mirror of https://github.com/AxioDL/metaforce.git
CPhysicsActor imps
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parent
dc0bb55390
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c869814da3
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@ -293,4 +293,12 @@ void CActor::SetSfxPitchBend(s32 val)
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CSfxManager::PitchBend(*x8c_sfxHandle.get(), val);
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}
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void CActor::SetTranslation(const zeus::CVector3f &tr)
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{
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x34_transform.origin = tr;
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xe4_27_ = true;
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xe4_28_ = true;
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xe4_29_ = true;
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}
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}
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@ -138,6 +138,7 @@ public:
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bool HasModelData() const;
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const CSfxHandle* GetSfxHandle() const;
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void SetSfxPitchBend(s32);
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void SetTranslation(const zeus::CVector3f& tr);
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};
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}
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@ -38,22 +38,22 @@ const CCollisionPrimitive& CPhysicsActor::GetCollisionPrimitive() const
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return x1c0_collisionPrimitive;
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}
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zeus::CTransform CPhysicsActor::GetPrimitiveTransform()
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zeus::CTransform CPhysicsActor::GetPrimitiveTransform() const
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{
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return zeus::CTransform();
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return zeus::CTransform::Translate(x34_transform.origin + x1e8_primitiveOffset);
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}
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float CPhysicsActor::GetStepUpHeight()
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float CPhysicsActor::GetStepUpHeight() const
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{
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return x23c_stepUpHeight;
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}
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float CPhysicsActor::GetStepDownHeight()
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float CPhysicsActor::GetStepDownHeight() const
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{
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return x240_stepDownHeight;
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}
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float CPhysicsActor::GetWeight()
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float CPhysicsActor::GetWeight() const
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{
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return 24.525002f * xe8_mass;
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}
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@ -79,27 +79,69 @@ void CPhysicsActor::SetBoundingBox(const zeus::CAABox &box)
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MoveCollisionPrimitive(zeus::CVector3f::skZero);
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}
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zeus::CAABox CPhysicsActor::GetMotionVolume()
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zeus::CAABox CPhysicsActor::GetMotionVolume(float dt) const
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{
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return {};
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zeus::CAABox aabox = GetCollisionPrimitive().CalculateAABox(GetPrimitiveTransform());
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zeus::CVector3f velocity = CalculateNewVelocityWR_UsingImpulses();
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const zeus::CVector3f dv = (dt * velocity);
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aabox.accumulateBounds(aabox.max + dv);
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aabox.accumulateBounds(aabox.min + dv);
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float up = GetStepUpHeight();
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up = zeus::max(up, 0.f);
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aabox.accumulateBounds(aabox.max + up);
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float down = GetStepDownHeight();
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down = zeus::max(down, 0.f);
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aabox.accumulateBounds(aabox.min + down);
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return aabox;
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}
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zeus::CVector3f CPhysicsActor::CalculateNewVelocityWR_UsingImpulses() const
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{
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return x138_velocity + (xec_massRecip * (x168_ + x18c_));
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}
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zeus::CAABox CPhysicsActor::GetBoundingBox()
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{
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return {};
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return { x1a4_baseBoundingBox.min + x1e8_primitiveOffset + x34_transform.origin,
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x1a4_baseBoundingBox.max + x1e8_primitiveOffset + x34_transform.origin };
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}
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const zeus::CAABox &CPhysicsActor::GetBaseBoundingBox() const
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const zeus::CAABox& CPhysicsActor::GetBaseBoundingBox() const
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{
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return x1a4_baseBoundingBox;
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}
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void CPhysicsActor::AddMotionState(const CMotionState& mst)
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{
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zeus::CNUQuaternion q{x34_transform.buildMatrix3f()};
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// TODO: Jack please verify this assignment: 8011B514
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x34_transform = zeus::CTransform::Translate(x34_transform.origin) * zeus::CMatrix3f(q);
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xe4_27_ = true;
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xe4_28_ = true;
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xe4_29_ = true;
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SetTranslation(x34_transform.origin + mst.x0_origin);
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x108_ += mst.x1c_;
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ComputeDerivedQuantities();
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}
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CMotionState CPhysicsActor::GetMotionState() const
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{
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return {x34_transform.origin, {x34_transform.buildMatrix3f()}, xfc_, x108_};
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}
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void CPhysicsActor::SetInertiaTensorScalar(float tensor)
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{
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if (tensor <= 0.0f)
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tensor = 1.0f;
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xf0_inertialTensor = tensor;
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xf4_inertialTensorRecip = 1.0f / tensor;
