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Gyro tail + audio (task #66): the INSTABILITY MODEL -- mech+0x3F0 reconstructed

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Byte-decoded the un-exported master-perf block @0x4aad3d-0x4aaf14 (capstone;
the same gap that held the F5 footstep code) [T1]:

  instab  = (min(|AccelerationLastFrame| / maxUnstableAcceleration, 1)
             x unstableAccelerationEffect)^2
  instab += clamp((demand - legCycleSpeed)/demand, <=1)      # "gun the engine"
             x unstableGunTheEngineEffect                    # (demand clamped to
                                                             #  [gimpStride(neg), runMax2])
  if (legAnimationState == 4 /*turn-in-place*/) instab += unstableStopedTurnEffect
  clamp to 1  ->  mech+0x3F0  ->  gyro->swayBias (gyro+0x3A8)

Every piece resolves to already-reconstructed structure: the model-record
tuning block rec+0x80..0x94 (ctor copy @0x4a2593 -- the six authored
Unstable* fields, previously parked in the Wword scratch bank, now real
members); AccelerationLastFrame@0x82c = the snapshot of the ring-derived
localAcceleration (copied at the perf tail @0x4ab142); CurrentSpeed@0x348 =
legCycleSpeed; the trn state 4 gate; and the gyro feed lands in the
EXISTING swayBias member + GyroscopeSimulation consumer (task #56) --
GyroFrameJointWrite's "0.0f model TBD" argument is now the live value.

UnstablePercentage (binary id 52 @0x3F0) binds the real member: the LAST
dead audio attribute is live -- the authored instability alarm (start
thresh 0.01 + volume = the fraction) sounds under hard maneuvers, and the
cockpit ambient sway now scales with reckless driving.

Live verification (30s, 0.6-throttle run): instab 0.38 during the walk->run
chase (cyc 22.2 vs demand 33.6), settling to 0.002-0.12 per-stride ripple at
steady run; attribute binds with live float values; [instab] trace under
BT_GYRO_TRACE.  unstableSuperStopEffect/unstableHighVelocityEffect writers
remain unlocated (plausibly the airborne perf variant) -- noted on members.

Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
This commit is contained in:
arcattack
2026-07-16 15:51:10 -05:00
co-authored by Claude Opus 4.8
parent c581553a6c
commit c51d64a6b8
5 changed files with 77 additions and 11 deletions
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game/reconstructed/mech.hpp
+19
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@@ -879,6 +879,25 @@ protected:
Scalar accelPrevFwdMean;
Scalar accelPrevVertMean;
Point3D accelPrevPos; // raw position memory for the ring feed
// (task #66, the gyro-tail INSTABILITY MODEL -- byte-decoded from the
// master perf @0x4aad3d-0x4aaf14 [T1]):
// instab = (min(|AccelerationLastFrame| / maxUnstableAcceleration, 1)
// x unstableAccelerationEffect)^2
// instab += clamp((demand - legCycleSpeed)/demand, <=1) ["gun the
// engine": commanded speed the legs haven't reached]
// x unstableGunTheEngineEffect
// if (legAnimationState == 4 /*trn*/) instab += unstableStopedTurnEffect
// clamp to 1 -> mech+0x3F0, then gyro->swayBias (gyro+0x3A8) and the
// UnstablePercentage audio attribute (binary id 52 @0x3F0) read it.
// The six tuning fields come from the model record +0x80..0x94 (ctor
// @0x4a2593-0x4a25d5); previously parked in the Wword scratch bank.
Scalar unstablePercentage; // binary @0x3F0 (reset writes 0)
Scalar maxUnstableAcceleration; // @0x784 <- rec+0x80
Scalar unstableAccelerationEffect; // @0x788 <- rec+0x84
Scalar unstableGunTheEngineEffect; // @0x78C <- rec+0x88
Scalar unstableSuperStopEffect; // @0x790 <- rec+0x8C (writer not yet located; airborne perf?)
Scalar unstableHighVelocityEffect; // @0x794 <- rec+0x90 (writer not yet located)
Scalar unstableStopedTurnEffect; // @0x798 <- rec+0x94
// Radar/map gauge attributes (binary @0x404/0x408/0x40c/0x3f8). The map
// widget reads position/angle as POINTERS into the mech's live origin, so
// radarLinearPosition/radarAngularPosition point at localOrigin.{linear,