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>
2026-07-29 10:41:34 -05:00
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@@ -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.