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xf0_inertiaTensor = tensor;
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xf4_inertiaTensorRecip = 1.0f / tensor;
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}
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void CPhysicsActor::SetMass(float mass)
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@ -113,4 +155,90 @@ void CPhysicsActor::SetMass(float mass)
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SetInertiaTensorScalar(mass * tensor);
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}
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void CPhysicsActor::SetAngularVelocityOR(const zeus::CAxisAngle& angVel)
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{
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x144_angularVelocity = x34_transform.rotate(angVel);
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x108_ = xf0_inertiaTensor * x144_angularVelocity;
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}
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zeus::CAxisAngle CPhysicsActor::GetAngularVelocityOR() const
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{
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return x34_transform.transposeRotate(x144_angularVelocity);
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}
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void CPhysicsActor::SetAngularVelocityWR(const zeus::CAxisAngle& angVel)
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{
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x144_angularVelocity = angVel;
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x108_ = xf0_inertiaTensor * x144_angularVelocity;
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}
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void CPhysicsActor::SetVelocityWR(const zeus::CVector3f &vel)
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{
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x138_velocity = vel;
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xfc_ = xe8_mass * x138_velocity;
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}
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void CPhysicsActor::SetVelocityOR(const zeus::CVector3f& vel)
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{
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SetVelocityWR(x34_transform.rotate(vel));
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}
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zeus::CVector3f CPhysicsActor::GetTotalForcesWR() const
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{
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return x15c_ + x150_;
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}
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void CPhysicsActor::RotateInOneFrameOR(const zeus::CQuaternion &q, float d)
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{
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x198_ += GetRotateToORAngularMomentumWR(q, d);
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}
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zeus::CVector3f CPhysicsActor::GetRotateToORAngularMomentumWR(const zeus::CQuaternion& q, float d) const
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{
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if (q.w > 0.99999976)
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return zeus::CVector3f::skZero;
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return (xf0_inertiaTensor * (((2.f * std::acos(q.w)) * (1.f / d)) *
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x34_transform.rotate({q.x, q.y, q.z}).normalized()));
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}
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void CPhysicsActor::ClearImpulses()
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{
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x18c_ = x168_ = zeus::CVector3f::skZero;
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x198_ = x180_ = zeus::CAxisAngle::skZero;
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}
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void CPhysicsActor::ClearForcesAndTorques()
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{
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x18c_ = x168_ = x15c_ = zeus::CVector3f::skZero;
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x198_ = x180_ = x174_ = zeus::CAxisAngle::skZero;
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}
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void CPhysicsActor::Stop()
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{
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ClearForcesAndTorques();
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xfc_ = zeus::CVector3f::skZero;
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x108_ = zeus::CAxisAngle::skZero;
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ComputeDerivedQuantities();
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}
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void CPhysicsActor::ComputeDerivedQuantities()
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{
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x138_velocity = xec_massRecip * xfc_;
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x114_ = x34_transform.buildMatrix3f();
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x144_angularVelocity = xf0_inertiaTensor * x108_;
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}
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bool CPhysicsActor::WillMove(const CStateManager&)
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{
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if (!zeus::close_enough(zeus::CVector3f::skZero, x138_velocity) ||
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!zeus::close_enough(zeus::CVector3f::skZero, x168_) ||
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!zeus::close_enough(zeus::CVector3f::skZero, x18c_) ||
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!zeus::close_enough(zeus::CVector3f::skZero, x144_angularVelocity) ||
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!zeus::close_enough(zeus::CVector3f::skZero, x180_) ||
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!zeus::close_enough(zeus::CVector3f::skZero, GetTotalForcesWR()))
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return true;
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return false;
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}
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}
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@ -22,7 +22,17 @@ struct SMoverData
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struct CMotionState
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{
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CMotionState(const zeus::CVector3f&, const zeus::CNUQuaternion&, const zeus::CVector3f&, const zeus::CAxisAngle&);
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zeus::CVector3f x0_origin;
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zeus::CQuaternion xc_rotation;
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zeus::CVector3f x1c_;
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zeus::CAxisAngle x28_;
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CMotionState(const zeus::CVector3f& origin, const zeus::CNUQuaternion& rotation,
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const zeus::CVector3f& v2, const zeus::CAxisAngle& angle)
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: x0_origin(origin)
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, xc_rotation(rotation)
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, x1c_(v2)
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, x28_(angle)
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{}
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};
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class CPhysicsActor : public CActor
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@ -30,15 +40,15 @@ class CPhysicsActor : public CActor
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protected:
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float xe8_mass;
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float xec_massRecip;
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float xf0_inertialTensor;
