mirror of https://github.com/zeldaret/botw.git
ksys/phys: Add most remaining parts of RayCast
One last function remaining (0x0000007100fc4844) but it looks obnoxious so I'll leave it for later.
This commit is contained in:
Léo Lam
parent
30d4a00052
commit
0890d161e5
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@ -84038,14 +84038,14 @@ Address,Quality,Size,Name
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0x0000007100fc3b1c,O,000648,_ZN4ksys4phys7RayCast16worldRayCastImplEP21hkpWorldRayCastOutputNS0_16ContactLayerTypeE
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0x0000007100fc3da4,O,000360,_ZN4ksys4phys7RayCast12shapeRayCastEPNS0_9RigidBodyE
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0x0000007100fc3f0c,O,000828,_ZN4ksys4phys7RayCast16shapeRayCastImplEP21hkpWorldRayCastOutputPNS0_9RigidBodyE
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0x0000007100fc4248,U,000360,phys::RayCast::phantomRayCast
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0x0000007100fc43b0,U,000640,phys::RaycastQuery::phantomRayCastImpl
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0x0000007100fc4630,U,000236,phys::RaycastQuery::staticCompoundStuff
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0x0000007100fc4248,O,000360,_ZN4ksys4phys7RayCast14phantomRayCastEPNS0_7PhantomE
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0x0000007100fc43b0,O,000640,_ZN4ksys4phys7RayCast18phantomRayCastImplEP21hkpWorldRayCastOutputPNS0_7PhantomE
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0x0000007100fc4630,O,000236,_ZN4ksys4phys7RayCast30updateStaticCompoundObjectInfoERK21hkpWorldRayCastOutput
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0x0000007100fc471c,O,000072,_ZNK4ksys4phys7RayCast14getHitPositionEPN4sead7Vector3IfEE
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0x0000007100fc4764,U,000268,phys::RaycastQuery::x_2
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0x0000007100fc4764,O,000268,_ZNK4ksys4phys7RayCast20getHitTriangleNormalEPN4sead7Vector3IfEEPK8hkpShapej
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0x0000007100fc4870,O,000028,_ZNK4ksys4phys7RayCast12getHitNormalEPN4sead7Vector3IfEE
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0x0000007100fc488c,U,000840,phys::RaycastQuery::x_0
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0x0000007100fc4bd4,U,000032,phys::RaycastQuery::x_1
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0x0000007100fc4bd4,O,000032,_ZNK4ksys4phys7RayCast20getHitTriangleNormalEPN4sead7Vector3IfEE
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0x0000007100fc4bf4,O,000004,_ZN4ksys4phys15RayHitCollectorD1Ev
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0x0000007100fc4bf8,O,000080,_ZN4ksys4phys15RayHitCollectorD0Ev
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0x0000007100fc4c48,m,000456,_ZN4ksys4phys15RayHitCollector9addRayHitERK9hkpCdBodyRK30hkpShapeRayCastCollectorOutput
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Can't render this file because it is too large.
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@ -140,6 +140,8 @@ add_library(hkStubs OBJECT
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Havok/Physics2012/Collide/Shape/HeightField/hkpHeightFieldShape.h
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Havok/Physics2012/Collide/Shape/HeightField/hkpSphereRepShape.h
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Havok/Physics2012/Collide/Shape/HeightField/Plane/hkpPlaneShape.h
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Havok/Physics2012/Collide/Shape/HeightField/SampledHeightField/hkpSampledHeightFieldBaseCinfo.h
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Havok/Physics2012/Collide/Shape/HeightField/SampledHeightField/hkpSampledHeightFieldShape.h
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Havok/Physics2012/Collide/Shape/Query/hkpRayShapeCollectionFilter.h
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Havok/Physics2012/Collide/Shape/Query/hkpShapeRayCastCollectorOutput.h
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Havok/Physics2012/Collide/Shape/Query/hkpShapeRayCastInput.h
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@ -199,12 +201,14 @@ add_library(hkStubs OBJECT
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Havok/Physics2012/Dynamics/World/Simulation/hkpSimulation.h
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Havok/Physics2012/Dynamics/World/Util/hkpWorldConstraintUtil.h
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Havok/Physics2012/Internal/Collide/BvCompressedMesh/hkpBvCompressedMeshShape.h
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Havok/Physics2012/Internal/Collide/Mopp/Code/hkpMoppCode.h
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Havok/Physics2012/Internal/Collide/StaticCompound/hkpShapeKeyTable.h
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Havok/Physics2012/Internal/Collide/StaticCompound/hkpStaticCompoundShape.h
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Havok/Physics2012/Internal/Solver/Contact/hkpSimpleContactConstraintDataInfo.h
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Havok/Physics2012/Utilities/CharacterControl/CharacterRigidBody/hkpCharacterRigidBody.h
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Havok/Physics2012/Utilities/Collide/ShapeUtils/ShapeKeyPath/hkpShapeKeyPath.h
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Havok/Physics2012/Utilities/Collide/ShapeUtils/ShapeScaling/hkpShapeScalingUtility.h
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Havok/Physics2012/Utilities/Dynamics/ScaleSystem/hkpSystemScalingUtility.h
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Havok/Physics2012/Utilities/Serialize/hkpPhysicsData.h
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@ -7,3 +7,5 @@
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#define HK_VISIBILITY_HIDDEN __attribute__((visibility("hidden")))
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#define HK_RESTRICT __restrict
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#define HK_MAX_NUM_THREADS 12
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@ -0,0 +1,24 @@
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#pragma once
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#include <Havok/Common/Base/hkBase.h>
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class hkpSampledHeightFieldBaseCinfo {
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public:
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HK_DECLARE_CLASS_ALLOCATOR(hkpSampledHeightFieldBaseCinfo)
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hkpSampledHeightFieldBaseCinfo() {
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m_scale.set(1.0f, 1.0f, 1.0f);
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m_xRes = 2;
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m_zRes = 2;
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m_minHeight = 0.0f;
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m_maxHeight = -1.0f;
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m_useProjectionBasedHeight = false;
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}
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hkVector4 m_scale;
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hkInt32 m_xRes;
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hkInt32 m_zRes;
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hkReal m_minHeight;
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hkReal m_maxHeight;
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hkBool m_useProjectionBasedHeight;
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};
