metaforce/Runtime/World/CWallWalker.cpp

#include "CWallWalker.hpp"
#include "CPatternedInfo.hpp"
#include "CStateManager.hpp"
#include "TCastTo.hpp"
#include "CScriptWaypoint.hpp"
#include "Collision/CMetroidAreaCollider.hpp"
#include "Collision/CGameCollision.hpp"

namespace urde
{
CWallWalker::CWallWalker(ECharacter chr, TUniqueId uid, std::string_view name, EFlavorType flavType,
                         const CEntityInfo& eInfo, const zeus::CTransform& xf,
                         CModelData&& mData, const CPatternedInfo& pInfo, EMovementType mType,
                         EColliderType colType, EBodyType bType, const CActorParameters& aParms,
                         float collisionCloseMargin, float alignAngVel, EKnockBackVariant kbVariant,
                         float advanceWpRadius, EWalkerType wType, float playerObstructionMinDist, bool disableMove)
: CPatterned(chr, uid, name, flavType, eInfo, xf, std::move(mData), pInfo, mType, colType, bType, aParms, kbVariant)
, x590_colSphere(zeus::CSphere(zeus::CVector3f::skZero, pInfo.GetHalfExtent()), x68_material)
, x5b0_collisionCloseMargin(collisionCloseMargin)
, x5b4_alignAngVel(alignAngVel)
, x5c0_advanceWpRadius(advanceWpRadius)
, x5c4_playerObstructionMinDist(playerObstructionMinDist)
, x5cc_bendingHackAnim(GetModelData()->GetAnimationData()->GetCharacterInfo().GetAnimationIndex("BendingAnimationHack"sv))
, x5d0_walkerType(wType)
, x5d6_24_alignToFloor(false)
, x5d6_25_hasAlignSurface(false)
, x5d6_26_playerObstructed(false)
, x5d6_27_disableMove(disableMove)
, x5d6_28_addBendingWeight(true)
, x5d6_29_applyBendingHack(false)
{
}

void CWallWalker::OrientToSurfaceNormal(const zeus::CVector3f& normal, float clampAngle)
{
    float dot = x34_transform.basis[2].dot(normal);
    if (zeus::close_enough(dot, 1.f) || dot < -0.999f)
        return;
    zeus::CQuaternion q =
    zeus::CQuaternion::clampedRotateTo(x34_transform.basis[2], normal, zeus::degToRad(clampAngle));
    q.setImaginary(x34_transform.transposeRotate(q.getImaginary()));
    SetTransform((zeus::CQuaternion(x34_transform.basis) * q).normalized().toTransform(GetTranslation()));
}

bool CWallWalker::PointOnSurface(const CCollisionSurface& surf, const zeus::CVector3f& point)
{
    zeus::CVector3f normal = surf.GetNormal();
    zeus::CVector3f projPt = ProjectPointToPlane(point, surf.GetVert(0), normal);
    for (int i = 0; i < 3; ++i)
    {
        zeus::CVector3f projDelta = projPt - surf.GetVert(i);
        zeus::CVector3f edge = surf.GetVert((i + 2) % 3) - surf.GetVert(i);
        if (projDelta.cross(edge).dot(normal) < 0.f)
            return false;
    }
    return true;
}

void CWallWalker::AlignToFloor(CStateManager& mgr, float radius, const zeus::CVector3f& newPos, float dt)
{
    bool hasSurface = false;
    float margin = radius + x5b0_collisionCloseMargin;
    zeus::CAABox aabb(newPos - margin, newPos + margin);
    CAreaCollisionCache ccache(aabb);
    CGameCollision::BuildAreaCollisionCache(mgr, ccache);
    if (x5d6_25_hasAlignSurface)
        x5d6_25_hasAlignSurface = PointOnSurface(x568_alignNormal, newPos);
    if (!x5d6_25_hasAlignSurface || !(x5d4_thinkCounter & 0x3))
    {
        for (auto& leaf : ccache)
        {
            for (auto& node : leaf)
            {
                CAreaOctTree::TriListReference triArr = node.GetTriangleArray();
                for (u16 i = 0; i < triArr.GetSize(); ++i)
                {
                    u16 triIdx = triArr.GetAt(i);
                    CCollisionSurface surf = leaf.GetOctTree().GetMasterListTriangle(triIdx);
                    if (std::fabs(surf.GetPlane().pointToPlaneDist(newPos)) < margin &&
                        PointOnSurface(surf, newPos))
                    {
                        x568_alignNormal = surf;
                        hasSurface = true;
                    }
                }
            }
        }
        x5d6_25_hasAlignSurface = hasSurface;
    }
    if (x5d6_25_hasAlignSurface)
    {
        OrientToSurfaceNormal(x568_alignNormal.GetNormal(), x5b4_alignAngVel * dt);
        x5b8_tumbleAngle = 0.f;
        x5d6_28_addBendingWeight = false;
    }
    else
    {
        float angDelta = zeus::radToDeg(x138_velocity.magnitude()) / x590_colSphere.GetSphere().radius * dt;
        OrientToSurfaceNormal(x34_transform.basis[1], angDelta);
        if (x450_bodyController->HasBodyState(pas::EAnimationState::Step))
        {
            x450_bodyController->GetCommandMgr().DeliverCmd(
                CBCStepCmd(pas::EStepDirection::Down, pas::EStepType::Normal));
        }
        else
        {
            x5d6_28_addBendingWeight = true;
        }
        x5b8_tumbleAngle += angDelta;
    }
}

