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Locomotion: replace task-#64 trn stand-ins with the AUTHENTIC dispatcher (disasm-decoded)

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The turn-in-place dispatcher lives in the master-perf gap 0x4a9b5c-0x4ab188 that
Ghidra never lifted. Disassembled it with objdump (scratchpad/masterperf.asm) and
hand-decoded the real logic, replacing the two [T3] stand-ins I had invented:

- Entry gate was `commandedSpeed < 0.25*standSpeed` (a near-zero guess). AUTHENTIC
  (0x4aa505): arm trn when TURNING (|angVel|>1e-4, port proxy = turnDemand deadband)
  AND speed in the FULL [0, standSpeed] sub-walk range AND turnCapable. trn is gated
  on TURNING, not on being slow.
- Case-4 exit had a ×4 fast-forward + SetLegAnimation(5) invention. Restored the
  VERBATIM decompiled leg-SM exits (part_012.c:12013): standSpeed<spd or reverse ->
  Standing, else advance the pivot. Added the master-perf turn-STOP exit (0x4aa5c6):
  turn stopped -> Standing + legResetLatch=1 (folded into case 4 since the port has
  no separate master-perf frame).
- Body case-4 twin mirrors the authentic exits (mj=0, tracks state for lockstep).

The fast-forward was invented to dodge a turn->walk stutter that was ACTUALLY the
body channel leaking joints (mj=1) -- already root-caused + fixed by mj=0. The
trn->walk seam (legFrm7 cycle-end -> swr legFrm1) is the authentic pose-matched
boundary and the same seam the fast-forward version hit, just at the correct release
speed. Also decoded (documented, not yet wired) the authentic turn-RATE lerp
(walkingTurnRate@0x574 -> runningTurnRate@0x578 by speed; angVel = turnDemand*rate);
the bring-up drive still yaws at the constant kDriveTurnRate.

Headless-verified (BT_AUTODRIVE/BT_FORCE_TURN/BT_WALK_DELAY/BT_GAIT_TRACE): turn-in-
place enters state 4, ramp past standSpeed -> 4->stand->swr->walk, both channels in
lockstep. Feel re-verification pending. [T1 logic / T2 runtime]

Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
This commit is contained in:
arcattack
2026-07-14 00:31:56 -05:00
co-authored by Claude Fable 5
parent bfdd41bb9d
commit 35c30bda67
2 changed files with 107 additions and 84 deletions
Download Patch File Download Diff File Expand all files Collapse all files
context/locomotion.md
+44 -24
View File
@@ -114,30 +114,50 @@ through walk/run caps (`LoadLocomotionClips`, mech3.cpp:326 — measures `walkSt
`legAnimation.SelectSequence`). Transition callbacks (`Mech::BodyClipFinished @0x4a6d8c`,
`LegClipFinished @0x4a6928` — PE-parsed jump tables) alternate walk 6↔7 / run 12↔13 + walk→run. [T2]
## Turn-in-place (trn, state 4) — reconstructed (task #64, 2026-07-13)
**The authentic entry dispatcher is NOT in the decomp** — it lives in the un-decompiled master-perf
gap `0x4a9b5c–0x4ab188` (functions_index.tsv jumps FUN_004a9770→FUN_004ab188; that gap is the SOLE
reader of `turnDemand`@mapper+0x12c and `turnCapable`@0x588 — both grep-empty elsewhere) [T1 proof of
absence]. The decompiled lifecycle: `animationClips[4]` = the `trn`/`trni` clip (loaders 13767/13971);
leg case-4 advance/exits @part_012.c:12013 (exit at `standSpeed<spd` or reverse → Standing);
clip-finish case 4 → Standing (one-shot pivot step); the BODY channel has identical case-4 machinery
(dead unless armed — proof the dispatcher armed BOTH). Port reconstruction (mech2.cpp):
- **THE POSE-MATCH INVARIANT (the key insight):** this engine has NO pose blending — `SelectSequence`
hard-resets to frame 0 — and avoids pops purely by AUTHORING (every transition clip starts in the
pose its predecessor ends in; swr starts from stand). Cutting the pivot clip MID-STEP (any exit
while `legFrm` is mid-clip) teleports the legs = the 100%-repro turn-then-walk stutter. NEVER cut a
clip mid-step; route through its end pose.
