ksys/phys: Finish CapsuleShape and add CapsuleRigidBody

data/uking_functions.csv

@@ -83183,25 +83183,25 @@ Address,Quality,Size,Name
 0x0000007100f97834,O,000068,_ZN4ksys4phys17BoxWaterRigidBody17getCollisionMasksEPNS0_9RigidBody14CollisionMasksE
 0x0000007100f97878,O,000288,_ZNK4ksys4phys17BoxWaterRigidBody27checkDerivedRuntimeTypeInfoEPKN4sead15RuntimeTypeInfo9InterfaceE
 0x0000007100f97998,O,000092,_ZNK4ksys4phys17BoxWaterRigidBody18getRuntimeTypeInfoEv
-0x0000007100f979f4,U,000004,j__ZN4ksys4phys16RigidBodyFactory13createCapsuleEPNS0_18RigidBodyParamViewEPN4sead4HeapE
-0x0000007100f979f8,U,000084,
-0x0000007100f97a4c,U,000088,
-0x0000007100f97aa4,U,000088,
-0x0000007100f97afc,U,000096,
-0x0000007100f97b5c,U,000096,
-0x0000007100f97bbc,U,000056,
-0x0000007100f97bf4,U,000056,
-0x0000007100f97c2c,U,000008,
-0x0000007100f97c34,U,000008,
-0x0000007100f97c3c,U,000076,
-0x0000007100f97c88,U,000008,
-0x0000007100f97c90,U,000012,
-0x0000007100f97c9c,U,000016,
-0x0000007100f97cac,U,000008,
-0x0000007100f97cb4,U,000008,
-0x0000007100f97cbc,U,000068,
-0x0000007100f97d00,U,000288,
-0x0000007100f97e20,U,000092,
+0x0000007100f979f4,O,000004,_ZN4ksys4phys16CapsuleRigidBody4makeEPNS0_22RigidBodyInstanceParamEPN4sead4HeapE
+0x0000007100f979f8,O,000084,_ZN4ksys4phys16CapsuleRigidBodyC1EP12hkpRigidBodyPNS0_12CapsuleShapeENS0_16ContactLayerTypeERKN4sead14SafeStringBaseIcEEbPNS7_4HeapE
+0x0000007100f97a4c,O,000088,_ZN4ksys4phys16CapsuleRigidBodyD1Ev
+0x0000007100f97aa4,O,000088,_ZThn32_N4ksys4phys16CapsuleRigidBodyD1Ev
+0x0000007100f97afc,O,000096,_ZN4ksys4phys16CapsuleRigidBodyD0Ev
+0x0000007100f97b5c,O,000096,_ZThn32_N4ksys4phys16CapsuleRigidBodyD0Ev
+0x0000007100f97bbc,O,000056,_ZN4ksys4phys16CapsuleRigidBody9setRadiusEf
+0x0000007100f97bf4,O,000056,_ZN4ksys4phys16CapsuleRigidBody11setVerticesERKN4sead7Vector3IfEES6_
+0x0000007100f97c2c,O,000008,_ZNK4ksys4phys16CapsuleRigidBody9getRadiusEv
+0x0000007100f97c34,O,000008,_ZNK4ksys4phys16CapsuleRigidBody11getVerticesEPN4sead7Vector3IfEES5_
+0x0000007100f97c3c,O,000076,_ZN4ksys4phys16CapsuleRigidBody17transformVerticesEPN4sead7Vector3IfEES5_
+0x0000007100f97c88,O,000008,_ZN4ksys4phys16CapsuleRigidBody15setMaterialMaskERKNS0_12MaterialMaskE
+0x0000007100f97c90,O,000012,_ZNK4ksys4phys16CapsuleRigidBody15getMaterialMaskEv
+0x0000007100f97c9c,O,000016,_ZN4ksys4phys16CapsuleRigidBody9getVolumeEv
+0x0000007100f97cac,O,000008,_ZN4ksys4phys16CapsuleRigidBody9getShape_Ev
+0x0000007100f97cb4,O,000008,_ZNK4ksys4phys16CapsuleRigidBody9getShape_Ev
+0x0000007100f97cbc,O,000068,_ZN4ksys4phys16CapsuleRigidBody17getCollisionMasksEPNS0_9RigidBody14CollisionMasksE
