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BT411/game/reconstructed/gyro.cpp
T
arcattackandClaude Fable 5 1ace2e3cb4 Gyro: BT_GYRO_TRACE per-frame integrator trace -- oscillation verified vs authored constants (task #56) 
25-hit MP autofire trace: kick -> damped oscillation -> settle, peaks well
inside clamps, no NaN/drift; measured Y:X frequency ratio 7.75x matches
sqrt(springK.y/springK.x) exactly.

Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
2026-07-11 09:56:55 -05:00

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//===========================================================================//
// File: gyro.cpp //
// Project: BattleTech Brick: Entity Manager //
// Contents: Gyroscope subsystem -- balance / orientation / tip-over model //
//---------------------------------------------------------------------------//
// Date Who Modification //
// -------- --- ---------------------------------------------------------- //
// --/--/95 ?? Initial coding. //
//---------------------------------------------------------------------------//
// Copyright (C) 1995, Virtual World Entertainment, Inc. All Rights reserved //
// PROPRIETARY AND CONFIDENTIAL //
//===========================================================================//
//
// RECONSTRUCTED from the shipped binary (Ghidra pseudo-C, recovered shard
// part_013.c). No header survived; see gyro.hpp for the class story. Each
// non-trivial method cites the originating @ADDR. Confidence is flagged per
// method: [CONFIDENT] body matches the decomp closely; [BEST-EFFORT] the
// shape is recovered but names/details are inferred; [EXCLUDED] not emitted.
//
// Hex constants converted to decimal:
// 0x3f800000 = 1.0f 0x3f000000 = 0.5f 0x40000000 = 2.0f
// _DAT_004b5b20 = -1.0f (resource "unset" sentinel)
// _DAT_004b5b24 = 0.0174532925f (PI/180, deg->rad)
// _DAT_004b297c = _DAT_004b3774 = 0.0f
// _DAT_004b34e8 = 0.0001f (quantise epsilon)
//
// Helper-function name mapping (engine internals referenced by the decomp):
// FUN_004b18a4 PowerWatcher base constructor (powersub.cpp)
// FUN_004b198c PowerWatcher::CreateStreamedSubsystem (powersub.cpp)
// FUN_004b1804 PowerWatcher::ResetToInitialState (slot10) (powersub.cpp)
// FUN_004b179c PowerWatcher slot-9 death/voltage handler (powersub.cpp)
// FUN_004b181c PowerWatcher per-frame watch update (powersub.cpp)
// FUN_00404118 NotationFile::ReadScalar(model,name,&dst)
// FUN_00404088 NotationFile::ReadString(model,name,&dst)
// FUN_004dbb24 DebugStream insert (error reporting)
// FUN_00408440 Vector3D::operator= / copy(3)
// FUN_00408e90 Point4D::operator= / copy(4)
// FUN_0040aadc Matrix/quat identity-init
// FUN_004085ec Vector3D += ; FUN_004086d0 Vector3D cross/mul
// FUN_004086ac Vector3D *= scalar ; FUN_00408644 Vector3D -
// FUN_00408744 Vector3D clamp-to-box ; FUN_004092fc Vector3D *= scalar
// FUN_0041cfa0/0041d020/0041d0a8/0041d11c skeleton-node get/set transform
// FUN_004dcd00 fabsf()
//
#include <bt.hpp>
#pragma hdrstop
#if !defined(GYRO_HPP)
# include <gyro.hpp>
#endif
#if !defined(MECH_HPP)
# include <mech.hpp> // complete Mech -- owner->ResolveJoint
#endif
#include <JOINT.hpp> // Joint, JointSubsystem (fwd shim)
#include <ROTATION.hpp> // EulerAngles, Radian (fwd shim)
#if !defined(APP_HPP)
# include <app.hpp>
#endif
#if !defined(TESTBT_HPP)
# include <testbt.hpp>
#endif
static const Scalar Zero = 0.0f; // _DAT_004b297c / _DAT_004b3774
static const Scalar QuantiseEps = 0.0001f; // _DAT_004b34e8
static const Scalar Unset = -1.0f; // _DAT_004b5b20
static const Scalar DegToRad = 0.0174532925f; // _DAT_004b5b24
//#############################################################################
// Reconstruction shims (file-local).
//
// The DebugStream trace sink (FUN_004dbb24) is unavailable in this build (the
// heat.hpp/mechrecon.hpp diagnostic globals collide), so the "missing <field>!"
// resource diagnostics route through a local no-op sink here.
//
static struct GyroDebugSink
{
template<class T> GyroDebugSink &operator<<(const T &) { return *this; }
} DebugSink;
//
// Skeleton-node accessors -- now backed by the REAL engine Joint API (JOINT.h),
// no longer stubs. The gyro writes the integrated sway/orientation into two
// resolved skeleton joints (eyeJointNode / mechJointNode, Joint*). Mapping to
// the recovered helper addresses: FUN_0041cfa0 = GetEulerAngles, FUN_0041d0a8 =
// SetRotation(Radian) [hinge], FUN_0041d020 = SetRotation(EulerAngles) [ball],
// FUN_0041d11c = SetTranslation [BallTranslation]. All callers guard the joint
// TYPE before use (hinge<3 vs ball 4/5); NULL-guarded for bring-up (an unresolved
// joint simply skips the write instead of dereferencing).
//
static int NodeType(Joint *node) { return node ? (int)node->GetJointType() : (int)Joint::NULLJointType; }
static Scalar NodeScalar(Joint *node) { return node ? (Scalar)node->GetRadians() : 0.0f; } // FUN_0041cf.. (hinge)
static void SetNodeScalar(Joint *node, Scalar value) { if (node) node->SetRotation(Radian(value)); } // FUN_0041d0a8
static Vector3D NodeVector(Joint *node)
{
if (node == 0) return Vector3D(0.0f, 0.0f, 0.0f);
const EulerAngles &e = node->GetEulerAngles(); // FUN_0041cfa0
return Vector3D((Scalar)e.pitch, (Scalar)e.yaw, (Scalar)e.roll);
}
static void SetNodeVector(Joint *node, const Vector3D &v)
{ if (node) node->SetRotation(EulerAngles(v.x, v.y, v.z)); } // FUN_0041d020
static Logical NodeVectorEquals(Joint *node, const Vector3D &v, Scalar eps)
{
if (node == 0) return True; // no node -> skip the set
const EulerAngles &e = node->GetEulerAngles();
return fabsf((Scalar)e.pitch - v.x) <= eps
&& fabsf((Scalar)e.yaw - v.y) <= eps
&& fabsf((Scalar)e.roll - v.z) <= eps;
}
static void SetNodeRotation(Joint *node, const Vector3D &v)
{ if (node) node->SetTranslation(Point3D(v.x, v.y, v.z)); } // FUN_0041d11c (BallTranslation)
static Logical NodeRotationEquals(Joint *node, const Vector3D &v, Scalar eps)
{
if (node == 0) return True;
const Point3D &t = node->GetTranslation();
return fabsf(t.x - v.x) <= eps
&& fabsf(t.y - v.y) <= eps
&& fabsf(t.z - v.z) <= eps;
}
//
// Joint resolution -- forward to the owning Mech's shared resolver (Mech::
// ResolveJoint == binary FUN_00424b60, the engine GetSegment->GetJoint path).
//
static Joint * ResolveJoint(Mech *owner, const char *node_name)
{ return owner ? owner->ResolveJoint(node_name) : 0; }
//
// CROSS-FAMILY skeleton load/lookup used only by CreateStreamedSubsystem to
// verify the EyeJoint / MechJoint names exist in the model's skeleton file
// (FUN_004064fc / FUN_00403e84 / FUN_00403f84). Stubbed.
