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BT410 5.3.90: the gait player is real -- SequenceController::Advance was the Fail() stub under the legs

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Asked what was next for the rebuild, went to measure it, and found I had told
the operator the wrong thing one turn earlier.

THE CORRECTION.  I said mech2.cpp (the gait state machine) was the next
package.  It sits on top of SequenceController's playback methods, and all
three of those -- SelectSequence, Advance, Reset -- were Fail() stubs.  Advance
is the function that actually walks a clip's keyframes and writes each
animated joint.  mech2 without it would have called straight into a Fail.  So
the dependency runs:

    Mech::AdvanceLegAnimation      mech2.cpp -- the STATE MACHINE, still absent
      -> SequenceController::Advance   THIS -- keyframes -> joint writes
        -> Joint::SetHinge / SetRotation / SetTranslation
          -> the joint DCS flush fixed in 5.3.88

5.3.88 fixed the bottom link, this fixes the middle, the top is still missing.

WHAT THIS DOES NOT DO: make the legs move.  Nothing calls any of it yet -- no
gait state is ever selected because mech2 is unreconstructed -- so a run looks
identical to yesterday's.  This removes a blocker.  Saying otherwise would be
easy and wrong.

RECONSTRUCTED (compile-verified, BT 50/50, links clean):

  SelectSequence @004277a8 -- find + lock the clip, parse its layout.  The
  fetch is FindResourceDescription and NOT SearchList: the ID arriving here is
  already resolved, and SearchList would treat it as a resource LIST and walk
  the clip bytes as IDs.

  Advance @0042790c -- snap through every keyframe the new time has passed
  (writing authored poses), then interpolate the partial frame.  Returns the
  forward distance covered, which is what the gait feeds into mech motion.

  Reset @004283b8 -- return every animated joint to neutral, so an abandoned
  gait doesn't leave the skeleton frozen on a stale frame.

THE PART THAT CANNOT BE SEEKED.  The pose block is packed BY JOINT TYPE -- 8
bytes hinge, 12 ball, 24 ball+translation -- so the root-translation table
behind it is not reachable by arithmetic on any stored count.  SelectSequence
must walk the entire skeleton summing per-joint sizes to find it.  Which also
means the parse depends on the mech's own skeleton agreeing with the clip: an
unresolvable slot returns NULL and contributes 0, keeping the walk honest
rather than drifting keyframeData onto garbage.

TWO CONTRACTS worth recording before mech2 is written against them:

  move_joints == 0 is NOT "do nothing" -- it advances the clock and
  accumulates distance while leaving the skeleton alone.  That is how the body
  channel measures a stride without fighting the leg channel over the same
  joints.

  The finished callback is RE-ENTRANT BY DESIGN.  At end of clip it picks the
  next state, re-arms this controller through SelectSequence (rewinding it to
  frame 0), and advances the carryover itself -- so its return value is the
  distance that carryover covered, folded straight into Advance's own return.
  mech2's BodyClipFinished has to honour that or the gait double-counts.

NOT CARRIED OVER from the donor: its BT_HIP_LOG diagnostic and audio
footstep-broadcast path, neither of which is 1995 code.  footStepThreshold IS
parsed -- the field is real and authored -- but nothing reads it yet.

AND A CAVEAT ON THE 91% I QUOTED: seqctl.cpp is not in the 50-TU BT census at
all (its code sits below the BT address range the census was built from), and
that figure counts a TU as done if the FILE EXISTS -- 18 files still carry 26
Fail() stubs between them.  The census understates what "playable" needs.

Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
This commit is contained in:
Cyd
2026-08-02 00:36:39 -05:00
co-authored by Claude Fable 5
parent 33fd921cea
commit c2b0a371ba
3 changed files with 555 additions and 53 deletions
Download Patch File Download Diff File Expand all files Collapse all files
restoration/source410/BT/SEQCTL.CPP
+420 -12
View File
@@ -19,6 +19,57 @@
# include <mech.hpp>
#endif
#if !defined(JOINT_HPP)
# include <joint.hpp>
#endif
#if !defined(APP_HPP)
# include <app.hpp>
#endif
//
//#############################################################################
// Local helpers.
//#############################################################################
//
//
// Slot -> skeleton joint, through the clip's own index map.
//
Joint *
SequenceController::GetAnimatedJoint(int slot) const
{
if (jointSubsystem == NULL || jointIndices == NULL)
{
return NULL;
}
Verify(slot >= 0 && slot < jointCount);
int
joint_index = jointIndices[slot];
if (joint_index < 0 || joint_index >= jointSubsystem->GetJointCount())
{
return NULL;
}
return jointSubsystem->GetJoint(joint_index);
}
//
// Component-wise ease between two orientations.
//
static EulerAngles
InterpolateAngles(
const EulerAngles &from,
const EulerAngles &to,
Scalar ratio
)
{
return EulerAngles(
Radian((Scalar)from.pitch + ((Scalar)to.pitch - (Scalar)from.pitch) * ratio),
Radian((Scalar)from.yaw + ((Scalar)to.yaw - (Scalar)from.yaw) * ratio),
Radian((Scalar)from.roll + ((Scalar)to.roll - (Scalar)from.roll) * ratio));
}
//
//#############################################################################
//#############################################################################
@@ -65,33 +116,390 @@ void
SequenceController::~SequenceController()
{
//
// Releases the locked clip resource when reconstructed; nothing is locked
// while SelectSequence is staged.
// Release the clip this controller holds locked.
//
if (clipResource != NULL)
{
((ResourceDescription *)clipResource)->Unlock();
clipResource = NULL;
}
}
//
//#############################################################################
// Playback -- the per-frame gait engine (clip parse, keyframe interpolation,
// joint writes). Exercised only once the mech is ticking; not yet
// reconstructed. See SEQCTL.NOTES.md.
// The clip resource layout, as SelectSequence parses it. Offsets are the
// binary's (@004277a8):
//
// int frameCount hdr[0]
// int jointCount hdr[1]
// Scalar footStepThreshold hdr[2] -- authored contact height
// int jointIndices[jointCount] keyframe slot -> skeleton joint
// Scalar frameTimes[frameCount] keyframe timestamps, seconds
// <pose> per frame, per joint, PACKED by DOF
// Keyframe rootTranslations[frameCount] .stride == the forward step
//
// The pose block is packed by joint TYPE, so the root-translation table can
// only be located by walking the skeleton and summing the per-joint sizes --
// there is no count to seek by. PoseSize is that walk's per-entry size.
//#############################################################################
//
static int
PoseSize(Joint *joint)
{
//
// Hinge (X/Y/Z) = a Hinge; ball = EulerAngles; ball+translation = both.
//
if (joint == NULL)
{
return 0;
}
switch (joint->GetJointType())
{
case Joint::HingeXJointType:
case Joint::HingeYJointType:
case Joint::HingeZJointType:
return sizeof(Hinge);
case Joint::BallJointType:
return sizeof(EulerAngles);
case Joint::BallTranslationJointType:
return sizeof(EulerAngles) + sizeof(Point3D);
}
return 0;
}
//
//#############################################################################
// SelectSequence (@004277a8) -- bind a gait clip. Stores the finished
// callback, rewinds playback, releases the previous clip, then finds, locks
// and parses the new one.
//
// The fetch is FindResourceDescription, NOT SearchList: the clip ID arriving
// here is already resolved, and SearchList would treat it as a resource LIST
// and walk the clip bytes as resource IDs.
//#############################################################################
//
void