+0x0000007100f97d00,O,000288,_ZNK4ksys4phys16CapsuleRigidBody27checkDerivedRuntimeTypeInfoEPKN4sead15RuntimeTypeInfo9InterfaceE
+0x0000007100f97e20,O,000092,_ZNK4ksys4phys16CapsuleRigidBody18getRuntimeTypeInfoEv
 0x0000007100f97e7c,U,000004,
 0x0000007100f97e80,U,000084,
 0x0000007100f97ed4,U,000088,
@@ -83585,11 +83585,11 @@ Address,Quality,Size,Name
 0x0000007100fab688,O,000276,_ZNK4ksys4phys15HavokPlaneShape7castRayERK20hkpShapeRayCastInputR21hkpShapeRayCastOutput
 0x0000007100fab79c,O,000008,_ZNK8hkpShape12getContainerEv
 0x0000007100fab7a4,O,000184,_ZNK4ksys4phys15HavokPlaneShape14collideSpheresERKN19hkpHeightFieldShape19CollideSpheresInputEP10hkVector4f
-0x0000007100fab85c,O,000332,_ZN4ksys4phys17CapsuleShapeParam11createShapeEPN4sead4HeapE
-0x0000007100fab9a8,O,000184,_ZN4ksys4phys12CapsuleShape5cloneEPN4sead4HeapE
+0x0000007100fab85c,O,000332,_ZN4ksys4phys12CapsuleShape4makeERKNS0_17CapsuleShapeParamEPN4sead4HeapE
+0x0000007100fab9a8,O,000184,_ZNK4ksys4phys12CapsuleShape5cloneEPN4sead4HeapE
 0x0000007100faba60,O,000008,_ZNK4ksys4phys12CapsuleShape9getRadiusEv
 0x0000007100faba68,O,000060,_ZNK4ksys4phys12CapsuleShape11getVerticesEPN4sead7Vector3IfEES5_
-0x0000007100fabaa4,U,000032,
+0x0000007100fabaa4,O,000032,_ZN4ksys4phys12CapsuleShape15setMaterialMaskERKNS0_12MaterialMaskE
 0x0000007100fabac4,O,000064,_ZN4ksys4phys12CapsuleShapeD1Ev
 0x0000007100fabb04,O,000072,_ZN4ksys4phys12CapsuleShapeD0Ev
 0x0000007100fabb4c,O,000060,_ZN4ksys4phys12CapsuleShape9setRadiusEf
@@ -83597,11 +83597,11 @@ Address,Quality,Size,Name
 0x0000007100fabc48,O,000140,_ZNK4ksys4phys12CapsuleShape9getVolumeEv
 0x0000007100fabcd4,O,000008,_ZN4ksys4phys12CapsuleShape13getHavokShapeEv
 0x0000007100fabcdc,O,000008,_ZNK4ksys4phys12CapsuleShape13getHavokShapeEv
-0x0000007100fabce4,U,000252,
-0x0000007100fabde0,U,000160,
-0x0000007100fabe80,O,000192,_ZN4ksys4phys12CapsuleShape14sub_7100FABE80EPN4sead7Vector3IfEES5_RK12hkTransformf
-0x0000007100fabf40,U,000204,
-0x0000007100fac00c,U,000092,
+0x0000007100fabce4,O,000252,_ZN4ksys4phys12CapsuleShape16updateHavokShapeEv
+0x0000007100fabde0,m,000160,_ZN4ksys4phys12CapsuleShape8setScaleEf
+0x0000007100fabe80,O,000192,_ZN4ksys4phys12CapsuleShape17transformVerticesEPN4sead7Vector3IfEES5_RK12hkTransformf
+0x0000007100fabf40,O,000204,_ZNK4ksys4phys12CapsuleShape27checkDerivedRuntimeTypeInfoEPKN4sead15RuntimeTypeInfo9InterfaceE
+0x0000007100fac00c,O,000092,_ZNK4ksys4phys12CapsuleShape18getRuntimeTypeInfoEv
 0x0000007100fac068,O,000008,_ZNK4ksys4phys12CapsuleShape7getTypeEv
 0x0000007100fac070,U,000420,
 0x0000007100fac214,U,000192,