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@ -0,0 +1,153 @@
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#pragma once
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#include <Havok/Common/Base/Types/Geometry/Aabb/hkAabb.h>
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#include <Havok/Common/Base/hkBase.h>
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#include <Havok/Physics2012/Collide/Shape/HeightField/SampledHeightField/hkpSampledHeightFieldBaseCinfo.h>
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#include <Havok/Physics2012/Collide/Shape/HeightField/hkpHeightFieldShape.h>
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class hkpSampledHeightFieldShape : public hkpHeightFieldShape {
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public:
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HK_DECLARE_CLASS_ALLOCATOR(hkpHeightFieldShape)
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HK_DECLARE_REFLECTION()
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HKCD_DECLARE_SHAPE_TYPE(hkcdShapeType::SAMPLED_HEIGHT_FIELD)
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enum HeightFieldType {
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/// hkpStorageSampledHeightFieldShape, stores values as hkReals
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HEIGHTFIELD_STORAGE = 0,
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/// hkpCompressedSampledHeightFieldShape, stores values as hkUint16s
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HEIGHTFIELD_COMPRESSED,
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HEIGHTFIELD_USER,
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HEIGHTFIELD_MAX_ID
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};
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explicit hkpSampledHeightFieldShape(const hkpSampledHeightFieldBaseCinfo& ci,
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HeightFieldType type = HEIGHTFIELD_USER);
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hkpSampledHeightFieldShape()
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: hkpHeightFieldShape(HKCD_SHAPE_TYPE_FROM_CLASS(hkpSampledHeightFieldShape)) {}
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explicit hkpSampledHeightFieldShape(hkFinishLoadedObjectFlag flag);
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~hkpSampledHeightFieldShape() override;
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void getCinfo(hkpSampledHeightFieldBaseCinfo& cinfo) const;
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HK_FORCE_INLINE hkReal getHeightAt(int x, int z) const;
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HK_FORCE_INLINE hkBool getTriangleFlip() const;
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void buildCoarseMinMaxTree(int coarseness = 3);
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virtual void getCoarseMinMax(int level, int x, int z, hkVector4& minOut,
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hkVector4& maxOut) const;
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void setMinMaxTreeCoarseness(int coarseness);
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void getAabb(const hkTransform& localToWorld, hkReal tolerance, hkAabb& out) const override;
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void collideSpheres(const CollideSpheresInput& input,
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SphereCollisionOutput* outputArray) const override;
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void castSphere(const hkpSphereCastInput& input, const hkpCdBody& cdBody,
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hkpRayHitCollector& collector) const override;
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hkBool castRay(const hkpShapeRayCastInput& input, hkpShapeRayCastOutput& output) const override;
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void castRayWithCollector(const hkpShapeRayCastInput& input, const hkpCdBody& cdBody,
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hkpRayHitCollector& collector) const override;
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virtual hkReal getHeightAtImpl(int x, int z) const;
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virtual hkBool getTriangleFlipImpl() const;
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using RayCastInternalFunc = void (hkpSampledHeightFieldShape::*)(const hkpShapeRayCastInput&,
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const hkpCdBody&,
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hkpRayHitCollector&) const;
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static RayCastInternalFunc s_rayCastFunc;
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void castRayDefault(const hkpShapeRayCastInput& input, const hkpCdBody& cdBody,
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hkpRayHitCollector& collector) const;
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void castRayDda(const hkpShapeRayCastInput& input, const hkpCdBody& cdBody,
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hkpRayHitCollector& collector) const;
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void castRayCoarseTree(const hkpShapeRayCastInput& input, const hkpCdBody& cdBody,
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hkpRayHitCollector& collector) const;
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using SphereCastInternalFunc = void (hkpSampledHeightFieldShape::*)(const hkpSphereCastInput&,
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const hkpCdBody&,
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hkpRayHitCollector&) const;
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static SphereCastInternalFunc s_sphereCastFunc;
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void castSphereDefault(const hkpSphereCastInput& input, const hkpCdBody& cdBody,
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hkpRayHitCollector& collector) const;
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void castSphereDda(const hkpSphereCastInput& input, const hkpCdBody& cdBody,
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hkpRayHitCollector& collector) const;
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void castSphereCoarseTree(const hkpSphereCastInput& input, const hkpCdBody& cdBody,
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hkpRayHitCollector& collector) const;
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protected:
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void castRayDdaInternal(const hkpShapeRayCastInput& input, const hkpCdBody& cdBody,
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hkBool reportPenetratingStartPosition, hkReal maxExtraPenetration,
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hkpRayHitCollector& collector) const;
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void castRayCoarseTreeInternal(const hkVector4& from, const hkVector4& to,
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const hkpCdBody& cdBody, hkpRayHitCollector& collector) const;
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HK_FORCE_INLINE void _getHeightAndNormalAt(int xPos, int zPos, hkReal subX, hkReal subZ,
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hkVector4& normalOut, hkReal& heightOut,
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int& triangleIndexOut) const;
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HK_FORCE_INLINE void calcMinMax(int coarseness, int x, int z, hkReal& minheightOut,
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hkReal& maxheightOut) const;
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struct AABBStackElement {
