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ksys/phys: Add a bunch of easy RigidBody functions

This commit is contained in:
Léo Lam 2022-01-17 12:12:51 +01:00
parent ab71075dee
commit 392c0973c7
No known key found for this signature in database
GPG Key ID: 0DF30F9081000741
10 changed files with 443 additions and 74 deletions
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86
data/uking_functions.csv
View File

@ -2339,7 +2339,7 @@ Address,Quality,Size,Name
0x000000710007a6fc,U,000012,Motorcycle::x_6
0x000000710007a708,U,000068,Motorcycle::x_4
0x000000710007a74c,U,000076,
0x000000710007a798,U,000180,_ZN3agl3utl20ParameterDirection3f28listenPropertyEventParameterEPN4sead6hostio10ReflexibleEPKNS3_13PropertyEventE
0x000000710007a798,U,000180,
0x000000710007a84c,U,000064,Motorcycle::setLeftStickX
0x000000710007a88c,U,000064,Motorcycle::setAccelMaybe
0x000000710007a8cc,U,000008,Motorcycle::setLeftStickY
@ -2352,14 +2352,14 @@ Address,Quality,Size,Name
0x000000710007a9c8,U,000172,Motorcycle::speedStuff
0x000000710007aa74,U,000044,Motorcycle::x_8
0x000000710007aaa0,U,000220,
0x000000710007ab7c,U,000040,_ZNK3aal11Sound2DPlot33calcRollOffCurveHalfValueDistanceERKNS_12RollOffCurveE
0x000000710007ab7c,U,000040,
0x000000710007aba4,U,000032,
0x000000710007abc4,U,000712,Motorcycle::speedStuff_0
0x000000710007ae8c,U,000676,Motorcycle::x_21
0x000000710007b130,U,001172,
0x000000710007b5c4,U,000200,
0x000000710007b68c,U,000008,Motorcycle::x_1
0x000000710007b694,U,000356,_ZN3aal15SoundController10initializeEPN4sead4HeapE
0x000000710007b694,U,000356,
0x000000710007b7f8,U,001172,
0x000000710007bc8c,U,000772,
0x000000710007bf90,U,000124,Motorcycle::speedStuff_1
@ -82977,22 +82977,22 @@ Address,Quality,Size,Name
0x0000007100f8d210,O,000012,_ZNK4ksys4phys9RigidBody16isMotionFlag2SetEv
0x0000007100f8d21c,O,000236,_ZN4ksys4phys9RigidBody14sub_7100F8D21CEv
0x0000007100f8d308,U,000888,phys::RigidBody::x_6
0x0000007100f8d680,U,000140,phys::RigidBody::getMotionAccessorType1
0x0000007100f8d70c,U,000156,phys::RigidBody::getMotionAccessorType2
0x0000007100f8d7a8,U,000152,phys::RigidBody::motionAccessorType2Stuff2
0x0000007100f8d680,O,000140,_ZNK4ksys4phys9RigidBody17getMotionAccessorEv
0x0000007100f8d70c,O,000156,_ZNK4ksys4phys9RigidBody18getLinkedRigidBodyEv
0x0000007100f8d7a8,O,000152,_ZNK4ksys4phys9RigidBody20resetLinkedRigidBodyEv
0x0000007100f8d840,U,001156,phys::RigidBody::x_8
0x0000007100f8dcc4,O,000056,_ZNK4ksys4phys9RigidBody13getMotionTypeEv
0x0000007100f8dcfc,U,001044,phys::RigidBody::x_9
0x0000007100f8e110,U,000748,phys::RigidBody::x_10
0x0000007100f8e3fc,U,000816,phys::RigidBody::x_11
0x0000007100f8e72c,U,000136,phys::RigidBody::x_12
0x0000007100f8e7b4,U,000052,RigidBody::registerContactPoints
0x0000007100f8e7b4,O,000052,_ZN4ksys4phys9RigidBody16setContactPointsEPNS0_18RigidContactPointsE
0x0000007100f8e7e8,U,000724,phys::RigidBody::x_13
0x0000007100f8e8f0,U,000460,phys::RigidBody::x_14
0x0000007100f8eabc,U,000384,phys::RigidBody::x_15
0x0000007100f8ec3c,U,000312,RigidBody::setLinearVelocity
0x0000007100f8ed74,U,000196,RigidBody::setAngularVelocity
0x0000007100f8ee38,U,000024,phys::RigidBody::x_16
0x0000007100f8ec3c,O,000312,_ZN4ksys4phys9RigidBody17setLinearVelocityERKN4sead7Vector3IfEEf
0x0000007100f8ed74,O,000196,_ZN4ksys4phys9RigidBody18setAngularVelocityERKN4sead7Vector3IfEEf
