arcattackandClaude Fable 5
cb85517ede
The Gyroscope subsystem is LIVE again (was a stub since the NaN revert).
Reconstructed byte-exact from @004b3778 / @004b2ec0 / @004b30ec / @004b33e0 /
@004b34ec + the byte-verified dispatch in the unexported Mech performance
FUN_004a9b5c (calls @0x4aaf74/0x4aaf83):
- ctor field map corrected: springConstant@0x1E8 / dampingConstant@0x1F4 were
mislabelled (the old 'eyeOrientation = r->springConstant' poison line), the
0x254-0x2B3 block (externalPitchPtr, work matrix, placement) was missing so
everything after was mis-offset, and clamps/accumulators were 0xCD fill --
every field now initialised per the binary; 33 offsets static_assert-locked,
sizeof == 0x3D0 exact
- integrators: state-minus-target displacements, componentwise damping
OVERWRITE (FUN_004086d0 is a component multiply, not a cross), position step
without dt, clamp to [posSpring, negSpring]; IntegrateBody's X/Z-crossed
force + integration terms
- writers: WriteMechJoint drives ONE node ('jointeye', type 5): TRANSLATION =
eyePosition spring, ROTATION = bodyOrientation spring; WriteEyeJoint is a
multiplicative sway attenuator on 'jointlocal' (post-anim only)
- dispatch moved out of GyroscopeSimulation into the Mech performance tail
(GyroFrameJointWrite bridge, mech4.cpp) with the binary gates; gyro<->torso
pitch link wired (gyro+0x258 = &torso currentTwist) via complete-type-TU
bridges, retiring the SubProxy::linkTarget landmine
- Mech ctor: deathAnimationLatched/legResetLatch were never initialised --
0xCDCDCDCD gated the writers off silently
Runtime-verified: joints resolve (both BallTranslation), Performance installs,
WriteMechJoint finite from frame 0 (no NaN), Madcat cockpit un-regressed,
combat targeting healthy. Empirical: spring targets are SYMMETRIC -> eye
equilibrium (0,0,0), clamps +/-0.1-0.15u -- the gyro is the hit-BOUNCE
mechanism, not a steady eye offset (hypothesis disproven, recorded in KB).
Pending (task #56 tail): the damage->gyro fan-out FUN_004b2980 (unexported
gap) so hits actually kick the springs; the mech+0x3F0 overspeed sway model;
the torso-pitch EyepointRotation writer (FUN_004b66b4) + glance-look states.
Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
345 lines
17 KiB
C++
345 lines
17 KiB
C++
//===========================================================================//
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// File: gyro.hpp //
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// Project: BattleTech Brick: Entity Manager //
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// Contents: Gyroscope subsystem -- balance / orientation / tip-over model //
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//---------------------------------------------------------------------------//
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// Date Who Modification //
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// -------- --- ---------------------------------------------------------- //
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// --/--/95 ?? Initial coding. //
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//---------------------------------------------------------------------------//
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// Copyright (C) 1995, Virtual World Entertainment, Inc. All Rights reserved //
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// PROPRIETARY AND CONFIDENTIAL //
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//===========================================================================//
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//
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// RECONSTRUCTED from the shipped binary (Ghidra pseudo-C, recovered shard
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// part_013.c). NO header survived for this class; every declaration below
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// is inferred from the decompiled bodies and -- crucially -- from the
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// resource field-name string pool parsed by Gyroscope::CreateStreamedSubsystem
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// (@004b3eb4). Those "missing <Name>!" diagnostics are GROUND TRUTH for the
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// resource layout; the in-object member names are best-effort (flagged).
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//
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// Recovered binary facts (see gyro.cpp for per-method @ADDR evidence):
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// - Gyroscope IS-A PowerWatcher (powersub.hpp); the ctor @004b3778 chains to
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// the PowerWatcher base ctor (FUN_004b18a4) passing &Gyroscope::DefaultData
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// (&DAT_0050fdb0). The full chain is therefore
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// Gyroscope : PowerWatcher : HeatWatcher : MechSubsystem : Subsystem
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// (NOT HeatableSubsystem -- the Watcher branch, re-based; see CLAUDE.md §10d)
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// - vtable @00510abc ctor @004b3778 dtor @004b3e88
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// - DefaultData @0050fdb0
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// - RegisteredClass classID 0x0BC4 (resource +0x20), streamed model size
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// 0x21C (resource +0x24) -- both stamped by CreateStreamedSubsystem.
