falso
/
botw
mirror of https://github.com/zeldaret/botw.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

ksys/phys: Add RagdollController::getTransform and more 

Credit to @Dragorn421 for helping me figure out the rotation matrix
thing in the getTransform function
This commit is contained in:
Léo Lam 2022-12-19 12:25:57 +01:00
parent faf29549c6
commit 08ccaf9c3c
No known key found for this signature in database
GPG Key ID: 0DF30F9081000741
8 changed files with 198 additions and 27 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
data/uking_functions.csv
View File

@ -93613,8 +93613,8 @@ Address,Quality,Size,Name
0x00000071012217a8,O,000056,_ZN4ksys4phys17RagdollController14setContactNoneEv
0x00000071012217e0,O,000032,_ZN4ksys4phys17RagdollController13setContactAllEi
0x0000007101221800,O,000032,_ZN4ksys4phys17RagdollController14setContactNoneEi
0x0000007101221820,U,001188,
0x0000007101221cc4,U,000016,
0x0000007101221820,O,001188,_ZN4ksys4phys17RagdollController16changeWorldStateENS1_10WorldStateE
0x0000007101221cc4,O,000016,_ZNK4ksys4phys17RagdollController13getWorldStateEv
0x0000007101221cd4,O,000012,_ZN4ksys4phys17RagdollController17setExtraRigidBodyEPNS0_9RigidBodyEi
0x0000007101221ce0,O,000068,_ZN4ksys4phys17RagdollController16setGravityFactorEf
0x0000007101221d24,U,000032,
@ -93625,8 +93625,8 @@ Address,Quality,Size,Name
0x0000007101222144,O,000132,_ZNK4ksys4phys17RagdollController22getParentBoneRigidBodyEPKNS0_9RigidBodyE
0x00000071012221c8,O,000132,_ZNK4ksys4phys17RagdollController16getNumChildBonesEPKNS0_9RigidBodyE
0x000000710122224c,O,000156,_ZNK4ksys4phys17RagdollController21getChildBoneRigidBodyEPKNS0_9RigidBodyEi
0x00000071012222e8,U,001268,
0x00000071012227dc,U,001844,
0x00000071012222e8,O,001268,_ZNK4ksys4phys17RagdollController12getTransformEi
0x00000071012227dc,O,001844,_ZNK4ksys4phys17RagdollController27getTransformWithCustomYAxisEiRKN4sead7Vector3IfEE
0x0000007101222f10,O,000340,_ZNK4ksys4phys17RagdollController24getConstraintIndexByNameERKN4sead14SafeStringBaseIcEE
0x0000007101223064,O,000012,_ZNK4ksys4phys17RagdollController17getNumConstraintsEv
0x0000007101223070,O,000044,_ZN4ksys4phys17RagdollController16enableConstraintEib

Can't render this file because it is too large.

1
lib/gsys/include/gsys/gsysModel.h
View File

@ -39,6 +39,7 @@ public:
sead::PtrArray<ModelInfo>& getUnits() { return mUnitAccess; }
const sead::PtrArray<ModelInfo>& getUnits() const { return mUnitAccess; }
const sead::Matrix34f& getMatrix() const { return mMatrix; }
const sead::Vector3f& getScale() const { return _88; }
void setBoneLocalMatrix(const BoneAccessKey& key, const sead::Matrix34f& matrix,

2
lib/hkStubs/Havok/Common/Base/Math/QsTransform/hkQsTransformf.h
View File

@ -56,6 +56,8 @@ public:
/// this *= b
HK_FORCE_INLINE void setMulEq(const hkQsTransformf& b);
bool isOk(hkFloat32 epsilon = hkFloat32(1e-3f)) const;
void fastRenormalize();
hkVector4f m_translation;