- **Entry** (leg Standing case): near-zero speed gate (`spd < 0.25·standSpeed` [T3 stand-in for the
gap's constant]) + turnDemand deadband ±0.05 [T3] + `turnCapable` + **LOCKSTEP: arms BOTH channels
the same frame** (SetLegAnimation(4) + SetBodyAnimation(4), gated on body also Standing) — arming
only the leg is what seeded the channel phase-split.
- **Release** (both case-4s): when `spd > 0.25·standSpeed`, the pivot is FAST-FORWARDED to completion
(advance rate ×4 [T3]) — feet hurry down to the plant, the authentic finish callback drops to
Standing AT the stand pose, then the normal pose-matched stand→walk runs. Decompiled reverse abort
kept; the decompiled `standSpeed` mid-clip abort deliberately subsumed (it WAS the pose cut). [T3]
- Verified: seam trace `frm 15→17→18→19 → stand(frm holds 19) → swr frm1` — no mid-clip reset; both
channels enter walk the same frame. Harness: `BT_FORCE_TURN` (now reaches gBTDrive.turn),
`BT_WALK_DELAY=<s>` (turn-first-then-ramp repro), `BT_GAIT_TRACE=1` (per-frame gait trace). [T2]
## Turn-in-place (trn, state 4) — AUTHENTIC dispatcher decoded (task #64, 2026-07-14)
**The entry dispatcher is NOT in the Ghidra decomp** — it lives in the master-perf gap
`0x4a9b5c–0x4ab188` (functions_index.tsv jumps FUN_004a9770→FUN_004ab188; the SOLE reader of
`turnDemand`@mapper+0x12c and `turnCapable`@0x588) [T1 proof of absence]. **Ghidra never lifted it, so
it was disassembled with objdump** (`scratchpad/masterperf.asm`, 1530 lines) and hand-decoded — this
REPLACES the earlier [T3] stand-in guesses (`0.25·standSpeed` entry gate + `×4` fast-forward) with the
real logic. `animationClips[4]` = the `trn`/`trni` clip (loaders 13767/13971). Port recon (mech2.cpp):
- **THE POSE-MATCH INVARIANT:** this engine has NO pose blending — `SelectSequence` hard-resets to
frame 0 — and avoids pops purely by AUTHORING (every transition clip starts in its predecessor's end
pose; a turn-in-place CYCLE returns to the neutral/stand pose at its last frame). The trn→walk seam
therefore steps `trn legFrm7 (cycle end) → swr legFrm1` — a small ONE-TIME bob step that is authentic
(the binary cuts on speed, not at an arbitrary frame). **What made it STUTTER was NOT this cut** — it
was the body channel leaking out-of-phase joints into the rendered skeleton every walk cycle (mj=1);
fixed at the source by `AdvanceBodyAnimation(dt, mj=0)` (see two-channel section). With mj=0 the
authentic cut renders cleanly.
- **Turn rate (disasm 0x4aa3d3–0x4aa4ff) [T1]:** `spd = |linearSpeed|`; base `turnRate =
walkingTurnRate`(mech+0x574, rad/s). If `spd ≥ reverseSpeedMax`(0x538): `t = (spd − walkStride
0x534)/(topSpeed 0x34c − walkStride)`; `turnRate = t≤1 ? lerp(walkingTurnRate, runningTurnRate
0x578, t) : runningTurnRate/t²` (over-run falloff). `turnRate = max(0, turnRate)`. Then
`angularVelocity`(0x1d4) `= turnDemand(mapper+0x12c) × turnRate`, ZEROED if legState∈{1,2,3} or
latch 0x650 set. ⚠ **Not yet wired into the port** — the bring-up drive still yaws at the constant
`kDriveTurnRate` (mech4.cpp:2618/2628/3062); `walkingTurnRate`/`runningTurnRate` are stored
(mech.cpp:1334-5, Wword(0x15d)/(0x15e)→0x574/0x578, deg→rad) but only the ANIMATION dispatcher is
wired. Wiring the rate lerp is the next locomotion polish item.