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hkAabb aabb;
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int level;
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int x;
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int z;
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};
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HK_FORCE_INLINE void findStartCell(AABBStackElement& startOut, const hkVector4& from,
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const hkVector4& to) const;
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HK_FORCE_INLINE void rayTriangleQuadCheck(const struct hkcdRay& ray, hkAabb& aabb, int x, int z,
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const hkVector4Comparison& flipSelect,
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const hkpCdBody& cdBody,
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hkpRayHitCollector& collector) const;
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public:
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struct CoarseMinMaxLevel {
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HK_DECLARE_CLASS_ALLOCATOR(CoarseMinMaxLevel)
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HK_DECLARE_REFLECTION()
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CoarseMinMaxLevel() {}
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explicit CoarseMinMaxLevel(hkFinishLoadedObjectFlag f) : m_minMaxData(f) {}
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CoarseMinMaxLevel(const CoarseMinMaxLevel& l) : m_xRes(l.m_xRes), m_zRes(l.m_zRes) {
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m_minMaxData = l.m_minMaxData;
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}
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hkArray<hkVector4> m_minMaxData;
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int m_xRes;
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int m_zRes;
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};
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hkArray<CoarseMinMaxLevel> m_coarseTreeData;
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void getHeightAndNormalAt(int xPos, int zPos, hkReal subX, hkReal subZ, hkVector4& normalOut,
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hkReal& heightOut, int& triangleIndexOut) const;
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int m_coarseness;
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hkReal m_raycastMinY;
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hkReal m_raycastMaxY;
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int m_xRes;
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int m_zRes;
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hkReal m_heightCenter;
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hkBool m_useProjectionBasedHeight;
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hkEnum<HeightFieldType, hkUint8> m_heightfieldType;
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hkVector4 m_intToFloatScale;
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hkVector4 m_floatToIntScale;
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hkVector4 m_floatToIntOffsetFloorCorrected;
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hkVector4 m_extents;
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};
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@ -0,0 +1,154 @@
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#pragma once
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#include <Havok/Common/Base/hkBase.h>
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#include <Havok/Physics2012/Collide/Shape/Compound/Tree/hkpBvTreeShape.h>
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#include <Havok/Physics2012/Collide/Shape/hkpShapeContainer.h>
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#include <Havok/Physics2012/Collide/Util/Welding/hkpWeldingUtility.h>
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struct hkGeometry;
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class hkpBvCompressedMeshShapeCinfo;
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class hkpBvCompressedMeshShape : public hkpBvTreeShape, public hkpShapeContainer {
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public:
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enum PerPrimitiveDataMode {
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PER_PRIMITIVE_DATA_NONE,
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PER_PRIMITIVE_DATA_8_BIT,
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PER_PRIMITIVE_DATA_PALETTE,
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PER_PRIMITIVE_DATA_STRING_PALETTE,
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};
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enum PrimitiveType {
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PRIMITIVE_TYPE_BOX,
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PRIMITIVE_TYPE_HULL,
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PRIMITIVE_TYPE_SPHERE,
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PRIMITIVE_TYPE_CAPSULE,
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PRIMITIVE_TYPE_CYLINDER,
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};
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enum Config {
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#if HK_POINTER_SIZE == 8
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#ifdef HK_REAL_IS_DOUBLE
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NUM_BYTES_FOR_TREE = 224,
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#else
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NUM_BYTES_FOR_TREE = 160,
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#endif
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#else
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#ifdef HK_REAL_IS_DOUBLE
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NUM_BYTES_FOR_TREE = 224,
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#else
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NUM_BYTES_FOR_TREE = 144,
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#endif
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#endif
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MAX_NUM_VERTICES_PER_HULL = 255,
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MAX_NUM_PRIMITIVES = 1 << 23
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};
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public:
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HK_DECLARE_CLASS_ALLOCATOR(hkpBvCompressedMeshShape)
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HK_DECLARE_REFLECTION()
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HKCD_DECLARE_SHAPE_TYPE(hkcdShapeType::BV_COMPRESSED_MESH)
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explicit hkpBvCompressedMeshShape(const hkpBvCompressedMeshShapeCinfo& cInfo);
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explicit hkpBvCompressedMeshShape(hkFinishLoadedObjectFlag flag);
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HK_FORCE_INLINE hkpBvCompressedMeshShape() {}
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~hkpBvCompressedMeshShape() override;
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HK_FORCE_INLINE hkReal getConvexRadius() const;
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hkUint32 getPrimitiveUserData(hkpShapeKey key) const;
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hkStringPtr getPrimitiveUserString(hkpShapeKey key) const;
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HK_FORCE_INLINE PerPrimitiveDataMode getCollisionFilterInfoMode() const;
