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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

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MECHMPPR.CPP / .HPP — reconstruction notes

MechControlsMapper (: Subsystem) is the mech's control-input subsystem, installed at roster slot 0 via Mech::SetMappingSubsystem. It publishes the control-input attributes (StickPosition..PilotArray, IDs 3–0x16) that the streamed control mappings bind to, and — as of Phase 5.3 — interprets those raw inputs into the locomotion/aim demands the mech drive consumes.

Reconstructed

The attribute table + AttributeIndex + shared-data statics (earlier wave).
The ctor: primes the published inputs to neutral and (Phase 5.3) installs InterpretControls as the per-frame Performance.
InterpretControls(Scalar) — the per-frame control interpretation (mechmppr.cpp @004afd10, authentic demand math):
- throttle → forward speed: speedDemand = topSpeed · throttle · fwdScale (reverse thrust inverts and drops the forward scale). topSpeed/walkSpeed are read from the owner via Mech::GetReverseStrideLength()/GetWalkStrideLength().
- soft response: square the stick yaw (sign preserved), cube the pedals.
- Basic mode: stick yaw = turnDemand; Standard/Veteran: pedals = turnDemand.
- speed clamp while turning hard (max_turn ramps topSpeed → walkSpeed by |turnDemand|); VeteranMode has no clamp.
Demand accessors GetSpeedDemand()/GetTurnDemand() (read by Mech::Simulate).
GetMech() = (Mech *)GetEntity().

The mapper ticks in the engine's Entity::PerformAndWatch roster walk (slot 0), which runs BEFORE the mech's own Performance (Simulation::PerformAndWatch at the tail), so the demands are same-frame — no input latency.

DEV hook (headless verification)

BT_FORCE_THROTTLE / BT_FORCE_TURN override the pushed raw inputs (the RIO/ keyboard aren't present in the headless smoke test), so the demand math + mech drive are exercisable without hardware. BT_MECH_LOG prints a 1 Hz [mppr] demand trace. Verified: throttle=1.0 → speedDemand=30; throttle=0.3,turn=1.0 → the mech walks a circle; neutral → 0. See MECH.NOTES.md (Phase 5.3 inc 2).

Deferred (the aiming wave)

The torso/free-look half of the authentic InterpretControls is not yet reconstructed: the torso analog axes (Torso::SetAnalogElevationAxis/ SetAnalogTwistAxis), HUD free-aim slew (HUD::SetFreeAimSlew), the recenter command, and the look/eyepoint commit (BTCommitLookState). These are the aiming/camera surface, separate from locomotion; they come with the Torso/HUD/eyepoint wave.

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MECHMPPR.CPP / .HPP — reconstruction notes

Reconstructed

DEV hook (headless verification)

Deferred (the aiming wave)

2.4 KiB

Raw Blame History