TeslaRel410/restoration/source410/BT/MECH.CPP

//===========================================================================//
// File:	mech.cpp                                                            //
// Project: BattleTech           Brick: Entity Manager                        //
// Contents: Implementation details for the Mech entity                       //
//---------------------------------------------------------------------------//
//   Date    Who  Modification                                               //
// --------  ---  ---------------------------------------------------------- //
//                                                                           //
//---------------------------------------------------------------------------//
// Copyright (C) 1995, Virtual World Entertainment, Inc.                     //
// All Rights reserved worldwide                                             //
// This unpublished sourcecode is PROPRIETARY and CONFIDENTIAL               //
//===========================================================================//

#include <bt.hpp>
#pragma hdrstop

#if !defined(MECH_HPP)
#	include <mech.hpp>
#endif

#if !defined(APP_HPP)
#	include <app.hpp>
#endif
#if !defined(MEMSTRM_HPP)
#	include <memstrm.hpp>
#endif
#if !defined(RESOURCE_HPP)
#	include <resource.hpp>
#endif

// The subsystem roster the segment walk instantiates.
#include <heat.hpp>			// HeatableSubsystem, HeatSink, HeatWatcher, Condenser
#include <powersub.hpp>		// PoweredSubsystem, PowerWatcher, Generator
#include <reservr.hpp>		// Reservoir
#include <sensor.hpp>		// Sensor
#include <gyro.hpp>			// Gyroscope
#include <torso.hpp>		// Torso
#include <myomers.hpp>		// Myomers
#include <hud.hpp>			// HUD
#include <searchlt.hpp>		// Searchlight
#include <thermsgt.hpp>		// ThermalSight
#include <mechtech.hpp>		// MechTech
#include <messmgr.hpp>		// SubsystemMessageManager
#include <mechweap.hpp>		// MechWeapon
#include <emitter.hpp>		// Emitter
#include <ppc.hpp>			// PPC
#include <gauss.hpp>		// GaussRifle
#include <projweap.hpp>		// ProjectileWeapon
#include <mislanch.hpp>		// MissileLauncher
#include <ammobin.hpp>		// AmmoBin
#include <mechmppr.hpp>		// MechControlsMapper -- the drive reads its demands
#include <joint.hpp>		// Joint / JointSubsystem -- ResolveJoint
#include <segment.hpp>		// EntitySegment -- the skeleton segment table

//
//#############################################################################
//#############################################################################
//
Derivation
	Mech::ClassDerivations(
		JointedMover::ClassDerivations,
		"Mech"
	);

Mech::SharedData
	Mech::DefaultData(
		Mech::ClassDerivations,
		JointedMover::MessageHandlers,
		JointedMover::AttributeIndex,
		33,
		(Entity::MakeHandler)Mech::Make
	);

//
//#############################################################################
//#############################################################################
//
Mech*
	Mech::Make(MakeMessage *creation_message)
{
	return new Mech(creation_message);
}

//
//#############################################################################
// Mech ctor -- the heart of the entity (walks the model segment table and
// instantiates the full subsystem roster: power, heat, weapons, actuators,
// controls, tech, damage zones).  This is the largest single function in the
// game and the current reconstruction frontier; see MECH.NOTES.md.  Chains to
// the JointedMover base so the skeleton/segments stream before it Fails.
//#############################################################################
//
Mech::Mech(
	MakeMessage	*creation_message,
	SharedData	&shared_data
):
	JointedMover(creation_message, shared_data),
	controllableSubsystems(this),
	watchedSubsystems(this),
	heatableSubsystems(this),
	weaponRoster(this),
	damageableSubsystems(this)
{
	Check_Pointer(creation_message);

	//
	// Cached subsystem back-pointers -- filled by the segment walk below.
	//
	sensorSubsystem		= NULL;
	gyroSubsystem		= NULL;
	sinkSourceSubsystem	= NULL;
	hudSubsystem		= NULL;
	messageManager		= NULL;
	weaponCount			= 0;