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HK_FORCE_INLINE PerPrimitiveDataMode getUserDataMode() const;
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HK_FORCE_INLINE hkArray<hkUint32>& accessCollisionFilterInfoPalette();
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HK_FORCE_INLINE hkArray<hkUint32>& accessUserDataPalette();
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HK_FORCE_INLINE hkArray<hkStringPtr>& accessUserStringPalette();
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void convertToGeometry(hkGeometry& geometryOut, const hkArray<hkpShapeKey>* inclKeys = nullptr,
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const hkArray<hkpShapeKey>* exclKeys = nullptr) const;
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const hkpShapeContainer* getContainer() const override { return this; }
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int calcSizeForSpu(const CalcSizeForSpuInput& input, int spuBufferSizeLeft) const override;
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void getAabb(const hkTransform& localToWorld, hkReal tolerance, hkAabb& out) const override;
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hkBool castRay(const hkpShapeRayCastInput& input,
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hkpShapeRayCastOutput& results) const override;
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void castRayWithCollector(const hkpShapeRayCastInput& input, const hkpCdBody& body,
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hkpRayHitCollector& collector) const override;
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void queryAabb(const hkAabb& aabb, hkArray<hkpShapeKey>& hits) const override;
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hkUint32 queryAabbImpl(const hkAabb& aabb, hkpShapeKey* hits, int maxNumKeys) const override;
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void castAabbImpl(const hkAabb& from, hkVector4Parameter to,
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hkpAabbCastCollector& collector) const override;
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int getNumChildShapes() const override;
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hkpShapeKey getFirstKey() const override;
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hkpShapeKey getNextKey(hkpShapeKey oldKey) const override;
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const hkpShape* getChildShape(hkpShapeKey key, hkpShapeBuffer& buffer) const override;
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hkUint32 getCollisionFilterInfo(hkpShapeKey key) const override;
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protected:
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hkReal m_convexRadius;
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hkEnum<hkpWeldingUtility::WeldingType, hkUint8> m_weldingType;
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hkBool m_hasPerPrimitiveCollisionFilterInfo;
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hkBool m_hasPerPrimitiveUserData;
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hkArray<hkUint32> m_collisionFilterInfoPalette;
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hkArray<hkUint32> m_userDataPalette;
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hkArray<hkStringPtr> m_userStringPalette;
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alignas(16) hkUint8 m_tree[NUM_BYTES_FOR_TREE];
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friend struct hkpBvCompressedMeshShape_Internals;
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public:
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alignas(16) static hkVector4 g_vertexBufferPool[HK_MAX_NUM_THREADS][MAX_NUM_VERTICES_PER_HULL];
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};
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inline hkReal hkpBvCompressedMeshShape::getConvexRadius() const {
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return m_convexRadius;
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}
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inline hkpBvCompressedMeshShape::PerPrimitiveDataMode
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hkpBvCompressedMeshShape::getCollisionFilterInfoMode() const {
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return m_hasPerPrimitiveCollisionFilterInfo ?
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(m_collisionFilterInfoPalette.getSize() ? PER_PRIMITIVE_DATA_PALETTE :
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PER_PRIMITIVE_DATA_8_BIT) :
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PER_PRIMITIVE_DATA_NONE;
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}
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inline hkpBvCompressedMeshShape::PerPrimitiveDataMode
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hkpBvCompressedMeshShape::getUserDataMode() const {
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if (!m_hasPerPrimitiveUserData)
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return PER_PRIMITIVE_DATA_NONE;
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if (m_userDataPalette.getSize() > 0)
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return PER_PRIMITIVE_DATA_PALETTE;
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if (m_userStringPalette.getSize() > 0)
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return PER_PRIMITIVE_DATA_STRING_PALETTE;
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return PER_PRIMITIVE_DATA_8_BIT;
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}
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inline hkArray<hkUint32>& hkpBvCompressedMeshShape::accessCollisionFilterInfoPalette() {
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return m_collisionFilterInfoPalette;
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}
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inline hkArray<hkUint32>& hkpBvCompressedMeshShape::accessUserDataPalette() {
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return m_userDataPalette;
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}
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inline hkArray<hkStringPtr>& hkpBvCompressedMeshShape::accessUserStringPalette() {
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return m_userStringPalette;
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}
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|
@ -0,0 +1,77 @@
|
|||
#pragma once
|
||||
|
||||
#include <Havok/Common/Base/hkBase.h>
|
||||
#include <Havok/Physics2012/Collide/Shape/hkpShape.h>
|
||||
#include <Havok/Physics2012/Collide/Shape/hkpShapeBuffer.h>
|
||||
|
||||
class hkpContactPointEvent;
|
||||
struct hkpRootCdPoint;
|
||||
struct hkpShapeRayBundleCastOutput;
|
||||
struct hkpWorldRayCastOutput;
|
||||
|
||||
class hkpShapeKeyPath {
|
||||
public:
|
||||
HK_DECLARE_CLASS_ALLOCATOR(hkpShapeKeyPath)
|
||||
|
||||
class Iterator;
|
||||
|
||||
hkpShapeKeyPath(const hkpContactPointEvent& event, int bodyIdx);
|
||||
explicit hkpShapeKeyPath(const hkpWorldRayCastOutput& output);
|
||||
hkpShapeKeyPath(const hkpShape* shape, const hkpShapeRayCastOutput& output);
|
||||
|
||||
hkpShapeKey getShapeKey(int keyIndex) const;
|
||||
|
||||
Iterator getIterator() const;
|
||||
|
||||
void getShapes(int maxShapesOut, hkpShapeBuffer* buffers, const hkpShape** shapesOut,
|
||||
int& numShapesOut);
|
||||
|
||||
class Iterator {
|
||||
public:
|
||||
HK_DECLARE_CLASS_ALLOCATOR(Iterator)
|
||||
|
||||
friend class hkpShapeKeyPath;
|
||||
|
||||
/// Returns nullptr if the iterator is invalid.