175
src/KingSystem/Physics/Ragdoll/physRagdollController.cpp
View File

@ -9,7 +9,10 @@
#include <Havok/Physics2012/Dynamics/World/hkpPhysicsSystem.h>
#include <Havok/Physics2012/Dynamics/World/hkpWorld.h>
#include <Havok/Physics2012/Utilities/Dynamics/ScaleSystem/hkpSystemScalingUtility.h>
#include <basis/seadRawPrint.h>
#include <gsys/gsysModel.h>
#include <math/seadMathCalcCommon.h>
#include <memory>
#include <resource/seadResource.h>
#include "KingSystem/Physics/Ragdoll/physRagdollControllerMgr.h"
#include "KingSystem/Physics/Ragdoll/physRagdollRigidBody.h"
@ -22,6 +25,7 @@
#include "KingSystem/Physics/physConversions.h"
#include "KingSystem/Utils/Debug.h"
#include "KingSystem/Utils/IteratorUtil.h"
#include "KingSystem/Utils/MathUtil.h"
#include "KingSystem/Utils/SafeDelete.h"
namespace ksys::phys {
@ -87,17 +91,7 @@ bool RagdollController::doInit(const RagdollParam* param, sead::DirectResource*
}
mBoneRigidBodies.allocBufferAssert(num_bones, heap);
{
static constexpr size_t Alignment = 0x20;
_b0 = sead::Mathu::roundUpPow2(sizeof(hkQsTransformf) * num_bones, Alignment);
auto* buffer = new (heap, Alignment) u8[_b0];
if (num_bones > 0 && buffer != nullptr) {
_a0 = num_bones;
_a8 = buffer;
}
}
allocateBoneTransforms(num_bones, heap);
mBoneVectors.allocBufferAssert(num_bones, heap);
mBoneStuff.allocBufferAssert(num_bones, heap);
@ -158,6 +152,14 @@ bool RagdollController::doInit(const RagdollParam* param, sead::DirectResource*
return true;
}
void RagdollController::allocateBoneTransforms(int num_bones, sead::Heap* heap) {
static constexpr size_t Alignment = 0x20;
mBoneTransformsByteSize =
sead::Mathu::roundUpPow2(sizeof(hkQsTransformf) * num_bones, Alignment);
auto* buffer = new (heap, Alignment) u8[mBoneTransformsByteSize];
mBoneTransforms.setBuffer(num_bones, new (buffer) hkQsTransformf[num_bones]);
}
void RagdollController::registerSelf() {
const bool registered = System::instance()->getRagdollControllerMgr()->addController(this);
mFlags.change(Flag::IsRegistered, registered);
@ -208,9 +210,10 @@ void RagdollController::finalize() {
mBoneStuff.freeBuffer();
mBoneStuff2.freeBuffer();
if (_b0) {
delete[] _a8;
_b0 = 0;
if (mBoneTransformsByteSize != 0) {
std::destroy_n(mBoneTransforms.getBufferPtr(), mBoneTransforms.size());
delete[] reinterpret_cast<u8*>(mBoneTransforms.getBufferPtr());
mBoneTransformsByteSize = 0;
}
}
@ -414,6 +417,64 @@ void RagdollController::setContactNone(int bone_index) {
mBoneRigidBodies[bone_index]->setContactNone(false);
}
void RagdollController::changeWorldState(RagdollController::WorldState state) {
if (getWorldState() == state)
return;
const int num_rigid_bodies = mRagdollInstance->m_rigidBodies.size();
ScopedPhysicsLock lock{this};
if (state == WorldState::AddedToWorld) {
if (mModel) {
if (auto* accessor = getModelBoneAccessor())
accessor->copyModelPoseToHavok(ModelBoneAccessor::EnableScale::No);
setTransform(mModel->getMatrix());
}
for (int i = 0, n = num_rigid_bodies; i < n; ++i) {
mBoneRigidBodies[i]->addToWorld();
mBoneRigidBodies[i]->setLinearVelocity(sead::Vector3f::zero);
mBoneRigidBodies[i]->setAngularVelocity(sead::Vector3f::zero);
if (mKeyframedBones.isOnBit(i)) {
mBoneRigidBodies[i]->changeMotionType(MotionType::Keyframed);
mBoneRigidBodies[i]->setContactLayer(ContactLayer::EntityNoHit);
} else {
mBoneRigidBodies[i]->changeMotionType(MotionType::Dynamic);
mBoneRigidBodies[i]->setContactLayer(mContactLayer);
}
}
for (auto& x : mBoneStuff)
x = 1;
mFlags.reset(Flag::_8);
_e8 = _e9;
for (auto* body : mBoneRigidBodies)
body->setContactNone(true);
mFlags.set(Flag::_20);
mFlags.set(Flag::AddedToWorld);
mFlags.reset(Flag::_40);
mFlags.reset(Flag::_2);
mFlags.reset(Flag::_4);
} else {
for (int i = 0, n = num_rigid_bodies; i < n; ++i)
mBoneRigidBodies[i]->removeFromWorld();
mFlags.reset(Flag::AddedToWorld);
