mirror of https://github.com/PrimeDecomp/prime.git
Add the rest of CPhysicsActor
This commit is contained in:
Henrique Gemignani Passos Lima
parent
fe02b80545
commit
55608d26be
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@ -3,8 +3,8 @@
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.section .data
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.balign 8
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.global lbl_803E0628
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lbl_803E0628:
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.global __vt__13CPhysicsActor
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__vt__13CPhysicsActor:
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# ROM: 0x3DD628
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.4byte 0
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.4byte 0
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@ -2322,9 +2322,9 @@ __dt__13CPhysicsActorFv:
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/* 8011C428 00119388 93 C1 00 08 */ stw r30, 8(r1)
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/* 8011C42C 0011938C 7C 7E 1B 79 */ or. r30, r3, r3
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/* 8011C430 00119390 41 82 00 64 */ beq lbl_8011C494
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/* 8011C434 00119394 3C 60 80 3E */ lis r3, lbl_803E0628@ha
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/* 8011C434 00119394 3C 60 80 3E */ lis r3, __vt__13CPhysicsActor@ha
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/* 8011C438 00119398 34 1E 02 28 */ addic. r0, r30, 0x228
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/* 8011C43C 0011939C 38 03 06 28 */ addi r0, r3, lbl_803E0628@l
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/* 8011C43C 0011939C 38 03 06 28 */ addi r0, r3, __vt__13CPhysicsActor@l
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/* 8011C440 001193A0 90 1E 00 00 */ stw r0, 0(r30)
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/* 8011C444 001193A4 41 82 00 0C */ beq lbl_8011C450
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/* 8011C448 001193A8 38 00 00 00 */ li r0, 0
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@ -2384,9 +2384,9 @@ lbl_8011C494:
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/* 8011C508 00119468 38 81 00 14 */ addi r4, r1, 0x14
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/* 8011C50C 0011946C 90 01 00 0C */ stw r0, 0xc(r1)
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/* 8011C510 00119470 4B F3 93 11 */ bl "__ct__6CActorF9TUniqueIdbRCQ24rstl66basic_string<c,Q24rstl14char_traits<c>,Q24rstl17rmemory_allocator>RC11CEntityInfoRC12CTransform4fRC10CModelDataRC13CMaterialListRC16CActorParameters9TUniqueId"
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/* 8011C514 00119474 3C 60 80 3E */ lis r3, lbl_803E0628@ha
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/* 8011C514 00119474 3C 60 80 3E */ lis r3, __vt__13CPhysicsActor@ha
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/* 8011C518 00119478 C0 02 96 A4 */ lfs f0, lbl_805AB3C4@sda21(r2)
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/* 8011C51C 0011947C 38 03 06 28 */ addi r0, r3, lbl_803E0628@l
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/* 8011C51C 0011947C 38 03 06 28 */ addi r0, r3, __vt__13CPhysicsActor@l
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/* 8011C520 00119480 90 1D 00 00 */ stw r0, 0(r29)
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/* 8011C524 00119484 C0 3F 00 30 */ lfs f1, 0x30(r31)
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/* 8011C528 00119488 D0 3D 00 E8 */ stfs f1, 0xe8(r29)
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@ -15,6 +15,7 @@ public:
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static CNUQuaternion BuildFromMatrix3f(const CMatrix3f& matrix);
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static CNUQuaternion BuildFromQuaternion(const CQuaternion& quat);
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CNUQuaternion& operator+=(const CNUQuaternion&);
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CNUQuaternion operator*(const CNUQuaternion&) const;
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private:
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@ -73,7 +73,8 @@ public:
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float GetZ() const { return z; }
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const CVector3f& GetImaginary() const {
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// TODO: hack! has a Vector3f field?
