ksys/phys: Implement PolytopeRigidBody

data/uking_functions.csv

@@ -83278,7 +83278,7 @@ Address,Quality,Size,Name
 0x0000007100f993b4,O,000188,_ZN4ksys4phys16RigidBodyFactory19createCylinderWaterEPNS0_22RigidBodyInstanceParamEPN4sead4HeapE
 0x0000007100f99470,O,000188,_ZN4ksys4phys16RigidBodyFactory9createBoxEPNS0_22RigidBodyInstanceParamEPN4sead4HeapE
 0x0000007100f9952c,O,000188,_ZN4ksys4phys16RigidBodyFactory14createBoxWaterEPNS0_22RigidBodyInstanceParamEPN4sead4HeapE
-0x0000007100f995e8,U,000188,
+0x0000007100f995e8,O,000188,_ZN4ksys4phys16RigidBodyFactory14createPolytopeEPNS0_22RigidBodyInstanceParamEPN4sead4HeapE
 0x0000007100f996a4,U,000188,
 0x0000007100f99760,U,000264,
 0x0000007100f99868,U,000036,
@@ -83341,24 +83341,24 @@ Address,Quality,Size,Name
 0x0000007100fa11b0,O,000008,_ZNK4ksys4phys14RigidBodyParam13getMotionTypeEv
 0x0000007100fa11b8,O,001324,_ZN4ksys4phys14RigidBodyParam4Info9postRead_Ev
 0x0000007100fa16e4,O,000004,_ZN4ksys4phys14RigidBodyParam4InfoD0Ev
-0x0000007100fa16e8,U,000004,
-0x0000007100fa16ec,U,000084,
-0x0000007100fa1740,U,000088,
-0x0000007100fa1798,U,000088,
-0x0000007100fa17f0,U,000096,
-0x0000007100fa1850,U,000096,
-0x0000007100fa18b0,U,000008,
-0x0000007100fa18b8,U,000012,
-0x0000007100fa18c4,U,000032,
-0x0000007100fa18e4,U,000008,
-0x0000007100fa18ec,U,000012,
-0x0000007100fa18f8,U,000016,
-0x0000007100fa1908,U,000008,
-0x0000007100fa1910,U,000008,
-0x0000007100fa1918,U,000068,
-0x0000007100fa195c,U,000008,
-0x0000007100fa1964,U,000288,
-0x0000007100fa1a84,U,000092,
+0x0000007100fa16e8,O,000004,_ZN4ksys4phys17PolytopeRigidBody4makeEPNS0_22RigidBodyInstanceParamEPN4sead4HeapE
+0x0000007100fa16ec,O,000084,_ZN4ksys4phys17PolytopeRigidBodyC1EP12hkpRigidBodyPNS0_13PolytopeShapeENS0_16ContactLayerTypeERKN4sead14SafeStringBaseIcEEbPNS7_4HeapE
+0x0000007100fa1740,O,000088,_ZN4ksys4phys17PolytopeRigidBodyD1Ev
+0x0000007100fa1798,O,000088,_ZThn32_N4ksys4phys17PolytopeRigidBodyD1Ev
+0x0000007100fa17f0,O,000096,_ZN4ksys4phys17PolytopeRigidBodyD0Ev
+0x0000007100fa1850,O,000096,_ZThn32_N4ksys4phys17PolytopeRigidBodyD0Ev
+0x0000007100fa18b0,O,000008,_ZN4ksys4phys17PolytopeRigidBody9setVertexEiRKN4sead7Vector3IfEE
+0x0000007100fa18b8,O,000012,_ZNK4ksys4phys17PolytopeRigidBody14getNumVerticesEv
+0x0000007100fa18c4,O,000032,_ZNK4ksys4phys17PolytopeRigidBody9getVertexEi
+0x0000007100fa18e4,O,000008,_ZN4ksys4phys17PolytopeRigidBody15setMaterialMaskERKNS0_12MaterialMaskE
+0x0000007100fa18ec,O,000012,_ZNK4ksys4phys17PolytopeRigidBody15getMaterialMaskEv
+0x0000007100fa18f8,O,000016,_ZN4ksys4phys17PolytopeRigidBody9getVolumeEv
+0x0000007100fa1908,O,000008,_ZN4ksys4phys17PolytopeRigidBody9getShape_Ev
+0x0000007100fa1910,O,000008,_ZNK4ksys4phys17PolytopeRigidBody9getShape_Ev
+0x0000007100fa1918,O,000068,_ZN4ksys4phys17PolytopeRigidBody17getCollisionMasksEPNS0_9RigidBody14CollisionMasksEPKj
+0x0000007100fa195c,O,000008,_ZN4ksys4phys17PolytopeRigidBody9setVolumeEf
+0x0000007100fa1964,O,000288,_ZNK4ksys4phys17PolytopeRigidBody27checkDerivedRuntimeTypeInfoEPKN4sead15RuntimeTypeInfo9InterfaceE
+0x0000007100fa1a84,O,000092,_ZNK4ksys4phys17PolytopeRigidBody18getRuntimeTypeInfoEv
 0x0000007100fa1ae0,O,000188,_ZN4ksys4phys21RigidBodyMotionEntityC1EPNS0_9RigidBodyE
 0x0000007100fa1b9c,O,000072,_ZN4ksys4phys21RigidBodyMotionEntityD1Ev
 0x0000007100fa1be4,O,000080,_ZN4ksys4phys21RigidBodyMotionEntityD0Ev
@@ -83669,6 +83669,7 @@ Address,Quality,Size,Name
 0x0000007100faefbc,O,000520,_ZN4ksys4phys13PolytopeShape4initERKNS0_18PolytopeShapeParamEPN4sead4HeapE
 0x0000007100faf1c4,O,000480,_ZNK4ksys4phys13PolytopeShape5cloneEPN4sead4HeapE
 0x0000007100faf3a4,O,000228,_ZN4ksys4phys13PolytopeShape9setVertexEiRKN4sead7Vector3IfEE
+0x0000007100faf488,O,000048,_ZN4ksys4phys13PolytopeShape15setMaterialMaskERKNS0_12MaterialMaskE
 0x0000007100faf4b8,O,000232,_ZN4ksys4phys13PolytopeShapeD1Ev
 0x0000007100faf5a0,O,000036,_ZN4ksys4phys13PolytopeShapeD0Ev
 0x0000007100faf5c4,O,000028,_ZN4ksys4phys13PolytopeShape13getHavokShapeEv

