CydandClaude Fable 5
ea99e8987f
The damaged-copy twist path (@004b65f8 + @004b6510), reconstructed from the raw decomp rather than the BT411 donor -- which drifted twice: its ease aged by lastUpdate (+0x14) where the binary reads lastPerformance (+0x10), and it calls the joint-write helper from the copy sim where 1995 does not (port-era addition, dropped). The extrapolator predicts targetTwist = twistAtUpdate + twistRate * elapsed on two time bases (settled = this frame's window, slewing = the command window), and the copy sim snaps when settled or eases by the remaining-time form dt/((stamp - now) + dt) -- landing exactly when the clock reaches the command stamp. The decomp's DAT_0052140c divide is just Time::operator- inlined; no hand conversion existed. Members carved from the dynamicsState reserve (16->12): targetTwist @0x218, twistAtUpdate @0x21C, twistRate @0x238, lastUpdateTime @0x254. The ctor now registers the copy Performance on replicants (PTR @00510c1c); [T2] the gate mirrors the binary's simulationFlags 0xC/0x100 pair with the instance test, same as the whole watcher family, until the stream builders that seed those bits are reconstructed. Feeders (Read/WriteUpdateRecord) stay staged -- zero-init eases a copy to centre, correct-by-vacuity in single-pod. Stubs: 16 across 10 files. Regression: clean mission soak on the rig (no faults, wheel turning, pacing steady). Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
94 lines
5.1 KiB
Markdown
94 lines
5.1 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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## TorsoCopySimulation + ComputeTargetTwist (2026-08-04, 5.3.114)
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The replicant (damaged-copy) twist path is real, verified line-by-line against
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the raw decomp (part_013.c):
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- `ComputeTargetTwist` @004b6510 (232B): two time bases — settled uses
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`lastPerformance - lastUpdate` (the engine `Simulation` fields at +0x10/+0x14),
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slewing (a copy whose command stamp `lastUpdateTime` @0x254 is ahead of the
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clock) uses `lastUpdateTime - lastUpdate`. `targetTwist = twistAtUpdate +
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twistRate * elapsed`, clamped (left = upper, right = lower). Returns the
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slewing flag. The decomp's `DAT_0052140c` divide is `Time::operator-`
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(ticks / SystemClock::ticksPerSecond) inlined — NOT a hand-written
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MsPerSecond conversion.
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- `TorsoCopySimulation` @004b65f8 (188B): settled → snap to target; slewing →
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`Lerp(current, target, dt / ((lastUpdateTime - lastPerformance) + dt))` — the
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remaining-time ease that lands exactly when the clock reaches the command
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stamp. Then the same clamp pair applied to `targetTwist` again.
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**Two BT411 donor drifts corrected against the decomp**: the donor's ease aged
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by `lastUpdate` (+0x14) where the binary reads `lastPerformance` (+0x10); and
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the donor calls the joint-write helper (@004b67ec) from the copy sim — the
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binary does not (port-era addition; our copy sim leaves joints to the master
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path exactly as 1995 shipped).
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Members carved from `dynamicsState[16]` → `[12]`: `targetTwist` @0x218,
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`twistAtUpdate` @0x21C, `twistRate` @0x238, `lastUpdateTime` @0x254 (`Time`,
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init `0L` — plain `0` is ambiguous between the long/float assignment operators
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under BC4.52). Ctor now registers the copy Performance on replicants
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(binary PTR @00510c1c). [T2] The registration gate mirrors the binary's
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`(owner->simulationFlags & 0xC) == 0 && (flags & 0x100) != 0` with the
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instance test, consistent with the whole watcher family, until the mech
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stream builders (which seed those flag bits) are reconstructed.
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**Staged feeders**: `Read/WriteUpdateRecord` (the census remainder in this TU)
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stamp `twistAtUpdate`/`twistRate`/`lastUpdateTime` from console updates.
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Zero-init means a copy eases to centre — correct-by-vacuity in single-pod,
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inert until MP replication lands.
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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) — still staged.
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- `Torso::Read/WriteUpdateRecord` — the copy sim's update feeders (see above).
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