) and owns the `BTSetAimCamera`
+publish in BOTH views (it executes in the mech's draw traversal every frame), origin = its own
+eye translation (eyeW row 4 — the exact frame the crosshair projects from); the leveling +
+`gBTEyeElev` re-application are unchanged. Chase ballistics are therefore IDENTICAL to cockpit
+(verified: chase-view pick lands at y=6.23076 = the cockpit eye height while the chase camera
+sits at y=11); the legacy `+5` anchor survives only as the no-boresight-eye fallback
+(spectator). Verified after: ry ≤ 5e-6 from 50u to point-blank 2.2u in cockpit AND glass
+builds; 26 laser `[dmghit]`s + 8 missile hits at range 1.7-2.2 on center-mass/upper zones with
+the lock ring on the target chest (`scratchpad/i16_laser.png`/`i16_missile.png`). Diags:
+`BT_PARALLAX_LOG` (pick→render-view back-projection via `BTProjectToRenderView`),
+`BT_GOTO_STOP`/`BT_GOTO_THR` (approach-test stop radius / walk throttle).
+
 **THE WORLD-PICK TARGET MODEL (task #41, the reconciliation — binary + pod-video evidence).**
 The target slot `mech+0x388` holds **whatever entity is downrange of the torso boresight** — a
 mech OR a WORLD entity (terrain/mesa/building). Evidence: (a) the weapon fire path is DOUBLY
@@ -387,6 +415,18 @@ thing: an EXPLICIT `JointedMover::~JointedMover()` in the reconstructed `~Mech`
 chain TWICE (the dtor-epilogue rule, [[reconstruction-gotchas]] §7) → a double-free of `collisionLists`
 + the segment table. Removing it fixed BOTH the death-row crash AND app-exit crashes. [T2]

+**⚠ The SILENT death-crash (Gitea #12, FIXED 2026-07-20) was NOT a mech-teardown bug at all — it
+was the DEATH-EXPLOSION AUDIO.** A silent hard crash (no WER/markers) a few seconds after ANY mech
+death — solo dummy, MP self-death, MP peer PEER_DOWN — deterministic on the first kill. Root cause:
+the death boom is the **AllExplosion preset (25 layered zones)**, but the port's OpenAL
+`SourceSet.sources[]` array was only **5** wide, so acquiring channels for it overwrote adjacent
+heap; the corruption turned fatal seconds later at the death Explosion's own audio-entity teardown
+(`FryDeathRow → Explosion::~Explosion → …DestroyEntityAudioObjects → ~Dynamic3DPatchSource →
+operator delete`) or the next sequenced virtual dispatch (`AudioControlSequence::RunSequence →
+Send`, garbage vtable). Fixed by sizing `sources[]` to the real max — see [[reconstruction-gotchas]]
+§21 (Gitea #12). NOT the held #16 boresight-eye dtor (exonerated), NOT the `rev=-64` mppr value
+(a `ControlsButton` negative = release, benign). [T2]
+
 ## Death SEQUENCE reconstruction — the map (2026-07-08)
 Full decomp map of the death path. Two tiers:
 **EXPORTED (reconstructable) [T1 read]:**
@@ -131,7 +131,10 @@ valid for reading the decomp, NOT for our compiled layout (see [[reconstruction-
 ### BTPlayer (0x294) experience/game-mode flag block (ctor @4c0bc8; see [[experience-levels]]) [T1]

 Seeded on the master branch from `btMission(+0x1f8)->experienceLevel(+0xe4)` (egg `experience`,
-parse @4d2f3e → `BTMission+0xe4`) and `advancedDamageOn(+0xf0)`:
+parse @4d2f3e → `BTMission+0xe4`) and `advancedDamageOn(+0xf0)`. The +0x1f8 mission pointer is
+the inherited `Player::playerMission`. Port members (issue #2): `simLive`/`heatModelOn`/
+`advancedDamageOn`(+2)/`levelFlag26c`/`levelFlag270`/`experienceLevel`; bridges
+`BTPlayerExperienceSimLive`/`…HeatModelOn`/`BTPlayerRoleLocksAdvanced` (btplayer.cpp):

 | Offset | Value by level (nov/std/vet/exp) | Verified readers |
 |---|---|---|
@@ -321,6 +324,8 @@ default-ON (`'0'` disables).
 | `BT_CRIT_PROBE=<zone>` | hammer one own-mech zone every 4s (crit-propagation diag, task #2; mech4.cpp) |
 | `BT_REPL_LOG` | replicant/MP replication log (mech4.cpp) |
 | `BT_GOTO="enemy"\|"x z"` / `BT_GOTO_LOG` | self-driving beeline (to the enemy or a map coordinate) + its log |
+| `BT_GOTO_STOP=<u>` / `BT_GOTO_THR=<0..1>` | beeline stop-radius / throttle overrides (Gitea #16 approach test: walk all the way in) |
+| `BT_PARALLAX_LOG` | 2 Hz `[parallax]`: the pick point back-projected through the RENDER view (`BTProjectToRenderView`, L4VIDEO.cpp) — a healthy boresight holds (rx,ry)≈(0,0) at every range (Gitea #16; [[combat-damage]] Targeting) |
 | `BT_MP_LOG` / `BT_MP_NET` / `BT_MP_FORCE_DMG` | MP diagnostics / forced cross-pod damage |
 | `BT_AUTODRIVE=<0..1>` | headless throttle |
 | `BT_KEY_NOFOCUS=1` | accept key input without window focus |
@@ -337,7 +337,27 @@ and every instrument is now live [T2]:**
  **GREEN width-1 caret triangle** (ctor @4550-4551 sets green/1 AFTER the yellow bar call —
  transcription color bug caught by a period reference screenshot, 2026-07-09; same for the
  bottom bowtie carets @4569-4570); pegs at 1200 with no target; the DISPLAYED range slides at
-  **500 m/s** toward the true pick range (HudSimulation :5652 [T1]). ⚠ A period pod screenshot
+  **500 m/s** toward the true pick range (HudSimulation :5652 [T1]).
