WIP checkpoint: TCP_NODELAY + dense-send + BT_JIT/BT_ANIM probes + FOGDAY test egg (task #50 investigation)
Session-in-progress peer-motion work, checkpointed before bisecting the 07-13/07-14 gait regression. Contains: TCP_NODELAY on game sockets (L4NET), every-frame dense position send while moving + came-to-rest/REST send + per-frame BT_JIT/BT_ANIM smoothness probes (mech4). bodyTargetSpeed feed reverted to derived-velocity default. MOVER.cpp spline experiment already reverted. NOT a fix -- a checkpoint. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
This commit is contained in:
arcattack
co-authored by
Claude Opus 4.8
Claude Opus 4.8
parent
94647dd378
commit
d5d512e087
@@ -0,0 +1,244 @@
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[mission]
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adventure=BattleTech
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map=arena1
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scenario=freeforall
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time=day
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weather=fog
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temperature=27
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length=600
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x=128
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y=32
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width=8
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[pilots]
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pilot=127.0.0.1:1502
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pilot=127.0.0.1:1602
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[127.0.0.1:1502]
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hostType=0
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advancedDamage=1
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loadzones=1
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patch=Yellow
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role=Role::Default
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dropzone=one
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vehicle=bhk1
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vehicleValue=1000
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color=White
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[127.0.0.1:1602]
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hostType=0
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advancedDamage=1
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loadzones=1
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name=Boreas
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bitmapindex=2
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experience=expert
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badge=VGL
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patch=Yellow
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role=Role::Default
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dropzone=one
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vehicle=ava1
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vehicleValue=1000
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color=Red
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x=128
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y=32
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width=8
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[smallbitmap]
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bitmap=BitMap::Small::Aeolus
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[BitMap::Small::Aeolus]
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bitmap=00000000000000000000000000000000
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x=64
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y=16
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width=4
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[Role::Default]
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model=dfltrole
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[Role::NoReturn]
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model=noretun
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@@ -2118,6 +2118,12 @@ Logical L4NetworkManager::CheckBuffers(NetworkPacket *network_packet)
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{
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continue;
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}
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// TCP_NODELAY on the accepted GAME socket (not the console):
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// without it Nagle coalesces the inbound per-frame update
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// records into bursts -> the peer is received in lurches.
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BOOL gameNoDelay = TRUE;
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if (setsockopt(tempSocket, IPPROTO_TCP, TCP_NODELAY, (char*)&gameNoDelay, sizeof(gameNoDelay)))
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DEBUG_STREAM << "WARN: could not set TCP_NODELAY on accepted game socket; setsockopt() failed with " << WSAGetLastError() << "\n" << std::flush;
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}
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remote_host->SetNetworkSocket(tempSocket);
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@@ -2798,6 +2804,18 @@ SOCKET L4NetworkManager::OpenConnection(
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WSACleanup();
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PostQuitMessage(AbortExitCodeID);
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}
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// TCP_NODELAY: disable Nagle so the small per-frame update records ship
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// immediately instead of being coalesced. With Nagle on (the default),
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// Nagle + delayed-ACK batch the tiny position packets into ~40-200ms
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// bursts, so a peer that moves at a steady speed is RECEIVED in lurches
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// (measured: dead-reckoned ground speed swinging 3x per 0.25s window).
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// The pod net carries steady real-time state where latency, not
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// throughput, is what matters -- exactly the case NODELAY is for.
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{
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BOOL noDelay = TRUE;
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if (setsockopt(sock, IPPROTO_TCP, TCP_NODELAY, (char*)&noDelay, sizeof(noDelay)))
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DEBUG_STREAM << "WARN: could not set TCP_NODELAY on active socket; setsockopt() failed with " << WSAGetLastError() << "\n" << std::flush;
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}
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return sock;
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}
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else if(connection_type == NETNUB_TCP_LISTEN)
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+112
-27
@@ -1930,6 +1930,44 @@ void
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DeadReckon(dt); // engine: reckoner + lerp
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localToWorld = localOrigin;
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// Lightweight dead-reckon smoothness probe (one flush/sec, cheap).
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// PATH length (sum of |per-frame step|) vs NET displacement reveals
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// jitter: a smooth walk has path==net; oscillation inflates path while
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// net stays small. avgHorizon is the lerp target distance in time.
