ksys/phys: Start adding RigidBodyFromShape

data/uking_functions.csv

@@ -83083,7 +83083,7 @@ Address,Quality,Size,Name
 0x0000007100f93e18,O,000016,_ZNK4ksys4phys9RigidBody13getTimeFactorEv
 0x0000007100f93e28,O,000176,_ZN4ksys4phys9RigidBody18setLinkedRigidBodyEPS1_
 0x0000007100f93ed8,O,000156,_ZNK4ksys4phys9RigidBody26isSensorMotionFlag40000SetEv
-0x0000007100f93f74,O,000008,_ZN4ksys4phys9RigidBody3m12Eff
+0x0000007100f93f74,O,000008,_ZN4ksys4phys9RigidBody12updateScale_Eff
 0x0000007100f93f7c,O,000008,_ZN4ksys4phys9RigidBody2m4Ev
 0x0000007100f93f84,O,000152,_ZN4ksys4phys9RigidBody21setWaterBuoyancyScaleEf
 0x0000007100f9401c,O,000148,_ZNK4ksys4phys9RigidBody21getWaterBuoyancyScaleEv
@@ -83126,7 +83126,7 @@ Address,Quality,Size,Name
 0x0000007100f963a4,O,000156,_ZNK4ksys4phys9RigidBody22isEntityMotionFlag80OnEv
 0x0000007100f96440,O,000156,_ZN4ksys4phys9RigidBody25setMagneMassScalingFactorEf
 0x0000007100f964dc,O,000148,_ZNK4ksys4phys9RigidBody25getMagneMassScalingFactorEv
-0x0000007100f96570,O,000008,_ZN4ksys4phys9RigidBody11getNewShapeEv
+0x0000007100f96570,O,000008,_ZN4ksys4phys9RigidBody17getNewHavokShape_Ev
 0x0000007100f96578,O,000008,_ZN4ksys4phys9RigidBody3m11Ev
 0x0000007100f96580,O,000240,_ZN4ksys4phys9RigidBody21onMaxPositionExceededEv
 0x0000007100f96670,O,000144,_ZN4ksys4phys9RigidBody7getNameEv
@@ -83307,16 +83307,16 @@ Address,Quality,Size,Name
 0x0000007100f9c474,U,000696,
 0x0000007100f9c72c,U,000656,
 0x0000007100f9c9bc,U,000608,
-0x0000007100f9cc1c,U,000080,RigidBodyDerivedType0::ctor
-0x0000007100f9cc6c,U,000100,
-0x0000007100f9ccd0,U,000104,
-0x0000007100f9cd38,U,000108,
-0x0000007100f9cda4,U,000112,
+0x0000007100f9cc1c,O,000080,_ZN4ksys4phys18RigidBodyFromShapeC2EP12hkpRigidBodyNS0_16ContactLayerTypeERKN4sead14SafeStringBaseIcEEbPNS5_4HeapE
+0x0000007100f9cc6c,O,000100,_ZN4ksys4phys18RigidBodyFromShapeD1Ev
+0x0000007100f9ccd0,O,000104,_ZThn32_N4ksys4phys18RigidBodyFromShapeD1Ev
+0x0000007100f9cd38,O,000108,_ZN4ksys4phys18RigidBodyFromShapeD0Ev
+0x0000007100f9cda4,O,000112,_ZThn32_N4ksys4phys18RigidBodyFromShapeD0Ev
 0x0000007100f9ce14,U,000948,
 0x0000007100f9d1c8,U,000036,
 0x0000007100f9d1ec,U,000244,
-0x0000007100f9d2e0,U,000204,
-0x0000007100f9d3ac,U,000092,
+0x0000007100f9d2e0,O,000204,_ZNK4ksys4phys18RigidBodyFromShape27checkDerivedRuntimeTypeInfoEPKN4sead15RuntimeTypeInfo9InterfaceE
+0x0000007100f9d3ac,O,000092,_ZNK4ksys4phys18RigidBodyFromShape18getRuntimeTypeInfoEv
 0x0000007100f9d408,U,000904,
 0x0000007100f9d790,U,000904,
 0x0000007100f9db18,U,000904,
@@ -83595,8 +83595,8 @@ Address,Quality,Size,Name
 0x0000007100fabb4c,O,000060,_ZN4ksys4phys12CapsuleShape9setRadiusEf
 0x0000007100fabb88,O,000192,_ZN4ksys4phys12CapsuleShape11setVerticesERKN4sead7Vector3IfEES6_
 0x0000007100fabc48,O,000140,_ZNK4ksys4phys12CapsuleShape9getVolumeEv
-0x0000007100fabcd4,O,000008,_ZN4ksys4phys12CapsuleShape8getShapeEv
-0x0000007100fabcdc,O,000008,_ZNK4ksys4phys12CapsuleShape8getShapeEv
+0x0000007100fabcd4,O,000008,_ZN4ksys4phys12CapsuleShape13getHavokShapeEv
+0x0000007100fabcdc,O,000008,_ZNK4ksys4phys12CapsuleShape13getHavokShapeEv
 0x0000007100fabce4,U,000252,
 0x0000007100fabde0,U,000160,
 0x0000007100fabe80,O,000192,_ZN4ksys4phys12CapsuleShape14sub_7100FABE80EPN4sead7Vector3IfEES5_RK12hkTransformf