+  **VERDICT (Gitea #4, 2026-07-20): the "range slides in/out crazily while walking" report is
+  AUTHENTIC behavior, not a bug [T2 measured].** Per-frame `BT_RANGE_LOG` traces (mech4.cpp, with
+  an independent Möller-Trumbore cross-check `BTGroundRayHitExact` in btvisgnd.cpp) on scripted
+  walks: ARENA1 garage cluster — every frame a real structure-face pick, true range legitimately
+  hopping 40↔600 m at silhouette edges, the caret in motion 74% of frames / ~24 direction
+  reversals per 10 s; CAVERN butte field — 806 instant >50 m jumps, 776 butte↔1200-default
+  boundary crossings, 106/139 s windows swinging >300 m (max 1143 m), caret reversing ~54×/10 s.
+  Every value tracks real geometry; the 500 m/s slide (authentic) then never rests. Elevation was
+  NOT the driver (arena floor is flat y=0) — depth discontinuities are. Cyd's "ray falls through
+  geometry" was checked: 0 fall-through frames on arena, 6/8400 (0.07%, single-frame silhouette
+  grazes) on cavern. Bounded infidelities noted for follow-up, NOT the reported symptom: (a) butte
+  collision (stepped YCyl tiers + cone, buttee_c.sld) is NARROWER than the sculpted buttee.bgf
+  rock — measured a 0.27 m graze past the r=14.6 tier while visibly inside rock (terrain-march
+  tier backstops it, error a few meters at point-blank); (b) the cavern's `butteeu` upper butte
+  sections (buttee.bgf re-instanced at y=50, VideoModel-only, NO solid stream) are
+  pick-transparent — aiming steeply up at a rock tower's top half reads through it; (c) boot
+  transient: before the aim camera is valid, the max-range fallback designates from uninitialized
+  ray floats → `shown` overshoots (~3400) and slides down for the first ~7 s (cosmetically hidden
+  by the 1200 caret peg). Traces: scratchpad i4_*_walk*.log; issue #4 comment has the summary.
+  ⚠ A period pod screenshot
  (`C:\git\image.webp`, likely a DIFFERENT pod revision — its crosshair is ~2.5× taller with
  arrowhead arms, NOT our binary's ±0.04..0.16 program) structurally CONFIRMS our layout: yellow
  bar + green caret + colored pip dots on the right ladder, bottom tape + green bowtie, rotating
@@ -141,7 +141,12 @@ and the boresight pointed that far DOWN, hitting terrain ~50-100 m short of the
 started over the mech's shoulder. Fix (L4VIDRND `DPLEyeRenderable::Execute`, the `BTSetAimCamera` publish):
 LEVEL the boresight (drop the view-dir pitch, rebuild an upright basis with world +Y) AND anchor its ORIGIN
 at the mech's torso (`myEntity->localToWorld` translation + ~5) instead of the render eye. The guns now fire
-along the mech's horizontal heading from the torso, independent of view mode and terrain tilt. The reticle X
+along the mech's horizontal heading from the torso, independent of view mode and terrain tilt.
+**⚠ ORIGIN part SUPERSEDED (2026-07-20, Gitea #16):** the `+5` torso anchor sat BELOW the sight line →
+shots landed LOW, worse at close range (boresight parallax). The pick ray origin is now the TRUE
+EYEPOINT: the viewpoint mech's cockpit `siteeyepoint` eye (the BORESIGHT eye) publishes the aim camera
+in BOTH views from its own eye translation — see [[combat-damage]] Targeting §parallax. The LEVELING +
+`gBTEyeElev` re-application stand unchanged. The reticle X
 still carries the torso twist (`BTTwistToReticleX`); reticle Y any elevation. VERIFIED end-to-end: solo,
 enemy 120 m ahead, **both chase AND cockpit** view → `[target] MECH under boresight ... mechPicks=59
 groundPicks=0` → beam → `*** DESTROYED`. Also proved `PickRayHit` resolves a REPLICANT when aimed at it
@@ -127,6 +127,23 @@ on top of it. Full detail: `docs/PROGRESS_LOG.md §5b, §8`.
    saturate early and fake "per-stride" rates — always timestamp before inferring cadence.
  - Still deferred: F21 attack velocity/time (all captured events were default 1), F22 HRTF
    (user has 2 speakers; enable via alsoft.ini `hrtf=true` for headphones).
+  - **Energy-weapon post-beam buzz = AUTHENTIC (Gitea #5 verdict, 2026-07-20)** [T2, measured]:
+    the reported "buzz/electrical sustaining 1–2 s past the beam" is the AUTHORED charge loop
+    (`LaserACharge01-04`, looped, release 1.309 s), started by the WeaponState==3 (Loading) watcher
+    at beam-off, volume authored to track PercentDone (crescendo to ready), stopped on 3→2 with the
+    authored 1.309 s release fade.  Measured live (BT_AUD_TAIL=1 + BT_FIRE_PULSE single shots):
+    beam 203–207 ms (authored DischargeTime 0.2 s); sustain loops cut ≤2 ms after leave-Firing
+    (authored release 0); charge StopNote ≤2 ms after Loading→Loaded; fades 1.311–1.326 s vs
+    authored 1.309 s (≤ 1 frame over); laser recharge 2.3–3.8 s, PPC 8.8–16.3 s under multi-weapon
+    generator load (authentic electrical model).  NOT the #12 source overflow — no energy preset
+    exceeds 5 zones (max 3; >5 is only the death/UI families: AllExplosion 25, MechExplosion01/
+    Death01 16, AllButtons 14, AllCoolant/AllProjectile 9, Warnings01/AuxExplosion01/AllHits 8,
+    AllWarning 7).  Caveat: the reporter's 2026-07-18 build predated 2edde29 (Emitter::SetDirty
+    DelayWatchersFlag poison retirement — PerformAndWatch skips ExecuteWatchers while set,
+    SIMULATE.cpp:461; cleared only by the encore path, UPDATE.cpp:215), which made emitter audio
+    watcher timing encore-erratic that session.  Harness kept (env-gated, additive): `[aud-tail]`
+    logging in `L4AUDLVL.cpp` (PLAY/STOP/fade) + `emitter.cpp` (state transitions), and
+    `BT_FIRE_PULSE="on,off"` single-shot trigger pulsing in `mech4.cpp`.
