Implement final dynamic collision tests

Runtime/Collision/CCollidableAABox.cpp

@@ -2,6 +2,7 @@
 #include "CollisionUtil.hpp"
 #include "CCollidableSphere.hpp"
 #include "CCollisionInfo.hpp"
+#include "CInternalRayCastStructure.hpp"
 
 namespace urde
 {
@@ -43,9 +44,26 @@ FourCC CCollidableAABox::GetPrimType() const
     return SBIG('AABX');
 }
 
-CRayCastResult CCollidableAABox::CastRayInternal(const CInternalRayCastStructure &) const
+CRayCastResult CCollidableAABox::CastRayInternal(const CInternalRayCastStructure& rayCast) const
 {
-    return {};
+    if (!rayCast.GetFilter().Passes(GetMaterial()))
+        return {};
+    zeus::CTransform rayCastXfInv = rayCast.GetTransform().inverse();
+    zeus::CVector3f localRayStart = rayCastXfInv * rayCast.GetRay().start;
+    zeus::CVector3f localRayDir = rayCastXfInv.rotate(rayCast.GetRay().dir);
+    float tMin, tMax;
+    int axis;
+    bool sign;
+    if (!CollisionUtil::BoxLineTest(x10_aabox, localRayStart, localRayDir, tMin, tMax, axis, sign) ||
+        tMin < 0.f || (rayCast.GetMaxTime() > 0.f && tMin > rayCast.GetMaxTime()))
+        return {};
+
+    zeus::CVector3f planeNormal;
+    planeNormal[axis] = sign ? 1.f : -1.f;
+    float planeD = axis ? x10_aabox.min[axis] : -x10_aabox.max[axis];
+    CRayCastResult result(tMin, localRayStart + tMin * localRayDir, zeus::CPlane(planeNormal, planeD), GetMaterial());
+    result.Transform(rayCast.GetTransform());
+    return result;
 }
 
 const CCollisionPrimitive::Type& CCollidableAABox::GetType()

Runtime/Collision/CCollidableOBBTree.cpp

@@ -26,7 +26,7 @@ bool CCollidableOBBTree::LineIntersectsLeaf(const COBBTree::CLeafData& leaf, CRa
             if (CollisionUtil::RayTriangleIntersection(info.GetRay().start, info.GetRay().dir,
                                                        surface.GetVerts(), info.Magnitude()))
             {
-                intersectIdx = i;
+                intersectIdx = surfIdx;
                 ret = true;
             }
         }

Runtime/Collision/CCollidableSphere.cpp

@@ -2,6 +2,7 @@
 #include "CCollisionInfoList.hpp"
 #include "CCollidableAABox.hpp"
 #include "CollisionUtil.hpp"
+#include "CInternalRayCastStructure.hpp"
 
 namespace urde
 {
@@ -211,7 +212,7 @@ const zeus::CSphere& CCollidableSphere::GetSphere() const { return x10_sphere; }
 
 void CCollidableSphere::SetSphereCenter(const zeus::CVector3f&)
 {
-
+    /* Remove me? */
 }
 
 zeus::CSphere CCollidableSphere::Transform(const zeus::CTransform& xf) const
@@ -221,13 +222,40 @@ zeus::CSphere CCollidableSphere::Transform(const zeus::CTransform& xf) const
 
 u32 CCollidableSphere::GetTableIndex() const { return sTableIndex; }
 
-zeus::CAABox CCollidableSphere::CalculateAABox(const zeus::CTransform&) const { return {}; }
+zeus::CAABox CCollidableSphere::CalculateAABox(const zeus::CTransform& xf) const
+{
+    zeus::CVector3f xfPos = xf * x10_sphere.position;
+    return {xfPos - x10_sphere.radius, xfPos + x10_sphere.radius};
+}
 
-zeus::CAABox CCollidableSphere::CalculateLocalAABox() const { return {}; }
+zeus::CAABox CCollidableSphere::CalculateLocalAABox() const
+{
+    return {x10_sphere.position - x10_sphere.radius, x10_sphere.position + x10_sphere.radius};
+}
 