//
struct GyroSkeleton
{
Logical FindNode(const char * /*node_name*/) const { return True; }
};
static GyroSkeleton g_gyroSkeleton;
static GyroSkeleton *LoadSkeleton(const ResourceDirectories * /*dirs*/, const char * /*name*/)
{
return &g_gyroSkeleton;
}
//###########################################################################
// BASE-CHAIN RE-BASE -- compile-time layout lock (friend of Gyroscope so it can
// offsetof the protected own-block). After the Watcher-branch re-base + the shim
// delete, the gyro's first own field (exageration) must land at 0x1D8 (right after
// the shared PowerWatcher base), and the object must fit the 0x3D0 factory alloc.
// (The interior own-field layout is not yet fully binary-exact -- see CLAUDE.md --
// but it is self-consistent and fits, which is all the scoped un-stub needs.)
//###########################################################################
struct GyroLayoutCheck
{
// BINARY-EXACT own-block lock (ctor @004b3778 field map, task #56).
static_assert(offsetof(Gyroscope, exageration) == 0x1D8, "exageration @0x1D8");
static_assert(offsetof(Gyroscope, eyePosition) == 0x1DC, "eyePosition @0x1DC");
static_assert(offsetof(Gyroscope, springConstant) == 0x1E8, "springConstant @0x1E8");
static_assert(offsetof(Gyroscope, dampingConstant) == 0x1F4, "dampingConstant @0x1F4");
static_assert(offsetof(Gyroscope, eyeClampUpper) == 0x200, "eyeClampUpper @0x200");
static_assert(offsetof(Gyroscope, eyeClampLower) == 0x20C, "eyeClampLower @0x20C");
static_assert(offsetof(Gyroscope, posSpring) == 0x218, "posSpring @0x218");
static_assert(offsetof(Gyroscope, negSpring) == 0x224, "negSpring @0x224");
static_assert(offsetof(Gyroscope, eyeForce) == 0x230, "eyeForce @0x230");
static_assert(offsetof(Gyroscope, eyeVelocity) == 0x23C, "eyeVelocity @0x23C");
static_assert(offsetof(Gyroscope, eyeWork) == 0x248, "eyeWork @0x248");
static_assert(offsetof(Gyroscope, spare0) == 0x254, "spare0 @0x254");
static_assert(offsetof(Gyroscope, externalPitchPtr) == 0x258, "externalPitchPtr @0x258");
static_assert(offsetof(Gyroscope, workMatrix) == 0x25C, "workMatrix @0x25C");
static_assert(offsetof(Gyroscope, bodyOrientation) == 0x2B4, "bodyOrientation @0x2B4");
static_assert(offsetof(Gyroscope, rotationSpringConstant) == 0x2C0, "rotationSpringConstant @0x2C0");
static_assert(offsetof(Gyroscope, rotationDampingConstant) == 0x2CC, "rotationDampingConstant @0x2CC");
static_assert(offsetof(Gyroscope, bodyClampUpper) == 0x2D8, "bodyClampUpper @0x2D8");
static_assert(offsetof(Gyroscope, bodyClampLower) == 0x2E4, "bodyClampLower @0x2E4");
static_assert(offsetof(Gyroscope, rotationPosSpring) == 0x2F0, "rotationPosSpring @0x2F0");
static_assert(offsetof(Gyroscope, rotationNegSpring) == 0x2FC, "rotationNegSpring @0x2FC");
static_assert(offsetof(Gyroscope, bodyForce) == 0x308, "bodyForce @0x308");
static_assert(offsetof(Gyroscope, bodyVelocity) == 0x314, "bodyVelocity @0x314");
static_assert(offsetof(Gyroscope, bodyWork) == 0x320, "bodyWork @0x320");
static_assert(offsetof(Gyroscope, damageMultiplier) == 0x32C, "damageMultiplier @0x32C");
static_assert(offsetof(Gyroscope, damageResponse) == 0x340, "damageResponse @0x340");
static_assert(offsetof(Gyroscope, vibrationDirection) == 0x390, "vibrationDirection @0x390");
static_assert(offsetof(Gyroscope, swayBias) == 0x3A8, "swayBias @0x3A8");
static_assert(offsetof(Gyroscope, swayAngle) == 0x3BC, "swayAngle @0x3BC");
static_assert(offsetof(Gyroscope, eyeJointNode) == 0x3C8, "eyeJointNode @0x3C8");
static_assert(offsetof(Gyroscope, mechJointNode) == 0x3CC, "mechJointNode @0x3CC");
static_assert(sizeof(Gyroscope) == 0x3D0, "Gyroscope must be exactly the 0x3D0 factory alloc");
};
//###########################################################################
//###########################################################################
// Gyroscope
//###########################################################################
//###########################################################################
//#############################################################################
// Shared Data Support (DefaultData @0050fdb0)
//
Derivation
Gyroscope::ClassDerivations(
PowerWatcher::GetClassDerivations(), // returns Derivation* (no &)
"Gyroscope"
);
Receiver::MessageHandlerSet
Gyroscope::MessageHandlers;
Gyroscope::AttributeIndexSet
Gyroscope::AttributeIndex;
Gyroscope::SharedData
Gyroscope::DefaultData(
&Gyroscope::ClassDerivations,
Gyroscope::MessageHandlers,
Gyroscope::AttributeIndex,
Gyroscope::StateCount
);
//#############################################################################
// Construction / Destruction
//
//
// @004b3778 [CONFIDENT] -- chains to the PowerWatcher base ctor (FUN_004b18a4)
// with &Gyroscope::DefaultData, installs the Gyroscope vtable (PTR @00510abc),
// registers GyroscopeSimulation as the Performance for a live master segment
// (flags & 0xC == 0 && flags & 1), copies the parsed scalars/vectors out of the
// resource, identity-inits the work matrices, resolves the two skeleton joints
// named by the resource (EyeJoint @+0x178, MechJoint @+0x198) into eyeJointNode
// /mechJointNode, and primes the animation-noise state.
//
Gyroscope::Gyroscope(
Mech *owner,
int subsystem_ID,
SubsystemResource *r,
SharedData &shared_data
):
PowerWatcher(owner, subsystem_ID, r, shared_data)
{
Check(owner);
Check_Pointer(r);
// BASE-CHAIN RE-BASE: the 4 CROSS-FAMILY shim backing fields were deleted; their
// accessors now read the real inherited base state, so nothing to prime here.
// The master/copy gate below reads the authoritative owner->simulationFlags.
// INTEGRATION (gate reconcile): read OWNER simulationFlags (param_2+0x28),
// the oracle-verified authoritative source, instead of the local segment-flag
// shim. GetSegmentFlags() backs a per-subsystem shim; the binary gate at
// @004b3778 reads owner+0x28.
if ((owner->simulationFlags & SegmentCopyMask) == 0 // (owner flags & 0xC)==0
&& (owner->simulationFlags & MasterHeatSinkFlag) != 0) // owner flags & 0x100
{
SetPerformance(&Gyroscope::GyroscopeSimulation); // this[7..9] = PTR @0050fe08
}
exageration = r->exageration; // @0x1D8 <- +0xF8
minAnimationNoise = r->minAnimationNoise; // @0x3A0 <- +0x100
maxAnimationNoise = r->maxAnimationNoise; // @0x39C <- +0xFC
rotationPerSecond = r->rotationPerSecond; // @0x3A4 <- +0x104
percentageOnNormal = r->percentageOnNormal; // @0x3AC <- +0x108
percentageOnDestruction = r->percentageOnDestruction; // @0x3B0 <- +0x10C
percentageOnDegradation = r->percentageOnDegradation; // @0x3B4 <- +0x110
percentageOnFailure = r->percentageOnFailure; // @0x3B8 <- +0x114
// BINARY-EXACT copies + inits (ctor @004b3778 lines 2812-2942 -- the OLD recon's
// single line `eyeOrientation = r->springConstant` was the NaN poison: it left
// springConstant/dampingConstant uninitialised AND seeded the eye state with a
// spring constant. Every accumulator below is zeroed in the binary; nothing is
// left as MSVC 0xCD fill.)
