The user-keyboard regime (steering WHILE walking) fired BOTH dense record streams
at once and exposed the last divergence: our peer heading used the engine
Mover::DeadReckon slerp-toward-projection, whose angular projection reads the
SHARED lastUpdate/nextUpdate timebase. The dense type-0 pose stream resets that
timebase every frame while walking while RESTORING a stale orientation (the
authentic case-0 strip, verified against FUN_004a1232 case 0) -- so the angular
target barely advances from a stale base and the slerp DRAGS the heading back
every frame. Measured: peer yaw advancing at ~40% rate with half the frames
stepping BACKWARD. Pure-spin and pure-walk tests never showed it (single
stream) -- why autonomous looked smooth while keyboard play skipped.
AUTHENTIC FIX (decomp FUN_004ab1c8 -> FUN_004ab188/FUN_00409f58): the original
replicant integrates its heading INCREMENTALLY from the CURRENT pose -- exact
rotation of (replicated yaw rate * dt) composed on each frame -- and re-anchors
on type-4 receipt. It never slerps toward a projected angular target.
- mech4.cpp peer branch: save heading, let DeadReckon own LINEAR only, then
integrate heading incrementally (ReconQuatIntegrate); on angSyncLatch (new
type-4) re-anchor to updateOrigin.
- mech.hpp/mech.cpp: angSyncLatch member (angular analog of poseSyncLatch),
armed by ReadUpdateRecord case 4.
- SCALAR peer-yaw mirror (angMirrorYaw/Rate/Time, re-based in the type-4
writer): replaces the quaternion projectedOrigin mirror for the ANGLE
deadband -- the old one was recomputed each frame by the master's own
reckoner from timing it does not control and false-fired in pi-waves
(measured maxAng~=pi bursts -> periodic resync floods).
- Dense-rot type-4 send REMOVED (was masking the old crude projection; not
authentic; churned the shared horizon). Orientation now rides the sparse
angle/velocity deadband resyncs exactly as the binary's.
Verified live-autonomous:
- pure spin: 59/59 perfectly regular peer yaw steps; master resyncs 0/s with
mirror drift ~5e-7 (records near-silent, authentic sparse model).
- walk+turn circle (the user regime): peer sim yaw monotonic at exactly the
master's rate (0.00556/frame @ 0.327 rad/s), no backward steps, no stalls.
Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
