metaforce/Runtime/Collision/CGameCollision.cpp

#include "Runtime/Collision/CGameCollision.hpp"

#include "Runtime/CStateManager.hpp"
#include "Runtime/Character/CGroundMovement.hpp"
#include "Runtime/Collision/CAABoxFilter.hpp"
#include "Runtime/Collision/CBallFilter.hpp"
#include "Runtime/Collision/CCollidableOBBTreeGroup.hpp"
#include "Runtime/Collision/CCollidableSphere.hpp"
#include "Runtime/Collision/CCollisionInfoList.hpp"
#include "Runtime/Collision/CMaterialFilter.hpp"
#include "Runtime/Collision/CMaterialList.hpp"
#include "Runtime/Collision/CMetroidAreaCollider.hpp"
#include "Runtime/Collision/CollisionUtil.hpp"
#include "Runtime/World/CActor.hpp"
#include "Runtime/World/CScriptPlatform.hpp"
#include "Runtime/World/CWorld.hpp"

#include "TCastTo.hpp" // Generated file, do not modify include path

namespace metaforce {

static float CollisionImpulseFiniteVsInfinite(float mass, float velNormDot, float restitution) {
  return mass * -(1.f + restitution) * velNormDot;
}

static float CollisionImpulseFiniteVsFinite(float mass0, float mass1, float velNormDot, float restitution) {
  return (-(1.f + restitution) * velNormDot) / ((1.f / mass0) + (1.f / mass1));
}

void CGameCollision::InitCollision() {
  /* Types */
  CCollisionPrimitive::InitBeginTypes();
  CCollisionPrimitive::InitAddType(CCollidableOBBTreeGroup::GetType());
  CCollisionPrimitive::InitEndTypes();

  /* Colliders */
  CCollisionPrimitive::InitBeginColliders();
  CCollisionPrimitive::InitAddCollider(CCollidableOBBTreeGroup::SphereCollide, "CCollidableSphere",
                                       "CCollidableOBBTreeGroup");
  CCollisionPrimitive::InitAddCollider(CCollidableOBBTreeGroup::AABoxCollide, "CCollidableAABox",
                                       "CCollidableOBBTreeGroup");
  CCollisionPrimitive::InitAddBooleanCollider(CCollidableOBBTreeGroup::SphereCollideBoolean, "CCollidableSphere",
                                              "CCollidableOBBTreeGroup");
  CCollisionPrimitive::InitAddBooleanCollider(CCollidableOBBTreeGroup::AABoxCollideBoolean, "CCollidableAABox",
                                              "CCollidableOBBTreeGroup");
  CCollisionPrimitive::InitAddMovingCollider(CCollidableOBBTreeGroup::CollideMovingAABox, "CCollidableAABox",
                                             "CCollidableOBBTreeGroup");
  CCollisionPrimitive::InitAddMovingCollider(CCollidableOBBTreeGroup::CollideMovingSphere, "CCollidableSphere",
                                             "CCollidableOBBTreeGroup");
  CCollisionPrimitive::InitAddCollider(CGameCollision::NullCollisionCollider, "CCollidableOBBTreeGroup",
                                       "CCollidableOBBTreeGroup");
  CCollisionPrimitive::InitAddBooleanCollider(CGameCollision::NullBooleanCollider, "CCollidableOBBTreeGroup",
                                              "CCollidableOBBTreeGroup");
  CCollisionPrimitive::InitAddMovingCollider(CGameCollision::NullMovingCollider, "CCollidableOBBTreeGroup",
                                             "CCollidableOBBTreeGroup");
  CCollisionPrimitive::InitEndColliders();
}

void CGameCollision::MovePlayer(CStateManager& mgr, CPhysicsActor& actor, float dt,
                                const rstl::reserved_vector<TUniqueId, 1024>* colliderList) {
  actor.SetAngularEnabled(true);
  actor.AddMotionState(actor.PredictAngularMotion(dt));
  if (actor.IsUseStandardCollider()) {
    MoveAndCollide(mgr, actor, dt, CBallFilter(actor), colliderList);
  } else {
    if (actor.GetMaterialList().HasMaterial(EMaterialTypes::GroundCollider))
      CGroundMovement::MoveGroundCollider_New(mgr, actor, dt, colliderList);
    else
      MoveAndCollide(mgr, actor, dt, CBallFilter(actor), colliderList);
  }
  actor.SetAngularEnabled(false);
}

void CGameCollision::MoveAndCollide(CStateManager& mgr, CPhysicsActor& actor, float dt, const ICollisionFilter& filter,
                                    const rstl::reserved_vector<TUniqueId, 1024>* colliderList) {
  bool isPlayer = actor.GetMaterialList().HasMaterial(EMaterialTypes::Player);
  bool r28 = false;
  bool r27 = false;
  int r26 = 0;
  float f31 = dt;
  float _4AC4 = dt;
  float _4AC8 = dt;
  CCollisionInfoList accumList;
  CMotionState mState = actor.PredictMotion_Internal(dt);
  float transMag = mState.x0_translation.magnitude();
  float m1 = 0.0005f / actor.GetCollisionAccuracyModifier();
  float m2 = transMag / (5.f * actor.GetCollisionAccuracyModifier());
  float mMax = std::max(m1, m2);
  float m3 = 0.001f / actor.GetCollisionAccuracyModifier();

  zeus::CAABox motionVol = actor.GetMotionVolume(dt);
  rstl::reserved_vector<TUniqueId, 1024> useColliderList;
  if (colliderList)
    useColliderList = *colliderList;
  else
    mgr.BuildColliderList(useColliderList, actor, zeus::CAABox(motionVol.min - 1.f, motionVol.max + 1.f));
  CAreaCollisionCache cache(motionVol);
  if (actor.GetCollisionPrimitive()->GetPrimType() != FOURCC('OBTG') &&
      !actor.GetMaterialFilter().GetExcludeList().HasMaterial(EMaterialTypes::NoStaticCollision)) {
    BuildAreaCollisionCache(mgr, cache);
    zeus::CVector3f pos = actor.GetCollisionPrimitive()->CalculateAABox(actor.GetPrimitiveTransform()).center();
    float halfExtent = 0.5f * GetMinExtentForCollisionPrimitive(*actor.GetCollisionPrimitive());
    if (transMag > halfExtent) {
      TUniqueId id = kInvalidUniqueId;
      zeus::CVector3f dir = (1.f / transMag) * mState.x0_translation;
      CRayCastResult intersectRes =
          mgr.RayWorldIntersection(id, pos, dir, transMag, actor.GetMaterialFilter(), useColliderList);
      if (intersectRes.IsValid()) {
        f31 = dt * (intersectRes.GetT() / transMag);
        mState = actor.PredictMotion_Internal(f31);
        _4AC8 = halfExtent * (dt / transMag);
        mMax = std::min(mMax, halfExtent);
      }
    }
  }

