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Diag: BT_TRNRATE probe -- turn-in-place body-rate vs trn-clip cadence (task #50)

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Confirmed via BT_TRNRATE + direct disasm of the un-exported perf drive (0x4aa3d3)
that turn-in-place rate == walkingTurnRate (speed=0 collapses the lerp) and the trn
clip cadence is authentically FIXED -- so the reconstruction is faithful and the
residual legs-vs-body slip is authentic (decoupled by design; scaling the clip would
deviate from the decomp).  Probe left env-gated for future asset-tuning checks.

Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
This commit is contained in:
arcattack
2026-07-14 18:26:55 -05:00
co-authored by Claude Opus 4.8
parent a8eb8a427f
commit b7be95b584
1 changed files with 26 additions and 0 deletions
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game/reconstructed/mech4.cpp
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@@ -2095,6 +2095,32 @@ void
legCycleSpeed = 0.0f;
(void)AdvanceLegAnimation(dt); // joints only; travel = DeadReckon
// TURN-STEP rate probe (BT_TRNRATE, 0.5s): body rotation rate vs trn clip advance.
if (getenv("BT_TRNRATE"))
{
static bool s_tinit = false;
static float s_tYaw = 0.0f, s_tFrm = 0.0f, s_tAcc = 0.0f, s_tRot = 0.0f, s_tAdv = 0.0f;
YawPitchRoll _typ; _typ = localOrigin.angularPosition;
const float yaw = (float)_typ.yaw, frm = (float)legAnimation.currentFrame;
if (s_tinit)
{
float dy = yaw - s_tYaw; if (dy > 3.14159f) dy -= 6.28319f; if (dy < -3.14159f) dy += 6.28319f;
s_tRot += (dy < 0.0f) ? -dy : dy;
const float df = frm - s_tFrm;
if (df > 0.0f) s_tAdv += df;
}
s_tYaw = yaw; s_tFrm = frm; s_tinit = true;
s_tAcc += dt;
if (s_tAcc >= 0.5f)
{
DEBUG_STREAM << "[trnrate] bodyRot/s=" << (s_tRot / s_tAcc) << "rad"
<< " legFrm/s=" << (s_tAdv / s_tAcc)
<< " legState=" << (int)legStateAlarm.GetLevel()
<< " turnDemand=" << MappingMapper()->turnDemand << "\n" << std::flush;
s_tAcc = 0.0f; s_tRot = 0.0f; s_tAdv = 0.0f;
}
}
// Cadence-vs-travel sync probe (0.25s, ~4 flush/s -- cheap). Compares
// the leg CADENCE input (bodyTargetSpeed / legCycleSpeed) against the
// ACTUAL dead-reckoned ground speed; if the legs are in sync the two