Publish native grind direction and conditioned camera contact

crates/skate-game/src/physics/camera_output.rs

@@ -2,7 +2,7 @@
 //! Reset82DE53F0 runs before the actual producers82DB6EC0/82D3A388.
 use super::{GamePhysics, SkaterRuntime};
 use crate::camera::{
-    CameraAirOutput, CameraAnimationOutput, CameraEventsOutput, CameraGrindOutput,
+    CameraAirOutput, CameraAnimationOutput, CameraEventsOutput,
     CameraOffboardOutput, CameraPreferences, CameraPublicationInputs, CameraStateOutput,
 };
 use skate_core::{
@@ -15,11 +15,16 @@ use skate_core::{
 /// The user's selected normal High camera is graph type1. This custom world
 /// has no road/ledge/camera-volume annotations or other moving actors.
 pub(crate) fn advance(
-    physics: &GamePhysics,
+    physics: &mut GamePhysics,
     skater: &SkaterRuntime,
     feedback: &PhysicalFeedback,
     camera: &mut crate::camera::CameraRuntime,
 ) -> Result<(), String> {
+    //Once per physical publication, preserving conditioner history across
+    //direct grind-type changes and invalidating it on the first non-grind tick.
+    physics.grind.advance_camera(
+        skater.player_input.processed.vectors_400_416[0].map(f32::from_bits),
+    )?;
     let inputs = publish(
         physics,
         skater,
@@ -137,12 +142,9 @@ pub(crate) fn publish(
             use_trajectory_331: 0,
             dropping_in_334: 0,
         },
-        grinds: CameraGrindOutput {
-            //Reset82DE3518 loads original world-X literal82139A10.
-            direction_0: [1.0, 0.0, 0.0, 0.0],
-            camera_target_96: [0.0; 4],
-            grinding_316: u8::from(matches!(physical.grinds.words_136_140[1], 1 | 2)),
-        },
+        //Shared grind Fill82D40EA0 publishes the directed rail tangent;
+        //conditioner82DF0640 supplies the continuous contact anchor.
+        grinds: physics.grind.camera_output(),
         events: CameraEventsOutput {
             intent_51: bit(intents, 28),
             preparing_52: bit(intents, 27),

crates/skate-game/src/physics/grind.rs

@@ -17,7 +17,10 @@ use skate_core::{
 };
 use skate_data::collections::Collections;
 type V = [f32; 4];
+#[path = "grind_camera.rs"]
+mod camera;
 pub(crate) struct Runtime {
+    camera: camera::GrindCamera,
     primitives: Vec<Primitive>,
     pub candidate: Option<FiftyFiftyCandidate>,
     pub name: String,
@@ -50,6 +53,7 @@ impl Runtime {
             .words::<8>("physics_grinds", "default", "PinVsSlope")?
             .map(f32::from_bits);
         Ok(Self {
+            camera: camera::GrindCamera::default(),
             primitives: crate::grind_world::primitives(map)?,
             candidate: None,
             name: String::new(),
@@ -98,6 +102,23 @@ impl Runtime {
             diagnostic_tick: 0,
         })
     }
+    pub fn advance_camera(&mut self, velocity: V) -> Result<(), String> {
+        if self.active {
+            let contact = self.candidate.ok_or("Grind camera needs active contact")?;
+            self.camera.update(contact, self.primitives[contact.primitive], self.kind, velocity);
+        } else {
+            self.camera.exit();
+        }
+        Ok(())
+    }
+    pub fn camera_output(&self) -> crate::camera::CameraGrindOutput {
+        crate::camera::CameraGrindOutput {
+            //Reset82DE3518 defaults still apply outside the active state.
+            direction_0: if self.active { self.camera.direction } else { [1.0, 0.0, 0.0, 0.0] },
+            camera_target_96: if self.active { self.camera.target } else { [0.0; 4] },
+            grinding_316: u8::from(self.active),
+        }
+    }
     pub fn output(&self) -> GrindState {
         if !self.active {
             return GrindState::default();

