mirror of https://github.com/AxioDL/metaforce.git
1128 lines
43 KiB
C++
1128 lines
43 KiB
C++
#include "CGameCollision.hpp"
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#include "CCollidableOBBTreeGroup.hpp"
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#include "CMaterialFilter.hpp"
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#include "CMaterialList.hpp"
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#include "World/CActor.hpp"
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#include "CStateManager.hpp"
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#include "TCastTo.hpp"
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#include "World/CWorld.hpp"
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#include "CAABoxFilter.hpp"
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#include "CBallFilter.hpp"
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#include "CMetroidAreaCollider.hpp"
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#include "CollisionUtil.hpp"
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#include "World/CScriptPlatform.hpp"
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#include "CCollidableSphere.hpp"
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#include "Character/CGroundMovement.hpp"
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namespace urde
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{
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static float CollisionImpulseFiniteVsInfinite(float mass, float velNormDot, float restitution)
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{
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return mass * ((1.f / restitution) * velNormDot);
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}
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static float CollisionImpulseFiniteVsFinite(float mass0, float mass1, float velNormDot, float restitution)
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{
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return (-(1.f + restitution) * velNormDot) / ((1.f / mass0) + (1.f / mass1));
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}
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void CGameCollision::InitCollision()
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{
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/* Types */
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CCollisionPrimitive::InitBeginTypes();
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CCollisionPrimitive::InitAddType(CCollidableOBBTreeGroup::GetType());
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CCollisionPrimitive::InitEndTypes();
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/* Colliders */
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CCollisionPrimitive::InitBeginColliders();
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CCollisionPrimitive::InitAddCollider(CCollidableOBBTreeGroup::SphereCollide, "CCollidableSphere",
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"CCollidableOBBTreeGroup");
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CCollisionPrimitive::InitAddCollider(CCollidableOBBTreeGroup::AABoxCollide, "CCollidableAABox",
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"CCollidableOBBTreeGroup");
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CCollisionPrimitive::InitAddBooleanCollider(CCollidableOBBTreeGroup::SphereCollideBoolean, "CCollidableSphere",
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"CCollidableOBBTreeGroup");
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CCollisionPrimitive::InitAddBooleanCollider(CCollidableOBBTreeGroup::AABoxCollideBoolean, "CCollidableAABox",
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"CCollidableOBBTreeGroup");
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CCollisionPrimitive::InitAddMovingCollider(CCollidableOBBTreeGroup::CollideMovingAABox, "CCollidableAABox",
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"CCollidableOBBTreeGroup");
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CCollisionPrimitive::InitAddMovingCollider(CCollidableOBBTreeGroup::CollideMovingSphere, "CCollidableSphere",
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"CCollidableOBBTreeGroup");
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CCollisionPrimitive::InitAddCollider(CGameCollision::NullCollisionCollider, "CCollidableOBBTreeGroup",
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"CCollidableOBBTreeGroup");
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CCollisionPrimitive::InitAddBooleanCollider(CGameCollision::NullBooleanCollider, "CCollidableOBBTreeGroup",
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"CCollidableOBBTreeGroup");
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CCollisionPrimitive::InitAddMovingCollider(CGameCollision::NullMovingCollider, "CCollidableOBBTreeGroup",
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"CCollidableOBBTreeGroup");
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CCollisionPrimitive::InitEndColliders();
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}
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void CGameCollision::MovePlayer(CStateManager& mgr, CPhysicsActor& actor, float dt,
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const rstl::reserved_vector<TUniqueId, 1024>* colliderList)
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{
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actor.SetAngularEnabled(true);
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actor.AddMotionState(actor.PredictAngularMotion(dt));
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if (actor.IsUseStandardCollider())
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{
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MoveAndCollide(mgr, actor, dt, CBallFilter(actor), colliderList);
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}
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else
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{
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if (actor.GetMaterialList().HasMaterial(EMaterialTypes::GroundCollider))