src/KingSystem/Physics/CMakeLists.txt

@@ -48,6 +48,8 @@ target_sources(uking PRIVATE
   RigidBody/Shape/physBoxWaterRigidBody.h
   RigidBody/Shape/physBoxWaterShape.cpp
   RigidBody/Shape/physBoxWaterShape.h
+  RigidBody/Shape/physCapsuleRigidBody.cpp
+  RigidBody/Shape/physCapsuleRigidBody.h
   RigidBody/Shape/physCapsuleShape.cpp
   RigidBody/Shape/physCapsuleShape.h
   RigidBody/Shape/physCharacterPrismShape.cpp

src/KingSystem/Physics/RigidBody/Shape/physCapsuleRigidBody.cpp

@@ -0,0 +1,76 @@
+#include "KingSystem/Physics/RigidBody/Shape/physCapsuleRigidBody.h"
+#include <Havok/Physics2012/Dynamics/Entity/hkpRigidBody.h>
+#include "KingSystem/Physics/RigidBody/Shape/physCapsuleShape.h"
+#include "KingSystem/Physics/RigidBody/physRigidBodyFactory.h"
+#include "KingSystem/Utils/SafeDelete.h"
+
+namespace ksys::phys {
+
+CapsuleRigidBody* CapsuleRigidBody::make(RigidBodyInstanceParam* param, sead::Heap* heap) {
+    return RigidBodyFactory::createCapsule(param, heap);
+}
+
+CapsuleRigidBody::CapsuleRigidBody(hkpRigidBody* hk_body, CapsuleShape* shape,
+                                   ContactLayerType layer_type, const sead::SafeString& name,
+                                   bool set_flag_10, sead::Heap* heap)
+    : RigidBodyFromShape(hk_body, layer_type, name, set_flag_10, heap), mShape(shape) {}
+
+CapsuleRigidBody::~CapsuleRigidBody() {
+    if (hasFlag(RigidBody::Flag::_10) && mShape) {
+        util::safeDelete(mShape);
+    }
+}
+
+void CapsuleRigidBody::setRadius(float radius) {
+    if (mShape->setRadius(radius))
+        updateShape();
+}
+
+void CapsuleRigidBody::setVertices(const sead::Vector3f& va, const sead::Vector3f& vb) {
+    if (mShape->setVertices(va, vb))
+        updateShape();
+}
+
+float CapsuleRigidBody::getRadius() const {
+    return mShape->getRadius();
+}
+
+void CapsuleRigidBody::getVertices(sead::Vector3f* va, sead::Vector3f* vb) const {
+    mShape->getVertices(va, vb);
+}
+
+void CapsuleRigidBody::transformVertices(sead::Vector3f* va, sead::Vector3f* vb) {
+    lock();
+    const hkTransform& transform = getHkBody()->getMotion()->getTransform();
+    mShape->transformVertices(va, vb, transform);
+    unlock();
+}
+
+void CapsuleRigidBody::setMaterialMask(const MaterialMask& mask) {
+    mShape->setMaterialMask(mask);
+}
+
+const MaterialMask& CapsuleRigidBody::getMaterialMask() const {
+    return mShape->material_mask;
+}
+
+float CapsuleRigidBody::getVolume() {
+    return mShape->getVolume();
+}
+
+Shape* CapsuleRigidBody::getShape_() {
+    return mShape;
+}
+
+const Shape* CapsuleRigidBody::getShape_() const {
+    return mShape;
+}
+
+u32 CapsuleRigidBody::getCollisionMasks(RigidBody::CollisionMasks* masks) {
+    masks->ignored_layers = ~mContactMask.getDirect();
+    masks->collision_filter_info = getCollisionFilterInfo();
+    masks->material_mask = getMaterialMask().getRawData();
+    return 0;
+}
+
+}  // namespace ksys::phys