0x0000007100f8ee38,O,000024,_ZN4ksys4phys9RigidBody16resetFrozenStateEv
0x0000007100f8ee50,U,000048,phys::RigidBody::x_17
0x0000007100f8ee80,U,000384,phys::RigidBody::x_2
0x0000007100f8f000,U,000012,phys::RigidBody::x_18
@ -83026,25 +83026,25 @@ Address,Quality,Size,Name
0x0000007100f8fd34,U,000012,phys::RigidBody::x_36
0x0000007100f8fd40,U,000124,phys::RigidBody::x_37
0x0000007100f8fdbc,U,000328,phys::RigidBody::x_38
0x0000007100f8ff04,U,000032,phys::RigidBody::x_39_suspendMaybe
0x0000007100f8ff24,U,000076,phys::RigidBody::getPosition
0x0000007100f8ff70,U,000032,phys::RigidBody::getRotation
0x0000007100f8ff90,U,000076,phys::RigidBody::getRotation_0
0x0000007100f8ffdc,U,000112,phys::RigidBody::getPositionAndRotation
0x0000007100f9004c,U,000032,phys::RigidBody::getTransform
0x0000007100f9006c,U,000040,phys::RigidBody::getTransform_0
0x0000007100f8ff04,O,000032,_ZNK4ksys4phys9RigidBody11getPositionEPN4sead7Vector3IfEE
0x0000007100f8ff24,O,000076,_ZNK4ksys4phys9RigidBody11getPositionEv
0x0000007100f8ff70,O,000032,_ZNK4ksys4phys9RigidBody11getRotationEPN4sead4QuatIfEE
0x0000007100f8ff90,O,000076,_ZNK4ksys4phys9RigidBody11getRotationEv
0x0000007100f8ffdc,O,000112,_ZNK4ksys4phys9RigidBody22getPositionAndRotationEPN4sead7Vector3IfEEPNS2_4QuatIfEE
0x0000007100f9004c,O,000032,_ZNK4ksys4phys9RigidBody12getTransformEPN4sead8Matrix34IfEE
0x0000007100f9006c,O,000040,_ZNK4ksys4phys9RigidBody12getTransformEv
0x0000007100f90094,U,000968,phys::RigidBody::x_3
0x0000007100f9045c,U,001132,phys::RigidBody::x_39
0x0000007100f908c8,U,001632,phys::RigidBody::x_40
0x0000007100f90f28,U,000140,phys::RigidBody::getMotionAccessorForProxy
0x0000007100f90f28,O,000140,_ZNK4ksys4phys9RigidBody25getMotionAccessorForProxyEv
0x0000007100f90fb4,U,000332,phys::RigidBody::x_41
0x0000007100f91100,U,000140,phys::RigidBody::x_42
0x0000007100f9118c,U,000032,phys::RigidBody::getLinearVelocity
0x0000007100f911ac,U,000076,phys::RigidBody::getLinearVelocity_0
0x0000007100f911f8,U,000032,phys::RigidBody::getAngularVelocity
0x0000007100f91218,U,000076,phys::RigidBody::getAngularVelocity_0
0x0000007100f91264,U,000276,phys::RigidBody::getLinearAndAngularVelocity
0x0000007100f91378,U,000040,phys::RigidBody::x_44
0x0000007100f9118c,O,000032,_ZNK4ksys4phys9RigidBody17getLinearVelocityEPN4sead7Vector3IfEE
0x0000007100f911ac,O,000076,_ZNK4ksys4phys9RigidBody17getLinearVelocityEv
0x0000007100f911f8,O,000032,_ZNK4ksys4phys9RigidBody18getAngularVelocityEPN4sead7Vector3IfEE
0x0000007100f91218,O,000076,_ZNK4ksys4phys9RigidBody18getAngularVelocityEv
0x0000007100f91264,O,000276,_ZNK4ksys4phys9RigidBody16getPointVelocityEPN4sead7Vector3IfEERKS4_
0x0000007100f91378,O,000040,_ZNK4ksys4phys9RigidBody22getCenterOfMassInWorldEv
0x0000007100f913a0,U,000992,phys::RigidBody::x_45_moveToHomeMtxMaybe
0x0000007100f91780,U,000672,phys::RigidBody::x_46
0x0000007100f91a20,U,000580,phys::RigidBody::x_47
@ -83055,20 +83055,20 @@ Address,Quality,Size,Name
0x0000007100f92758,U,000528,phys::RigidBody::x_52
0x0000007100f92968,U,000524,phys::RigidBody::x_53
0x0000007100f92b74,U,000140,phys::RigidBody::x_54
0x0000007100f92c00,U,000128,phys::RigidBody::x_55
0x0000007100f92c80,U,000016,phys::RigidBody::x_56
0x0000007100f92c90,U,000052,phys::RigidBody::x_57
0x0000007100f92cc4,U,000272,phys::RigidBody::x_58
0x0000007100f92dd4,U,000124,phys::RigidBody::x_59
0x0000007100f92e50,U,000016,phys::RigidBody::x_60
