Joe DiPrimaandClaude Opus 5
05d7b5890a
Oracle: "missiles are firing in the direction the mech feet are facing ...
and then coming around to track the target", peer POV only -- the shooter's
own view is correct.
REPRODUCED AND MEASURED (scratchpad/night13/missileframe.sh, 2-node: only A
sweeps its torso and only A fires, so every REPLICANT line in B's log is the
mirror of one A salvo). New [launchframe] receipt prints the yaw of the
launch forward vs the BODY forward on both nodes:
master n=165 |twistDelta| max=2.2962 mean=1.2283 >0.1rad: 100%
REPLICANT n=165 |twistDelta| max=0.0000 mean=0.0000 >0.1rad: 0%
segResolved=1 on BOTH, and segYaw == bodyYaw EXACTLY on the peer.
WHAT IT IS NOT. Both sides already pass the mount segment (mislanch.cpp:363
master, :478 replicant mirror, both `GetSegmentIndex()` from task #67), and
the peer's torso data is fine end to end: records arrive (atUpd=2.44/-2.39,
rate 0.305), the copy extrapolates correctly (cur=-2.13987 target=-2.13987
copy=1), and the copy torso demonstrably writes its joint (PushTwist COPY
twist=-1.49601). Hierarchy is identical too: same seg 18, same parentIdx 4,
non-null parent + joint subsystem on both.
ROOT CAUSE. BTPushProjectile composed the frame BY HAND --
`mw.Multiply(seg->GetSegmentToEntity(), localToWorld)`. But
EntitySegment::GetSegmentToEntity (SEGMENT.cpp:262) recomputes ONLY when
`segmentModified` is set, and the thing that sets it after a joint moves is
JointedMover::GetSegmentToWorld (JMOVER.cpp:136-146), which tests
AreJointsModified() and then marks every segment dirty. Hand-composing skips
that, so you read whatever cache is sitting there. On the MASTER that was
invisible -- the renderer/cockpit camera call GetSegmentToWorld for the local
mech every frame, AFTER the local torso pushes its joint, so the cache was
already correct. A REPLICANT gets no such refresh: its cache stayed at the
BIND POSE, and the twist never reached the launch direction.
FIX. Use the engine accessor, and set the joints-dirty flag first so it
actually refreshes (by fire time the frame's render pass has already consumed
and cleared it -- measured jointsDirty=0 on BOTH nodes).
RESULT (same bench):
REPLICANT max 0.0000 -> 2.1145 mean 0.0000 -> 0.8252 0% -> 64%
PARTIAL, and I am not claiming otherwise. 36% of peer salvos still read the
exact-zero stale signature while the master is 100%. Forcing every per-joint
`jointModified` flag as well (GetSegmentToParent's own gate, SEGMENT.cpp:196)
was tried and moved the number by NOTHING -- 64% either way -- so the residual
is a different cause, most likely frame ORDER (the salvo mirror running before
the copy torso has posed that frame). Cheap form kept.
Also fixes a SAMPLING TRAP in the torso probe: PushTwist sampled one shared
static every 30th call, and with a master torso and a copy torso ticking 1:1
every 30th call is always the SAME instance -- so the probe showed only the
local untwisted torso and hid the copy's writes entirely. Now sampled per
instance-kind, which is what made the copy's correct joint writes visible and
moved the search downstream to the segment cache.
Co-Authored-By: Claude Opus 5 (1M context) <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_018SgmXGNMXavXiafKXf9MDC
106 lines
5.0 KiB
Bash
106 lines
5.0 KiB
Bash
#!/usr/bin/env bash
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# =========================================================================
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# #141 -- "missiles launch along the LEG/FOOT facing, then curve to the
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# target -- PEER POV ONLY" (Oracle, night 13: "the emitter is following the
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# foot facing"; shooter's own view correct).
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#
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# WHAT THE CODE SAYS SO FAR. Both sides already pass the mount segment:
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# MissileLauncher::FireWeapon (mislanch.cpp:363) and the REPLICANT salvo
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# mirror (mislanch.cpp:478) each hand BTPushProjectile
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# `GetSegmentIndex() /*task #67 mount frame*/`. BTPushProjectile then
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# rotates the authored MuzzleVelocity through
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# `seg->GetSegmentToEntity() * localToWorld` -- so the launch direction IS
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# the segment's world frame on BOTH nodes. Task #67 fixed exactly this
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# symptom once already, master-side ("missiles fire out of his back").
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#
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# So if the peer report is real, the difference is NOT which frame is asked
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# for -- it is whether the replicant's SEGMENT actually carries the torso
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# twist. Torso pushes currentTwist into the skeleton on both paths
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# (TorsoSimulation and TorsoCopySimulation both call UpdateJoints), so this
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# has to be measured, not reasoned about.