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if (getenv("BT_JIT"))
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{
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static bool s_jinit = false;
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static Point3D s_jprev, s_jnetA;
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static float s_jacc = 0.0f, s_jpath = 0.0f, s_jmax = 0.0f, s_jhzn = 0.0f;
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static int s_jfr = 0;
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if (s_jinit)
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{
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const float dx = (float)(localOrigin.linearPosition.x - s_jprev.x);
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const float dz = (float)(localOrigin.linearPosition.z - s_jprev.z);
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const float step = sqrtf(dx * dx + dz * dz);
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s_jpath += step;
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if (step > s_jmax) s_jmax = step;
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}
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else { s_jnetA = localOrigin.linearPosition; s_jinit = true; }
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s_jprev = localOrigin.linearPosition;
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s_jhzn += (float)(nextUpdate - lastPerformance);
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s_jfr++; s_jacc += dt;
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if (s_jacc >= 1.0f)
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{
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const float ndx = (float)(localOrigin.linearPosition.x - s_jnetA.x);
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const float ndz = (float)(localOrigin.linearPosition.z - s_jnetA.z);
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const float net = sqrtf(ndx * ndx + ndz * ndz);
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DEBUG_STREAM << "[repljit] frames=" << s_jfr
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<< " path=" << s_jpath << " net=" << net
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<< " ratio=" << (net > 0.001f ? s_jpath / net : 0.0f)
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<< " maxStep=" << s_jmax << " avgStep=" << (s_jpath / s_jfr)
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<< " avgHorizon=" << (s_jhzn / s_jfr)
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<< "\n" << std::flush;
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s_jacc = 0.0f; s_jpath = 0.0f; s_jmax = 0.0f; s_jhzn = 0.0f;
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s_jfr = 0; s_jnetA = localOrigin.linearPosition;
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}
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}
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// REPLICANT GAIT (task #50): animate the peer mech's legs at the
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// REPLICATED speed -- without this the replicant slides around as a
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// frozen statue. The master publishes worldLinearVelocity in every
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@@ -1946,33 +1984,37 @@ void
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MechControlsMapper *replMppr = MappingMapper(); // roster slot 0 (task #7)
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if (!IsMechDestroyed() && replMppr != 0)
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{
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const Vector3D &wv = updateVelocity.linearMotion;
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float spd = sqrtf((float)(wv.x * wv.x + wv.z * wv.z));
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UnitVector zAxR;
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localToWorld.GetFromAxis(Z_Axis, &zAxR);
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const float fdot = -((float)wv.x * (float)zAxR.x
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+ (float)wv.z * (float)zAxR.z); // mech faces -Z
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Scalar sd = (fdot < 0.0f) ? -spd : spd;
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// WALK-ENTRY FLOOR (user-reported "slides forward before it steps",
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// root-caused 2026-07-14 from a per-frame [replmov] trace): the leg
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// SM enters walk only when `standSpeed < commandedSpeed`, but a mech's
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// forward WALK velocity == walkStrideLength which sits BELOW standSpeed
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// (bhk1: walk 6.13 < stand ~6.8). The master clears the gate because
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// it feeds the leg SM its COMMANDED throttle speed (>> standSpeed); the
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// replicant feeds the DERIVED actual velocity, which never crosses the
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// gate -- so a steadily-walking peer dead-reckons forward frozen in the
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// standing pose (legState 0, legFrm pinned) until the master happens to
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// accelerate past standSpeed. When the peer is clearly moving forward,
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// floor the demand just past standSpeed so it enters the walk cycle at
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// once; the walk case (6/7) clamps legCycleSpeed back to walkStrideLength,
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// so the CADENCE still matches the actual travel (no foot-slip). Reverse
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// needs no floor -- its entry gate is `commandedSpeed < ZeroSpeed`, which
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// any negative demand already trips.
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// (CORRECTED threshold: walkStrideLength is a STRIDE metric ~22, NOT
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// the walk velocity ~6.1 -- gate on standSpeed, the actual gate value.)
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if (sd > standSpeed * 0.5f && sd < standSpeed * 1.05f)
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sd = standSpeed * 1.05f;
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replMppr->speedDemand = sd;
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// Feed the leg SM the REPLICATED COMMANDED speed (bodyTargetSpeed):
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// the master's OWN mppr->speedDemand, carried in every pose (type-0)
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// and speed (type-2) record (mech.cpp:1833/1841). This is the
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// IDENTICAL input the master's own leg SM consumes, so the replicant
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// selects the same gait state and RAMPS its cadence through accel /
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// decel exactly as the master does -- the legs stay in sync with the
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// motion. The earlier feed derived the ACTUAL velocity from
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// updateVelocity, but a mech's forward walk velocity (~walkStrideLength)
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// sits BELOW standSpeed, so it never cleared the stand->walk gate; the
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// floor hack that fixed THAT then pinned the cadence flat during
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// accel/decel -- the reported stutter/skip glitch. bodyTargetSpeed is
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// signed (negative == reverse), so reverse needs no special case.
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// (BT_REPL_VEL forces the old derived-velocity feed for A/B compare.)
