ksys/phys: Add some ContactListener prerequisites

data/uking_functions.csv

@@ -82305,9 +82305,9 @@ Address,Quality,Size,Name
 0x0000007100f66938,U,000004,
 0x0000007100f66948,U,000008,
 0x0000007100f66950,U,000008,
-0x0000007100f66958,U,000004,ksys::phys::ContactListener::contactPointAddedCallback
-0x0000007100f6695c,U,000004,ksys::phys::ContactListener::contactPointRemovedCallback
-0x0000007100f66960,U,000004,ksys::phys::ContactListener::contactProcessCallback
+0x0000007100f66958,O,000004,_ZN4ksys4phys15ContactListener25contactPointAddedCallbackER25hkpContactPointAddedEvent
+0x0000007100f6695c,O,000004,_ZN4ksys4phys15ContactListener27contactPointRemovedCallbackER27hkpContactPointRemovedEvent
+0x0000007100f66960,O,000004,_ZN4ksys4phys15ContactListener22contactProcessCallbackER22hkpContactProcessEvent
 0x0000007100f66964,U,000020,
 0x0000007100f66978,U,000032,
 0x0000007100f66998,U,000176,
@@ -84301,11 +84301,11 @@ Address,Quality,Size,Name
 0x0000007100fce180,O,000020,_ZN4ksys4phys15ContactListener10clearTableEv
 0x0000007100fce194,O,000136,_ZN4ksys4phys15ContactListener22collisionAddedCallbackERK17hkpCollisionEvent
 0x0000007100fce21c,O,000136,_ZN4ksys4phys15ContactListener24collisionRemovedCallbackERK17hkpCollisionEvent
-0x0000007100fce2a4,U,000236,ksys::phys::ContactListener::x
+0x0000007100fce2a4,O,000236,_ZN4ksys4phys15ContactListener22handleCollisionRemovedERK17hkpCollisionEventPNS0_9RigidBodyES6_
 0x0000007100fce390,U,000416,ksys::phys::ContactListener::m12
 0x0000007100fce530,U,000028,ksys::phys::ContactListener::x_0
 0x0000007100fce54c,U,000048,ksys::phys::ContactListener::x_1
-0x0000007100fce57c,U,000308,ksys::phys::ContactListener::contactPointCallback
+0x0000007100fce57c,O,000308,_ZN4ksys4phys15ContactListener20contactPointCallbackERK20hkpContactPointEvent
 0x0000007100fce6b0,U,000580,ksys::phys::ContactListener::m13
 0x0000007100fce8f4,U,000764,ksys::phys::ContactListener::m14
 0x0000007100fcebf0,U,001052,ksys::phys::ContactListener::x_2

lib/hkStubs/CMakeLists.txt

@@ -172,6 +172,7 @@ add_library(hkStubs OBJECT
 
   Havok/Physics2012/Internal/Collide/Mopp/Code/hkpMoppCode.h
 
+  Havok/Physics2012/Utilities/CharacterControl/CharacterRigidBody/hkpCharacterRigidBody.h
   Havok/Physics2012/Utilities/Collide/ShapeUtils/ShapeScaling/hkpShapeScalingUtility.h
   Havok/Physics2012/Utilities/Dynamics/ScaleSystem/hkpSystemScalingUtility.h
   Havok/Physics2012/Utilities/Serialize/hkpPhysicsData.h

lib/hkStubs/Havok/Common/Base/Math/Vector/hkVector4f.h

@@ -187,6 +187,9 @@ public:
     void setZ(hkSimdFloat32Parameter val) { setComponent(2, val); }
     void setW(hkSimdFloat32Parameter val) { setComponent(3, val); }
 
+    HK_FORCE_INLINE void setInt24W(int value);
+    HK_FORCE_INLINE int getInt24W() const;
+
     // ========== Load/store
 
     template <int Constant>

lib/hkStubs/Havok/Common/Base/Math/Vector/hkVector4f.inl

@@ -510,6 +510,14 @@ inline hkSimdFloat32 hkVector4f::dot4xyz1(hkVector4fParameter a) const {
 #endif
 }
 