|
||||
const hkpShape* getShape() const;
|
||||
|
||||
/// @warning This can invalidate the shape.
|
||||
void next();
|
||||
|
||||
hkBool isValid() const;
|
||||
|
||||
private:
|
||||
Iterator(const hkpShapeKeyPath* path, const hkpShape* rootShape);
|
||||
void nextImpl(hkpShapeBuffer* buf);
|
||||
|
||||
const hkpShapeKeyPath* m_path;
|
||||
const hkpShape* m_currentShape;
|
||||
int m_currentKeyIdx;
|
||||
hkBool m_isValid;
|
||||
hkpShapeBuffer m_tempBuffer;
|
||||
};
|
||||
|
||||
private:
|
||||
void init(const hkpShape* shape, const hkpShapeKey* keys, int maxKeys);
|
||||
|
||||
const hkpShape* m_rootShape;
|
||||
const hkpShapeKey* m_keys;
|
||||
int m_numKeys;
|
||||
hkBool m_isOrderLeafToRoot;
|
||||
};
|
||||
|
||||
inline hkpShapeKeyPath::Iterator hkpShapeKeyPath::getIterator() const {
|
||||
return {this, m_rootShape};
|
||||
}
|
||||
|
||||
inline const hkpShape* hkpShapeKeyPath::Iterator::getShape() const {
|
||||
return m_currentShape;
|
||||
}
|
||||
|
||||
inline void hkpShapeKeyPath::Iterator::next() {
|
||||
return nextImpl(&m_tempBuffer);
|
||||
}
|
||||
|
||||
inline hkBool hkpShapeKeyPath::Iterator::isValid() const {
|
||||
return m_isValid;
|
||||
}
|
||||
|
|
@ -96,6 +96,8 @@ target_sources(uking PRIVATE
|
|||
StaticCompound/physStaticCompoundBodyGroup.h
|
||||
StaticCompound/physStaticCompoundInfo.cpp
|
||||
StaticCompound/physStaticCompoundInfo.h
|
||||
StaticCompound/physStaticCompoundUtil.cpp
|
||||
StaticCompound/physStaticCompoundUtil.h
|
||||
|
||||
SupportBone/physSupportBoneParam.cpp
|
||||
SupportBone/physSupportBoneParam.h
|
||||
|
|
|
|||
|
|
@ -5,6 +5,7 @@
|
|||
#include <Havok/Physics2012/Utilities/Dynamics/ScaleSystem/hkpSystemScalingUtility.h>
|
||||
#include <math/seadMathCalcCommon.h>
|
||||
#include "KingSystem/Physics/RigidBody/physRigidBodyParam.h"
|
||||
#include "KingSystem/Physics/StaticCompound/physStaticCompoundUtil.h"
|
||||
#include "KingSystem/Physics/physConversions.h"
|
||||
#include "KingSystem/Physics/physMaterialMask.h"
|
||||
|
||||
|
|
@ -81,18 +82,13 @@ bool RigidBodyFromResource::isMaterial(Material material) const {
|
|||
return found_child_shape_with_material;
|
||||
}
|
||||
|
||||
// FIXME: move this to the appropriate header
|
||||
// 0x0000007100fd0a1c
|
||||
u32 getCollisionFilterInfoFromCollidable(u32* material_mask, u32* collision_filter_info,
|
||||
const hkpCollidable* collidable, const u32* unk);
|
||||
|
||||
u32 RigidBodyFromResource::getCollisionMasks(RigidBody::CollisionMasks* masks, const u32* unk,
|
||||
const sead::Vector3f& contact_point) {
|
||||
masks->ignored_layers = ~mContactMask;
|
||||
auto* collidable = getHkBody()->getCollidable();
|
||||
if (unk != nullptr) {
|
||||
return getCollisionFilterInfoFromCollidable(&masks->material_mask,
|
||||
&masks->collision_filter_info, collidable, unk);
|
||||
return getCollisionFilterInfoFromCollidable(masks, &masks->collision_filter_info,
|
||||
*collidable, unk);
|
||||
}
|
||||
masks->material_mask = collidable->getShape()->getUserData();
|
||||
masks->collision_filter_info = collidable->getCollisionFilterInfo();
|
||||
|
|
|
|||
|
|
@ -0,0 +1 @@
|
|||
#include "KingSystem/Physics/StaticCompound/physStaticCompoundUtil.h"
|
||||
|
|
@ -0,0 +1,35 @@
|
|||
#pragma once
|
||||
|
||||
#include <basis/seadTypes.h>
|
||||
#include <math/seadVector.h>
|
||||
|
||||
class hkpCollidable;
|
||||
class hkpShape;
|
||||
|
||||
namespace ksys::map {
|
||||
class Object;
|
||||
}
|
||||
|
||||
namespace ksys::phys {
|
||||
|
||||
class BodyGroup;
|
||||
struct RigidBodyCollisionMasks;
|
||||
|
||||
// 0x0000007100fd0810
|
||||
u32 getMaterialMaskFromShape(const hkpShape& shape, const u32* shape_key,
|
||||
const sead::Vector3f& position);
|
||||
|
||||
// 0x0000007100fd086c