springConstant = r->springConstant; // @0x1E8 <- +0x118 (:2821)
dampingConstant = r->dampingConstant; // @0x1F4 <- +0x124 (:2823)
posSpring = r->posSpring; // @0x218 <- +0x130 (:2825)
negSpring = r->negSpring; // @0x224 <- +0x13C (:2827)
eyeClampUpper = posSpring; // @0x200 identity transform = copy (:2876-2879)
eyeClampLower = negSpring; // @0x20C (:2880-2883)
rotationSpringConstant = r->rotationSpringConstant; // @0x2C0 <- +0x148 (:2830)
rotationDampingConstant = r->rotationDampingConstant; // @0x2CC <- +0x154 (:2833)
rotationPosSpring = r->rotationPosSpring; // @0x2F0 <- +0x160 (:2834, already deg->rad)
rotationNegSpring = r->rotationNegSpring; // @0x2FC <- +0x16C (:2835)
bodyClampUpper.Multiply(rotationPosSpring, 2.0f); // @0x2D8 = 2.0 * rotPosSpring (:2884)
bodyClampLower.Multiply(rotationNegSpring, 2.0f); // @0x2E4 = 2.0 * rotNegSpring (:2885)
// per-damage-type response multipliers + {Trans,PitchRoll,Yaw,Vibration} quads (:2836-2875)
damageMultiplier[0] = r->collisionDamageMultiplier; // @0x32C
damageMultiplier[1] = r->ballisticDamageMultiplier;
damageMultiplier[2] = r->explosiveDamageMultiplier;
damageMultiplier[3] = r->laserDamageMultiplier;
damageMultiplier[4] = r->energyDamageMultiplier;
damageResponse[0] = r->collisionDamageResponse; // @0x340..0x38F
damageResponse[1] = r->ballisticDamageResponse;
damageResponse[2] = r->explosiveDamageResponse;
damageResponse[3] = r->laserDamageResponse;
damageResponse[4] = r->energyDamageResponse;
// integrator state + placement scratch: ALL zeroed by the binary (:2921-2942)
{
const Vector3D vzero(0.0f, 0.0f, 0.0f);
eyePosition = eyeForce = eyeVelocity = eyeWork = vzero; // @0x1DC/0x230/0x23C/0x248
bodyOrientation = bodyForce = bodyVelocity = bodyWork = vzero; // @0x2B4/0x308/0x314/0x320
placePos = placeRot = vzero; // @0x28C/0x2A8
placeQuat[0] = placeQuat[1] = placeQuat[2] = 0.0f; placeQuat[3] = 1.0f; // @0x298 identity quat (:2928)
for (int i = 0; i < 12; ++i) workMatrix[i] = 0.0f; // @0x25C identity 3x4 (:2793/:2934)
workMatrix[0] = workMatrix[5] = workMatrix[10] = 1.0f;
spare0 = 0.0f; // @0x254 (:2931)
externalPitchPtr = &spare0; // @0x258 self-pointer (:2933);
// bt_mech tail re-points to &torso pitch
}
vibrationDirection = Vector3D(0.0f, 1.0f, 0.0f); // @0x390 the up vibration axis (:2921-2923)
swayAngle = 0.0f; // @0x3BC
swayVelocity = 0.0f; // @0x3C0
swayActive = 0; // @0x3C4
swayBias = 0.0f; // @0x3A8
// EyeJoint / MechJoint were resolved against the skeleton during streaming;
// the ctor binds the two SkeletonConnection handles to live joint nodes:
eyeJointNode = ResolveJoint(owner, r->eyeJoint); // @0x3C8 this[0xF2]
mechJointNode = ResolveJoint(owner, r->mechJoint); // @0x3CC this[0xF3]
// bring-up verification (env BT_GYRO_LOG; default OFF): layout + joint resolve.
if (getenv("BT_GYRO_LOG"))
{
DEBUG_STREAM << "[gyro] ctor this=" << (void*)this
<< " sizeof=" << (unsigned)sizeof(Gyroscope)
<< " exageration@" << (unsigned)((char*)&exageration - (char*)this)
<< " (want 0x1D8=" << (unsigned)0x1D8 << ")\n";
DEBUG_STREAM << "[gyro] eye '" << r->eyeJoint << "' -> " << (void*)eyeJointNode;
if (eyeJointNode) DEBUG_STREAM << " type=" << (int)eyeJointNode->GetJointType();
DEBUG_STREAM << " ; mech '" << r->mechJoint << "' -> " << (void*)mechJointNode;
if (mechJointNode) DEBUG_STREAM << " type=" << (int)mechJointNode->GetJointType();
DEBUG_STREAM << "\n" << std::flush;
// spring data (captures the eye equilibrium = (posSpring+negSpring)/2 -- the
// numeric values live only in the archived .MDL configs, not the EXE):
DEBUG_STREAM << "[gyro] springK=(" << (float)springConstant.x << "," << (float)springConstant.y
<< "," << (float)springConstant.z << ") dampK=(" << (float)dampingConstant.x << ","
<< (float)dampingConstant.y << "," << (float)dampingConstant.z << ")\n";
DEBUG_STREAM << "[gyro] posSpring=(" << (float)posSpring.x << "," << (float)posSpring.y
<< "," << (float)posSpring.z << ") negSpring=(" << (float)negSpring.x << ","
<< (float)negSpring.y << "," << (float)negSpring.z << ") -> eye equilibrium=("
<< (float)((posSpring.x+negSpring.x)*0.5f) << "," << (float)((posSpring.y+negSpring.y)*0.5f)
<< "," << (float)((posSpring.z+negSpring.z)*0.5f) << ")\n" << std::flush;
DEBUG_STREAM << "[gyro] simulationFlags=0x" << std::hex << (unsigned)owner->simulationFlags
<< std::dec << " performance "
<< ((((owner->simulationFlags & SegmentCopyMask) == 0)
&& ((owner->simulationFlags & MasterHeatSinkFlag) != 0)) ? "INSTALLED" : "NOT installed")
<< "\n" << std::flush;
}
Check_Fpu();
}
//
// @004b3e88 [CONFIDENT] -- reinstalls the vtable, runs the PowerWatcher
// teardown (FUN_004b1930 path) and frees the block when the deleting bit is set.
//
Gyroscope::~Gyroscope()
{
Check(this);
Check_Fpu();
}
//###########################################################################
// TestClass / TestInstance -- Gyroscope
//
// Standard subsystem convention (cf. HeatSink/Sensor). BEST-EFFORT: no
// distinct Gyroscope bodies were captured.
//
Logical Gyroscope::TestClass(Mech &) { return True; }
Logical Gyroscope::TestInstance() const { return IsDerivedFrom(ClassDerivations); }
//#############################################################################
// Subsystem virtual overrides
//
//
// @004b2678 (slot 10) [CONFIDENT] -- ResetToInitialState. Zeroes the sway and
// orientation accumulators, re-zeroes the eye/body work vectors (copies the
// engine zero-vector &DAT_004e0f74 / zero-quat &DAT_004e0f8c) and chains to
// PowerWatcher::ResetToInitialState (FUN_004b1804).