+inline void hkVector4f::setInt24W(int value) {
+    reinterpret_cast<hkInt32*>(&v)[3] = hkInt32(value) | 0x3f000000;
+}
+
+inline int hkVector4f::getInt24W() const {
+    return reinterpret_cast<const hkInt32*>(&v)[3] & ~0x3f000000;
+}
+
 template <int Constant>
 inline const hkVector4f& hkVector4f::getConstant() {
     return reinterpret_cast<const hkVector4f&>(g_vectorfConstants[Constant]);

lib/hkStubs/Havok/Physics2012/Utilities/CharacterControl/CharacterRigidBody/hkpCharacterRigidBody.h

@@ -0,0 +1,12 @@
+#pragma once
+
+#include <Havok/Common/Base/hkBase.h>
+
+// TODO
+class hkpCharacterRigidBody {
+public:
+    HK_DECLARE_CLASS_ALLOCATOR(hkpCharacterRigidBody)
+
+    static const int m_magicNumber = 0x008df4a7;
+    static const int m_notMagicNumber = 0x00fa2bb3;
+};

src/KingSystem/Physics/CMakeLists.txt

@@ -99,6 +99,7 @@ target_sources(uking PRIVATE
 
   System/physCharacterControllerParam.cpp
   System/physCharacterControllerParam.h
+  System/physCollisionInfo.h
   System/physConstraint.cpp
   System/physConstraint.h
   System/physContactInfoParam.cpp

src/KingSystem/Physics/RigidBody/physRigidBody.h

@@ -187,8 +187,11 @@ public:
     // 0x0000007100f8e3fc
     void x_11();
 
+    // TODO: rename
+    void* get90() const { return _90; }
     // 0x0000007100f8e72c
-    void x_12();
+    void x_12_setField90(void* field_90);
+    RigidContactPoints* getContactPoints() const { return mContactPoints; }
     void setContactPoints(RigidContactPoints* points);
 
     void freeze(bool should_freeze, bool preserve_velocities, bool preserve_max_impulse);
@@ -206,6 +209,8 @@ public:
     void setContactMask(u32);
     void setContactAll();
     void setContactNone();
+    sead::BitFlag32 getContactMask() const { return mContactMask; }
+    sead::BitFlag32 getIgnoredLayers() const { return ~getContactMask(); }
 
     void enableGroundCollision(bool enabled);
     bool isGroundCollisionEnabled() const;

src/KingSystem/Physics/System/physCollisionInfo.h

@@ -0,0 +1,43 @@
+#pragma once
+
+#include <container/seadSafeArray.h>
+#include <prim/seadBitFlag.h>
+#include <thread/seadMutex.h>
+#include "KingSystem/Physics/physDefines.h"
+
+namespace ksys::phys {
+
+class CollisionInfoBase {
+public:
+    CollisionInfoBase() = default;
+    virtual ~CollisionInfoBase() = default;
+
+    sead::BitFlag32& getLayerMask(ContactLayerType layer_type);
+    const sead::BitFlag32& getLayerMask(ContactLayerType layer_type) const;
+
+    void lock();
+    void unlock();
+
+private:
+    // One layer mask for layer type (entity/sensor).
+    sead::SafeArray<sead::BitFlag32, 2> mLayerMasks;
+    sead::Mutex mMutex;
+};
+
+inline sead::BitFlag32& CollisionInfoBase::getLayerMask(ContactLayerType layer_type) {
+    return mLayerMasks[int(layer_type)];
+}
+
+inline const sead::BitFlag32& CollisionInfoBase::getLayerMask(ContactLayerType layer_type) const {
+    return mLayerMasks[int(layer_type)];
+}
+
+inline void CollisionInfoBase::lock() {
+    mMutex.lock();
+}
+
+inline void CollisionInfoBase::unlock() {
+    mMutex.unlock();
+}
+
+}  // namespace ksys::phys

