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ksys/phys: Add more RigidBody functions

This commit is contained in:
Léo Lam 2022-01-26 01:39:59 +01:00
parent e4f1a053cd
commit e1f3e551cb
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GPG Key ID: 0DF30F9081000741
9 changed files with 254 additions and 19 deletions
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20
data/uking_functions.csv
View File

@ -83021,11 +83021,11 @@ Address,Quality,Size,Name
0x0000007100f8faa0,O,000056,_ZN4ksys4phys9RigidBody28addGroundTypeToGroundHitMaskENS0_9GroundHitE
0x0000007100f8fad8,O,000044,_ZNK4ksys4phys9RigidBody16getGroundHitTypeEv
0x0000007100f8fb04,O,000004,_ZN4ksys4phys9RigidBody8setColorERKN4sead7Color4fEPKvb
0x0000007100f8fb08,U,000360,phys::RigidBody::x_34_setTransform
0x0000007100f8fb08,O,000360,_ZN4ksys4phys9RigidBody12setTransformERKN4sead8Matrix34IfEEb
0x0000007100f8fc70,O,000196,_ZN4ksys4phys9RigidBody11setPositionERKN4sead7Vector3IfEEb
0x0000007100f8fd34,U,000012,phys::RigidBody::x_36
0x0000007100f8fd40,U,000124,phys::RigidBody::x_37
0x0000007100f8fdbc,U,000328,phys::RigidBody::x_38
0x0000007100f8fd34,O,000012,_ZNK4ksys4phys9RigidBody16isTransformDirtyEv
0x0000007100f8fd40,O,000124,_ZN4ksys4phys9RigidBody19updateShapeIfNeededEf
0x0000007100f8fdbc,O,000328,_ZN4ksys4phys9RigidBody11updateShapeEv
0x0000007100f8ff04,O,000032,_ZNK4ksys4phys9RigidBody11getPositionEPN4sead7Vector3IfEE
0x0000007100f8ff24,O,000076,_ZNK4ksys4phys9RigidBody11getPositionEv
0x0000007100f8ff70,O,000032,_ZNK4ksys4phys9RigidBody11getRotationEPN4sead4QuatIfEE
@ -83033,12 +83033,12 @@ Address,Quality,Size,Name
0x0000007100f8ffdc,O,000112,_ZNK4ksys4phys9RigidBody22getPositionAndRotationEPN4sead7Vector3IfEEPNS2_4QuatIfEE
0x0000007100f9004c,O,000032,_ZNK4ksys4phys9RigidBody12getTransformEPN4sead8Matrix34IfEE
0x0000007100f9006c,O,000040,_ZNK4ksys4phys9RigidBody12getTransformEv
0x0000007100f90094,U,000968,phys::RigidBody::x_3
0x0000007100f90094,O,000968,_ZN4ksys4phys9RigidBody16changeMotionTypeENS0_10MotionTypeE
0x0000007100f9045c,U,001132,phys::RigidBody::x_39
0x0000007100f908c8,U,001632,phys::RigidBody::x_40
0x0000007100f90f28,O,000140,_ZNK4ksys4phys9RigidBody32getEntityMotionAccessorForSensorEv
0x0000007100f90fb4,U,000332,phys::RigidBody::x_41
0x0000007100f91100,U,000140,phys::RigidBody::x_42
0x0000007100f90fb4,O,000332,_ZN4ksys4phys9RigidBody28updateMotionTypeRelatedFlagsEv
0x0000007100f91100,O,000140,_ZN4ksys4phys9RigidBody32triggerScheduledMotionTypeChangeEv
0x0000007100f9118c,O,000032,_ZNK4ksys4phys9RigidBody17getLinearVelocityEPN4sead7Vector3IfEE
0x0000007100f911ac,O,000076,_ZNK4ksys4phys9RigidBody17getLinearVelocityEv
0x0000007100f911f8,O,000032,_ZNK4ksys4phys9RigidBody18getAngularVelocityEPN4sead7Vector3IfEE
@ -83053,8 +83053,8 @@ Address,Quality,Size,Name
0x0000007100f9210c,U,000968,phys::RigidBody::x_50
0x0000007100f924d4,U,000644,phys::RigidBody::x_51
0x0000007100f92758,U,000528,phys::RigidBody::x_52
0x0000007100f92968,U,000524,phys::RigidBody::x_53
0x0000007100f92b74,U,000140,phys::RigidBody::x_54
0x0000007100f92968,O,000524,_ZN4ksys4phys9RigidBody25computeVelocityForWarpingEPN4sead7Vector3IfEERKS4_b
0x0000007100f92b74,O,000140,_ZN4ksys4phys9RigidBody17computeVelocitiesEP10hkVector4fS3_RKS2_RK13hkQuaternionf
0x0000007100f92c00,O,000128,_ZN4ksys4phys9RigidBody22setCenterOfMassInLocalERKN4sead7Vector3IfEE
0x0000007100f92c80,O,000016,_ZNK4ksys4phys9RigidBody22getCenterOfMassInLocalEPN4sead7Vector3IfEE
0x0000007100f92c90,O,000052,_ZNK4ksys4phys9RigidBody22getCenterOfMassInLocalEv
@ -83125,7 +83125,7 @@ Address,Quality,Size,Name
0x0000007100f963a4,O,000156,_ZNK4ksys4phys9RigidBody22isEntityMotionFlag80OnEv
0x0000007100f96440,O,000156,_ZN4ksys4phys9RigidBody25setMagneMassScalingFactorEf
0x0000007100f964dc,O,000148,_ZNK4ksys4phys9RigidBody25getMagneMassScalingFactorEv
0x0000007100f96570,O,000008,_ZN4ksys4phys9RigidBody3m10Ev
0x0000007100f96570,O,000008,_ZN4ksys4phys9RigidBody11getNewShapeEv
0x0000007100f96578,O,000008,_ZN4ksys4phys9RigidBody3m11Ev
0x0000007100f96580,O,000240,_ZN4ksys4phys9RigidBody13resetPositionEv
0x0000007100f96670,O,000144,_ZN4ksys4phys9RigidBody7getNameEv