	//
	// Embedded status / animation / naming state.
	//
	mechNameFilter.Initialize();
	masterAlarm.Initialize(0x21);
	heatAlarm.Initialize(3);
	stabilityAlarm.Initialize(2);
	statusAlarm.Initialize(0x21);

	targetReticle.reticleState       = Reticle::ReticleOn;
	targetReticle.pickPointingOn     = True;
	targetReticle.reticleElementMask = Reticle::AllEnabledGroup;

	animationState          = StateIndicator(0x21);
	animationState.SetState(0);
	replicantAnimationState = StateIndicator(0x21);
	replicantAnimationState.SetState(0);
	collisionState          = StateIndicator(4);
	collisionState.SetState(0);

	{
		for (int i = 0; i < 5; ++i)
		{
			telemetryFilter[i].SetSize(15, 0.0f);
		}
	}

	legAnimation.Init(this);
	bodyAnimation.Init(this);

	//
	// Locomotion parameters.  BRING-UP DEFAULTS: the authentic values come from
	// the Mech model resource (WalkingTurnRate / RunningTurnRate / MaxAcceleration)
	// and LoadLocomotionClips (the stride/top speeds measured from the walk/run
	// animation clips).  Wiring those in is a later refinement (needs the model-
	// resource pointer + clip loader); until then these sane defaults make the
	// mech drivable with the authentic control-interpretation + drive math.
	//
	walkingTurnRate		= 50.0f * RAD_PER_DEG;	// rad/s (walk / turn-in-place)
	runningTurnRate		= 25.0f * RAD_PER_DEG;	// rad/s (at run speed)
	reverseStrideLength	= 30.0f;				// top/run speed (u/s)
	walkStrideLength	= 12.0f;				// walk speed (u/s)
	reverseSpeedMax		= 2.0f;					// low-speed turn-rate gate (u/s)
	forwardThrottleScale= 1.0f;
	maxBodyAcceleration	= 30.0f;				// u/s^2
	bodyTargetSpeed		= 0.0f;
	currentBodySpeed	= 0.0f;

	eyepointRotation	= EulerAngles::Identity;
	lookPitch			= 0.0f;
	lookYaw				= 0.0f;

	//
	// Look-view angles: defaults until the GameModel read below overrides them
	// with the authored per-mech values.
	//
	lookLeftAngle		=  90.0f * RAD_PER_DEG;
	lookRightAngle		= -90.0f * RAD_PER_DEG;
	lookFrontAngle		= -30.0f * RAD_PER_DEG;
	lookBackAngle		=   0.0f;

	{
		for (int i = 0; i < 202; ++i)
		{
			reservedState[i] = 0;
		}
	}

	//
	//-----------------------------------------------------------------------
	// Segment-table walk: instantiate one Subsystem per streamed segment,
	// dispatching on its classID.  The subsystem roster (subsystemArray /
	// subsystemCount) lives in the base Entity.
	//-----------------------------------------------------------------------
	//
	ResourceDescription::ResourceID modelResourceID = creation_message->resourceID;

	ResourceDescription *subsystemDesc =
		application->GetResourceFile()->SearchList(
			modelResourceID,
			ResourceDescription::SubsystemModelStreamResourceType
		);
	Check(subsystemDesc);
	subsystemDesc->Lock();

	//
	// Copy the raw stream into a padded buffer: reading a SubsystemResource
	// struct off the tail segment can over-read the raw resource, so pad it.
	//
	size_t rawSize = (size_t)subsystemDesc->resourceSize;
	size_t padSize = rawSize + 0x400;
	void  *padBuffer = (void *)new char[padSize];
	memcpy(padBuffer, subsystemDesc->resourceAddress, rawSize);

	MemoryStream subsystemStream(padBuffer, padSize);

	int streamedSubsystemCount = *(int *)subsystemStream.GetPointer();
	subsystemStream.AdvancePointer(sizeof(int));

