The damaged-copy twist path (@004b65f8 + @004b6510), reconstructed from the
raw decomp rather than the BT411 donor -- which drifted twice: its ease aged
by lastUpdate (+0x14) where the binary reads lastPerformance (+0x10), and it
calls the joint-write helper from the copy sim where 1995 does not (port-era
addition, dropped). The extrapolator predicts targetTwist = twistAtUpdate +
twistRate * elapsed on two time bases (settled = this frame's window, slewing
= the command window), and the copy sim snaps when settled or eases by the
remaining-time form dt/((stamp - now) + dt) -- landing exactly when the clock
reaches the command stamp. The decomp's DAT_0052140c divide is just
Time::operator- inlined; no hand conversion existed.
Members carved from the dynamicsState reserve (16->12): targetTwist @0x218,
twistAtUpdate @0x21C, twistRate @0x238, lastUpdateTime @0x254. The ctor now
registers the copy Performance on replicants (PTR @00510c1c); [T2] the gate
mirrors the binary's simulationFlags 0xC/0x100 pair with the instance test,
same as the whole watcher family, until the stream builders that seed those
bits are reconstructed. Feeders (Read/WriteUpdateRecord) stay staged --
zero-init eases a copy to centre, correct-by-vacuity in single-pod.
Stubs: 16 across 10 files. Regression: clean mission soak on the rig
(no faults, wheel turning, pacing steady).
Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
Investigated the next planned binding (elevation -> gun joints jointlgun/
jointrgun) before implementing it, and found it was the wrong target: BT411's
own reverse-engineering history records that NO gun/arm elevation joint exists
in the authentic engine. The pod's stick-Y aim pitches the COCKPIT EYE and the
weapon boresight directly (mech4.cpp @~5219, pixel-calibrated against real
screenshots) -- the torso geometry never tilts for elevation on this mech
family. Reconstructing a gun-joint binding would have been invented behavior.
- MECH.HPP: EulerAngles eyepointRotation member (out of reservedState, now
[208]) + GetEyepointRotation() accessor.
- MECH.CPP: composed each frame in Simulate -- eyepointRotation =
EulerAngles(Radian(Normalize(lookPitch+elevation)), Radian(Normalize(lookYaw)),
Radian(0)), reading Torso::CurrentElevation() via sinkSourceSubsystem.
lookPitch/lookYaw are 0 until the look-button wave (BTCommitLookState) lands.
Verified: BT_FORCE_ELEV=0.8 -> torsoElev and eyePitch both read 0.349066 (the
authentic 20 degree resource limit) every frame, exact match; neutral -> 0.
Zero Fail. Corrected TORSO.NOTES.md's prior (wrong) "next: gun joints" note.
Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
Reconstructs the shared skeleton-joint resolver and binds the first subsystem
(Torso) to the live skeleton.
- Mech::ResolveJoint(name) (mech.cpp @00424b60): GetSegment(name) -> segment
joint index -> GetJointSubsystem()->GetJoint(idx).
- Verified the JointedMover base streams the full skeleton headlessly:
jointCount=19, 40 named segments (gun joints jointlgun/jointrgun, shoulders,
hip, leg joints jointlthigh..jointrankle). BT_MECH_LOG [skel] summary;
BT_SKEL_DUMP lists every segment/jointIdx.
- Torso resolves + binds its twist joint (ResolveJoint(torsoHorizontalJoint))
and pushes currentTwist onto it via Joint::SetRotation (hinge->Radian,
ball->EulerAngles yaw). The TEST.EGG mech has a fixed torso (horizJoint='',
enabled=0) so its twist path is inert -- correct + guarded, zero Fail.
Next joint piece: elevation -> gun joints (jointlgun/jointrgun, the fixed-torso
aim mechanism) via weapon-joint binding; then gait leg animation. Both are
VISIBLE only under the renderer; headlessly the joint transforms are loggable.
Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
Reconstructs Torso::TorsoSimulation (installed as the Torso's per-frame
Performance) and wires the torso aim into MechControlsMapper::InterpretControls,
so the control surface now covers aiming as well as locomotion.
- TORSO: analogElevationAxis/analogTwistAxis + SetAnalog* setters,
CurrentElevation()/GetHorizontalEnabled() accessors. TorsoSimulation slews
currentElevation += analogElevationAxis*baseElevationRate*dt clamped to the
vertical limits, and (if horizontalEnabled) currentTwist by the twist axis
clamped to the horizontal limits (authentic torso.cpp core; the skeleton-joint
application is deferred with the render wave).
- InterpretControls: routes stick pitch (stick_y, squared) into the torso
elevation every mode; Std/Vet route stick yaw into the twist. BT_FORCE_ELEV
dev hook.
Verified: BT_FORCE_ELEV=0.8 -> the elevation slews up and clamps at the authentic
verticalLimitTop = 0.349 rad = 20deg; neutral -> 0; zero Fail.
Deferred: skeleton-joint application (render wave), HUD free-aim slew,
look/eyepoint commit.
Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
CydandClaude Fable 5