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ksys/phys: Finish ModelBoneAccessor

This commit is contained in:
Léo Lam 2022-04-19 00:37:03 +02:00
parent a566e7eacc
commit 32add253b3
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GPG Key ID: 0DF30F9081000741
11 changed files with 251 additions and 41 deletions
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16
data/uking_functions.csv
View File

@ -93737,17 +93737,17 @@ Address,Quality,Size,Name
0x000000710122bbe0,O,000088,_ZN4ksys4phys17ModelBoneAccessorC1Ev
0x000000710122bc38,O,000148,_ZN4ksys4phys17ModelBoneAccessorD1Ev
0x000000710122bccc,O,000156,_ZN4ksys4phys17ModelBoneAccessorD0Ev
0x000000710122bd68,O,000608,_ZN4ksys4phys17ModelBoneAccessor4initEPK11hkaSkeletonPKN4gsys5ModelEPN4sead4HeapE
0x000000710122bfc8,O,000344,_ZN4ksys4phys17ModelBoneAccessor4initEPKN4gsys5ModelEiPN4sead4HeapEPNS1_15ModelBoneFilterE
0x000000710122bd68,O,000608,_ZN4ksys4phys17ModelBoneAccessor4initEPK11hkaSkeletonPN4gsys5ModelEPN4sead4HeapE
0x000000710122bfc8,O,000344,_ZN4ksys4phys17ModelBoneAccessor4initEPN4gsys5ModelEiPN4sead4HeapEPNS1_15ModelBoneFilterE
0x000000710122c120,O,000128,_ZN4ksys4phys17ModelBoneAccessor8finalizeEv
0x000000710122c1a0,U,000092,
0x000000710122c1fc,U,000088,
0x000000710122c254,U,001028,
0x000000710122c658,U,000984,
0x000000710122c1a0,O,000092,_ZNK4ksys4phys17ModelBoneAccessor13findBoneIndexERKN4gsys13BoneAccessKeyE
0x000000710122c1fc,O,000088,_ZNK4ksys4phys17ModelBoneAccessor11getBoneNameEi
0x000000710122c254,m,001028,_ZNK4ksys4phys17ModelBoneAccessor20copyModelPoseToHavokENS1_11EnableScaleE
0x000000710122c658,O,000984,_ZNK4ksys4phys17ModelBoneAccessor20copyHavokPoseToModelENS1_11EnableScaleE
0x000000710122ca30,O,000004,_ZN4ksys4phys6detail13ModelSkeleton9AllocatorD0Ev
0x000000710122ca34,O,000008,_ZN17hkMemoryAllocator20getExtendedInterfaceEv
0x000000710122ca3c,U,000716,
0x000000710122cd08,U,000088,
0x000000710122ca3c,O,000716,_ZN11hkaSkeletonD2Ev
0x000000710122cd08,O,000088,_ZN11hkaSkeletonD0Ev
0x000000710122cd60,O,000028,_ZN4ksys4phys12BoneAccessorC1Ev
0x000000710122cd7c,O,000020,_ZN4ksys4phys12BoneAccessorD1Ev
0x000000710122cd90,O,000052,_ZN4ksys4phys12BoneAccessorD0Ev

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5
lib/gsys/include/gsys/gsysModel.h
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@ -39,6 +39,11 @@ public:
sead::PtrArray<ModelInfo>& getUnits() { return mUnitAccess; }
const sead::PtrArray<ModelInfo>& getUnits() const { return mUnitAccess; }
const sead::Vector3f& getScale() const { return _88; }
void setBoneLocalMatrix(const BoneAccessKey& key, const sead::Matrix34f& matrix,
const sead::Vector3f& scale);
// For internal use.
void add_(IModelAccesssHandle* handle) const;
void remove_(IModelAccesssHandle* handle) const;

17
lib/gsys/include/gsys/gsysModelAccessKey.h
View File

@ -1,6 +1,7 @@
#pragma once
#include <container/seadListImpl.h>
#include <prim/seadBitUtil.h>
#include <prim/seadSafeString.h>
namespace gsys {
@ -36,6 +37,17 @@ struct BoneAccessKey {
bone_index = -1;
}
bool isValid() const { return model_unit_index != -1 && bone_index != -1; }
friend bool operator==(const BoneAccessKey& lhs, const BoneAccessKey& rhs) {
static_assert(sizeof(BoneAccessKey) == sizeof(u32));
return sead::BitUtil::bitCastPtr<u32>(&lhs) == sead::BitUtil::bitCastPtr<u32>(&rhs);
}
friend bool operator!=(const BoneAccessKey& lhs, const BoneAccessKey& rhs) {
return !operator==(lhs, rhs);
}
s16 model_unit_index{};
s16 bone_index{};
};
@ -48,6 +60,11 @@ public:
using IModelAccesssHandle::search;
bool search(const Model* p_model, const BoneAccessKey& key);
bool isValid() const { return mKey.isValid(); }
BoneAccessKey& getKey() { return mKey; }
const BoneAccessKey& getKey() const { return mKey; }
protected:
bool searchImpl_() override;
void removeImpl_() override;