  float f27 = f31;
  while (true) {
    actor.MoveCollisionPrimitive(mState.x0_translation);
    if (DetectCollisionBoolean_Cached(mgr, cache, *actor.GetCollisionPrimitive(), actor.GetPrimitiveTransform(),
                                      actor.GetMaterialFilter(), useColliderList)) {
      r28 = true;
      if (mState.x0_translation.magnitude() < mMax) {
        r27 = true;
        accumList.Clear();
        TUniqueId id = kInvalidUniqueId;
        DetectCollision_Cached(mgr, cache, *actor.GetCollisionPrimitive(), actor.GetPrimitiveTransform(),
                               actor.GetMaterialFilter(), useColliderList, id, accumList);
        TCastToPtr<CPhysicsActor> otherActor = mgr.ObjectById(id);
        actor.MoveCollisionPrimitive(zeus::skZero3f);
        zeus::CVector3f relVel = GetActorRelativeVelocities(actor, otherActor.GetPtr());
        CCollisionInfoList filterList0, filterList1;
        CollisionUtil::FilterOutBackfaces(relVel, accumList, filterList0);
        if (filterList0.GetCount() > 0) {
          filter.Filter(filterList0, filterList1);
          if (!filterList1.GetCount() && actor.GetMaterialList().HasMaterial(EMaterialTypes::Player)) {
            CMotionState mState = actor.GetLastNonCollidingState();
            mState.x1c_velocity *= zeus::CVector3f(0.5f);
            mState.x28_angularMomentum *= zeus::CVector3f(0.5f);
            actor.SetMotionState(mState);
          }
        }
        MakeCollisionCallbacks(mgr, actor, id, filterList1);
        SendScriptMessages(mgr, actor, otherActor.GetPtr(), filterList1);
        ResolveCollisions(actor, otherActor.GetPtr(), filterList1);
        _4AC4 -= f31;
        f27 = std::min(_4AC4, _4AC8);
        f31 = f27;
      } else {
        f27 *= 0.5f;
        f31 *= 0.5f;
      }
    } else {
      actor.AddMotionState(mState);
      _4AC4 -= f31;
      f31 = f27;
      actor.ClearImpulses();
      actor.MoveCollisionPrimitive(zeus::skZero3f);
    }

    ++r26;
    if (_4AC4 > 0.f && ((mState.x0_translation.magnitude() > m3 && r27) || !r27) && r26 <= 1000)
      mState = actor.PredictMotion_Internal(f31);
    else
      break;
  }

  f27 = _4AC4 / dt;
  if (!r28 && !actor.GetMaterialList().HasMaterial(EMaterialTypes::GroundCollider))
    mgr.SendScriptMsg(&actor, kInvalidUniqueId, EScriptObjectMessage::Falling);

  if (isPlayer)
    CollisionFailsafe(mgr, cache, actor, *actor.GetCollisionPrimitive(), useColliderList, f27, 2);

  actor.ClearForcesAndTorques();
  actor.MoveCollisionPrimitive(zeus::skZero3f);
}

zeus::CVector3f CGameCollision::GetActorRelativeVelocities(const CPhysicsActor& act0, const CPhysicsActor* act1) {
  zeus::CVector3f ret = act0.GetVelocity();
  if (act1) {
    bool rider = false;
    if (const TCastToConstPtr<CScriptPlatform> plat = act1) {
      rider = plat->IsRider(act0.GetUniqueId());
    }
    if (!rider) {
      ret -= act1->GetVelocity();
    }
  }
  return ret;
}

void CGameCollision::Move(CStateManager& mgr, CPhysicsActor& actor, float dt,
                          const rstl::reserved_vector<TUniqueId, 1024>* colliderList) {
  if (!actor.IsMovable())
    return;
  if (actor.GetMaterialList().HasMaterial(EMaterialTypes::GroundCollider) || actor.WillMove(mgr)) {
    if (actor.IsAngularEnabled())
      actor.AddMotionState(actor.PredictAngularMotion(dt));
    actor.UseCollisionImpulses();
    if (actor.GetMaterialList().HasMaterial(EMaterialTypes::Solid)) {
      if (actor.GetMaterialList().HasMaterial(EMaterialTypes::Player))
        MovePlayer(mgr, actor, dt, colliderList);
      else if (actor.GetMaterialList().HasMaterial(EMaterialTypes::GroundCollider))
        CGroundMovement::MoveGroundCollider(mgr, actor, dt, colliderList);
      else
        MoveAndCollide(mgr, actor, dt, CAABoxFilter(actor), colliderList);
    } else {
      actor.AddMotionState(actor.PredictMotion_Internal(dt));
      actor.ClearForcesAndTorques();
    }
    mgr.UpdateActorInSortedLists(actor);
  }
}

bool CGameCollision::CanBlock(const CMaterialList& mat, const zeus::CVector3f& v) {
  if ((mat.HasMaterial(EMaterialTypes::Character) && !mat.HasMaterial(EMaterialTypes::SolidCharacter)) ||
      mat.HasMaterial(EMaterialTypes::NoPlayerCollision)) {
    return false;
  }

  if (mat.HasMaterial(EMaterialTypes::Floor)) {
    return true;
  }

  return (v.z() > 0.85f);
}

bool CGameCollision::IsFloor(const CMaterialList& mat, const zeus::CVector3f& v) {
  return mat.HasMaterial(EMaterialTypes::Floor) || v.z() > 0.85f;
}