0x0000007100f92e60,U,000124,phys::RigidBody::x_61
0x0000007100f92edc,U,000016,phys::RigidBody::x_62
0x0000007100f92eec,U,000348,phys::RigidBody::x_63
0x0000007100f93048,U,000348,phys::RigidBody::x_64
0x0000007100f931a4,U,000420,phys::RigidBody::x_65
0x0000007100f93348,U,000180,phys::RigidBody::x_66_setMass
0x0000007100f933fc,U,000156,phys::RigidBody::x_67_getMass
0x0000007100f93498,U,000156,phys::RigidBody::x_68
0x0000007100f92c00,O,000128,_ZN4ksys4phys9RigidBody22setCenterOfMassInLocalERKN4sead7Vector3IfEE
0x0000007100f92c80,O,000016,_ZNK4ksys4phys9RigidBody22getCenterOfMassInLocalEPN4sead7Vector3IfEE
0x0000007100f92c90,O,000052,_ZNK4ksys4phys9RigidBody22getCenterOfMassInLocalEv
0x0000007100f92cc4,O,000272,_ZNK4ksys4phys9RigidBody22getCenterOfMassInWorldEPN4sead7Vector3IfEE
0x0000007100f92dd4,O,000124,_ZN4ksys4phys9RigidBody20setMaxLinearVelocityEf
0x0000007100f92e50,O,000016,_ZNK4ksys4phys9RigidBody20getMaxLinearVelocityEv
0x0000007100f92e60,O,000124,_ZN4ksys4phys9RigidBody21setMaxAngularVelocityEf
0x0000007100f92edc,O,000016,_ZNK4ksys4phys9RigidBody21getMaxAngularVelocityEv
0x0000007100f92eec,O,000348,_ZN4ksys4phys9RigidBody18applyLinearImpulseERKN4sead7Vector3IfEE
0x0000007100f93048,O,000348,_ZN4ksys4phys9RigidBody19applyAngularImpulseERKN4sead7Vector3IfEE
0x0000007100f931a4,O,000420,_ZN4ksys4phys9RigidBody17applyPointImpulseERKN4sead7Vector3IfEES6_
0x0000007100f93348,O,000180,_ZN4ksys4phys9RigidBody7setMassEf
0x0000007100f933fc,O,000156,_ZNK4ksys4phys9RigidBody7getMassEv
0x0000007100f93498,O,000156,_ZNK4ksys4phys9RigidBody10getMassInvEv
0x0000007100f93534,U,000168,phys::RigidBody::x_69_setInertiaLocal
0x0000007100f935dc,U,000176,phys::RigidBody::x_70
0x0000007100f9368c,U,000196,phys::RigidBody::x_71_getInertia
@ -83132,8 +83132,8 @@ Address,Quality,Size,Name
0x0000007100f96700,U,000068,phys::RigidBody::m5
0x0000007100f96744,U,000176,phys::RigidBody::x_118
0x0000007100f967f4,U,000428,phys::RigidBody::x_119
0x0000007100f969a0,U,000072,phys::RigidBody::lock
0x0000007100f969e8,U,000088,phys::RigidBody::unlock
0x0000007100f969a0,O,000072,_ZN4ksys4phys9RigidBody4lockEb
0x0000007100f969e8,O,000088,_ZN4ksys4phys9RigidBody6unlockEb
0x0000007100f96a40,O,000012,_ZNK4ksys4phys9RigidBody9getMotionEv
0x0000007100f96a4c,U,000076,phys::RigidBody::x_123
0x0000007100f96a98,U,000188,phys::RigidBody::x_124
@ -83474,7 +83474,7 @@ Address,Quality,Size,Name
0x0000007100fa7ca4,U,001800,phys::RigidBodyRequestMgr::x_12
0x0000007100fa83ac,U,000560,phys::RigidBodyRequestMgr::x_13
0x0000007100fa85dc,U,001548,
0x0000007100fa8be8,U,000072,
0x0000007100fa8be8,O,000072,_ZN4ksys4phys19RigidBodyRequestMgr6Config23isLinearVelocityTooHighERKN4sead7Vector3IfEE
0x0000007100fa8c30,U,000004,j_phys::RigidBodyRequestMgr::x_11
0x0000007100fa8c34,U,000008,
0x0000007100fa8c3c,U,000008,
@ -83494,8 +83494,8 @@ Address,Quality,Size,Name
0x0000007100fa8ea4,U,000180,phys::RigidBodyGroup::x_7
0x0000007100fa8f58,U,000072,phys::RigidBodyGroup::x_8
0x0000007100fa8fa0,U,000080,phys::RigidBodyGroup::x_9
0x0000007100fa8ff0,U,000056,_ZN4gsys15SnapshotTexture14requestDrawAllEv
0x0000007100fa9028,U,000056,_ZNK3agl4lght11LightMapMgr9updateGPUEv
0x0000007100fa8ff0,U,000056,
0x0000007100fa9028,U,000056,
0x0000007100fa9060,U,000084,phys::RigidBodyGroup::x_3
0x0000007100fa90b4,U,000328,phys::RigidBodyGroup::x_0
0x0000007100fa91fc,U,000308,phys::RigidBodyGroup::x_1