src/KingSystem/Physics/RigidBody/Shape/Polytope/physPolytopeRigidBody.cpp

@@ -1 +1,66 @@
 #include "KingSystem/Physics/RigidBody/Shape/Polytope/physPolytopeRigidBody.h"
+#include "KingSystem/Physics/RigidBody/Shape/Polytope/physPolytopeShape.h"
+#include "KingSystem/Physics/RigidBody/physRigidBodyFactory.h"
+#include "KingSystem/Utils/SafeDelete.h"
+
+namespace ksys::phys {
+
+PolytopeRigidBody* PolytopeRigidBody::make(RigidBodyInstanceParam* param, sead::Heap* heap) {
+    return RigidBodyFactory::createPolytope(param, heap);
+}
+
+PolytopeRigidBody::PolytopeRigidBody(hkpRigidBody* hk_body, PolytopeShape* 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) {}
+
+PolytopeRigidBody::~PolytopeRigidBody() {
+    if (hasFlag(RigidBody::Flag::_10) && mShape) {
+        util::safeDelete(mShape);
+    }
+}
+
+bool PolytopeRigidBody::setVertex(int vertex_idx, const sead::Vector3f& vertex) {
+    return mShape->setVertex(vertex_idx, vertex);
+}
+
+u16 PolytopeRigidBody::getNumVertices() const {
+    return mShape->getNumVertices();
+}
+
+const sead::Vector3f& PolytopeRigidBody::getVertex(int vertex_idx) const {
+    return mShape->getVertex(vertex_idx);
+}
+
+void PolytopeRigidBody::setMaterialMask(const MaterialMask& mask) {
+    mShape->setMaterialMask(mask);
+}
+
+const MaterialMask& PolytopeRigidBody::getMaterialMask() const {
+    return mShape->getMaterialMask();
+}
+
+float PolytopeRigidBody::getVolume() {
+    return mShape->getVolume();
+}
+
+void PolytopeRigidBody::setVolume(float volume) {
+    mShape->setVolume(volume);
+}
+
+Shape* PolytopeRigidBody::getShape_() {
+    return mShape;
+}
+
+const Shape* PolytopeRigidBody::getShape_() const {
+    return mShape;
+}
+
+u32 PolytopeRigidBody::getCollisionMasks(RigidBody::CollisionMasks* masks, const u32* unk) {
+    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/Polytope/physPolytopeRigidBody.h

@@ -4,10 +4,34 @@
 
 namespace ksys::phys {
 
+class PolytopeShape;
+
 class PolytopeRigidBody : public RigidBodyFromShape {
     SEAD_RTTI_OVERRIDE(PolytopeRigidBody, RigidBodyFromShape)
 public:
-    // TODO
+    static PolytopeRigidBody* make(RigidBodyInstanceParam* param, sead::Heap* heap);
+
+    PolytopeRigidBody(hkpRigidBody* hk_body, PolytopeShape* shape, ContactLayerType layer_type,
+                      const sead::SafeString& name, bool set_flag_10, sead::Heap* heap);
+    ~PolytopeRigidBody() override;
+
+    bool setVertex(int vertex_idx, const sead::Vector3f& vertex);
+    u16 getNumVertices() const;
+    const sead::Vector3f& getVertex(int vertex_idx) const;
+
+    void setMaterialMask(const MaterialMask& mask);
+    const MaterialMask& getMaterialMask() const;
+
+    float getVolume() override;
+    void setVolume(float volume);
+
+protected:
+    Shape* getShape_() override;
+    const Shape* getShape_() const override;
+    u32 getCollisionMasks(RigidBody::CollisionMasks* masks, const u32* unk) override;
+
+private:
+    PolytopeShape* mShape{};
 };
 
 }  // namespace ksys::phys