void CGameCollision::SendMaterialMessage(CStateManager& mgr, const CMaterialList& mat, CActor& act) {
  EScriptObjectMessage msg;
  if (mat.HasMaterial(EMaterialTypes::Ice)) {
    msg = EScriptObjectMessage::OnIceSurface;
  } else if (mat.HasMaterial(EMaterialTypes::MudSlow)) {
    msg = EScriptObjectMessage::OnMudSlowSurface;
  } else {
    msg = EScriptObjectMessage::OnNormalSurface;
  }

  mgr.SendScriptMsg(&act, kInvalidUniqueId, msg);
}

CRayCastResult CGameCollision::RayStaticIntersection(const CStateManager& mgr, const zeus::CVector3f& pos,
                                                     const zeus::CVector3f& dir, float length,
                                                     const CMaterialFilter& filter) {
  CRayCastResult ret;
  float bestT = length;
  if (bestT <= 0.f) {
    bestT = 100000.f;
  }

  zeus::CLine line(pos, dir);
  for (const CGameArea& area : *mgr.GetWorld()) {
    CAreaOctTree::SRayResult rayRes;
    CAreaOctTree& collision = *area.GetPostConstructed()->x0_collision;
    collision.GetRootNode().LineTestEx(line, filter, rayRes, length);
    if (!rayRes.x10_surface || (length != 0.f && length < rayRes.x3c_t)) {
      continue;
    }

    if (rayRes.x3c_t < bestT) {
      ret = CRayCastResult(rayRes.x3c_t, dir * rayRes.x3c_t + pos, rayRes.x0_plane,
                           rayRes.x10_surface->GetSurfaceFlags());
      bestT = rayRes.x3c_t;
    }
  }

  return ret;
}

bool CGameCollision::RayStaticIntersectionBool(const CStateManager& mgr, const zeus::CVector3f& start,
                                               const zeus::CVector3f& dir, float length,
                                               const CMaterialFilter& filter) {
  if (length <= 0.f) {
    length = 100000.f;
  }
  zeus::CLine line(start, dir);
  for (const CGameArea& area : *mgr.GetWorld()) {
    const CAreaOctTree& collision = *area.GetPostConstructed()->x0_collision;
    CAreaOctTree::Node root = collision.GetRootNode();
    if (!root.LineTest(line, filter, length)) {
      return false;
    }
  }

  return true;
}

CRayCastResult CGameCollision::RayDynamicIntersection(const CStateManager& mgr, TUniqueId& idOut,
                                                      const zeus::CVector3f& pos, const zeus::CVector3f& dir,
                                                      float length, const CMaterialFilter& filter,
                                                      const rstl::reserved_vector<TUniqueId, 1024>& nearList) {
  CRayCastResult ret;
  float bestT = length;
  if (bestT <= 0.f) {
    bestT = 100000.f;
  }

  for (TUniqueId id : nearList) {
    const CEntity* ent = mgr.GetObjectById(id);
    if (const TCastToConstPtr<CPhysicsActor> physActor = ent) {
      const zeus::CTransform xf = physActor->GetPrimitiveTransform();
      const CCollisionPrimitive* prim = physActor->GetCollisionPrimitive();
      const CRayCastResult res = prim->CastRay(pos, dir, bestT, filter, xf);
      if (!res.IsInvalid() && res.GetT() < bestT) {
        bestT = res.GetT();
        ret = res;
        idOut = physActor->GetUniqueId();
      }
    }
  }

  return ret;
}

bool CGameCollision::RayDynamicIntersectionBool(const CStateManager& mgr, const zeus::CVector3f& pos,
                                                const zeus::CVector3f& dir, const CMaterialFilter& filter,
                                                const rstl::reserved_vector<TUniqueId, 1024>& nearList,
                                                const CActor* damagee, float length) {
  if (length <= 0.f) {
    length = 100000.f;
  }

  for (TUniqueId id : nearList) {
    const CEntity* ent = mgr.GetObjectById(id);
    if (const TCastToConstPtr<CPhysicsActor> physActor = ent) {
      if (damagee != nullptr && physActor->GetUniqueId() == damagee->GetUniqueId()) {
        continue;
      }
      const zeus::CTransform xf = physActor->GetPrimitiveTransform();
      const CCollisionPrimitive* prim = physActor->GetCollisionPrimitive();
      const CRayCastResult res = prim->CastRay(pos, dir, length, filter, xf);
      if (!res.IsInvalid()) {
        return false;
      }
    }
  }

  return true;
}

CRayCastResult CGameCollision::RayWorldIntersection(const CStateManager& mgr, TUniqueId& idOut,
                                                    const zeus::CVector3f& pos, const zeus::CVector3f& dir, float mag,
                                                    const CMaterialFilter& filter,
                                                    const rstl::reserved_vector<TUniqueId, 1024>& nearList) {
  CRayCastResult staticRes = RayStaticIntersection(mgr, pos, dir, mag, filter);
  CRayCastResult dynamicRes = RayDynamicIntersection(mgr, idOut, pos, dir, mag, filter, nearList);

  if (dynamicRes.IsValid()) {
    if (staticRes.IsInvalid()) {
      return dynamicRes;
    }
    if (staticRes.GetT() >= dynamicRes.GetT()) {
      return dynamicRes;
    }
  }
  return staticRes;
}

bool CGameCollision::RayStaticIntersectionArea(const CGameArea& area, const zeus::CVector3f& pos,
                                               const zeus::CVector3f& dir, float mag, const CMaterialFilter& filter) {
  if (mag <= 0.f) {
    mag = 100000.f;
  }
  CAreaOctTree::Node node = area.GetPostConstructed()->x0_collision->GetRootNode();
  zeus::CLine line(pos, dir);
  return node.LineTest(line, filter, mag);
}

void CGameCollision::BuildAreaCollisionCache(const CStateManager& mgr, CAreaCollisionCache& cache) {
  cache.ClearCache();
  for (const CGameArea& area : *mgr.GetWorld()) {
    const CAreaOctTree& areaCollision = *area.GetPostConstructed()->x0_collision;
    CMetroidAreaCollider::COctreeLeafCache octreeCache(areaCollision);
    CMetroidAreaCollider::BuildOctreeLeafCache(areaCollision.GetRootNode(), cache.GetCacheBounds(), octreeCache);
    cache.AddOctreeLeafCache(octreeCache);
  }
}