2
lib/gsys/include/gsys/gsysModelUnit.h
View File

@ -73,7 +73,7 @@ public:
int bone_idx);
virtual void setBoneLocalRTMatrix(const sead::Matrix34f& matrix, int bone_idx);
virtual void setBoneLocalScale(const sead::Vector3f& scale, int bone_idx);
virtual void getBoneLocalMatrix(sead::Matrix34f* matrix, sead::Vector3f* pos,
virtual void getBoneLocalMatrix(sead::Matrix34f* matrix, sead::Vector3f* scale,
int bone_idx) const;
virtual void setBoneWorldMatrix(const sead::Matrix34f& matrix, int bone_idx);
virtual void getBoneWorldMatrix(sead::Matrix34f* matrix, int bone_idx) const;

7
lib/hkStubs/Havok/Common/Base/Math/QsTransform/hkQsTransformf.h
View File

@ -36,6 +36,11 @@ public:
void setFromTransform(const hkQTransformf& qt);
void copyToTransform(hkTransformf& transformOut) const;
HK_FORCE_INLINE void set(hkVector4fParameter translation, hkQuaternionfParameter rotation,
hkVector4fParameter scale);
HK_FORCE_INLINE void set(hkVector4fParameter translation, hkQuaternionfParameter rotation);
HK_FORCE_INLINE void setInverse(const hkQsTransformf& t);
HK_FORCE_INLINE void setMul(const hkQsTransformf& t1, const hkQsTransformf& t2);
@ -51,6 +56,8 @@ public:
/// this *= b
HK_FORCE_INLINE void setMulEq(const hkQsTransformf& b);
void fastRenormalize();
hkVector4f m_translation;
hkQuaternionf m_rotation;
hkVector4f m_scale;

17
lib/hkStubs/Havok/Common/Base/Math/QsTransform/hkQsTransformf.inl
View File

@ -48,6 +48,19 @@ inline void hkQsTransformf::setZero() {
m_scale.setZero();
}
inline void hkQsTransformf::set(hkVector4fParameter translation, hkQuaternionfParameter rotation,
hkVector4fParameter scale) {
m_translation = translation;
m_rotation = rotation;
m_scale = scale;
}
inline void hkQsTransformf::set(hkVector4fParameter translation, hkQuaternionfParameter rotation) {
m_translation = translation;
m_rotation = rotation;
m_scale = hkVector4f::getConstant<HK_QUADREAL_1>();
}
inline void hkQsTransformf::setInverse(const hkQsTransformf& t) {
m_translation.setRotatedInverseDir(t.m_rotation, t.m_translation);
m_translation.setNeg<4>(m_translation);
@ -82,3 +95,7 @@ inline void hkQsTransformf::setMulMulInverse(const hkQsTransformf& t1, const hkQ
inline void hkQsTransformf::setMulEq(const hkQsTransformf& b) {
setMul(*this, b);
}
inline void hkQsTransformf::fastRenormalize() {
m_rotation.normalize();
}

