mirror of https://github.com/AxioDL/metaforce.git
249 lines
9.1 KiB
C++
249 lines
9.1 KiB
C++
#include "CPathFindRegion.hpp"
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#include "CPathFindArea.hpp"
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namespace urde {
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CPFNode::CPFNode(CMemoryInStream& in) {
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x0_position.readBig(in);
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xc_normal.readBig(in);
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}
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CPFLink::CPFLink(CMemoryInStream& in) {
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x0_node = in.readUint32Big();
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x4_region = in.readUint32Big();
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x8_2dWidth = in.readFloatBig();
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xc_oo2dWidth = in.readFloatBig();
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}
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CPFRegion::CPFRegion(CMemoryInStream& in) {
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x0_numNodes = in.readUint32Big();
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x4_startNode = reinterpret_cast<CPFNode*>(in.readUint32Big());
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x8_numLinks = in.readUint32Big();
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xc_startLink = reinterpret_cast<CPFLink*>(in.readUint32Big());
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x10_flags = in.readUint32Big();
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x14_height = in.readFloatBig();
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x18_normal.readBig(in);
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x24_regionIdx = in.readUint32Big();
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x28_centroid.readBig(in);
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x34_aabb.readBoundingBoxBig(in);
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x4c_regionData = reinterpret_cast<CPFRegionData*>(in.readUint32Big());
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}
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const CPFLink* CPFRegion::GetPathLink() const { return &xc_startLink[x4c_regionData->GetPathLink()]; }
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void CPFRegion::Fixup(CPFArea& area, u32& maxRegionNodes) {
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if (x0_numNodes)
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x4_startNode = &area.x140_nodes[reinterpret_cast<uintptr_t>(x4_startNode)];
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else
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x4_startNode = nullptr;
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if (x8_numLinks)
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xc_startLink = &area.x148_links[reinterpret_cast<uintptr_t>(xc_startLink)];
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else
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xc_startLink = nullptr;
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x4c_regionData = &area.x178_regionDatas[x24_regionIdx];
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if (x0_numNodes > maxRegionNodes)
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maxRegionNodes = x0_numNodes;
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}
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bool CPFRegion::IsPointInside(const zeus::CVector3f& point) const {
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if (!x34_aabb.pointInside(point))
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return false;
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int i;
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for (i = 0; i < x0_numNodes; ++i) {
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CPFNode& node = x4_startNode[i];
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if ((point - node.GetPos()).dot(node.GetNormal()) < 0.f)
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break;
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}
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if (i != x0_numNodes)
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return false;
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zeus::CVector3f nodeToPoint = point - x4_startNode->GetPos();
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return nodeToPoint.dot(x18_normal) >= 0.f &&
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(nodeToPoint - x14_height * zeus::CVector3f::skUp).dot(x18_normal) <= 0.f;
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}
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float CPFRegion::PointHeight(const zeus::CVector3f& point) const {
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return (point - x4_startNode->GetPos()).dot(x18_normal);
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}
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bool CPFRegion::FindClosestPointOnPolygon(const std::vector<zeus::CVector3f>& polyPoints, const zeus::CVector3f& normal,
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const zeus::CVector3f& point, bool excludePolyPoints) {
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bool found = false;
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int i;
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for (i = 0; i < polyPoints.size(); ++i) {
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const zeus::CVector3f& p0 = polyPoints[i];
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const zeus::CVector3f& p1 = polyPoints[(i + 1) % polyPoints.size()];
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if ((p1 - p0).cross(normal).dot(point - p0) < 0.f)
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break;
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}
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if (i == polyPoints.size()) {
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float distToPoly = (polyPoints.front() - point).dot(normal);
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float distToPolySq = distToPoly * distToPoly;
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if (distToPolySq < x4c_regionData->GetBestPointDistanceSquared()) {
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found = true;
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x4c_regionData->SetBestPointDistanceSquared(distToPolySq);
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x4c_regionData->SetBestPoint(normal * distToPoly + point);
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}