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//
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// WHAT THE GYROSCOPE DOES (from the recovered simulation @004b275c + helpers):
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// It is the mech's balance/orientation model. It carries a damage-dependent
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// idle "sway" (the PercentageOn{Normal,Degradation,Destruction,Failure}
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// targets, ramped at RotationPerSecond and clamped to the [MinAnimationNoise,
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// MaxAnimationNoise] band), a full pitch/yaw/roll spring-damper that tips the
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// body when off balance, a separate spring-damper that drives the cockpit
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// "eye" joint, and a set of per-damage-type response curves (Trans / PitchRoll
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// / Yaw / Vibration) that perturb the gyro when the mech is hit. The result
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// is written into two skeleton joints (the "EyeJoint" and the "MechJoint").
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// When the watched power source is dead (PowerWatcher), the heat model is off,
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// or the subsystem is in the Failure heat state, it snaps to the destruction
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// target instead of the normal one (-> visible tip / collapse).
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//
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#if !defined(GYRO_HPP)
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# define GYRO_HPP
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#if !defined(POWERSUB_HPP)
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# include "powersub.hpp"
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#endif
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//##################### Forward Class Declarations #######################
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class Mech;
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class Joint; // engine skeleton node (JOINT.h); eye/mech joint targets
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//###########################################################################
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//################# Gyroscope Model Resource ##########################
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//###########################################################################
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//
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// Extends the PowerWatcher resource (which adds MinVoltagePercent @+0xF0).
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// Field offsets and names are exactly those read by
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// Gyroscope::CreateStreamedSubsystem @004b3eb4. Every Scalar below is primed
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// to -1.0f on pass 1 and is mandatory (the parser fails with
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// "<subsystem> missing <Name>!" if absent). The Rotation*Spring* angular
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// fields are additionally multiplied by PI/180 (deg->rad, _DAT_004b5b24).
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//
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// Per-damage-type gyro response curve (4 named Scalars, +0x10 each). The
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// recon first modelled this as a Vector4D; the engine Vector4D is incomplete
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// here and the fields are addressed by name (Trans/PitchRoll/Yaw/Vibration),
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// so a dedicated POD captures the layout exactly.
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struct Gyroscope__DamageResponse
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{
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Scalar trans; // +0x0
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Scalar pitchRoll; // +0x4
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Scalar yaw; // +0x8
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Scalar vibration; // +0xC
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};
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struct Gyroscope__SubsystemResource:
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public PowerWatcher::SubsystemResource // ends 0xF4 after RESOURCE_AUDIT.md fix B
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{
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// +0xF4: a 4-byte record slot between the PowerWatcher base and "Exageration".
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// The Gyroscope parser/ctor do not read it (verified: ctor reads 0xF8/0xFC/0x100/
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// 0x104), but the record reserves it -- omitting it slid every field 4 bytes low
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// (exageration -> 0xF4 instead of 0xF8). Keep the slot to match the binary.
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Scalar _reserved_f4; // +0xF4 (unread record slot)
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Scalar exageration; // +0xF8 "Exageration"
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Scalar maxAnimationNoise; // +0xFC "MaxAnimationNoise"
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Scalar minAnimationNoise; // +0x100 "MinAnimationNoise"
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Scalar rotationPerSecond; // +0x104 "RotationPerSecond"
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Scalar percentageOnNormal; // +0x108 "PercentageOnNormal"
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Scalar percentageOnDestruction; // +0x10C "PercentageOnDestruction"
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Scalar percentageOnDegradation; // +0x110 "PercentageOnDegradation"
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Scalar percentageOnFailure; // +0x114 "PercentageOnFailure"
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Vector3D springConstant; // +0x118 "SpringConstantX/Y/Z"
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Vector3D dampingConstant; // +0x124 "DampingConstantX/Y/Z"
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Vector3D posSpring; // +0x130 "PosSpringX/Y/Z"
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Vector3D negSpring; // +0x13C "NegSpringX/Y/Z"
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// angular spring/damping, ordered Roll(+0x148), Yaw(+0x14C), Pitch(+0x150)
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Vector3D rotationSpringConstant; // +0x148 "RotationSpringConstantRoll/Yaw/Pitch"
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Vector3D rotationDampingConstant;// +0x154 "RotationDampingConstantRoll/Yaw/Pitch"
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// rotation limits, ordered Pitch(.x) / Yaw(.y) / Roll(.z), each *PI/180.
