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BT410 5.3.104: turn-in-place -- the mech STEPS around at a standstill instead of pivoting like a statue

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The dispatcher (master perf @0x4aa505-0x4aa588, from the raw disasm -- the
function Ghidra never decompiled), re-hosted at the gait seam in Simulate:

  From Standing, arm the trn clip when the mech is TURNING (the binary's
  operand is |angularVelocity| > 1e-4; at a standstill the turn rate is
  exactly walkingTurnRate, so the test is turnDemand * walkingTurnRate),
  the speed demand sits in the FULL sub-walk band [0, standSpeed], the
  model carries a trn clip (turnCapable, real since 5.3.103), and the
  wind-down debounce is clear.

  BOTH channels arm on the same frame -- the lockstep weld.  Arming only
  the leg lets the body enter its next cycle frames apart and the two walk
  cycles run permanently out of phase (the donor's rhythmic-gait-skip
  finding).  Each trn clip plays one figure and drops back to Standing via
  the case-4 group, so a held turn re-arms clip after clip.

  The debounce is the master perf's own shape: legResetLatch cleared at the
  top of every frame (@0x4a9bff), set by the advancer's wind-down, honoured
  here -- a walk that wound down THIS frame cannot re-enter as a turn until
  the next.

LIVE (new pod_render_trn.conf: throttle 0, turn 0.5, exterior clips):

    pos PINNED at (-641.043, 0, -243.722) across the whole run
    yaw sweeping the full circle
    spd oscillating +/-0.001347

That last number is the proof of authenticity: it is the trn clip's authored
root translation -- the foot shuffle.  The mech turns by STEPPING, not by
having its yaw slid underneath it, and the stride-driven speed model shows
the steps.

Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
This commit is contained in:
Cyd
2026-08-03 14:55:36 -05:00
co-authored by Claude Fable 5
parent c85bf98814
commit 6b9a54089c
2 changed files with 126 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
emulator/render-bridge/pod_render_trn.conf
+87
View File
@@ -0,0 +1,87 @@
# pod_render_norio.conf -- pod_render_rec with the RIO serial port OFF.
#
# The emulator log shows a steady stream of serial1 RX OVERRUN errors on
# the RIO pipe, and controls post their events at HighEventPriority
# UNCONDITIONALLY (CONTROLS.HPP:250) -- so a chattering RIO port would
# flood a priority the background pump always serves first, starving the
# priority-0 renderer events the load gate waits on. This conf tests that
# by removing the port entirely. Everything else is identical to the rec
# conf, so a launch here and a hang there isolates the RIO.
#
[sdl]
output=opengl
# higher,higher not highest: HIGH_PRIORITY_CLASS starved the host desktop;
# with the retry patches a rare dropout self-recovers (see gauge_rio.conf).
priority=higher,higher
[dosbox]
memsize=32
machine=svga_s3
[cpu]
core=dynamic
cputype=pentium
cycles=max
[sblaster]
sbtype=sb16
sbbase=220
irq=5
dma=1
hdma=5
[mixer]
# match the EMU8000s' native rate (no resample) and buffer ~60ms so brief
# emulation-thread stalls (RIO retry recovery) don't audibly chop
rate=44100
blocksize=1024
prebuffer=60
[serial]
# RIO on COM1 with the low-latency options (rxpollus/rxburst) so the board's
# few-ms ACK deadline is met; plasma display on COM2 (real pod has both).
# VWE fork namedpipe backend (com0com/realport retired -- COM1/COM2 gone):
# DOSBox = pipe client (retry), vRIO/vPLASMA apps = servers; an unconnected
# pipe behaves as an unplugged cable so the mission still runs. serialnamedpipe.h
serial1=disabled
serial2=namedpipe pipe:vplasma
# live UNBUFFERED game output: DOS char devices are not buffered, so
# redirecting stdout to COM3 lands every line immediately. A normal
# '> file' redirect stays 0 bytes until the process exits, which hides
# all progress on a run that does NOT crash.
serial3=file file:C:\VWE\TeslaRel410\emulator\render-bridge\podlog.txt
[autoexec]
mount c "C:\VWE\TeslaRel410\ALPHA_1"
c:
cd \REL410\BT
set VIDEOFORMAT=svga
rem production pod card init (PARAMETR.BAT:181-186): DIAGNOSE + AWEUTIL per
rem card -- AWEUTIL /S does the EMU8000 bring-up and DRAM detect the HMI SOS
rem driver relies on; skipping it left the cards uninitialized (silent).
rem aweutil /s SKIPPED for now: it verifies the AWE32 GM ROM, which the
rem emulated cards lack (hangs in a retry loop) -- restore once the ROM is
rem dumped from a real card. diagnose /s kept (passes, sets mixer config).
set BLASTER=A220 I5 D1 H5 P330 T6
c:\sb16\diagnose /s
set BLASTER=A240 I7 D3 H6 P300 T6
c:\sb16\diagnose /s
set BLASTER=A220 I5 D1 H5 P330 T6
set TEMP=c:\
rem arena1 city mission (TESTARN.EGG: map=arena1, time=day) with the RIO
rem attached; stdout redirected so mission-load progress survives kills.
set BT_JOINTS=1
set L4VIEWEXT=1
set BT_MECH_LOG=1
set BT_MAP_LOG=1
set BT_MER_LOG=1
set BT_VID_LOG=1
set BT_LAUNCH_LOG=1
set BT_STACK_LOG=1
set BT_FORCE_THROTTLE=0.0
set BT_FORCE_TURN=0.5
set HEAPSIZE=15000000
set L4GAUGE=640x480x16
call setenv.bat r s n p
32rtm.exe -x
BTL4REC.EXE -egg testarn.egg > COM3
echo GAME-RC=%errorlevel% >> RC.TXT
32rtm.exe -u
echo ALPHA1-RUN-DONE
pause
restoration/source410/BT/MECH.CPP
+39
View File
@@ -1596,6 +1596,14 @@ void
limping = (mode == 3 || mode == 4) && hasGimpClips;
}
//
// The master performance clears the leg reset latch at the top of every
// frame (@0x4a9bff); the wind-down inside the advancer may set it again,
// and the turn-in-place dispatcher below honours it -- so a walk that
// wound down THIS frame cannot re-enter as a turn until the next.
//
legResetLatch = 0;
if (limping)
{
AdvanceLegAnimationGimp(time_slice);
@@ -1604,6 +1612,37 @@ void
{
AdvanceLegAnimation(time_slice);
}
//
// THE TURN-IN-PLACE DISPATCHER (master perf @0x4aa505-0x4aa588, decoded
// from raw disasm -- Ghidra never decompiled the function). From
// Standing, arm the trn clip when the mech is TURNING (the binary tests
// |angularVelocity| > 1e-4; at a standstill the turn rate is exactly
// walkingTurnRate, so the operand is turnDemand * walkingTurnRate), the
// speed demand sits in the FULL sub-walk band [0, standSpeed], the model
// has a trn clip, and the wind-down debounce is clear.
//
// BOTH channels arm on the same frame -- the lockstep weld. Arming only
// the leg lets the body enter its next cycle frames apart and the two
// walk cycles run permanently out of phase. Each trn clip plays one
// turn figure and drops back to Standing (the case-4 group), so a held
// turn re-arms clip after clip.
//
if (!limping && turnCapable != 0 && legResetLatch == 0)
{
Scalar
standstill_turn_rate = turnDemand * walkingTurnRate;
if (
legStateAlarm.GetLevel() == 0 &&
bodyStateAlarm.GetLevel() == 0 &&
speedDemand >= 0.0f && speedDemand <= standSpeed &&
(standstill_turn_rate > 1.0e-4f || standstill_turn_rate < -1.0e-4f)
)
{
SetLegAnimation(4);
SetBodyAnimation(4);
}
}
{
Scalar stride = limping
? AdvanceBodyAnimationGimp(time_slice, 0)