	//
	// Slot 0 = the (later-installed) control mapper, slot 1 = the voltage bus
	// sentinel; the streamed subsystems fill from slot 2.
	//
	subsystemCount = streamedSubsystemCount + 2;
	subsystemArray = new Subsystem *[subsystemCount];
	{
		for (int z = 0; z < subsystemCount; ++z)
		{
			subsystemArray[z] = NULL;
		}
	}

	for (int id = 2; id < subsystemCount; ++id)
	{
		Subsystem::SubsystemResource *seg =
			(Subsystem::SubsystemResource *)subsystemStream.GetPointer();

		Subsystem *made = NULL;

		switch (seg->classID)
		{
		case CondenserClassID:
			made = new Condenser(this, id, (Condenser::SubsystemResource *)seg);
			break;
		case HeatSinkClassID:
			made = new HeatSink(this, id, (HeatSink::SubsystemResource *)seg);
			break;
		case HeatWatcherClassID:
			made = new HeatWatcher(this, id, (HeatWatcher::SubsystemResource *)seg);
			break;
		case ReservoirClassID:
			made = new Reservoir(this, id, (Reservoir::SubsystemResource *)seg);
			break;
		case GeneratorClassID:
			made = new Generator(this, id, (Generator::SubsystemResource *)seg);
			break;
		case PoweredSubsystemClassID:
			made = new PoweredSubsystem(this, id, (PoweredSubsystem::SubsystemResource *)seg);
			break;
		case SensorClassID:
			made = new Sensor(this, id, (Sensor::SubsystemResource *)seg);
			sensorSubsystem = made;
			break;
		case GyroscopeClassID:
			made = new Gyroscope(this, id, (Gyroscope::SubsystemResource *)seg);
			gyroSubsystem = made;
			break;
		case TorsoClassID:
			made = new Torso(this, id, (Torso::SubsystemResource *)seg);
			sinkSourceSubsystem = made;
			break;
		case MyomersClassID:
			made = new Myomers(this, id, (Myomers::SubsystemResource *)seg);
			break;
		case EmitterClassID:
			made = new Emitter(this, id, (Emitter::SubsystemResource *)seg);
			++weaponCount;
			break;
		case PPCClassID:
			made = new PPC(this, id, (PPC::SubsystemResource *)seg, PPC::DefaultData);
			++weaponCount;
			break;
		case AmmoBinClassID:
			made = new AmmoBin(this, id, (AmmoBin::SubsystemResource *)seg);
			break;
		case ProjectileWeaponClassID:
			made = new ProjectileWeapon(this, id, (ProjectileWeapon::SubsystemResource *)seg);
			++weaponCount;
			break;
		case GaussRifleClassID:
			made = new GaussRifle(this, id, (GaussRifle::SubsystemResource *)seg);
			++weaponCount;
			break;
		case MissileLauncherClassID:
			made = new MissileLauncher(this, id, (MissileLauncher::SubsystemResource *)seg);
			++weaponCount;
			break;
		case SubsystemMessageManagerClassID:
			made = new SubsystemMessageManager(this, id, (SubsystemMessageManager::SubsystemResource *)seg);
			messageManager = (SubsystemMessageManager *)made;
			break;
		case HUDClassID:
			made = new HUD(this, id, (HUD::SubsystemResource *)seg);
			hudSubsystem = made;
			break;
		case SearchlightClassID:
			made = new Searchlight(this, id, (Searchlight::SubsystemResource *)seg);
			break;
		case ThermalSightClassID:
			made = new ThermalSight(this, id, (ThermalSight::SubsystemResource *)seg);
			break;
		case MechTechClassID:
			made = new MechTech(this, id, (MechTech::SubsystemResource *)seg);
			break;
		case EmitterClassID + 1:	// LaserClassID -- an Emitter energy weapon
		case EmitterClassID + 2:	// ParticleCannonClassID -- an Emitter energy weapon
			made = new Emitter(this, id, (Emitter::SubsystemResource *)seg);
			++weaponCount;
			break;

