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ksys/phys: Add more RigidBody functions and Havok utils

This commit is contained in:
Léo Lam 2022-01-17 19:59:09 +01:00
parent a2cde0f0de
commit 87bca00e68
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GPG Key ID: 0DF30F9081000741
10 changed files with 311 additions and 29 deletions
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46
data/uking_functions.csv
View File

@ -83105,16 +83105,16 @@ Address,Quality,Size,Name
0x0000007100f94bbc,O,000160,_ZNK4ksys4phys9RigidBody23isEntityMotionFlag20OffEv
0x0000007100f94c5c,O,000156,_ZN4ksys4phys9RigidBody18setColImpulseScaleEf
0x0000007100f94cf8,O,000148,_ZNK4ksys4phys9RigidBody18getColImpulseScaleEv
0x0000007100f94d8c,U,000228,phys::RigidBody::x_102
0x0000007100f94d8c,O,000228,_ZN4ksys4phys9RigidBody25hasConstraintWithUserDataEv
0x0000007100f94e70,O,000008,_ZN4ksys4phys9RigidBody4lockEv
0x0000007100f94e78,O,000008,_ZN4ksys4phys9RigidBody6unlockEv
0x0000007100f94e80,U,000152,phys::RigidBody::x_103
0x0000007100f94f18,U,000404,phys::RigidBody::x_104
0x0000007100f950ac,U,000328,phys::RigidBody::x_105
0x0000007100f951f4,U,000232,phys::RigidBody::x_106
0x0000007100f952dc,U,000168,phys::RigidBody::x_107
0x0000007100f95384,U,000280,phys::RigidBody::m6
0x0000007100f9549c,U,000292,phys::RigidBody::m7
0x0000007100f951f4,O,000232,_ZN4ksys4phys9RigidBody21setEntityMotionFlag40Eb
0x0000007100f952dc,O,000168,_ZNK4ksys4phys9RigidBody22isEntityMotionFlag40OnEv
0x0000007100f95384,O,000280,_ZN4ksys4phys9RigidBody27resetInertiaAndCenterOfMassEv
0x0000007100f9549c,O,000292,_ZN4ksys4phys9RigidBody32computeShapeVolumeMassPropertiesEPfPN4sead7Vector3IfEES6_
0x0000007100f955c0,U,000768,phys::RigidBody::x_108
0x0000007100f958c0,U,000416,phys::RigidBody::x_109
0x0000007100f95a60,U,000376,phys::RigidBody::x_110
@ -106077,7 +106077,7 @@ Address,Quality,Size,Name
0x000000710166dec4,L,000012,hkpShapeDisplayBuilder::hkpShapeDisplayBuilderEnvironment::hkpShapeDisplayBuilderEnvironment
0x000000710166ded0,L,000040,hkpShapeDisplayBuilder::hkpShapeDisplayBuilder
0x000000710166def8,L,000080,hkpShapeDisplayBuilder::buildDisplayGeometries
0x000000710166df48,U,002124,
0x000000710166df48,L,002124,
0x000000710166e794,U,000244,
0x000000710166e888,U,001268,
0x000000710166ed7c,U,000292,
@ -106095,23 +106095,23 @@ Address,Quality,Size,Name
0x00000071016718cc,U,001284,
0x0000007101671dd0,U,001000,
0x00000071016721b8,U,000092,
0x0000007101672214,U,000084,hkpUserShapeDisplayBuilder::dtor
0x0000007101672268,U,000080,
0x00000071016722b8,U,000224,
0x0000007101672398,U,000084,
0x00000071016723ec,U,000096,
0x000000710167244c,U,000152,
0x00000071016724e4,U,000096,
0x0000007101672544,U,000152,
0x00000071016725dc,U,000060,
0x0000007101672618,U,000876,
0x0000007101672984,U,000104,
0x00000071016729ec,U,001952,
0x000000710167318c,U,000324,
0x00000071016732d0,U,000320,
0x0000007101673410,U,002464,
0x0000007101673db0,U,000896,
0x0000007101674130,U,000012,hkpPhysicsData::getClass
0x0000007101672214,L,000084,hkpUserShapeDisplayBuilder::dtor
0x0000007101672268,L,000080,
0x00000071016722b8,L,000224,
0x0000007101672398,L,000084,
0x00000071016723ec,L,000096,
0x000000710167244c,L,000152,
0x00000071016724e4,L,000096,
0x0000007101672544,L,000152,
0x00000071016725dc,L,000060,
0x0000007101672618,L,000876,
0x0000007101672984,L,000104,
0x00000071016729ec,L,001952,
0x000000710167318c,L,000324,
0x00000071016732d0,L,000320,
0x0000007101673410,L,002464,
0x0000007101673db0,L,000896,
0x0000007101674130,L,000012,hkpPhysicsData::getClass
0x000000710167413c,L,000020,
0x0000007101674150,L,000012,
0x000000710167415c,L,000176,