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13
lib/hkStubs/Havok/Common/Base/Math/Quaternion/hkQuaternionf.h
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@ -20,9 +20,14 @@ public:
HK_FORCE_INLINE hkSimdFloat32 getRealPart() const;
HK_FORCE_INLINE const hkVector4f& getImag() const;
HK_FORCE_INLINE hkFloat32 getAngle() const;
hkSimdFloat32 getAngleSr() const;
HK_FORCE_INLINE void mul(hkQuaternionfParameter q);
HK_FORCE_INLINE void setMul(hkQuaternionfParameter q0, hkQuaternionfParameter q1);
HK_FORCE_INLINE void setInverse(hkQuaternionfParameter q);
HK_FORCE_INLINE static const hkQuaternionf& getIdentity();
hkVector4f m_vec;
@ -62,6 +67,10 @@ inline const hkVector4f& hkQuaternionf::getImag() const {
return m_vec;
}
inline hkFloat32 hkQuaternionf::getAngle() const {
return getAngleSr().val();
}
inline void hkQuaternionf::mul(hkQuaternionfParameter q) {
setMul(*this, q);
}
@ -79,6 +88,10 @@ inline void hkQuaternionf::setMul(hkQuaternionfParameter r, hkQuaternionfParamet
m_vec.setXYZ_W(vec, (rReal * qReal) - rImag.dot<3>(qImag));
}
inline void hkQuaternionf::setInverse(const hkQuaternionf& q) {
m_vec.setNeg<3>(q.getImag());
}
inline const hkQuaternionf& hkQuaternionf::getIdentity() {
return reinterpret_cast<const hkQuaternionf&>(g_vectorfConstants[HK_QUADREAL_0001]);
}

2
src/KingSystem/ActorSystem/actPhysicsUserTag.h
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@ -20,7 +20,7 @@ public:
void m2(void* a) override;
void m3(void* a, void* b, float c) override;
void m4() override;
void onBodyShapeChanged(phys::RigidBody* body) override;
void m5() override;
const sead::SafeString& getName() const override;
void m7(phys::RigidBody* rigid_body, int a) override;