SequenceController::SelectSequence(int, void *, unsigned, unsigned)
SequenceController::SelectSequence(
int clip_id,
void *finished_callback,
unsigned callback_arg2,
unsigned callback_arg3
)
{
Fail("SequenceController::SelectSequence -- seqctl.cpp not yet reconstructed");
Check_Pointer(this);
finishedCallback = finished_callback;
callbackArg2 = callback_arg2;
callbackArg3 = callback_arg3;
currentTime = 0.0f;
currentFrame = 0;
if (clipResource != NULL)
{
((ResourceDescription *)clipResource)->Unlock();
clipResource = NULL;
}
ResourceFile
*resources = application->GetResourceFile();
Check_Pointer(resources);
ResourceDescription
*description = resources->FindResourceDescription(clip_id);
clipResource = description;
if (description == NULL)
{
//
// A mech whose skeleton omits this gait keeps an empty controller;
// Advance below is guarded on keyframeCount so playback is inert.
//
keyframeCount = 0;
jointCount = 0;
return;
}
description->Lock();
int
*header = (int *)description->resourceAddress;
Check_Pointer(header);
keyframeCount = header[0];
jointCount = header[1];
footStepThreshold = (Scalar *)(header + 2);
int
*cursor = header + 3;
jointIndices = cursor;
cursor += jointCount;
keyframeTimes = (Scalar *)cursor;
cursor += keyframeCount;
keyframeBase = cursor;
keyframeCursor = cursor;
//
// Walk the packed pose block to find the root-translation table behind it.
//
char
*pose = (char *)cursor;
int
frame,
slot;
for (frame = 0; frame < keyframeCount; ++frame)
{
for (slot = 0; slot < jointCount; ++slot)
{
pose += PoseSize(GetAnimatedJoint(slot));
}
}
keyframeData = (Keyframe *)pose;
Check_Fpu();
}
//
//#############################################################################
// Advance (@0042790c) -- play the clip forward by time_slice and return the
// forward distance covered, which is what the gait feeds into the mech's
// motion.
//
// Two phases. First SNAP through every keyframe whose timestamp the new time
// has passed, writing each animated joint's authored pose as it goes. Then
// INTERPOLATE the remaining partial frame, easing every joint from where it
// is toward the next keyframe.
//
// move_joints == 0 advances the clock and accumulates distance WITHOUT
// touching the skeleton -- that is how the body channel measures a stride
// without fighting the leg channel for the same joints.
//#############################################################################
//
Scalar
SequenceController::Advance(Scalar, int)
SequenceController::Advance(Scalar time_slice, int move_joints)
{
Fail("SequenceController::Advance -- seqctl.cpp not yet reconstructed");
return 0.0f;
Check_Pointer(this);
Scalar
target_time = currentTime + time_slice,
distance = 0.0f;
char
*cursor = (char *)keyframeCursor;
int
slot;
//
// Phase 1 -- snap through the keyframes reached this frame.
//
while (
currentFrame < keyframeCount &&
keyframeTimes[currentFrame] <= target_time
)
{
for (slot = 0; slot < jointCount; ++slot)
{
Joint
*joint = GetAnimatedJoint(slot);
switch (joint != NULL ? joint->GetJointType() : Joint::StaticJointType)
{
case Joint::HingeXJointType:
case Joint::HingeYJointType:
case Joint::HingeZJointType:
if (move_joints)
{
joint->SetHinge(*(const Hinge *)cursor);
}
cursor += sizeof(Hinge);
break;
case Joint::BallJointType:
if (move_joints)
{
joint->SetRotation(*(const EulerAngles *)cursor);
}
cursor += sizeof(EulerAngles);
break;
case Joint::BallTranslationJointType:
if (move_joints)
{
joint->SetRotation(*(const EulerAngles *)cursor);
}
cursor += sizeof(EulerAngles);
if (move_joints)
{
joint->SetTranslation(*(const Point3D *)cursor);
}
cursor += sizeof(Point3D);
break;
default:
break;
}
}
distance +=
(keyframeTimes[currentFrame] - currentTime) *
keyframeData[currentFrame].stride;
currentTime = keyframeTimes[currentFrame];
++currentFrame;
}
if (currentFrame == keyframeCount)
{
//
// End of clip. The finished callback picks the next gait state and
// RE-ARMS this controller through SelectSequence (which rewinds us to
// frame 0), then advances the leftover time itself -- so on return the