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

2
lib/sead

@ -1 +1 @@
Subproject commit 571ffe5b5968d1b6fee06907390895518404ea3e
Subproject commit 6cdaef9d2dc1141e49e7fa98c47eea53345038a8

2
src/KingSystem/ActorSystem/actPhysicsUserTag.h
View File

@ -23,7 +23,7 @@ public:
void m4() override;
void m5() override;
const sead::SafeString& getName() const override;
void m7() override;
void m7(phys::RigidBody* rigid_body, int a) override;
const sead::SafeString& getName2() const override;
private:

303
src/KingSystem/Physics/RigidBody/physRigidBody.cpp
View File

@ -3,18 +3,28 @@
#include <Havok/Physics2012/Dynamics/Entity/hkpRigidBody.h>
#include <Havok/Physics2012/Dynamics/Motion/Rigid/hkpFixedRigidMotion.h>
#include <Havok/Physics2012/Dynamics/Motion/Rigid/hkpKeyframedRigidMotion.h>
#include <cmath>
#include "KingSystem/Physics/RigidBody/physMotionAccessor.h"
#include "KingSystem/Physics/RigidBody/physRigidBodyMotion.h"
#include "KingSystem/Physics/RigidBody/physRigidBodyMotionProxy.h"
#include "KingSystem/Physics/RigidBody/physRigidBodyParam.h"
#include "KingSystem/Physics/RigidBody/physRigidBodyRequestMgr.h"
#include "KingSystem/Physics/System/physMemSystem.h"
#include "KingSystem/Physics/System/physUserTag.h"
#include "KingSystem/Physics/physConversions.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;
}
RigidBody::RigidBody(Type type, u32 mass_scaling, hkpRigidBody* hk_body,
const sead::SafeString& name, sead::Heap* heap, bool a7)
: mCS(heap), mHkBody(hk_body), mRigidBodyAccessor(hk_body), mType(type) {
@ -204,6 +214,36 @@ void RigidBody::sub_7100F8D21C() {
}
}
RigidBodyMotion* RigidBody::getMotionAccessor() const {
return sead::DynamicCast<RigidBodyMotion>(mMotionAccessor);
}
RigidBodyMotion* RigidBody::getMotionAccessorForProxy() const {
return getMotionAccessor();
}
RigidBodyMotionProxy* RigidBody::getMotionProxy() const {
if (!isMassScaling())
return nullptr;
if (!mMotionAccessor)
return nullptr;
return sead::DynamicCast<RigidBodyMotionProxy>(mMotionAccessor);
}
RigidBody* RigidBody::getLinkedRigidBody() const {
auto* proxy = getMotionProxy();
if (!proxy)
return nullptr;
return proxy->getLinkedRigidBody();
}
void RigidBody::resetLinkedRigidBody() const {
auto* proxy = getMotionProxy();
if (!proxy)
return;
proxy->resetLinkedRigidBody();
}
MotionType RigidBody::getMotionType() const {
if (mMotionFlags.isOn(MotionFlag::Dynamic))
return MotionType::Dynamic;
@ -214,6 +254,17 @@ MotionType RigidBody::getMotionType() const {
return mRigidBodyAccessor.getMotionType();
}
void RigidBody::setContactPoints(RigidContactPoints* points) {
mContactPoints = points;
if (isFlag8Set() && mContactPoints && !mContactPoints->isLinked())
MemSystem::instance()->registerContactPoints(points);
}
void RigidBody::resetFrozenState() {
if (mMotionAccessor)
mMotionAccessor->resetFrozenState();
}
void RigidBody::setContactMask(u32 value) {
mContactMask.setDirect(value);
}
@ -226,8 +277,260 @@ void RigidBody::setContactNone() {
mContactMask.makeAllZero();
}