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#
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# THE MEASUREMENT. New [launchframe] receipt (BT_PROJ_LOG) prints, on both
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# nodes, the yaw of the launch forward vs the BODY forward:
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# [launchframe] master seg=N segResolved=1 segYaw=.. bodyYaw=.. twistDelta=..
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# [launchframe] REPLICANT seg=N segResolved=1 segYaw=.. bodyYaw=.. twistDelta=..
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# twistDelta is the torso twist expressed in the launch direction.
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#
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# BUG CONFIRMED: A (master) shows |twistDelta| sweeping well away from 0
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# while B (replicant mirror) stays pinned near 0
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# -- or B shows segResolved=0 (fell back to the body basis).
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# NOT REPRODUCED: both sides show the same twistDelta spread.
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#
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# Only A fires and only A sweeps its torso, so every REPLICANT line in B's
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# log is a mirror of an A salvo and the comparison is unambiguous.
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# =========================================================================
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set -x
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. /c/git/bt411/scratchpad/night6/bench_common.sh
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cd /c/git/bt411/content || exit 1
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taskkill //F //IM btl4.exe > /dev/null 2>&1
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sleep 2
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rm -f mf_a.log mf_b.log mf_relay.log
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bt_expert_egg MP.EGG MF.EGG
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sed -i "s/^map=.*/map=grass/; s/^time=.*/time=day/; s/^vehicle=.*/vehicle=madcat/" MF.EGG
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# B: the OBSERVER. Drives at A so it stays in range, but does NOT fire and
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# does NOT sweep -- so every [launchframe] REPLICANT line in mf_b.log is a
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# mirror of one of A's salvos.
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( export BT_GOTO=enemy BT_GOTO_STOP=150
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export BT_PROJ_LOG=1 BT_MP_LOG=1 BT_TORSO_LOG=1
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bt_launch mf_b.log MF.EGG 0x0C -net 1601 )
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sleep 2
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# A: the SHOOTER. Sweeps the torso hard so twistDelta is unmistakably
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# non-zero at fire time, and autofires missiles at the designated enemy.
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( export BT_GOTO=enemy BT_GOTO_STOP=150
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export BT_AUTOFIRE=1 BT_AF_MISSILE=1 BT_AF_PERIOD=7
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export BT_LOCK_SWEEP=0.35
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export BT_PROJ_LOG=1 BT_TORSO_LOG=1 BT_MP_LOG=1
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bt_launch mf_a.log MF.EGG 0x03 -net 1501 )
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sleep 5
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python ../tools/btconsole.py MF.EGG 127.0.0.1:1501 127.0.0.1:1601 > mf_relay.log 2>&1 &
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RELAY=$!
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sleep 170
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kill $RELAY 2>/dev/null
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sleep 3
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bt_kill_ours; sleep 2; taskkill //F //IM btl4.exe > /dev/null 2>&1; sleep 3
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echo "=================== #141 MISSILE LAUNCH FRAME ==================="
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echo "--- did A fire, and did B mirror? ---"
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echo -n " A [launchframe] master lines ....... "; grep -ac "launchframe\] master" mf_a.log
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echo -n " B [launchframe] REPLICANT lines .... "; grep -ac "launchframe\] REPLICANT" mf_b.log
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echo
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echo "--- did the segment RESOLVE on each side? (segResolved=0 would be the bug) ---"
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echo -n " A segResolved=0 ... "; grep -a "launchframe\] master" mf_a.log | grep -ac "segResolved=0"
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echo -n " B segResolved=0 ... "; grep -a "launchframe\] REPLICANT" mf_b.log | grep -ac "segResolved=0"
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echo
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echo "--- THE COMPARISON: twistDelta spread on each side ---"
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python - <<'PY'
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import re, io
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def stats(path, tag):
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v = []
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try:
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for ln in io.open(path, encoding="latin-1", errors="replace"):
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if "[launchframe] " + tag in ln:
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m = re.search(r"twistDelta=([-\d.e+]+)", ln)
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if m:
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try: v.append(float(m.group(1)))
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except ValueError: pass
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except IOError:
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print(" %s: no log" % tag); return
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if not v:
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print(" %-9s no samples" % tag); return
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a = [abs(x) for x in v]
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big = sum(1 for x in a if x > 0.10) # ~5.7 deg -- clearly twisted
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print(" %-9s n=%-4d |twistDelta| max=%.4f mean=%.4f >0.10rad: %d (%.0f%%)"
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% (tag, len(v), max(a), sum(a)/len(a), big, 100.0*big/len(a)))
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stats(r"C:\git\bt411\content\mf_a.log", "master")
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stats(r"C:\git\bt411\content\mf_b.log", "REPLICANT")
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print()
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print(" VERDICT: master twisted + REPLICANT pinned near 0 => #141 CONFIRMED.")
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print(" both twisted alike => NOT reproduced.")
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PY
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echo
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echo "--- sample lines, both sides ---"
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grep -a "launchframe\] master" mf_a.log | head -4
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grep -a "launchframe\] REPLICANT" mf_b.log | head -4
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