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3
lib/hkStubs/CMakeLists.txt
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@ -59,6 +59,8 @@ add_library(hkStubs OBJECT
Havok/Common/Base/Types/Physics/MotionState/hkMotionState.h
Havok/Common/Base/Types/Properties/hkSimpleProperty.h
Havok/Common/GeometryUtilities/Inertia/hkInertiaTensorComputer.h
Havok/Common/Serialize/Resource/hkResource.h
Havok/Common/Serialize/Util/hkNativePackfileUtils.h
Havok/Common/Serialize/Util/hkRootLevelContainer.h
@ -108,6 +110,7 @@ add_library(hkStubs OBJECT
Havok/Physics2012/Dynamics/Entity/hkpEntity.h
Havok/Physics2012/Dynamics/Entity/hkpRigidBody.h
Havok/Physics2012/Dynamics/Entity/hkpRigidBodyCinfo.h
Havok/Physics2012/Dynamics/Inertia/hkpInertiaTensorComputer.h
Havok/Physics2012/Dynamics/Motion/hkpMotion.h
Havok/Physics2012/Dynamics/Motion/Rigid/hkpBoxMotion.h
Havok/Physics2012/Dynamics/Motion/Rigid/hkpFixedRigidMotion.h

45
lib/hkStubs/Havok/Common/Base/Math/Matrix/hkMatrix3f.h
View File

@ -8,33 +8,57 @@ public:
HK_FORCE_INLINE hkFloat32& operator()(int row, int col);
HK_FORCE_INLINE const hkFloat32& operator()(int row, int col) const;
template <int Row, int Col>
HK_FORCE_INLINE hkSimdFloat32 get() const;
template <int Row, int Col>
HK_FORCE_INLINE void set(hkSimdFloat32Parameter s);
HK_FORCE_INLINE hkVector4f& getColumn(int i);
HK_FORCE_INLINE const hkVector4f& getColumn(int i) const;
template <int I>
HK_FORCE_INLINE const hkVector4f& getColumn() const;
HK_FORCE_INLINE void getRows(hkVector4f& r0, hkVector4f& r1, hkVector4f& r2) const;
HK_FORCE_INLINE void setZero();
HK_FORCE_INLINE void setIdentity();
hkVector4f m_col0;
hkVector4f m_col1;
hkVector4f m_col2;
};
hkFloat32& hkMatrix3f::operator()(int row, int col) {
inline hkFloat32& hkMatrix3f::operator()(int row, int col) {
return getColumn(col)(row);
}
const hkFloat32& hkMatrix3f::operator()(int row, int col) const {
inline const hkFloat32& hkMatrix3f::operator()(int row, int col) const {
return getColumn(col)(row);
}
hkVector4f& hkMatrix3f::getColumn(int i) {
template <int Row, int Col>
inline hkSimdFloat32 hkMatrix3f::get() const {
return getColumn<Col>().template getComponent<Row>();
}
template <int Row, int Col>
inline void hkMatrix3f::set(hkSimdFloat32Parameter s) {
getColumn<Col>().template setComponent<Row>(s);
}
inline hkVector4f& hkMatrix3f::getColumn(int i) {
return (&m_col0)[i];
}
const hkVector4f& hkMatrix3f::getColumn(int i) const {
inline const hkVector4f& hkMatrix3f::getColumn(int i) const {
return (&m_col0)[i];
}
template <int I>
inline const hkVector4f& hkMatrix3f::getColumn() const {
return (&m_col0)[I];
}
inline void hkMatrix3f::getRows(hkVector4f& r0, hkVector4f& r1, hkVector4f& r2) const {
hkVector4f c0;
c0.set(m_col0(0), m_col1(0), m_col2(0));
@ -47,3 +71,16 @@ inline void hkMatrix3f::getRows(hkVector4f& r0, hkVector4f& r1, hkVector4f& r2)
r1 = c1;
r2 = c2;
}
inline void hkMatrix3f::setZero() {
m_col0.setZero();
m_col1.setZero();
m_col2.setZero();
}
inline void hkMatrix3f::setIdentity() {
hkMatrix3f* __restrict d = this;
d->m_col0 = hkVector4f::getConstant<HK_QUADREAL_1000>();
d->m_col1 = hkVector4f::getConstant<HK_QUADREAL_0100>();
d->m_col2 = hkVector4f::getConstant<HK_QUADREAL_0010>();
}