		default:
			//
			// Unrecognised / not-yet-reconstructed subsystem class (Capacitor,
			// AmmoFeeder, Radar, Turret, ...): give the slot a base
			// MechSubsystem so control/damage bindings that resolve this
			// subsystemID find a real (if generic) subsystem rather than a NULL
			// plug.  The roster stays aligned.
			//
			made = new MechSubsystem(
				this, id,
				(MechSubsystem::SubsystemResource *)seg,
				MechSubsystem::DefaultData
			);
			break;
		}

		subsystemArray[id] = made;

		subsystemStream.AdvancePointer(seg->subsystemModelSize);
	}

	subsystemDesc->Unlock();
	delete [] (char *)padBuffer;

	if (getenv("BT_MECH_LOG"))
	{
		DEBUG_STREAM << "[mech] segment walk done: subsystemCount=" << subsystemCount
			<< " weaponCount=" << weaponCount << endl << flush;

		//
		// Skeleton summary: confirm the JointedMover base streamed the segment /
		// joint tables (so joint-driven aim / animation / damage has something to
		// bind to).  BT_SKEL_DUMP additionally lists every segment name + joint
		// index (used to identify the twist / gun / leg joints).
		//
		JointSubsystem *joints = GetJointSubsystem();
		DEBUG_STREAM << "[skel] jointSubsystem=" << (void *)joints
			<< " jointCount=" << (joints ? joints->GetJointCount() : -1) << endl << flush;
		if (getenv("BT_SKEL_DUMP"))
		{
			EntitySegment::SegmentTableIterator it(segmentTable);
			EntitySegment *seg;
			int i = 0;
			while ((seg = it.ReadAndNext()) != NULL && i < 60)
			{
				DEBUG_STREAM << "[skel] seg[" << i << "] name=" << seg->GetName()
					<< " jointIdx=" << seg->GetJointIndex() << endl;
				++i;
			}
			DEBUG_STREAM << "[skel] segments=" << i << endl << flush;
		}
	}

	//
	//-----------------------------------------------------------------------
	// Source the authentic per-mech locomotion params from the GameModel
	// resource (mech.cpp @~1430: walkingTurnRate/runningTurnRate deg->rad,
	// maxAcceleration, throttleAdjustment).  The reconstructed ModelResource
	// struct layout is only partially verified (BT411 flags it mis-decoded in
	// places), so every read is SANITY-GUARDED: a value outside a sane band
	// leaves the bring-up default in place.  The stride/top speeds still come
	// from the bring-up defaults (their authentic source is LoadLocomotionClips,
	// which measures them from the walk/run animation clips -- a later wave).
	//-----------------------------------------------------------------------
	//
	{
		ResourceDescription *modelDesc =
			application->GetResourceFile()->SearchList(
				modelResourceID,
				ResourceDescription::GameModelResourceType
			);
		if (modelDesc != NULL)
		{
			modelDesc->Lock();
			ModelResource *model = (ModelResource *)modelDesc->resourceAddress;
			if (model != NULL)
			{
				if (getenv("BT_MECH_LOG"))
				{
					DEBUG_STREAM << "[mech] model params: walkTR="
						<< model->walkingTurnRate << " runTR=" << model->runningTurnRate
						<< " maxAcc=" << model->maxAcceleration
						<< " throttleAdj=" << model->throttleAdjustment
						<< " (deg,deg,u/s^2,scale)" << endl << flush;
					DEBUG_STREAM << "[mech] look angles: L="
						<< model->lookLeftAngle << " R=" << model->lookRightAngle
						<< " F=" << model->lookFrontAngle << " B=" << model->lookBackAngle
						<< " (deg)" << endl << flush;
				}
				if (model->walkingTurnRate > 1.0f && model->walkingTurnRate < 360.0f)
				{
					walkingTurnRate = model->walkingTurnRate * RAD_PER_DEG;
				}
				if (model->runningTurnRate > 1.0f && model->runningTurnRate < 360.0f)
				{
					runningTurnRate = model->runningTurnRate * RAD_PER_DEG;
				}
				if (model->maxAcceleration > 1.0f && model->maxAcceleration < 500.0f)
				{
					maxBodyAcceleration = model->maxAcceleration;
				}
				if (model->throttleAdjustment > 0.05f && model->throttleAdjustment < 20.0f)
				{
					forwardThrottleScale = model->throttleAdjustment;
				}