// controller is already playing the next clip and its distance folds
// into ours. A NULL callback simply parks the clip at its end.
//
if (finishedCallback != NULL && keyframeCount > 0)
{
Scalar
carryover = target_time - keyframeTimes[keyframeCount - 1];
distance += (*(ClipFinishedCallback)finishedCallback)(
owner, callbackArg2, carryover, move_joints);
}
}
else
{
//
// Phase 2 -- the partial frame.
//
keyframeCursor = cursor;
Scalar
span = keyframeTimes[currentFrame] - currentTime,
ratio = (span > 0.0f) ? (target_time - currentTime) / span : 0.0f;
for (slot = 0; slot < jointCount; ++slot)
{
Joint
*joint = GetAnimatedJoint(slot);
switch (joint != NULL ? joint->GetJointType() : Joint::StaticJointType)
{
case Joint::HingeXJointType:
case Joint::HingeYJointType:
case Joint::HingeZJointType:
if (move_joints)
{
Scalar
from = (Scalar)joint->GetRadians(),
to = (Scalar)((const Hinge *)cursor)->rotationAmount;
joint->SetRotation(Radian(from + (to - from) * ratio));
}
cursor += sizeof(Hinge);
break;
case Joint::BallJointType:
if (move_joints)
{
joint->SetRotation(
InterpolateAngles(
joint->GetEulerAngles(),
*(const EulerAngles *)cursor,
ratio));
}
cursor += sizeof(EulerAngles);
break;
case Joint::BallTranslationJointType:
if (move_joints)
{
joint->SetRotation(
InterpolateAngles(
joint->GetEulerAngles(),
*(const EulerAngles *)cursor,
ratio));
}
cursor += sizeof(EulerAngles);
if (move_joints)
{
const Point3D
&to = *(const Point3D *)cursor;
Point3D
from = joint->GetTranslation();
Point3D
blended(
from.x + (to.x - from.x) * ratio,
from.y + (to.y - from.y) * ratio,
from.z + (to.z - from.z) * ratio);
joint->SetTranslation(blended);
}
cursor += sizeof(Point3D);
break;
default:
break;
}
}
distance += (target_time - currentTime) * keyframeData[currentFrame].stride;
currentTime = target_time;
}
Check_Fpu();
return distance;
}
//
//#############################################################################
// Reset (@004283b8) -- return every animated joint to its neutral pose. Only
// the loop form does anything; the mech calls it when a gait is abandoned
// (fall, death, respawn) so the skeleton does not keep the last frame of a
// clip that is no longer playing.
//#############################################################################
//
void
SequenceController::Reset(int)
SequenceController::Reset(int loop)
{
Fail("SequenceController::Reset -- seqctl.cpp not yet reconstructed");
Check_Pointer(this);
if (loop == 0)
{
return;
}
EulerAngles
neutral_angles(Radian(0.0f), Radian(0.0f), Radian(0.0f));
Point3D
neutral_point(0.0f, 0.0f, 0.0f);
int
slot;
for (slot = 0; slot < jointCount; ++slot)
{
Joint
*joint = GetAnimatedJoint(slot);
if (joint == NULL)
{
continue;
}
switch (joint->GetJointType())
{
case Joint::HingeXJointType:
case Joint::HingeYJointType:
case Joint::HingeZJointType:
joint->SetRotation(Radian(0.0f));
break;
case Joint::BallJointType:
joint->SetRotation(neutral_angles);
break;
case Joint::BallTranslationJointType:
joint->SetRotation(neutral_angles);
joint->SetTranslation(neutral_point);
break;
default:
break;
}
}
Check_Fpu();
}
restoration/source410/BT/SEQCTL.HPP
+23
View File
@@ -3,8 +3,18 @@
//##################### Forward Class Declarations #######################
class Mech;
class Joint;
class JointSubsystem;
//
// A clip's finished callback: the gait state machine's chance to pick the
// next animation. It re-arms the controller and consumes the carryover
// time itself, returning the distance that carryover covered -- which is
// why Advance can fold its result straight into its own return.
//
typedef Scalar
(*ClipFinishedCallback)(Mech *, unsigned, Scalar, int);
//##########################################################################
//###################### SequenceController ##########################
//##########################################################################
@@ -56,6 +66,19 @@
void
Reset(int loop);
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
// Skeleton access
//
private:
//
// The clip stores its own slot ordering, so a keyframe slot reaches the