6
lib/hkStubs/Havok/Common/Base/Math/Matrix/hkTransformf.h
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@ -21,6 +21,7 @@ public:
HK_FORCE_INLINE void set(const hkRotationf& r, hkVector4fParameter t);
HK_FORCE_INLINE void set(hkQuaternionfParameter q, hkVector4fParameter t);
HK_FORCE_INLINE void setIdentity();
hkRotationf m_rotation;
hkVector4f m_translation;
@ -54,3 +55,8 @@ inline void hkTransformf::set(const hkQuaternionf& q, const hkVector4f& t) {
m_rotation.set(q);
m_translation = t;
}
inline void hkTransformf::setIdentity() {
m_rotation.setIdentity();
m_translation.setZero();
}

4
lib/hkStubs/Havok/Common/Base/Math/Vector/hkVector4f.h
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@ -141,6 +141,10 @@ public:
hkSimdFloat32 getY() const { return getComponent<1>(); }
hkSimdFloat32 getZ() const { return getComponent<2>(); }
hkSimdFloat32 getW() const { return getComponent<3>(); }
template <int I>
HK_FORCE_INLINE void setComponent(hkSimdFloat32Parameter val) {
v[I] = val;
}
void setComponent(int i, hkSimdFloat32Parameter val) { v[i] = val; }
void setX(hkSimdFloat32Parameter val) { setComponent(0, val); }
void setY(hkSimdFloat32Parameter val) { setComponent(1, val); }

115
lib/hkStubs/Havok/Common/GeometryUtilities/Inertia/hkInertiaTensorComputer.h Normal file
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@ -0,0 +1,115 @@
#pragma once
#include <Havok/Common/Base/hkBase.h>
struct hkGeometry;
struct hkStridedVertices;
struct hkMassProperties {
HK_DECLARE_CLASS_ALLOCATOR(hkMassProperties)
HK_DECLARE_REFLECTION()
hkMassProperties() : m_volume(0), m_mass(0) {
m_centerOfMass.setZero();
m_inertiaTensor.setZero();
}
explicit hkMassProperties(hkFinishLoadedObjectFlag flag) {}
void scaleToDensity(hkSimdRealParameter density);
void scaleToMass(hkSimdRealParameter newMass);
hkReal m_volume;
hkReal m_mass;
hkVector4 m_centerOfMass;
hkMatrix3 m_inertiaTensor;
};
struct hkMassElement {
HK_DECLARE_CLASS_ALLOCATOR(hkMassElement)
HK_FORCE_INLINE hkMassElement() { m_transform.setIdentity(); }
HK_FORCE_INLINE hkMassElement(const hkMassProperties& properties, const hkTransform& transform)
: m_properties(properties), m_transform(transform) {}
hkMassProperties m_properties;
hkTransform m_transform;
};
class hkInertiaTensorComputer {
public:
static hkResult computeSphereVolumeMassProperties(hkReal radius, hkReal mass,
hkMassProperties& result);
static hkResult computeBoxVolumeMassProperties(hkVector4Parameter halfExtents, hkReal mass,
hkMassProperties& result);
static hkResult computeBoxVolumeMassPropertiesDiagonalized(hkVector4Parameter halfExtents,
hkReal mass,
hkVector4& inertiaDiagonal,
hkReal& volume);
static hkResult computeCapsuleVolumeMassProperties(hkVector4Parameter startAxis,
hkVector4Parameter endAxis, hkReal radius,
hkReal mass, hkMassProperties& result);
static hkResult computeSphereSurfaceMassProperties(hkReal radius, hkReal mass,
hkReal surfaceThickness,
hkMassProperties& result);
static hkResult computeBoxSurfaceMassProperties(hkVector4Parameter halfExtents, hkReal mass,
hkReal surfaceThickness,
hkMassProperties& result);
static hkResult computeTriangleSurfaceMassProperties(hkVector4Parameter v0,
hkVector4Parameter v1,
hkVector4Parameter v2, hkReal mass,
hkReal surfaceThickness,
hkMassProperties& result);
static hkResult computeCylinderVolumeMassProperties(hkVector4Parameter startAxis,
hkVector4Parameter endAxis, hkReal radius,
hkReal mass, hkMassProperties& result);
static hkResult computeConvexHullMassProperties(const hkStridedVertices& vertices,
hkReal radius, hkMassProperties& result);
using ConvexHullMassPropertiesFunction = hkResult (*)(const hkStridedVertices&, hkReal,
hkMassProperties&);
static ConvexHullMassPropertiesFunction s_computeConvexHullMassPropertiesFunction;
static hkResult computeVertexHullVolumeMassProperties(const hkReal* vertexIn, int striding,
int numVertices, hkReal mass,
hkMassProperties& result);
static hkResult computeVertexCloudMassProperties(const hkReal* vertexIn, int striding,
int numVertices, hkReal mass,
hkMassProperties& result);
static hkResult computeGeometrySurfaceMassProperties(const hkGeometry* geom,
hkReal surfaceThickness,
hkBool distributeUniformly, hkReal mass,
hkMassProperties& result);
static void computeGeometryVolumeMassProperties(const hkGeometry* geom, hkReal mass,
hkMassProperties& result);
static hkResult computeGeometryVolumeMassPropertiesChecked(const hkGeometry* geom, hkReal mass,
hkMassProperties& result);
static hkResult combineMassProperties(const hkArray<hkMassElement>& elements,
hkMassProperties& result);
static void simplifyInertiaTensorToOrientedParticle(hkMatrix3& inertia);
static void convertInertiaTensorToPrincipleAxis(hkMatrix3& inertia,
hkRotation& principleAxisOut);
static void shiftInertiaToCom(hkVector4Parameter shift, hkSimdRealParameter mass,
hkMatrix3& inertia);
static void shiftInertiaFromCom(hkVector4Parameter shift, hkSimdRealParameter mass,
hkMatrix3& inertia);
};