 - **L4 HAL on Windows + the VS build system: DONE.** [T1]
 - **Red Planet game logic: COMPLETE & buildable** — `VTV/VTVMPPR/WEAPSYS/...`. RP is at/near playable. [T1]
 - **Multiplayer: the DOS `NETNUB` driver is already replaced by a ~3.5k-line WinSock2 TCP
@@ -17,6 +17,19 @@
 // per frame from AudioHead::Execute; a fade finishing (or being reclaimed by a
 // restart) stops + rewinds the source so the next SetupPatch sees AL_INITIAL.
 //
+
+// [aud-tail] (Gitea #5 verdict harness, additive): BT_AUD_TAIL=1 gates
+// timestamped play/stop/fade tracing so the audible tail past beam-off can be
+// measured against the authored releaseSec.  clock() is CRT wall-clock ms and
+// matches the [aud-tail] emitter state-transition logs (emitter.cpp).
+#include <ctime>
+static bool AudTailLog()
+{
+	static int s_on = -1;
+	if (s_on < 0) s_on = (getenv("BT_AUD_TAIL") != 0) ? 1 : 0;
+	return s_on != 0;
+}
+
 namespace
 {
 	struct ReleaseFade
@@ -32,6 +45,10 @@ namespace

 	void FinishFade(ReleaseFade &fade)
 	{
+		if (AudTailLog())
+			DEBUG_STREAM << "[aud-tail] t=" << (long)clock() << "ms fade-END src="
+				<< fade.source << " after " << fade.elapsed << "/" << fade.duration
+				<< "s\n" << std::flush;
 		alSourceStop(fade.source);
 		alSourceRewind(fade.source);
 		alSourcef(fade.source, AL_GAIN, fade.gain0);
@@ -57,6 +74,10 @@ namespace
 				fade.duration = duration;
 				fade.elapsed = 0.0f;
 				fade.active = true;
+				if (AudTailLog())
+					DEBUG_STREAM << "[aud-tail] t=" << (long)clock() << "ms fade-START src="
+						<< source << " dur=" << duration << "s gain0=" << fade.gain0
+						<< "\n" << std::flush;
 				return;
 			}
 		}
@@ -315,6 +336,15 @@ void PatchLevelOfDetail::PlayNote(SourceSet sourceSet, int note)
 			{
 				alSourcePlay(sourceSet.sources[i]);
 				{ static int s_p=0; if (getenv("BT_AUDIO_LOG") && s_p++<30) DEBUG_STREAM << "[audio] PlayNote alSourcePlay src=" << sourceSet.sources[i] << " note=" << note << "\n" << std::flush; }
+				if (AudTailLog())
+				{
+					SAMPLEINFO zinfo = PRESET_getSampleInfo(bankID, patchID, i);
+					DEBUG_STREAM << "[aud-tail] t=" << (long)clock() << "ms PLAY src="
+						<< sourceSet.sources[i] << " bank=" << (int)bankID << " patch="
+						<< (int)patchID << " file=" << (zinfo.file ? zinfo.file : "?")
+						<< " loop=" << (int)(zinfo.loop == LoopAtWill)
+						<< " rel=" << zinfo.releaseSec << "s\n" << std::flush;
+				}
 			}

 			ALenum error = alGetError();
@@ -340,6 +370,12 @@ void PatchLevelOfDetail::StopNote(SourceSet sourceSet)
 			SAMPLEINFO info = PRESET_getSampleInfo(bankID,patchID,i);
 			ALenum state;
 			alGetSourcei(sourceSet.sources[i], AL_SOURCE_STATE, &state);
+			if (AudTailLog() && state == AL_PLAYING)
+				DEBUG_STREAM << "[aud-tail] t=" << (long)clock() << "ms STOP src="
+					<< sourceSet.sources[i] << " bank=" << (int)bankID << " patch="
+					<< (int)patchID << " file=" << (info.file ? info.file : "?")
+					<< " rel=" << info.releaseSec << "s -> "
+					<< ((info.releaseSec > 0.05f) ? "fade" : "cut") << "\n" << std::flush;
 			if (state == AL_PLAYING && info.releaseSec > 0.05f)
 			{
 				StartReleaseFade(sourceSet.sources[i], info.releaseSec);
@@ -133,6 +133,31 @@ static float gBTAimVpW       = 0.0f;		// D3D viewport (backbuffer) size --
 static float gBTAimVpH       = 0.0f;		//   the dpl2d frame's pixel space
 static int   gBTAimCamValid  = 0;

+// issue #16 (boresight parallax) diagnostics: the RENDER camera pose -- the
+// frame the crosshair is actually drawn in (screen centre of the ACTIVE view).
+// Published unconditionally by the active eye each frame; BT_PARALLAX_LOG
+// projects the PICK point back into this view to measure how far the shot
+// lands from the crosshair.  A healthy boresight keeps the pick point pinned
+// at reticle (0,0) in cockpit view from max range all the way in.