142
src/KingSystem/Physics/Rig/physModelBoneAccessor.cpp
View File

@ -1,4 +1,5 @@
#include "KingSystem/Physics/Rig/physModelBoneAccessor.h"
#include <Havok/Animation/Animation/Rig/hkaPose.h>
#include <Havok/Animation/Animation/Rig/hkaSkeleton.h>
#include <Havok/Common/Base/Memory/Allocator/Malloc/hkMallocAllocator.h>
#include <gsys/gsysModel.h>
@ -8,6 +9,8 @@
#include <nn/g3d/ResSkeleton.h>
#include <nn/g3d/SkeletonObj.h>
#include <type_traits>
#include "KingSystem/Physics/physConversions.h"
#include "KingSystem/Utils/MathUtil.h"
#include "KingSystem/Utils/SafeDelete.h"
#include "KingSystem/Utils/Types.h"
@ -160,14 +163,16 @@ bool ModelSkeleton::constructFromModel(ModelBoneAccessor::ModelBoneFilter* bone_
} // namespace detail
static int sModelBoneAccessorUnkMode;
static bool sModelBoneAccessorUnkFlag;
ModelBoneAccessor::ModelBoneAccessor() = default;
ModelBoneAccessor::~ModelBoneAccessor() {
ModelBoneAccessor::finalize();
}
bool ModelBoneAccessor::init(const hkaSkeleton* skeleton, const gsys::Model* model,
sead::Heap* heap) {
bool ModelBoneAccessor::init(const hkaSkeleton* skeleton, gsys::Model* model, sead::Heap* heap) {
if (!skeleton || !model)
return false;
@ -194,7 +199,7 @@ bool ModelBoneAccessor::init(const hkaSkeleton* skeleton, const gsys::Model* mod
return true;
}
bool ModelBoneAccessor::init(const gsys::Model* model, int model_unit_index, sead::Heap* heap,
bool ModelBoneAccessor::init(gsys::Model* model, int model_unit_index, sead::Heap* heap,
ModelBoneAccessor::ModelBoneFilter* bone_filter) {
if (!model)
return false;
@ -228,4 +233,135 @@ void ModelBoneAccessor::finalize() {
util::safeDelete(mModelSkeleton);
}
int ModelBoneAccessor::findBoneIndex(const gsys::BoneAccessKey& key) const {
for (int i = 0, n = mBoneAccessKeys.size(); i < n; ++i) {
if (key == mBoneAccessKeys[i].key.getKey())
return i;
}
return -1;
}
const char* ModelBoneAccessor::getBoneName(int index) const {
if (index < 0 || index >= getSkeleton()->m_bones.getSize())
return nullptr;
return getSkeleton()->m_bones[index].m_name.cString();
}
// NON_MATCHING: two loop induction variables (bone_idx) swapped
void ModelBoneAccessor::copyModelPoseToHavok(EnableScale enable_scale) const {
auto& hk_bones = getPose()->accessUnsyncedPoseLocalSpace();
switch (getUnkMode()) {
case 2:
enable_scale = EnableScale::Yes;
break;
case 1:
enable_scale = EnableScale::No;
break;
}
for (int bone_idx = 0, n = mBoneAccessKeys.getSize(); bone_idx < n; ++bone_idx) {
if (!mBoneAccessKeys[bone_idx].key.isValid())
continue;
if (!mBoneAccessKeys[bone_idx]._38)
continue;
const auto key = mBoneAccessKeys[bone_idx].key.getKey();
auto* unit = getModelUnit(bone_idx);
sead::Vector3f scale;
sead::Matrix34f transform;
unit->getBoneLocalMatrix(&transform, &scale, key.bone_index);
if (util::isMatrixInvalid(transform))
continue;
if ((!bool(enable_scale) || getUnkFlag()) &&
!scale.equals(sead::Vector3f::ones, sead::Mathf::epsilon())) {
if (getUnkFlag()) {
// leftover debug code
static_cast<void>(getModelUnit(bone_idx)->getName().include("Link"));
}
if (!bool(enable_scale))
scale = {1, 1, 1};
}
toHkQsTransform(&hk_bones[bone_idx], transform,
bone_idx == 0 ? sead::Vector3f::ones : scale);
if (mModel->getScale().x != 1)
hk_bones[bone_idx].m_translation.mul(mModel->getScale().x);
}
}
void ModelBoneAccessor::copyHavokPoseToModel(EnableScale enable_scale) const {
const auto& hk_bones = getPoseInternal()->getSyncedPoseLocalSpace();
bool not_first_bone = false;
for (int bone_idx = 0, n = mBoneAccessKeys.getSize(); bone_idx < n; ++bone_idx) {
if (!mBoneAccessKeys[bone_idx]._39)
continue;
if (!mBoneAccessKeys[bone_idx].key.isValid())
continue;
sead::Vector3f translate;
translate = sead::Vector3f::zero;
if (!not_first_bone)
translate += mTranslate;
hkTransform hk_transform;
const_cast<hkQsTransformf&>(hk_bones[bone_idx]).fastRenormalize();
hk_bones[bone_idx].copyToTransform(hk_transform);
sead::Vector3f scale = toVec3(hk_bones[bone_idx].getScale());
sead::Matrix34f transform;
for (int i = 0; i < 3; ++i) {
for (int j = 0; j < 3; ++j) {
transform(i, j) = hk_transform.getRotation().getColumn(j)(i);
}
transform(i, 3) = translate.e[i] + hk_transform.getTranslation()(i);
}
const float model_scale = mModel->getScale().x;
if (model_scale != 1 && model_scale > 0) {
for (int i = 0; i < 3; ++i)
transform(i, 3) *= 1 / model_scale;
}
if (!util::isMatrixInvalid(transform)) {
if ((!bool(enable_scale) || getUnkFlag()) &&
!scale.equals(sead::Vector3f::ones, sead::Mathf::epsilon())) {
if (getUnkFlag()) {
// leftover debug code
static_cast<void>(getModelUnit(bone_idx)->getName().include("Link"));
}
if (!bool(enable_scale))
scale = {1, 1, 1};
}
mModel->setBoneLocalMatrix(mBoneAccessKeys[bone_idx].key.getKey(), transform, scale);
}
not_first_bone = true;
}
}
int& ModelBoneAccessor::getUnkMode() {
return sModelBoneAccessorUnkMode;
}
bool& ModelBoneAccessor::getUnkFlag() {
return sModelBoneAccessorUnkFlag;
}
gsys::ModelUnit* ModelBoneAccessor::getModelUnit(int bone_idx) const {
const auto key = mBoneAccessKeys[bone_idx].key.getKey();
return mModel->getUnits()[key.model_unit_index]->mModelUnit;
}
} // namespace ksys::phys