float CGameCollision::GetMinExtentForCollisionPrimitive(const CCollisionPrimitive& prim) {
  if (prim.GetPrimType() == FOURCC('SPHR')) {
    const auto& sphere = static_cast<const CCollidableSphere&>(prim);
    return 2.f * sphere.GetSphere().radius;
  }
  if (prim.GetPrimType() == FOURCC('AABX')) {
    const auto& aabx = static_cast<const CCollidableAABox&>(prim);
    const zeus::CVector3f extent = aabx.GetBox().max - aabx.GetBox().min;
    float minExtent = std::min(extent.x(), extent.y());
    minExtent = std::min(minExtent, extent.z());
    return minExtent;
  }
  if (prim.GetPrimType() == FOURCC('ABSH')) {
    // Combination AABB / Sphere cut from game
  }
  return 1.f;
}

bool CGameCollision::DetectCollisionBoolean(const CStateManager& mgr, const CCollisionPrimitive& prim,
                                            const zeus::CTransform& xf, const CMaterialFilter& filter,
                                            const rstl::reserved_vector<TUniqueId, 1024>& nearList) {
  if (!filter.GetExcludeList().HasMaterial(EMaterialTypes::NoStaticCollision) &&
      DetectStaticCollisionBoolean(mgr, prim, xf, filter)) {
    return true;
  }
  if (DetectDynamicCollisionBoolean(prim, xf, nearList, mgr)) {
    return true;
  }
  return false;
}

bool CGameCollision::DetectCollisionBoolean_Cached(const CStateManager& mgr, CAreaCollisionCache& cache,
                                                   const CCollisionPrimitive& prim, const zeus::CTransform& xf,
                                                   const CMaterialFilter& filter,
                                                   const rstl::reserved_vector<TUniqueId, 1024>& nearList) {
  if (!filter.GetExcludeList().HasMaterial(EMaterialTypes::NoStaticCollision) &&
      DetectStaticCollisionBoolean_Cached(mgr, cache, prim, xf, filter)) {
    return true;
  }
  if (DetectDynamicCollisionBoolean(prim, xf, nearList, mgr)) {
    return true;
  }
  return false;
}

bool CGameCollision::DetectStaticCollisionBoolean(const CStateManager& mgr, const CCollisionPrimitive& prim,
                                                  const zeus::CTransform& xf, const CMaterialFilter& filter) {
  if (prim.GetPrimType() == FOURCC('OBTG')) {
    return false;
  }

  if (prim.GetPrimType() == FOURCC('AABX')) {
    zeus::CAABox aabb = prim.CalculateAABox(xf);
    for (const CGameArea& area : *mgr.GetWorld()) {
      if (CMetroidAreaCollider::AABoxCollisionCheckBoolean(*area.GetPostConstructed()->x0_collision, aabb, filter)) {
        return true;
      }
    }
  } else if (prim.GetPrimType() == FOURCC('SPHR')) {
    const auto& sphere = static_cast<const CCollidableSphere&>(prim);
    zeus::CAABox aabb = prim.CalculateAABox(xf);
    zeus::CSphere xfSphere = sphere.Transform(xf);
    for (const CGameArea& area : *mgr.GetWorld()) {
      if (CMetroidAreaCollider::SphereCollisionCheckBoolean(*area.GetPostConstructed()->x0_collision, aabb, xfSphere,
                                                            filter)) {
        return true;
      }
    }
  } else if (prim.GetPrimType() == FOURCC('ABSH')) {
    // Combination AABB / Sphere cut from game
  }

  return false;
}

bool CGameCollision::DetectStaticCollisionBoolean_Cached(const CStateManager& mgr, CAreaCollisionCache& cache,
                                                         const CCollisionPrimitive& prim, const zeus::CTransform& xf,
                                                         const CMaterialFilter& filter) {
  if (prim.GetPrimType() == FOURCC('OBTG')) {
    return false;
  }

  zeus::CAABox aabb = prim.CalculateAABox(xf);
  if (!aabb.inside(cache.GetCacheBounds())) {
    zeus::CAABox newAABB(aabb.min - 0.2f, aabb.max + 0.2f);
    newAABB.accumulateBounds(cache.GetCacheBounds());
    cache.SetCacheBounds(newAABB);
    BuildAreaCollisionCache(mgr, cache);
  }

  if (cache.HasCacheOverflowed()) {
    return DetectStaticCollisionBoolean(mgr, prim, xf, filter);
  }

  if (prim.GetPrimType() == FOURCC('AABX')) {
    for (const CMetroidAreaCollider::COctreeLeafCache& leafCache : cache) {
      if (CMetroidAreaCollider::AABoxCollisionCheckBoolean_Cached(leafCache, aabb, filter)) {
        return true;
      }
    }
  } else if (prim.GetPrimType() == FOURCC('SPHR')) {
    const auto& sphere = static_cast<const CCollidableSphere&>(prim);
    zeus::CSphere xfSphere = sphere.Transform(xf);
    for (const CMetroidAreaCollider::COctreeLeafCache& leafCache : cache) {
      if (CMetroidAreaCollider::SphereCollisionCheckBoolean_Cached(leafCache, aabb, xfSphere, filter)) {
        return true;
      }
    }
  } else if (prim.GetPrimType() == FOURCC('ABSH')) {
    // Combination AABB / Sphere cut from game
  }

  return false;
}

bool CGameCollision::DetectDynamicCollisionBoolean(const CCollisionPrimitive& prim, const zeus::CTransform& xf,
                                                   const rstl::reserved_vector<TUniqueId, 1024>& nearList,
                                                   const CStateManager& mgr) {
  for (const auto& id : nearList) {
    if (const TCastToConstPtr<CPhysicsActor> actor = mgr.GetObjectById(id)) {
      const CInternalCollisionStructure::CPrimDesc p0(prim, CMaterialFilter::skPassEverything, xf);
      const CInternalCollisionStructure::CPrimDesc p1(
          *actor->GetCollisionPrimitive(), CMaterialFilter::skPassEverything, actor->GetPrimitiveTransform());
      if (CCollisionPrimitive::CollideBoolean(p0, p1)) {
        return true;
      }
    }
  }

  return false;
}

bool CGameCollision::DetectCollision_Cached(const CStateManager& mgr, CAreaCollisionCache& cache,
                                            const CCollisionPrimitive& prim, const zeus::CTransform& xf,
                                            const CMaterialFilter& filter,
                                            const rstl::reserved_vector<TUniqueId, 1024>& nearList, TUniqueId& idOut,
                                            CCollisionInfoList& infoList) {
  idOut = kInvalidUniqueId;
  bool ret = false;
  if (!filter.GetExcludeList().HasMaterial(EMaterialTypes::NoStaticCollision)) {
    if (DetectStaticCollision_Cached(mgr, cache, prim, xf, filter, infoList)) {
      ret = true;
    }
  }