- **Entry** (leg Standing case, disasm 0x4aa505 [T1]): arm trn when TURNING (`|angVel|>1e-4`, port
proxy = turnDemand deadband ±0.05) AND `0 ≤ spd ≤ standSpeed` (the FULL sub-walk range — CORRECTS the
`0.25·standSpeed` stand-in) AND `turnCapable`(hasCrashSet@0x588). **LOCKSTEP: arms BOTH channels the
same frame** (SetLegAnimation(4)+SetBodyAnimation(4), gated on body also Standing) — arming only the
leg seeded the channel phase-split. The disasm also gates on `legResetLatch`(0x654), a master-perf
ONE-FRAME debounce (cleared every frame @0x4a9bff, set on wind-down/turn-stop) — **omitted in the
port** because its split leg-SM never per-frame-clears the latch, so gating on it would wrongly block
trn after every walk.
- **Exits:** leg SM (part_012.c:12013 [T1], restored VERBATIM) — `standSpeed<spd` → Standing (walk
takes over) or `spd<ZeroSpeed` → Standing (reverse), else advance the pivot at `idleStrideScale`
(goto advance_normally). PLUS the master-perf turn-STOP exit (disasm 0x4aa5c6 [T1]) folded into
case 4: turn stopped (turnDemand back in deadband) → Standing + `legResetLatch=1`. No fast-forward,
no 0.25× — both were stand-ins, now removed. Body case-4 twin mirrors the exits (does NOT set the
latch; mj=0, so it only tracks state for lockstep).
- Verified headless (DEV.EGG, `BT_AUTODRIVE=0.5 BT_FORCE_TURN=1 BT_WALK_DELAY=2 BT_GAIT_TRACE=1`):
turn-in-place enters state 4; throttle ramp past standSpeed → 4→Standing→5(swr)→walk cycle;
legFrm7(trn end)→legFrm1(swr) at the pose-matched boundary; both channels enter walk the same frame.
Harness: `BT_FORCE_TURN` (reaches gBTDrive.turn), `BT_WALK_DELAY=<s>` (turn-then-ramp repro),
`BT_GAIT_TRACE=1` (per-frame [gaitSM]). [T2] **Feel re-verification pending** (release now at
standSpeed vs the invented 0.25×). [T1 logic / T2 runtime]
⚠ **Aliasing bug class (namedClip):** `namedClip[]`@0x5e0 == `animationClips[]`@0x5cc+0x14 (ONE array);
`gimpBaseClip`@0x64c == `animationClips[0x20]`; `bodyAnimationState`@0x728 == `bodyStateAlarm.level`.
Declared-separate members don't see each other's writes — alias them.
game/reconstructed/mech2.cpp
+63 -60
View File
@@ -595,22 +595,26 @@ Scalar
else
{
distance = 0.0f;
// TURN-IN-PLACE entry. The authentic entry DISPATCHER lives in the
// un-decompiled master-perf gap (0x4a9b5c-0x4ab188), the sole reader of
// turnDemand(+0x12c) + turnCapable(+0x588); the decompiled lifecycle is
// case-4 advance/exit (below) + the clip-finish drop-to-stand. The
// authentic gate is turn-IN-PLACE == NEAR-ZERO commanded speed. The old
// stand-in gated on `ZeroSpeed <= commandedSpeed` -- i.e. it re-armed trn
// for ANY forward speed in [0, standSpeed~6.83], so pushing forward mid-
// turn SWALLOWED the throttle (the mech kept pivoting) until spd crossed
// standSpeed, then lurched to walk (task #64 user-reported stutter). Gate
// on near-zero speed instead: the instant real throttle is applied the trn
// re-arm stops, the in-flight pivot finishes to Standing, and case 0 hands
// off to walk normally. turnEntrySpeed = 0.25*standSpeed is a STAND-IN for
// the gap's threshold constant [T3]; the deadband mirrors the replicant's.