src/KingSystem/Physics/CMakeLists.txt

@@ -23,6 +23,8 @@ target_sources(uking PRIVATE
   RigidBody/physRigidBodyAccessor.h
   RigidBody/physRigidBodyFactory.cpp
   RigidBody/physRigidBodyFactory.h
+  RigidBody/physRigidBodyFromShape.cpp
+  RigidBody/physRigidBodyFromShape.h
   RigidBody/physRigidBodyMotionEntity.cpp
   RigidBody/physRigidBodyMotionEntity.h
   RigidBody/physRigidBodyMotionSensor.cpp
@@ -43,6 +45,7 @@ target_sources(uking PRIVATE
   RigidBody/Shape/physCapsuleShape.h
   RigidBody/Shape/physCylinderShape.cpp
   RigidBody/Shape/physCylinderShape.h
+  RigidBody/Shape/physShape.h
   RigidBody/Shape/physSphereShape.cpp
   RigidBody/Shape/physSphereShape.h
   RigidBody/Shape/physWaterCylinderShape.cpp

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

@@ -87,11 +87,11 @@ f32 CapsuleShape::getVolume() const {
     return sead::Mathf::pi() * radius * radius * (dist + radius * 4.0f / 3.0f);
 }
 
-hkpShape* CapsuleShape::getShape() {
+hkpShape* CapsuleShape::getHavokShape() {
     return shape;
 }
 
-const hkpShape* CapsuleShape::getShape() const {
+const hkpShape* CapsuleShape::getHavokShape() const {
     return shape;
 }
 

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

@@ -4,6 +4,7 @@
 #include <math/seadVector.h>
 #include <prim/seadTypedBitFlag.h>
 #include <thread/seadAtomic.h>
+#include "KingSystem/Physics/RigidBody/Shape/physShape.h"
 #include "KingSystem/Physics/RigidBody/physRigidBody.h"
 #include "KingSystem/Physics/RigidBody/physRigidBodyParam.h"
 #include "KingSystem/Physics/System/physDefines.h"
@@ -30,18 +31,20 @@ struct CapsuleShapeParam {
     bool _38 = false;
 };
 
-struct CapsuleShape {
+struct CapsuleShape : Shape {
+    SEAD_RTTI_OVERRIDE(CapsuleShape, Shape)
+public:
     enum class Flag {
         Modified = 1 << 0,
     };
 
     CapsuleShape(const CapsuleShapeParam& shape_, hkpShape* hkp_shape_);
-    virtual ~CapsuleShape();
+    ~CapsuleShape() override;
 
-    virtual hkpShape* getShape();
-    virtual const hkpShape* getShape() const;
-    virtual void updateChanges();
-    virtual void scaleVerts(f32 scale);
+    hkpShape* getHavokShape() override;
+    const hkpShape* getHavokShape() const override;
+    void updateHavokShape() override;
+    void setScale(float scale) override;
 