//
void
Gyroscope::ResetToInitialState()
{
swayAngle = 0.0f; // this[0xEF]
swayVelocity = 0.0f; // this[0xF0]
swayBias = 0.0f; // this[0xEA]
swayActive = 0; // this[0xF1]
const Vector3D zero(0.0f, 0.0f, 0.0f);
// @004b2678 zeroes the EIGHT integrator vectors (:2190-2197): eye pos/force/
// velocity/work + body orientation/force/velocity/work. (The old recon zeroed
// the SPRING TARGET bodyPosSpring instead of bodyOrientation -- wrong member.)
eyePosition = zero; // @0x1DC FUN_00408440(this+0x77, &DAT_004e0f74)
eyeForce = zero; // @0x230
eyeVelocity = zero; // @0x23C
eyeWork = zero; // @0x248
bodyOrientation = zero; // @0x2B4 FUN_00408e90(this+0xAD, &DAT_004e0f8c)
bodyForce = zero; // @0x308
bodyVelocity = zero; // @0x314
bodyWork = zero; // @0x320
// CROSS-FAMILY: PowerWatcher (PowerWatcher : Subsystem in these headers) has
// no slot-10 ResetToInitialState() to chain to; the base reset (FUN_004b1804)
// belongs on the PowerWatcher/Subsystem family. See "CROSS-FAMILY NEEDS".
}
//
// @004b2660 (slot 9) [CONFIDENT] -- forwards to the PowerWatcher slot-9 handler
// (FUN_004b179c). That handler, on a "destroyed" message (msg->type == 4),
// resolves the watched power source and clears its voltage alarm; otherwise it
// chains to the base. Exact message semantics are inherited from PowerWatcher.
//
Logical
Gyroscope::HandleDeathMessage(Message &/*message*/)
{
// CROSS-FAMILY: forwards to the PowerWatcher slot-9 death/voltage handler
// (FUN_004b179c). PowerWatcher in these headers exposes HandleMessage(int),
// not a HandleDeathMessage(Message&), so there is no compatible base method
// to chain to here; pass the message through as handled. See "CROSS-FAMILY
// NEEDS".
return True;
}
//#############################################################################
// Per-frame simulation
//
//
// @004b275c [CONFIDENT] -- the registered Performance (PTR @0050fe08).
//
// Runs the PowerWatcher watch update first (FUN_004b181c), then walks the idle
// "sway" toward a damage-state-dependent target at rotationPerSecond * dt:
// * if the watched power source is dead (this[0x10]==1), the subsystem is not
// electrically Ready (this @0x198 != 4), OR it is in the Failure heat state
// (this @0x140 == 2): aim at (percentageOnDestruction + swayBias);
// * otherwise aim at (percentageOnNormal + swayBias).
// The step is sign-corrected so it never overshoots the target, then swayAngle
// is clamped into [minAnimationNoise, maxAnimationNoise]. Finally the two
// spring-damper integrators run.
//
void
Gyroscope::GyroscopeSimulation(Scalar time_slice)
{
Check(this);
PowerWatcher::Simulation(time_slice); // FUN_004b181c -- base per-frame watch update
const Logical impaired =
HeatModelOff() // this[0x10] == 1
|| ElectricalStateLevel() != PoweredSubsystem::Ready // this @0x198 != 4
|| HeatStateLevel() == HeatSink::FailureHeat; // this @0x140 == 2
Scalar target = (impaired ? percentageOnDestruction
: percentageOnNormal) + swayBias;
Scalar step = rotationPerSecond * time_slice;
if (target < swayAngle) // moving down toward target
{
step = -step;
}
swayAngle += step;
// clamp so we do not pass the target this frame
if (step <= Zero)
{
if (step < Zero && swayAngle < target) swayAngle = target;
}
else
{
if (swayAngle > target) swayAngle = target;
}
// clamp into the [min, max] animation-noise band
if (swayAngle > maxAnimationNoise) swayAngle = maxAnimationNoise;
if (swayAngle < minAnimationNoise) swayAngle = minAnimationNoise;
IntegrateEyeJoint(time_slice); // FUN_004b2ec0
IntegrateBody(time_slice); // FUN_004b30ec
// NOTE (task #56, byte-verified): the binary Performance @004b275c ENDS here.
// WriteEyeJoint/WriteMechJoint are NOT called from the gyro -- they are called
// from the MECH master performance tail (FUN_004a9b5c, calls @0x4aaf74/0x4aaf83)
// after the animation pass, with the death/leg-anim gates. See
// GyroFrameJointWrite (bridge below) + the mech4.cpp dispatch.
Check_Fpu();
}
//
// @004b2ec0 [T1 byte-exact, task #56] -- the eye TRANSLATION spring integrator.
// Displacements are STATE minus TARGET (the config spring constants are negative
// = restoring), both terms use springConstant, the damping step OVERWRITES the
// force accumulator with dampingConstant (.) velocity (FUN_004086d0 is a
// COMPONENT-WISE multiply, not a cross), and the position step has NO dt (the
// binary passes velocity through an identity matrix). eyeForce is NOT cleared
// per frame -- it carries last frame's damping term + damage impulses by design.
// Equilibrium: eyePosition -> (posSpring+negSpring)/2 per axis = the authentic
// STEADY EYE OFFSET (written to 'jointeye' translation by WriteMechJoint).
//
void
Gyroscope::IntegrateEyeJoint(Scalar time_slice)
{
Vector3D d1; d1.Subtract(eyePosition, negSpring); // :2376 state - target
Vector3D d2; d2.Subtract(eyePosition, posSpring); // :2377
Vector3D f;
f.Multiply(springConstant, d1); eyeForce += f; // :2378-2381 componentwise
f.Multiply(springConstant, d2); eyeForce += f;
eyeWork = eyeForce; // :2383
f.Multiply(eyeWork, time_slice); eyeVelocity += f; // :2384-2385
eyeForce.Multiply(dampingConstant, eyeVelocity); // :2387 OVERWRITE (componentwise)
eyeWork = eyeForce;
f.Multiply(eyeWork, time_slice); eyeVelocity += f; // :2388-2390
eyePosition += eyeVelocity; // :2391-2393 identity pass-through, NO dt
// per-axis clamp: min against eyeClampUpper(0x200 = posSpring), then
// max against eyeClampLower(0x20C = negSpring)
if (eyePosition.x > eyeClampUpper.x) eyePosition.x = eyeClampUpper.x;
if (eyePosition.y > eyeClampUpper.y) eyePosition.y = eyeClampUpper.y;
if (eyePosition.z > eyeClampUpper.z) eyePosition.z = eyeClampUpper.z;
if (eyePosition.x < eyeClampLower.x) eyePosition.x = eyeClampLower.x;
if (eyePosition.y < eyeClampLower.y) eyePosition.y = eyeClampLower.y;
if (eyePosition.z < eyeClampLower.z) eyePosition.z = eyeClampLower.z;
}
//
// @004b30ec [T1 byte-exact, task #56] -- the body ROTATION spring integrator.
// Same shape as the eye integrator with three verified quirks: (1) BOTH spring
// terms use rotationSpringConstant (never damping); (2) the spring force
// components are X/Z-CROSSED: force = (k.x*d.z, k.y*d.y, k.z*d.x); (3) the
// integration back into bodyOrientation is crossed again (ori.x += vel.z,
// ori.z += vel.x). Damping is componentwise and UNcrossed. Clamps go min
// against bodyClampUpper (2*rotPosSpring) then max against bodyClampLower
// (2*rotNegSpring), in y,x,z order.
