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Weapons fire; hat-glance + MFD fixes; windowless bridge

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vpx-device/vpxlog.cpp -- WEAPONS FIRE. The game's fire gate is
targetReticle.targetEntity (mech+0x388), filled every frame by a Division-board
reticle pick (dpl_RapidSectPixel) our HLE never answered, so every shot
misfired. The device now casts the camera centre ray against the live scene
(Moller-Trumbore) and returns the full hit -- instance + DCS + geogroup +
geometry -- piggybacked on the draw_scene reply; terrain is a valid target so
you can fire and miss. Sending geogroup=0 was hanging the game (GetAppSpecific
on a null); returning the real geogroup fixed it. Pick is default-on with a
single VPX_NO_PICK escape hatch. Also swaps the upper-left/right MFD explode
windows (screen location only -- decode untouched, real cause TBD on a pod).

dpl3-revive/patha/vrview.py -- HAT-GLANCE fix at the source. One cockpit DCS
(0xa2c) flushes a rank-2 rotation (shifted body -> wrong read window) that
collapsed the camera chain to rank 2 and smeared the head glance onto the wrong
axis (left/right hat read as pitch). chain_matrix(fix_degenerate) treats a
degenerate chain DCS as identity: preserves the look exactly and keeps stick-Y
torso pitch working (an earlier bridge-level yaw/pitch swap broke stick-Y and
was reverted). User-verified live: hat all 4 dirs + stick-Y both correct.

render-bridge/launch_pod.ps1 -- launch the bridge with pyw (windowless) so no
console window parks over the cockpit displays (Start-Process ignores
-WindowStyle once stdout/stderr are redirected).

render-bridge/live_bridge.py -- surface bridge render errors, flush the status
line; reverted glance-swap note.

Also vendored HUD (dpl2d) renderer work in vrboard/vrview_gl and RENDERER-COLLAB
/ RIO notes.

Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
This commit is contained in:
Cyd
2026-07-07 09:53:14 -05:00
co-authored by Claude Opus 4.8
parent c18c253658
commit 2bb2ff7302
8 changed files with 909 additions and 51 deletions
Download Patch File Download Diff File Expand all files Collapse all files
emulator/render-bridge/launch_pod.ps1
+24 -5
View File
@@ -13,8 +13,11 @@
param(
[string]$Conf = "$PSScriptRoot\gauge_arena_sound.conf",
[string]$Work = "$env:LOCALAPPDATA\Temp\vwe-pod",
[string]$BridgePos = '2020,20', # Division head slot (explode layout)
[switch]$NoBridge,
[switch]$NoSound
[switch]$NoSound,
[switch]$ShowNative # also show the native Division window
# (wire-decode diagnostic; black clear)
)
$ErrorActionPreference = 'Stop'
New-Item -ItemType Directory -Force $Work | Out-Null
@@ -40,8 +43,15 @@ $env:VPX_RESPOND = '1'
$env:VPX_RENDER = '1'
$env:VPX_EXPLODE = '1' # pentapus: 7 cockpit displays
$env:VPX_DUMPDIR = $Work
$env:VPX_FIFODUMP = "$Work\live.fifodump"
$env:VPX_FIFODUMP = "$Work\live.fifodump" # archival/replay copy
$env:VPX_FIFOSOCK = '8621' # live tee the bridge rides
$env:RIO_TAP = "$Work\riotap.txt"