src/KingSystem/Physics/System/physContactListener.cpp

@@ -1,9 +1,13 @@
 #include "KingSystem/Physics/System/physContactListener.h"
+#include <Havok/Common/Base/Types/Physics/ContactPoint/hkContactPoint.h>
 #include <Havok/Physics2012/Dynamics/Collide/ContactListener/hkpCollisionEvent.h>
 #include <Havok/Physics2012/Dynamics/Collide/ContactListener/hkpContactPointEvent.h>
+#include <Havok/Physics2012/Utilities/CharacterControl/CharacterRigidBody/hkpCharacterRigidBody.h>
 #include <math/seadMathCalcCommon.h>
 #include <prim/seadMemUtil.h>
 #include "KingSystem/Physics/RigidBody/physRigidBody.h"
+#include "KingSystem/Physics/System/physContactMgr.h"
+#include "KingSystem/Physics/System/physSystem.h"
 
 namespace ksys::phys {
 
@@ -65,4 +69,52 @@ void ContactListener::collisionRemovedCallback(const hkpCollisionEvent& event) {
     bodyB->onCollisionRemoved();
 }
 
+void ContactListener::contactPointCallback(const hkpContactPointEvent& event) {
+    RigidBody* body_a = getRigidBody(event.getBody(0));
+    RigidBody* body_b = getRigidBody(event.getBody(1));
+
+    if (event.m_contactPoint->getPosition().getInt24W() == hkpCharacterRigidBody::m_magicNumber) {
+        const auto layer_a = body_a->getContactLayer();
+        const auto layer_b = body_b->getContactLayer();
+        const u32 ignored_layers_a = ~body_a->getContactMask();
+        const u32 ignored_layers_b = ~body_b->getContactMask();
+
+        static_cast<void>(System::instance()->getGroupFilter(mLayerType));
+
+        characterControlContactPointCallback(ignored_layers_a, ignored_layers_b, body_a, body_b,
+                                             layer_a, layer_b, event);
+
+    } else if (event.m_type == hkpContactPointEvent::TYPE_MANIFOLD) {
+        manifoldContactPointCallback(event, body_a, body_b);
+    } else {
+        regularContactPointCallback(event, body_a, body_b);
+    }
+}
+
+void ContactListener::handleCollisionRemoved(const hkpCollisionEvent& event, RigidBody* body_a,
+                                             RigidBody* body_b) {
+    unregisterForEndOfStepContactPointCallbacks(event);
+
+    const auto layer_a = body_a->getContactLayer();
+    const auto layer_b = body_b->getContactLayer();
+
+    if (auto* unk = body_a->get90())
+        mMgr->x_19(unk, body_a, body_b);
+
+    if (auto* unk = body_b->get90())
+        mMgr->x_19(unk, body_b, body_a);
+
+    const auto i = int(layer_a - mLayerBase);
+    const auto j = int(layer_b - mLayerBase);
+    ContactUnk1* unk = _30[i][j];
+    if (unk->_68) {
+        const auto layer_a_ = int(layer_a);
+        const auto layer_unk = unk->_50;
+        const bool body_a_first = layer_a_ == layer_unk;
+        auto* body1 = body_a_first ? body_a : body_b;
+        auto* body2 = body_a_first ? body_b : body_a;
+        mMgr->x_20(unk, body1, body2);
+    }
+}
+
 }  // namespace ksys::phys

src/KingSystem/Physics/System/physContactListener.h

@@ -17,7 +17,11 @@ struct ContactUnk1 {
     ContactUnk1(u32 layer);
     virtual ~ContactUnk1();
 