src/KingSystem/Physics/RigidBody/Shape/physCapsuleRigidBody.h

@@ -0,0 +1,39 @@
+#pragma once
+
+#include <math/seadVector.h>
+#include "KingSystem/Physics/RigidBody/physRigidBodyFromShape.h"
+
+namespace ksys::phys {
+
+struct CapsuleShape;
+
+class CapsuleRigidBody : public RigidBodyFromShape {
+    SEAD_RTTI_OVERRIDE(CapsuleRigidBody, RigidBodyFromShape)
+public:
+    static CapsuleRigidBody* make(RigidBodyInstanceParam* param, sead::Heap* heap);
+
+    CapsuleRigidBody(hkpRigidBody* hk_body, CapsuleShape* shape, ContactLayerType layer_type,
+                     const sead::SafeString& name, bool set_flag_10, sead::Heap* heap);
+    ~CapsuleRigidBody() override;
+
+    void setRadius(float radius);
+    void setVertices(const sead::Vector3f& va, const sead::Vector3f& vb);
+
+    float getRadius() const;
+    void getVertices(sead::Vector3f* va, sead::Vector3f* vb) const;
+    void transformVertices(sead::Vector3f* va, sead::Vector3f* vb);
+
+    void setMaterialMask(const MaterialMask& mask);
+    const MaterialMask& getMaterialMask() const;
+
+    float getVolume() override;
+
+protected:
+    Shape* getShape_() override;
+    const Shape* getShape_() const override;
+    u32 getCollisionMasks(CollisionMasks* masks) override;
+
+    CapsuleShape* mShape{};
+};
+
+}  // namespace ksys::phys

src/KingSystem/Physics/RigidBody/Shape/physCapsuleShape.cpp

@@ -21,27 +21,24 @@ void CapsuleShape::setMaterialMask(const MaterialMask& mask) {
         shape->setUserData(mask.getRawData());
 }
 
-CapsuleShape* CapsuleShapeParam::createShape(sead::Heap* heap) {
+CapsuleShape* CapsuleShape::make(const CapsuleShapeParam& param, sead::Heap* heap) {
     void* ptr = util::allocStorage<hkpCapsuleShape>(heap);
     if (ptr == nullptr)
         return nullptr;
 
     auto* hk_shape =
-        new (ptr) hkpCapsuleShape(hkVector4(vertex_a.x, vertex_a.y, vertex_a.z),
-                                  hkVector4(vertex_b.x, vertex_b.y, vertex_b.z), radius);
-    return new (heap) CapsuleShape(*this, hk_shape);
+        new (ptr) hkpCapsuleShape(toHkVec4(param.vertex_a), toHkVec4(param.vertex_b), param.radius);
+    return new (heap) CapsuleShape(param, hk_shape);
 }
 
-CapsuleShape* CapsuleShape::clone(sead::Heap* heap) {
+CapsuleShape* CapsuleShape::clone(sead::Heap* heap) const {
     CapsuleShapeParam param_clone;
     param_clone.radius = radius;
     param_clone.vertex_a = vertex_a;
     param_clone.vertex_b = vertex_b;
 