				//
				// The authored look-view angles (deg->rad), same insanity band
				// as the rest of the guarded reads.
				//
				{
					Scalar a;
					a = model->lookLeftAngle;
					if (a > -360.0f && a < 360.0f)	lookLeftAngle  = a * RAD_PER_DEG;
					a = model->lookRightAngle;
					if (a > -360.0f && a < 360.0f)	lookRightAngle = a * RAD_PER_DEG;
					a = model->lookFrontAngle;
					if (a > -360.0f && a < 360.0f)	lookFrontAngle = a * RAD_PER_DEG;
					a = model->lookBackAngle;
					if (a > -360.0f && a < 360.0f)	lookBackAngle  = a * RAD_PER_DEG;
				}
			}
			modelDesc->Unlock();
		}
	}

	//
	// Install the per-frame body Performance.  Until now the mech ran the base
	// DoNothingOnce; from here the engine dispatches Mech::Simulate every frame
	// (Mover -> Entity -> Simulation::PerformAndWatch) once the mission is
	// RunningMission.
	//
	SetPerformance(&Mech::Simulate);

	Check_Fpu();
}

Mech::~Mech()
{
}

void
	Mech::SetMappingSubsystem(Subsystem *subsystem)
{
	Check(this);
	Check_Pointer(subsystemArray);

	//
	// The control mapper lives in roster slot 0 (the streamed control-mapping
	// resource binds its DirectMappings to subsystemID 0, so it must resolve
	// there via Entity::GetSimulation(0)).  On a re-spawn, drop the old one.
	//
	if (subsystemArray[0] != NULL)
	{
		Unregister_Object(subsystemArray[0]);
		delete subsystemArray[0];
	}
	subsystemArray[0] = subsystem;
}

//
//#############################################################################
// ResolveJoint -- the shared skeleton-joint resolver (mech.cpp @00424b60).
// A subsystem hands us the joint NAME from its resource; we look up the
// skeleton segment of that name, read its joint index, and fetch the animated
// Joint from the JointSubsystem.  NULL for an empty/unknown name or a mech with
// no skeleton/joint subsystem.
//#############################################################################
//
Joint*
	Mech::ResolveJoint(const char *joint_name)
{
	Check(this);

	if (joint_name == NULL || joint_name[0] == '\0')
	{
		return NULL;
	}

	EntitySegment *segment = GetSegment(CString(joint_name));
	if (segment == NULL)
	{
		return NULL;
	}

	JointSubsystem *joints = GetJointSubsystem();
	if (joints == NULL)
	{
		return NULL;
	}

	return joints->GetJoint(segment->GetJointIndex());
}

//
//#############################################################################
// CommitLookState -- the look-button eyepoint commit (the binary's five-state
// look machine tail, controls mapper part_013.c:396-459).  Re-aims the eyepoint
// from the model's authored look angles: side looks yaw by lookLeft/RightAngle,
// look-behind is yaw pi with lookBackAngle pitch, look-down pitches by
// lookFrontAngle, forward is identity.  The committed pitch/yaw are stored in
// lookPitch/lookYaw so the per-frame compose in Simulate can keep adding the
// live Torso elevation on top.
//
// Also part of the authentic commit, deferred to the weapon wave: re-arming
// each weapon's view-fire enable (forward view = the non-rear-mounted weapons,
// look-back = the rear-mounted ones, side/down = none) and flipping the HUD pip
// group mask (forward = front group, look-back = rear group) -- both need the
// MechWeapon viewFireEnable/rearFiring members, not yet reconstructed.
//#############################################################################
//
void
	Mech::CommitLookState(int look_state)
{
	Check(this);