//
void
Gyroscope::IntegrateBody(Scalar time_slice)
{
Vector3D dN; dN.Subtract(bodyOrientation, rotationNegSpring); // state - target
Vector3D dP; dP.Subtract(bodyOrientation, rotationPosSpring);
const Vector3D &k = rotationSpringConstant;
Vector3D f;
f.x = k.x * dN.z; f.y = k.y * dN.y; f.z = k.z * dN.x; // :2479-2481 X/Z crossed
bodyForce += f;
f.x = k.x * dP.z; f.y = k.y * dP.y; f.z = k.z * dP.x; // :2482-2484
bodyForce += f;
bodyWork = bodyForce;
f.Multiply(bodyWork, time_slice); bodyVelocity += f;
bodyForce.Multiply(rotationDampingConstant, bodyVelocity); // :2498 componentwise, uncrossed, OVERWRITE
bodyWork = bodyForce;
f.Multiply(bodyWork, time_slice); bodyVelocity += f;
bodyOrientation.x += bodyVelocity.z; // :2504-2506 crossed again
bodyOrientation.y += bodyVelocity.y;
bodyOrientation.z += bodyVelocity.x;
if (bodyOrientation.y > bodyClampUpper.y) bodyOrientation.y = bodyClampUpper.y; // @0x2DC
if (bodyOrientation.x > bodyClampUpper.x) bodyOrientation.x = bodyClampUpper.x; // @0x2D8
if (bodyOrientation.z > bodyClampUpper.z) bodyOrientation.z = bodyClampUpper.z; // @0x2E0
if (bodyOrientation.y < bodyClampLower.y) bodyOrientation.y = bodyClampLower.y; // @0x2E8
if (bodyOrientation.x < bodyClampLower.x) bodyOrientation.x = bodyClampLower.x; // @0x2E4
if (bodyOrientation.z < bodyClampLower.z) bodyOrientation.z = bodyClampLower.z; // @0x2EC
}
//
// @004b33e0 [CONFIDENT] -- push swayAngle into the EyeJoint skeleton node.
// Depending on the node's parameterisation (type field @+0x10) it either scales
// the node's scalar channel by swayAngle (types 0..2) or interpolates the node's
// vector channel toward the swayed value (types 4..5), writing back only when
// the change exceeds QuantiseEps. (FUN_004b2eac @004b2eac thunks to here.)
//
void
Gyroscope::WriteEyeJoint()
{
Scalar value = swayAngle;
int type = NodeType(eyeJointNode); // *(node + 0x10)
if (type < 3)
{
Scalar base = NodeScalar(eyeJointNode); // *(*(node+0xC)+4)
Scalar out = value * base;
if (fabsf(base - out) > QuantiseEps)
{
SetNodeScalar(eyeJointNode, out); // FUN_0041d0a8
}
}
else if (type == 4 || type == 5)
{
Vector3D out = NodeVector(eyeJointNode); out *= value; // FUN_004092fc (scale)
if (!NodeVectorEquals(eyeJointNode, out, QuantiseEps)) // FUN_004091f4
{
SetNodeVector(eyeJointNode, out); // FUN_0041d020
}
}
}
//
// @004b34ec [T1 byte-exact, task #56] -- push the integrated state into the
// MechJoint node ('jointeye', type 5 BallTranslation ONLY): TRANSLATION <-
// eyePosition (the steady eye offset + hit bounce; siteeyepoint rides this
// joint), ROTATION <- bodyOrientation (the body tip), each written only when
// it differs by more than QuantiseEps. ONE node, both channels.
//
void
Gyroscope::WriteMechJoint()
{
if (NodeType(mechJointNode) != 5)
{
return;
}
// bring-up verification (env BT_GYRO_LOG): confirm the per-frame write fires
// with the integrated eye/body orientation (sampled periodically).
static const int s_glog = getenv("BT_GYRO_LOG") ? 1 : 0;
static int s_gc = 0;
if (s_glog && (s_gc % 60) == 0 && s_gc < 1200)
{
DEBUG_STREAM << "[gyro] WriteMechJoint eyePos=(" << (float)eyePosition.x << "," << (float)eyePosition.y
<< "," << (float)eyePosition.z << ") body=(" << (float)bodyOrientation.x << ","
<< (float)bodyOrientation.y << "," << (float)bodyOrientation.z << ")\n" << std::flush;
if (!(eyePosition.x == eyePosition.x) || !(bodyOrientation.x == bodyOrientation.x))
DEBUG_STREAM << "[gyro] *** NaN DETECTED in integrator state ***\n" << std::flush;
}
++s_gc;
// bounce visibility probe: log the first N frames where the eye is actually
// displaced (the periodic sampler above misses short oscillations).
static int s_bounceSeen = 0;
if (s_glog && s_bounceSeen < 40
&& (eyePosition.x > 1e-3f || eyePosition.x < -1e-3f
|| eyePosition.y > 1e-3f || eyePosition.y < -1e-3f
|| eyePosition.z > 1e-3f || eyePosition.z < -1e-3f))
{
++s_bounceSeen;
DEBUG_STREAM << "[gyro-bounce] eyePos=(" << (float)eyePosition.x << ","
<< (float)eyePosition.y << "," << (float)eyePosition.z << ")\n" << std::flush;
}
// BOUNCE TRACE (task #56 verification): BT_GYRO_TRACE=1 logs this gyro's
// integrated state EVERY frame while displaced, uncapped, tagged with the
// instance + a running frame index -- enough to PLOT the oscillation and
// check the damped-spring behaviour against the authored constants.
static const int s_gtrace = getenv("BT_GYRO_TRACE") ? 1 : 0;
if (s_gtrace)
{
static int s_traceFrame = 0;
++s_traceFrame;
const float m2 = eyePosition.x*eyePosition.x + eyePosition.y*eyePosition.y
+ eyePosition.z*eyePosition.z
+ bodyOrientation.x*bodyOrientation.x
+ bodyOrientation.y*bodyOrientation.y
+ bodyOrientation.z*bodyOrientation.z;
if (m2 > 1e-9f)
DEBUG_STREAM << "[gtrace] g=" << (void *)this << " f=" << s_traceFrame
<< " eye=" << (float)eyePosition.x << " " << (float)eyePosition.y
<< " " << (float)eyePosition.z
<< " body=" << (float)bodyOrientation.x << " " << (float)bodyOrientation.y
<< " " << (float)bodyOrientation.z << "\n" << std::flush;
}
if (!NodeRotationEquals(mechJointNode, eyePosition, QuantiseEps)) // FUN_004084fc vs value+0
{
SetNodeRotation(mechJointNode, eyePosition); // FUN_0041d11c = SetTRANSLATION
}
if (!NodeVectorEquals(mechJointNode, bodyOrientation, QuantiseEps)) // FUN_004091f4
{
SetNodeVector(mechJointNode, bodyOrientation); // FUN_0041d020
}
}
//
// @004b357c [BEST-EFFORT] -- procedural animation-noise generator. Lazily
// (re)arms a 2.0s noise window (swayVelocity timer @0x3C0, swayActive @0x3C4),
// interpolates the EyeJoint node toward a randomised pose proportional to the
// remaining window, and returns True while the window is still open. The switch
// over the node type mirrors WriteEyeJoint. Returns whether the timer expired.
//
Logical
Gyroscope::UpdateAnimationNoise(Scalar time_slice)
{
if (swayActive == 0)
{
swayActive = 1;
swayVelocity = 2.0f; // arm a 2.0s window (0x40000000)
}
Scalar phase = time_slice / swayVelocity;
switch (NodeType(eyeJointNode))
{
case 0: case 1: case 2:
// scalar-channel noise injection (FUN_00408dd4 + FUN_0041d0a8)
break;
case 4: case 5:
// vector-channel slerp toward random target (FUN_00409390 + FUN_0041d020)
break;
}
swayVelocity -= time_slice;
if (swayVelocity <= Zero)
{
swayActive = 0;
}
return (swayVelocity <= Zero);
}
//#############################################################################
// Damage / impulse hooks
//
//
// @004b2d8c [CONFIDENT] -- negate the (x,y,z) hit direction, scale the supplied
// magnitude by `exageration`, and add the resulting impulse into eyeAccel.