void CWallWalker::GotoNextWaypoint(CStateManager& mgr)
{
    if (TCastToPtr<CScriptWaypoint> wp = mgr.ObjectById(x2dc_destObj))
    {
        zeus::CVector3f wpPos = wp->GetTranslation();
        if ((wpPos - GetTranslation()).magSquared() < x5c0_advanceWpRadius * x5c0_advanceWpRadius)
        {
            x2dc_destObj = wp->NextWaypoint(mgr);
            if (!zeus::close_enough(wp->GetPause(), 0.f))
            {
                x5bc_patrolPauseRemTime = wp->GetPause();
                if (x5d0_walkerType == EWalkerType::Parasite)
                    x450_bodyController->SetLocomotionType(pas::ELocomotionType::Relaxed);
            }
            mgr.SendScriptMsg(wp, GetUniqueId(), EScriptObjectMessage::Arrived);
        }
        SetDestPos(wpPos);
    }
}

void CWallWalker::PreThink(float dt, CStateManager& mgr)
{
    CPatterned::PreThink(dt, mgr);
    if (!GetActive() || x5d6_26_playerObstructed || x5bc_patrolPauseRemTime > 0.f || x5d6_27_disableMove ||
        x450_bodyController->IsFrozen() || !x5d6_24_alignToFloor)
        return;

    zeus::CQuaternion quat(GetTransform().buildMatrix3f());
    AddMotionState(PredictMotion(dt));
    zeus::CQuaternion quat2(GetTransform().buildMatrix3f());
    ClearForcesAndTorques();
    if (x5d6_25_hasAlignSurface)
    {
        zeus::CPlane plane = x568_alignNormal.GetPlane();
        const float futureDt = (10.f * dt);
        SetTranslation(GetTranslation() * (1.f - futureDt) +
                       (((GetTranslation() - ((plane.vec.dot(GetTranslation())) - plane.d) -
                          x590_colSphere.GetSphere().radius - 0.1f) * plane.vec) * futureDt));
    }
    else
        MoveCollisionPrimitive(zeus::CVector3f::skZero);
}

void CWallWalker::Think(float dt, CStateManager& mgr)
{
    if (!x450_bodyController->GetActive())
        x450_bodyController->Activate(mgr);
    CPatterned::Think(dt, mgr);

    if (x5cc_bendingHackAnim == -1)
        return;

    if (x5d6_28_addBendingWeight)
    {
        if (x5c8_bendingHackWeight < 1.f)
        {
            x5c8_bendingHackWeight += (dt * x138_velocity.magnitude()) / 0.6f;
            if (x5c8_bendingHackWeight >= 1.f)
                x5c8_bendingHackWeight = 1.f;
        }
    }
    else if (x5c8_bendingHackWeight > 0.f)
    {
        x5c8_bendingHackWeight -= (dt * x138_velocity.magnitude()) / 1.5f;
        if (x5c8_bendingHackWeight < 0.f)
            x5c8_bendingHackWeight = 0.f;
    }

    if (x5c8_bendingHackWeight <= 0.f && !x5d6_29_applyBendingHack)
        return;

    if (x5c8_bendingHackWeight > 0.0001f)
    {
        ModelData()->AnimationData()->AddAdditiveAnimation(x5cc_bendingHackAnim, x5c8_bendingHackWeight, true, false);
        x5d6_29_applyBendingHack = true;
    }
    else
    {
        ModelData()->AnimationData()->DelAdditiveAnimation(x5cc_bendingHackAnim);
        x5d6_29_applyBendingHack = false;
    }
}

void CWallWalker::Render(const CStateManager& mgr) const
{
    CPatterned::Render(mgr);
}

void CWallWalker::UpdateWPDestination(CStateManager& mgr)
{
    if (TCastToPtr<CScriptWaypoint> wp = mgr.ObjectById(x2dc_destObj))
    {
        zeus::CVector3f wpPos = wp->GetTranslation();
        if ((wpPos - GetTranslation()).magSquared() < x5c0_advanceWpRadius * x5c0_advanceWpRadius)
        {
            x2dc_destObj = wp->NextWaypoint(mgr);
            if (std::fabs(wp->GetPause()) > 0.00001f)
            {
                x5bc_patrolPauseRemTime = wp->GetPause();
                if (x5d0_walkerType == EWalkerType::Parasite)
                    x450_bodyController->SetLocomotionType(pas::ELocomotionType::Relaxed);
                mgr.SendScriptMsg(wp, GetUniqueId(), EScriptObjectMessage::Arrived);
            }
        }

        SetDestPos(wpPos);
    }
}

}