|
||||
bool getMaterialMaskFromCollidable(RigidBodyCollisionMasks* p_masks, u32* p_collision_filter_info,
|
||||
const hkpShape& shape, const u32* shape_key);
|
||||
|
||||
// 0x0000007100fd09d0
|
||||
void getBodyGroupAndObjectFromSCShape(BodyGroup** p_body_group, map::Object** p_object,
|
||||
const hkpShape& shape, const u32* shape_key);
|
||||
|
||||
// 0x0000007100fd0a1c
|
||||
u32 getCollisionFilterInfoFromCollidable(RigidBodyCollisionMasks* p_masks,
|
||||
u32* p_collision_filter_info,
|
||||
const hkpCollidable& collidable, const u32* shape_key);
|
||||
|
||||
} // namespace ksys::phys
|
||||
|
|
@ -9,11 +9,15 @@
|
|||
#include <Havok/Physics2012/Collide/Shape/Query/hkpShapeRayCastInput.h>
|
||||
#include <Havok/Physics2012/Dynamics/Entity/hkpRigidBody.h>
|
||||
#include <Havok/Physics2012/Dynamics/World/hkpWorld.h>
|
||||
#include <Havok/Physics2012/Internal/Collide/BvCompressedMesh/hkpBvCompressedMeshShape.h>
|
||||
#include <Havok/Physics2012/Internal/Collide/StaticCompound/hkpStaticCompoundShape.h>
|
||||
#include <Havok/Physics2012/Utilities/Collide/ShapeUtils/ShapeKeyPath/hkpShapeKeyPath.h>
|
||||
#include <prim/seadScopeGuard.h>
|
||||
#include "KingSystem/Physics/RigidBody/physRigidBody.h"
|
||||
#include "KingSystem/Physics/StaticCompound/physStaticCompoundUtil.h"
|
||||
#include "KingSystem/Physics/System/physEntityContactListener.h"
|
||||
#include "KingSystem/Physics/System/physGroupFilter.h"
|
||||
#include "KingSystem/Physics/System/physPhantom.h"
|
||||
#include "KingSystem/Physics/System/physSystem.h"
|
||||
#include "KingSystem/Physics/physConversions.h"
|
||||
#include "KingSystem/Physics/physLayerMaskBuilder.h"
|
||||
|
|
@ -95,8 +99,8 @@ void RayCast::resetCastResult() {
|
|||
mHitCollidable = {};
|
||||
mHitShapeKey = {};
|
||||
mHasHitSpecifiedRigidBody = false;
|
||||
_58 = {};
|
||||
_60 = {};
|
||||
mHitBodyGroup = {};
|
||||
mHitMapObject = {};
|
||||
_70 = {};
|
||||
}
|
||||
|
||||
|
|
@ -232,7 +236,7 @@ bool RayCast::postCast(const hkpWorldRayCastOutput& output) {
|
|||
mHasHit = output.hasHit();
|
||||
if (mHasHit) {
|
||||
updateHitInformation(output);
|
||||
getActorInfoMaybe(output);
|
||||
updateStaticCompoundObjectInfo(output);
|
||||
}
|
||||
_98 = false;
|
||||
_70 = 1;
|
||||
|
|
@ -337,14 +341,113 @@ void RayCast::shapeRayCastImpl(hkpWorldRayCastOutput* output, RigidBody* body) {
|
|||
}
|
||||
}
|
||||
|
||||
bool RayCast::phantomRayCast(Phantom* phantom) {
|
||||
hkpWorldRayCastOutput output;
|
||||
preCast();
|
||||
phantomRayCastImpl(&output, phantom);
|
||||
return postCast(output);
|
||||
}
|
||||
|
||||
void RayCast::phantomRayCastImpl(hkpWorldRayCastOutput* output, Phantom* phantom) {
|
||||
hkpWorldRayCastInput input;
|
||||
auto layer_type = phantom->getLayerType();
|
||||
fillCastInput(input, layer_type);
|
||||
|
||||
ScopedWorldLock lock{layer_type, "raycast", 0, OnlyLockIfNeeded::Yes};
|
||||
|
||||
if (mNormalCheckingMode == NormalCheckingMode::DoNotCheck) {
|
||||
if (mIgnoredGroups.size() > 0 || int(mIgnoredGroundHit) != GroundHit::Ignore) {
|
||||
RayHitCollector collector{output, layer_type,
|
||||
mIgnoredGroups.size() > 0 ? &mIgnoredGroups : nullptr,
|
||||
mIgnoredGroundHit};
|
||||
phantom->getHavokPhantom()->castRay(input, collector);
|
||||
} else {
|
||||
phantom->getHavokPhantom()->castRay(input, *output);
|
||||
}
|
||||
|
||||
} else {
|
||||
sead::Vector3f ray_line = mTo - mFrom;
|
||||
ray_line.normalize();
|
||||
|
||||
auto* groups = mIgnoredGroups.size() > 0 ? &mIgnoredGroups : nullptr;
|
||||
NormalCheckingRayHitCollector collector(output, ray_line, mNormalCheckingMode, layer_type,
|
||||
groups, mIgnoredGroundHit);
|
||||
phantom->getHavokPhantom()->castRay(input, collector);
|
||||
}
|
||||