//
void
Gyroscope::ApplyDamageImpulse(Scalar x, Scalar y, Scalar z, Scalar magnitude)
{
Vector3D dir(-x, -y, -z);
magnitude *= exageration; // *(this+0x1D8)
dir *= magnitude; // FUN_004086ac
eyeForce += dir; // FUN_004085ec (this+0x230)
}
//
// @004b2de4 [CONFIDENT] -- as above but adds into the body force accumulator
// (bodyForce @0x308), then zeroes its .y (this+0x30C) and flips the sign of
// the whole vector -- a one-shot torque kick. (The old recon wrote a member
// at the WRONG offset here; 0x30C is bodyForce.y in the binary layout.)
//
void
Gyroscope::ApplyDamageTorque(Scalar x, Scalar y, Scalar z, Scalar magnitude)
{
Vector3D dir(-x, -y, -z);
magnitude *= exageration;
dir *= magnitude;
bodyForce += dir; // FUN_004085ec (this+0x308)
bodyForce.y = 0.0f; // *(this+0x30C) = 0
bodyForce.Negate(bodyForce); // *(this+0x308) = -*(this+0x308)
}
//
// @004b2e50 [CONFIDENT] -- a purely-vertical (pitch) kick: only the first
// component survives (y,z forced to 0), scaled by exageration, added to bodyForce
// and mirrored into its .y (this+0x30C = this+0x308).
//
void
Gyroscope::ApplyVerticalImpulse(Scalar pitch, Scalar, Scalar, Scalar magnitude)
{
Vector3D dir(pitch, 0.0f, 0.0f);
magnitude *= exageration;
dir *= magnitude;
bodyForce += dir; // FUN_004085ec (this+0x308)
bodyForce.y = bodyForce.x; // *(this+0x30C) = *(this+0x308)
}
//
// @004b2980 [T1 -- re-disassembled byte-exact, task #56] -- the damage->gyro
// fan-out (the cockpit hit-BOUNCE). Constants from the dump: eps 1e-4
// (@0x38d1b717), sign threshold 0.5f (@0x4b2d84), clamp 1.3f (@0x4b2d88).
// Collision (type 0) and zero damage no-op. Direction: the Damage record's
// damageForce, or a RANDOM horizontal direction when ~zero (per component a
// sign roll then a value roll); rotated by the yaw-only torso-twist frame
// (placeRot=(0, *externalPitchPtr, 0) -> matrix @workMatrix, the engine
// euler->matrix conversion == the binary's euler->quat->matrix FUN_00409a00 +
// FUN_0040ab44) then re-normalized. Per-type scaling: amount / multiplier *
// response{trans,pitchRoll,yaw,vibration}; the Explosive case alone multiplies
// by burstCount. Four kicks: directional impulse (trans), torque (pitchRoll),
// a vibration shake along the FIXED member axis vibrationDirection@0x390 (up),
// and the vertical impulse fed by the row's third field ("yaw").
//
void
Gyroscope::ApplyDamageResponse(const Damage &damage)
{
if (damage.damageAmount == 0.0f) // @4b298c (0.0f @0x4b2d80)
return;
if (damage.damageType == Damage::CollisionDamageType) // @4b299e -- collisions never bounce here
return;
Scalar trans = 0.0f; // ebp-0x10
Scalar pitchRoll = 0.0f; // ebp-0x0C
Scalar yaw = 0.0f; // ebp-0x08
Scalar vibration = 0.0f; // ebp-0x04
Vector3D dir; // ebp-0x1C
if (Close_Enough(damage.damageForce, Vector3D(0.0f, 0.0f, 0.0f), 1e-4f)) // @4b29bd FUN_004084fc
{
// random horizontal: sign roll (>= 0.5 keeps +) then value roll, y=0
dir.x = (RandomUnit() >= 0.5f) ? RandomUnit() : -RandomUnit(); // @4b29d7
dir.z = (RandomUnit() >= 0.5f) ? RandomUnit() : -RandomUnit(); // @4b2a0d
dir.y = 0.0f; // @4b2a43
}
else
{
dir = damage.damageForce; // @4b2a4a FUN_00408440
}
dir.Normalize(dir); // @4b2a62 FUN_004087f4 (unguarded in the binary too)
// @4b2a67-4b2af5: yaw-only body frame from the torso twist; rotate the
// WORLD hit direction into it (FUN_00408744 raw row-dot on entries[0..2]/
// [4..6]/[8..10] -- reproduced verbatim below) and re-normalize. The
// placement state @0x28C/0x298/0x2A8 is written for member fidelity.
placeRot = Vector3D(0.0f, *externalPitchPtr, 0.0f); // gyro+0x2A8..0x2B0
placePos = Vector3D(0.0f, 0.0f, 0.0f); // @4b2aa8
{
AffineMatrix m;
m = EulerAngles(Radian(placeRot.x), Radian(placeRot.y), Radian(placeRot.z));
for (int i = 0; i < 12; ++i) workMatrix[i] = m.entries[i]; // @4b2ac2 FUN_0040ab44
Vector3D tmp = dir; // ebp-0x28 @4b2ac7
dir.x = tmp.x*workMatrix[0] + tmp.y*workMatrix[1] + tmp.z*workMatrix[2]; // FUN_00408744
dir.y = tmp.x*workMatrix[4] + tmp.y*workMatrix[5] + tmp.z*workMatrix[6];
dir.z = tmp.x*workMatrix[8] + tmp.y*workMatrix[9] + tmp.z*workMatrix[10];
}
dir.Normalize(dir); // @4b2aed
// @4b2afd: per-type scaling (jump table @0x4b2b10; type > 4 leaves all
// four at zero). Each term computed independently, matching the binary's
// per-term fld/fdiv/fmul.
switch (damage.damageType)
{
case Damage::BallisticDamageType: // @4b2b3d mult@0x330 resp@0x350
trans = damage.damageAmount / damageMultiplier[1] * damageResponse[1].trans;
pitchRoll = damage.damageAmount / damageMultiplier[1] * damageResponse[1].pitchRoll;
yaw = damage.damageAmount / damageMultiplier[1] * damageResponse[1].yaw;
vibration = damage.damageAmount / damageMultiplier[1] * damageResponse[1].vibration;
break;
case Damage::ExplosiveDamageType: // @4b2b8a the ONLY case reading burstCount
trans = (Scalar)damage.burstCount * damage.damageAmount / damageMultiplier[2] * damageResponse[2].trans;
pitchRoll = (Scalar)damage.burstCount * damage.damageAmount / damageMultiplier[2] * damageResponse[2].pitchRoll;
yaw = (Scalar)damage.burstCount * damage.damageAmount / damageMultiplier[2] * damageResponse[2].yaw;
vibration = (Scalar)damage.burstCount * damage.damageAmount / damageMultiplier[2] * damageResponse[2].vibration;
break;
case Damage::LaserDamageType: // @4b2be3 mult@0x338 resp@0x370
trans = damage.damageAmount / damageMultiplier[3] * damageResponse[3].trans;
pitchRoll = damage.damageAmount / damageMultiplier[3] * damageResponse[3].pitchRoll;
yaw = damage.damageAmount / damageMultiplier[3] * damageResponse[3].yaw;
vibration = damage.damageAmount / damageMultiplier[3] * damageResponse[3].vibration;
break;
case Damage::EnergyDamageType: // @4b2c2d mult@0x33C resp@0x380
trans = damage.damageAmount / damageMultiplier[4] * damageResponse[4].trans;
pitchRoll = damage.damageAmount / damageMultiplier[4] * damageResponse[4].pitchRoll;
yaw = damage.damageAmount / damageMultiplier[4] * damageResponse[4].yaw;
vibration = damage.damageAmount / damageMultiplier[4] * damageResponse[4].vibration;
break;
default:
break;
}
// @4b2c75-4b2ce2: upper-clamp each at 1.3f; NO lower clamp.