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CGroundMovement::MoveGroundCollider_New(mgr, actor, dt, colliderList);
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else
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MoveAndCollide(mgr, actor, dt, CBallFilter(actor), colliderList);
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}
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actor.SetAngularEnabled(false);
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}
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void CGameCollision::MoveAndCollide(CStateManager& mgr, CPhysicsActor& actor, float dt, const ICollisionFilter& filter,
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const rstl::reserved_vector<TUniqueId, 1024>* colliderList)
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{
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bool isPlayer = actor.GetMaterialList().HasMaterial(EMaterialTypes::Player);
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bool r28 = false;
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bool r27 = false;
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int r26 = 0;
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float f31 = dt;
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float _4AC4 = dt;
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float _4AC8 = dt;
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CCollisionInfoList accumList;
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CMotionState mState = actor.PredictMotion_Internal(dt);
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float transMag = mState.x0_translation.magnitude();
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float m1 = 0.0005f / actor.GetCollisionAccuracyModifier();
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float m2 = transMag / (5.f * actor.GetCollisionAccuracyModifier());
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float mMax = std::max(m1, m2);
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float m3 = 0.001f / actor.GetCollisionAccuracyModifier();
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zeus::CAABox motionVol = actor.GetMotionVolume(dt);
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rstl::reserved_vector<TUniqueId, 1024> useColliderList;
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if (colliderList)
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useColliderList = *colliderList;
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else
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mgr.BuildColliderList(useColliderList, actor, zeus::CAABox(motionVol.min - 1.f, motionVol.max + 1.f));
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CAreaCollisionCache cache(motionVol);
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if (actor.GetCollisionPrimitive()->GetPrimType() != FOURCC('OBTG') &&
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!actor.GetMaterialFilter().GetExcludeList().HasMaterial(EMaterialTypes::StaticCollision))
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{
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BuildAreaCollisionCache(mgr, cache);
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zeus::CVector3f pos = actor.GetCollisionPrimitive()->CalculateAABox(actor.GetPrimitiveTransform()).center();
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float halfExtent = 0.5f * GetMinExtentForCollisionPrimitive(*actor.GetCollisionPrimitive());
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if (transMag > halfExtent)
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{
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TUniqueId id = kInvalidUniqueId;
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zeus::CVector3f dir = (1.f / transMag) * mState.x0_translation;
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CRayCastResult intersectRes = mgr.RayWorldIntersection(id, pos, dir, transMag,
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actor.GetMaterialFilter(), useColliderList);
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if (intersectRes.IsValid())
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{
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f31 = dt * (intersectRes.GetT() / transMag);
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mState = actor.PredictMotion_Internal(f31);
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_4AC8 = halfExtent * (dt / transMag);
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mMax = std::min(mMax, halfExtent);
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}
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}
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}
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float f27 = f31;
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while (true)
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{
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actor.MoveCollisionPrimitive(mState.x0_translation);
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if (DetectCollisionBoolean_Cached(mgr, cache, *actor.GetCollisionPrimitive(),
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actor.GetPrimitiveTransform(), actor.GetMaterialFilter(),
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useColliderList))
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{
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r28 = true;
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if (mState.x0_translation.magnitude() < mMax)
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{
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r27 = true;
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accumList.Clear();
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TUniqueId id = kInvalidUniqueId;
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DetectCollision_Cached(mgr, cache, *actor.GetCollisionPrimitive(), actor.GetPrimitiveTransform(),
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actor.GetMaterialFilter(), useColliderList, id, accumList);
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TCastToPtr<CPhysicsActor> otherActor = mgr.ObjectById(id);
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actor.MoveCollisionPrimitive(zeus::CVector3f::skZero);
