From f30acc6a94558ac807b9cf2ee4e7b8caa2c45048 Mon Sep 17 00:00:00 2001
From: Cyd <cyd@falloutshelterarcade.com>
Date: Wed, 29 Jul 2026 10:41:34 -0500
Subject: [PATCH] BT410 5.3.67: pose_chase was upside down -- harness bug, wire
 exonerated

The operator caught it: the 5.3.65 image showed the mech hanging from its own
ground-shadow plate (-y is up in the bridge world).  The follow-up pinned down
what was and wasn't wrong, and the reconstruction survives untouched.

Right, by three independent wire-level proofs: MAD.SKL offsets are a coherent
Y-up model (hip +5.29, knees descending, torso ascending -- anatomical only
read +Y-up); the BGF vertex extents agree (foot meshes extend -1.0 below their
ankle to the sole, torso +3.8 up to the missile pods); and the SHIPPED pod's
wire carries the same signs (hip +6.21, knees negative, vehicle root a pure
yaw with det +1).  Our wire and shipped's are convention-identical -- no flip
exists between game and board in either game.

Wrong: the ad-hoc chase camera.  It borrowed the aerial up-hint from the
calibrated live-bridge world (where -y is up) and applied it to a raw
scene-space render of Y-up wire data; the symmetric checkerboard ground
disguised the inversion.  The shipped capture rendered upside-down through the
same harness, which is what cleared the wire.

Both conventions now documented in the roadmap: wire/scene space is Y-up in
both games; the live bridge presents -y-up via its calibrated mirror family
(FP_RIGHT_SIGN / CAGE_TWIST_SIGN, COCKPIT-CAGE-NOTES.md).

Tooling: pose_probe.py replaces the throwaway harness (updir=+1 scene space
default, -1 for the bridge sense).  pose_chase_upfixed.png is the corrected
milestone image: the MadCat right side up -- chicken-walker legs, purple knee
actuators, feet planted, shadow under the feet.

Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
---
 emulator/render-bridge/dosboxlog.txt          | 37 ++++++++++
 emulator/render-bridge/pose_probe.py          | 72 +++++++++++++++++++
 restoration/source410/RENDER-ROADMAP.NOTES.md | 41 +++++++++++
 3 files changed, 150 insertions(+)
 create mode 100644 emulator/render-bridge/pose_probe.py