+static float gBTRenderCamPos[3] = {0, 0, 0};
+static float gBTRenderCamX[3]   = {1, 0, 0};	// camera right
+static float gBTRenderCamY[3]   = {0, 1, 0};	// camera up
+static float gBTRenderCamZ[3]   = {0, 0, 1};	// camera BACK (view dir = -Z)
+static int   gBTRenderCamValid  = 0;
+
+void BTSetRenderCamera(const float pos[3], const float xax[3],
+					   const float yax[3], const float zax[3])
+{
+	for (int i = 0; i < 3; ++i)
+	{
+		gBTRenderCamPos[i] = pos[i];
+		gBTRenderCamX[i]   = xax[i];
+		gBTRenderCamY[i]   = yax[i];
+		gBTRenderCamZ[i]   = zax[i];
+	}
+	gBTRenderCamValid = 1;
+}
+
 void BTSetAimCamera(const float pos[3], const float xax[3],
 					const float yax[3], const float zax[3])
 {
@@ -263,6 +288,46 @@ int BTProjectToReticle(const float world[3], float *rx, float *ry)
 	return 1;
 }

+//
+// issue #16 (boresight parallax) diag: world point -> reticle coords through
+// the RENDER camera (the view the crosshair is drawn in), NOT the aim camera
+// (projecting the pick point through the aim camera is trivially (0,0) --
+// the pick point lies ON the aim ray).  eyeOut receives the render eye
+// position so the caller can log the true sight-line range.  Same reticle
+// frame as BTProjectToReticle (+y down; unit = half the viewport height).
+//
+int BTProjectToRenderView(const float world[3], float *rx, float *ry,
+						  float eyeOut[3])
+{
+	if (!gBTRenderCamValid || gBTAimP11 <= 0.0f || gBTAimP22 <= 0.0f
+		|| gBTAimVpH <= 0.0f)
+	{
+		*rx = 0.0f; *ry = 0.0f;
+		return 0;
+	}
+	if (eyeOut != 0)
+		for (int i = 0; i < 3; ++i)
+			eyeOut[i] = gBTRenderCamPos[i];
+	float rel[3];
+	for (int i = 0; i < 3; ++i)
+		rel[i] = world[i] - gBTRenderCamPos[i];
+	const float xc = rel[0]*gBTRenderCamX[0] + rel[1]*gBTRenderCamX[1] + rel[2]*gBTRenderCamX[2];
+	const float yc = rel[0]*gBTRenderCamY[0] + rel[1]*gBTRenderCamY[1] + rel[2]*gBTRenderCamY[2];
+	const float zc = rel[0]*gBTRenderCamZ[0] + rel[1]*gBTRenderCamZ[1] + rel[2]*gBTRenderCamZ[2];
+	const float depth = -zc;							// camera looks down -Z
+	if (depth < 0.1f)
+	{
+		*rx = (xc >= 0.0f) ? 2.0f : -2.0f;
+		*ry = 0.0f;
+		return 0;
+	}
+	const float ndcX = (xc * gBTAimP11) / depth;
+	const float ndcY = (yc * gBTAimP22) / depth;
+	*rx =  ndcX * BTGetPresentAspect();
+	*ry = -ndcY;
+	return 1;
+}
+
 //
 // The target HOTBOX projection (the recovered reticle Execute @4cdff7-4ce0f9
 // [T1]): project the box hugging the target's extents -- x +-4 around the
@@ -16,6 +16,12 @@ float gBTEyeTwist = 0.0f;
 // pitch from the pick ray -- this is the pilot's DELIBERATE pitch, re-applied
 // after the leveling so aimed shots follow the R/F (stick-Y) elevation.
 float gBTEyeElev = 0.0f;
+// issue #16 (boresight parallax): non-zero while a BORESIGHT eye (the
+// viewpoint mech's cockpit siteeyepoint, marked by SetBoresightEye) is alive
+// and publishing the aim camera.  While set, the active-camera fallback
+// publish is suppressed -- the cockpit eyepoint owns the pick/sight ray in
+// BOTH views, so toggling V cannot change ballistics.
+int gBTBoresightEyeLive = 0;
 #pragma hdrstop

 #include "l4vidrnd.h"
@@ -5492,6 +5498,7 @@ DPLEyeRenderable::DPLEyeRenderable(
 	myEntity					=	This_Entity;
 //	myParentDCS				=	Parent_DCS;
 	myOrientationMatrix	=	Offset_Matrix;
+	mIsBoresightEye		=	false;		// issue #16: set via SetBoresightEye
 	myEyepointRotation	=	eyepoint_rotation;
 	if(myEyepointRotation)
 	{
@@ -5610,6 +5617,30 @@ DPLEyeRenderable::~DPLEyeRenderable()
 //// but Phil is making a patch to allow us to check that.
 ////	dpl_RemoveDCSFromDCS(myParentDCS, myDCS);
 //	dpl_DeleteDCS(myDCS);
+	// issue #16: a deleted boresight eye releases the aim-camera publish so
+	// the active camera's fallback path takes over (spectator / teardown)
+	// instead of the aim ray going permanently stale.
+	if (mIsBoresightEye)
+	{
+		extern int gBTBoresightEyeLive;
+		gBTBoresightEyeLive = 0;
+	}
+}
+
+//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+// SetBoresightEye (issue #16 boresight parallax): mark this eye as the
+// VIEWPOINT mech's cockpit eyepoint -- the owner of the aim-camera (pick/
+// sight ray) publish in BOTH views.  Tracks the process-wide latch that
+// gates the active-camera fallback publish (a viewpoint without a cockpit
+// eyepoint, e.g. a spectator camera).