8
lib/hkStubs/Havok/Physics/Constraint/hkpConstraintInstance.h
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@ -141,3 +141,11 @@ public:
struct hkConstraintInternal* m_internal;
hkUint32 m_uid;
};
inline const hkpConstraintData* hkpConstraintInstance::getData() const {
return m_data;
}
inline hkpConstraintData* hkpConstraintInstance::getDataRw() const {
return m_data;
}

32
lib/hkStubs/Havok/Physics2012/Dynamics/Inertia/hkpInertiaTensorComputer.h Normal file
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@ -0,0 +1,32 @@
#pragma once
#include <Havok/Common/GeometryUtilities/Inertia/hkInertiaTensorComputer.h>
class hkcdShape;
class hkpConstraintInstance;
class hkpRigidBody;
class hkpRigidBodyCinfo;
class hkpShape;
class hkpInertiaTensorComputer : public hkInertiaTensorComputer {
public:
static void computeShapeVolumeMassProperties(const hkcdShape* shape, hkReal mass,
hkMassProperties& result);
static void setShapeVolumeMassProperties(const hkpShape* shape, hkReal mass,
hkpRigidBodyCinfo& bodyInfo);
static void setMassProperties(const hkMassProperties& props, hkpRigidBodyCinfo& bodyInfo);
static void setAndScaleToDensity(const hkMassProperties& props, hkSimdRealParameter density,
hkpRigidBodyCinfo& bodyInfo);
static void setAndScaleToMass(const hkMassProperties& props, hkSimdRealParameter mass,
hkpRigidBodyCinfo& bodyInfo);
static void clipInertia(hkReal maxInertiaRatio, hkpRigidBodyCinfo& bodyInfo);
static void optimizeInertiasOfConstraintTree(hkpConstraintInstance* const* constraints,
int numConstraints, hkpRigidBody* rootBody,
hkReal inertiaFactorHint = 1.5f);
};

