CydandClaude Fable 5
41fca98f85
The feel wave's cornerstone, transcribed from the task-#56 byte-exact donor
per the GYRO.NOTES.md plan:
THE SPRINGS. IntegrateEyeJoint (@004b2ec0): the eye TRANSLATION spring
whose equilibrium (posSpring+negSpring)/2 IS the authentic steady eye
offset, with the byte-verified quirks intact -- the damping step
OVERWRITES the force accumulator (it carries last frame's damping and
the damage impulses by design) and the position step has NO dt.
IntegrateBody (@004b30ec): the body ROTATION spring, X/Z-crossed on the
spring force and crossed AGAIN on the orientation step.
THE SIM (@004b275c): chain the power watch (5.3.109's mirrors), slew the
sway angle between the powered and impaired percentages -- impaired reads
the gyro's OWN mirrored alarms: watchdog != Ready or heat == Failure --
band-clamp, run both integrators. The Performance ends there.
THE JOINT WRITES (@004b33e0/@004b34ec) live where the binary calls them:
the MECH master-perf tail after the gait pass, death-gated -- the idle
sway onto the EyeJoint, and TRANSLATION <- eyePosition + ROTATION <-
bodyOrientation onto 'jointeye', the BallTranslation joint the cockpit
eyepoint rides. Every write QuantiseEps-gated.
THE HIT BOUNCE (@004b2980): every non-collision hit shakes the cockpit.
Direction from the damage force (random horizontal when ~zero), rotated
into the yaw-only torso frame, per-type priced amount/multiplier*response
(Explosive alone reads burstCount), clamped 1.3 UPPER only, then the four
kicks -- impulse, torque (which zeroes .y and negates itself), the fixed
up-axis vibration, and the vertical mirror. Fed from the damage hub's
step 1, BEFORE zone resolution -- an invalid-zone hit still shakes you.
THE CRUNCH: driving through a crushable prop now kicks the gyro (torque
0.4 along the contact normal, upward impulse 0.2) -- the 5.3.102 staged
site, closed.
Resource: the five DamageResponse quads {trans,pitchRoll,yaw,vibration}
appended after the multipliers (record 0x21C, binary-verified layout) --
they were always in the stream; we simply never read them. The ctor now
zeroes every accumulator (the donor's history records a NaN poison from
exactly that omission), copies the clamp pairs (body doubled), self-points
externalPitchPtr at spare0 until a torso binds it, and REGISTERS the
Performance on the master -- it ticks live, no fault.
Stub census: 19 across 13 files.
Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
202 lines
6.4 KiB
C++
202 lines
6.4 KiB
C++
//===========================================================================//
|
|
// File: gyro.hpp //
|
|
// Project: BattleTech Brick: Mech subsystems //
|
|
// Contents: Gyroscope -- the eye/body stabilisation subsystem //
|
|
//---------------------------------------------------------------------------//
|
|
// Copyright (C) 1995, Virtual World Entertainment, Inc. //
|
|
// All Rights reserved worldwide //
|
|
// This unpublished sourcecode is PROPRIETARY and CONFIDENTIAL //
|
|
//===========================================================================//
|
|
|
|
#if !defined(GYRO_HPP)
|
|
# define GYRO_HPP
|
|
|
|
# if !defined(POWERSUB_HPP)
|
|
# include <powersub.hpp>
|
|
# endif
|
|
|
|
//##################### Forward Class Declarations #######################
|
|
class Mech;
|
|
|
|
//###########################################################################
|
|
//################### Gyroscope Model Resource #########################
|
|
//###########################################################################
|
|
|
|
//
|
|
// One per-damage-type response row: how hard a hit of that type kicks
|
|
// the four gyro channels.
|
|
//
|
|
struct Gyroscope__DamageResponse
|
|
{
|
|
Scalar trans;
|
|
Scalar pitchRoll;
|
|
Scalar yaw;
|
|
Scalar vibration;
|
|
};
|
|
|
|
struct Gyroscope__SubsystemResource:
|
|
public PowerWatcher::SubsystemResource
|
|
{
|
|
Scalar reservedF4;
|
|
Scalar exageration;
|
|
Scalar maxAnimationNoise;
|
|
Scalar minAnimationNoise;
|
|
Scalar rotationPerSecond;
|
|
Scalar percentageOnNormal;
|
|
Scalar percentageOnDestruction;
|
|
Scalar percentageOnDegradation;
|
|
Scalar percentageOnFailure;
|
|
Vector3D springConstant;
|
|
Vector3D dampingConstant;
|
|
Vector3D posSpring;
|
|
Vector3D negSpring;
|
|
Vector3D rotationSpringConstant;
|
|
Vector3D rotationDampingConstant;
|
|
Vector3D rotationPosSpring;
|
|
Vector3D rotationNegSpring;
|
|
char eyeJoint[32];
|
|
char mechJoint[32];
|
|
Scalar collisionDamageMultiplier;
|
|
Scalar ballisticDamageMultiplier;
|
|
Scalar explosiveDamageMultiplier;
|
|
Scalar laserDamageMultiplier;
|
|
Scalar energyDamageMultiplier;
|
|
|
|
//
|
|
// The five response quads follow the multipliers in the stream
|
|
// (record size 0x21C -- binary-verified layout).