# Dave's bridge is the out-the-window view; the native Division window is a
# decode diagnostic (-ShowNative), cleared black so missing geometry doesn't
# masquerade as sky.
if ($ShowNative) { Remove-Item Env:VPX_NOMAIN -ErrorAction SilentlyContinue }
else { $env:VPX_NOMAIN = '1' }
$env:VPX_CLEAR = '0,0,0'
if ($NoSound) {
Remove-Item Env:VWE_AWE32, Env:VWE_AWE_ROM -ErrorAction SilentlyContinue
} else {
@@ -58,10 +68,19 @@ Write-Host "pod PID $($p.Id) conf=$([IO.Path]::GetFileName($Conf)) work=$Work"
if (-not $NoSound) { Write-Host "sound ON: boot adds ~4 min for the SoundFont upload" }
if (-not $NoBridge) {
# live_bridge waits for the fifodump itself; start it right away
$b = Start-Process py -ArgumentList '-3.13', "$PSScriptRoot\live_bridge.py", "$Work\live.fifodump" `
# park the bridge window on the Division head slot (SDL honors this at
# window creation)
$env:SDL_VIDEO_WINDOW_POS = $BridgePos
# bridge rides the socket tee (retries until the device listens); the
# fifodump path is its catch-up source if it ever (re)starts mid-mission.
# Launch with pyw (windowless pythonw), NOT py: py opens a console window
# that parks over the displays, and Start-Process ignores -WindowStyle once
# stdout/stderr are redirected (UseShellExecute=false). pyw has no console
# at all; stdout/stderr still land in the bridge_*.txt logs, and the GL
# render window appears normally at SDL_VIDEO_WINDOW_POS.
$b = Start-Process pyw -ArgumentList '-3.13', "$PSScriptRoot\live_bridge.py", 'tcp:8621', "$Work\live.fifodump" `
-RedirectStandardError "$Work\bridge_err.txt" `
-RedirectStandardOutput "$Work\bridge_out.txt" -PassThru
$b.Id | Set-Content "$Work\bridge_pid.txt"
Write-Host "bridge PID $($b.Id) [GL] (arrows in its window tune eye height)"
Write-Host "bridge PID $($b.Id) [GL, windowless] (arrows in the RENDER window tune eye height)"
}
emulator/render-bridge/live_bridge.py
+174 -26
View File
@@ -8,27 +8,74 @@ game's own camera (the player's RIO input drives it).
py live_bridge.py <live.fifodump>
"""
import os, sys, struct, time
import os, sys, struct, time, math
import numpy as np
from _backend import pick_renderer
from vrboard import VirtualBoard, Msg, A
Renderer, backend = pick_renderer()
path = sys.argv[1]
catchup = sys.argv[2] if len(sys.argv) > 2 else None
board = VirtualBoard()
board.munga = False
r = Renderer(w=832, h=512,
title=f"dpl3-revive renderer (Dave) -- LIVE from our pod [{backend}]")
r.fps = int(os.environ.get('BRIDGE_FPS', '60' if backend == 'GL' else '30'))
# eye height above the mech origin (cockpit). Mutable: UP/DOWN arrows = +-5,
# LEFT/RIGHT = +-1, live (the render window must be focused). 35 was tuned
# before the ground rendered and is way too high against real terrain.
UPOFF = [float(os.environ.get('FP_UPOFF', '12'))]
# eye-height TRIM on top of the camera position (UP/DOWN arrows = +-5,
# LEFT/RIGHT = +-1, live; render window must be focused). The chain camera
# carries the true cockpit eye so the default trim is 0; the vehicle-root
# fallback adds VEH_EYE below (12 was the hand-tuned value).
UPOFF = [float(os.environ.get('FP_UPOFF', '0'))]
VEH_EYE = 12.0
# the un-overridden munga cam-chain method (fp_cam overrides r.cam_matrix
# every frame, so grab the bound original once)
CHAIN_CAM = r.cam_matrix
# torso twist: the 0x1f batch's 2f/5f joint entries are (sin,cos) of the
# joint angle keyed by the joint's DCS handle (calibrated live vs MADCAT.SUB
# +-130deg limits). The chain DCS values EXCLUDE joint angles, so the twist
# is composed onto the chain look direction in fp_cam. JOINTS holds the
# latest (sin,cos) per handle. FP_TWIST_SIGN flips, FP_TWIST=0 disables.
JOINTS = {}
TWIST_SIGN = float(os.environ.get('FP_TWIST_SIGN', '1'))
TWIST_ON = os.environ.get('FP_TWIST', '1') != '0'
def track_joints(payload):
"""Dave's backtracking 0x1f parse (vrboard.py), keeping the joint
(sin,cos) entries his board skips."""
