#include "Runtime/World/CPathFindRegion.hpp" #include "Runtime/World/CPathFindArea.hpp" namespace metaforce { CPFNode::CPFNode(CMemoryInStream& in) { x0_position = in.Get<zeus::CVector3f>(); xc_normal = in.Get<zeus::CVector3f>(); } CPFLink::CPFLink(CMemoryInStream& in) { x0_node = in.ReadLong(); x4_region = in.ReadLong(); x8_2dWidth = in.ReadFloat(); xc_oo2dWidth = in.ReadFloat(); } CPFRegion::CPFRegion(CMemoryInStream& in) { x0_numNodes = in.ReadLong(); x4_startNode = reinterpret_cast<CPFNode*>(in.ReadLong()); x8_numLinks = in.ReadLong(); xc_startLink = reinterpret_cast<CPFLink*>(in.ReadLong()); x10_flags = in.ReadLong(); x14_height = in.ReadFloat(); x18_normal = in.Get<zeus::CVector3f>(); x24_regionIdx = in.ReadLong(); x28_centroid = in.Get<zeus::CVector3f>(); x34_aabb = in.Get<zeus::CAABox>(); x4c_regionData = reinterpret_cast<CPFRegionData*>(in.ReadLong()); } const CPFLink* CPFRegion::GetPathLink() const { return &xc_startLink[x4c_regionData->GetPathLink()]; } void CPFRegion::Fixup(CPFArea& area, u32& maxRegionNodes) { if (x0_numNodes != 0) { x4_startNode = &area.x140_nodes[reinterpret_cast<uintptr_t>(x4_startNode)]; } else { x4_startNode = nullptr; } if (x8_numLinks != 0) { xc_startLink = &area.x148_links[reinterpret_cast<uintptr_t>(xc_startLink)]; } else { xc_startLink = nullptr; } x4c_regionData = &area.x178_regionDatas[x24_regionIdx]; if (x0_numNodes > maxRegionNodes) { maxRegionNodes = x0_numNodes; } } bool CPFRegion::IsPointInside(const zeus::CVector3f& point) const { if (!x34_aabb.pointInside(point)) { return false; } u32 i; for (i = 0; i < x0_numNodes; ++i) { const CPFNode& node = x4_startNode[i]; if ((point - node.GetPos()).dot(node.GetNormal()) < 0.f) { break; } } if (i != x0_numNodes) { return false; } const zeus::CVector3f nodeToPoint = point - x4_startNode->GetPos(); return nodeToPoint.dot(x18_normal) >= 0.f && (nodeToPoint - x14_height * zeus::skUp).dot(x18_normal) <= 0.f; } float CPFRegion::PointHeight(const zeus::CVector3f& point) const { return (point - x4_startNode->GetPos()).dot(x18_normal); } bool CPFRegion::FindClosestPointOnPolygon(const std::vector<zeus::CVector3f>& polyPoints, const zeus::CVector3f& normal, const zeus::CVector3f& point, bool excludePolyPoints) const { bool found = false; size_t i; for (i = 0; i < polyPoints.size(); ++i) { const zeus::CVector3f& p0 = polyPoints[i]; const zeus::CVector3f& p1 = polyPoints[(i + 1) % polyPoints.size()]; if ((p1 - p0).cross(normal).dot(point - p0) < 0.f) { break; } } if (i == polyPoints.size()) { const float distToPoly = (polyPoints.front() - point).dot(normal); const float distToPolySq = distToPoly * distToPoly; if (distToPolySq < x4c_regionData->GetBestPointDistanceSquared()) { found = true; x4c_regionData->SetBestPointDistanceSquared(distToPolySq); x4c_regionData->SetBestPoint(normal * distToPoly + point); } } else { bool projected = false; for (i = 0; i < polyPoints.size(); ++i) { const zeus::CVector3f& p0 = polyPoints[i]; const zeus::CVector3f& p1 = polyPoints[(i + 1) % polyPoints.size()]; zeus::CVector3f p0ToP1 = p1 - p0; zeus::CVector3f p1ToPoint = point - p1; zeus::CVector3f sum = p1ToPoint + p0ToP1; if (p0ToP1.cross(normal).dot(p1ToPoint) < 0.f && p0ToP1.dot(p1ToPoint) <= 0.f && sum.dot(p0ToP1) >= 0.f) { projected = true; p0ToP1.normalize(); sum -= p0ToP1.dot(sum) * p0ToP1; const float distSq = sum.magSquared(); if (distSq < x4c_regionData->GetBestPointDistanceSquared()) { found = true; x4c_regionData->SetBestPointDistanceSquared(distSq); x4c_regionData->SetBestPoint(point - sum); } break; } } if (!projected && !excludePolyPoints) { for (i = 0; i < polyPoints.size(); ++i) { const zeus::CVector3f& p0 = polyPoints[i]; const float distSq = (point - p0).magSquared(); if (distSq < x4c_regionData->GetBestPointDistanceSquared()) { found = true; x4c_regionData->SetBestPointDistanceSquared(distSq); x4c_regionData->SetBestPoint(p0); } } } } return found; } bool CPFRegion::FindBestPoint(std::vector<zeus::CVector3f>& polyPoints, const zeus::CVector3f& point, u32 flags, float paddingSq) const { bool found = false; const bool isFlyer = (flags & 0x2) != 0; x4c_regionData->SetBestPointDistanceSquared(paddingSq); if (!isFlyer) { for (u32 i = 0; i < x0_numNodes; ++i) { const CPFNode& node = x4_startNode[i]; const CPFNode& nextNode = x4_startNode[(i + 