// skeleton only through the clip's jointIndices map. NULL when the
// subsystem is absent or the slot names a joint this mech lacks -- the
// playback paths all tolerate that and simply skip the pose entry.
//
Joint *
GetAnimatedJoint(int slot) const;
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
// Clip data (parsed by SelectSequence; keyframe accessors read by the gait)
//
restoration/source410/BT/SEQCTL.NOTES.md
+112 -41
View File
@@ -1,41 +1,112 @@
# SEQCTL.HPP / .CPP — reconstruction notes
**Status: struct + ctor/dtor + Init RECONSTRUCTED (compile-verified); the
per-frame playback methods (SelectSequence / Advance / Reset) staged. Helper
2/3 of the Mech embedded helpers ([[MECH-LAYOUT]] step 1).**
`SequenceController` — the BT keyframe-animation player embedded in the Mech as
`legAnimation` (@0x65c) and `bodyAnimation` (@0x6bc). Plays a gait clip: walks
keyframes, interpolates each animated joint's rotation, writes it through the
joint subsystem, returns the root-translation distance advanced. Absent from the
4.10 archive and the RP engine; reconstructed from the shipped binary + BT411's
seqctl.cpp decomp.
## What's real vs staged
- **Real (ctor-time):** default ctor (zeroes all fields) and `Init(Mech*)` — the
Mech ctor calls `legAnimation.Init(this)` / `bodyAnimation.Init(this)`
(binary; BT411 mech.cpp:685-686), so Init must run at construction. Init binds
`owner` and caches `jointSubsystem = owner->GetJointSubsystem()`
(JMOVER.HPP:104, returns `JointSubsystem*`), `clipResource = NULL`.
- **Staged (per-frame, after boot):** `SelectSequence` (@004277a8, clip parse +
resource lock), `Advance` (@0042790c, keyframe interpolation + joint writes —
the gait engine, ~145 lines in the decomp), `Reset` (@004283b8). These fire
only once the mech is ticking, well past the current ctor frontier, so they
Fail loudly until reconstructed.
## Field layout
Field set + order from BT411's binary-offset map (keyframeCount +0x14 …
callbackArg3 +0x50). Byte-exact offsets are not required for the functional
build (only wire/update-record layout needs that, and SequenceController is not
serialised) — the members are declared as named fields and BC4.52 lays them out;
the Mech's legAnimation/bodyAnimation slots size to `sizeof(SequenceController)`
self-consistently.
## Placement
1995 filename unknown (decomp-only; BT411 used seqctl.cpp). Filed as
BT/SEQCTL.HPP + SEQCTL.CPP. Not in the authentic BT.MAK member list, so the
build appends seqctl.obj to bt.lib via the extra-objs fallback (order is
immaterial — no static init).
# SEQCTL.HPP / .CPP — reconstruction notes
**Status: FULLY RECONSTRUCTED (compile-verified 2026-08-02). The three
per-frame playback methods -- SelectSequence / Advance / Reset -- are now real;
no `Fail()` stub remains in this TU.**
`SequenceController` — the BT keyframe-animation player embedded in the Mech as
`legAnimation` (@0x65c) and `bodyAnimation` (@0x6bc). Plays a gait clip: walks
keyframes, interpolates each animated joint's rotation, writes it through the
joint subsystem, returns the root-translation distance advanced. Absent from the
4.10 archive and the RP engine; reconstructed from the shipped binary + BT411's
seqctl.cpp decomp.
## What's real vs staged
- **Real (ctor-time):** default ctor (zeroes all fields) and `Init(Mech*)` — the
Mech ctor calls `legAnimation.Init(this)` / `bodyAnimation.Init(this)`
(binary; BT411 mech.cpp:685-686), so Init must run at construction. Init binds
`owner` and caches `jointSubsystem = owner->GetJointSubsystem()`
(JMOVER.HPP:104, returns `JointSubsystem*`), `clipResource = NULL`.
- **Staged (per-frame, after boot):** `SelectSequence` (@004277a8, clip parse +
resource lock), `Advance` (@0042790c, keyframe interpolation + joint writes —
the gait engine, ~145 lines in the decomp), `Reset` (@004283b8). These fire
only once the mech is ticking, well past the current ctor frontier, so they
Fail loudly until reconstructed.
## Field layout
Field set + order from BT411's binary-offset map (keyframeCount +0x14 …