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zeus::CVector3f relVel = GetActorRelativeVelocities(actor, otherActor.GetPtr());
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CCollisionInfoList filterList0, filterList1;
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CollisionUtil::FilterOutBackfaces(relVel, accumList, filterList0);
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if (filterList0.GetCount() > 0)
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{
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filter.Filter(filterList0, filterList1);
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if (!filterList1.GetCount() && actor.GetMaterialList().HasMaterial(EMaterialTypes::Player))
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{
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CMotionState mState = actor.GetLastNonCollidingState();
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mState.x1c_velocity *= 0.5f;
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mState.x28_angularMomentum *= 0.5f;
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actor.SetMotionState(mState);
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}
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}
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MakeCollisionCallbacks(mgr, actor, id, filterList1);
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SendScriptMessages(mgr, actor, otherActor.GetPtr(), filterList1);
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ResolveCollisions(actor, otherActor.GetPtr(), filterList1);
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_4AC4 -= f31;
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f27 = std::min(_4AC4, _4AC8);
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f31 = f27;
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}
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else
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{
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f27 *= 0.5f;
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f31 *= 0.5f;
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}
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}
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else
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{
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actor.AddMotionState(mState);
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_4AC4 -= f31;
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f31 = f27;
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actor.ClearImpulses();
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actor.MoveCollisionPrimitive(zeus::CVector3f::skZero);
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}
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++r26;
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if (_4AC4 > 0.f && ((mState.x0_translation.magnitude() > m3 && r27) || !r27) && r26 <= 1000)
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mState = actor.PredictMotion_Internal(f31);
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else
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break;
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}
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f27 = _4AC4 / dt;
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if (!r28 && !actor.GetMaterialList().HasMaterial(EMaterialTypes::GroundCollider))
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mgr.SendScriptMsg(&actor, kInvalidUniqueId, EScriptObjectMessage::Falling);
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if (isPlayer)
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CollisionFailsafe(mgr, cache, actor, *actor.GetCollisionPrimitive(), useColliderList, f27, 2);
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actor.ClearForcesAndTorques();
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actor.MoveCollisionPrimitive(zeus::CVector3f::skZero);
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}
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zeus::CVector3f CGameCollision::GetActorRelativeVelocities(const CPhysicsActor& act0, const CPhysicsActor* act1)
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{
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zeus::CVector3f ret = act0.GetVelocity();
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if (act1)
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{
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bool rider = false;
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if (TCastToConstPtr<CScriptPlatform> plat = act1)
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rider = plat->IsRider(act0.GetUniqueId());
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if (!rider)
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ret =- act1->GetVelocity();
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}
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return ret;
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}
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void CGameCollision::Move(CStateManager& mgr, CPhysicsActor& actor, float dt,
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const rstl::reserved_vector<TUniqueId, 1024>* colliderList)
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{
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if (!actor.IsMovable())
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return;
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if (actor.GetMaterialList().HasMaterial(EMaterialTypes::GroundCollider) || actor.WillMove(mgr))
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{
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if (actor.IsAngularEnabled())
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actor.AddMotionState(actor.PredictAngularMotion(dt));
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actor.UseCollisionImpulses();
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if (actor.GetMaterialList().HasMaterial(EMaterialTypes::Solid))
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{