-    u8 _8[0x68];
+    u8 _8[0x50 - 0x8];
+    ContactLayer _50;
+    u8 _54[0x68 - 0x54];
+    u32 _68;
+    u32 _6c;
 };
 
 class ContactListener : public hkpContactListener, public sead::hostio::Node {
@@ -32,20 +36,31 @@ public:
     void contactPointCallback(const hkpContactPointEvent& event) override;
     void collisionAddedCallback(const hkpCollisionEvent& event) override;
     void collisionRemovedCallback(const hkpCollisionEvent& event) override;
-    void contactPointAddedCallback(hkpContactPointAddedEvent& event) override;
-    void contactPointRemovedCallback(hkpContactPointRemovedEvent& event) override;
-    void contactProcessCallback(hkpContactProcessEvent& event) override;
-
-    virtual void m10();
-    virtual void m11() {}
-    virtual void handleCollisionAdded(const hkpCollisionEvent& event, RigidBody* bodyA,
-                                      RigidBody* bodyB);
-    virtual void m13();
-    virtual void m14();
-    virtual u32 m15() { return 0; }
+    void contactPointAddedCallback(hkpContactPointAddedEvent& event) override {}
+    void contactPointRemovedCallback(hkpContactPointRemovedEvent& event) override {}
+    void contactProcessCallback(hkpContactProcessEvent& event) override {}
 
 protected:
-    void handleCollisionRemoved(const hkpCollisionEvent& event, RigidBody* bodyA, RigidBody* bodyB);
+    virtual void characterControlContactPointCallback(u32 ignored_layers_a, u32 ignored_layers_b,
+                                                      RigidBody* body_a, RigidBody* body_b,
+                                                      ContactLayer layer_a, ContactLayer layer_b,
+                                                      const hkpContactPointEvent& event);
+
+    virtual void m11() {}
+
+    virtual void handleCollisionAdded(const hkpCollisionEvent& event, RigidBody* body_a,
+                                      RigidBody* body_b);
+
+    void handleCollisionRemoved(const hkpCollisionEvent& event, RigidBody* body_a,
+                                RigidBody* body_b);
+
+    virtual void manifoldContactPointCallback(const hkpContactPointEvent& event, RigidBody* body_a,
+                                              RigidBody* body_b);
+
+    virtual void regularContactPointCallback(const hkpContactPointEvent& event, RigidBody* body_a,
+                                             RigidBody* body_b, void* unk = nullptr);
+
+    virtual u32 m15() { return 0; }
 
 private:
     struct Unk1 {

src/KingSystem/Physics/System/physContactMgr.h

@@ -22,8 +22,10 @@ class Heap;
 
 namespace ksys::phys {
 
+struct ContactUnk1;
 enum class IsIndoorStage;
 class IRigidContactPoints;
+class RigidBody;
 class RigidContactPoints;
 class RigidContactPointsEx;
 
@@ -86,6 +88,15 @@ public:
     void registerContactPoints(IRigidContactPoints* points);
     void freeContactPoints(IRigidContactPoints* points);
 
+    // 0x0000007100fb3744
+    void x_17(void* unk, RigidBody* body_a, RigidBody* body_b);
+    // 0x0000007100fb37d4
+    void x_18(ContactUnk1* unk, RigidBody* body_a, RigidBody* body_b);
+    // 0x0000007100fb3854
+    void x_19(void* unk, RigidBody* body_a, RigidBody* body_b);
+    // 0x0000007100fb3938
+    void x_20(ContactUnk1* unk, RigidBody* body_a, RigidBody* body_b);
+
 private:
     void doLoadContactInfoTable(agl::utl::ResParameterArchive archive, ContactLayerType type,
                                 bool skip_params);

src/KingSystem/Physics/System/physInstanceSet.h

@@ -38,7 +38,7 @@ public:
     void enableCollisionMaybe_0(ContactLayer);
 };
 
-struct CollisionInfo {
+struct CollisionInfoBase {
     u8 filler[0x50];
     sead::SafeString mName;
 };
@@ -96,7 +96,7 @@ private:
     f32 mScale;
     u8 _34[0x40 - 0x34];
     sead::PtrArray<RigidBodySet> mRigidBodySets;
-    sead::PtrArray<CollisionInfo> mCollisionInfos;
+    sead::PtrArray<CollisionInfoBase> mCollisionInfos;
     sead::PtrArray<ContactInfo> mContactInfos;
 
     u8 _70[0x10];