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static const int s_useCmd = getenv("BT_REPL_CMD") ? 1 : 0;
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if (!s_useCmd) // default: derive from replicated velocity (bodyTargetSpeed is 0 -- master walks thr=0)
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{
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const Vector3D &wv = updateVelocity.linearMotion;
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float spd = sqrtf((float)(wv.x * wv.x + wv.z * wv.z));
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UnitVector zAxR;
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localToWorld.GetFromAxis(Z_Axis, &zAxR);
|
||||
const float fdot = -((float)wv.x * (float)zAxR.x
|
||||
+ (float)wv.z * (float)zAxR.z); // mech faces -Z
|
||||
Scalar sd = (fdot < 0.0f) ? -spd : spd;
|
||||
if (sd > standSpeed * 0.5f && sd < standSpeed * 1.05f)
|
||||
sd = standSpeed * 1.05f;
|
||||
replMppr->speedDemand = sd;
|
||||
}
|
||||
else
|
||||
{
|
||||
replMppr->speedDemand = bodyTargetSpeed;
|
||||
}
|
||||
// REPLICANT TURN-STEP (user-reported: a turning peer
|
||||
// statue-rotates while the local mech steps): the leg SM's
|
||||
// Standing case arms the turn-in-place "trn" clip (state 4,
|
||||
@@ -2008,6 +2050,35 @@ void
|
||||
legCycleSpeed = 0.0f;
|
||||
(void)AdvanceLegAnimation(dt); // joints only; travel = DeadReckon
|
||||
|
||||
// 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
|
||||
// track together and legFrm advances monotonically.
|
||||
if (getenv("BT_ANIM"))
|
||||
{
|
||||
static bool s_ainit = false;
|
||||
static Point3D s_aprev;
|
||||
static float s_aacc = 0.0f, s_apath = 0.0f;
|
||||
if (s_ainit)
|
||||
{
|
||||
const float dx = (float)(localOrigin.linearPosition.x - s_aprev.x);
|
||||
const float dz = (float)(localOrigin.linearPosition.z - s_aprev.z);
|
||||
s_apath += sqrtf(dx * dx + dz * dz);
|
||||
}
|
||||
s_aprev = localOrigin.linearPosition; s_ainit = true;
|
||||
s_aacc += dt;
|
||||
if (s_aacc >= 0.25f)
|
||||
{
|
||||
DEBUG_STREAM << "[anim] cmd=" << bodyTargetSpeed
|
||||
<< " drSpeed=" << (s_apath / s_aacc)
|
||||
<< " legCyc=" << legCycleSpeed
|
||||
<< " legState=" << (int)legStateAlarm.GetLevel()
|
||||
<< " legFrm=" << legAnimation.currentFrame
|
||||
<< "\n" << std::flush;
|
||||
s_aacc = 0.0f; s_apath = 0.0f;
|
||||
}
|
||||
}
|
||||
|
||||
if (getenv("BT_REPL_TRN"))
|
||||
{
|
||||
static float s_rt = 0.0f; s_rt += dt;
|
||||
@@ -3432,10 +3503,24 @@ void
|
||||
(Scalar)(updateVelocity.linearMotion.x * updateVelocity.linearMotion.x
|
||||
+ updateVelocity.linearMotion.z * updateVelocity.linearMotion.z);
|
||||
const Logical cameToRest = (liveSpdSq < 0.01f && sentSpdSq > 0.01f);
|
||||
// DENSE MOTION SEND (replicant-smoothness): the position deadband
|
||||
// fires IRREGULARLY (only after ~0.55u of drift), but the replicant's
|
||||
// dead-reckoner predicts the next record one PAST-interval ahead and
|
||||
// lerps its localOrigin toward that fixed horizon target -- so when the
|
||||
// deadband cadence != the predicted cadence, the peer decelerates
|
||||
// toward a stale target then lurches when a record finally lands
|
||||
// (measured: dead-reckoned ground speed surging 5<->27 while the master
|
||||
// walks a steady 6.13). Sending a pose record EVERY frame while moving
|
||||
// makes the cadence regular + dense (records ~1 frame apart), so the
|
||||
// horizon prediction matches and the lerp tracks smoothly. On a LAN
|
||||
// this is a handful of small packets/frame -- negligible.
|
||||
static const int s_denseTx = getenv("BT_NO_DENSE_TX") ? 0 : 1;
|
||||
const Logical moving = (liveSpdSq > 0.25f);
|
||||
if (
|
||||
error.LengthSquared() > posDb
|
||||
|| lastPerformance - lastUpdate > 2.0f
|
||||
|| cameToRest
|
||||
|| (s_denseTx && moving)
|
||||
)
|
||||
{
|
||||
ForceUpdate(); // type 0: pose record
|
||||
|
||||
Reference in New Issue
Block a user