CydandClaude Fable 5
79aba77309
THE MODEL RESOURCE NAMED THESE BLOCKS. The ctor loads (part_012.c:15798) tie the master perf's anonymous offsets to field names our Mech__ModelResource already carried, and the names confirm the arithmetic as surely as the arithmetic confirms the names: rec+0x48 -> +0x5bc superStopAcceleration rec+0x80 -> +0x784 maxUnstableAcceleration rec+0x84 -> +0x788 unstableAccelerationEffect rec+0x88 -> +0x78c unstableGunTheEngineEffect rec+0x94 -> +0x798 unstableStopedTurnEffect THE SUPER STOP (@0x4aa353): hauling the throttle negative while the mech still rolls forward is a hard brake, not a reverse. The edge swaps the gait's acceleration rate to the authored superStopAcceleration, marks the update, and throws ONE random-signed lurch through both gyro channels; while it holds above a walk it repeats a pitch kick every 0.4s -- the shudder of a hundred tons standing on its heels. A chassis authoring -1.1 disables the system entirely (the sentinel must survive the model read unguarded). THE INSTABILITY MODEL (tail @0x4aab8e): three weighted terms -- filtered acceleration (squared), gunning the engine, and turning on the spot -- clamped to 1 into unstablePercentage, which was ALREADY a published cockpit attribute holding a staged zero, and republished to the gyro (whose tip/sway machinery @004b275c consumes it; that's the next gyro brick). THE TELEMETRY RINGS (@0x4aafba): the binary's five rings ARE the engine's AverageOf<Scalar>, and our telemetryFilter[5] has been sized 15 and unfed since the layout wave. FUN_0043ae47 is CalculateOlympicAverage -- a judge-style trimmed mean, min and max discarded. Two oddities kept verbatim and flagged: the vel.y ring is never reduced, and the derived acceleration's components come from a mongrel basis (only its length is consumed). CORRECTION to 5.3.122: 'realMaxSpeed' was a duplicate member for mech+0x7a0, which our tree already carried as runSpeedMax; merged. And the +0x7a4 'computed my own cap' flag is set by the ctor's MYOMERS sweep -- a mech with myomers broadcasts its cap, one without adopts the streamed value. Soaks (pod_render_superstop / pod_render_telem, BT_SUPERSTOP_SOAK cycling +0.8 for 6s then -0.5 for 4s): the super stop engages on the correct edge (speed 35.6, demand -28.0) and releases cleanly, repeatedly; the rings fill and the instability sweeps its whole range to the 1.0 clamp; zero faults. The new gauge immediately earned its keep as a diagnostic -- it pins high while walking because the mech demands 35.9 u/s and the reconstructed gait delivers 7.0, which is now a measurable open question rather than an invisible one. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
213 lines
6.8 KiB
C++
213 lines
6.8 KiB
C++
//===========================================================================//
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// File: gyro.hpp //
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// Project: BattleTech Brick: Mech subsystems //
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// Contents: Gyroscope -- the eye/body stabilisation subsystem //
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//---------------------------------------------------------------------------//
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// Copyright (C) 1995, Virtual World Entertainment, Inc. //
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// All Rights reserved worldwide //
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// This unpublished sourcecode is PROPRIETARY and CONFIDENTIAL //
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//===========================================================================//
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#if !defined(GYRO_HPP)
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# define GYRO_HPP
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# if !defined(POWERSUB_HPP)
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# include <powersub.hpp>
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# endif
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//##################### Forward Class Declarations #######################
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class Mech;
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//###########################################################################
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//################### Gyroscope Model Resource #########################
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//###########################################################################
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//
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// One per-damage-type response row: how hard a hit of that type kicks
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// the four gyro channels.
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//
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struct Gyroscope__DamageResponse
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{
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Scalar trans;
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Scalar pitchRoll;
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Scalar yaw;
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Scalar vibration;
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};
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struct Gyroscope__SubsystemResource:
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public PowerWatcher::SubsystemResource
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{
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Scalar reservedF4;
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Scalar exageration;
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Scalar maxAnimationNoise;
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Scalar minAnimationNoise;
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Scalar rotationPerSecond;
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Scalar percentageOnNormal;
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Scalar percentageOnDestruction;
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Scalar percentageOnDegradation;
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Scalar percentageOnFailure;
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Vector3D springConstant;
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Vector3D dampingConstant;
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Vector3D posSpring;
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Vector3D negSpring;
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Vector3D rotationSpringConstant;
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Vector3D rotationDampingConstant;
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Vector3D rotationPosSpring;
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Vector3D rotationNegSpring;
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char eyeJoint[32];
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char mechJoint[32];
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Scalar collisionDamageMultiplier;
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Scalar ballisticDamageMultiplier;
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Scalar explosiveDamageMultiplier;
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Scalar laserDamageMultiplier;
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Scalar energyDamageMultiplier;
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//
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// The five response quads follow the multipliers in the stream
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// (record size 0x21C -- binary-verified layout).