}
|
||||
|
||||
void RayCast::updateStaticCompoundObjectInfo(const hkpWorldRayCastOutput& output) {
|
||||
hkpShapeKeyPath path{output};
|
||||
auto iterator = path.getIterator();
|
||||
|
||||
sead::Vector3f hit_position;
|
||||
getHitPosition(&hit_position);
|
||||
|
||||
if (iterator.isValid()) {
|
||||
const auto& shape = *iterator.getShape();
|
||||
const u32 raw_material = getMaterialMaskFromShape(shape, output.m_shapeKeys, hit_position);
|
||||
|
||||
mMaterialMask.set(raw_material);
|
||||
if (raw_material == u32(-1))
|
||||
mMaterialMask.reset();
|
||||
|
||||
if (_99) {
|
||||
getBodyGroupAndObjectFromSCShape(&mHitBodyGroup, &mHitMapObject, shape,
|
||||
output.m_shapeKeys);
|
||||
}
|
||||
} else {
|
||||
mMaterialMask.reset();
|
||||
}
|
||||
}
|
||||
|
||||
void RayCast::getHitPosition(sead::Vector3f* position) const {
|
||||
*position = ((1 - mHitFraction) * mFrom) + (mHitFraction * mTo);
|
||||
}
|
||||
|
||||
static void calculateTriangleNormal(sead::Vector3f* normal, const hkpTriangleShape* triangle) {
|
||||
const auto va = toVec3(triangle->getVertex<0>());
|
||||
const auto vb = toVec3(triangle->getVertex<1>());
|
||||
const auto vc = toVec3(triangle->getVertex<2>());
|
||||
normal->setCross(vb - va, vc - va);
|
||||
}
|
||||
|
||||
bool RayCast::getHitTriangleNormal(sead::Vector3f* normal, const hkpShape* hit_shape,
|
||||
u32 shape_key) const {
|
||||
if (hit_shape->getType() != hkcdShapeType::STATIC_COMPOUND) {
|
||||
if (hit_shape->getType() != hkcdShapeType::BV_COMPRESSED_MESH)
|
||||
return false;
|
||||
|
||||
auto* bv_mesh = static_cast<const hkpBvCompressedMeshShape*>(hit_shape);
|
||||
|
||||
hkpShapeBuffer buffer;
|
||||
hit_shape = bv_mesh->getChildShape(shape_key, buffer);
|
||||
if (hit_shape->getType() != hkcdShapeType::TRIANGLE)
|
||||
return false;
|
||||
|
||||
calculateTriangleNormal(normal, static_cast<const hkpTriangleShape*>(hit_shape));
|
||||
return true;
|
||||
}
|
||||
|
||||
auto* sc = static_cast<const hkpStaticCompoundShape*>(hit_shape);
|
||||
int instance_id;
|
||||
sc->decomposeShapeKey(shape_key, instance_id, shape_key);
|
||||
return instance_id >= 0 &&
|
||||
getHitTriangleNormal(normal, sc->getInstances()[instance_id].getShape(), shape_key);
|
||||
}
|
||||
|
||||
void RayCast::getHitNormal(sead::Vector3f* normal) const {
|
||||
*normal = mHitNormal;
|
||||
}
|
||||
|
||||
bool RayCast::getHitTriangleNormal(sead::Vector3f* normal) const {
|
||||
if (!mHasHit)
|
||||
return false;
|
||||
|
||||
const u32 shape_key = mHitShapeKey;
|
||||
const hkpShape* shape = mHitCollidable->getShape();
|
||||
return getHitTriangleNormal(normal, shape, shape_key);
|
||||
}
|
||||
|
||||
RayHitCollector::~RayHitCollector() = default;
|
||||
|
||||
bool RayHitCollector::isIgnoredGroup(const hkpCdBody& cdBody,
|
||||
|
|
@ -471,9 +574,9 @@ bool NormalCheckingRayHitCollector::checkNormal(
|
|||
hkVector4f CminusA;
|
||||
CminusA.setSub(vertexC, vertexA);
|
||||
|
||||
hkVector4f triangle_line;
|
||||
triangle_line.setCross(BminusA, CminusA);
|
||||
triangle_line.normalize<3>();
|
||||
hkVector4f triangle_normal;
|
||||
triangle_normal.setCross(BminusA, CminusA);
|
||||
triangle_normal.normalize<3>();
|
||||
|
||||
const auto body_rotation = cdBody.getRootCollidable()->getTransform().getRotation();
|
||||
|
||||
|
|
@ -495,7 +598,7 @@ bool NormalCheckingRayHitCollector::checkNormal(
|
|||
hkVector4f rotated_normal;
|
||||
rotated_normal.setRotatedDir(rotation, hitInfo.m_normal);
|
||||
|
||||
return checkDot<true>(mMode, triangle_line.dot<3>(rotated_normal));
|
||||
return checkDot<true>(mMode, triangle_normal.dot<3>(rotated_normal));
|
||||
}
|
||||
|
||||
} // namespace ksys::phys
|
||||
|
|
|
|||
|
|
@ -10,15 +10,22 @@
|
|||