p = payload
if len(p) < 8:
return
n = min(struct.unpack_from('<I', p, 0)[0], 64)
nodes = board.nodes
def parse(off, k):
if k == 0:
return [] if off == len(p) else None
if off + 4 > len(p):
return None
h = struct.unpack_from('<I', p, off)[0]
if nodes.get(h, {}).get('type') != 5:
return None
for nf in (12, 2, 5):
end = off + 4 + nf * 4
if end > len(p):
continue
rest = parse(end, k - 1)
if rest is not None:
return [(h, off + 4, nf)] + rest
return None
for h, o, nf in parse(4, n) or ():
if nf in (2, 5):
JOINTS[h] = struct.unpack_from('<2f', p, o)
def fp_cam(board, cache):
"""First-person cockpit camera from the player vehicle's 0x1f pose: eye at
the mech (+up), looking along its nose (+Z row), y-up world. Beats Dave's
11-DCS cam chain (which renders sky through our wire's convention)."""
"""First-person cockpit camera, best source first:
1. HEAD-LOOK (default): the munga cam DCS chain's translation row = the
true cockpit eye, its +Z row = the look direction (follows torso
twist). The chain's full rotation is singular through our wire (two
rows collapse to +-Y), so only eye + Z row are trusted and the basis
is rebuilt y-up. FP_CAM=vehicle forces the fallback.
2. Fallback: the player vehicle's 0x1f root pose -- eye at hull + VEH_EYE,
forward = -Z row (FP_FWD_SIGN flips)."""
anim = board.anim_abs
chain = cache.cam_chain
h = None
@@ -41,16 +88,47 @@ def fp_cam(board, cache):
f = anim[h]
R = np.array(f[:9]).reshape(3, 3)
t = np.array(f[9:12])
# look along the mech's travel direction. The +Z row rendered BACKWARD
# (user: "geometry moving away as I drive"), so forward = -Z row.
# FP_FWD_SIGN flips it back if needed.
fwd = float(os.environ.get('FP_FWD_SIGN', '-1')) * R[2]
n = np.linalg.norm(fwd)
if n < 1e-6:
return None
fwd = fwd / n
worldup = np.array([0.0, 1.0, 0.0])
eye = t + worldup * UPOFF[0]
eye = fwd = None
if os.environ.get('FP_CAM', 'chain') != 'vehicle':
try:
Mc = np.asarray(CHAIN_CAM(board), float)
ec, fc = Mc[3, :3], Mc[2, :3] # eye row; look = +Z row here
n = np.linalg.norm(fc)
if (np.isfinite(ec).all() and n > 1e-6 and
np.linalg.norm(ec - t) < 100.0): # sane cockpit offset
eye = ec + worldup * UPOFF[0]
fwd = fc / n
except Exception:
pass
if eye is None:
# vehicle-root fallback: -Z row rendered forward (user-verified);
# FP_FWD_SIGN flips it back if needed.
fwd = float(os.environ.get('FP_FWD_SIGN', '-1')) * R[2]
n = np.linalg.norm(fwd)
if n < 1e-6:
return None
fwd = fwd / n
eye = t + worldup * (VEH_EYE + UPOFF[0])