     RigidBody* createBody(bool flag, const RigidBodyInstanceParam& params, sead::Heap* heap);
     CapsuleShape* clone(sead::Heap* heap);

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

@@ -0,0 +1,22 @@
+#pragma once
+
+#include <prim/seadRuntimeTypeInfo.h>
+
+class hkpShape;
+
+namespace ksys::phys {
+
+class Shape {
+    SEAD_RTTI_BASE(Shape)
+
+public:
+    Shape() = default;
+    virtual ~Shape() = default;
+
+    virtual hkpShape* getHavokShape() = 0;
+    virtual const hkpShape* getHavokShape() const = 0;
+    virtual void updateHavokShape() = 0;
+    virtual void setScale(float scale) = 0;
+};
+
+}  // namespace ksys::phys

src/KingSystem/Physics/RigidBody/physRigidBody.cpp

@@ -44,7 +44,7 @@ static bool isMatrixInvalid(const sead::Matrix34f& matrix) {
 }
 
 RigidBody::RigidBody(Type type, ContactLayerType layer_type, hkpRigidBody* hk_body,
-                     const sead::SafeString& name, sead::Heap* heap, bool a7)
+                     const sead::SafeString& name, sead::Heap* heap, bool set_flag_10)
     : mCS(heap), mHkBody(hk_body), mRigidBodyAccessor(hk_body), mType(type) {
     if (!name.isEmpty()) {
         mHkBody->setName(name.cstr());
@@ -60,12 +60,12 @@ RigidBody::RigidBody(Type type, ContactLayerType layer_type, hkpRigidBody* hk_bo
 
     mFlags.change(Flag::HighQualityCollidable, isCharacterControllerType());
     mFlags.change(Flag::IsSensor, layer_type == ContactLayerType::Sensor);
-    mFlags.change(Flag::_10, a7);
+    mFlags.change(Flag::_10, set_flag_10);
     mFlags.set(Flag::UseSystemTimeFactor);
 }
 
 RigidBody::~RigidBody() {
-    if (mType != Type::_0 && mType != Type::TerrainHeightField &&
+    if (mType != Type::FromShape && mType != Type::TerrainHeightField &&
         mType != Type::CharacterController) {
         mHkBody->setName(nullptr);
         mHkBody->deallocateInternalArrays();
@@ -911,7 +911,7 @@ void RigidBody::updateShape() {
         return;
     }
 
-    auto* shape = getNewShape();
+    auto* shape = getNewHavokShape_();
     if (shape) {
         mHkBody->setShape(shape);
         if (isEntity() && mMotionAccessor)
@@ -936,7 +936,7 @@ void RigidBody::setScale(float scale) {
     if (sead::Mathf::equalsEpsilon(mScale, scale))
         return;
 
-    mScale = m12(scale, mScale);
+    mScale = updateScale_(scale, mScale);
     updateShape();
 }
 
@@ -1482,8 +1482,8 @@ sead::Vector3f RigidBody::getInertiaLocal() const {
     return inertia;
 }
 
-float RigidBody::m12(float x, float y) {
-    return y;
+float RigidBody::updateScale_(float scale, float old_scale) {
+    return old_scale;
 }
 
 float RigidBody::m4() {
@@ -1738,7 +1738,7 @@ void RigidBody::clearFlag8000000(bool clear) {
         updateDeactivation();
 }
 
-const hkpShape* RigidBody::getNewShape() {
+const hkpShape* RigidBody::getNewHavokShape_() {
     return nullptr;
 }
 

src/KingSystem/Physics/RigidBody/physRigidBody.h

@@ -41,7 +41,7 @@ class RigidBody : public sead::IDisposer, public RigidBase {
     SEAD_RTTI_BASE(RigidBody)
 public:
     enum class Type {
-        _0 = 0,
+        FromShape = 0,
         _1 = 1,
         _2 = 2,
         TerrainHeightField = 3,
@@ -125,7 +125,7 @@ public:
     };
 