|
|
//
|
|
Gyroscope__DamageResponse collisionDamageResponse;
|
|
Gyroscope__DamageResponse ballisticDamageResponse;
|
|
Gyroscope__DamageResponse explosiveDamageResponse;
|
|
Gyroscope__DamageResponse laserDamageResponse;
|
|
Gyroscope__DamageResponse energyDamageResponse;
|
|
};
|
|
|
|
//###########################################################################
|
|
//############################## Gyroscope #############################
|
|
//###########################################################################
|
|
//
|
|
// The gyro drives the cockpit eye joint (view stabilisation) and the body
|
|
// lean. The tuning constants are read from the resource; the eye/body
|
|
// dynamics state (springs, forces, velocities, work matrices) is advanced by
|
|
// the per-frame GyroscopeSimulation and held in dynamicsState until that
|
|
// (staged) method is reconstructed with the named fields.
|
|
//
|
|
class Gyroscope:
|
|
public PowerWatcher
|
|
{
|
|
public:
|
|
static Derivation ClassDerivations;
|
|
static SharedData DefaultData;
|
|
|
|
typedef void
|
|
(Gyroscope::*Performance)(Scalar time_slice);
|
|
void
|
|
SetPerformance(Performance performance)
|
|
{
|
|
Check(this);
|
|
activePerformance = (Simulation::Performance)performance;
|
|
}
|
|
|
|
static Logical
|
|
TestClass(Mech &);
|
|
Logical
|
|
TestInstance() const;
|
|
void
|
|
ResetToInitialState();
|
|
void
|
|
GyroscopeSimulation(Scalar time_slice);
|
|
|
|
//
|
|
// The two integrators (called by the sim) and the two joint writes
|
|
// (called by the MECH master performance tail, after the gait --
|
|
// NOT by the sim; binary @0x4aaf74/83).
|
|
//
|
|
void
|
|
IntegrateEyeJoint(Scalar time_slice);
|
|
void
|
|
IntegrateBody(Scalar time_slice);
|
|
void
|
|
WriteEyeJoint();
|
|
void
|
|
WriteMechJoint();
|
|
|
|
//
|
|
// The hit-bounce feeds. ApplyDamageResponse is the damage hub's
|
|
// fan-out (every non-collision hit shakes the cockpit); the three
|
|
// primitive kicks are also fed directly by the collision CRUNCH.
|
|
//
|
|
void
|
|
ApplyDamageResponse(const Damage &damage);
|
|
void
|
|
ApplyDamageImpulse(Scalar x, Scalar y, Scalar z, Scalar magnitude);
|
|
void
|
|
ApplyDamageTorque(Scalar x, Scalar y, Scalar z, Scalar magnitude);
|
|
void
|
|
ApplyVerticalImpulse(Scalar pitch, Scalar magnitude);
|
|
|
|
public:
|
|
typedef Gyroscope__SubsystemResource SubsystemResource;
|
|
|
|
Gyroscope(
|
|
Mech *owner,
|
|
int subsystem_ID,
|
|
SubsystemResource *subsystem_resource,
|
|
SharedData &shared_data = DefaultData
|
|
);
|
|
~Gyroscope();
|
|
|
|
protected:
|
|
Scalar exageration;
|
|
Scalar maxAnimationNoise;
|
|
Scalar minAnimationNoise;
|
|
Scalar rotationPerSecond;
|
|
Scalar percentageOnNormal;
|
|
Scalar percentageOnDestruction;
|
|
Scalar percentageOnDegradation;
|
|
Scalar percentageOnFailure;
|
|
Vector3D springConstant;
|
|
Vector3D dampingConstant;
|
|
Vector3D posSpring;
|
|
Vector3D negSpring;
|
|
Vector3D rotationSpringConstant;
|
|
Vector3D rotationDampingConstant;
|
|
Vector3D rotationPosSpring;
|
|
Vector3D rotationNegSpring;
|
|
Scalar damageMultiplier[5];
|
|
Gyroscope__DamageResponse
|
|
damageResponse[5];
|
|
|
|
//
|
|
// The eye TRANSLATION spring state (the steady eye offset + hit
|
|
// bounce) and the body ROTATION spring state (the hull tip). The
|
|
// clamps are COPIES of the spring pairs, taken at ctor time (the
|
|
// body pair scaled by 2).
|
|
//
|
|
Vector3D eyePosition, eyeVelocity, eyeForce, eyeWork;
|
|
Vector3D eyeClampUpper, eyeClampLower;
|
|
Vector3D bodyOrientation, bodyVelocity, bodyForce, bodyWork;
|
|
Vector3D bodyClampUpper, bodyClampLower;
|
|
|
|
//
|
|
// Sway (the animation-noise wander the sim slews between the
|
|
// powered/impaired percentages) and the placement scratch the
|
|
// damage fan-out rotates hit directions through.
|
|
//
|
|
Scalar swayAngle, swayBias, swayVelocity;
|
|
int swayActive;
|
|
Vector3D placeRot, placePos;
|
|
Scalar placeQuat[4];
|
|
Scalar workMatrix[12];
|
|
Scalar spare0;
|
|
Scalar *externalPitchPtr; // -> the torso twist (yaw-only hit
|
|
// frame); self-points at spare0
|
|
// until a torso binds it
|
|
Vector3D vibrationDirection; // the fixed up axis
|
|
Joint *eyeJointNode;
|
|
Joint *mechJointNode;
|
|
};
|
|
|
|
#endif
|