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CydandClaude Fable 5 ea99e8987f BT410 5.3.114: the replicant torso aims -- TorsoCopySimulation + ComputeTargetTwist, decomp-verified, two donor drifts corrected

The damaged-copy twist path (@004b65f8 + @004b6510), reconstructed from the
raw decomp rather than the BT411 donor -- which drifted twice: its ease aged
by lastUpdate (+0x14) where the binary reads lastPerformance (+0x10), and it
calls the joint-write helper from the copy sim where 1995 does not (port-era
addition, dropped). The extrapolator predicts targetTwist = twistAtUpdate +
twistRate * elapsed on two time bases (settled = this frame's window, slewing
= the command window), and the copy sim snaps when settled or eases by the
remaining-time form dt/((stamp - now) + dt) -- landing exactly when the clock
reaches the command stamp. The decomp's DAT_0052140c divide is just
Time::operator- inlined; no hand conversion existed.

Members carved from the dynamicsState reserve (16->12): targetTwist @0x218,
twistAtUpdate @0x21C, twistRate @0x238, lastUpdateTime @0x254. The ctor now
registers the copy Performance on replicants (PTR @00510c1c); [T2] the gate
mirrors the binary's simulationFlags 0xC/0x100 pair with the instance test,
same as the whole watcher family, until the stream builders that seed those
bits are reconstructed. Feeders (Read/WriteUpdateRecord) stay staged --
zero-init eases a copy to centre, correct-by-vacuity in single-pod.

Stubs: 16 across 10 files. Regression: clean mission soak on the rig
(no faults, wheel turning, pacing steady).

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

2026-08-04 07:55:14 -05:00

5.1 KiB

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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.

Elevation does NOT drive a gun joint (corrected 2026-07-21)

Checked BT411 before reconstructing a "gun-elevation joint": no such joint binding exists anywhere in the authentic engine. currentElevation instead composes into Mech::eyepointRotation (the cockpit-eye / weapon-boresight pitch) — see MECH.NOTES.md "PHASE 5.3 INCREMENT 5". TorsoSimulation only needed to keep advancing the scalar state, which it already did; the missing piece was the CONSUMER (Mech::Simulate's eyepoint composition), now reconstructed and verified (torsoElev == eyePitch every frame).

TorsoCopySimulation + ComputeTargetTwist (2026-08-04, 5.3.114)

The replicant (damaged-copy) twist path is real, verified line-by-line against the raw decomp (part_013.c):

ComputeTargetTwist @004b6510 (232B): two time bases — settled uses lastPerformance - lastUpdate (the engine Simulation fields at +0x10/+0x14), slewing (a copy whose command stamp lastUpdateTime @0x254 is ahead of the clock) uses lastUpdateTime - lastUpdate. targetTwist = twistAtUpdate + twistRate * elapsed, clamped (left = upper, right = lower). Returns the slewing flag. The decomp's DAT_0052140c divide is Time::operator- (ticks / SystemClock::ticksPerSecond) inlined — NOT a hand-written MsPerSecond conversion.
TorsoCopySimulation @004b65f8 (188B): settled → snap to target; slewing → Lerp(current, target, dt / ((lastUpdateTime - lastPerformance) + dt)) — the remaining-time ease that lands exactly when the clock reaches the command stamp. Then the same clamp pair applied to targetTwist again.

Two BT411 donor drifts corrected against the decomp: the donor's ease aged by lastUpdate (+0x14) where the binary reads lastPerformance (+0x10); and the donor calls the joint-write helper (@004b67ec) from the copy sim — the binary does not (port-era addition; our copy sim leaves joints to the master path exactly as 1995 shipped).

Members carved from dynamicsState[16] → [12]: targetTwist @0x218, twistAtUpdate @0x21C, twistRate @0x238, lastUpdateTime @0x254 (Time, init 0L — plain 0 is ambiguous between the long/float assignment operators under BC4.52). Ctor now registers the copy Performance on replicants (binary PTR @00510c1c). [T2] The registration gate mirrors the binary's (owner->simulationFlags & 0xC) == 0 && (flags & 0x100) != 0 with the instance test, consistent with the whole watcher family, until the mech stream builders (which seed those flag bits) are reconstructed.

Staged feeders: Read/WriteUpdateRecord (the census remainder in this TU) stamp twistAtUpdate/twistRate/lastUpdateTime from console updates. Zero-init means a copy eases to centre — correct-by-vacuity in single-pod, inert until MP replication lands.

Deferred

HUD free-aim slew, the look-button state machine (BTCommitLookState / gBTLookPitch/gBTLookYaw — composes with elevation into the full eyepoint) — still staged.
Torso::Read/WriteUpdateRecord — the copy sim's update feeders (see above).

5.1 KiB Raw Blame History