     RigidBody(Type type, ContactLayerType layer_type, hkpRigidBody* hk_body,
-              const sead::SafeString& name, sead::Heap* heap, bool a7);
+              const sead::SafeString& name, sead::Heap* heap, bool set_flag_10);
     ~RigidBody() override;
 
     virtual float m4();
@@ -508,11 +508,19 @@ public:
     void setEntityMotionFlag200(bool set);
     bool isEntityMotionFlag200On() const;
 
+protected:
     virtual void m9() = 0;
-    virtual const hkpShape* getNewShape();
-    virtual void* m11();
-    virtual float m12(float x, float y);
 
+    /// Called whenever a shape update is requested.
+    /// @return the new shape to use for the Havok rigid body or null to keep the current hkpShape
+    virtual const hkpShape* getNewHavokShape_();
+
+    virtual void* m11();
+
+    /// @return the new scale
+    virtual float updateScale_(float scale, float old_scale);
+
+public:
     /// Called when the rigid body goes beyond the broadphase border.
     ///
     /// Note: this is not guaranteed to be called if we have a user tag.
@@ -543,7 +551,7 @@ public:
             clearFlag4000000(true);
     }
 
-private:
+protected:
     void createMotionAccessor(sead::Heap* heap);
     void assertLayerType(ContactLayer layer) const;
     void onInvalidParameter(int code = 0);

src/KingSystem/Physics/RigidBody/physRigidBodyFromShape.cpp

@@ -0,0 +1,20 @@
+#include "KingSystem/Physics/RigidBody/physRigidBodyFromShape.h"
+#include <Havok/Physics2012/Dynamics/Entity/hkpRigidBody.h>
+
+namespace ksys::phys {
+
+RigidBodyFromShape::RigidBodyFromShape(hkpRigidBody* hkp_rigid_body, ContactLayerType layer_type,
+                                       const sead::SafeString& name, bool set_flag_10,
+                                       sead::Heap* heap)
+    : RigidBody(RigidBody::Type::FromShape, layer_type, hkp_rigid_body, name, heap, set_flag_10) {}
+
+RigidBodyFromShape::~RigidBodyFromShape() {
+    mHkBody->setName(nullptr);
+    mHkBody->deallocateInternalArrays();
+    /// @bug This should be `delete mhkBody;` -- hkpRigidBody is not trivially destructible and
+    /// calling operator delete directly does not call the destructor.
+    if (mHkBody)
+        operator delete(mHkBody);
+}
+
+}  // namespace ksys::phys

src/KingSystem/Physics/RigidBody/physRigidBodyFromShape.h

@@ -0,0 +1,22 @@
+#pragma once
+
+#include "KingSystem/Physics/RigidBody/physRigidBody.h"
+
+namespace ksys::phys {
+
+class RigidBodyFromShape : public RigidBody {
+    SEAD_RTTI_OVERRIDE(RigidBodyFromShape, RigidBody)
+public:
+    RigidBodyFromShape(hkpRigidBody* hkp_rigid_body, ContactLayerType layer_type,
+                       const sead::SafeString& name, bool set_flag_10, sead::Heap* heap);
+    ~RigidBodyFromShape() override;
+
+protected:
+    const hkpShape* getNewHavokShape_() override;
+    float updateScale_(float scale, float old_scale) override;
+
+    virtual void m15() = 0;
+    virtual void m16() = 0;
+};
+
+}  // namespace ksys::phys

src/KingSystem/Physics/RigidBody/physRigidBodySetParam.cpp

@@ -21,7 +21,7 @@ bool RigidBodySetParam::parse(agl::utl::ResParameterList res_list, sead::Heap* h
     if (*type == "from_shape_type")
         type_val = Type::FromShapeType;
     else
-        type_val = Type::Other;
+        type_val = Type::FromResource;
 
     const int num_bodies = *num;
     if (num_bodies == 0 || res_list.getResParameterListNum() != num_bodies)

src/KingSystem/Physics/RigidBody/physRigidBodySetParam.h

@@ -13,7 +13,7 @@ struct RigidBodySetParam : agl::utl::ParameterList {
     enum class Type {
         Invalid = 0,
         FromShapeType = 1,
-        Other = 2,
+        FromResource = 2,
     };
 
     RigidBodySetParam();