CydandClaude Fable 5
87b1c048cf
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>
56 lines
2.8 KiB
Markdown
56 lines
2.8 KiB
Markdown
# TORSO.CPP / .HPP — reconstruction notes
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`Torso` (: PowerWatcher) drives torso twist (horizontal) and weapon elevation
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(vertical). Tuning rates/limits stream from the resource
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(`horizontal/verticalRotationPerSecond`, `horizontal/verticalLimit*`,
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`torsoHorizontalEnabled`).
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## Reconstructed
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- Ctor: streams the base rates (deg→rad) + limits + `horizontalEnabled`, primes
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`currentTwist`/`currentElevation`/analog axes to 0, and installs
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`TorsoSimulation` as the per-frame Performance (the replicant copy is
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console-driven via `TorsoCopySimulation`, still staged).
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- `analogElevationAxis` / `analogTwistAxis` members + `SetAnalogElevationAxis` /
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`SetAnalogTwistAxis` setters (written by `MechControlsMapper::InterpretControls`).
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- `CurrentTwist()` / `CurrentElevation()` / `GetHorizontalEnabled()` accessors.
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- `TorsoSimulation(Scalar)` — per-frame aim integration (authentic core):
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- `currentElevation += analogElevationAxis · baseElevationRate · dt`, clamped
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to [verticalLimitBottom, verticalLimitTop];
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- if `horizontalEnabled`: `currentTwist += analogTwistAxis · baseTwistRate ·
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dt`, clamped to [horizontalLimitLeft, horizontalLimitRight].
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**VERIFIED** (`BT_MECH_LOG` `[mppr] torsoElev=`, forced-input `BT_FORCE_ELEV`):
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stick pitch 0.8 slews the elevation up and clamps at the authentic
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`verticalLimitTop` = 0.349 rad = **20°**. Zero Fail.
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## Skeleton-joint binding (2026-07-21)
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The twist joints are now RESOLVED and BOUND: the ctor calls
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`owner->ResolveJoint(torsoHorizontalJoint / torsoHorizontalShadowJoint)` (the
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skeleton is live — see MECH.NOTES.md), stores them as `Joint*`, and
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`TorsoSimulation` pushes `currentTwist` onto `horizontalJointNode` via
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`Joint::SetRotation` (hinge → `Radian`; ball → `EulerAngles` yaw).
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The bring-up TEST.EGG mech has a FIXED torso (`horizJoint=''`, `enabled=0`), so
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its twist path is inert — correctly guarded (null joint → no apply, no crash). A
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torso-twist mech drives the joint. Verified headlessly; the VISUAL rotation
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needs the renderer.
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## Elevation does NOT drive a gun joint (corrected 2026-07-21)
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Checked BT411 before reconstructing a "gun-elevation joint": no such joint
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binding exists anywhere in the authentic engine. `currentElevation` instead
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composes into `Mech::eyepointRotation` (the cockpit-eye / weapon-boresight
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pitch) — see MECH.NOTES.md "PHASE 5.3 INCREMENT 5". `TorsoSimulation` only
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needed to keep advancing the scalar state, which it already did; the missing
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piece was the CONSUMER (`Mech::Simulate`'s eyepoint composition), now
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reconstructed and verified (`torsoElev` == `eyePitch` every frame).
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## Deferred
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- HUD free-aim slew, the look-button state machine (`BTCommitLookState` /
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`gBTLookPitch`/`gBTLookYaw` — composes with elevation into the full
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eyepoint), `TorsoCopySimulation` (replicant console-driven aim) — still
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staged.
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