-    CapsuleShape* cloned = param_clone.createShape(heap);
-    cloned->material_mask = material_mask;
-    if (cloned->shape != nullptr)
-        cloned->shape->setUserData(material_mask.getRawData());
+    CapsuleShape* cloned = make(param_clone, heap);
+    cloned->setMaterialMask(material_mask);
     return cloned;
 }
 
@@ -95,8 +92,28 @@ const hkpShape* CapsuleShape::getHavokShape() const {
     return shape;
 }
 
-void CapsuleShape::sub_7100FABE80(sead::Vector3f* veca, sead::Vector3f* vecb,
-                                  const hkTransformf& rb_vec) {
+hkpShape* CapsuleShape::updateHavokShape() {
+    if (!flags.isOn(Flag::Modified))
+        return nullptr;
+
+    const auto ref_count = shape->getReferenceCount();
+    shape = new (shape) hkpCapsuleShape(toHkVec4(vertex_a), toHkVec4(vertex_b), radius);
+    shape->setReferenceCount(ref_count);
+
+    setMaterialMask(material_mask);
+
+    flags.reset(Flag::Modified);
+    return nullptr;
+}
+
+// NON_MATCHING: float regalloc
+void CapsuleShape::setScale(float scale) {
+    setRadius(radius * scale);
+    setVertices(vertex_a * scale, vertex_b * scale);
+}
+
+void CapsuleShape::transformVertices(sead::Vector3f* veca, sead::Vector3f* vecb,
+                                     const hkTransformf& rb_vec) {
     if (veca != nullptr) {
         hkVector4 tmp;
         tmp.setTransformedPos(rb_vec, toHkVec4(vertex_a));

src/KingSystem/Physics/RigidBody/Shape/physCapsuleShape.h

@@ -18,8 +18,6 @@ class CapsuleParam;
 struct CapsuleShape;
 
 struct CapsuleShapeParam {
-    CapsuleShape* createShape(sead::Heap* heap);
-
     sead::Vector3f vertex_a;
     sead::Vector3f vertex_b;
     f32 radius;
@@ -33,6 +31,9 @@ public:
         Modified = 1 << 0,
     };
 
+    static CapsuleShape* make(const CapsuleShapeParam& param, sead::Heap* heap);
+    CapsuleShape* clone(sead::Heap* heap) const;
+
     CapsuleShape(const CapsuleShapeParam& shape_, hkpShape* hkp_shape_);
     ~CapsuleShape() override;
 
@@ -43,13 +44,11 @@ public:
     hkpShape* updateHavokShape() override;
     void setScale(float scale) override;
 
-    RigidBody* createBody(bool flag, const RigidBodyInstanceParam& params, sead::Heap* heap);
-    CapsuleShape* clone(sead::Heap* heap);
     f32 getRadius() const;
     void getVertices(sead::Vector3f* va, sead::Vector3f* vb) const;
     bool setRadius(f32 r);
     bool setVertices(const sead::Vector3f& va, const sead::Vector3f& vb);
-    void sub_7100FABE80(sead::Vector3f* veca, sead::Vector3f* vecb, const hkTransformf& rb_vec);
+    void transformVertices(sead::Vector3f* veca, sead::Vector3f* vecb, const hkTransformf& rb_vec);
     void setMaterialMask(const MaterialMask& mask);
 
     sead::Vector3f vertex_a;

src/KingSystem/Physics/RigidBody/physRigidBodyFactory.cpp

@@ -1,6 +1,7 @@
 #include "KingSystem/Physics/RigidBody/physRigidBodyFactory.h"
 #include "KingSystem/Physics/RigidBody/Shape/physBoxShape.h"
 #include "KingSystem/Physics/RigidBody/Shape/physBoxWaterShape.h"
+#include "KingSystem/Physics/RigidBody/Shape/physCapsuleRigidBody.h"
 #include "KingSystem/Physics/RigidBody/Shape/physCapsuleShape.h"
 #include "KingSystem/Physics/RigidBody/Shape/physCylinderShape.h"
 #include "KingSystem/Physics/RigidBody/Shape/physCylinderWaterShape.h"
@@ -9,6 +10,16 @@
 