60
src/KingSystem/Physics/RigidBody/physRigidBody.cpp
View File

@ -1,6 +1,9 @@
#include "KingSystem/Physics/RigidBody/physRigidBody.h"
#include <Havok/Physics/Constraint/Data/hkpConstraintData.h>
#include <Havok/Physics/Constraint/hkpConstraintInstance.h>
#include <Havok/Physics2012/Dynamics/Collide/hkpResponseModifier.h>
#include <Havok/Physics2012/Dynamics/Entity/hkpRigidBody.h>
#include <Havok/Physics2012/Dynamics/Inertia/hkpInertiaTensorComputer.h>
#include <Havok/Physics2012/Dynamics/Motion/Rigid/hkpFixedRigidMotion.h>
#include <Havok/Physics2012/Dynamics/Motion/Rigid/hkpKeyframedRigidMotion.h>
#include <cmath>
@ -768,6 +771,63 @@ float RigidBody::getColImpulseScale() const {
return getEntityMotionAccessor()->getColImpulseScale();
}
bool RigidBody::hasConstraintWithUserData() {
auto lock = makeScopedLock(true);
for (int i = 0, n = getHkBody()->getNumConstraints(); i < n; ++i) {
auto* constraint = getHkBody()->getConstraint(i);
if (constraint->getData()->getType() != hkpConstraintData::CONSTRAINT_TYPE_CONTACT &&
constraint->m_userData != 0) {
return true;
}
}
return false;
}
void RigidBody::setEntityMotionFlag40(bool set) {
if (!isEntity() || isCharacterControllerType())
return;
getEntityMotionAccessor()->changeFlag(RigidBodyMotionEntity::Flag::_40, set);
}
bool RigidBody::isEntityMotionFlag40On() const {
if (!isEntity() || !mMotionAccessor || isCharacterControllerType())
return false;
return getEntityMotionAccessor()->hasFlag(RigidBodyMotionEntity::Flag::_40);
}
void RigidBody::resetInertiaAndCenterOfMass() {
float volume;
sead::Vector3f center_of_mass;
sead::Vector3f inertia;
computeShapeVolumeMassProperties(&volume, &center_of_mass, &inertia);
setInertiaLocal(inertia);
setCenterOfMassInLocal(center_of_mass);
}
void RigidBody::computeShapeVolumeMassProperties(float* volume, sead::Vector3f* center_of_mass,
sead::Vector3f* inertia_tensor) {
hkMassProperties properties;
const auto shape = getHkBody()->getCollidable()->getShape();
const float mass = getMass();
hkpInertiaTensorComputer::computeShapeVolumeMassProperties(shape, mass, properties);
if (volume != nullptr)
*volume = properties.m_volume;
if (center_of_mass != nullptr)
storeToVec3(center_of_mass, properties.m_centerOfMass);
if (inertia_tensor != nullptr) {
hkVector4f diagonal{properties.m_inertiaTensor.get<0, 0>(),
properties.m_inertiaTensor.get<1, 1>(),
properties.m_inertiaTensor.get<2, 2>()};
storeToVec3(inertia_tensor, diagonal);
}
}
void RigidBody::resetPosition() {
// debug logging?
[[maybe_unused]] sead::Vector3f position = getPosition();

21
src/KingSystem/Physics/RigidBody/physRigidBody.h
View File

@ -105,8 +105,14 @@ public:
// FIXME: types and names
virtual float m4();
virtual void m5();
virtual void m6();
virtual void m7();
/// Recalculate inertia, volume and center of mass based on the shape and mass of the rigid body
/// and update this rigid body to match the computed values.
virtual void resetInertiaAndCenterOfMass();
/// All three parameters may be null.
virtual void computeShapeVolumeMassProperties(float* volume, sead::Vector3f* center_of_mass,
sead::Vector3f* inertia_tensor);
bool initMotionAccessorForDynamicMotion(sead::Heap* heap);
bool initMotionAccessor(const RigidBodyInstanceParam& param, sead::Heap* heap,
@ -299,6 +305,17 @@ public:
Type getType() const { return mType; }
bool isCharacterControllerType() const { return mType == Type::CharacterController; }
bool hasConstraintWithUserData();
// 0x0000007100f94e80
bool x_103(int a);
// 0x0000007100f94f18
bool x_104(RigidBody* other_body, int a, int b);
// 0x0000007100f950ac
bool x_105();
void setEntityMotionFlag40(bool set);
bool isEntityMotionFlag40On() const;
void lock();
void lock(bool also_lock_world);
void unlock();