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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

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MECHMPPR.CPP / .HPP — reconstruction notes

MechControlsMapper (: Subsystem) is the mech's control-input subsystem, installed at roster slot 0 via Mech::SetMappingSubsystem. It publishes the control-input attributes (StickPosition..PilotArray, IDs 3–0x16) that the streamed control mappings bind to, and — as of Phase 5.3 — interprets those raw inputs into the locomotion/aim demands the mech drive consumes.

Reconstructed

The attribute table + AttributeIndex + shared-data statics (earlier wave).
The ctor: primes the published inputs to neutral and (Phase 5.3) installs InterpretControls as the per-frame Performance.
InterpretControls(Scalar) — the per-frame control interpretation (mechmppr.cpp @004afd10, authentic demand math):
- throttle → forward speed: speedDemand = topSpeed · throttle · fwdScale (reverse thrust inverts and drops the forward scale). topSpeed/walkSpeed are read from the owner via Mech::GetReverseStrideLength()/GetWalkStrideLength().
- soft response: square the stick yaw (sign preserved), cube the pedals.
- Basic mode: stick yaw = turnDemand; Standard/Veteran: pedals = turnDemand.
- speed clamp while turning hard (max_turn ramps topSpeed → walkSpeed by |turnDemand|); VeteranMode has no clamp.
Demand accessors GetSpeedDemand()/GetTurnDemand() (read by Mech::Simulate).
GetMech() = (Mech *)GetEntity().

The mapper ticks in the engine's Entity::PerformAndWatch roster walk (slot 0), which runs BEFORE the mech's own Performance (Simulation::PerformAndWatch at the tail), so the demands are same-frame — no input latency.

DEV hook (headless verification)

BT_FORCE_THROTTLE / BT_FORCE_TURN override the pushed raw inputs (the RIO/ keyboard aren't present in the headless smoke test), so the demand math + mech drive are exercisable without hardware. BT_MECH_LOG prints a 1 Hz [mppr] demand trace. Verified: throttle=1.0 → speedDemand=30; throttle=0.3,turn=1.0 → the mech walks a circle; neutral → 0. See MECH.NOTES.md (Phase 5.3 inc 2).

Torso aim wired (2026-07-21)

InterpretControls now routes the stick PITCH (stick_y, squared soft response) into the torso weapon-elevation axis every control mode (Torso::SetAnalogElevationAxis), and in Standard/Veteran the stick YAW into the torso twist (SetAnalogTwistAxis); Basic keeps the stick yaw as the leg turn. Torso::TorsoSimulation slews + clamps the elevation/twist (see TORSO.NOTES.md). Verified: BT_FORCE_ELEV=0.8 → torsoElev clamps at the authentic 20° limit.

Deferred (the free-aim / camera wave)

Still not reconstructed: the HUD free-aim slew (HUD::SetFreeAimSlew, the Standard/Veteran torso-disabled path), the torso recenter command, and the look/eyepoint commit (BTCommitLookState — re-aims the eyepoint + re-arms the per-view weapon fire enables). These are the free-aim/camera surface; they come with the HUD/eyepoint wave. The skeleton-joint application of the torso angles is deferred with the render wave (TORSO.NOTES.md).

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