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if (actor.GetMaterialList().HasMaterial(EMaterialTypes::Player))
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MovePlayer(mgr, actor, dt, colliderList);
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else if (actor.GetMaterialList().HasMaterial(EMaterialTypes::GroundCollider))
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CGroundMovement::MoveGroundCollider(mgr, actor, dt, colliderList);
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else
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MoveAndCollide(mgr, actor, dt, CAABoxFilter(actor), colliderList);
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}
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else
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{
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actor.AddMotionState(actor.PredictMotion_Internal(dt));
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actor.ClearForcesAndTorques();
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}
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mgr.UpdateActorInSortedLists(actor);
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}
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}
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bool CGameCollision::CanBlock(const CMaterialList& mat, const zeus::CVector3f& v)
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{
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if ((mat.HasMaterial(EMaterialTypes::Character) && !mat.HasMaterial(EMaterialTypes::SolidCharacter)) ||
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mat.HasMaterial(EMaterialTypes::NoPlayerCollision))
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return false;
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if (mat.HasMaterial(EMaterialTypes::Floor))
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return true;
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return (v.z > 0.85f);
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}
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bool CGameCollision::IsFloor(const CMaterialList& mat, const zeus::CVector3f& v)
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{
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if (mat.HasMaterial(EMaterialTypes::Floor))
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return true;
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return (v.z > 0.85f);
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}
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void CGameCollision::SendMaterialMessage(CStateManager& mgr, const CMaterialList& mat, CActor& act)
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{
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EScriptObjectMessage msg;
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if (mat.HasMaterial(EMaterialTypes::Ice))
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msg = EScriptObjectMessage::OnIceSurface;
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else if (mat.HasMaterial(EMaterialTypes::MudSlow))
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msg = EScriptObjectMessage::OnMudSlowSurface;
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else
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msg = EScriptObjectMessage::OnNormalSurface;
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mgr.SendScriptMsg(&act, kInvalidUniqueId, msg);
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}
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CRayCastResult
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CGameCollision::RayStaticIntersection(const CStateManager& mgr, const zeus::CVector3f& pos,
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const zeus::CVector3f& dir, float length, const CMaterialFilter& filter)
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{
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CRayCastResult ret;
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float bestT = length;
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if (bestT <= 0.f)
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bestT = 100000.f;
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zeus::CLine line(pos, dir);
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for (const CGameArea& area : *mgr.GetWorld())
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{
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CAreaOctTree::SRayResult rayRes;
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CAreaOctTree& collision = *area.GetPostConstructed()->x0_collision;
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collision.GetRootNode().LineTestEx(line, filter, rayRes, length);
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if (!rayRes.x10_surface || (length != 0.f && length < rayRes.x3c_t))
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continue;
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if (rayRes.x3c_t < bestT)
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{
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ret = CRayCastResult(rayRes.x3c_t, dir * rayRes.x3c_t + pos,
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rayRes.x0_plane, rayRes.x10_surface->GetSurfaceFlags());
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bestT = rayRes.x3c_t;
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}
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}
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return ret;
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}
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bool CGameCollision::RayStaticIntersectionBool(const CStateManager& mgr, const zeus::CVector3f& start,
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const zeus::CVector3f& dir, float length,
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const CMaterialFilter& filter)
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{
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if (length <= 0.f)
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length = 100000.f;
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zeus::CLine line(start, dir);
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for (const CGameArea& area : *mgr.GetWorld())