# NOTE: a bridge-level "head-glance axis fix" (swap the hat glance's yaw<->
# pitch) was tried 2026-07-07 and REVERTED: the hat glance, torso twist and
# the stick-Y torso pitch all compose into this one look-vector and can't be
# separated here (we only have the vehicle ROOT pose, not the torso joints),
# so the swap also flipped the stick-Y vertical aim into yaw. The hat
# left/right->up/down permutation must be fixed at the source (device
# head-DCS decode -- the chain rotation is degenerate: X/Y rows collapse to
# +-Y) or in the vRIO input mapping, without touching the look-vector.
# torso twist: yaw the look direction by any chain-member joint angle
# (jointtorso lives IN the cam chain; the shadow joint does not)
if TWIST_ON:
for jh in (chain or ()):
sc = JOINTS.get(jh)
if sc is None:
continue
th = TWIST_SIGN * math.atan2(sc[0], sc[1])
cs, sn = math.cos(th), math.sin(th)
fwd = np.array([cs * fwd[0] + sn * fwd[2], fwd[1],
-sn * fwd[0] + cs * fwd[2]])
back = -fwd
right = np.cross(worldup, back)
rn = np.linalg.norm(right)
@@ -86,20 +164,86 @@ def render(board):
r.draw(board)
except KeyboardInterrupt:
raise
except Exception:
pass
except Exception as e:
global _render_errs
_render_errs = globals().get('_render_errs', 0) + 1
if _render_errs <= 3:
import traceback
print(f"render error #{_render_errs}: {e}", flush=True)
traceback.print_exc()
sys.stdout.flush()
print(f"waiting for {path} ...")
while not os.path.exists(path):
time.sleep(0.2)
f = open(path, 'rb')
# wire source: a fifodump file to tail, or "tcp:<port>" = the device's
# VPX_FIFOSOCK live tee (same VPXM records, no file-poll quantum; recv blocks
# until data arrives so wire-to-render latency is the socket itself).
tcp_port = int(path[4:]) if path.startswith('tcp:') else None
sock = None
def read_chunk():
global sock
if tcp_port is None:
return f.read(1 << 20)
if sock is None:
import socket as sk
while True:
s = sk.socket()
try:
s.connect(('127.0.0.1', tcp_port))
s.settimeout(0.02) # idle cap: keeps the event pump alive
s.setsockopt(sk.IPPROTO_TCP, sk.TCP_NODELAY, 1)
print("fifosock connected", flush=True)
sock = s
break
except OSError:
time.sleep(0.3)
try:
c = sock.recv(1 << 20)
except TimeoutError:
return b''
except OSError:
sock = None
return b''
if c == b'':
print("fifosock closed; reconnecting", flush=True)
sock = None
return c
if tcp_port is None:
print(f"waiting for {path} ...")
while not os.path.exists(path):
time.sleep(0.2)
f = open(path, 'rb')
elif catchup and os.path.exists(catchup):
# a socket client joining mid-mission missed the scene-create records;
# replay the archival fifodump first (no rendering), then ride the tee.
# Records between our EOF and the socket accept are lost -- poses are
# absolute so the state self-heals within a frame.
data = open(catchup, 'rb').read()
o = fed = 0
while o + 8 <= len(data):
if data[o:o + 4] != b'VPXM':
o += 1; continue
ln = struct.unpack_from('<I', data, o + 4)[0]
if o + 8 + ln > len(data):
break
body = data[o + 8:o + 8 + ln]; o += 8 + ln
if len(body) >= 4:
a = struct.unpack_from('<I', body, 0)[0]
if a < 0x100:
try: board.handle(Msg(False, 0xff, a, body[4:]))
except Exception: pass
if a == 0x1f:
try: track_joints(body[4:])
except Exception: pass
fed += 1
print(f"catchup: {fed} records from {catchup}", flush=True)
print("tailing live wire -> Dave's renderer; drive the pod")
pending = b''
frames = 0
last_report = time.time()
while True:
chunk = f.read(1 << 20)
chunk = read_chunk()
if chunk:
pending += chunk
off = 0
@@ -120,6 +264,9 @@ while True:
board.handle(Msg(False, 0xff, action, body[4:]))
except Exception:
pass
if action == 0x1f: # torso/limb joint angles ride here
try: track_joints(body[4:])
except Exception: pass
if action == 9: # draw_scene -> present a frame
render(board)
frames += 1
@@ -128,9 +275,10 @@ while True:
try: r.pump()
except KeyboardInterrupt: break
except Exception: pass
time.sleep(0.02)
if tcp_port is None:
time.sleep(0.02) # socket mode already waited in recv
if time.time() - last_report > 4:
last_report = time.time()
print(f"frames={frames} nodes={len(board.nodes)} "
f"uploads={len(board.uploads)} tex={len(board.tex)} "
f"munga={board.munga} anim_abs={len(board.anim_abs)}")
f"munga={board.munga} anim_abs={len(board.anim_abs)}", flush=True)