2
src/KingSystem/Physics/RigidBody/physMotionAccessor.h
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@ -61,6 +61,8 @@ public:
hkpRigidBody* getHkBody() const { return mBody->getHkBody(); }
u32 get10() const { return _10; }
u32 get14() const { return _14; }
void increment10() { ++_10; }
void increment14() { ++_14; }
protected:
RigidBody* mBody = nullptr;

194
src/KingSystem/Physics/RigidBody/physRigidBody.cpp
View File

@ -35,6 +35,14 @@ static bool isVectorInvalid(const sead::Vector3f& vec) {
return false;
}
static bool isMatrixInvalid(const sead::Matrix34f& matrix) {
for (float x : matrix.a) {
if (std::isnan(x))
return true;
}
return false;
}
RigidBody::RigidBody(Type type, ContactLayerType layer_type, hkpRigidBody* hk_body,
const sead::SafeString& name, sead::Heap* heap, bool a7)
: mCS(heap), mHkBody(hk_body), mRigidBodyAccessor(hk_body), mType(type) {
@ -884,6 +892,153 @@ sead::Matrix34f RigidBody::getTransform() const {
return transform;
}
void RigidBody::setTransform(const sead::Matrix34f& mtx, bool propagate_to_linked_motions) {
if (isMatrixInvalid(mtx)) {
onInvalidParameter();
return;
}
mMotionAccessor->setTransform(mtx, propagate_to_linked_motions);
}
bool RigidBody::isTransformDirty() const {
return mMotionFlags.isOn(MotionFlag::DirtyTransform);
}
void RigidBody::updateShape() {
if (isFlag8Set()) {
setMotionFlag(MotionFlag::DirtyShape);
return;
}
auto* shape = getNewShape();
if (shape) {
mHkBody->setShape(shape);
if (isEntity() && mMotionAccessor)
mMotionAccessor->increment14();
} else {
mHkBody->updateShape();
if (isEntity() && mMotionAccessor)
mMotionAccessor->increment10();
}
if (mUserTag)
mUserTag->onBodyShapeChanged(this);
}
void RigidBody::updateShapeIfNeeded(float x) {
if (!hasFlag(Flag::_10))
return;
if (x <= 0.0)
x = 1.0;
if (sead::Mathf::equalsEpsilon(_b0, x))
return;
_b0 = m12(x, _b0);
updateShape();
}
void RigidBody::changeMotionType(MotionType motion_type) {
if (getMotionType() == motion_type)
return;
if (isFlag8Set()) {
switch (motion_type) {
case MotionType::Dynamic:
if (isEntity()) {
setMotionFlag(MotionFlag::Dynamic);
mMotionFlags.reset(MotionFlag::Fixed);
mMotionFlags.reset(MotionFlag::Keyframed);
}
break;
case MotionType::Fixed:
setMotionFlag(MotionFlag::Fixed);
mMotionFlags.reset(MotionFlag::Dynamic);
mMotionFlags.reset(MotionFlag::Keyframed);
break;
case MotionType::Keyframed:
setMotionFlag(MotionFlag::Keyframed);
mMotionFlags.reset(MotionFlag::Dynamic);
mMotionFlags.reset(MotionFlag::Fixed);
break;
case MotionType::Unknown:
case MotionType::Invalid:
break;
}
return;
}
switch (motion_type) {
case MotionType::Dynamic:
if (!isEntity())
return;
mMotionFlags.set(MotionFlag::Dynamic);
break;
case MotionType::Fixed:
mMotionFlags.set(MotionFlag::Fixed);
break;
case MotionType::Keyframed:
mMotionFlags.set(MotionFlag::Keyframed);
break;
case MotionType::Unknown:
case MotionType::Invalid:
break;
}
doChangeMotionType(motion_type, getMotionType());
mMotionFlags.set(MotionFlag::DirtyMass);
mMotionFlags.set(MotionFlag::DirtyInertiaLocal);
mMotionFlags.set(MotionFlag::DirtyMaxVelOrTimeFactor);