#include "KingSystem/Physics/physMaterialMask.h"
|
||||
|
||||
class hkpCollidable;
|
||||
class hkpShape;
|
||||
struct hkpShapeRayCastInput;
|
||||
struct hkpShapeRayCastOutput;
|
||||
struct hkpWorldRayCastInput;
|
||||
struct hkpWorldRayCastOutput;
|
||||
|
||||
namespace ksys::map {
|
||||
class Object;
|
||||
}
|
||||
|
||||
namespace ksys::phys {
|
||||
|
||||
struct ActorInfo;
|
||||
class BodyGroup;
|
||||
class LayerMaskBuilder;
|
||||
class Phantom;
|
||||
class RigidBody;
|
||||
class SystemGroupHandler;
|
||||
|
||||
|
|
@ -70,17 +77,16 @@ public:
|
|||
|
||||
bool worldRayCast(ContactLayerType layer_type);
|
||||
bool shapeRayCast(RigidBody* rigid_body);
|
||||
// 0x0000007100fc4248
|
||||
bool phantomRayCast(void* unk);
|
||||
bool phantomRayCast(Phantom* phantom);
|
||||
|
||||
void getHitPosition(sead::Vector3f* position) const;
|
||||
bool getHitTriangleNormal(sead::Vector3f* normal, const hkpShape* hit_shape,
|
||||
u32 shape_key) const;
|
||||
void getHitNormal(sead::Vector3f* normal) const;
|
||||
// TODO: rename
|
||||
// 0x0000007100fc4844
|
||||
void getUnkVectors(sead::Vector3f* unk1, sead::Vector3f* unk2, void* unk3) const;
|
||||
|
||||
// 0x0000007100fc4bd4
|
||||
bool x_1(sead::Vector3f* out) const;
|
||||
void getUnkVectors(sead::Vector3f* unk1, sead::Vector3f* unk2, sead::Vector3f* unk3) const;
|
||||
bool getHitTriangleNormal(sead::Vector3f* normal) const;
|
||||
|
||||
protected:
|
||||
auto& getLayerMask(ContactLayerType type) { return mLayerMasks[int(type)]; }
|
||||
|
|
@ -88,14 +94,9 @@ protected:
|
|||
|
||||
void worldRayCastImpl(hkpWorldRayCastOutput* output, ContactLayerType layer_type);
|
||||
void shapeRayCastImpl(hkpWorldRayCastOutput* output, RigidBody* body);
|
||||
// 0x0000007100fc43b0
|
||||
void phantomRayCastImpl(hkpWorldRayCastOutput* output);
|
||||
void phantomRayCastImpl(hkpWorldRayCastOutput* output, Phantom* phantom);
|
||||
|
||||
// 0x0000007100fc4630
|
||||
const ActorInfo* getActorInfoMaybe(const hkpShapeRayCastOutput& output);
|
||||
|
||||
// 0x0000007100fc4764
|
||||
bool x_2(sead::Vector3f* out, void* unk1, int unk2) const;
|
||||
void updateStaticCompoundObjectInfo(const hkpWorldRayCastOutput& output);
|
||||
|
||||
void fillCastInput(hkpWorldRayCastInput& input, ContactLayerType layer_type);
|
||||
void fillCastInput(hkpShapeRayCastInput& input, ContactLayerType layer_type);
|
||||
|
|
@ -116,8 +117,8 @@ protected:
|
|||
const hkpCollidable* mHitCollidable;
|
||||
u32 mHitShapeKey;
|
||||
bool mHasHitSpecifiedRigidBody;
|
||||
void* _58{};
|
||||
void* _60;
|
||||
BodyGroup* mHitBodyGroup{};
|
||||
map::Object* mHitMapObject;
|
||||
sead::SafeArray<sead::BitFlag32, NumContactLayerTypes> mLayerMasks{};
|
||||
sead::Atomic<u32> _70;
|
||||
NormalCheckingMode mNormalCheckingMode;
|
||||
|
|
|
|||
|
|
@ -68,14 +68,12 @@ public:
|
|||
virtual ~MaterialMask();
|
||||
|
||||
MaterialMask& operator=(const MaterialMask& other) {
|
||||
mData = other.mData;
|
||||
mSubMaterialNameCache = nullptr;
|
||||
set(other.mData);
|
||||
return *this;
|
||||
}
|
||||
|
||||
MaterialMask& operator=(MaterialMaskData data) {
|
||||
mData = data;
|
||||
mSubMaterialNameCache = nullptr;
|
||||
set(data);
|
||||
return *this;
|
||||
}
|
||||
|
||||
|
|
@ -91,6 +89,14 @@ public:
|
|||
const char* getMaterialName() const;
|
||||
const char* getSubMaterialName() const;
|
||||
|
||||
void set(MaterialMaskData data) {
|
||||
mData = data;
|
||||
mSubMaterialNameCache = nullptr;
|
||||
}
|
||||
|
||||
void set(u32 data) { set(MaterialMaskData{data}); }
|
||||
void reset() { set(0); }
|
||||
|
||||
void setMaterial(Material mat);
|
||||
|
||||
static int getSubMaterialIdx(Material mat, const sead::SafeString& submat_name);
|
||||
|
|
|
|||
Loading…
Reference in New Issue