2 Commits

Include renames

Author	SHA1	Message	Date
CydandClaude Fable 5	3a0920acc0	BT410 Phase 5.3.3: torso weapon-elevation aim -- completes the control surface ... 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>	2026-07-21 16:02:54 -05:00
CydandClaude Fable 5	ebf0d8c23f	BT410 Phase 5.3.2: DRIVABLE mech -- authentic control interpretation + locomotion ... The mech now drives from the authentic control chain (faithful route). Verified headlessly: full throttle -> walks straight at top speed (30 u/s) along heading; throttle+turn -> walks a circle (radius = speed/turnRate); neutral -> holds pose; zero Fail. MechControlsMapper::InterpretControls (mechmppr.cpp @004afd10) -- installed as the mapper's per-frame Performance (roster slot 0, ticks before the mech): - speedDemand = topSpeed*throttle*fwdScale (reverse inverts); soft stick (square) / pedal (cube) response; Basic=stick turn, Std/Vet=pedal turn; speed clamped while turning hard. Reads owner stride via Mech accessors. - BT_FORCE_THROTTLE/BT_FORCE_TURN dev hooks for headless verification. Mech::Simulate drive -- consumes the mapper demands: - accelerate currentBodySpeed toward speedDemand (maxBodyAcceleration); - authTurnRate = lerp(walkingTurnRate, runningTurnRate) by ground speed + over-run falloff (mech4.cpp master-perf @0x4aa3d3); - integrate heading via Quaternion::Add(prevPose, (0,turn*rate*dt,0)); - facing = world -Z basis (GetFromAxis(Z_Axis)); worldLinearVelocity = facing*spd; - integrate position (increment-1 core). MECH.HPP: 9 named locomotion members out of reservedState (now [211]) -- walking/runningTurnRate, reverse/walkStrideLength, reverseSpeedMax, forwardThrottleScale, maxBodyAcceleration, body/currentBodySpeed. BRING-UP DEFAULTS (authentic values come from the model resource + LoadLocomotionClips -- next refinement). Deferred: gait-clip-exact advance + leg anim (needs animation subsystem/renderer), model-resource sourcing, terrain drop, torso/free-look aim, telemetry filters. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>	2026-07-21 14:46:30 -05:00