 FourCC CCollidableSphere::GetPrimType() const { return SBIG('SPHR'); }
 
-CRayCastResult CCollidableSphere::CastRayInternal(const CInternalRayCastStructure&) const { return {}; }
+CRayCastResult CCollidableSphere::CastRayInternal(const CInternalRayCastStructure& rayCast) const
+{
+    if (!rayCast.GetFilter().Passes(GetMaterial()))
+        return {};
+
+    zeus::CSphere xfSphere = Transform(rayCast.GetTransform());
+    float t = 0.f;
+    zeus::CVector3f point;
+    if (CollisionUtil::RaySphereIntersection(xfSphere, rayCast.GetRay().start, rayCast.GetRay().dir,
+                                             rayCast.GetMaxTime(), t, point))
+    {
+        zeus::CVector3f delta = point - xfSphere.position;
+        float deltaMag = delta.magnitude();
+        zeus::CUnitVector3f planeNormal =
+            (deltaMag > 0.01f) ? delta * (1.f / deltaMag) : rayCast.GetRay().dir;
+        float planeD = point.dot(planeNormal);
+        return CRayCastResult(t, point, zeus::CPlane(planeNormal, planeD), GetMaterial());
+    }
+
+    return {};
+}
 
 const CCollisionPrimitive::Type& CCollidableSphere::GetType() { return sType; }
 

Runtime/Collision/CCollisionPrimitive.cpp

@@ -144,14 +144,42 @@ bool CCollisionPrimitive::CollideBoolean(CInternalCollisionStructure::CPrimDesc&
     return InternalCollideBoolean({prim0, prim1});
 }
 
+bool CCollisionPrimitive::InternalCollideMoving(const CInternalCollisionStructure& collision,
+                                                const zeus::CVector3f& dir,
+                                                double& dOut, CCollisionInfo& infoOut)
+{
+    u32 idx0 = collision.GetLeft().GetPrim().GetTableIndex();
+    u32 idx1 = collision.GetRight().GetPrim().GetTableIndex();
+
+    MovingComparisonFunc func;
+    if (idx0 == -1 || idx1 == -1)
+    {
+        sNullMovingCollider = nullptr;
+        func = sNullMovingCollider;
+    }
+    else
+    {
+        func = (*sTableOfMovingCollidables)[sNumTypes * idx1 + idx0];
+    }
+
+    if (func)
+    {
+        if (!collision.GetLeft().GetFilter().Passes(collision.GetRight().GetPrim().GetMaterial()) ||
+            !collision.GetRight().GetFilter().Passes(collision.GetLeft().GetPrim().GetMaterial()))
+            return false;
+        return func(collision, dir, dOut, infoOut);
+    }
+
+    return false;
+}
+
 bool CCollisionPrimitive::CollideMoving(CInternalCollisionStructure::CPrimDesc& prim0,
                                         CInternalCollisionStructure::CPrimDesc& prim1,
                                         const zeus::CVector3f& dir,
                                         double& dOut,
                                         CCollisionInfo& infoOut)
 {
-    // TODO: Finish
-    return false;
+    return InternalCollideMoving({prim0, prim1}, dir, dOut, infoOut);
 }
 
 void CCollisionPrimitive::InitBeginTypes()

Runtime/Collision/CCollisionPrimitive.hpp

@@ -133,6 +133,8 @@ private:
 
     static bool InternalCollide(const CInternalCollisionStructure& collision, CCollisionInfoList& list);
     static bool InternalCollideBoolean(const CInternalCollisionStructure& collision);
+    static bool InternalCollideMoving(const CInternalCollisionStructure& collision, const zeus::CVector3f& dir,
+                                      double& dOut, CCollisionInfo& infoOut);
 
 public:
     CCollisionPrimitive() = default;
@@ -155,7 +157,7 @@ public:
                                CInternalCollisionStructure::CPrimDesc& prim1);
     static bool CollideMoving(CInternalCollisionStructure::CPrimDesc& prim0,
                               CInternalCollisionStructure::CPrimDesc& prim1,
-                              const zeus::CVector3f& vec,
+                              const zeus::CVector3f& dir,
                               double& dOut,
                               CCollisionInfo& infoOut);