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// RECON NOTE: originally guessed Point4D (quaternion-ish); the parser only
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// reads three named components (Pitch/Yaw/Roll) so a Vector3D is exact.
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Vector3D rotationPosSpring; // +0x160 "RotationPosSpringPitch/Yaw/Roll"
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Vector3D rotationNegSpring; // +0x16C "RotationNegSpringPitch/Yaw/Roll"
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char eyeJoint[32]; // +0x178 "EyeJoint" (skeleton node name)
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char mechJoint[32]; // +0x198 "MechJoint" (skeleton node name)
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// per-damage-type response: scalar multiplier + {Trans,PitchRoll,Yaw,Vibration}
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Scalar collisionDamageMultiplier; // +0x1B8 "CollisionDamageMultiplier"
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Scalar ballisticDamageMultiplier; // +0x1BC "BallisticDamageMultiplier"
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Scalar explosiveDamageMultiplier; // +0x1C0 "ExplosiveDamageMultiplier"
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Scalar laserDamageMultiplier; // +0x1C4 "LaserDamageMultiplier"
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Scalar energyDamageMultiplier; // +0x1C8 "EnergyDamageMultiplier"
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Gyroscope__DamageResponse collisionDamageResponse;// +0x1CC Trans/PitchRoll/Yaw/Vibration
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Gyroscope__DamageResponse ballisticDamageResponse;// +0x1DC
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Gyroscope__DamageResponse explosiveDamageResponse;// +0x1EC
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Gyroscope__DamageResponse laserDamageResponse; // +0x1FC
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Gyroscope__DamageResponse energyDamageResponse; // +0x20C
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}; // sizeof == 0x21C (model size stamp)
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static_assert(offsetof(Gyroscope__SubsystemResource, exageration) == 0xF8, "Gyroscope exageration must be at 0xF8");
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static_assert(offsetof(Gyroscope__SubsystemResource, energyDamageResponse)== 0x20C, "Gyroscope energyDamageResponse must be at 0x20C");
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static_assert(sizeof(Gyroscope__SubsystemResource) == 0x21C, "Gyroscope record must be 0x21C");
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//###########################################################################
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//############################# Gyroscope ###############################
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//###########################################################################
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class Gyroscope:
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public PowerWatcher
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{
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friend struct GyroLayoutCheck; // compile-time offset lock (gyro.cpp)
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//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
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// Shared Data Support (DefaultData @0050fdb0, vtable @00510abc)
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//
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public:
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static Derivation ClassDerivations;
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static Receiver::MessageHandlerSet MessageHandlers;
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static AttributeIndexSet AttributeIndex;
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static SharedData DefaultData;
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//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
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// BT segment / base-state compatibility shims.
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//
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// CROSS-FAMILY: these accessors and segment-flag constants logically belong
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// on the shared bases (Mech/Subsystem::GetSegmentFlags, HeatSink::HeatStateLevel
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// / HeatModelOff, PoweredSubsystem::ElectricalStateLevel). Gyroscope derives
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// from PowerWatcher (-> Subsystem), which in these headers exposes none of
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// them, so they are backed locally here so this module compiles; the backing
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// fields are written by the (cross-family) base simulation once the real
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// accessors land. See report "CROSS-FAMILY NEEDS".
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//
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#if !defined(BT_SEGMENT_FLAG_CONSTS)
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# define BT_SEGMENT_FLAG_CONSTS
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enum {
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SegmentCopyMask = 0x0C, // (flags & 0xC): 0 == master, 4 == damaged copy
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SegmentLiveFlag = 0x01,
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MasterHeatSinkFlag = 0x0100
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};
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#endif
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public:
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// BASE-CHAIN RE-BASE: the 4 shim BACKING FIELDS are removed (they over-sized
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// the object + duplicated engine-base state); these accessors now read the
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// REAL inherited base state, exactly like Torso (see CLAUDE.md §10d).
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// (GetSegmentFlags removed -- unused; the ctor reads owner->simulationFlags.)