21
src/KingSystem/Physics/Rig/physModelBoneAccessor.h
View File

@ -19,6 +19,8 @@ class ModelSkeleton;
class ModelBoneAccessor : public BoneAccessor {
public:
enum class EnableScale : bool { Yes = true, No = false };
class ModelBoneFilter {
public:
using BoneBitSet = sead::LongBitFlag<1024>;
@ -30,13 +32,22 @@ public:
ModelBoneAccessor();
~ModelBoneAccessor() override;
bool init(const hkaSkeleton* skeleton, const gsys::Model* model, sead::Heap* heap);
bool init(const hkaSkeleton* skeleton, gsys::Model* model, sead::Heap* heap);
bool init(const gsys::Model* model, int model_unit_index, sead::Heap* heap,
bool init(gsys::Model* model, int model_unit_index, sead::Heap* heap,
ModelBoneFilter* bone_filter);
void finalize() override;
int findBoneIndex(const gsys::BoneAccessKey& key) const;
const char* getBoneName(int index) const;
void copyModelPoseToHavok(EnableScale enable_scale) const;
void copyHavokPoseToModel(EnableScale enable_scale) const;
static int& getUnkMode();
static bool& getUnkFlag();
protected:
struct BoneAccessKey {
gsys::BoneAccessKeyEx key;
@ -44,9 +55,11 @@ protected:
bool _39;
};
const gsys::Model* mModel{};
gsys::ModelUnit* getModelUnit(int bone_idx) const;
gsys::Model* mModel{};
sead::Buffer<BoneAccessKey> mBoneAccessKeys;
sead::Vector3f _38 = sead::Vector3f::zero;
sead::Vector3f mTranslate = sead::Vector3f::zero;
detail::ModelSkeleton* mModelSkeleton{};
};