void RigidBody::getPosition(sead::Vector3f* position) const {
if (mMotionAccessor)
mMotionAccessor->getPosition(position);
else
mRigidBodyAccessor.getPosition(position);
}
sead::Vector3f RigidBody::getPosition() const {
sead::Vector3f position;
getPosition(&position);
return position;
}
void RigidBody::getRotation(sead::Quatf* rotation) const {
if (mMotionAccessor)
mMotionAccessor->getRotation(rotation);
else
mRigidBodyAccessor.getRotation(rotation);
}
sead::Quatf RigidBody::getRotation() const {
sead::Quatf rotation;
getRotation(&rotation);
return rotation;
}
void RigidBody::getPositionAndRotation(sead::Vector3f* position, sead::Quatf* rotation) const {
getPosition(position);
getRotation(rotation);
}
void RigidBody::getTransform(sead::Matrix34f* mtx) const {
if (mMotionAccessor)
mMotionAccessor->getTransform(mtx);
else
mRigidBodyAccessor.getTransform(mtx);
}
sead::Matrix34f RigidBody::getTransform() const {
sead::Matrix34f transform;
getTransform(&transform);
return transform;
}
bool RigidBody::setLinearVelocity(const sead::Vector3f& velocity, float epsilon) {
if (isVectorInvalid(velocity)) {
onInvalidParameter();
return false;
}
if (!isMassScaling() && RigidBodyRequestMgr::Config::isLinearVelocityTooHigh(velocity)) {
onInvalidParameter(1);
return false;
}
return mMotionAccessor->setLinearVelocity(velocity, epsilon);
}
void RigidBody::getLinearVelocity(sead::Vector3f* velocity) const {
if (mMotionAccessor)
mMotionAccessor->getLinearVelocity(velocity);
else
mRigidBodyAccessor.getLinearVelocity(velocity);
}
sead::Vector3f RigidBody::getLinearVelocity() const {
sead::Vector3f v;
getLinearVelocity(&v);
return v;
}
bool RigidBody::setAngularVelocity(const sead::Vector3f& velocity, float epsilon) {
if (isVectorInvalid(velocity)) {
onInvalidParameter();
return false;
}
return mMotionAccessor->setAngularVelocity(velocity, epsilon);
}
void RigidBody::getAngularVelocity(sead::Vector3f* velocity) const {
if (mMotionAccessor)
mMotionAccessor->getAngularVelocity(velocity);
else
mRigidBodyAccessor.getAngularVelocity(velocity);
}
sead::Vector3f RigidBody::getAngularVelocity() const {
sead::Vector3f v;
getAngularVelocity(&v);
return v;
}
void RigidBody::getPointVelocity(sead::Vector3f* velocity, const sead::Vector3f& point) const {
const auto rel_pos = point - getCenterOfMassInWorld();
velocity->setCross(getAngularVelocity(), rel_pos);
velocity->add(getLinearVelocity());
}
void RigidBody::setCenterOfMassInLocal(const sead::Vector3f& center) {
sead::Vector3f current_center;
mMotionAccessor->getCenterOfMassInLocal(&current_center);
if (current_center != center)
mMotionAccessor->setCenterOfMassInLocal(center);
}
void RigidBody::getCenterOfMassInLocal(sead::Vector3f* center) const {
mMotionAccessor->getCenterOfMassInLocal(center);
}
sead::Vector3f RigidBody::getCenterOfMassInLocal() const {
sead::Vector3f center;
getCenterOfMassInLocal(&center);
return center;
}
void RigidBody::getCenterOfMassInWorld(sead::Vector3f* center) const {
if (mMotionFlags.isAnyOn({MotionFlag::DirtyCenterOfMassLocal, MotionFlag::DirtyTransform})) {
