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Fix drive-to-range stall: BT_GOTO self-drives + steers correctly cross-net

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The BT_GOTO beeline never actually closed on a target -- three separate faults:

1. It was gated behind `if(gBTDrive.forced)`, and `forced` was set ONLY by
   BT_AUTODRIVE -- a chicken-and-egg where the block that would drive was gated
   on the drive already being on.  So BT_GOTO alone just turned in place (the
   "stall").  Fix: BT_GOTO enables forced mode itself AND supplies its own
   forward throttle (a beeline must drive, not only steer), cutting the throttle
   inside a stop radius (weapon range for "enemy", so it holds + shoots).

2. Steering used the gDriveHeading SCALAR MIRROR (seeded to 0), but MP pilots
   spawn facing a non-zero heading -> it steered the WRONG way.  Fix: heading
   error from the mech's ACTUAL forward (localToWorld's -Z axis), signed angle
   to the target.

3. The goto turn was routed through controlsMapper->turnDemand, which zeroes out
   in -net mode (the mapper key-bridge only shapes the local viewpoint mech
   there) -- the heading froze and A drove straight past B.  Fix: apply the goto
   turn to the orientation integration DIRECTLY (if gBTGotoActive, turn=
   gBTGotoTurn), after the mapper read.

Verified 2-node one-box: A with BT_GOTO="enemy" ALONE (no autodrive) drives
dist 1673->231m, holds at weapon range, mechPicks=59, autofire -> B hdlr=192,
DESTROYED -- a fully automated human-style cross-pod KILL via the real beam
path (not the FORCE_DMG hook).  Solo un-regressed (plain autodrive still drives;
goto="enemy" resolves the enemy, mechPicks=59, no crash).  BT_GOTO_LOG traces
the beeline.

Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
This commit is contained in:
arcattack
2026-07-09 15:02:51 -05:00
co-authored by Claude Fable 5
parent 0dfbb97dcc
commit 9353d59eb9
2 changed files with 79 additions and 13 deletions
Download Patch File Download Diff File Expand all files Collapse all files
context/multiplayer.md
+17 -8
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@@ -122,16 +122,25 @@ groundPicks=0` → beam → `*** DESTROYED`. Also proved `PickRayHit` resolves a
(`hit=1` at 757 m in a 2-node run); the replicant `localToWorld` is correct (DeadReckon + `localToWorld=
localOrigin`, mech4.cpp:1191). [T2]
**STILL OPEN — drive-to-range.** `BT_GOTO`/`BT_AUTODRIVE` steer + move A, but A stalls (`gait adv=0`) short
of the enemy and often fails to line the boresight onto a peer at range — so an AUTOMATED 2-node kill via the
real beam path isn't demonstrated (the `BT_MP_FORCE_DMG` hook still is). A HUMAN can now aim (the ray is
correct in the default view); the gap is the auto-drive facing the target. Locomotion/goto issue, not MP.
Test aid: `BT_GOTO="enemy"` beelines toward the nearest live peer (solo dummy OR replicant); `scratchpad/
mp_kill_test.sh`.
**FIXED — drive-to-range (the automated cross-pod kill now runs end-to-end).** The `BT_GOTO` beeline had
three separate faults: (1) it was gated behind `if(gBTDrive.forced)` (mech4.cpp), and `forced` was set ONLY
by `BT_AUTODRIVE` — so `BT_GOTO` alone never drove (chicken-and-egg: the block that would drive was gated on
the drive being on). Fix: `BT_GOTO` now enables forced mode itself + supplies its own forward throttle (a
"beeline" must drive, not just steer), cutting throttle inside a stop radius (weapon range for `enemy`, so it
holds and shoots instead of ramming). (2) The steering used the `gDriveHeading` SCALAR MIRROR (seeded to 0),
but MP pilots spawn facing a non-zero heading, so the beeline steered the WRONG way. Fix: compute the heading
error from the mech's ACTUAL forward (`localToWorld`'s -Z axis), signed angle to the target. (3) The goto turn
was routed through `controlsMapper->turnDemand`, which zeroes out in -net (the mapper key-bridge only shapes
the local viewpoint mech there) — the heading froze and A drove straight past B. Fix: apply the goto turn to
the orientation integration DIRECTLY (`if(gBTGotoActive) turn=gBTGotoTurn`), after the mapper read.
VERIFIED 2-node: A `BT_GOTO="enemy"` alone (no autodrive) drives `dist 1673→231 m`, holds at range, `mechPicks=59`,
autofire → **B hdlr=192, DESTROYED** — a fully automated human-style cross-pod kill via the real beam path
(not the FORCE_DMG hook). Solo un-regressed (plain autodrive + goto both work). `scratchpad/mp_kill_test.sh`;
`BT_GOTO_LOG` traces the beeline.
## Remaining (P6 phase 4 / Phase 7)
Drive-to-range / auto-face reliability (above) for a fully AUTOMATED cross-pod kill demo; replicant GAIT
animation (derive from replicated velocity); the pod-LAN config (real IPs, bare-IP pilot entries). See
Replicant GAIT animation (derive from replicated velocity); the pod-LAN config (real IPs, bare-IP pilot
entries). See
[[open-questions]]. [T3]
## MP-front scout (task #45, 2026-07-09) — the P6 chain SURVIVES the combat/HUD rework [T2]
game/reconstructed/mech4.cpp
+62 -5
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@@ -1356,12 +1356,15 @@ void
{
static int sAutoFire = -1;
static float sAutoDrive = -1.0f;
static int sGotoDrive = -1;
if (sAutoFire < 0)
{
const char *af = getenv("BT_AUTOFIRE");
sAutoFire = (af && *af == '1') ? 1 : 0;
const char *ad = getenv("BT_AUTODRIVE");
sAutoDrive = ad ? (float)atof(ad) : 0.0f;
const char *gv = getenv("BT_GOTO");
sGotoDrive = (gv && *gv) ? 1 : 0;
}
gBTDrive.fireForced = sAutoFire;
if (sAutoDrive > 0.0f)
@@ -1369,6 +1372,15 @@ void
gBTDrive.forced = 1;
gBTDrive.forcedThrottle = sAutoDrive;
}
else if (sGotoDrive)
{
// BT_GOTO is self-driving: enable forced mode so the goto beeline
// block (gated on gBTDrive.forced, below) runs on its own without
// requiring BT_AUTODRIVE. That block sets the actual throttle
// (drive toward the target, 0 inside the stop radius).
gBTDrive.forced = 1;
gBTDrive.forcedThrottle = 0.8f;
}
}
if (gBTDrive.allStop) { sLever = 0.0f; sDetent = 0; gBTDrive.allStop = 0; }
@@ -1528,19 +1540,56 @@ void
{
float ddx = s_gx - (float)localOrigin.linearPosition.x;
float ddz = s_gz - (float)localOrigin.linearPosition.z;
float want = (float)atan2(-ddx, -ddz); // heading with fwd=-Z
float err = want - gDriveHeading;
while (err > 3.14159265f) err -= 6.2831853f;
while (err < -3.14159265f) err += 6.2831853f;
float dist2 = ddx * ddx + ddz * ddz;
// Heading error from the mech's ACTUAL forward (localToWorld's -Z
// axis), NOT the gDriveHeading scalar mirror: that mirror is seeded
// to 0, but MP pilots (and any non-zero spawn pose) start facing a
// different way, so `want - gDriveHeading` steered the beeline the
// WRONG way. err = signed angle (about +Y) from forward to target.
UnitVector zAxisG;
localToWorld.GetFromAxis(Z_Axis, &zAxisG);
float fwdX = -(float)zAxisG.x, fwdZ = -(float)zAxisG.z; // faces -Z
float err = 0.0f;
float tlen = (float)sqrt((double)dist2);
if (tlen > 1e-3f)
{
float tX = ddx / tlen, tZ = ddz / tlen;
float dot = fwdX * tX + fwdZ * tZ;
float crs = fwdZ * tX - fwdX * tZ; // signed; flip if it steers away
err = (float)atan2((double)crs, (double)dot);
}
// STOP radius: "enemy" holds at weapon range so it can shoot
// instead of ramming; a fixed point drives right up to the spot.
const float stopDist = (s_goto == 2) ? 300.0f : 5.0f;
const float stopDist2 = stopDist * stopDist;
const int arrived = (dist2 < stopDist2);
// publish for the mapper bridge (the real-controls path reads
// gBTDrive in mechmppr.cpp, NOT this local `turn`)
gBTGotoTurn = (err > 0.3f) ? 1.0f : (err < -0.3f ? -1.0f
: (err > 0.02f ? 0.3f : (err < -0.02f ? -0.3f : 0.0f)));
if (ddx * ddx + ddz * ddz < 25.0f) gBTGotoTurn = 0.0f;
if (arrived) gBTGotoTurn = 0.0f;
// throttle down while far off-heading (the authentic
// speed-vs-turn clamp makes run-speed turn circles huge)
gBTGotoThrottle = (err > 0.5f || err < -0.5f) ? 0.2f : 1.0f;
gBTGotoActive = 1;
if (getenv("BT_GOTO_LOG"))
{
static float s_gl = 0.0f; s_gl += dt;
if (s_gl >= 1.0f) { s_gl = 0.0f;
DEBUG_STREAM << "[goto] dist=" << (float)sqrt((double)dist2)
<< " err=" << err << " turn=" << gBTGotoTurn
<< " thr=" << gBTGotoThrottle << " arr=" << arrived
<< " fwd=(" << fwdX << "," << fwdZ << ")"
<< " tgt=(" << s_gx << "," << s_gz << ")\n" << std::flush; }
}
// SELF-DRIVE (task #48): a "beeline" harness must supply its OWN
// forward throttle, not only steering -- otherwise it just turns
// in place and never closes the distance (the "drive-to-range
// stall": BT_GOTO alone advanced nothing because the throttle came
// only from BT_AUTODRIVE). Drive forward toward the target and cut
// the throttle inside the stop radius so it holds at firing range.
gBTDrive.forced = 1;
gBTDrive.forcedThrottle = arrived ? 0.0f : 0.8f;
turn = gBTGotoTurn; // non-real-controls fallback path
}
}
@@ -1572,6 +1621,14 @@ void
// turnDemand is the mode-shaped steering; speedDemand (world u/s, sign =
// reverse) feeds the gait target below.
turn = controlsMapper->turnDemand;
// BT_GOTO steering must reach the orientation integration DIRECTLY: the
// mapper round-trip (stickPosition -> turnDemand) zeroes out in -net mode
// (the key-bridge only shapes the local viewpoint mech there), which froze
// the beeline's heading (it drove straight past the target). The goto turn
// is a plain yaw demand -- apply it here, after the mapper read, so it works
// identically solo and cross-net.
extern int gBTGotoActive; extern float gBTGotoTurn;
if (gBTGotoActive) turn = gBTGotoTurn;
static float s_mpprLog = 0.0f; s_mpprLog += dt;
if (s_mpprLog >= 1.0f)
{