Implement a Dual Yaw turret controller so that Loyalist can fully aim…

… its secondary (#6428)

The secondary used to be unable to aim the body.
Also fix the secondary getting stuck on T1 units when the primary is aiming at a higher tech unit in a different direction.

changelog/snippets/features.6428.md

@@ -0,0 +1,4 @@
+- (#6428) Implement a Dual Yaw turret controller so that Loyalist can fully aim its secondary.
+
+    Previously, the Loyalist was unable to aim its secondary weapon in all directions because the secondary weapon could not rotate the torso independently.
+    With this change, a weapon can have a secondary yaw bone to aim with by defining `TurretBoneDualYaw` in its blueprint. The secondary yaw's angle, range, and speed can be set with `TurretDualYaw`, `TurretDualYawRange`, and `TurretDualYawSpeed`, but they also default to the primary yaw's angle, range, and speed if not specified.

engine/Core/Blueprints/WeaponBlueprint.lua

@@ -319,6 +319,8 @@
 ---@field TurretBoneDualMuzzle? Bone
 --- the second pitch bone for a turret, used for arms on bots as weapons
 ---@field TurretBoneDualPitch? Bone
+--- The second yaw bone for a turret, used for the torso of the Loyalist's secondary weapon that is on a turret connected to the torso.
+---@field TurretBoneDualYaw? Bone
 --- The bone used as the muzzle bone for turrets. This is used for aiming as where the projectile
 --- would come out
 ---@field TurretBoneMuzzle? Bone
@@ -342,6 +344,12 @@
 ---@field TurretYawRange number
 --- the speed at which the turret can turn in its yaw direction
 ---@field TurretYawSpeed number
+--- the center angle for determining secondary yaw, based off the rest pose of the model
+---@field TurretDualYaw number
+--- the angle +/- off the secondary yaw that is a valid angle to turn to
+---@field TurretDualYawRange number
+--- the speed at which the secondary turret can turn in its yaw direction
+---@field TurretDualYawSpeed number
 --- if this weapon uses the recent firing solution to create projectile instead of the
 --- aim bone transform
 ---@field UseFiringSolutionInsteadOfAimBone? boolean

lua/sim/weapon.lua

@@ -137,7 +137,7 @@ Weapon = ClassWeapon(WeaponMethods, DebugWeaponComponent) {
         local pitchBone = bp.TurretBonePitch
         local muzzleBone = bp.TurretBoneMuzzle
         local precedence = bp.AimControlPrecedence or 10
-        local pitchBone2, muzzleBone2
+        local pitchBone2, muzzleBone2, yawBone2
 
