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metaforce/Runtime/Collision/CGameCollision.cpp

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#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 urde {
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 && 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;
else 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 CCollidableSphere& sphere = static_cast<const CCollidableSphere&>(prim);
return 2.f * sphere.GetSphere().radius;
} else if (prim.GetPrimType() == FOURCC('AABX')) {
const CCollidableAABox& 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;
} else 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 CCollidableSphere& 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 CCollidableSphere& 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 CCollidableSphere& 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 CCollidableSphere& 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 CCollidableSphere& 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;
bool platform2 = 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) {
if (const TCastToPtr<CScriptPlatform> plat = a0) {
for (const CCollisionInfo& info : list) {
if (IsFloor(info.GetMaterialRight(), info.GetNormalRight())) {
if (info.GetMaterialRight().HasMaterial(EMaterialTypes::Platform)) {
platform2 = true;
}
SendMaterialMessage(mgr, info.GetMaterialLeft(), a0);
}
}
if (platform2) {
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;
float restitution = GetCoefficientOfRestitution(infoCopy) + a0.GetCoefficientOfRestitutionModifier();
if (a1) {
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)) {
float pos = i * 0.005f;
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 urde
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