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HeatSink::HeatState
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HeatStateLevel() const { return (HeatSink::HeatState)heatAlarm.GetLevel(); } // inherited HeatWatcher
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Logical
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HeatModelOff() const { return simulationState == 1; /* Destroyed */ } // inherited MechSubsystem
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PoweredSubsystem::ElectricalState
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ElectricalStateLevel() const { return (PoweredSubsystem::ElectricalState)watchdogAlarm.GetLevel(); } // inherited PowerWatcher
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//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
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// Test Class Support
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//
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public:
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static Logical TestClass(Mech&);
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Logical TestInstance() const;
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//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
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// Simulation Support
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//
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public:
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typedef void
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(Gyroscope::*Performance)(Scalar time_slice);
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void
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SetPerformance(Performance performance)
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{
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Check(this);
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activePerformance = (Simulation::Performance)performance;
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}
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// @004b275c -- the registered Performance (PTR @0050fe08). Advances the
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// idle sway toward the damage-state target then runs the two integrators.
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void
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GyroscopeSimulation(Scalar time_slice);
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//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
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// Damage / impulse hooks (called by the Mech damage path to kick the gyro)
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//
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public:
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void ApplyDamageImpulse( // @004b2d8c
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Scalar x, Scalar y, Scalar z, Scalar magnitude);
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void ApplyDamageTorque( // @004b2de4
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Scalar x, Scalar y, Scalar z, Scalar magnitude);
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void ApplyVerticalImpulse( // @004b2e50
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Scalar pitch, Scalar /*y*/, Scalar /*z*/, Scalar magnitude);
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//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
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// Per-frame joint-write dispatch (called from the MECH master performance
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// tail, NOT from GyroscopeSimulation -- byte-verified: the binary calls
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// WriteEyeJoint @0x4aaf74 / WriteMechJoint @0x4aaf83 inside the unexported
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// Mech performance FUN_004a9b5c, after the animation pass, gated on
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// !deathLatched (+ legAnimState!=0 for the eye writer), preceded by
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// swayBias = mech sway accumulator). Bridge fns in gyro.cpp forward here.
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//
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public:
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void SetSwayBias(Scalar v) { swayBias = v; }
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void BindExternalPitch(Scalar *p) { if (p) externalPitchPtr = p; } // bt_mech tail: &torso pitch
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void WriteEyeJoint(); // @004b33e0 (@004b2eac thunks here)
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void WriteMechJoint(); // @004b34ec
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//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
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// Subsystem virtual overrides (slots on vtable @00510abc)
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//
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public:
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Logical HandleDeathMessage(Message &message); // slot 9, @004b2660 -> @004b179c
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void ResetToInitialState(); // slot 10, @004b2678
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//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
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// Construction and Destruction
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//
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public:
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typedef Gyroscope__SubsystemResource SubsystemResource;
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Gyroscope( // @004b3778
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Mech *owner,
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int subsystem_ID,
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SubsystemResource *subsystem_resource,
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SharedData &shared_data = DefaultData
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);
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~Gyroscope(); // @004b3e88
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static int
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CreateStreamedSubsystem( // @004b3eb4
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NotationFile *model_file,
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const char *model_name,
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const char *subsystem_name,
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SubsystemResource *subsystem_resource,
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NotationFile *subsystem_file,
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const ResourceDirectories *directories,
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int passes = 1
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);
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//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
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// Internal model helpers
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//
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protected:
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void IntegrateEyeJoint(Scalar time_slice); // @004b2ec0
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void IntegrateBody(Scalar time_slice); // @004b30ec
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Logical UpdateAnimationNoise(Scalar time_slice);// @004b357c (DEAD in the binary: zero callers -- kept unwired)
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//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
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// Local data. Byte offsets are those observed in the shipped object
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// (this[n] == @0x(4n)). Names are best-effort from usage; the resource
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// provenance (where a field is copied straight out of the resource) is
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// noted. PowerWatcher/HeatWatcher/HeatableSubsystem base data occupies the
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// low offsets and is NOT redeclared here.
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//
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protected:
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// BINARY-EXACT layout (ctor @004b3778 field map, task #56 — every byte
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// 0x1D8..0x3CF is ctor-initialised in the binary; the old recon layout
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// mislabelled 0x1DC/0x1E8/0x1F4 and omitted 0x254..0x2B3 entirely, which
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// mis-offset everything after it AND left the integrator state as 0xCD fill
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// (the NaN-to-root-joint revert). See context/cockpit-view.md + the
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// wf_f52abaff synthesis for the per-line decomp evidence.