  TUniqueId id = kInvalidUniqueId;
  if (DetectDynamicCollision(prim, xf, nearList, id, infoList, mgr)) {
    ret = true;
    idOut = id;
  }

  return ret;
}

bool CGameCollision::DetectCollision_Cached_Moving(const CStateManager& mgr, CAreaCollisionCache& cache,
                                                   const CCollisionPrimitive& prim, const zeus::CTransform& xf,
                                                   const CMaterialFilter& filter,
                                                   const rstl::reserved_vector<TUniqueId, 1024>& nearList,
                                                   const zeus::CVector3f& dir, TUniqueId& idOut,
                                                   CCollisionInfo& infoOut, double& d) {
  bool ret = false;
  idOut = kInvalidUniqueId;
  if (!filter.GetExcludeList().HasMaterial(EMaterialTypes::NoStaticCollision)) {
    if (CGameCollision::DetectStaticCollision_Cached_Moving(mgr, cache, prim, xf, filter, dir, infoOut, d)) {
      ret = true;
    }
  }

  if (CGameCollision::DetectDynamicCollisionMoving(prim, xf, nearList, dir, idOut, infoOut, d, mgr)) {
    ret = true;
  }

  return ret;
}

bool CGameCollision::DetectStaticCollision(const CStateManager& mgr, const CCollisionPrimitive& prim,
                                           const zeus::CTransform& xf, const CMaterialFilter& filter,
                                           CCollisionInfoList& list) {
  if (prim.GetPrimType() == FOURCC('OBTG')) {
    return false;
  }

  bool ret = false;
  if (prim.GetPrimType() == FOURCC('AABX')) {
    zeus::CAABox aabb = prim.CalculateAABox(xf);
    for (const CGameArea& area : *mgr.GetWorld()) {
      if (CMetroidAreaCollider::AABoxCollisionCheck(*area.GetPostConstructed()->x0_collision, aabb, filter,
                                                    prim.GetMaterial(), list)) {
        ret = true;
      }
    }
  } else if (prim.GetPrimType() == FOURCC('SPHR')) {
    const auto& sphere = static_cast<const CCollidableSphere&>(prim);
    zeus::CAABox aabb = prim.CalculateAABox(xf);
    zeus::CSphere xfSphere = sphere.Transform(xf);
    for (const CGameArea& area : *mgr.GetWorld()) {
      if (CMetroidAreaCollider::SphereCollisionCheck(*area.GetPostConstructed()->x0_collision, aabb, xfSphere,
                                                     prim.GetMaterial(), filter, list)) {
        ret = true;
      }
    }
  } else if (prim.GetPrimType() == FOURCC('ABSH')) {
    // Combination AABB / Sphere cut from game
  }

  return ret;
}

bool CGameCollision::DetectStaticCollision_Cached(const CStateManager& mgr, CAreaCollisionCache& cache,
                                                  const CCollisionPrimitive& prim, const zeus::CTransform& xf,
                                                  const CMaterialFilter& filter, CCollisionInfoList& list) {
  if (prim.GetPrimType() == FOURCC('OBTG')) {
    return false;
  }

  bool ret = false;
  zeus::CAABox calcAABB = prim.CalculateAABox(xf);
  if (!calcAABB.inside(cache.GetCacheBounds())) {
    zeus::CAABox newAABB(calcAABB.min - 0.2f, calcAABB.max + 0.2f);
    newAABB.accumulateBounds(cache.GetCacheBounds());
    cache.SetCacheBounds(newAABB);
    BuildAreaCollisionCache(mgr, cache);
  }

  if (cache.HasCacheOverflowed()) {
    return DetectStaticCollision(mgr, prim, xf, filter, list);
  }

  if (prim.GetPrimType() == FOURCC('AABX')) {
    for (const CMetroidAreaCollider::COctreeLeafCache& leafCache : cache) {
      if (CMetroidAreaCollider::AABoxCollisionCheck_Cached(leafCache, calcAABB, filter, prim.GetMaterial(), list)) {
        ret = true;
      }
    }
  } else if (prim.GetPrimType() == FOURCC('SPHR')) {
    const auto& sphere = static_cast<const CCollidableSphere&>(prim);
    zeus::CSphere xfSphere = sphere.Transform(xf);
    for (const CMetroidAreaCollider::COctreeLeafCache& leafCache : cache) {
      if (CMetroidAreaCollider::SphereCollisionCheck_Cached(leafCache, calcAABB, xfSphere, prim.GetMaterial(), filter,
                                                            list)) {
        ret = true;
      }
    }
  } else if (prim.GetPrimType() == FOURCC('ABSH')) {
    // Combination AABB / Sphere cut from game
  }

  return ret;
}

bool CGameCollision::DetectStaticCollision_Cached_Moving(const CStateManager& mgr, CAreaCollisionCache& cache,
                                                         const CCollisionPrimitive& prim, const zeus::CTransform& xf,
                                                         const CMaterialFilter& filter, const zeus::CVector3f& dir,
                                                         CCollisionInfo& infoOut, double& dOut) {
  if (prim.GetPrimType() == FOURCC('OBTG')) {
    return false;
  }

  zeus::CVector3f offset = float(dOut) * dir;
  zeus::CAABox aabb = prim.CalculateAABox(xf);
  zeus::CAABox offsetAABB = aabb;
  offsetAABB.accumulateBounds(offset + offsetAABB.min);
  offsetAABB.accumulateBounds(offset + offsetAABB.max);

  if (!offsetAABB.inside(cache.GetCacheBounds())) {
    zeus::CAABox newAABB(offsetAABB.min - 0.2f, offsetAABB.max + 0.2f);
    newAABB.accumulateBounds(cache.GetCacheBounds());
    cache.SetCacheBounds(newAABB);
    BuildAreaCollisionCache(mgr, cache);
  }