33
src/KingSystem/Physics/RigidBody/physRigidBody.cpp
View File

@ -23,27 +23,12 @@
#include "KingSystem/Physics/System/physSystem.h"
#include "KingSystem/Physics/System/physUserTag.h"
#include "KingSystem/Physics/physConversions.h"
#include "KingSystem/Utils/MathUtil.h"
namespace ksys::phys {
constexpr float MinInertia = 0.001;
static bool isVectorInvalid(const sead::Vector3f& vec) {
for (int i = 0; i < 3; ++i) {
if (std::isnan(vec.e[i]))
return true;
}
return false;
}
static bool isMatrixInvalid(const sead::Matrix34f& matrix) {
for (float x : matrix.a) {
if (std::isnan(x))
return true;
}
return false;
}
RigidBody::RigidBody(Type type, ContactLayerType layer_type, hkpRigidBody* hk_body,
const sead::SafeString& name, sead::Heap* heap, bool set_flag_10)
: mCS(heap), mHkBody(hk_body), mRigidBodyAccessor(hk_body), mType(type) {
@ -851,7 +836,7 @@ void RigidBody::setColor(const sead::Color4f& color, const void* a, bool b) {
}
void RigidBody::setPosition(const sead::Vector3f& position, bool propagate_to_linked_motions) {
if (isVectorInvalid(position)) {
if (util::isVectorInvalid(position)) {
onInvalidParameter();
return;
}
@ -904,7 +889,7 @@ sead::Matrix34f RigidBody::getTransform() const {
}
void RigidBody::setTransform(const sead::Matrix34f& mtx, bool propagate_to_linked_motions) {
if (isMatrixInvalid(mtx)) {
if (util::isMatrixInvalid(mtx)) {
onInvalidParameter();
return;
}
@ -1051,7 +1036,7 @@ void RigidBody::triggerScheduledMotionTypeChange() {
}
bool RigidBody::setLinearVelocity(const sead::Vector3f& velocity, float epsilon) {
if (isVectorInvalid(velocity)) {
if (util::isVectorInvalid(velocity)) {
onInvalidParameter();
return false;
}
@ -1078,7 +1063,7 @@ sead::Vector3f RigidBody::getLinearVelocity() const {
}
bool RigidBody::setAngularVelocity(const sead::Vector3f& velocity, float epsilon) {
if (isVectorInvalid(velocity)) {
if (util::isVectorInvalid(velocity)) {
onInvalidParameter();
return false;
}
@ -1347,7 +1332,7 @@ void RigidBody::applyLinearImpulse(const sead::Vector3f& impulse) {
if (hasFlag(Flag::_400) || hasFlag(Flag::_40))
return;
if (isVectorInvalid(impulse)) {
if (util::isVectorInvalid(impulse)) {
onInvalidParameter();
return;
}
@ -1363,7 +1348,7 @@ void RigidBody::applyAngularImpulse(const sead::Vector3f& impulse) {
if (hasFlag(Flag::_400) || hasFlag(Flag::_40))
return;
if (isVectorInvalid(impulse)) {
if (util::isVectorInvalid(impulse)) {
onInvalidParameter();
return;
}
@ -1379,12 +1364,12 @@ void RigidBody::applyPointImpulse(const sead::Vector3f& impulse, const sead::Vec
if (hasFlag(Flag::_400) || hasFlag(Flag::_40))
return;
if (isVectorInvalid(impulse)) {
if (util::isVectorInvalid(impulse)) {
onInvalidParameter();
return;
}
if (isVectorInvalid(point)) {
if (util::isVectorInvalid(point)) {
onInvalidParameter();
return;
}

14
src/KingSystem/Physics/physConversions.h
View File

@ -74,7 +74,7 @@ inline void toMtx34(sead::Matrix34f* out, const hkTransformf& transform) {
mtx[2].store<4>(out->m[2]);
}
inline void toHkTransform(hkTransformf* out, const sead::Matrix34f& mtx) {
inline void toHkTransform(hkTransform* out, const sead::Matrix34f& mtx) {
sead::Quatf rotate;
mtx.toQuat(rotate);
rotate.normalize();
@ -85,6 +85,18 @@ inline void toHkTransform(hkTransformf* out, const sead::Matrix34f& mtx) {
out->set(toHkQuat(rotate), toHkVec4(translate));
}
inline void toHkQsTransform(hkQsTransform* out, const sead::Matrix34f& mtx,
const sead::Vector3f& scale) {
sead::Quatf rotate;
mtx.toQuat(rotate);
rotate.normalize();
sead::Vector3f translate;
mtx.getTranslation(translate);
out->set(toHkVec4(translate), toHkQuat(rotate), toHkVec4(scale));
}
// Consider using toMtx34 if you have an hkTransform and wish to set both rotation and translation.
inline void setMtxRotation(sead::Matrix34f* mtx, const hkRotationf& rotation) {
mtx->setBase(0, toVec3(rotation.getColumn(0)));

18
src/KingSystem/Utils/MathUtil.h
View File

@ -1,6 +1,8 @@
#pragma once
#include <cmath>
#include <math/seadMathCalcCommon.h>
#include <math/seadMatrix.h>
#include <math/seadVector.h>
namespace ksys::util {
@ -38,4 +40,20 @@ inline sead::Vector3f lerp(const sead::Vector3f& a, const sead::Vector3f& b, flo
return result;
}
inline bool isVectorInvalid(const sead::Vector3f& vec) {
for (int i = 0; i < 3; ++i) {
if (std::isnan(vec.e[i]))
return true;
}
return false;
}
inline bool isMatrixInvalid(const sead::Matrix34f& matrix) {
for (float x : matrix.a) {
if (std::isnan(x))
return true;
}
return false;
}
} // namespace ksys::util