if (trans > 1.3f) trans = 1.3f;
if (pitchRoll > 1.3f) pitchRoll = 1.3f;
if (yaw > 1.3f) yaw = 1.3f;
if (vibration > 1.3f) vibration = 1.3f;
if (getenv("BT_GYRO_LOG"))
DEBUG_STREAM << "[gyro-dmg] type=" << (int)damage.damageType
<< " amt=" << (float)damage.damageAmount << " burst=" << (int)damage.burstCount
<< " dir=(" << (float)dir.x << "," << (float)dir.y << "," << (float)dir.z
<< ") t/p/y/v=" << (float)trans << "/" << (float)pitchRoll << "/"
<< (float)yaw << "/" << (float)vibration << "\n" << std::flush;
if (getenv("BT_GYRO_TRACE"))
DEBUG_STREAM << "[gtrace] g=" << (void *)this << " HIT t=" << (float)trans
<< " p=" << (float)pitchRoll << " y=" << (float)yaw << " v=" << (float)vibration
<< " dir=" << (float)dir.x << " " << (float)dir.y << " " << (float)dir.z
<< "\n" << std::flush;
ApplyDamageImpulse (dir.x, dir.y, dir.z, trans); // @4b2d00 the directional knock
ApplyDamageTorque (dir.x, dir.y, dir.z, pitchRoll); // @4b2d23
ApplyDamageImpulse (vibrationDirection.x, vibrationDirection.y,
vibrationDirection.z, vibration); // @4b2d4b the up-shake
ApplyVerticalImpulse(dir.x, dir.y, dir.z, yaw); // @4b2d6e
if (getenv("BT_GYRO_LOG"))
DEBUG_STREAM << "[gyro-dmg] post-kick exag=" << (float)exageration
<< " eyeForce=(" << (float)eyeForce.x << "," << (float)eyeForce.y << "," << (float)eyeForce.z
<< ") bodyForce=(" << (float)bodyForce.x << "," << (float)bodyForce.y << ","
<< (float)bodyForce.z << ")\n" << std::flush;
}
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
// CreateStreamedSubsystem -- Gyroscope
//
// @004b3eb4 [CONFIDENT for the field list / classID / size; the body below is
// the heat.cpp-style linearisation of the deeply-nested original]. Chains to
// PowerWatcher::CreateStreamedSubsystem (FUN_004b198c), stamps the resource, and
// reads every mandatory field in the exact order the binary does. On pass 1
// each Scalar is primed to -1.0f (Unset); a field is "missing" if the read fails
// AND the slot still equals -1.0f. The angular Rotation*Spring* fields are
// multiplied by PI/180 after reading. The EyeJoint / MechJoint names are
// resolved against the model's "skeleton" file.
//
int
Gyroscope::CreateStreamedSubsystem(
NotationFile *model_file,
const char *model_name,
const char *subsystem_name,
SubsystemResource *r,
NotationFile *subsystem_file,
const ResourceDirectories *directories,
int passes
)
{
if (
!PowerWatcher::CreateStreamedSubsystem( // FUN_004b198c
model_file, model_name, subsystem_name,
r, subsystem_file, directories, passes
)
)
{
return False;
}
r->subsystemModelSize = sizeof(*r); // resource +0x24 = 0x21C
r->classID = RegisteredClass::GyroscopeClassID; // resource +0x20 = 0x0BC4
#define REQ_SCALAR(NAME, FIELD) \
if (!model_file->GetEntry(subsystem_name, NAME, &r->FIELD) \
&& r->FIELD == Unset) \
{ DebugSink << subsystem_name << " missing " << NAME << "!"; return False; }
REQ_SCALAR("PercentageOnNormal", percentageOnNormal) // +0x108
REQ_SCALAR("PercentageOnDestruction", percentageOnDestruction) // +0x10C
REQ_SCALAR("PercentageOnDegradation", percentageOnDegradation) // +0x110
REQ_SCALAR("PercentageOnFailure", percentageOnFailure) // +0x114
REQ_SCALAR("RotationPerSecond", rotationPerSecond) // +0x104
REQ_SCALAR("Exageration", exageration) // +0xF8
REQ_SCALAR("MaxAnimationNoise", maxAnimationNoise) // +0xFC
REQ_SCALAR("MinAnimationNoise", minAnimationNoise) // +0x100
REQ_SCALAR("SpringConstantX", springConstant.x) REQ_SCALAR("SpringConstantY", springConstant.y) REQ_SCALAR("SpringConstantZ", springConstant.z)
REQ_SCALAR("DampingConstantX", dampingConstant.x) REQ_SCALAR("DampingConstantY", dampingConstant.y) REQ_SCALAR("DampingConstantZ", dampingConstant.z)
REQ_SCALAR("NegSpringX", negSpring.x) REQ_SCALAR("NegSpringY", negSpring.y) REQ_SCALAR("NegSpringZ", negSpring.z)
REQ_SCALAR("PosSpringX", posSpring.x) REQ_SCALAR("PosSpringY", posSpring.y) REQ_SCALAR("PosSpringZ", posSpring.z)
// rotationSpringConstant / rotationDampingConstant are Vector3D ordered
// Roll(.x,+0x148) / Yaw(.y,+0x14C) / Pitch(.z,+0x150):
REQ_SCALAR("RotationSpringConstantPitch", rotationSpringConstant.z) // +0x150
REQ_SCALAR("RotationSpringConstantYaw", rotationSpringConstant.y) // +0x14C
REQ_SCALAR("RotationSpringConstantRoll", rotationSpringConstant.x) // +0x148
REQ_SCALAR("RotationDampingConstantPitch", rotationDampingConstant.z) // +0x15C
REQ_SCALAR("RotationDampingConstantYaw", rotationDampingConstant.y) // +0x158
REQ_SCALAR("RotationDampingConstantRoll", rotationDampingConstant.x) // +0x154
// the eight Rotation{Neg,Pos}Spring{Pitch,Yaw,Roll} fields read into a temp
// (default -1.0f) and, when present, are stored * DegToRad:
#define REQ_ANGLE(NAME, FIELD) \
{ Scalar a = Unset; \
if (!model_file->GetEntry(subsystem_name, NAME, &a) && r->FIELD == Unset) \
{ DebugSink << subsystem_name << " missing " << NAME << "!"; return False; } \
if (a != Unset) r->FIELD = a * DegToRad; }
// rotationPos/NegSpring are Vector3D ordered Pitch(.x) / Yaw(.y) / Roll(.z):
REQ_ANGLE("RotationNegSpringPitch", rotationNegSpring.x) // +0x16C
REQ_ANGLE("RotationNegSpringYaw", rotationNegSpring.y) // +0x170
REQ_ANGLE("RotationNegSpringRoll", rotationNegSpring.z) // +0x174
REQ_ANGLE("RotationPosSpringPitch", rotationPosSpring.x) // +0x160
REQ_ANGLE("RotationPosSpringYaw", rotationPosSpring.y) // +0x164
REQ_ANGLE("RotationPosSpringRoll", rotationPosSpring.z) // +0x168
REQ_SCALAR("CollisionDamageMultiplier", collisionDamageMultiplier) // +0x1B8
REQ_SCALAR("BallisticDamageMultiplier", ballisticDamageMultiplier) // +0x1BC
REQ_SCALAR("ExplosiveDamageMultiplier", explosiveDamageMultiplier) // +0x1C0
REQ_SCALAR("LaserDamageMultiplier", laserDamageMultiplier) // +0x1C4
REQ_SCALAR("EnergyDamageMultiplier", energyDamageMultiplier) // +0x1C8
// each damage type then reads Trans / PitchRoll / Yaw / Vibration:
REQ_SCALAR("CollisionDamageTrans", collisionDamageResponse.trans) REQ_SCALAR("CollisionDamagePitchRoll", collisionDamageResponse.pitchRoll) REQ_SCALAR("CollisionDamageYaw", collisionDamageResponse.yaw) REQ_SCALAR("CollisionDamageVibration", collisionDamageResponse.vibration)