  if (prim.GetPrimType() == FOURCC('AABX')) {
    for (const CMetroidAreaCollider::COctreeLeafCache& leafCache : cache) {
      CCollisionInfo info;
      double d = dOut;
      if (CMetroidAreaCollider::MovingAABoxCollisionCheck_Cached(
              leafCache, aabb, filter, CMaterialList(EMaterialTypes::Solid), dir, dOut, info, d) &&
          d < dOut) {
        infoOut = info;
        dOut = d;
      }
    }
  } else if (prim.GetPrimType() == FOURCC('SPHR')) {
    const auto& sphere = static_cast<const CCollidableSphere&>(prim);
    zeus::CSphere xfSphere = sphere.Transform(xf);
    for (const CMetroidAreaCollider::COctreeLeafCache& leafCache : cache) {
      CCollisionInfo info;
      double d = dOut;
      if (CMetroidAreaCollider::MovingSphereCollisionCheck_Cached(
              leafCache, aabb, xfSphere, filter, CMaterialList(EMaterialTypes::Solid), dir, dOut, info, d) &&
          d < dOut) {
        infoOut = info;
        dOut = d;
      }
    }
  }

  return infoOut.IsValid();
}

bool CGameCollision::DetectDynamicCollision(const CCollisionPrimitive& prim, const zeus::CTransform& xf,
                                            const rstl::reserved_vector<TUniqueId, 1024>& nearList, TUniqueId& idOut,
                                            CCollisionInfoList& list, const CStateManager& mgr) {
  for (const auto& id : nearList) {
    if (const TCastToConstPtr<CPhysicsActor> actor = mgr.GetObjectById(id)) {
      const CInternalCollisionStructure::CPrimDesc p0(prim, CMaterialFilter::skPassEverything, xf);
      const CInternalCollisionStructure::CPrimDesc p1(
          *actor->GetCollisionPrimitive(), CMaterialFilter::skPassEverything, actor->GetPrimitiveTransform());
      if (CCollisionPrimitive::Collide(p0, p1, list)) {
        idOut = actor->GetUniqueId();
        return true;
      }
    }
  }

  return false;
}

bool CGameCollision::DetectDynamicCollisionMoving(const CCollisionPrimitive& prim, const zeus::CTransform& xf,
                                                  const rstl::reserved_vector<TUniqueId, 1024>& nearList,
                                                  const zeus::CVector3f& dir, TUniqueId& idOut, CCollisionInfo& infoOut,
                                                  double& dOut, const CStateManager& mgr) {
  bool ret = false;
  for (const auto& id : nearList) {
    double d = dOut;
    CCollisionInfo info;
    if (const TCastToConstPtr<CPhysicsActor> actor = mgr.GetObjectById(id)) {
      const CInternalCollisionStructure::CPrimDesc p0(prim, CMaterialFilter::skPassEverything, xf);
      const CInternalCollisionStructure::CPrimDesc p1(
          *actor->GetCollisionPrimitive(), CMaterialFilter::skPassEverything, actor->GetPrimitiveTransform());
      if (CCollisionPrimitive::CollideMoving(p0, p1, dir, d, info) && d < dOut) {
        ret = true;
        infoOut = info;
        dOut = d;
        idOut = actor->GetUniqueId();
      }
    }
  }

  return ret;
}

bool CGameCollision::DetectCollision(const CStateManager& mgr, const CCollisionPrimitive& prim, const zeus::CTransform& xf,
                                     const CMaterialFilter& filter, const rstl::reserved_vector<TUniqueId, 1024>& nearList,
                                     TUniqueId& idOut, CCollisionInfoList& infoOut) {
  bool ret = false;
  CMaterialList exclude = filter.ExcludeList();
  if (!exclude.HasMaterial(EMaterialTypes::Occluder) && DetectStaticCollision(mgr, prim, xf, filter, infoOut)) {
      ret = true;
  }

  TUniqueId tmpId = kInvalidUniqueId;
  if (DetectDynamicCollision(prim, xf, nearList, tmpId, infoOut, mgr)) {
    ret = true;
    idOut = tmpId;
  }
  return ret;
}

void CGameCollision::MakeCollisionCallbacks(CStateManager& mgr, CPhysicsActor& actor, TUniqueId id,
                                            const CCollisionInfoList& list) {
  actor.CollidedWith(id, list, mgr);

  if (id == kInvalidUniqueId) {
    return;
  }

  if (const TCastToPtr<CPhysicsActor> physicalActor = mgr.ObjectById(id)) {
    CCollisionInfoList swappedList = list;
    for (CCollisionInfo& info : swappedList) {
      info.Swap();
    }
    physicalActor->CollidedWith(physicalActor->GetUniqueId(), list, mgr);
  }
}

void CGameCollision::SendScriptMessages(CStateManager& mgr, CActor& a0, CActor* a1, const CCollisionInfoList& list) {
  bool onFloor = false;
  bool platform = false;

  for (const CCollisionInfo& info : list) {
    if (IsFloor(info.GetMaterialLeft(), info.GetNormalLeft())) {
      onFloor = true;
      if (info.GetMaterialLeft().HasMaterial(EMaterialTypes::Platform)) {
        platform = true;
      }
      SendMaterialMessage(mgr, info.GetMaterialLeft(), a0);
    }
  }

  if (onFloor) {
    mgr.SendScriptMsg(&a0, kInvalidUniqueId, EScriptObjectMessage::OnFloor);
    if (platform) {
      if (const TCastToPtr<CScriptPlatform> plat = a1) {
        mgr.SendScriptMsg(plat.GetPtr(), a0.GetUniqueId(), EScriptObjectMessage::AddPlatformRider);
      }
    } else if (a1 != nullptr) {
      if (const TCastToPtr<CScriptPlatform> plat = a0) {
        for (const CCollisionInfo& info : list) {
          if (IsFloor(info.GetMaterialRight(), info.GetNormalRight())) {
            if (info.GetMaterialRight().HasMaterial(EMaterialTypes::Platform)) {
              platform = true;
            }
            SendMaterialMessage(mgr, info.GetMaterialLeft(), a0);
          }
        }
        if (platform) {
          mgr.SendScriptMsg(plat.GetPtr(), a1->GetUniqueId(), EScriptObjectMessage::AddPlatformRider);
        }
      }
    }
  }
}