sead::Vector3f local_center;
getCenterOfMassInLocal(&local_center);
sead::Matrix34f transform;
getTransform(&transform);
center->setMul(transform, local_center);
} else {
auto hk_center = getMotion()->getCenterOfMassInWorld();
storeToVec3(center, hk_center);
}
}
sead::Vector3f RigidBody::getCenterOfMassInWorld() const {
sead::Vector3f center;
getCenterOfMassInWorld(&center);
return center;
}
void RigidBody::setMaxLinearVelocity(float max) {
if (!sead::Mathf::equalsEpsilon(max, getMaxLinearVelocity()))
mMotionAccessor->setMaxLinearVelocity(max);
}
float RigidBody::getMaxLinearVelocity() const {
return mMotionAccessor->getMaxLinearVelocity();
}
void RigidBody::setMaxAngularVelocity(float max) {
if (!sead::Mathf::equalsEpsilon(max, getMaxAngularVelocity()))
mMotionAccessor->setMaxAngularVelocity(max);
}
float RigidBody::getMaxAngularVelocity() const {
return mMotionAccessor->getMaxAngularVelocity();
}
void RigidBody::applyLinearImpulse(const sead::Vector3f& impulse) {
if (MemSystem::instance()->isPaused())
return;
if (hasFlag(Flag::_400) || hasFlag(Flag::_40))
return;
if (isVectorInvalid(impulse)) {
onInvalidParameter();
return;
}
if (!isMassScaling())
getMotionAccessor()->applyLinearImpulse(impulse);
}
void RigidBody::applyAngularImpulse(const sead::Vector3f& impulse) {
if (MemSystem::instance()->isPaused())
return;
if (hasFlag(Flag::_400) || hasFlag(Flag::_40))
return;
if (isVectorInvalid(impulse)) {
onInvalidParameter();
return;
}
if (!isMassScaling())
getMotionAccessor()->applyAngularImpulse(impulse);
}
void RigidBody::applyPointImpulse(const sead::Vector3f& impulse, const sead::Vector3f& point) {
if (MemSystem::instance()->isPaused())
return;
if (hasFlag(Flag::_400) || hasFlag(Flag::_40))
return;
if (isVectorInvalid(impulse)) {
onInvalidParameter();
return;
}
if (isVectorInvalid(point)) {
onInvalidParameter();
return;
}
if (!isMassScaling())
getMotionAccessor()->applyPointImpulse(impulse, point);
}
void RigidBody::setMass(float mass) {
if (isMassScaling())
return;
getMotionAccessor()->setMass(mass);
}
float RigidBody::getMass() const {
if (isMassScaling())
return 0.0;
return getMotionAccessor()->getMass();
}
float RigidBody::getMassInv() const {
if (isMassScaling())
return 0.0;
return getMotionAccessor()->getMassInv();
}
void RigidBody::lock(bool also_lock_world) {
if (also_lock_world)
MemSystem::instance()->lockWorld(getLayerType());
mCS.lock();
}
void RigidBody::unlock(bool also_unlock_world) {
mCS.unlock();
if (also_unlock_world)
MemSystem::instance()->unlockWorld(getLayerType());
}
hkpMotion* RigidBody::getMotion() const {
return getHkBody()->getMotion();
}
void RigidBody::onInvalidParameter(int code) {
sead::Vector3f pos, lin_vel, ang_vel;
mRigidBodyAccessor.getPosition(&pos);
mRigidBodyAccessor.getLinearVelocity(&lin_vel);
mRigidBodyAccessor.getAngularVelocity(&ang_vel);
// debug prints?
notifyUserTag(code);
}
void RigidBody::notifyUserTag(int code) {
if (mUserTag)
mUserTag->m7(this, code);
}
} // namespace ksys::phys