diff --git a/emulator/render-bridge/dosboxlog.txt b/emulator/render-bridge/dosboxlog.txt
index a717bc3e..b7ad71d0 100644
--- a/emulator/render-bridge/dosboxlog.txt
+++ b/emulator/render-bridge/dosboxlog.txt
@@ -54,3 +54,40 @@ LOG: ISA Plug & Play BIOS enabled
 LOG: VGA ROM BIOS init callback
 LOG: pixratio 1.000, dw false, dh false
 LOG: Aspect ratio: 640 x 480  xToY=1.333 yToX=0.750
+LOG: WARNING: No translation support (to host) for code page 0
+LOG: DOS keyboard layout loaded with main language code US for layout us
+LOG: XMS: 50 handles allocated for use by the DOS environment
+LOG: EMS page frame at 0xe000-0xefff
+LOG: COMMAND.COM env size:             720 bytes
+LOG: COMMAND.COM environment block:    0x0701 sz=0x002d
+LOG: COMMAND.COM main body (PSP):      0x072f sz=0x009a
+LOG: COMMAND.COM stack:                0x0749
+LOG: pixratio 1.350, dw false, dh false
+LOG: Aspect ratio: 720 x 540  xToY=1.333 yToX=0.750
+LOG: SHELL:Redirect output to COM3
+LOG: VPXLOG: fifosock client connected
+VPX lights@f1: type6=0 typeE=0 decoded=0 dir=0 amb(0.00,0.00,0.00)
+LOG:  237273074 ERROR MOUSE:Unhandled videomode 79 on reset
+LOG: pixratio 1.000, dw false, dh false
+LOG: Aspect ratio: 640 x 480  xToY=1.333 yToX=0.750
+VPX lightnode t=6 nb=52: [8]00000000/0 [12]00000000/0 [16]00000001/1.4013e-45 [20]3f800000/1 [24]3f800000/1 [28]3f800000/1 [32]64078678/1e+22 [36]64078678/1e+22 [40]00311d60/4.51048e-39 [44]00326744/4.62882e-39 [48]ffffffff/nan
+LOG:  684478479 ERROR INT10:PutPixel unhandled mode type 7
+LOG: SHELL:Redirect output to RC.TXT
+LOG: Serial1: Errors: Framing 0, Parity 0, Overrun RX:2 (IF0:0), TX:0, Break 0
+LOG: Serial1: Errors: Framing 0, Parity 0, Overrun RX:3 (IF0:0), TX:0, Break 0
+LOG: Serial1: Errors: Framing 0, Parity 0, Overrun RX:12 (IF0:0), TX:0, Break 0
+LOG: Serial1: Errors: Framing 0, Parity 0, Overrun RX:6 (IF0:0), TX:0, Break 0
+LOG: Serial1: Errors: Framing 0, Parity 0, Overrun RX:3 (IF0:0), TX:0, Break 0
+LOG: Serial1: Errors: Framing 0, Parity 0, Overrun RX:3 (IF0:0), TX:0, Break 0
+LOG: Serial1: Errors: Framing 0, Parity 0, Overrun RX:6 (IF0:0), TX:0, Break 0
+LOG: Serial1: Errors: Framing 0, Parity 0, Overrun RX:3 (IF0:0), TX:0, Break 0
+LOG: Serial1: Errors: Framing 0, Parity 0, Overrun RX:3 (IF0:0), TX:0, Break 0
+LOG: Serial1: Errors: Framing 0, Parity 0, Overrun RX:6 (IF0:0), TX:0, Break 0
+LOG: Serial1: Errors: Framing 0, Parity 0, Overrun RX:3 (IF0:0), TX:0, Break 0
+LOG: Serial1: Errors: Framing 0, Parity 0, Overrun RX:3 (IF0:0), TX:0, Break 0
+LOG: Serial1: Errors: Framing 0, Parity 0, Overrun RX:3 (IF0:0), TX:0, Break 0
+LOG: Serial1: Errors: Framing 0, Parity 0, Overrun RX:3 (IF0:0), TX:0, Break 0
+LOG: Serial1: Errors: Framing 0, Parity 0, Overrun RX:6 (IF0:0), TX:0, Break 0
+LOG: Serial1: Errors: Framing 0, Parity 0, Overrun RX:3 (IF0:0), TX:0, Break 0
+LOG: Serial1: Errors: Framing 0, Parity 0, Overrun RX:3 (IF0:0), TX:0, Break 0
+LOG: Serial1: Errors: Framing 0, Parity 0, Overrun RX:6 (IF0:0), TX:0, Break 0
diff --git a/emulator/render-bridge/pose_probe.py b/emulator/render-bridge/pose_probe.py
new file mode 100644
index 00000000..954dc50a
--- /dev/null
+++ b/emulator/render-bridge/pose_probe.py
@@ -0,0 +1,72 @@
+#!/usr/bin/env python3
+"""pose_probe -- offline chase render of the articulated mech in a fifodump.
+
+    py pose_probe.py <capture.fifodump> <out.png> [updir]
+
+Frames the camera on the LAST-articulated root (board.anim_abs), a chase
+offset away, and renders one frame.  The proof harness for any "is the mech
+posed/assembled right?" question -- offline, against a copy of the live dump,
+zero interference with a running pod.
+
+UP SENSE (updir, default +1): the wire's model/scene data is Y-UP -- proven
+three ways on 2026-07-29: MAD.SKL offsets are anatomically coherent only with
++Y up (hip +5.29 above ground, knees/ankles descending), the BGF vertex
+extents agree (foot meshes extend -1.0 below their ankle joint, torso +3.8
+above shakey), and the SHIPPED pod's wire carries the same signs (hip +6.2,
+knees negative, yaw-only vehicle root -- no flip anywhere on the wire).  So a
+scene-space render wants screen-up = +Y, which is updir=+1 here.
+
+The LIVE bridge world is the other way around -- "-y is up here" -- because
+the calibrated live path (fp_cam / the mirrored det -1 root-basis family,
+FP_RIGHT_SIGN, COCKPIT-CAGE-NOTES.md) maps the wire into Dave's GL
+presentation.  The first version of this harness copied the aerial camera's
+up hint from that world and rendered the mech hanging from its own shadow;
+the operator caught it.  updir=-1 reproduces that view if you ever need it.
+"""
+import sys, os, struct
+sys.path.insert(0, r'C:\VWE\TeslaRel410\dpl3-revive\patha')