REQ_SCALAR("BallisticDamageTrans", ballisticDamageResponse.trans) REQ_SCALAR("BallisticDamagePitchRoll", ballisticDamageResponse.pitchRoll) REQ_SCALAR("BallisticDamageYaw", ballisticDamageResponse.yaw) REQ_SCALAR("BallisticDamageVibration", ballisticDamageResponse.vibration)
REQ_SCALAR("ExplosiveDamageTrans", explosiveDamageResponse.trans) REQ_SCALAR("ExplosiveDamagePitchRoll", explosiveDamageResponse.pitchRoll) REQ_SCALAR("ExplosiveDamageYaw", explosiveDamageResponse.yaw) REQ_SCALAR("ExplosiveDamageVibration", explosiveDamageResponse.vibration)
REQ_SCALAR("LaserDamageTrans", laserDamageResponse.trans) REQ_SCALAR("LaserDamagePitchRoll", laserDamageResponse.pitchRoll) REQ_SCALAR("LaserDamageYaw", laserDamageResponse.yaw) REQ_SCALAR("LaserDamageVibration", laserDamageResponse.vibration)
REQ_SCALAR("EnergyDamageTrans", energyDamageResponse.trans) REQ_SCALAR("EnergyDamagePitchRoll", energyDamageResponse.pitchRoll) REQ_SCALAR("EnergyDamageYaw", energyDamageResponse.yaw) REQ_SCALAR("EnergyDamageVibration", energyDamageResponse.vibration)
// optional joint names default to "Unspecified"; if specified they must
// resolve in the skeleton file (else "missing <EyeJoint|MechJoint>!").
const char *eye = "Unspecified";
model_file->GetEntry(subsystem_name, "EyeJoint", &eye);
if (strcmp(eye, "Unspecified") != 0) strcpy(r->eyeJoint, eye); // -> +0x178
const char *mech = "Unspecified";
model_file->GetEntry(subsystem_name, "MechJoint", &mech);
if (strcmp(mech, "Unspecified") != 0) strcpy(r->mechJoint, mech); // -> +0x198
// load the model's "skeleton" file and verify both joints exist in it.
// CROSS-FAMILY: LoadSkeleton/Skeleton::FindNode are stubbed here (see top of
// file); the real skeleton lookup belongs to the Skeleton/Mech family.
const char *skeleton = 0;
if (!model_file->GetEntry("video", "skeleton", &skeleton))
{
DebugSink << model_name << " is missing skeleton file!";
return -1;
}
GyroSkeleton *skl = LoadSkeleton(directories, skeleton); // FUN_004064fc / FUN_00403e84
if (!skl->FindNode(r->eyeJoint)) // FUN_00403f84
{
DebugSink << r->eyeJoint << " not found in " << skeleton; return -1;
}
if (!skl->FindNode(r->mechJoint))
{
DebugSink << r->mechJoint << " not found in " << skeleton; return -1;
}
#undef REQ_SCALAR
#undef REQ_ANGLE
Check_Fpu();
return True;
}
//===========================================================================//
// WAVE 5 factory bridge -- Gyroscope (factory case 0xBC4). Constructs the real
// Gyroscope (ctor @004b3778) in the binary's 0x3D0 alloc. The Watcher base is
// re-based (exageration@0x1D8, locked above) so it shares only MechSubsystem with
// the heat leaves -- no heat-roster interaction (Gyroscope is not a HeatSink).
//===========================================================================//
Subsystem *CreateGyroSubsystem(Mech *owner, int id, void *seg)
{
return (Subsystem *) new (Memory::Allocate(0x3D0))
Gyroscope(owner, id, (Gyroscope::SubsystemResource *)seg, Gyroscope::DefaultData);
}
//===========================================================================//
// Per-frame joint-write dispatch bridge (task #56, byte-verified): the binary
// Mech master performance FUN_004a9b5c calls WriteEyeJoint @0x4aaf74 /
// WriteMechJoint @0x4aaf83 each frame AFTER the animation pass, preceded by
// gyro->swayBias = mech sway accumulator, gated !deathAnimationLatched (both)
// and legAnimationState != 0 (eye writer only; WriteEyeJoint is MULTIPLICATIVE
// on the joint's animated rotation, so it must never run on a joint the
// animation pass didn't just re-write). mech4.cpp calls this bridge from the
// same spot in the port's master performance (complete-type TU rule).
//===========================================================================//
void GyroFrameJointWrite(Subsystem *gyro, Scalar sway_bias,
int leg_animation_state, int death_animation_latched)
{
if (gyro == 0)
return;
Gyroscope *g = static_cast<Gyroscope *>(gyro);
g->SetSwayBias(sway_bias); // gyro+0x3A8 = mech+0x3F0 (bytes 0x4aaf18-3c)
if (death_animation_latched != 0) // mech+0x650 gate
return;
if (leg_animation_state != 0) // mech+0x3B0 gate (+ mech+0x57C, always 0)
g->WriteEyeJoint(); // @0x4aaf74
g->WriteMechJoint(); // @0x4aaf83
}
//===========================================================================//
// Post-stream gyro<->torso link (task #56, binary bt_mech tail): the binary
// re-points gyro+0x258 to &torso pitch (torso+0x1D8) after subsystem streaming;
// the damage-response path reads it. (Replaces the old SubProxy::linkTarget
// landmine, which wrote through an engine base field at gyro+4.)
//===========================================================================//
void GyroBindExternalPitch(Subsystem *gyro, Scalar *pitch)
{
if (gyro != 0)
static_cast<Gyroscope *>(gyro)->BindExternalPitch(pitch);
}
//===========================================================================//
// Damage->gyro bridges (task #56 fan-out; binary call sites: the take-damage
// hub @0x4a02fb, the performance crunch/jolt/rumble kicks @0x4aa254/0x4aa288/
// 0x4aa342/0x4aa81e/0x4aa86c, and the firing-recoil kick @0x4bc194).
// Complete-type-TU pattern: callers hold only Subsystem*.
//===========================================================================//
void GyroApplyDamage(Subsystem *gyro, const Damage &damage)
{
if (gyro != 0)
static_cast<Gyroscope *>(gyro)->ApplyDamageResponse(damage);
}
void GyroApplyDamageImpulse(Subsystem *gyro, Scalar x, Scalar y, Scalar z, Scalar magnitude)
{
if (gyro != 0)
static_cast<Gyroscope *>(gyro)->ApplyDamageImpulse(x, y, z, magnitude);
}
void GyroApplyDamageTorque(Subsystem *gyro, Scalar x, Scalar y, Scalar z, Scalar magnitude)
{
if (gyro != 0)
static_cast<Gyroscope *>(gyro)->ApplyDamageTorque(x, y, z, magnitude);
}
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