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{
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const CAreaOctTree& collision = *area.GetPostConstructed()->x0_collision;
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CAreaOctTree::Node root = collision.GetRootNode();
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if (!root.LineTest(line, filter, length))
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return false;
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}
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return true;
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}
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CRayCastResult
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CGameCollision::RayDynamicIntersection(const CStateManager& mgr, TUniqueId& idOut, const zeus::CVector3f& pos,
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const zeus::CVector3f& dir, float length, const CMaterialFilter& filter,
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const rstl::reserved_vector<TUniqueId, 1024>& nearList)
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{
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CRayCastResult ret;
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float bestT = length;
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if (bestT <= 0.f)
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bestT = 100000.f;
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for (TUniqueId id : nearList)
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{
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CEntity* ent = const_cast<CEntity*>(mgr.GetObjectById(id));
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if (TCastToPtr<CPhysicsActor> physActor = ent)
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{
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zeus::CTransform xf = physActor->GetPrimitiveTransform();
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const CCollisionPrimitive* prim = physActor->GetCollisionPrimitive();
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CRayCastResult res = prim->CastRay(pos, dir, bestT, filter, xf);
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if (!res.IsInvalid() && res.GetT() < bestT)
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{
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bestT = res.GetT();
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ret = res;
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idOut = physActor->GetUniqueId();
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}
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}
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}
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return ret;
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}
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bool CGameCollision::RayDynamicIntersectionBool(const CStateManager& mgr,
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const zeus::CVector3f& pos, const zeus::CVector3f& dir,
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const CMaterialFilter& filter,
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const rstl::reserved_vector<TUniqueId, 1024>& nearList,
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const CActor* damagee, float length)
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{
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if (length <= 0.f)
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length = 100000.f;
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for (TUniqueId id : nearList)
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{
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const CEntity* ent = mgr.GetObjectById(id);
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if (TCastToConstPtr<CPhysicsActor> physActor = ent)
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{
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if (damagee && physActor->GetUniqueId() == damagee->GetUniqueId())
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continue;
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zeus::CTransform xf = physActor->GetPrimitiveTransform();
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const CCollisionPrimitive* prim = physActor->GetCollisionPrimitive();
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CRayCastResult res = prim->CastRay(pos, dir, length, filter, xf);
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if (!res.IsInvalid())
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return false;
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}
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}
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return true;
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}
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CRayCastResult
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CGameCollision::RayWorldIntersection(const CStateManager& mgr, TUniqueId& idOut, const zeus::CVector3f& pos,
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const zeus::CVector3f& dir, float mag, const CMaterialFilter& filter,
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const rstl::reserved_vector<TUniqueId, 1024>& nearList)
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{
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CRayCastResult staticRes = RayStaticIntersection(mgr, pos, dir, mag, filter);
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CRayCastResult dynamicRes = RayDynamicIntersection(mgr, idOut, pos, dir, mag, filter, nearList);
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if (!dynamicRes.IsInvalid() && staticRes.IsInvalid())
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return dynamicRes;
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else if (staticRes.GetT() >= dynamicRes.GetT())
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return dynamicRes;
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else
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return staticRes;
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}