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} else {
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bool projected = false;
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for (i = 0; i < polyPoints.size(); ++i) {
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const zeus::CVector3f& p0 = polyPoints[i];
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const zeus::CVector3f& p1 = polyPoints[(i + 1) % polyPoints.size()];
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zeus::CVector3f p0ToP1 = p1 - p0;
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zeus::CVector3f p1ToPoint = point - p1;
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zeus::CVector3f sum = p1ToPoint + p0ToP1;
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if (p0ToP1.cross(normal).dot(p1ToPoint) < 0.f && p0ToP1.dot(p1ToPoint) <= 0.f && sum.dot(p0ToP1) >= 0.f) {
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projected = true;
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p0ToP1.normalize();
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sum -= p0ToP1.dot(sum) * p0ToP1;
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float distSq = sum.magSquared();
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if (distSq < x4c_regionData->GetBestPointDistanceSquared()) {
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found = true;
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x4c_regionData->SetBestPointDistanceSquared(distSq);
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x4c_regionData->SetBestPoint(point - sum);
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}
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break;
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}
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}
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if (!projected && !excludePolyPoints) {
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for (i = 0; i < polyPoints.size(); ++i) {
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const zeus::CVector3f& p0 = polyPoints[i];
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float distSq = (point - p0).magSquared();
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if (distSq < x4c_regionData->GetBestPointDistanceSquared()) {
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found = true;
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x4c_regionData->SetBestPointDistanceSquared(distSq);
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x4c_regionData->SetBestPoint(p0);
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}
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}
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}
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}
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return found;
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}
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bool CPFRegion::FindBestPoint(std::vector<zeus::CVector3f>& polyPoints, const zeus::CVector3f& point, u32 flags,
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float paddingSq) {
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bool found = false;
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bool isFlyer = (flags & 0x2) != 0;
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x4c_regionData->SetBestPointDistanceSquared(paddingSq);
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if (!isFlyer) {
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for (int i = 0; i < x0_numNodes; ++i) {
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CPFNode& node = x4_startNode[i];
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CPFNode& nextNode = x4_startNode[(i + 1) % x0_numNodes];
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polyPoints.clear();
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polyPoints.push_back(node.GetPos());
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polyPoints.push_back(node.GetPos());
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polyPoints.back().z() += x14_height;
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polyPoints.push_back(nextNode.GetPos());
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polyPoints.back().z() += x14_height;
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polyPoints.push_back(nextNode.GetPos());
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found |= FindClosestPointOnPolygon(polyPoints, node.GetNormal(), point, true);
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}
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}
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polyPoints.clear();
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for (int i = 0; i < x0_numNodes; ++i) {
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CPFNode& node = x4_startNode[i];
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polyPoints.push_back(node.GetPos());
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}
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found |= FindClosestPointOnPolygon(polyPoints, x18_normal, point, false);
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if (!isFlyer) {
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polyPoints.clear();
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for (int i = x0_numNodes - 1; i >= 0; --i) {
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CPFNode& node = x4_startNode[i];
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polyPoints.push_back(node.GetPos());
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polyPoints.back().z() += x14_height;
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}
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found |= FindClosestPointOnPolygon(polyPoints, -x18_normal, point, false);
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}
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return found;
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}
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void CPFRegion::SetLinkTo(s32 idx) {
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if (x8_numLinks <= 0)
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return;
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for (s32 i = 0; i < x8_numLinks; ++i)
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if (xc_startLink[i].GetRegion() == idx) {
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Data()->SetPathLink(i);
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return;
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}
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}
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void CPFRegion::DropToGround(zeus::CVector3f& point) const {