mFlags.reset(Flag::_40);
}
}
RagdollController::WorldState RagdollController::getWorldState() const {
return mFlags.isOn(Flag::AddedToWorld) ? WorldState::AddedToWorld : WorldState::NotAddedToWorld;
}
void RagdollController::setExtraRigidBody(RigidBody* body, int bone_index) {
mExtraRigidBody = body;
mBoneIndexForExtraRigidBody = bone_index;
@ -468,6 +529,88 @@ RagdollRigidBody* RagdollController::getChildBoneRigidBody(const RigidBody* body
return sead::DynamicCast<const RagdollRigidBody>(body)->getChildBodies_()[index];
}
sead::Matrix34f RagdollController::getTransform(int bone_index) const {
if (mFlags.isOff(Flag::_40)) {
if (util::isMatrixInvalid(mModel->getMatrix()))
return sead::Matrix34f::ident;
return mModel->getMatrix();
}
const sead::Matrix34f parent_transform = mBoneRigidBodies[bone_index]->getTransform();
hkQsTransformf hk_parent_transform;
toHkQsTransform(&hk_parent_transform, parent_transform, sead::Vector3f::ones);
hkQsTransformf result;
result.setMulMulInverse(hk_parent_transform, mBoneTransforms[bone_index]);
const bool parent_ok = hk_parent_transform.isOk();
SEAD_ASSERT(parent_ok);
const bool bone_ok = mBoneTransforms[bone_index].isOk();
SEAD_ASSERT(bone_ok);
const bool result_ok = result.isOk();
SEAD_ASSERT(result_ok);
sead::Matrix34f out;
toMtx34(&out, result);
return out;
}
sead::Matrix34f RagdollController::getTransformWithCustomYAxis(int bone_index,
const sead::Vector3f& y_axis) const {
if (mFlags.isOff(Flag::_40)) {
if (util::isMatrixInvalid(mModel->getMatrix()))
return sead::Matrix34f::ident;
return mModel->getMatrix();
}
sead::Matrix34f transform = mBoneRigidBodies[bone_index]->getTransform();
{
sead::Vector3f v1 = (transform(1, 1) > 0.0f) ? y_axis : -y_axis;
v1.normalize();
sead::Vector3f c2 = util::getCol(transform, 2);
c2.normalize();
sead::Vector3f v0;
// Compute the cross product of v1 and c2.
// If v1 and c2 are collinear, then their cross product will be the zero vector;
// compute the cross product of v1 and the first column instead in that case.
// (That product should never be zero because the first column and u2 are not collinear.)
const auto dot = sead::Mathf::abs(v1.dot(c2));
// XXX: this should probably check if the dot product is approximately equal to 1.0 instead
v0.setCross(v1, dot >= 1.0f ? util::getCol(transform, 0) : c2);
v0.normalize();
sead::Vector3f v2;
v2.setCross(v0, v1);
v2.normalize();
transform.setBase(0, v0);
transform.setBase(1, v1);
transform.setBase(2, v2);
}
hkQsTransformf hk_parent_transform;
toHkQsTransform(&hk_parent_transform, transform, sead::Vector3f::ones);
hkQsTransformf result;
result.setMulMulInverse(hk_parent_transform, mBoneTransforms[bone_index]);
const bool parent_ok = hk_parent_transform.isOk();
SEAD_ASSERT(parent_ok);
const bool bone_ok = mBoneTransforms[bone_index].isOk();
SEAD_ASSERT(bone_ok);
const bool result_ok = result.isOk();
SEAD_ASSERT(result_ok);
sead::Matrix34f out;
toMtx34(&out, result);
return out;
}
int RagdollController::getConstraintIndexByName(const sead::SafeString& name) const {
for (int i = 0, n = getNumConstraints(); i < n; ++i) {
if (name == mRagdollInstance->m_constraints[i]->getName())
@ -492,7 +635,7 @@ void RagdollController::setContactLayer(ContactLayer layer) {
if (mContactLayer.value() == layer)
return;
if (mFlags.isOn(Flag::_10)) {
if (mFlags.isOn(Flag::AddedToWorld)) {
for (int bone = 0, num_bones = mBoneRigidBodies.size(); bone < num_bones; ++bone) {
if (mKeyframedBones.isOffBit(bone))
mBoneRigidBodies[bone]->setContactLayer(layer);
@ -528,7 +671,7 @@ void RagdollController::setMaximumUnk1(u8 value) {
}
void RagdollController::stopForcingKeyframing() {
if (mFlags.isOn(Flag::_10)) {
if (mFlags.isOn(Flag::AddedToWorld)) {
for (int i = 0, n = mBoneRigidBodies.size(); i < n; ++i) {
setKeyframed(i, false, {});
}