mMotionFlags.set(MotionFlag::DirtyDampingOrGravityFactor);
mMotionFlags.set(MotionFlag::DirtyCenterOfMassLocal);
x_40();
}
void RigidBody::updateMotionTypeRelatedFlags() {
if (hasFlag(Flag::_20000000) || hasFlag(Flag::_80000000) || hasFlag(Flag::_40000000))
return;
switch (getMotionType()) {
case MotionType::Dynamic:
mFlags.set(Flag::_80000000);
mFlags.reset(Flag::_20000000);
mFlags.reset(Flag::_40000000);
return;
case MotionType::Fixed:
mFlags.set(Flag::_40000000);
mFlags.reset(Flag::_20000000);
mFlags.reset(Flag::_80000000);
return;
case MotionType::Keyframed:
mFlags.set(Flag::_20000000);
mFlags.reset(Flag::_40000000);
mFlags.reset(Flag::_80000000);
return;
case MotionType::Unknown:
case MotionType::Invalid:
break;
}
mFlags.reset(Flag::_20000000);
mFlags.reset(Flag::_40000000);
mFlags.reset(Flag::_80000000);
}
void RigidBody::triggerScheduledMotionTypeChange() {
if (hasFlag(Flag::_20000000)) {
changeMotionType(MotionType::Keyframed);
mFlags.reset(Flag::_20000000);
} else if (hasFlag(Flag::_40000000)) {
changeMotionType(MotionType::Fixed);
mFlags.reset(Flag::_40000000);
} else if (hasFlag(Flag::_80000000)) {
changeMotionType(MotionType::Dynamic);
mFlags.reset(Flag::_80000000);
}
}
bool RigidBody::setLinearVelocity(const sead::Vector3f& velocity, float epsilon) {
if (isVectorInvalid(velocity)) {
onInvalidParameter();
@ -939,6 +1094,43 @@ void RigidBody::getPointVelocity(sead::Vector3f* velocity, const sead::Vector3f&
velocity->add(getLinearVelocity());
}
void RigidBody::computeVelocityForWarping(sead::Vector3f* linear_velocity,
const sead::Vector3f& target_position,
bool take_angular_velocity_into_account) {
const float factor = getVelocityComputeTimeFactor();
const auto hk_target_pos = toHkVec4(target_position);
auto hk_current_pos = toHkVec4(getPosition());
if (take_angular_velocity_into_account) {
const auto center = getCenterOfMassInLocal();
if (center.x == 0 && center.y == 0 && center.z == 0) {
hkVector4f rel_pos;
rel_pos.setSub(hk_current_pos, toHkVec4(getCenterOfMassInWorld()));
hkVector4f correction;
correction.setCross(toHkVec4(getAngularVelocity()), rel_pos);
correction.mul(1.0f / factor);
hk_current_pos.add(correction);
}
}
hkVector4f result;
result.setSub(hk_target_pos, hk_current_pos);
result.mul(factor);
storeToVec3(linear_velocity, result);
}
void RigidBody::computeVelocities(hkVector4f* linear_velocity, hkVector4f* angular_velocity,
const hkVector4f& position, const hkQuaternionf& rotation) {
const float factor = getVelocityComputeTimeFactor();
computeVelocities(linear_velocity, angular_velocity, position, rotation, factor);
}
float RigidBody::getVelocityComputeTimeFactor() const {
const float time_factor = getTimeFactor();
return time_factor == 0 ? 0 : (1.f / (time_factor * System::instance()->get64()));
}
void RigidBody::setCenterOfMassInLocal(const sead::Vector3f& center) {
sead::Vector3f current_center;
mMotionAccessor->getCenterOfMassInLocal(&current_center);
@ -1403,7 +1595,7 @@ void RigidBody::clearFlag8000000(bool clear) {
updateDeactivation();
}
void* RigidBody::m10() {
const hkpShape* RigidBody::getNewShape() {
return nullptr;
}