	Scalar pitch = 0.0f;
	Scalar yaw   = 0.0f;

	switch (look_state)
	{
	case MechControlsMapper::LookLeftState:
		yaw   = lookLeftAngle;
		break;
	case MechControlsMapper::LookRightState:
		yaw   = lookRightAngle;
		break;
	case MechControlsMapper::LookBehindState:
		yaw   = PI;
		pitch = lookBackAngle;
		break;
	case MechControlsMapper::LookDownState:
		pitch = lookFrontAngle;
		break;
	default:
		break;			// LookNone: identity
	}

	lookPitch = pitch;
	lookYaw   = yaw;
	eyepointRotation = EulerAngles(
		Radian(Radian::Normalize(pitch)),
		Radian(Radian::Normalize(yaw)),
		Radian(0.0f)
	);

	//
	// Re-arm each weapon's view-fire enable: the forward view arms the
	// non-rear-mounted weapons, LOOK-BACK arms the rear-mounted ones, and the
	// side/down views arm none.
	//
	{
		for (int id = 2; id < subsystemCount; ++id)
		{
			Subsystem *sub = subsystemArray[id];
			if (sub == NULL || !sub->IsDerivedFrom(MechWeapon::ClassDerivations))
			{
				continue;
			}
			MechWeapon *weapon = (MechWeapon *)sub;
			Logical arm;
			if (look_state == MechControlsMapper::LookNone)
			{
				arm = (weapon->IsRearFiring() == False);
			}
			else if (look_state == MechControlsMapper::LookBehindState)
			{
				arm = weapon->IsRearFiring();
			}
			else
			{
				arm = False;
			}
			weapon->SetViewFireEnable(arm);

			if (getenv("BT_MECH_LOG"))
			{
				DEBUG_STREAM << "[look]   weapon '" << weapon->GetName()
					<< "' rear=" << (int)weapon->IsRearFiring()
					<< " armed=" << (int)arm << endl << flush;
			}
		}
	}

	//
	// The HUD reticle weapon-pip group: the forward view shows the FRONT pip
	// group, look-back shows the REAR group; side/down views leave the mask.
	//
	if (look_state == MechControlsMapper::LookNone)
	{
		targetReticle.reticleElementMask = (Reticle::ReticleElements)
			(((int)targetReticle.reticleElementMask | Reticle::FrontFiringWeaponsOn)
				& ~Reticle::RearFiringWeaponsOn);
	}
	else if (look_state == MechControlsMapper::LookBehindState)
	{
		targetReticle.reticleElementMask = (Reticle::ReticleElements)
			(((int)targetReticle.reticleElementMask | Reticle::RearFiringWeaponsOn)
				& ~Reticle::FrontFiringWeaponsOn);
	}

	if (getenv("BT_MECH_LOG"))
	{
		DEBUG_STREAM << "[look] state=" << look_state
			<< " yaw=" << yaw << " pitch=" << pitch
			<< " pipMask=0x" << hex << (int)targetReticle.reticleElementMask << dec
			<< endl << flush;
	}

