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CydandClaude Fable 5 9fff0e969e BT410 Phase 5.3.4: Mech::ResolveJoint + skeleton-joint binding (torso twist)

Reconstructs the shared skeleton-joint resolver and binds the first subsystem
(Torso) to the live skeleton.

- Mech::ResolveJoint(name) (mech.cpp @00424b60): GetSegment(name) -> segment
  joint index -> GetJointSubsystem()->GetJoint(idx).
- Verified the JointedMover base streams the full skeleton headlessly:
  jointCount=19, 40 named segments (gun joints jointlgun/jointrgun, shoulders,
  hip, leg joints jointlthigh..jointrankle). BT_MECH_LOG [skel] summary;
  BT_SKEL_DUMP lists every segment/jointIdx.
- Torso resolves + binds its twist joint (ResolveJoint(torsoHorizontalJoint))
  and pushes currentTwist onto it via Joint::SetRotation (hinge->Radian,
  ball->EulerAngles yaw). The TEST.EGG mech has a fixed torso (horizJoint='',
  enabled=0) so its twist path is inert -- correct + guarded, zero Fail.

Next joint piece: elevation -> gun joints (jointlgun/jointrgun, the fixed-torso
aim mechanism) via weapon-joint binding; then gait leg animation. Both are
VISIBLE only under the renderer; headlessly the joint transforms are loggable.

Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>

2026-07-21 16:17:37 -05:00

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TORSO.CPP / .HPP — reconstruction notes

Torso (: PowerWatcher) drives torso twist (horizontal) and weapon elevation (vertical). Tuning rates/limits stream from the resource (horizontal/verticalRotationPerSecond, horizontal/verticalLimit*, torsoHorizontalEnabled).

Reconstructed

Ctor: streams the base rates (deg→rad) + limits + horizontalEnabled, primes currentTwist/currentElevation/analog axes to 0, and installs TorsoSimulation as the per-frame Performance (the replicant copy is console-driven via TorsoCopySimulation, still staged).
analogElevationAxis / analogTwistAxis members + SetAnalogElevationAxis / SetAnalogTwistAxis setters (written by MechControlsMapper::InterpretControls).
CurrentTwist() / CurrentElevation() / GetHorizontalEnabled() accessors.
TorsoSimulation(Scalar) — per-frame aim integration (authentic core):
- currentElevation += analogElevationAxis · baseElevationRate · dt, clamped to [verticalLimitBottom, verticalLimitTop];
- if horizontalEnabled: currentTwist += analogTwistAxis · baseTwistRate · dt, clamped to [horizontalLimitLeft, horizontalLimitRight].

VERIFIED (BT_MECH_LOG [mppr] torsoElev=, forced-input BT_FORCE_ELEV): stick pitch 0.8 slews the elevation up and clamps at the authentic verticalLimitTop = 0.349 rad = 20°. Zero Fail.

Skeleton-joint binding (2026-07-21)

The twist joints are now RESOLVED and BOUND: the ctor calls owner->ResolveJoint(torsoHorizontalJoint / torsoHorizontalShadowJoint) (the skeleton is live — see MECH.NOTES.md), stores them as Joint*, and TorsoSimulation pushes currentTwist onto horizontalJointNode via Joint::SetRotation (hinge → Radian; ball → EulerAngles yaw).

The bring-up TEST.EGG mech has a FIXED torso (horizJoint='', enabled=0), so its twist path is inert — correctly guarded (null joint → no apply, no crash). A torso-twist mech drives the joint. Verified headlessly; the VISUAL rotation needs the renderer.

Deferred

Elevation → gun joints. This mech aims by pitching the guns (jointlgun/jointrgun), not twisting the torso. currentElevation still only advances the scalar state; applying it to the gun joints needs the weapon-joint binding (resolved from the weapon subsystems, not the torso resource) — the next joint piece.
HUD free-aim slew, look/eyepoint commit, TorsoCopySimulation (replicant console-driven aim) — still staged.

2.4 KiB Raw Blame History

TORSO.CPP / .HPP — reconstruction notes

Reconstructed

Skeleton-joint binding (2026-07-21)

Deferred

2.4 KiB

Raw Blame History