77
src/KingSystem/Physics/RigidBody/physRigidBody.h
View File

@ -22,6 +22,7 @@ namespace ksys::phys {
class MotionAccessor;
struct RigidBodyInstanceParam;
class RigidBodyMotion;
class RigidBodyMotionProxy;
class RigidContactPoints;
class UserTag;
@ -127,29 +128,28 @@ public:
// 0x0000007100f8cfa0
void x_0();
void setMotionFlag(MotionFlag);
bool isActive() const;
// 0x0000007100f8d1f8
bool isFlag8Set() const;
// 0x0000007100f8d204
bool isMotionFlag1Set() const;
// 0x0000007100f8d210
bool isMotionFlag2Set() const;
// 0x0000007100f8d21c
void sub_7100F8D21C();
// 0x0000007100f8d308
bool x_6();
// 0x0000007100f8d680
/// Get the motion accessor if it is a RigidBodyMotion. Returns nullptr otherwise.
RigidBodyMotion* getMotionAccessor() const;
// 0x0000007100f90f28 - for internal use
/// Get the motion accessor if it is a RigidBodyMotion. Returns nullptr otherwise.
/// For internal use by the physics system.
RigidBodyMotion* getMotionAccessorForProxy() const;
// 0x0000007100f8d70c
void* getMotionAccessorType2Stuff();
// 0x0000007100f8d7a8
void motionAccessorType2Stuff2();
/// Get the motion accessor if it is a RigidBodyMotionProxy. Returns nullptr otherwise.
RigidBodyMotionProxy* getMotionProxy() const;
/// Get the linked rigid body from the motion proxy (or nullptr if there is none).
RigidBody* getLinkedRigidBody() const;
/// Reset the linked rigid body if we have a motion proxy.
void resetLinkedRigidBody() const;
// 0x0000007100f8d840
void x_8();
@ -174,12 +174,8 @@ public:
void x_14(bool a, bool b, bool c);
// 0x0000007100f8eabc
void x_15(bool a, bool b);
// 0x0000007100f8ec3c
bool setLinearVelocityMaybe(const sead::Vector3f& velocity, float x);
// 0x0000007100f8ed74
bool setAngularVelocityMaybe(const sead::Vector3f& velocity, float x);
// 0x0000007100f8ee38
void x_16();
void resetFrozenState();
u32 addContactLayer(ContactLayer);
u32 removeContactLayer(ContactLayer);
@ -193,32 +189,52 @@ public:
void sub_7100F8F9E8(ReceiverMask*, void*);
void sub_7100F8FA44(ContactLayer, u32);
// 0x0000007100f9004c
void getPosition(sead::Vector3f* position) const;
sead::Vector3f getPosition() const;
void getRotation(sead::Quatf* rotation) const;
sead::Quatf getRotation() const;
void getPositionAndRotation(sead::Vector3f* position, sead::Quatf* rotation) const;
void getTransform(sead::Matrix34f* mtx) const;
sead::Matrix34f getTransform() const;
// 0x0000007100f8fb08
void setTransform(const sead::Matrix34f& mtx, bool propagate_to_linked_motions);
// 0x0000007100f8ec3c
bool setLinearVelocity(const sead::Vector3f& velocity, float epsilon = sead::Mathf::epsilon());
// 0x0000007100f9118c
void getLinearVelocity(sead::Vector3f* velocity) const;
// 0x0000007100f911ac
sead::Vector3f getLinearVelocity() const;
// 0x0000007100f8ed74
bool setAngularVelocity(const sead::Vector3f& velocity, float epsilon = sead::Mathf::epsilon());
// 0x0000007100f911f8
void getAngularVelocity(sead::Vector3f* velocity) const;
// 0x0000007100f91218
sead::Vector3f getAngularVelocity() const;
// 0x0000007100f91264
void getPointVelocity(sead::Vector3f* velocity, const sead::Vector3f& point) const;
// 0x0000007100f92b74
void computeVelocities(hkVector4f* linear_velocity, hkVector4f* angular_velocity,
const hkVector4f& position, const hkQuaternionf& rotation);
// 0x0000007100f93348
void setCenterOfMassInLocal(const sead::Vector3f& center);
void getCenterOfMassInLocal(sead::Vector3f* center) const;
sead::Vector3f getCenterOfMassInLocal() const;
void getCenterOfMassInWorld(sead::Vector3f* center) const;
sead::Vector3f getCenterOfMassInWorld() const;
void setMaxLinearVelocity(float max);
float getMaxLinearVelocity() const;
void setMaxAngularVelocity(float max);
float getMaxAngularVelocity() const;
void applyLinearImpulse(const sead::Vector3f& impulse);
void applyAngularImpulse(const sead::Vector3f& impulse);
void applyPointImpulse(const sead::Vector3f& impulse, const sead::Vector3f& point);
void setMass(float mass);
// 0x0000007100f933fc
float getMass() const;
// 0x0000007100f93498
float getMassInv() const;
@ -247,6 +263,7 @@ public:
bool hasFlag(Flag flag) const { return mFlags.isOn(flag); }
const auto& getMotionFlags() const { return mMotionFlags; }
void resetMotionFlagDirect(const MotionFlag flag) { mMotionFlags.reset(flag); }
void setMotionFlag(MotionFlag flag);
hkpRigidBody* getHkBody() const { return mHkBody; }
@ -280,7 +297,13 @@ public:
}
private:
ContactLayerType getLayerType() const {
return !isMassScaling() ? ContactLayerType::Entity : ContactLayerType::Sensor;
}
void createMotionAccessor(sead::Heap* heap);
void onInvalidParameter(int code = 0);
void notifyUserTag(int code);
sead::CriticalSection mCS;
sead::TypedBitFlag<Flag, sead::Atomic<u32>> mFlags{};
@ -288,7 +311,7 @@ private:
sead::BitFlag32 mContactMask{};
hkpRigidBody* mHkBody;
UserTag* mUserTag = nullptr;
void* _88 = nullptr;
RigidContactPoints* mContactPoints = nullptr;
void* _90 = nullptr;
u16 _98 = 0;
RigidBodyAccessor mRigidBodyAccessor;