+//
+void
+	DPLEyeRenderable::SetBoresightEye(bool is_boresight)
+{
+	extern int gBTBoresightEyeLive;
+	mIsBoresightEye = is_boresight;
+	if (is_boresight)
+		gBTBoresightEyeLive = 1;
 }
 //~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 // TestInstance for the DPLEyeRenderable
@@ -5805,13 +5836,42 @@ void
 			{
 				myDevice->SetTransform(D3DTS_VIEW, &view);

+				// issue #16 diag: publish the RENDER camera pose (the frame the
+				// crosshair is drawn in) for BT_PARALLAX_LOG's pick-point
+				// back-projection (BTProjectToRenderView).  eyeW rows are
+				// right/up/BACK + translation (view = inverse(eyeW)).
+				{
+					extern void BTSetRenderCamera(const float pos[3], const float xax[3],
+												  const float yax[3], const float zax[3]);
+					const float rp[3]  = { eyeW._41, eyeW._42, eyeW._43 };
+					const float rxx[3] = { eyeW._11, eyeW._12, eyeW._13 };
+					const float ryy[3] = { eyeW._21, eyeW._22, eyeW._23 };
+					const float rzz[3] = { eyeW._31, eyeW._32, eyeW._33 };
+					BTSetRenderCamera(rp, rxx, ryy, rzz);
+				}
+
 				if (dbgEyeExec < 8)
 					DEBUG_STREAM << "[EYE]   ACTIVE eye " << (void *)this
 						<< " (mCamera match) pos.y=" << pos.y << "\n" << std::flush;
+			}

-				// aim-ray feed (task #36): publish this eye's world pose --
-				// the LookAtRH basis (zaxis = back, view direction = -zaxis)
-				// -- for the reticle pick ray / designator projection.
+			// aim-ray feed (task #36): publish this eye's world pose --
+			// the LookAtRH basis (zaxis = back, view direction = -zaxis)
+			// -- for the reticle pick ray / designator projection.
+			//
+			// OWNERSHIP (issue #16, boresight parallax): the publish is owned by
+			// the BORESIGHT eye -- the viewpoint mech's cockpit siteeyepoint --
+			// in BOTH views (it executes in the mech's draw traversal every
+			// frame, active camera or not), so the chase view's ballistics are
+			// IDENTICAL to the cockpit's and the V toggle cannot change where a
+			// shot lands.  Only when no boresight eye is alive (spectator /
+			// teardown) does the ACTIVE camera publish, with the legacy entity
+			// anchor as the origin.
+			{
+				extern int gBTBoresightEyeLive;
+				const bool aimOwner = mIsBoresightEye
+					|| (!gBTBoresightEyeLive && myRenderer->mCamera == this);
+				if (aimOwner)
 				{
 					extern void BTSetAimCamera(const float pos[3], const float xax[3],
 											   const float yax[3], const float zax[3]);
@@ -5865,16 +5925,31 @@ void
 						D3DXVec3Normalize(&xax, &xax);
 						D3DXVec3Cross(&yax, &zax, &xax);
 					}
-					// ORIGIN: the guns fire from the MECH's torso, not the render
-					// eye.  In CHASE view the eye sits behind+above the mech, so a
-					// ray from `pos` would start over the shoulder (and, being level,
-					// fly above a ground target).  Anchor the boresight at the mech's
-					// XZ + a torso/gun height so the pick works in BOTH views (chase
-					// is the default; cockpit toggles with V).  In cockpit view this
-					// is ~the eyepoint anyway.
-					float p[3] = { pos.x, pos.y, pos.z };
-					if (myEntity != 0)
+					// ORIGIN (issue #16, boresight parallax): the pick/sight ray
+					// starts at the TRUE EYEPOINT -- this eye's own world
+					// translation (eyeW row 4, the same origin the crosshair's
+					// view projects from).  The binary's sight math runs in the
+					// eyepoint-segment frame: HudSimulation computes the
+					// designator HotBoxVector by transforming the target position
+					// with inverse(eyeSegToWorld @00424da8) o inverse(
+					// R(EyepointRotation)) (@004b7830, part_013.c:5688-5702), the
+					// VIEW is inverse(the live jointtorso->jointeye->siteeyepoint
+					// chain) (FUN_004c22c4 @part_013.c:11742), and the fired beam
+					// CONVERGES from the muzzle segment to the picked point
+					// (@004bace8:7742-7752) -- so pick ray and sight line share
+					// the eye origin.  The old `mech.y + 5.0` anchor (a port
+					// improvisation) sat BELOW the sight line: a constant
+					// vertical offset whose angular error grew as range closed --
+					// shots landing LOW under the target up close (Gitea #16).
+					// Measured pre-fix: the pick point slid down the reticle
+					// ry=+0.07 @ 50u -> +0.32 @ 10u -> +1.5 @ 2.7u.
+					float p[3] = { eyeW._41, eyeW._42, eyeW._43 };
+					if (!mIsBoresightEye && myEntity != 0)
 					{
+						// no cockpit eyepoint alive (spectator/camera director):
+						// legacy entity anchor -- this camera sits behind/above,
+						// so a ray from its own origin would start over the
+						// shoulder.
 						p[0] = myEntity->localToWorld(3,0);
 						p[1] = myEntity->localToWorld(3,1) + 5.0f;	// feet -> torso/gun height
 						p[2] = myEntity->localToWorld(3,2);
@@ -1716,7 +1716,17 @@ public:
 	virtual void
 		Execute();

+	// issue #16 (boresight parallax): mark the VIEWPOINT mech's cockpit
+	// eyepoint (siteeyepoint) as the BORESIGHT eye -- it publishes the aim
+	// camera (pick/sight ray) every frame in BOTH views, so the V toggle
+	// cannot change ballistics.  Defined in L4VIDRND.cpp (tracks the
+	// gBTBoresightEyeLive fallback latch).