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float xf4_inertialTensorRecip;
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float xf0_inertiaTensor;
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float xf4_inertiaTensorRecip;
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bool xf8_;
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bool xf9_;
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zeus::CVector3f xfc_;
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zeus::CAxisAngle x108_;
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zeus::CMatrix3f x114_;
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zeus::CVector3f x138_;
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zeus::CAxisAngle x144_;
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zeus::CVector3f x138_velocity;
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zeus::CAxisAngle x144_angularVelocity;
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zeus::CVector3f x150_;
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zeus::CVector3f x15c_;
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zeus::CVector3f x168_;
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@ -70,21 +80,37 @@ public:
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zeus::CVector3f GetOrbitPosition(const CStateManager&);
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zeus::CVector3f GetAimPosition(const CStateManager&, float val);
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virtual const CCollisionPrimitive& GetCollisionPrimitive() const;
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virtual zeus::CTransform GetPrimitiveTransform();
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virtual zeus::CTransform GetPrimitiveTransform() const;
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virtual void CollidedWith(const TUniqueId&, const CCollisionInfoList&, CStateManager&);
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virtual float GetStepUpHeight();
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virtual float GetStepDownHeight();
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virtual float GetWeight();
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virtual float GetStepUpHeight() const;
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virtual float GetStepDownHeight() const;
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virtual float GetWeight() const;
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void SetPrimitiveOffset(const zeus::CVector2f& offset);
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zeus::CVector3f GetPrimitiveOffset();
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void MoveCollisionPrimitive(const zeus::CVector3f& offset);
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void SetBoundingBox(const zeus::CAABox& box);
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zeus::CAABox GetMotionVolume();
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zeus::CAABox GetMotionVolume(float f31) const;
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zeus::CVector3f CalculateNewVelocityWR_UsingImpulses() const;
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zeus::CAABox GetBoundingBox();
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const zeus::CAABox& GetBaseBoundingBox() const;
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void AddMotionState(const CMotionState& mst);
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CMotionState GetMotionState() const;
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void SetInertiaTensorScalar(float tensor);
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void SetMass(float mass);
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void SetAngularVelocityOR(const zeus::CAxisAngle& angVel);
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zeus::CAxisAngle GetAngularVelocityOR() const;
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void SetAngularVelocityWR(const zeus::CAxisAngle& angVel);
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void SetVelocityWR(const zeus::CVector3f& vel);
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void SetVelocityOR(const zeus::CVector3f& vel);
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zeus::CVector3f GetTotalForcesWR() const;
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void RotateInOneFrameOR(const zeus::CQuaternion& q, float d);
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zeus::CVector3f GetRotateToORAngularMomentumWR(const zeus::CQuaternion& q, float d) const;
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void ClearImpulses();
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void ClearForcesAndTorques();
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void Stop();
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void ComputeDerivedQuantities();
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bool WillMove(const CStateManager&);
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};
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}
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@ -4,18 +4,6 @@
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namespace urde
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{
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bool close_enough(const zeus::CVector2f& a, const zeus::CVector2f& b, float epsilon = 0.000099999997f)
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{
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if (std::fabs(a.x - b.x) < epsilon && std::fabs(a.y - b.y) < epsilon)
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return true;
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return false;
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}
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bool close_enough(float a, float b, double epsilon = 0.000009999999747378752)
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{
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return std::fabs(a - b) < epsilon;
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}
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CScriptDistanceFog::CScriptDistanceFog(TUniqueId uid, const std::string& name, const CEntityInfo& info,
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const ERglFogMode& mode, const zeus::CColor& color,
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const zeus::CVector2f& range, float colorDelta,
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@ -34,7 +22,7 @@ CScriptDistanceFog::CScriptDistanceFog(TUniqueId uid, const std::string& name, c
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x60_explicit(expl)
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{
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if (close_enough(rangeDelta, zeus::CVector2f::skZero) && close_enough(colorDelta, 0.f))
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if (zeus::close_enough(rangeDelta, zeus::CVector2f::skZero) && zeus::close_enough(colorDelta, 0.f))
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x61_nonZero = false;
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else
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x61_nonZero = true;
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@ -68,7 +56,7 @@ void CScriptDistanceFog::AcceptScriptMsg(EScriptObjectMessage msg, TUniqueId obj
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else
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fog->FadeFog(x34_mode, x38_color, x3c_range, x44_colorDelta, x48_rangeDelta);
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if (close_enough(x54_thermalSpeed, 0.f) && !close_enough(x5c_xraySpeed, 0.f))
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if (zeus::close_enough(x54_thermalSpeed, 0.f) && !zeus::close_enough(x5c_xraySpeed, 0.f))
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{
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CWorld* world = stateMgr.GetWorld();
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CGameArea* area = world->GetArea(GetAreaId());
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2
specter
2
specter
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@ -1 +1 @@
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Subproject commit 8395c1d5be86448f5072534f0b6d8699c2d32443
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Subproject commit 50749d771218db49aac420fe3e7aa11d9ffc3612
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