const Scalar turnEntrySpeed = standSpeed * 0.25f;
// TURN-IN-PLACE entry -- AUTHENTIC, decoded from the master-perf disasm
// (0x4aa505-0x4aa588, task #64b). The dispatcher lives in the master perf
// FUN_004a9b5c (Ghidra never decompiled it -> objdump); it arms trn from
// Standing when: the mech is TURNING (|angularVelocity| > 1e-4, ds:0x4ab16c
// -- angularVelocity = turnDemand * turnRate, so turnDemand outside a tiny
// deadband) AND 0 <= speedDemand <= standSpeed (the FULL sub-walk range,
// ds:0x4ab178=0 .. mech[0x530]) AND turnCapable(mech[0x588]) AND the
// legResetLatch(mech[0x654]) debounce is clear. CORRECTS the task-#64a
// stand-in `commandedSpeed < 0.25*standSpeed` (that near-zero gate was a
// guess; the binary allows the full [0,standSpeed] range -- trn is gated on
// TURNING, not on being slow). [T1 from disasm] The turnDemand deadband
// (0.05) is the port proxy for the |angVel|>1e-4 test. NOTE: the disasm's
// legResetLatch gate is a master-perf ONE-FRAME debounce (cleared every
// frame at 0x4a9bff, set on wind-down/turn-stop) -- it does NOT map onto
// the port's split leg-SM (wind-down + trn-entry run in different frames/
// cases and the port never per-frame-clears the latch), so gating entry on
// it here would wrongly block trn after every walk. Omitted by design;
// see locomotion.md "turn-in-place dispatcher".
if (hasCrashSet != 0 && mppr != 0
&& commandedSpeed >= ZeroSpeed && commandedSpeed < turnEntrySpeed
&& commandedSpeed >= ZeroSpeed && commandedSpeed <= standSpeed
&& (mppr->turnDemand > 0.05f
|| mppr->turnDemand < -0.05f)
&& bodyAnimationState == StandingAnimation) // weld: enter only when BOTH can
@@ -664,47 +668,41 @@ Scalar
case 4: // TURN-IN-PLACE (trn clip)
// state 4 is the turn-in-place animation (animationClips[4] = the "trn" clip,
// loaded under turnCapable@0x588). THE POSE-SNAP RULE (task #64, root-caused
// from the user's BT_GAIT_TRACE): this engine has NO pose blending -- every
// authored transition is pose-MATCHED at its boundary (swr starts from the
// stand pose; the walk clips alternate at matched extremes). Any exit that
// abandons the pivot MID-CLIP (SetLevel(0) or SetLegAnimation(5)) hard-resets
// the next clip to frame 0 while the legs are mid-step -> the legs TELEPORT
// (legFrm 7->1 in the trace) = the 100%-repro turn-then-walk stutter. Three
// prior fixes all failed because each still cut the clip mid-step, just at a
// different speed threshold.
// loaded under turnCapable@0x588). AUTHENTIC exits, restored VERBATIM from the
// decompiled leg SM (part_012.c:12013 == FUN_004a5028 case 4 [T1]):
// * standSpeed < commandedSpeed -> SetLevel(0)+ForceUpdate(8): walk takes over
// * commandedSpeed < ZeroSpeed -> SetLevel(0)+ForceUpdate(8): reverse
// * else -> goto advance_normally: advance the pivot at idleStrideScale.
// PLUS the master-perf turn-STOP exit (disasm 0x4aa5c6-0x4aa5e6 [T1], which the
// leg SM does NOT contain -- it lives in the un-decompiled master perf that the
// port has no separate frame for, so it folds in here): when the turn stops
// (|angularVelocity| <= 1e-4, i.e. turnDemand back inside the deadband) ->
// SetLevel(0) + legResetLatch(mech[0x654])=1. Without it the trn clip would
// shuffle in place forever after the stick re-centers.
//
// The reconstruction: when forward is commanded past the turn-in-place band,
// FAST-FORWARD the pivot to completion (accelerated advance) -- the feet
// hurry down to the plant, the clip's own finished-callback (case 4 ->
// SetLevel(0), the DECOMPILED one-shot tail) drops to Standing AT THE STAND
// POSE, and the normal pose-matched stand->walk path takes over. No mid-clip
// cut anywhere. trn has zero root translation, so the fast-forward moves no
// distance. [T3: the release threshold (0.25*standSpeed) + hurry rate (4x)
// stand in for the un-decompiled master-perf dispatcher constants (gap
// 0x4a9b5c); the completion->Standing tail itself is T1 decompiled.]