1) % x0_numNodes]; polyPoints.clear(); polyPoints.push_back(node.GetPos()); polyPoints.push_back(node.GetPos()); polyPoints.back().z() += x14_height; polyPoints.push_back(nextNode.GetPos()); polyPoints.back().z() += x14_height; polyPoints.push_back(nextNode.GetPos()); found |= FindClosestPointOnPolygon(polyPoints, node.GetNormal(), point, true); } } polyPoints.clear(); for (u32 i = 0; i < x0_numNodes; ++i) { const CPFNode& node = x4_startNode[i]; polyPoints.push_back(node.GetPos()); } found |= FindClosestPointOnPolygon(polyPoints, x18_normal, point, false); if (!isFlyer) { polyPoints.clear(); for (int i = int(x0_numNodes) - 1; i >= 0; --i) { const CPFNode& node = x4_startNode[i]; polyPoints.push_back(node.GetPos()); polyPoints.back().z() += x14_height; } found |= FindClosestPointOnPolygon(polyPoints, -x18_normal, point, false); } return found; } void CPFRegion::SetLinkTo(u32 idx) { if (x8_numLinks <= 0) { return; } for (u32 i = 0; i < x8_numLinks; ++i) { if (xc_startLink[i].GetRegion() == idx) { Data()->SetPathLink(i); return; } } } void CPFRegion::DropToGround(zeus::CVector3f& point) const { point.z() -= (point - x4_startNode->GetPos()).dot(x18_normal) / x18_normal.z(); } zeus::CVector3f CPFRegion::GetLinkMidPoint(const CPFLink& link) const { const CPFNode& node = x4_startNode[link.GetNode()]; const CPFNode& nextNode = x4_startNode[(link.GetNode() + 1) % x0_numNodes]; return (node.GetPos() + nextNode.GetPos()) * 0.5f; } zeus::CVector3f CPFRegion::FitThroughLink2d(const zeus::CVector3f& p1, const CPFLink& link, const zeus::CVector3f& p2, float chRadius) const { const CPFNode& node = x4_startNode[link.GetNode()]; const CPFNode& nextNode = x4_startNode[(link.GetNode() + 1) % x0_numNodes]; const zeus::CVector3f nodeDelta = nextNode.GetPos() - node.GetPos(); float t = 0.5f; if (chRadius < 0.5f * link.Get2dWidth()) { zeus::CVector2f delta2d = nodeDelta.toVec2f(); delta2d *= link.GetOO2dWidth(); const zeus::CVector3f nodeToP1 = p1 - node.GetPos(); const float f27 = nodeToP1.dot(node.GetNormal()); const float f31 = delta2d.dot(nodeToP1.toVec2f()); const zeus::CVector3f nodeToP2 = p2 - node.GetPos(); const float f26 = -nodeToP2.dot(node.GetNormal()); const float f1b = delta2d.dot(nodeToP2.toVec2f()); const float f3 = f27 + f26; if (f3 > FLT_EPSILON) { t = zeus::clamp(chRadius, 1.f / f3 * (f26 * f31 + f27 * f1b), link.Get2dWidth() - chRadius) * link.GetOO2dWidth(); } } return nodeDelta * t + node.GetPos(); } zeus::CVector3f CPFRegion::FitThroughLink3d(const zeus::CVector3f& p1, const CPFLink& link, float regionHeight, const zeus::CVector3f& p2, float chRadius, float chHalfHeight) const { const CPFNode& node = x4_startNode[link.GetNode()]; const CPFNode& nextNode = x4_startNode[(link.GetNode() + 1) % x0_numNodes]; const zeus::CVector3f nodeDelta = nextNode.GetPos() - node.GetPos(); const float f25 = (p1 - node.GetPos()).dot(node.GetNormal()); const float f24 = (node.GetPos() - p2).dot(node.GetNormal()); const float f23 = f25 + f24; #if 0 if (chRadius < 0.5f * link.Get2dWidth()) { zeus::CVector2f delta2d(nodeDelta.x, nodeDelta.y); delta2d *= link.GetOO2dWidth(); const zeus::CVector3f nodeToP1 = p1 - node.GetPos(); const float f29 = delta2d.dot(zeus::CVector2f(nodeToP1.y, nodeToP1.y)); const zeus::CVector3f nodeToP2 = p2 - node.GetPos(); const float f1b = delta2d.dot(zeus::CVector2f(nodeToP2.y, nodeToP2.y)); if (f23 > FLT_EPSILON) { zeus::clamp(chRadius, 1.f / f23 * f24 * f29 + f25 * f1b, link.Get2dWidth() - chRadius) * link.GetOO2dWidth(); } } #endif const zeus::CVector3f midPoint = nodeDelta * 0.5f + node.GetPos(); float z; if (chHalfHeight < 0.5f * regionHeight) { const float minZ = chHalfHeight + midPoint.z(); z = 0.5f * (p1.z() + p2.z()); if (f23 > FLT_EPSILON) { z = (f24 * p1.z() + f25 * p2.z()) / f23; } z = zeus::clamp(minZ, z, regionHeight + midPoint.z() - chHalfHeight); } else { z = (p1.z() + p2.z()) * 0.5f; } return {midPoint.x(), midPoint.y(), z}; } bool CPFRegion::IsPointInsidePaddedAABox(const zeus::CVector3f& point, float padding) const { return point.x() >= x34_aabb.min.x() - padding && point.x() <= x34_aabb.max.x() + padding && point.y() >= x34_aabb.min.y() - padding && point.y() <= x34_aabb.max.y() + padding && point.z() >= x34_aabb.min.z() - padding && point.z() <= x34_aabb.max.z() + padding; } } // namespace metaforce