vwemirror/TeslaRel410
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eb8bba319507b213872ad2f849fe6829c00dab58
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Author SHA1 Message Date
CydandClaude Fable 5 eb8bba3195 BT410 Phase 5.3.6: look-button state machine -- full eyepoint composition 
Reconstructs the binary's five-state LOOK machine (controls mapper tail,
part_013.c:396-459) as proper members/methods:

- MECHMPPR: LookState enum (None/Left/Right/Behind/Down) + lookState/
  previousLookState (out of reserved[24] -> [22]). InterpretControls picks the
  state from the look buttons each frame and on a CHANGE calls
  Mech::CommitLookState. BT_FORCE_LOOK=<1..4> dev hook.
- MECH: authored look angles lookLeft/Right/Front/BackAngle (deg->rad from the
  GameModel resource, guarded) + lookPitch/lookYaw + CommitLookState(int):
  side looks yaw by the authored angle, look-behind = yaw pi + lookBackAngle
  pitch, look-down = lookFrontAngle pitch, forward = identity. The per-frame
  eyepoint compose in Simulate adds the live Torso elevation on top.
  (reservedState [208] -> [202].)
- Deferred inside the commit (needs MechWeapon viewFireEnable/rearFiring):
  per-view weapon fire re-arm + HUD pip group-mask flip.

Verified headlessly: model reads clean authored angles (L=60 R=-60 F=-10 B=0
deg -- ModelResource layout confirmed again); BT_FORCE_LOOK=3 fires ONE commit
([look] state=3 yaw=3.14159 pitch=0) and the per-frame compose holds eyeYaw=pi
with eyePitch=0.349066 (lookBackAngle + the 20deg-clamped elevation). Zero Fail.

Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
 2026-07-21 22:08:50 -05:00
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