31
src/KingSystem/Physics/RigidBody/physRigidBody.h
View File

@ -18,6 +18,7 @@ class hkQuaternionf;
class hkVector4f;
class hkpCollidable;
class hkpRigidBody;
class hkpShape;
class hkpMaxSizeMotion;
class hkpMotion;
@ -79,6 +80,10 @@ public:
_2000000 = 1 << 25,
_4000000 = 1 << 26,
_8000000 = 1 << 27,
_10000000 = 1 << 28,
_20000000 = 1 << 29,
_40000000 = 1 << 30,
_80000000 = 1 << 31,
};
enum class MotionFlag {
@ -96,7 +101,7 @@ public:
DirtyCenterOfMassLocal = 1 << 11,
DirtyInertiaLocal = 1 << 12,
DirtyDampingOrGravityFactor = 1 << 13,
_4000 = 1 << 14,
DirtyShape = 1 << 14,
_8000 = 1 << 15,
_10000 = 1 << 16,
_20000 = 1 << 17,
@ -266,8 +271,19 @@ public:
void getTransform(sead::Matrix34f* mtx) const;
sead::Matrix34f getTransform() const;
// 0x0000007100f8fb08
void setTransform(const sead::Matrix34f& mtx, bool propagate_to_linked_motions);
bool isTransformDirty() const;
void updateShape();
void updateShapeIfNeeded(float x);
void changeMotionType(MotionType motion_type);
// 0x0000007100f9045c - calls a bunch of Havok world functions
void doChangeMotionType(MotionType x, MotionType y);
// 0x0000007100f908c8
void x_40();
void updateMotionTypeRelatedFlags();
void triggerScheduledMotionTypeChange();
bool setLinearVelocity(const sead::Vector3f& velocity, float epsilon = sead::Mathf::epsilon());
void getLinearVelocity(sead::Vector3f* velocity) const;
@ -279,9 +295,16 @@ public:
void getPointVelocity(sead::Vector3f* velocity, const sead::Vector3f& point) const;
// 0x0000007100f92b74
/// Compute the linear velocity that would be necessary to instantly warp to the target.
void computeVelocityForWarping(sead::Vector3f* linear_velocity,
const sead::Vector3f& target_position,
bool take_angular_velocity_into_account);
void computeVelocities(hkVector4f* linear_velocity, hkVector4f* angular_velocity,
const hkVector4f& position, const hkQuaternionf& rotation);
// 0x0000007100f91780
void computeVelocities(hkVector4f* linear_velocity, hkVector4f* angular_velocity,
const hkVector4f& position, const hkQuaternionf& rotation, float factor);
float getVelocityComputeTimeFactor() const;
void setCenterOfMassInLocal(const sead::Vector3f& center);
void getCenterOfMassInLocal(sead::Vector3f* center) const;
@ -416,7 +439,7 @@ public:
bool isEntityMotionFlag200On() const;
virtual void m9() = 0;
virtual void* m10();
virtual const hkpShape* getNewShape();
virtual void* m11();
virtual float m12(float x, float y);
virtual void resetPosition();

7
src/KingSystem/Physics/System/physSystem.h
View File

@ -30,6 +30,7 @@ class System {
virtual ~System();
public:
float get64() const { return _64; }
float getTimeFactor() const { return mTimeFactor; }
GroupFilter* getGroupFilter(ContactLayerType type) const;
ContactMgr* getContactMgr() const { return mContactMgr; }
@ -61,7 +62,11 @@ public:
void unlockWorld(ContactLayerType type, void* a = nullptr, int b = 0, bool c = false);
private:
u8 _28[0x74 - 0x28];
u8 _28[0x64 - 0x28];
float _64 = 1.0 / 30.0;
float _68 = 1.0 / 30.0;
float _6c = 1.0;
float _70 = 1.0 / 30.0;
float mTimeFactor{};
u8 _78[0xa8 - 0x78];
sead::CriticalSection mCS;

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

@ -10,7 +10,7 @@ void UserTag::m3(void* a, void* b, float c) {
// FIXME
}
void UserTag::m4() {}
void UserTag::onBodyShapeChanged(RigidBody* body) {}
void UserTag::m5() {}

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

@ -17,7 +17,7 @@ public:
virtual void m2(void* a);
// a and b are probably physics bodies?
virtual void m3(void* a, void* b, float c);
virtual void m4();
virtual void onBodyShapeChanged(RigidBody* body);
virtual void m5();
virtual const sead::SafeString& getName() const { return sead::SafeString::cEmptyString; }
virtual void m7(RigidBody* rigid_body, int a);