	Check_Fpu();
}

//
//#############################################################################
// Simulate -- the mech's per-frame body Performance (the Mover locomotion tick).
//
// FUNCTIONAL MOTION CORE (Phase 5.3, increment 1).  A Mech is a Mover; its
// per-frame job is to advance its Origin and commit it to the world transform.
// This reconstructs the load-bearing spine of the 1995 Mech::Simulate
// (mech4.cpp @004ab430): integrate the body velocity into localOrigin, then
// rebuild localToWorld with the engine's own idiom (ENTITY.CPP:988 /
// MOVER.CPP:850, `localToWorld = localOrigin`).
//
// Still layered on top of this (next increments):
//   * the gait-cycle self-propulsion that FEEDS worldLinearVelocity -- the
//     authentic model drives forward speed from the walk/run animation cycle
//     (IntegrateMotion -> AdvanceBodyAnimation -> cycleDistance) steered by the
//     control-mapper demands (throttle/turn), not a raw velocity;
//   * heading integration (rotate localOrigin.angularPosition by the turn rate);
//   * the terrain-height drop (BoundingBoxTreeNode::FindBoundingBoxUnder) that
//     rests the feet on the ground;
//   * the cockpit telemetry FilteredScalars (head/aim/leg/torso angular rates).
//
// With no locomotion layer yet, worldLinearVelocity is zero for a freshly
// spawned mech, so it holds its pose -- identical to the prior DoNothing, but
// now on the real Simulate path.  DEV hook BT_DRIVE="vx,vy,vz" injects a
// constant world velocity so the integrate + transform path is verifiable
// headlessly (no RIO/controls needed).  See MECH.NOTES.md.
//#############################################################################
//
void
	Mech::Simulate(Scalar time_slice)
{
	Check(this);

	//
	//-----------------------------------------------------------------------
	// Read the control-mapper locomotion demands.  The mapper lives at roster
	// slot 0 and its InterpretControls Performance ticks in the Entity::Perform
	// AndWatch roster walk BEFORE this (the mech's own Performance runs last),
	// so speedDemand/turnDemand are this frame's.
	//-----------------------------------------------------------------------
	//
	Scalar speedDemand = 0.0f;
	Scalar turnDemand  = 0.0f;
	if (subsystemArray != NULL && subsystemArray[0] != NULL)
	{
		MechControlsMapper *mapper = (MechControlsMapper *)subsystemArray[0];
		speedDemand = mapper->GetSpeedDemand();
		turnDemand  = mapper->GetTurnDemand();
	}
	bodyTargetSpeed = speedDemand;

	//
	//-----------------------------------------------------------------------
	// Accelerate the actual body speed toward the demand (bounded per frame by
	// the mech's max acceleration).
	//-----------------------------------------------------------------------
	//
	{
		Scalar dv      = bodyTargetSpeed - currentBodySpeed;
		Scalar maxStep = maxBodyAcceleration * time_slice;
		if (dv >  maxStep) dv =  maxStep;
		if (dv < -maxStep) dv = -maxStep;
		currentBodySpeed += dv;
	}

	//
	//-----------------------------------------------------------------------
	// Authentic per-mech turn rate: lerp(walkingTurnRate, runningTurnRate) by
	// ground speed, with a runningTurnRate/t^2 over-run falloff past top speed;
	// clamp >= 0.  (mech4.cpp master-perf @0x4aa3d3.)
	//-----------------------------------------------------------------------
	//
	Scalar authTurnRate = walkingTurnRate;
	{
		Scalar spd = (currentBodySpeed < 0.0f) ? -currentBodySpeed : currentBodySpeed;
		if (spd >= reverseSpeedMax)
		{
			Scalar den = reverseStrideLength - walkStrideLength;
			Scalar t   = (den != 0.0f) ? (spd - walkStrideLength) / den : 0.0f;
			if (t <= 1.0f)
			{
				authTurnRate = walkingTurnRate + (runningTurnRate - walkingTurnRate) * t;
			}
			else
			{
				authTurnRate = runningTurnRate / (t * t);
			}
		}
		if (authTurnRate < 0.0f)
		{
			authTurnRate = 0.0f;
		}
	}