void CGameCollision::ResolveCollisions(CPhysicsActor& a0, CPhysicsActor* a1, const CCollisionInfoList& list) {
  for (const CCollisionInfo& info : list) {
    CCollisionInfo infoCopy = info;
    const float restitution = GetCoefficientOfRestitution(infoCopy) + a0.GetCoefficientOfRestitutionModifier();
    if (a1 != nullptr) {
      CollideWithDynamicBodyNoRot(a0, *a1, infoCopy, restitution, false);
    } else {
      CollideWithStaticBodyNoRot(a0, infoCopy.GetMaterialLeft(), infoCopy.GetMaterialRight(), infoCopy.GetNormalLeft(),
                                 restitution, false);
    }
  }
}

void CGameCollision::CollideWithDynamicBodyNoRot(CPhysicsActor& a0, CPhysicsActor& a1, const CCollisionInfo& info,
                                                 float restitution, bool zeroZ) {
  zeus::CVector3f normal = info.GetNormalLeft();
  if (zeroZ) {
    normal.z() = 0.f;
  }

  zeus::CVector3f relVel = GetActorRelativeVelocities(a0, &a1);
  float velNormDot = relVel.dot(normal);

  float a0MaxCollisionVel = std::max(a0.GetVelocity().magnitude(), a0.GetMaximumCollisionVelocity());
  float a1MaxCollisionVel = std::max(a1.GetVelocity().magnitude(), a1.GetMaximumCollisionVelocity());

  bool a0Move = !a0.GetMaterialList().HasMaterial(EMaterialTypes::Immovable) && a0.GetMass() != 0.f;
  bool a1Move = !a1.GetMaterialList().HasMaterial(EMaterialTypes::Immovable) && a1.GetMass() != 0.f;

  if (velNormDot < -0.0001f) {
    if (a0Move) {
      if (a1Move) {
        float impulse = CollisionImpulseFiniteVsFinite(a0.GetMass(), a1.GetMass(), velNormDot, restitution);
        a0.ApplyImpulseWR(normal * impulse, zeus::CAxisAngle());
        a1.ApplyImpulseWR(normal * -impulse, zeus::CAxisAngle());
      } else {
        float impulse = CollisionImpulseFiniteVsInfinite(a0.GetMass(), velNormDot, restitution);
        a0.ApplyImpulseWR(normal * impulse, zeus::CAxisAngle());
      }
    } else {
      if (a1Move) {
        float impulse = CollisionImpulseFiniteVsInfinite(a1.GetMass(), velNormDot, restitution);
        a1.ApplyImpulseWR(normal * -impulse, zeus::CAxisAngle());
      } else {
        a0.SetVelocityWR(zeus::skZero3f);
        a1.SetVelocityWR(zeus::skZero3f);
      }
    }
    a0.UseCollisionImpulses();
    a1.UseCollisionImpulses();
  } else if (velNormDot < 0.1f) {
    if (a0Move) {
      float impulse = 0.05f * a0.GetMass();
      a0.ApplyImpulseWR(normal * impulse, zeus::CAxisAngle());
      a0.UseCollisionImpulses();
    }
    if (a1Move) {
      float impulse = -0.05f * a1.GetMass();
      a1.ApplyImpulseWR(normal * impulse, zeus::CAxisAngle());
      a1.UseCollisionImpulses();
    }
  }

  if (a0.GetVelocity().magnitude() > a0MaxCollisionVel) {
    a0.SetVelocityWR(a0.GetVelocity().normalized() * a0MaxCollisionVel);
  }
  if (a1.GetVelocity().magnitude() > a1MaxCollisionVel) {
    a1.SetVelocityWR(a1.GetVelocity().normalized() * a1MaxCollisionVel);
  }
}

void CGameCollision::CollideWithStaticBodyNoRot(CPhysicsActor& a0, const CMaterialList& m0, const CMaterialList& m1,
                                                const zeus::CUnitVector3f& normal, float restitution, bool zeroZ) {
  zeus::CUnitVector3f useNorm = normal;
  if (zeroZ && m0.HasMaterial(EMaterialTypes::Player) && !m1.HasMaterial(EMaterialTypes::Floor)) {
    useNorm.z() = 0.f;
  }

  if (useNorm.canBeNormalized()) {
    useNorm.normalize();
    float velNormDot = a0.GetVelocity().dot(useNorm);
    if (velNormDot < -0.0001f) {
      a0.ApplyImpulseWR(useNorm * CollisionImpulseFiniteVsInfinite(a0.GetMass(), velNormDot, restitution),
                        zeus::CAxisAngle());
      a0.UseCollisionImpulses();
    } else if (velNormDot < 0.001f) {
      a0.ApplyImpulseWR(0.05f * a0.GetMass() * useNorm, zeus::CAxisAngle());
      a0.UseCollisionImpulses();
    }
  }
}

void CGameCollision::CollisionFailsafe(const CStateManager& mgr, CAreaCollisionCache& cache, CPhysicsActor& actor,
                                       const CCollisionPrimitive& prim,
                                       const rstl::reserved_vector<TUniqueId, 1024>& nearList, float f1,
                                       u32 failsafeTicks) {
  actor.MoveCollisionPrimitive(zeus::skZero3f);
  if (f1 > 0.5f) {
    actor.SetNumTicksPartialUpdate(actor.GetNumTicksPartialUpdate() + 1);
  }

  if (actor.GetNumTicksPartialUpdate() > 1 ||
      DetectCollisionBoolean_Cached(mgr, cache, prim, actor.GetPrimitiveTransform(), actor.GetMaterialFilter(),
                                    nearList)) {
    actor.SetNumTicksPartialUpdate(0);
    actor.SetNumTicksStuck(actor.GetNumTicksStuck() + 1);
    if (actor.GetNumTicksStuck() < failsafeTicks) {
      return;
    }