+	void
+		SetBoresightEye(bool is_boresight);
+
 protected:
+	bool mIsBoresightEye;			// issue #16: this eye owns the aim-camera publish
+
 	dpl_DCS
 		*myDCS,
 		*myParentDCS;
@@ -466,6 +466,12 @@ HierarchicalDrawComponent*
 				//
 				mEyeCockpit = new DPLEyeRenderable(
 					entity, offset_matrix, parent_DCS, eye_rot);
+				// issue #16 (boresight parallax): the VIEWPOINT mech's cockpit
+				// eyepoint is the BORESIGHT eye -- it owns the aim-camera
+				// (pick/sight ray) publish in BOTH views, from its own eye
+				// origin, so chase and cockpit ballistics are identical (see
+				// DPLEyeRenderable::Execute).
+				mEyeCockpit->SetBoresightEye(true);
 				if (type == insideEntity)			// true inside build: it IS the camera
 					mCamera = mEyeCockpit;
 				dbg_eye = 1;
@@ -329,3 +329,72 @@ bool
 	}
 	return false;
 }
+
+//---------------------------------------------------------------------------//
+// BTGroundRayHitExact -- BT_RANGE_LOG diagnostic (Gitea #4 verdict
+// instrumentation, uncommitted): ANALYTIC closest-hit ray intersect
+// (Moller-Trumbore, no backface cull, no step size, no height band) over the
+// SAME visual triangle set the march samples -- including vertical walls and
+// ceilings, which SampleBand's XZ point-in-triangle test cannot see.  The
+// march-vs-exact range difference on the same ray is direct evidence for (or
+// against) the "ray falls through geometry" hypothesis; it is NOT used by any
+// gameplay path.
+//---------------------------------------------------------------------------//
+bool
+	BTGroundRayHitExact(float ox, float oy, float oz,
+						float dx, float dy, float dz,
+						float maxDist, float *hx, float *hy, float *hz)
+{
+	if (gState == 0)
+		gState = BuildTables() ? 1 : -1;
+	if (gState != 1)
+		return false;
+
+	float bestT = maxDist;
+	bool  found = false;
+	for (size_t ii = 0; ii < gInsts.size(); ++ii)
+	{
+		const VgInst &inst = gInsts[ii];
+		// local-space ray (instances are translation-placed only)
+		const float lox = ox - inst.px, loy = oy - inst.py, loz = oz - inst.pz;
+		const VgMesh &m = gMeshes[inst.mesh];
+		for (size_t ti = 0; ti < m.tris.size(); ++ti)
+		{
+			const VgTri &t = m.tris[ti];
+			const float e1x = t.bx - t.ax, e1y = t.by - t.ay, e1z = t.bz - t.az;
+			const float e2x = t.cx - t.ax, e2y = t.cy - t.ay, e2z = t.cz - t.az;
+			// p = dir x e2
+			const float px = dy * e2z - dz * e2y;
+			const float py = dz * e2x - dx * e2z;
+			const float pz = dx * e2y - dy * e2x;
+			const float det = e1x * px + e1y * py + e1z * pz;
+			if (det > -1e-9f && det < 1e-9f)
+				continue;							// parallel
+			const float inv = 1.0f / det;
+			const float tx = lox - t.ax, ty = loy - t.ay, tz = loz - t.az;
+			const float u = (tx * px + ty * py + tz * pz) * inv;
+			if (u < 0.0f || u > 1.0f)
+				continue;
+			// q = tvec x e1
+			const float qx = ty * e1z - tz * e1y;
+			const float qy = tz * e1x - tx * e1z;
+			const float qz = tx * e1y - ty * e1x;
+			const float v = (dx * qx + dy * qy + dz * qz) * inv;
+			if (v < 0.0f || u + v > 1.0f)
+				continue;
+			const float tt = (e2x * qx + e2y * qy + e2z * qz) * inv;
+			if (tt > 0.05f && tt < bestT)
+			{
+				bestT = tt;
+				found = true;
+			}
+		}
+	}
+	if (found)
+	{
+		*hx = ox + dx * bestT;
+		*hy = oy + dy * bestT;
+		*hz = oz + dz * bestT;
+	}
+	return found;
+}
@@ -156,6 +156,7 @@
 #include <mechweap.hpp>		// MechWeapon::GetExplosionResourceID (per-round detonation)
 #include <mislanch.hpp>		// MissileLauncher::ClassDerivations (splash-radius gate)
 #include "btinput.hpp"		// the CONTROLS.MAP + XInput binding engine
+#include <string.h>			// [aud-tail] strchr -- BT_FIRE_PULSE "on,off" parse (Gitea #5, instrumentation only)
 #if !defined(PLAYER_HPP)
 #	include <player.hpp>	// Player::VehicleDeadMessage -- the death->respawn notification (task #52)
 #endif
@@ -2932,6 +2933,34 @@ void
 					sGotoDrive = (gv && *gv) ? 1 : 0;
 				}
 				gBTDrive.fireForced = sAutoFire;
+			// [aud-tail] (Gitea #5 verdict harness, additive): BT_FIRE_PULSE="on,off"
+			// (frames) pulses the forced trigger instead of holding it, so a SINGLE
+			// energy shot is followed by trigger silence -- the reported scenario
+			// (beam ends, buzz tail runs out alone).  Overrides BT_AUTOFIRE's hold.
+			{
+				static int s_fpOn = -1, s_fpOff = 0, s_fpCount = 0;
+				if (s_fpOn < 0)
+				{
+					const char *fp = getenv("BT_FIRE_PULSE");
+					if (fp && *fp)
+					{
+						s_fpOn = atoi(fp);
+						if (s_fpOn <= 0) s_fpOn = 6;
+						const char *comma = strchr(fp, ',');
+						s_fpOff = comma ? atoi(comma + 1) : 600;
+						if (s_fpOff <= 0) s_fpOff = 600;
+					}
+					else
+					{
+						s_fpOn = 0;
+					}
+				}
+				if (s_fpOn > 0)
+				{
+					gBTDrive.fireForced =
+						((s_fpCount++ % (s_fpOn + s_fpOff)) < s_fpOn) ? 1 : 0;
+				}
+			}
 				if (sAutoDrive > 0.0f)
 				{
 					gBTDrive.forced         = 1;
@@ -3324,7 +3353,18 @@ void
 					}
 					// STOP radius: "enemy" holds at weapon range so it can shoot
 					// instead of ramming; a fixed point drives right up to the spot.