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bool CGameCollision::RayStaticIntersectionArea(const CGameArea& area, const zeus::CVector3f& pos,
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const zeus::CVector3f& dir, float mag, const CMaterialFilter& filter)
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{
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if (mag <= 0.f)
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mag = 100000.f;
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CAreaOctTree::Node node = area.GetPostConstructed()->x0_collision->GetRootNode();
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zeus::CLine line(pos, dir);
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return node.LineTest(line, filter, mag);
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}
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void CGameCollision::BuildAreaCollisionCache(CStateManager& mgr, CAreaCollisionCache& cache)
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{
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cache.ClearCache();
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for (const CGameArea& area : *mgr.GetWorld())
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{
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const CAreaOctTree& areaCollision = *area.GetPostConstructed()->x0_collision;
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CMetroidAreaCollider::COctreeLeafCache octreeCache(areaCollision);
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CMetroidAreaCollider::BuildOctreeLeafCache(areaCollision.GetRootNode(),
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cache.GetCacheBounds(), octreeCache);
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cache.AddOctreeLeafCache(octreeCache);
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}
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}
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float CGameCollision::GetMinExtentForCollisionPrimitive(const CCollisionPrimitive& prim)
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{
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if (prim.GetPrimType() == FOURCC('SPHR'))
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{
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const CCollidableSphere& sphere = static_cast<const CCollidableSphere&>(prim);
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return 2.f * sphere.GetSphere().radius;
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}
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else if (prim.GetPrimType() == FOURCC('AABX'))
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{
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const CCollidableAABox& aabx = static_cast<const CCollidableAABox&>(prim);
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zeus::CVector3f extent = aabx.GetAABB().max - aabx.GetAABB().min;
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float minExtent = std::min(extent.x, extent.y);
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minExtent = std::min(minExtent, extent.z);
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return minExtent;
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}
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else if (prim.GetPrimType() == FOURCC('ABSH'))
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{
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// Combination AABB / Sphere cut from game
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}
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return 1.f;
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}
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bool CGameCollision::DetectCollisionBoolean_Cached(CStateManager& mgr, CAreaCollisionCache& cache,
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const CCollisionPrimitive& prim, const zeus::CTransform& xf,
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const CMaterialFilter& filter,
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const rstl::reserved_vector<TUniqueId, 1024>& nearList)
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{
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if (!filter.GetExcludeList().HasMaterial(EMaterialTypes::StaticCollision) &&
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DetectStaticCollisionBoolean_Cached(mgr, cache, prim, xf, filter))
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return true;
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if (DetectDynamicCollisionBoolean(prim, xf, nearList, mgr))
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return true;
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return false;
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}
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|
|
bool CGameCollision::DetectStaticCollisionBoolean(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(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 (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 (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,
|
|
CStateManager& mgr)
|
|
{
|
|
for (TUniqueId id : nearList)
|
|
{
|
|
if (TCastToPtr<CPhysicsActor> actor = mgr.ObjectById(id))
|
|
{
|
|
CInternalCollisionStructure::CPrimDesc p0(prim, CMaterialFilter::skPassEverything, xf);
|
|
CInternalCollisionStructure::CPrimDesc p1(*actor->GetCollisionPrimitive(),
|
|
CMaterialFilter::skPassEverything,
|
|
actor->GetPrimitiveTransform());
|
|
if (CCollisionPrimitive::CollideBoolean(p0, p1))
|
|
return true;
|
|
}
|
|
}
|
|
|
|
return false;
|
|
}
|
|
|
|
bool CGameCollision::DetectCollision_Cached(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::StaticCollision))
|
|
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(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)
|
|
{
|
|
idOut = kInvalidUniqueId;
|
|
if (!filter.GetExcludeList().HasMaterial(EMaterialTypes::StaticCollision))
|
|
{
|
|
if (CGameCollision::DetectStaticCollision_Cached_Moving(mgr, cache, prim, xf, filter, dir, infoOut, d))
|
|
return true;
|
|
}
|
|
|
|
return CGameCollision::DetectDynamicCollisionMoving(prim, xf, nearList, dir, idOut, infoOut, d, mgr);
|
|
}
|
|
|
|