    CMotionState oldMState = actor.GetMotionState();
    CMotionState lastNonCollide = actor.GetLastNonCollidingState();
    actor.SetMotionState(lastNonCollide);
    if (!DetectCollisionBoolean_Cached(mgr, cache, prim, actor.GetPrimitiveTransform(), actor.GetMaterialFilter(),
                                       nearList)) {
      lastNonCollide.x1c_velocity *= zeus::CVector3f(0.5f);
      lastNonCollide.x28_angularMomentum *= zeus::CVector3f(0.5f);
      actor.SetLastNonCollidingState(lastNonCollide);
      //++gDebugPrintCount;
      actor.SetNumTicksStuck(0);
    } else {
      actor.SetMotionState(oldMState);
      if (auto nonIntersectVec = FindNonIntersectingVector(mgr, cache, actor, prim, nearList)) {
        oldMState.x0_translation += *nonIntersectVec;
        actor.SetMotionState(oldMState);
        actor.SetLastNonCollidingState(actor.GetMotionState());
        //++gDebugPrintCount;
      } else {
        //++gDebugPrintCount;
        lastNonCollide.x1c_velocity *= zeus::CVector3f(0.5f);
        lastNonCollide.x28_angularMomentum *= zeus::CVector3f(0.5f);
        actor.SetLastNonCollidingState(lastNonCollide);
      }
    }
  } else {
    actor.SetLastNonCollidingState(actor.GetMotionState());
    actor.SetNumTicksStuck(0);
  }
}

std::optional<zeus::CVector3f>
CGameCollision::FindNonIntersectingVector(const CStateManager& mgr, CAreaCollisionCache& cache, CPhysicsActor& actor,
                                          const CCollisionPrimitive& prim,
                                          const rstl::reserved_vector<TUniqueId, 1024>& nearList) {
  zeus::CTransform xf = actor.GetPrimitiveTransform();
  zeus::CVector3f origOrigin = xf.origin;
  zeus::CVector3f center = prim.CalculateAABox(xf).center();
  for (int i = 2; i < 1000; i += (i / 2)) {
    const float pos = static_cast<float>(i) * 0.005f;
    const float neg = -pos;
    for (int j = 0; j < 26; ++j) {
      zeus::CVector3f vec;
      switch (j) {
      case 0:
        vec = {0.f, pos, 0.f};
        break;
      case 1:
        vec = {0.f, neg, 0.f};
        break;
      case 2:
        vec = {pos, 0.f, 0.f};
        break;
      case 3:
        vec = {neg, 0.f, 0.f};
        break;
      case 4:
        vec = {0.f, 0.f, pos};
        break;
      case 5:
        vec = {0.f, 0.f, neg};
        break;
      case 6:
        vec = {0.f, pos, pos};
        break;
      case 7:
        vec = {0.f, neg, neg};
        break;
      case 8:
        vec = {0.f, neg, pos};
        break;
      case 9:
        vec = {0.f, pos, neg};
        break;
      case 10:
        vec = {pos, 0.f, pos};
        break;
      case 11:
        vec = {neg, 0.f, neg};
        break;
      case 12:
        vec = {neg, 0.f, pos};
        break;
      case 13:
        vec = {pos, 0.f, neg};
        break;
      case 14:
        vec = {pos, pos, 0.f};
        break;
      case 15:
        vec = {neg, neg, 0.f};
        break;
      case 16:
        vec = {neg, pos, 0.f};
        break;
      case 17:
        vec = {pos, neg, 0.f};
        break;
      case 18:
        vec = {pos, pos, pos};
        break;
      case 19:
        vec = {neg, pos, pos};
        break;
      case 20:
        vec = {pos, neg, pos};
        break;
      case 21:
        vec = {neg, neg, pos};
        break;
      case 22:
        vec = {pos, pos, neg};
        break;
      case 23:
        vec = {neg, pos, neg};
        break;
      case 24:
        vec = {pos, neg, neg};
        break;
      case 25:
        vec = {neg, neg, neg};
        break;
      default:
        break;
      }

      zeus::CVector3f worldPoint = vec + origOrigin;
      if (mgr.GetWorld()->GetAreaAlways(mgr.GetNextAreaId())->GetAABB().pointInside(worldPoint)) {
        if (mgr.RayCollideWorld(center, center + vec, nearList, CMaterialFilter::skPassEverything, &actor)) {
          xf.origin = worldPoint;
          if (!DetectCollisionBoolean_Cached(mgr, cache, prim, xf, actor.GetMaterialFilter(), nearList)) {
            return {vec};
          }
        }
      }
    }
  }

  return {};
}

void CGameCollision::AvoidStaticCollisionWithinRadius(const CStateManager& mgr, CPhysicsActor& actor, u32 iterations,
                                                      float dt, float height, float size, float mass, float radius) {
  const zeus::CVector3f& actorPos = actor.GetTranslation();
  const zeus::CVector3f pos = actorPos + zeus::CVector3f{0.f, 0.f, height};
  const float largeRadius = 1.2f * radius;
  const zeus::CVector3f diff{size + largeRadius, size + largeRadius, largeRadius};
  const zeus::CAABox aabb{pos - diff, pos + diff};
  CAreaCollisionCache cache{aabb};
  BuildAreaCollisionCache(mgr, cache);

  const CCollidableSphere prim{{pos, radius}, {EMaterialTypes::Solid}};
  if (!DetectStaticCollisionBoolean_Cached(mgr, cache, prim, {}, CMaterialFilter::MakeExclude(EMaterialTypes::Floor))) {
    zeus::CVector3f velocity = zeus::skZero3f;
    float seg = zeus::degToRad(360.f) / iterations;
    for (u32 i = 0; i < iterations; ++i) {
      const float angle = seg * i;
      const zeus::CVector3f vec{std::sin(angle), std::cos(angle), 0.f};
      double out = size;
      CCollisionInfo info{};
      if (cache.HasCacheOverflowed()) {
        cache.ClearCache();
        zeus::CAABox aabb2{pos, pos};
        aabb2.accumulateBounds(actorPos + (size * vec));
        cache.SetCacheBounds(zeus::CAABox{aabb2.min - radius, aabb2.max + radius});
        BuildAreaCollisionCache(mgr, cache);
      }

      if (DetectStaticCollision_Cached_Moving(mgr, cache, prim, {}, CMaterialFilter::MakeExclude(EMaterialTypes::Floor),
                                              vec, info, out)) {
        float force = static_cast<float>((size - out) / size) / iterations;
        velocity -= force * vec;
      }
    }
    actor.SetVelocityWR(actor.GetVelocity() + (dt * (mass * velocity)));
  }
}
} // namespace metaforce