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Scalar exageration; // @0x1D8 res +0xF8 (impulse scale)
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Vector3D eyePosition; // @0x1DC eye TRANSLATION spring state -> jointeye
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// translation (steady offset + hit bounce); ZERO
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Vector3D springConstant; // @0x1E8 res +0x118 SpringConstantX/Y/Z
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Vector3D dampingConstant; // @0x1F4 res +0x124 DampingConstantX/Y/Z
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Vector3D eyeClampUpper; // @0x200 = posSpring (min-clamped against)
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Vector3D eyeClampLower; // @0x20C = negSpring (max-clamped against)
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Vector3D posSpring; // @0x218 res +0x130
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Vector3D negSpring; // @0x224 res +0x13C
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Vector3D eyeForce; // @0x230 accumulator (damage-impulse target; NOT
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// cleared per frame -- carries by design)
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Vector3D eyeVelocity; // @0x23C
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Vector3D eyeWork; // @0x248 scratch
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Scalar spare0; // @0x254 = 0
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Scalar *externalPitchPtr; // @0x258 ctor: &spare0; post-stream re-pointed to
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// &torso pitch (bt_mech tail); read by the
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// damage-response @004b2980
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Scalar workMatrix[12]; // @0x25C 3x4 work matrix (identity; damage frame)
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Vector3D placePos; // @0x28C placement pos (zero)
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Scalar placeQuat[4]; // @0x298 placement quat {0,0,0,1}
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Vector3D placeRot; // @0x2A8 placement rot scratch (zero)
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Vector3D bodyOrientation; // @0x2B4 body ROTATION spring state -> jointeye rotation; ZERO
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Vector3D rotationSpringConstant; // @0x2C0 res +0x148 (Roll,Yaw,Pitch order)
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Vector3D rotationDampingConstant;// @0x2CC res +0x154
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Vector3D bodyClampUpper; // @0x2D8 = 2.0 * rotationPosSpring
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Vector3D bodyClampLower; // @0x2E4 = 2.0 * rotationNegSpring
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Vector3D rotationPosSpring; // @0x2F0 res +0x160 (Pitch,Yaw,Roll; radians)
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Vector3D rotationNegSpring; // @0x2FC res +0x16C
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Vector3D bodyForce; // @0x308 accumulator (torque/vertical impulse target)
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Vector3D bodyVelocity; // @0x314
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Vector3D bodyWork; // @0x320 scratch
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Scalar damageMultiplier[5]; // @0x32C res +0x1B8..0x1C8 (Coll/Ball/Expl/Laser/Energy)
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Gyroscope__DamageResponse
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damageResponse[5]; // @0x340 res +0x1CC..0x21B (5 x {trans,pitchRoll,yaw,vibration})
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Scalar animationOffset; // @0x390 (this[0xE4]) idle-noise phase, init 0
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Scalar animationScale; // @0x394 (this[0xE5]) init 1.0f
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Scalar animationPhase; // @0x398 (this[0xE6]) init 0
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Scalar maxAnimationNoise; // @0x39C resource +0xFC
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Scalar minAnimationNoise; // @0x3A0 resource +0x100
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Scalar rotationPerSecond; // @0x3A4 resource +0x104
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Scalar swayBias; // @0x3A8 (this[0xEA]) added to target, init 0
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Scalar percentageOnNormal; // @0x3AC resource +0x108
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Scalar percentageOnDestruction;// @0x3B0 resource +0x10C
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Scalar percentageOnDegradation;// @0x3B4 resource +0x110
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Scalar percentageOnFailure; // @0x3B8 resource +0x114
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Scalar swayAngle; // @0x3BC (this[0xEF]) current idle sway value
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Scalar swayVelocity; // @0x3C0 (this[0xF0]) noise ramp timer
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int swayActive; // @0x3C4 (this[0xF1]) noise state flag
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Joint *eyeJointNode; // @0x3C8 (this[0xF2]) resolved EyeJoint
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Joint *mechJointNode; // @0x3CC (this[0xF3]) resolved MechJoint
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};
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#endif
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