callbackArg3 +0x50). Byte-exact offsets are not required for the functional
build (only wire/update-record layout needs that, and SequenceController is not
serialised) — the members are declared as named fields and BC4.52 lays them out;
the Mech's legAnimation/bodyAnimation slots size to `sizeof(SequenceController)`
self-consistently.
## Placement
1995 filename unknown (decomp-only; BT411 used seqctl.cpp). Filed as
BT/SEQCTL.HPP + SEQCTL.CPP. Not in the authentic BT.MAK member list, so the
build appends seqctl.obj to bt.lib via the extra-objs fallback (order is
immaterial — no static init).
## Playback reconstructed (2026-08-02)
`Advance` is **the thing that actually writes mech joints** — the reason the
legs never moved is that this was a `Fail()` stub, not anything in the render
path. It is worth being precise about the dependency, because it reverses an
earlier claim of mine:
Mech::AdvanceLegAnimation (mech2.cpp -- the gait STATE MACHINE, still absent)
-> SequenceController::Advance (THIS -- walks keyframes, writes joints)
-> Joint::SetHinge / SetRotation / SetTranslation
-> the render side's joint DCS flush (BT410 5.3.88)
5.3.88 fixed the bottom link (hinges now flush as full matrices the renderer
applies) and this fixes the middle one. The top link is still missing, so
**nothing calls any of this yet** — mech2.cpp is unreconstructed and no gait
state is ever selected. This commit removes a blocker; it does not make legs
move, and a run will look identical.
### The clip layout, and the one part that can't be seeked
```
int frameCount hdr[0]
int jointCount hdr[1]
Scalar footStepThreshold hdr[2] authored contact height
int jointIndices[jointCount] slot -> skeleton joint
Scalar frameTimes[frameCount] keyframe timestamps
<pose> per frame, per joint, PACKED BY DOF
Keyframe rootTranslations[frameCount] .stride == the forward step
```
The pose block is packed by joint TYPE — 8 bytes for a hinge, 12 for a ball,
24 for ball+translation — so the root-translation table behind it cannot be
reached by arithmetic on any stored count. `SelectSequence` has to walk the
whole skeleton summing per-joint sizes to find it. That walk is `PoseSize`.
A consequence worth recording: the parse depends on the MECH'S OWN skeleton
agreeing with the clip's. If `jointIndices` named a joint the mech lacks, the
size walk would drift and `keyframeData` would point at garbage. Slots that
don't resolve return NULL and contribute 0, which keeps the walk honest.
### Two things in Advance that are easy to get wrong
**`move_joints == 0` is not "do nothing".** It advances the clock and
accumulates distance while leaving the skeleton alone. That is how the body
channel measures a stride without fighting the leg channel over the same
joints — both channels play clips, only one drives the pose.
**The finished callback is re-entrant by design.** At end of clip it picks the
next gait state, re-arms THIS controller via `SelectSequence` (rewinding it to
frame 0), and advances the carryover itself — so by the time it returns, the
controller is already playing the next clip and the callback's return value is
the distance that carryover covered. `Advance` folds it straight into its own
return. Reconstructing mech2's `BodyClipFinished` will need to honour that
contract exactly or the gait will double-count distance.
### Deliberately not carried over from the donor
BT411's `Advance` carries a `BT_HIP_LOG` diagnostic and an audio
footstep-broadcast path. Neither is 1995 code — the log is the port's own
debugging and the audio belongs to its `AudioComponent` work — so neither is
here. `footStepThreshold` IS parsed, because the field is real and in the
authored resource; nothing reads it yet.
### Not measured by the manifest
`seqctl.cpp` is **not in the 50-TU BT census** — its code sits in the
0x4277a8-0x428xxx range, below the BT range the census was built from. So the
"91% of the census reconstructed" figure never counted this file at all, and
the census understates what the gait needs. Worth remembering before quoting
that percentage as progress toward playable.