	//
	//-----------------------------------------------------------------------
	// Integrate heading (yaw) into the body orientation quaternion via the
	// engine's rotation-integrate op (Quaternion::Add(source, omega*dt)), then
	// rebuild the world transform so the facing axis below is current.
	//-----------------------------------------------------------------------
	//
	{
		Vector3D angStep;
		angStep.x = 0.0f;
		angStep.y = turnDemand * authTurnRate * time_slice;
		angStep.z = 0.0f;
		Quaternion prevPose = localOrigin.angularPosition;
		localOrigin.angularPosition.Add(prevPose, angStep);
	}
	localToWorld = localOrigin;

	//
	//-----------------------------------------------------------------------
	// Forward step: the mech faces local -Z (gun ports / eyepoint at -Z).  Take
	// the world Z basis and negate for the facing direction; move at the current
	// body speed.  (The animation-exact per-frame advance from the gait clip is
	// the deferred fidelity layer; this is the procedural equivalent.)
	//-----------------------------------------------------------------------
	//
	UnitVector zAxis;
	localToWorld.GetFromAxis(Z_Axis, &zAxis);
	worldLinearVelocity.x = -zAxis.x * currentBodySpeed;
	worldLinearVelocity.y = -zAxis.y * currentBodySpeed;
	worldLinearVelocity.z = -zAxis.z * currentBodySpeed;

	//
	// DEV override: BT_DRIVE forces a raw world velocity (bypasses the demands,
	// for the pure integrate/transform test).
	//
	{
		const char *drive = getenv("BT_DRIVE");
		if (drive != NULL)
		{
			float dx = 0.0f, dy = 0.0f, dz = 0.0f;
			if (sscanf(drive, "%f,%f,%f", &dx, &dy, &dz) == 3)
			{
				worldLinearVelocity.x = dx;
				worldLinearVelocity.y = dy;
				worldLinearVelocity.z = dz;
			}
		}
	}

	//
	//-----------------------------------------------------------------------
	// Eyepoint / aim-ray composition (mech4.cpp @~5219, pixel-calibrated in the
	// BT411 reverse-engineering).  The pilot's torso-elevation aim does NOT tilt
	// any skeleton joint on this mech family -- it pitches the cockpit eye and
	// the weapon boresight directly.  Compose the committed look-state pitch/yaw
	// (CommitLookState, driven by the look buttons) with the Torso's live
	// currentElevation.  DPLEyeRenderable / the aim ray read this each frame.
	//-----------------------------------------------------------------------
	//
	{
		Scalar elevation = 0.0f;
		if (sinkSourceSubsystem != NULL)
		{
			elevation = ((Torso *)sinkSourceSubsystem)->CurrentElevation();
		}
		eyepointRotation = EulerAngles(
			Radian(Radian::Normalize(lookPitch + elevation)),
			Radian(Radian::Normalize(lookYaw)),
			Radian(0.0f)
		);
	}

	//
	//-----------------------------------------------------------------------
	// Integrate position and commit the Origin to the world transform.
	//-----------------------------------------------------------------------
	//
	localOrigin.linearPosition.AddScaled(
		localOrigin.linearPosition,
		worldLinearVelocity,
		time_slice
	);
	localToWorld = localOrigin;

	if (getenv("BT_MECH_LOG"))
	{
		static Scalar reportAccum = 0.0f;
		reportAccum += time_slice;
		if (reportAccum >= 1.0f)
		{
			reportAccum = 0.0f;
			EulerAngles ypr;
			ypr = localOrigin.angularPosition;
			DEBUG_STREAM << "[sim] pos=("
				<< localOrigin.linearPosition.x << ","
				<< localOrigin.linearPosition.y << ","
				<< localOrigin.linearPosition.z << ")"
				<< " yaw=" << (Scalar)ypr.yaw
				<< " spd=" << currentBodySpeed
				<< " eyePitch=" << (Scalar)eyepointRotation.pitch
				<< " eyeYaw=" << (Scalar)eyepointRotation.yaw
				<< endl << flush;
		}
	}

	Check_Fpu();
}