 namespace ksys::phys {
 
+template <typename RigidBodyType, typename ShapeType, typename ParamType>
+static RigidBodyType* createRigidBody(RigidBodyInstanceParam* param, sead::Heap* heap) {
+    if (param->isDynamicSensor())
+        param->motion_type = MotionType::Keyframed;
+
+    auto* v = sead::DynamicCast<ParamType>(param);
+    auto* shape = ShapeType::make(v->shape, heap);
+    return RigidBodyFromShape::make<RigidBodyType, ShapeType>(*shape, true, *param, heap);
+}
+
 RigidBody* RigidBodyFactory::createSphere(RigidBodyInstanceParam* params, sead::Heap* heap) {
     if (params->isDynamicSensor())
         params->motion_type = MotionType::Keyframed;
@@ -18,13 +29,9 @@ RigidBody* RigidBodyFactory::createSphere(RigidBodyInstanceParam* params, sead::
     return shape->createBody(true, *params, heap);
 }
 
-RigidBody* RigidBodyFactory::createCapsule(RigidBodyInstanceParam* params, sead::Heap* heap) {
-    if (params->isDynamicSensor())
-        params->motion_type = MotionType::Keyframed;
-
-    auto* v = sead::DynamicCast<CapsuleParam>(params);
-    auto* shape = v->shape.createShape(heap);
-    return shape->createBody(true, *params, heap);
+CapsuleRigidBody* RigidBodyFactory::createCapsule(RigidBodyInstanceParam* params,
+                                                  sead::Heap* heap) {
+    return createRigidBody<CapsuleRigidBody, CapsuleShape, CapsuleParam>(params, heap);
 }
 
 RigidBody* RigidBodyFactory::createCylinder(RigidBodyInstanceParam* params, sead::Heap* heap) {
@@ -45,16 +52,6 @@ RigidBody* RigidBodyFactory::createCylinderWater(RigidBodyInstanceParam* params,
     return shape->createBody(true, *params, heap);
 }
 
-template <typename RigidBodyType, typename ShapeType, typename ParamType>
-static RigidBodyType* createRigidBody(RigidBodyInstanceParam* param, sead::Heap* heap) {
-    if (param->isDynamicSensor())
-        param->motion_type = MotionType::Keyframed;
-
-    auto* v = sead::DynamicCast<ParamType>(param);
-    auto* shape = ShapeType::make(v->shape, heap);
-    return RigidBodyFromShape::make<RigidBodyType, ShapeType>(*shape, true, *param, heap);
-}
-
 BoxRigidBody* RigidBodyFactory::createBox(RigidBodyInstanceParam* params, sead::Heap* heap) {
     return createRigidBody<BoxRigidBody, BoxShape, BoxParam>(params, heap);
 }

src/KingSystem/Physics/RigidBody/physRigidBodyFactory.h

@@ -10,13 +10,14 @@ namespace ksys::phys {
 
 class BoxRigidBody;
 class BoxWaterRigidBody;
+class CapsuleRigidBody;
 class RigidBody;
 struct RigidBodyInstanceParam;
 
 class RigidBodyFactory {
 public:
     static RigidBody* createSphere(RigidBodyInstanceParam* params, sead::Heap* heap);
-    static RigidBody* createCapsule(RigidBodyInstanceParam* params, sead::Heap* heap);
+    static CapsuleRigidBody* createCapsule(RigidBodyInstanceParam* params, sead::Heap* heap);
     static RigidBody* createCylinder(RigidBodyInstanceParam* params, sead::Heap* heap);
     static RigidBody* createCylinderWater(RigidBodyInstanceParam* params, sead::Heap* heap);
     static BoxRigidBody* createBox(RigidBodyInstanceParam* params, sead::Heap* heap);