-					const float stopDist  = (s_goto == 2) ? 300.0f : 5.0f;
+					// BT_GOTO_STOP overrides (issue #16 parallax test: approach the
+					// dummy from range all the way in to 3/4-screen).
+					float stopDist  = (s_goto == 2) ? 300.0f : 5.0f;
+					{
+						static float s_stopOv = -1.0f;
+						if (s_stopOv < 0.0f)
+						{
+							const char *so = getenv("BT_GOTO_STOP");
+							s_stopOv = (so && *so) ? (float)atof(so) : 0.0f;
+						}
+						if (s_stopOv > 0.0f) stopDist = s_stopOv;
+					}
 					const float stopDist2 = stopDist * stopDist;
 					const int   arrived   = (dist2 < stopDist2);
 					// publish for the mapper bridge (the real-controls path reads
@@ -3353,7 +3393,20 @@ void
 					// only from BT_AUTODRIVE).  Drive forward toward the target and cut
 					// the throttle inside the stop radius so it holds at firing range.
 					gBTDrive.forced         = 1;
-					gBTDrive.forcedThrottle = arrived ? 0.0f : 0.8f;
+					// BT_GOTO_THR: approach-speed override (issue #16 parallax test --
+					// a walking approach spans the render-live window so the curve can
+					// be sampled from far to near).
+					float gthr = 0.8f;
+					{
+						static float s_thrOv = -1.0f;
+						if (s_thrOv < 0.0f)
+						{
+							const char *to = getenv("BT_GOTO_THR");
+							s_thrOv = (to && *to) ? (float)atof(to) : 0.0f;
+						}
+						if (s_thrOv > 0.0f) gthr = s_thrOv;
+					}
+					gBTDrive.forcedThrottle = arrived ? 0.0f : gthr;
 					turn = gBTGotoTurn;		// non-real-controls fallback path
 				}
 			}
@@ -4581,6 +4634,16 @@ void
 		Point3D hotPoint;							// picked world point on its hull
 		Entity *pickTarget = 0;						// what the boresight ray hit (mech/terrain)
 		Point3D pickPoint;							// where it hit
+		// BT_RANGE_LOG (Gitea #4 VERDICT instrumentation -- uncommitted diag):
+		// capture the boresight ray + which pick tier won this frame, so the
+		// HUD-feed block below can trace the range chain per frame.
+		//   rlPickClass: 0=no ray/no pick  1=mech  2=structure (static solid
+		//   tree)  3=ground march (visual-terrain step march)  4=max-range
+		//   default designation (nothing pickable within 1200)
+		int   rlPickClass = 0;
+		int   rlHaveRay   = 0;
+		float rlRayS[3] = {0,0,0}, rlRayD[3] = {0,0,0};
+		float rlStructD = -1.0f;					// sqrt range of the structure tier hit
 		static int gAimNoRay = 0, gAimGround = 0, gAimHits = 0;	// 1Hz diagnostics
 		{
 			extern int BTGetAimRay(float rx, float ry, float outStart[3], float outDir[3]);
@@ -4731,6 +4794,9 @@ void
 			{
 				Point3D  rayStart(rs[0], rs[1], rs[2]);
 				Vector3D rayDir(rd[0], rd[1], rd[2]);
+				rlHaveRay = 1;						// BT_RANGE_LOG capture (issue #4)
+				rlRayS[0] = rs[0]; rlRayS[1] = rs[1]; rlRayS[2] = rs[2];
+				rlRayD[0] = rd[0]; rlRayD[1] = rd[1]; rlRayD[2] = rd[2];
 				// MP TARGETING (task #46): walk EVERY other living mech (the solo
 				// dummy AND every peer replicant, from the live-mech registry) and
 				// pick the CLOSEST one the boresight ray strikes -- generalising
@@ -4776,6 +4842,7 @@ void
 						structDist  = dx*dx + dy*dy + dz*dz;
 						structPoint = sp;
 						haveStruct  = true;
+						rlStructD   = (float)Sqrt(structDist);	// BT_RANGE_LOG (issue #4)
 						static float s_wp = 0.0f; s_wp += dt;
 						if (getenv("BT_GROUND_LOG") && s_wp >= 1.0f)
 						{
@@ -4795,6 +4862,7 @@ void
 				{
 					pickTarget = hotTarget;			// mech is the closest hit
 					pickPoint  = hotPoint;
+					rlPickClass = 1;				// BT_RANGE_LOG (issue #4)
 					++gAimHits;
 				}
 				else if (haveStruct)
@@ -4815,6 +4883,7 @@ void
 					// HudSim part_013.c:5620).
 					pickTarget = (structOwner != 0) ? structOwner : gBTTerrainEntity;
 					pickPoint  = structPoint;
+					rlPickClass = 2;				// BT_RANGE_LOG (issue #4)
 					++gAimGround;
 				}
 				else
@@ -4831,6 +4900,7 @@ void
 					{
 						pickTarget = gBTTerrainEntity;
 						pickPoint.x = hx; pickPoint.y = hy; pickPoint.z = hz;
+						rlPickClass = 3;			// BT_RANGE_LOG (issue #4)
 						++gAimGround;
 					}
 				}
@@ -4871,12 +4941,44 @@ void
 				MECH_TARGET_POS(this) = farPt;
 				targetReticle.targetEntity    = gBTTerrainEntity;
 				targetReticle.rayIntersection = farPt;
+				rlPickClass = 4;					// BT_RANGE_LOG: max-range default (issue #4)
 			}
 			else
 			{
 				MECH_TARGET_ENTITY(this) = 0;			// no world sentinel -> no target
 				MECH_TARGET_SUBIDX(this) = -1;
 			}
+
+			// [parallax] diag (issue #16): project the pick point back into the
+			// RENDER view -- the frame the crosshair is drawn in.  Reticle +y is
+			// down, so ry > 0 = the pick lands BELOW the crosshair.  A healthy
+			// boresight holds (rx,ry) ~ (0,0) from max range all the way in; a
+			// pick ray anchored below the sight line shows ry sliding DOWN
+			// (positive) as range closes.