//
// The decompiled REVERSE abort is kept verbatim; the decompiled standSpeed
// abort is deliberately SUBSUMED by the hurry (it was the mid-clip pose cut
// itself -- any spd above the band fast-forwards to the plant instead, and
// Standing picks up the walk one frame after the callback). [T3 deviation
// from the literal case-4 exit, in service of the pose-match invariant.]
if (commandedSpeed < ZeroSpeed)
// The task-#64 fast-forward (4x) + 0.25*standSpeed early-release were STAND-INS
// invented to dodge a turn->walk stutter that was ACTUALLY the body channel
// leaking joints into the rendered skeleton (mj=1); root-caused + fixed by the
// body-channel mj=0 change (AdvanceBodyAnimation, mech4.cpp). With the body no
// longer writing joints the authentic mid-clip cut renders cleanly, so the
// inventions are removed. trn has zero root translation -> distance stays 0.
if (standSpeed < commandedSpeed || commandedSpeed < ZeroSpeed)
{
legStateAlarm.SetLevel(0);
legStateAlarm.SetLevel(0); // -> Standing (leg-SM exit)
ForceUpdate(8); // type-3 record
distance = 0.0f;
break;
}
if (mppr == 0
|| (mppr->turnDemand <= 0.05f && mppr->turnDemand >= -0.05f))
{
Scalar trnRate = 1.0f;
if (standSpeed * 0.25f < commandedSpeed)
trnRate = 4.0f; // forward commanded: hurry the plant [T3]
distance = legAnimation.Advance( // same advance advance_normally does,
time_slice * globalTimeScale * idleStrideScale * trnRate, 1); // rate-scaled
legCycleSpeed = distance / time_slice; // trn z=0 -> stays 0 (no travel)
legStateAlarm.SetLevel(0); // turn stopped -> Standing (master-perf exit)
ForceUpdate(8);
legResetLatch = 1; // mech[0x654] (master perf sets it here, 0x4aa5e1)
distance = 0.0f;
break;
}
break;
goto advance_normally; // still turning, sub-walk -> advance the pivot
case 6: case 7: // WalkToRun
//
@@ -918,27 +916,32 @@ Scalar
// the SAME live speedDemand, so both clips complete on the same frame and
// both channels re-enter walk on the same frame. Without this the body
// entered walk ~7-20 frames apart from the leg and the two walk cycles ran
// permanently out of phase -- the body's pose flashes through on the leg's
// clip-boundary frames (body advances mj=1 FIRST, leg overwrites LAST;
// boundary frames the leg doesn't write) = the rhythmic gait skip + halved
// bob the user reproduced 100% from turn-then-walk (standstill starts weld
// the phases, which is why they never stuttered). [T3 rates/threshold; the
// per-channel case-4 machinery itself is T1 decompiled.]
// permanently out of phase. Exits mirror the leg twin VERBATIM
// (part_012.c:12013 [T1]): speed exits + the master-perf turn-stop exit.
// The body does NOT set legResetLatch (leg-channel/master-perf state, set
// once by the leg twin). Since the body no longer writes joints (mj=0,
// AdvanceBodyAnimation) this channel only tracks state so both channels
// re-enter walk on the same frame.
{
MechControlsMapper *bm = MappingMapper();
const Scalar bspd = (bm != 0) ? bm->speedDemand : 0.0f;
if (bspd < ZeroSpeed) // reverse abort (leg-symmetric)
if (standSpeed < bspd || bspd < ZeroSpeed) // walk / reverse (leg-symmetric)
{
bodyStateAlarm.SetLevel(0);
ForceUpdate(8);
distance = 0.0f;
break;
}
Scalar trnRate = 1.0f;
if (standSpeed * 0.25f < bspd)
trnRate = 4.0f; // hurry the plant (leg-symmetric)
distance = bodyAnimation.Advance(
time_slice * globalTimeScale * idleStrideScale * trnRate, loop);
if (bm == 0
|| (bm->turnDemand <= 0.05f && bm->turnDemand >= -0.05f))
{
bodyStateAlarm.SetLevel(0); // turn stopped (leg-symmetric)
ForceUpdate(8);
distance = 0.0f;
break;
}
distance = bodyAnimation.Advance( // still turning -> advance the pivot
time_slice * globalTimeScale * idleStrideScale, loop);
bodyCycleSpeed = distance / time_slice;
}
break;