         local boneDualPitch = bp.TurretBoneDualPitch
         if boneDualPitch and boneDualPitch ~= '' then
@@ -147,6 +147,11 @@ Weapon = ClassWeapon(WeaponMethods, DebugWeaponComponent) {
         if boneDualMuzzle and boneDualMuzzle ~= '' then
             muzzleBone2 = boneDualMuzzle
         end
+        local boneDualYaw = bp.TurretBoneDualYaw
+        if boneDualYaw and boneDualYaw ~= '' then
+            yawBone2 = boneDualYaw
+        end
+
         local unit = self.unit
         if not (unit:ValidateBone(yawBone) and unit:ValidateBone(pitchBone) and unit:ValidateBone(muzzleBone)) then
             error('*ERROR: Bone aborting turret setup due to bone issues.', 2)
@@ -156,10 +161,15 @@ Weapon = ClassWeapon(WeaponMethods, DebugWeaponComponent) {
                 error('*ERROR: Bone aborting turret setup due to pitch/muzzle bone2 issues.', 2)
                 return
             end
+        elseif yawBone2 then
+            if not unit:ValidateBone(yawBone2) then
+                error('*ERROR: Bone aborting turret setup due to yaw bone2 issues.', 2)
+                return
+            end
         end
-        local aimControl, aimRight, aimLeft
+        local aimControl, aimRight, aimLeft, aimYaw2
         if yawBone and pitchBone and muzzleBone then
-            local trashManipulators = self.Trash
+            local selfTrash = self.Trash
             if bp.TurretDualManipulators then
                 aimControl = CreateAimController(self, 'Torso', yawBone)
                 aimRight = CreateAimController(self, 'Right', pitchBone, pitchBone, muzzleBone)
@@ -173,27 +183,36 @@ Weapon = ClassWeapon(WeaponMethods, DebugWeaponComponent) {
                     aimControl:SetResetPoseTime(9999999)
                 end
                 self:SetFireControl('Right')
-                trashManipulators:Add(aimControl)
-                trashManipulators:Add(aimRight)
-                trashManipulators:Add(aimLeft)
+                selfTrash:Add(aimControl)
+                selfTrash:Add(aimRight)
+                selfTrash:Add(aimLeft)
             else
                 aimControl = CreateAimController(self, 'Default', yawBone, pitchBone, muzzleBone)
                 if EntityCategoryContains(categories.STRUCTURE, unit) then
                     aimControl:SetResetPoseTime(9999999)
                 end
-                trashManipulators:Add(aimControl)
+                selfTrash:Add(aimControl)
                 aimControl:SetPrecedence(precedence)
                 if bp.RackSlavedToTurret and not table.empty(bp.RackBones) then
                     for _, v in bp.RackBones do
                         local rackBone = v.RackBone
                         if rackBone ~= pitchBone then
                             local slaver = CreateSlaver(unit, rackBone, pitchBone)
                             slaver:SetPrecedence(precedence - 1)
-                            trashManipulators:Add(slaver)
+                            selfTrash:Add(slaver)
                         end
                     end
                 end
             end
+
+            if yawBone2 then
+                aimYaw2 = CreateAimController(self, 'Yaw2', yawBone2, yawBone2)
+                aimYaw2:SetPrecedence(precedence-1)
+                if EntityCategoryContains(categories.STRUCTURE, unit) then
+                    aimYaw2:SetResetPoseTime(9999999)
+                end
+                selfTrash:Add(aimYaw2)
+            end
         else
             error('*ERROR: Trying to setup a turreted weapon but there are yaw bones, pitch bones or muzzle bones missing from the blueprint.', 2)
         end
@@ -232,6 +251,18 @@ Weapon = ClassWeapon(WeaponMethods, DebugWeaponComponent) {
                 aimRight:SetFiringArc(turretyawmin, turretyawmax, turretyawspeed, turretpitchmin, turretpitchmax, turretpitchspeed)
                 aimLeft:SetFiringArc(turretyawmin, turretyawmax, turretyawspeed, turretpitchmin, turretpitchmax, turretpitchspeed)
             end
+
+            if aimYaw2 then
+                local turretYawMin2 = turretyawmin
+                local turretYawMax2 = turretyawmax
+                if bp.TurretDualYaw and bp.TurretDualYawRange then
+                    turretYawMin2 = bp.TurretDualYaw - bp.TurretDualYawRange
+                    turretYawMax2 = bp.TurretDualYaw + bp.TurretDualYawRange
+                end
+
+                local turretYawSpeed2 = bp.TurretDualYawSpeed or turretyawspeed
+                aimYaw2:SetFiringArc(turretYawMin2, turretYawMax2, turretYawSpeed2, turretpitchmin, turretpitchmax, turretpitchspeed)
+            end
         else
             local strg = '*ERROR: TRYING TO SETUP A TURRET WITHOUT ALL TURRET NUMBERS IN BLUEPRINT, ABORTING TURRET SETUP. WEAPON: ' .. bp.Label .. ' UNIT: '.. unit.UnitId
             error(strg, 2)

units/URL0303/URL0303_unit.bp

@@ -277,6 +277,7 @@ UnitBlueprint{
             MuzzleSalvoSize = 1,
             MuzzleVelocity = 35,
             NotExclusive = true,
+            PrefersPrimaryWeaponTarget = true,
             ProjectileId = "/projectiles/CDFBolter02/CDFBolter02_proj.bp",
             ProjectileLifetimeUsesMultiplier = 1.15,
             ProjectilesPerOnFire = 1,
@@ -306,13 +307,17 @@ UnitBlueprint{
             TurretBoneMuzzle = "Muzzle_Right",
             TurretBonePitch = "Barrel_R",
             TurretBoneYaw = "Barrel_R",
+            TurretBoneDualYaw = "Torso",
             TurretDualManipulators = false,
             TurretPitch = 0,
             TurretPitchRange = 45,
             TurretPitchSpeed = 90,
             TurretYaw = 0,
             TurretYawRange = 35,
             TurretYawSpeed = 120,
+            TurretDualYaw = 0,
+            TurretDualYawRange = 180,
+            TurretDualYawSpeed = 120,
             Turreted = true,
             UseFiringSolutionInsteadOfAimBone = true,
             WeaponCategory = "Direct Fire",