Files
TeslaRel410/restoration/source410/BT/MECHMPPR.HPP
T
CydandClaude Fable 5 ebf0d8c23f BT410 Phase 5.3.2: DRIVABLE mech -- authentic control interpretation + locomotion
The mech now drives from the authentic control chain (faithful route). Verified
headlessly: full throttle -> walks straight at top speed (30 u/s) along heading;
throttle+turn -> walks a circle (radius = speed/turnRate); neutral -> holds pose;
zero Fail.

MechControlsMapper::InterpretControls (mechmppr.cpp @004afd10) -- installed as the
mapper's per-frame Performance (roster slot 0, ticks before the mech):
- speedDemand = topSpeed*throttle*fwdScale (reverse inverts); soft stick (square)
  / pedal (cube) response; Basic=stick turn, Std/Vet=pedal turn; speed clamped
  while turning hard. Reads owner stride via Mech accessors.
- BT_FORCE_THROTTLE/BT_FORCE_TURN dev hooks for headless verification.

Mech::Simulate drive -- consumes the mapper demands:
- accelerate currentBodySpeed toward speedDemand (maxBodyAcceleration);
- authTurnRate = lerp(walkingTurnRate, runningTurnRate) by ground speed + over-run
  falloff (mech4.cpp master-perf @0x4aa3d3);
- integrate heading via Quaternion::Add(prevPose, (0,turn*rate*dt,0));
- facing = world -Z basis (GetFromAxis(Z_Axis)); worldLinearVelocity = facing*spd;
- integrate position (increment-1 core).

MECH.HPP: 9 named locomotion members out of reservedState (now [211]) --
walking/runningTurnRate, reverse/walkStrideLength, reverseSpeedMax,
forwardThrottleScale, maxBodyAcceleration, body/currentBodySpeed. BRING-UP
DEFAULTS (authentic values come from the model resource + LoadLocomotionClips --
next refinement).

Deferred: gait-clip-exact advance + leg anim (needs animation subsystem/renderer),
model-resource sourcing, terrain drop, torso/free-look aim, telemetry filters.

Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
2026-07-21 14:46:30 -05:00

165 lines
5.0 KiB
C++

//===========================================================================//
// File: mechmppr.hpp //
// Project: BattleTech //
// Contents: Implementation details for the mech controls mapper //
//---------------------------------------------------------------------------//
// Date Who Modification //
// -------- --- ---------------------------------------------------------- //
// //
//---------------------------------------------------------------------------//
// Copyright (C) 1995, Virtual World Entertainment, Inc. //
// All Rights reserved worldwide //
// This unpublished sourcecode is PROPRIETARY and CONFIDENTIAL //
//===========================================================================//
#if !defined(MECHMPPR_HPP)
# define MECHMPPR_HPP
# if !defined(SUBSYSTM_HPP)
# include <subsystm.hpp>
# endif
# if !defined(CSTR_HPP)
# include <cstr.hpp>
# endif
# if !defined(CONTROLS_HPP)
# include <controls.hpp>
# endif
# if !defined(VECTOR2D_HPP)
# include <vector2d.hpp>
# endif
//##################### Forward Class Declarations #######################
class Mech;
//###########################################################################
//######################## MechControlsMapper ###########################
//###########################################################################
class MechControlsMapper:
public Subsystem
{
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
// Shared Data Support
//
public:
static Derivation ClassDerivations;
static SharedData DefaultData;
static const IndexEntry AttributePointers[];
static AttributeIndexSet AttributeIndex;
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
// Attribute IDs -- the control inputs the streamed mappings bind to.
// The chain ends at Subsystem::NextAttributeID == 2.
//
public:
enum {
MechControlsMapperPadFirstAttributeID = 2,
StickPositionAttributeID, // 3
ThrottlePositionAttributeID, // 4
PedalsPositionAttributeID, // 5
ReverseThrustAttributeID, // 6
SpeedDemandAttributeID, // 7
TurnDemandAttributeID, // 8
LookForwardAttributeID, // 9
LookLeftAttributeID, // a
LookRightAttributeID, // b
LookBehindAttributeID, // c
LookDownAttributeID, // d
TorsoUpAttributeID, // e
TorsoDownAttributeID, // f
TorsoLeftAttributeID, // 10
TorsoRightAttributeID, // 11
TorsoCenterAttributeID, // 12
ControlModeAttributeID, // 13
DisplayModeAttributeID, // 14
PilotArrayPageAttributeID, // 15
PilotArrayAttributeID, // 16
NextAttributeID
};
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
// Control modes
//
public:
enum ControlMode {
BasicMode = 0,
StandardMode,
VeteranMode
};
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
// Construction and Destruction
//
public:
MechControlsMapper(
Mech *owner,
int subsystem_ID,
CString subsystem_name,
RegisteredClass::ClassID class_ID,
SharedData &shared_data = DefaultData
);
~MechControlsMapper();
Logical
TestInstance() const;
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
// Per-frame control interpretation (the mapper's Performance): reads the
// engine-pushed raw input attributes (throttle / stick / pedals / buttons)
// and publishes the locomotion + aim demands the mech drive consumes.
//
public:
typedef void
(MechControlsMapper::*Performance)(Scalar time_slice);
void
SetPerformance(Performance performance)
{
Check(this);
activePerformance = (Simulation::Performance)performance;
}
void
InterpretControls(Scalar time_slice);
Mech*
GetMech() { Check(this); return (Mech *)GetEntity(); }
Scalar
GetSpeedDemand() const { Check(this); return speedDemand; }
Scalar
GetTurnDemand() const { Check(this); return turnDemand; }
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
// Local Data -- the published control inputs (the streamed mappings write
// these; InterpretControls, phase 5.3, reads them to drive the mech).
//
protected:
ControlsJoystick stickPosition;
Scalar throttlePosition;
Scalar pedalsPosition;
ControlsButton reverseThrust;
Scalar speedDemand;
Scalar turnDemand;
ControlsButton lookForward;
ControlsButton lookLeft;
ControlsButton lookRight;
ControlsButton lookBehind;
ControlsButton lookDown;
ControlsButton torsoUp;
ControlsButton torsoDown;
ControlsButton torsoLeft;
ControlsButton torsoRight;
ControlsButton torsoCenter;
int controlMode;
int displayMode;
int pilotArrayPage;
int pilotArray;
int reserved[24];
};
#endif