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point.z() -= (point - x4_startNode->GetPos()).dot(x18_normal) / x18_normal.z();
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}
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zeus::CVector3f CPFRegion::GetLinkMidPoint(const CPFLink& link) const {
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const CPFNode& node = x4_startNode[link.GetNode()];
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const CPFNode& nextNode = x4_startNode[(link.GetNode() + 1) % x0_numNodes];
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return (node.GetPos() + nextNode.GetPos()) * 0.5f;
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}
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zeus::CVector3f CPFRegion::FitThroughLink2d(const zeus::CVector3f& p1, const CPFLink& link, const zeus::CVector3f& p2,
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float chRadius) const {
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CPFNode& node = x4_startNode[link.GetNode()];
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CPFNode& nextNode = x4_startNode[(link.GetNode() + 1) % x0_numNodes];
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zeus::CVector3f nodeDelta = nextNode.GetPos() - node.GetPos();
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float t = 0.5f;
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if (chRadius < 0.5f * link.Get2dWidth()) {
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zeus::CVector2f delta2d(nodeDelta.x(), nodeDelta.y());
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delta2d *= link.GetOO2dWidth();
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zeus::CVector3f nodeToP1 = p1 - node.GetPos();
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float f27 = nodeToP1.dot(node.GetNormal());
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float f31 = delta2d.dot(zeus::CVector2f(nodeToP1.y(), nodeToP1.y()));
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zeus::CVector3f nodeToP2 = p2 - node.GetPos();
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float f26 = -nodeToP2.dot(node.GetNormal());
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float f1b = delta2d.dot(zeus::CVector2f(nodeToP2.y(), nodeToP2.y()));
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float f3 = f27 + f26;
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if (f3 > FLT_EPSILON)
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t = zeus::clamp(chRadius, 1.f / f3 * (f26 * f31 + f27 * f1b), link.Get2dWidth() - chRadius) * link.GetOO2dWidth();
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}
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return nodeDelta * t + node.GetPos();
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}
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zeus::CVector3f CPFRegion::FitThroughLink3d(const zeus::CVector3f& p1, const CPFLink& link, float regionHeight,
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const zeus::CVector3f& p2, float chRadius, float chHalfHeight) const {
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CPFNode& node = x4_startNode[link.GetNode()];
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CPFNode& nextNode = x4_startNode[(link.GetNode() + 1) % x0_numNodes];
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zeus::CVector3f nodeDelta = nextNode.GetPos() - node.GetPos();
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float f25 = (p1 - node.GetPos()).dot(node.GetNormal());
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float f24 = (node.GetPos() - p2).dot(node.GetNormal());
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float f23 = f25 + f24;
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#if 0
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if (chRadius < 0.5f * link.Get2dWidth()) {
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zeus::CVector2f delta2d(nodeDelta.x, nodeDelta.y);
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delta2d *= link.GetOO2dWidth();
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zeus::CVector3f nodeToP1 = p1 - node.GetPos();
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float f29 = delta2d.dot(zeus::CVector2f(nodeToP1.y, nodeToP1.y));
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zeus::CVector3f nodeToP2 = p2 - node.GetPos();
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float f1b = delta2d.dot(zeus::CVector2f(nodeToP2.y, nodeToP2.y));
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if (f23 > FLT_EPSILON) {
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zeus::clamp(chRadius, 1.f / f23 * f24 * f29 + f25 * f1b, link.Get2dWidth() - chRadius) *
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link.GetOO2dWidth();
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}
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}
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#endif
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zeus::CVector3f midPoint = nodeDelta * 0.5f + node.GetPos();
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float z;
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if (chHalfHeight < 0.5f * regionHeight) {
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float minZ = chHalfHeight + midPoint.z();
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z = 0.5f * (p1.z() + p2.z());
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if (f23 > FLT_EPSILON)
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z = (f24 * p1.z() + f25 * p2.z()) / f23;
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z = zeus::clamp(minZ, z, regionHeight + midPoint.z() - chHalfHeight);
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} else {
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z = (p1.z() + p2.z()) * 0.5f;
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}
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return {midPoint.x(), midPoint.y(), z};
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}
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bool CPFRegion::IsPointInsidePaddedAABox(const zeus::CVector3f& point, float padding) const {
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return point.x() >= x34_aabb.min.x() - padding && point.x() <= x34_aabb.max.x() + padding &&
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point.y() >= x34_aabb.min.y() - padding && point.y() <= x34_aabb.max.y() + padding &&
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point.z() >= x34_aabb.min.z() - padding && point.z() <= x34_aabb.max.z() + padding;
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}
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} // namespace urde
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