+			if (getenv("BT_PARALLAX_LOG") && pickTarget != 0)
+			{
+				static float s_pl = 0.0f; s_pl += dt;
+				if (s_pl >= 0.5f)
+				{
+					s_pl = 0.0f;
+					extern int BTProjectToRenderView(const float world[3],
+						float *rx, float *ry, float eyeOut[3]);
+					float w[3] = { (float)pickPoint.x, (float)pickPoint.y,
+								   (float)pickPoint.z };
+					float prx = 0.0f, pry = 0.0f, eo[3] = {0,0,0};
+					if (BTProjectToRenderView(w, &prx, &pry, eo))
+					{
+						float pdx = w[0]-eo[0], pdy = w[1]-eo[1], pdz = w[2]-eo[2];
+						float rng = (float)Sqrt(pdx*pdx + pdy*pdy + pdz*pdz);
+						DEBUG_STREAM << "[parallax] range=" << rng
+							<< " rx=" << prx << " ry=" << pry
+							<< " mech=" << ((hotTarget != 0 && pickTarget == hotTarget) ? 1 : 0)
+							<< " pick=(" << w[0] << "," << w[1] << "," << w[2] << ")"
+							<< " eye=(" << eo[0] << "," << eo[1] << "," << eo[2] << ")"
+							<< "\n" << std::flush;
+					}
+				}
+			}
 		}

 		// DETERMINISTIC FIRE-AT-STRUCTURE TEST (BT_FIRE_AT_STRUCT, task #50 verify):
@@ -5052,6 +5154,53 @@ void
 				BTSetHudTargetRange((Scalar)sShownRange);
 			}

+			// BT_RANGE_LOG (Gitea #4 VERDICT instrumentation -- uncommitted diag):
+			// per-frame trace of the whole range chain.  Alongside the pick the
+			// game actually used, re-cast the SAME ray through (a) the 4m-step
+			// visual-terrain march (BTGroundRayHit) and (b) an ANALYTIC
+			// Moller-Trumbore intersect over the same visual triangle set incl.
+			// walls/ceilings (BTGroundRayHitExact) -- march-vs-exact divergence is
+			// direct fall-through evidence; exact-vs-structure divergence flags
+			// visible geometry missing from the static collision tree.
+			if (getenv("BT_RANGE_LOG"))
+			{
+				static float s_rlT = 0.0f; s_rlT += (float)dt;
+				extern bool BTGroundRayHit(float,float,float, float,float,float,
+					float, float*,float*,float*);
+				extern bool BTGroundRayHitExact(float,float,float, float,float,float,
+					float, float*,float*,float*);
+				float mhx=0, mhy=0, mhz=0, ehx=0, ehy=0, ehz=0;
+				float marchD = -1.0f, exactD = -1.0f;
+				if (rlHaveRay)
+				{
+					if (BTGroundRayHit(rlRayS[0], rlRayS[1], rlRayS[2],
+							rlRayD[0], rlRayD[1], rlRayD[2], 1200.0f, &mhx, &mhy, &mhz))
+					{
+						float ddx = mhx-rlRayS[0], ddy = mhy-rlRayS[1], ddz = mhz-rlRayS[2];
+						marchD = sqrtf(ddx*ddx + ddy*ddy + ddz*ddz);
+					}
+					if (BTGroundRayHitExact(rlRayS[0], rlRayS[1], rlRayS[2],
+							rlRayD[0], rlRayD[1], rlRayD[2], 1200.0f, &ehx, &ehy, &ehz))
+					{
+						float ddx = ehx-rlRayS[0], ddy = ehy-rlRayS[1], ddz = ehz-rlRayS[2];
+						exactD = sqrtf(ddx*ddx + ddy*ddy + ddz*ddz);
+					}
+				}
+				Point3D rp = MECH_TARGET_POS(this);
+				DEBUG_STREAM << "[range] t=" << s_rlT
+					<< " true=" << trueRange << " shown=" << sShownRange
+					<< " cls=" << rlPickClass << " ray=" << rlHaveRay
+					<< " structD=" << rlStructD
+					<< " marchD=" << marchD << " exactD=" << exactD
+					<< " pick=(" << rp.x << "," << rp.y << "," << rp.z << ")"
+					<< " eye=(" << rlRayS[0] << "," << rlRayS[1] << "," << rlRayS[2] << ")"
+					<< " dir=(" << rlRayD[0] << "," << rlRayD[1] << "," << rlRayD[2] << ")"
+					<< " exact=(" << ehx << "," << ehy << "," << ehz << ")"
+					<< " pos=(" << localOrigin.linearPosition.x << ","
+					<< localOrigin.linearPosition.y << ","
+					<< localOrigin.linearPosition.z << ")\n" << std::flush;
+			}
+
 			gBTHudHeading    = gDriveHeading;					// CompassHeading (attr 0xD)
 			gBTHudTwist      = (float)TorsoHeading();			// RotationOfTorsoHorizontal (attr 4)
 			gBTHudTwistLimit = (float)GetHorizontalFiringReach();// HorizontalTorsoLimit (attrs 5/6)