CydandClaude Fable 5
ebf0d8c23f
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>
46 lines
2.4 KiB
Markdown
46 lines
2.4 KiB
Markdown
# MECHMPPR.CPP / .HPP — reconstruction notes
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`MechControlsMapper` (: Subsystem) is the mech's control-input subsystem,
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installed at roster slot 0 via `Mech::SetMappingSubsystem`. It publishes the
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control-input attributes (StickPosition..PilotArray, IDs 3–0x16) that the
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streamed control mappings bind to, and — as of Phase 5.3 — interprets those raw
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inputs into the locomotion/aim demands the mech drive consumes.
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## Reconstructed
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- The attribute table + AttributeIndex + shared-data statics (earlier wave).
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- The ctor: primes the published inputs to neutral and (Phase 5.3) installs
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`InterpretControls` as the per-frame Performance.
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- `InterpretControls(Scalar)` — the per-frame control interpretation
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(mechmppr.cpp @004afd10, authentic demand math):
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- throttle → forward speed: `speedDemand = topSpeed · throttle · fwdScale`
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(reverse thrust inverts and drops the forward scale). `topSpeed`/`walkSpeed`
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are read from the owner via `Mech::GetReverseStrideLength()/GetWalkStrideLength()`.
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- soft response: square the stick yaw (sign preserved), cube the pedals.
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- Basic mode: stick yaw = `turnDemand`; Standard/Veteran: pedals = `turnDemand`.
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- speed clamp while turning hard (`max_turn` ramps topSpeed → walkSpeed by
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|turnDemand|); VeteranMode has no clamp.
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- Demand accessors `GetSpeedDemand()/GetTurnDemand()` (read by `Mech::Simulate`).
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- `GetMech()` = `(Mech *)GetEntity()`.
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The mapper ticks in the engine's `Entity::PerformAndWatch` roster walk (slot 0),
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which runs BEFORE the mech's own Performance (`Simulation::PerformAndWatch` at
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the tail), so the demands are same-frame — no input latency.
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## DEV hook (headless verification)
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`BT_FORCE_THROTTLE` / `BT_FORCE_TURN` override the pushed raw inputs (the RIO/
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keyboard aren't present in the headless smoke test), so the demand math + mech
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drive are exercisable without hardware. `BT_MECH_LOG` prints a 1 Hz `[mppr]`
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demand trace. Verified: `throttle=1.0` → speedDemand=30; `throttle=0.3,turn=1.0`
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→ the mech walks a circle; neutral → 0. See MECH.NOTES.md (Phase 5.3 inc 2).
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## Deferred (the aiming wave)
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The torso/free-look half of the authentic InterpretControls is not yet
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reconstructed: the torso analog axes (`Torso::SetAnalogElevationAxis/
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SetAnalogTwistAxis`), HUD free-aim slew (`HUD::SetFreeAimSlew`), the recenter
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command, and the look/eyepoint commit (`BTCommitLookState`). These are the
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aiming/camera surface, separate from locomotion; they come with the
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Torso/HUD/eyepoint wave.
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