bool CGameCollision::DetectStaticCollision(CStateManager& mgr, const CCollisionPrimitive& prim,
|
|
const zeus::CTransform& xf, const CMaterialFilter& filter,
|
|
CCollisionInfoList& list)
|
|
{
|
|
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::AABoxCollisionCheck(
|
|
*area.GetPostConstructed()->x0_collision, aabb, filter,
|
|
prim.GetMaterial(), list))
|
|
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::SphereCollisionCheck(
|
|
*area.GetPostConstructed()->x0_collision, aabb, xfSphere,
|
|
prim.GetMaterial(), filter, list))
|
|
return true;
|
|
}
|
|
}
|
|
else if (prim.GetPrimType() == FOURCC('ABSH'))
|
|
{
|
|
// Combination AABB / Sphere cut from game
|
|
}
|
|
|
|
return false;
|
|
}
|
|
|
|
bool CGameCollision::DetectStaticCollision_Cached(CStateManager& mgr, CAreaCollisionCache& cache,
|
|
const CCollisionPrimitive& prim, const zeus::CTransform& xf,
|
|
const CMaterialFilter& filter, CCollisionInfoList& list)
|
|
{
|
|
if (prim.GetPrimType() == FOURCC('OBTG'))
|
|
return 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 (CMetroidAreaCollider::COctreeLeafCache& leafCache : cache)
|
|
if (CMetroidAreaCollider::AABoxCollisionCheck_Cached(leafCache, calcAABB, filter,
|
|
prim.GetMaterial(), list))
|
|
return true;
|
|
}
|
|
else if (prim.GetPrimType() == FOURCC('SPHR'))
|
|
{
|
|
const CCollidableSphere& sphere = static_cast<const CCollidableSphere&>(prim);
|
|
zeus::CSphere xfSphere = sphere.Transform(xf);
|
|
for (CMetroidAreaCollider::COctreeLeafCache& leafCache : cache)
|
|
if (CMetroidAreaCollider::SphereCollisionCheck_Cached(leafCache, calcAABB, xfSphere,
|
|
prim.GetMaterial(), filter, list))
|
|
return true;
|
|
}
|
|
else if (prim.GetPrimType() == FOURCC('ABSH'))
|
|
{
|
|
// Combination AABB / Sphere cut from game
|
|
}
|
|
|
|
return false;
|
|
}
|
|
|
|
bool CGameCollision::DetectStaticCollision_Cached_Moving(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 (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 (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, CStateManager& mgr)
|
|
{
|
|
for (TUniqueId id : nearList)
|
|
{
|
|
if (TCastToPtr<CPhysicsActor> actor = mgr.ObjectById(id))
|
|
{
|
|
CInternalCollisionStructure::CPrimDesc p0(prim, CMaterialFilter::skPassEverything, xf);
|
|
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, CStateManager& mgr)
|
|
{
|
|
bool ret = false;
|
|
for (TUniqueId id : nearList)
|
|
{
|
|
double d = dOut;
|
|
CCollisionInfo info;
|
|
if (TCastToPtr<CPhysicsActor> actor = mgr.ObjectById(id))
|
|
{
|
|
CInternalCollisionStructure::CPrimDesc p0(prim, CMaterialFilter::skPassEverything, xf);
|
|
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 true;
|
|
}
|
|
}
|
|
}
|
|
|
|
return ret;
|
|
}
|
|
|
|
void CGameCollision::MakeCollisionCallbacks(CStateManager& mgr, CPhysicsActor& actor,
|
|
TUniqueId id, const CCollisionInfoList& list)
|
|
{
|
|
actor.CollidedWith(id, list, mgr);
|
|
if (id != kInvalidUniqueId)
|
|
{
|
|
if (TCastToPtr<CPhysicsActor> actor = mgr.ObjectById(id))
|
|
{
|
|
CCollisionInfoList swappedList = list;
|
|
for (CCollisionInfo& info : swappedList)
|
|
info.Swap();
|
|
actor->CollidedWith(actor->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 (TCastToPtr<CScriptPlatform> plat = a1)
|
|
{
|
|
mgr.SendScriptMsg(plat.GetPtr(), a0.GetUniqueId(),
|
|
EScriptObjectMessage::AddPlatformRider);
|
|
}
|
|
}
|
|
else if (a1)
|
|
{
|
|
if (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::sIdentity);
|
|
a1.ApplyImpulseWR(normal * -impulse, zeus::CAxisAngle::sIdentity);
|
|
}
|
|
else
|
|
{
|
|
float impulse = CollisionImpulseFiniteVsInfinite(a0.GetMass(), velNormDot, restitution);
|
|
a0.ApplyImpulseWR(normal * impulse, zeus::CAxisAngle::sIdentity);
|
|
}
|
|
}
|
|
else
|
|
{
|
|
if (a1Move)
|
|
{
|
|
float impulse = CollisionImpulseFiniteVsInfinite(a1.GetMass(), velNormDot, restitution);
|
|
a1.ApplyImpulseWR(normal * -impulse, zeus::CAxisAngle::sIdentity);
|
|
}
|
|
else
|
|
{
|
|
a0.SetVelocityWR(zeus::CVector3f::skZero);
|
|
a1.SetVelocityWR(zeus::CVector3f::skZero);
|
|
}
|
|
}
|
|
a0.UseCollisionImpulses();
|
|
a1.UseCollisionImpulses();
|
|
}
|
|
else if (velNormDot < 0.1f)
|
|
{
|
|
if (a0Move)
|
|
{
|
|
float impulse = 0.05f * a0.GetMass();
|
|
a0.ApplyImpulseWR(normal * impulse, zeus::CAxisAngle::sIdentity);
|
|
a0.UseCollisionImpulses();
|
|
}
|
|
if (a1Move)
|
|
{
|
|
float impulse = -0.05f * a1.GetMass();
|
|
a1.ApplyImpulseWR(normal * impulse, zeus::CAxisAngle::sIdentity);
|
|
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::sIdentity);
|
|
a0.UseCollisionImpulses();
|
|
}
|
|
else if (velNormDot < 0.001f)
|
|
{
|
|
a0.ApplyImpulseWR(0.05f * a0.GetMass() * useNorm, zeus::CAxisAngle::sIdentity);
|
|
a0.UseCollisionImpulses();
|
|
}
|
|
}
|
|
}
|
|
|
|
void CGameCollision::CollisionFailsafe(CStateManager& mgr, CAreaCollisionCache& cache,
|
|
CPhysicsActor& actor, const CCollisionPrimitive& prim,
|
|
const rstl::reserved_vector<TUniqueId, 1024>& nearList,
|
|
float f1, u32 failsafeTicks)
|
|
{
|
|
actor.MoveCollisionPrimitive(zeus::CVector3f::skZero);
|
|
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 *= 0.5f;
|
|
lastNonCollide.x28_angularMomentum *= 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 *= 0.5f;
|
|
lastNonCollide.x28_angularMomentum *= 0.5f;
|
|
actor.SetLastNonCollidingState(lastNonCollide);
|
|
}
|
|
}
|
|
}
|
|
else
|
|
{
|
|
actor.SetLastNonCollidingState(actor.GetMotionState());
|
|
actor.SetNumTicksStuck(0);
|
|
}
|
|
}
|
|
|
|
std::experimental::optional<zeus::CVector3f>
|
|
CGameCollision::FindNonIntersectingVector(CStateManager& mgr, CAreaCollisionCache& cache,
|
|
CPhysicsActor& actor, const CCollisionPrimitive& prim,
|
|
const rstl::reserved_vector<TUniqueId, 1024>& nearList)
|
|
{
|
|
zeus::CTransform xf = actor.GetPrimitiveTransform();
|
|
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 + xf.origin;
|
|
if (mgr.GetWorld()->GetAreaAlways(mgr.GetNextAreaId())->GetAABB().pointInside(worldPoint))
|
|
{
|
|
if (mgr.RayCollideWorld(center, center + vec, nearList,
|
|
CMaterialFilter::skPassEverything, actor))
|
|
{
|
|
if (!DetectCollisionBoolean_Cached(mgr, cache, prim, xf, actor.GetMaterialFilter(), nearList))
|
|
return {vec};
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
return {};
|
|
}
|
|
}
|