arcattack and Claude Opus 4.8
a8eb8a427f
MP: FIX peer spin hang/divergence -- exact quaternion integration + frequent orientation (task #50 )
...
Answers 'how did the original handle this?' from the decomp (subagent hunt):
the 1995 binary's replicant reckoner (FUN_004ab1c8 -> FUN_00409f58, part_000.c:9359)
integrates heading EXACTLY: build a unit axis-angle rotation quaternion from
angularVelocity*dt ({axis*sin(t/2), cos(t/2)}) and Hamilton-multiply it onto the
heading (FUN_00409d9c) -- exact for any timestep, stays on the unit sphere. It
further carries the full orientation quaternion in the FREQUENT pose record
(FUN_0040a938, 7-float pose), so the dead-reckon gap stays tiny.
Our reconstruction diverged two ways, both fixed:
1. ReconQuatIntegrate (mechrecon.hpp) -- the reconstruction of FUN_00409f58 -- was
STUBBED as , a crude small-angle VECTOR add. Restored to
the real exact axis-angle composition. (A 'no stand-ins' violation: the comment
even wrongly claimed Quaternion::Add == FUN_00409f58.)
2. The engine Mover reckoner (MOVER.cpp AcceleratedDeadReckoner/LinearDeadReckoner)
also did the vector Add on projectedOrigin.angularPosition -> over a long peer
record gap it diverged to ~180deg then snapped (the reported spin HANG/hesitation).
Routed both through a new ExactAngularProject() helper (same exact math).
3. Orientation only rode the sparse type-4 resync; during a PURE spin the linear
dense-send never fires (not translating), so the gap ballooned (~1.6s) and the now-
exact projection sat far ahead -> the slerp jumped. Added an ANGULAR dense-send
(resync every frame while |yawRate|>0.1), mirroring the original's frequent-
orientation model -> gap stays tiny -> smooth.
Verified live-autonomous (BT_AUTODRIVE+BT_FORCE_TURN + BT_RENDHDG render-rate probe):
the ~180deg divergence + multi-radian snaps are GONE (rendered maxStep 0.05-0.10 rad,
no jumps). User confirms: no frame hang/hesitation. MOVER.cpp change is strictly
more correct (exact==crude for the small per-frame master case; only large-gap peer
extrapolation changes), so walking is unaffected.
KNOWN REMAINING (separate, smaller): the turn-STEP leg animation (trn clip, mech2.cpp
advance_normally) runs at a FIXED idleStrideScale cadence that does not scale with the
rotation rate, so the legs lag/skip vs the (now-correct) body rotation. Next.
Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com >
2026-07-14 17:05:16 -05:00
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