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//
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Gyroscope__DamageResponse collisionDamageResponse;
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Gyroscope__DamageResponse ballisticDamageResponse;
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Gyroscope__DamageResponse explosiveDamageResponse;
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Gyroscope__DamageResponse laserDamageResponse;
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Gyroscope__DamageResponse energyDamageResponse;
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};
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//###########################################################################
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//############################## Gyroscope #############################
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//###########################################################################
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//
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// The gyro drives the cockpit eye joint (view stabilisation) and the body
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// lean. The tuning constants are read from the resource; the eye/body
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// dynamics state (springs, forces, velocities, work matrices) is advanced by
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// the per-frame GyroscopeSimulation and held in dynamicsState until that
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// (staged) method is reconstructed with the named fields.
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//
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class Gyroscope:
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public PowerWatcher
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{
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public:
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static Derivation ClassDerivations;
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static SharedData DefaultData;
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typedef void
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(Gyroscope::*Performance)(Scalar time_slice);
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void
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SetPerformance(Performance performance)
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{
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Check(this);
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activePerformance = (Simulation::Performance)performance;
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}
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static Logical
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TestClass(Mech &);
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Logical
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TestInstance() const;
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void
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ResetToInitialState();
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void
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GyroscopeSimulation(Scalar time_slice);
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//
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// The two integrators (called by the sim) and the two joint writes
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// (called by the MECH master performance tail, after the gait --
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// NOT by the sim; binary @0x4aaf74/83).
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//
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void
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IntegrateEyeJoint(Scalar time_slice);
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void
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IntegrateBody(Scalar time_slice);
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void
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WriteEyeJoint();
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void
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WriteMechJoint();
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//
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// The hit-bounce feeds. ApplyDamageResponse is the damage hub's
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// fan-out (every non-collision hit shakes the cockpit); the three
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// primitive kicks are also fed directly by the collision CRUNCH.
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//
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void
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ApplyDamageResponse(const Damage &damage);
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void
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ApplyDamageImpulse(Scalar x, Scalar y, Scalar z, Scalar magnitude);
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void
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ApplyDamageTorque(Scalar x, Scalar y, Scalar z, Scalar magnitude);
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void
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ApplyVerticalImpulse(Scalar pitch, Scalar magnitude);
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public:
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typedef Gyroscope__SubsystemResource SubsystemResource;
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Gyroscope(
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Mech *owner,
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int subsystem_ID,
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SubsystemResource *subsystem_resource,
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SharedData &shared_data = DefaultData
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);
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~Gyroscope();
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protected:
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Scalar exageration;
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Scalar maxAnimationNoise;
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Scalar minAnimationNoise;
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Scalar rotationPerSecond;
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Scalar percentageOnNormal;
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Scalar percentageOnDestruction;
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Scalar percentageOnDegradation;
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Scalar percentageOnFailure;
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Vector3D springConstant;
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Vector3D dampingConstant;
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Vector3D posSpring;
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Vector3D negSpring;
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Vector3D rotationSpringConstant;
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Vector3D rotationDampingConstant;
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Vector3D rotationPosSpring;
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Vector3D rotationNegSpring;
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Scalar damageMultiplier[5];
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Gyroscope__DamageResponse
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damageResponse[5];
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//
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// The eye TRANSLATION spring state (the steady eye offset + hit
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// bounce) and the body ROTATION spring state (the hull tip). The
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// clamps are COPIES of the spring pairs, taken at ctor time (the
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// body pair scaled by 2).
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//
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Vector3D eyePosition, eyeVelocity, eyeForce, eyeWork;
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Vector3D eyeClampUpper, eyeClampLower;
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Vector3D bodyOrientation, bodyVelocity, bodyForce, bodyWork;
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Vector3D bodyClampUpper, bodyClampLower;
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//
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// Sway (the animation-noise wander the sim slews between the
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// powered/impaired percentages) and the placement scratch the
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// damage fan-out rotates hit directions through.
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//
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//
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// The mech's instability, republished here every master frame
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// (binary gyro+0x3a8, written by the master perf tail). The gyro's
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// own tip/sway machinery (@004b275c) reads it summed with +0x3b0
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// against the +0x3bc threshold -- that consumer is a later brick;
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// the publish lands now so the value is where the binary puts it.
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//
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public:
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Scalar mechInstability;
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protected:
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Scalar swayAngle, swayBias, swayVelocity;
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int swayActive;
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Vector3D placeRot, placePos;
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Scalar placeQuat[4];
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Scalar workMatrix[12];
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Scalar spare0;
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Scalar *externalPitchPtr; // -> the torso twist (yaw-only hit
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// frame); self-points at spare0
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// until a torso binds it
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Vector3D vibrationDirection; // the fixed up axis
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Joint *eyeJointNode;
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Joint *mechJointNode;
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};
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#endif
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