26
src/KingSystem/Physics/Ragdoll/physRagdollController.h
View File

@ -90,7 +90,14 @@ public:
void setContactNone();
void setContactAll(int bone_index);
void setContactNone(int bone_index);
u32 sub_7101221CC4();
enum class WorldState {
AddedToWorld = 0,
NotAddedToWorld = 2,
};
void changeWorldState(WorldState state);
WorldState getWorldState() const;
void setExtraRigidBody(RigidBody* body, int bone_index);
void setGravityFactor(float factor);
@ -103,6 +110,9 @@ public:
int getNumChildBones(const RigidBody* body) const;
RagdollRigidBody* getChildBoneRigidBody(const RigidBody* body, int index) const;
sead::Matrix34f getTransform(int bone_index) const;
sead::Matrix34f getTransformWithCustomYAxis(int bone_index, const sead::Vector3f& y_axis) const;
int getConstraintIndexByName(const sead::SafeString& name) const;
int getNumConstraints() const;
void enableConstraint(int index, bool enable);
@ -133,7 +143,12 @@ private:
};
enum class Flag {
_10 = 0x10,
_2 = 0x2,
_4 = 0x4,
_8 = 0x8,
AddedToWorld = 0x10,
_20 = 0x20,
_40 = 0x40,
_80 = 0x80,
/// Whether this controller has been registered with the RagdollControllerMgr.
IsRegistered = 0x100,
@ -149,6 +164,7 @@ private:
bool doInit(const RagdollParam* param, sead::DirectResource* res, gsys::Model* model,
sead::Heap* heap);
void allocateBoneTransforms(int num_bones, sead::Heap* heap);
void finalize();
void removeConstraints();
void setTransform(const hkQsTransformf& transform);
@ -179,10 +195,8 @@ private:
sead::Buffer<float> mBoneStuff2;
float _98 = 0.1;
float mGravityFactorOverride = 1.0;
u32 _a0 = 0;
// TODO: type
u8* _a8 = nullptr;
u32 _b0 = 0;
sead::Buffer<hkQsTransformf> mBoneTransforms;
u32 mBoneTransformsByteSize = 0;
const RagdollParam* mRagdollParam = nullptr;
sead::TypedBitFlag<Flag> mFlags;
sead::BitFlag32 mDisabledConstraints;

2
src/KingSystem/Physics/System/physInstanceSet.cpp
View File

@ -192,7 +192,7 @@ void InstanceSet::sub_7100FBD284(const sead::Matrix34f& mtx) {
if (mRagdollController == nullptr)
return;
if (mRagdollController->sub_7101221CC4() == 0)
if (mRagdollController->getWorldState() == RagdollController::WorldState::AddedToWorld)
sub_7100FBC890(mtx, false, false);
}

5
src/KingSystem/Physics/physConversions.h
View File

@ -56,6 +56,11 @@ inline void toHkQuat(hkQuaternionf* out, const sead::Quatf& quat) {
return {quat.x, quat.y, quat.z, quat.w};
}
inline void toMtx34(sead::Matrix34f* out, const hkQsTransformf& transform) {
out->makeSQT(toVec3(transform.getScale()), toQuat(transform.getRotation()),
toVec3(transform.getTranslation()));
}
inline void toMtx34(sead::Matrix34f* out, const hkTransformf& transform) {
const hkRotationf& rotate = transform.getRotation();
const hkVector4f& translate = transform.getTranslation();

6
src/KingSystem/Utils/MathUtil.h
View File

@ -56,4 +56,10 @@ inline bool isMatrixInvalid(const sead::Matrix34f& matrix) {
return false;
}
inline sead::Vector3f getCol(const sead::Matrix34f& mtx, int col) {
sead::Vector3f result;
mtx.getBase(result, col);
return result;
}
} // namespace ksys::util