crates/skate-game/src/physics/grind_camera.rs

@@ -0,0 +1,58 @@
+//! TU3 grind direction82D87460 and contact-point conditioner82DF0640.
+use skate_core::physics::grind_contact::{FiftyFiftyCandidate, Primitive};
+use skate_core::riding::ground_correction_math::dot_product;
+type V = [f32; 4];
+
+#[derive(Default)]
+pub(super) struct GrindCamera {
+    pub direction: V,
+    pub target: V,
+    previous_target: V,
+    offset: V,
+    midpoint: V,
+    kind: u32,
+    active: bool,
+}
+impl GrindCamera {
+    pub fn exit(&mut self) {
+        //82DF0610/82DF07EC invalidate history without erasing the rail tangent.
+        self.active = false;
+    }
+
+    pub fn update(&mut self, contact: FiftyFiftyCandidate, edge: Primitive, kind: u32, velocity: V) {
+        //82D37048 supplies the normalized primitive tangent, independently of
+        //the deck's facing direction (including backwards50-50s/boardslides).
+        let delta: V = core::array::from_fn(|i| edge.end[i] - edge.start[i]);
+        let length = dot_product(delta, delta).sqrt();
+        let mut direction = if length > 0.0 { delta.map(|v| v / length) } else { self.direction };
+        let along = dot_product(direction, velocity);
+        if along < 0.0 {
+            direction = direction.map(|v| -v);
+        }
+        //82D874F0: native literals820641A8=.1 and822F8E94=-.9.
+        if along.abs() < 0.1 && dot_product(self.direction, direction) < -0.9 {
+            direction = direction.map(|v| -v);
+        }
+        self.direction = direction;
+
+        let midpoint: V = core::array::from_fn(|i| (edge.start[i] + edge.end[i]) * 0.5);
+        if !self.active {
+            self.offset = [0.0; 4];
+            self.target = contact.centre;
+            self.previous_target = contact.centre;
+        } else if kind != self.kind || midpoint[..3] != self.midpoint[..3] {
+            //Preserve extrapolated motion across a change of contact owner.
+            self.offset = core::array::from_fn(|i| {
+                self.target[i] + (self.target[i] - self.previous_target[i]) - contact.centre[i]
+            });
+        }
+        //Constructor82DF24CC loads literal82072818, .95 per physical tick.
+        //This decays a contact discontinuity, not ordinary camera movement.
+        self.offset = self.offset.map(|v| v * 0.95);
+        self.previous_target = self.target;
+        self.target = core::array::from_fn(|i| contact.centre[i] + self.offset[i]);
+        self.midpoint = midpoint;
+        self.kind = kind;
+        self.active = true;
+    }
+}

docs/grind-camera.md

@@ -0,0 +1,32 @@
+# Grind camera publication
+
+The camera adapter previously published Grinds0 as world X and Grinds96 as
+world origin even during active grinds. The native movement compass82DF3AC0
+uses Grinds0 directly while grinding, and GrindAnchor82DF2C78 consumes Grinds96.
+This explains a heading snap followed by an unchanging direction, with an
+incorrect positional anchor as well.
+
+The live adapter now supplies:
+
+- Directed primitive tangent:82D87460 calls82D37048, flips against velocity,
+  and preserves the previous direction when absolute along-speed is below
+  .1 and the direction dot is below -.9. These literals are820641A8/822F8E94.
+- Contact target:82DF0640 initializes on entry, extrapolates the previous two
+  targets on changes to grind type or primitive midpoint, then decays the
+  resulting offset by .95 each physical tick. Constructor82DF24CC loads this
+  coefficient from82072818. Inactive ticks invalidate target history.
+
+This is contact discontinuity conditioning, not a general camera latency
+filter. Existing camera compass, anchors and authored camera graph remain the
+consumers. Straight authored/imported primitives supply their actual endpoints.
+
+Evidence: local TU3 native image
+`Skate3Research/research/reverse-engineering/XexDump/default_82000000_011B0000.bin`,
+base82000000, SHA256
+`f4aa113eb541bfba03dbc108cf5ab43f58c965b20fa3b82f9c40938a0ad841c4`.
+Instruction listings were extracted from the generated PPC source into
+`logs/biped-82D87460.txt`, `logs/biped-82D37048.txt`,
+`logs/biped-82DF0640.txt`, and `logs/biped-82DF2130.txt`; coefficients were
+cross-checked directly against image bytes. Behavior above is observed static
+code; the reported visual symptom is consistent with the missing publications.
+No reference gameplay trace or automated gameplay testing was performed.