18
src/KingSystem/Physics/RigidBody/physRigidBodyRequestMgr.cpp
View File

@ -4,6 +4,9 @@
namespace ksys::phys {
static RigidBodyRequestMgr::Config sRigidBodyRequestMgrConfig;
static bool sEnableLinearVelocityChecks;
RigidBodyRequestMgr::RigidBodyRequestMgr() = default;
RigidBodyRequestMgr::~RigidBodyRequestMgr() {
@ -103,4 +106,19 @@ bool RigidBodyRequestMgr::deregisterMotionAccessor(MotionAccessor* accessor) {
return true;
}
RigidBodyRequestMgr::Config& RigidBodyRequestMgr::Config::get() {
return sRigidBodyRequestMgrConfig;
}
bool RigidBodyRequestMgr::Config::isLinearVelocityTooHigh(const sead::Vector3f& velocity) {
if (!sEnableLinearVelocityChecks)
return false;
return velocity.squaredLength() > get().linear_velocity_threshold_sq;
}
void RigidBodyRequestMgr::Config::enableLinearVelocityChecks(bool enable) {
sEnableLinearVelocityChecks = enable;
}
} // namespace ksys::phys

18
src/KingSystem/Physics/RigidBody/physRigidBodyRequestMgr.h
View File

@ -20,6 +20,24 @@ class RigidBody;
class RigidBodyRequestMgr : public sead::hostio::Node {
public:
struct Config {
float _0 = 0.6;
float _4 = 0.7;
float _8 = 1.25;
float _c = 1.0;
float _10 = 0.2;
float _14 = 0.9;
float _18 = 0.5;
float _1c = 1.0;
float _20 = 4.0;
// 5000m/s (squared)
float linear_velocity_threshold_sq = 2.5e7;
static Config& get();
static bool isLinearVelocityTooHigh(const sead::Vector3f& velocity);
static void enableLinearVelocityChecks(bool enable);
};
RigidBodyRequestMgr();
virtual ~RigidBodyRequestMgr();

5
src/KingSystem/Physics/System/physMemSystem.h
View File

@ -36,6 +36,8 @@ public:
SystemData* getSystemData() const { return mSystemData; }
MaterialTable* getMaterialTable() const { return mMaterialTable; }
bool isPaused() const;
void initSystemData(sead::Heap* heap);
RigidContactPoints* allocContactPoints(sead::Heap* heap, int num, const sead::SafeString& name,
@ -51,6 +53,9 @@ public:
void removeSystemGroupHandler(SystemGroupHandler* handler);
void lockWorld(ContactLayerType type, void* a = nullptr, int b = 0, bool c = false);
void unlockWorld(ContactLayerType type, void* a = nullptr, int b = 0, bool c = false);
private:
u8 _28[0xa8 - 0x28];
sead::CriticalSection mCS;

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

@ -14,6 +14,6 @@ void UserTag::m4() {}
void UserTag::m5() {}
void UserTag::m7() {}
void UserTag::m7(RigidBody* rigid_body, int a) {}
} // namespace ksys::phys

4
src/KingSystem/Physics/System/physUserTag.h
View File

@ -6,6 +6,8 @@
namespace ksys::phys {
class RigidBody;
class UserTag {
SEAD_RTTI_BASE(UserTag)
public:
@ -18,7 +20,7 @@ public:
virtual void m4();
virtual void m5();
virtual const sead::SafeString& getName() const { return sead::SafeString::cEmptyString; }
virtual void m7();
virtual void m7(RigidBody* rigid_body, int a);
virtual const sead::SafeString& getName2() const { return sead::SafeString::cEmptyString; }
virtual ~UserTag() = default;
};