+os.environ.setdefault('SDL_VIDEODRIVER', 'dummy')
+import numpy as np
+from vrboard import VirtualBoard, Msg
+from vrview import Renderer
+
+cap = sys.argv[1]
+out = sys.argv[2] if len(sys.argv) > 2 else "pose_probe.png"
+updir = float(sys.argv[3]) if len(sys.argv) > 3 else 1.0
+
+data = open(cap, "rb").read()
+board = VirtualBoard()
+off = 0
+while off + 8 <= len(data):
+    if data[off:off+4] != b'VPXM':
+        off += 1; continue
+    ln = struct.unpack_from('<I', data, off+4)[0]
+    body = data[off+8:off+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
+    off += 8 + ln
+
+if not board.anim_abs:
+    print("no articulated roots in this capture"); sys.exit(1)
+
+r = Renderer(w=832, h=512); c = r.cache; c.maybe_rebuild(board)
+root = max(board.anim_abs.values(),
+           key=lambda f: float(np.abs(np.array(f[9:12])).sum()))
+target = np.array(root[9:12]); target[1] += updir * 6.0     # mid-body
+eye = target + np.array([30.0, updir * 14.0, 40.0])         # above + beside
+fwd = target - eye; fwd /= np.linalg.norm(fwd); back = -fwd
+right = np.cross([0.0, updir, 0.0], back); right /= np.linalg.norm(right)
+up = np.cross(back, right)
+M = np.eye(4); M[0,:3], M[1,:3], M[2,:3], M[3,:3] = right, up, back, eye
+r.cam_matrix = lambda _b, _M=M: _M
+if c.view is not None and c.view in board.nodes:
+    vb = bytearray(board.nodes[c.view].get('body') or b'')
+    if len(vb) >= 56:
+        struct.pack_into('<f', vb, 52, 1.0e6)
+        board.nodes[c.view]['body'] = bytes(vb)
+r.draw(board)
+r.pygame.image.save(r.screen, out)
+print("wrote %s  root at %s  updir=%+g" % (out, target.round(1), updir))
diff --git a/restoration/source410/RENDER-ROADMAP.NOTES.md b/restoration/source410/RENDER-ROADMAP.NOTES.md
index 19f44764..313a28af 100644
--- a/restoration/source410/RENDER-ROADMAP.NOTES.md
+++ b/restoration/source410/RENDER-ROADMAP.NOTES.md
@@ -1352,3 +1352,44 @@ ISR and LBE4ControlsManager are archive code, but the mapper (BT/MECHMPPR.CPP)
 and the entire event/receiver plumbing (MUNGA/APP.CPP, RECEIVER.CPP) are ours.
 RIO_TAP produced no file on this path -- byte-level dialogue comparison needs
 a different tap point.
+
+--------------------------------------------------------------------------------
+CORRECTION FROM THE OPERATOR: pose_chase.png WAS UPSIDE DOWN -- HARNESS, NOT WIRE
+--------------------------------------------------------------------------------
+The operator caught it immediately ("-y is up here"): the 5.3.65 milestone
+image showed the mech hanging from its own ground-shadow plate.  The follow-up
+established exactly what was and wasn't wrong, and the reconstruction survives
+untouched:
+
+WHAT IS RIGHT (three independent proofs, wire-level):
+  * MAD.SKL offsets are a coherent Y-UP model: hip +5.29 above ground, thigh
+    +0.24, knee -1.97 and ankle -2.39 descending, torso/missile mounts/eye
+    ascending.  Anatomically consistent ONLY read +Y-up.
+  * The BGF vertex extents agree with the offsets: foot meshes extend -1.0
+    below their ankle joint (the sole), toe meshes -0.65 below their joints,
+    the torso mesh +3.8 above shakey (to the missile-pod tops), thigh meshes
+    reach down past the knee joint.  One space, both data families.
+  * THE SHIPPED POD'S WIRE CARRIES THE SAME SIGNS.  bt4.raw.bin's mech
+    skeleton: hip node (0,+6.21,0), knees negative, paired thighs +/-1.71,
+    and the vehicle root (df1) is a PURE YAW (+1 on the Y diagonal, det +1) at
+    its world position -- no flip anywhere between game and board, in either
+    game.  Our wire and shipped's are convention-identical.
+
+WHAT WAS WRONG: the ad-hoc chase camera in the 5.3.65 render.  It borrowed
+fifobridge's aerial up-hint ([0,-1,0], correct for the calibrated LIVE-bridge
+world where -y is up) and applied it to a raw scene-space render of Y-up wire
+data -- screen-up landed on model-down, mech hangs from its shadow, and the
+symmetric checkerboard ground disguised it.  The shipped capture rendered
+upside-down through the same harness, which is what cleared the wire.
+
+THE TWO CONVENTIONS, so nobody trips on this again:
+  * WIRE / scene space: Y-UP.  Both games, models and skeletons alike.
+  * LIVE bridge presentation: -y is up.  The calibrated path (fp_cam, the
+    mirrored det -1 root basis, FP_RIGHT_SIGN / CAGE_TWIST_SIGN family) maps
+    between them; COCKPIT-CAGE-NOTES.md documents that machinery.
+
+TOOLING: pose_probe.py replaces the throwaway harness -- updir=+1 default
+(scene space), updir=-1 reproduces the bridge-world sense.  Verified:
+pose_chase_upfixed.png shows the MadCat right side up -- chicken-walker legs,
+purple knee actuators, feet planted, shadow quad UNDER the feet, weapon-pod
+arms.  The milestone stands, now with the correct picture.