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return *reinterpret_cast<const CVector3f*>(&x); }
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return *reinterpret_cast<const CVector3f*>(&x);
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}
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private:
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float w;
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@ -83,8 +83,12 @@ public:
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virtual float GetWeight() const;
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float GetMass() const { return xe8_mass; }
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void SetMass(float mass);
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void SetInertiaTensorScalar(float tensor);
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const CAABox& GetBaseBoundingBox() const;
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CAABox GetBoundingBox() const;
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void SetBoundingBox(const CAABox& box);
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CAABox GetMotionVolume(float dt) const;
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void ApplyImpulseWR(const CVector3f& impulse, const CAxisAngle& angularImpulse);
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void ApplyTorqueWR(const CVector3f& torque);
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@ -106,6 +110,7 @@ public:
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bool WillMove(const CStateManager& mgr);
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void Stop();
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CVector3f GetPrimitiveOffset() const;
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const CVector3f& GetConstantForceWR() const { return xfc_constantForce; }
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void SetConstantForceWR(const CVector3f& force) { xfc_constantForce = force; }
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const CAxisAngle& GetAngularMomentumWR() const { return x108_angularMomentum; }
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@ -125,6 +130,13 @@ public:
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x180_angularImpulse = angularImpulse;
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}
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float GetCoefficientOfRestitutionModifier() const;
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void SetCoefficientOfRestitutionModifier(float modifier);
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float GetCollisionAccuracyModifier() const;
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void SetCollisionAccuracyModifier(float modifier);
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float GetMaximumCollisionVelocity() const;
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void SetMaximumCollisionVelocity(float velocity);
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CPhysicsState GetPhysicsState() const;
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void SetPhysicsState(const CPhysicsState& state);
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CMotionState GetMotionState() const;
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@ -143,11 +155,14 @@ public:
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CVector3f GetMoveToORImpulseWR(const CVector3f& impulse, float d) const;
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CVector3f GetRotateToORAngularMomentumWR(const CQuaternion& q, float d) const;
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void RotateToWR(const CQuaternion&, float);
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void MoveInOneFrameOR(const CVector3f& trans, float d);
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void RotateInOneFrameOR(const CQuaternion&, float);
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void MoveToOR(const CVector3f&, float);
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void RotateToOR(const CQuaternion&, float);
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CVector3f GetTotalForcesWR() const;
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CVector3f GetTotalForceWR() const;
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static float GravityConstant() { return kGravityAccel; }
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@ -2,6 +2,8 @@
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#include "Kyoto/Math/CloseEnough.hpp"
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#include "rstl/math.hpp"
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const float CPhysicsActor::kGravityAccel = 9.81f * 2.5f;
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CPhysicsActor::CPhysicsActor(TUniqueId uid, bool active, const rstl::string& name,
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@ -173,7 +175,23 @@ CMotionState CPhysicsActor::GetMotionState() const {
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return CMotionState(GetTranslation(), nquat, GetConstantForceWR(), GetAngularMomentumWR());
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}
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void CPhysicsActor::AddMotionState(const CMotionState& state) {}
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void CPhysicsActor::AddMotionState(const CMotionState& state) {
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CNUQuaternion q(CNUQuaternion::BuildFromMatrix3f(GetTransform().BuildMatrix3f()));
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q += state.GetOrientation();
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const CQuaternion& quat = CQuaternion::FromNUQuaternion(q);
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CVector3f transPos = GetTransform().GetTranslation();
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SetTransform(quat.BuildTransform4f(transPos));
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transPos += state.GetTranslation();
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SetTranslation(transPos);
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xfc_constantForce += state.GetVelocity();
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x108_angularMomentum += state.GetAngularMomentum();
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ComputeDerivedQuantities();
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}
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bool CPhysicsActor::WillMove(const CStateManager& mgr) {
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if (close_enough(x138_velocity, CVector3f::Zero()) &&
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@ -183,7 +201,7 @@ bool CPhysicsActor::WillMove(const CStateManager& mgr) {
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close_enough(x144_angularVelocity.GetVector(), CVector3f::Zero()) &&
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close_enough(x180_angularImpulse.GetVector(), CVector3f::Zero()) &&
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close_enough(x198_moveAngularImpulse.GetVector(), CVector3f::Zero()) &&
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close_enough(GetTotalForcesWR(), CVector3f::Zero())) {
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close_enough(GetTotalForceWR(), CVector3f::Zero())) {
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return false;
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}
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@ -234,8 +252,150 @@ CVector3f CPhysicsActor::GetRotateToORAngularMomentumWR(const CQuaternion& q, fl
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return CVector3f::Zero();
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} else {
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const CVector3f rotated = GetTransform().Rotate(q.GetImaginary());
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float ac = acos(q.GetW());
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return rotated.AsNormalized() * ((ac * 2.0f) * (1.0f / d)) * xf0_inertiaTensor;
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}
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}
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void CPhysicsActor::MoveToOR(const CVector3f& trans, float d) {
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xfc_constantForce = GetMoveToORImpulseWR(trans, d);
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ComputeDerivedQuantities();
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}
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void CPhysicsActor::RotateToOR(const CQuaternion& q, float d) {
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const CVector3f& vec = GetRotateToORAngularMomentumWR(q, d);
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x108_angularMomentum = CAxisAngle(vec);
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ComputeDerivedQuantities();
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}
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void CPhysicsActor::MoveInOneFrameOR(const CVector3f& trans, float d) {
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x18c_moveImpulse += GetMoveToORImpulseWR(trans, d);
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}
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void CPhysicsActor::RotateInOneFrameOR(const CQuaternion& q, float d) {
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const CVector3f& vec = GetRotateToORAngularMomentumWR(q, d);
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x198_moveAngularImpulse += CAxisAngle(vec);
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}
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void CPhysicsActor::SetVelocityOR(const CVector3f& vel) {
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SetVelocityWR(GetTransform().Rotate(vel));
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}
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CVector3f CPhysicsActor::GetTotalForceWR() const { return x15c_force + x150_momentum; }
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void CPhysicsActor::SetVelocityWR(const CVector3f& vel) {
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x138_velocity = vel;
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xfc_constantForce = xe8_mass * x138_velocity;
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}
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void CPhysicsActor::SetAngularVelocityWR(const CAxisAngle& angVel) {
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x144_angularVelocity = angVel;
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x108_angularMomentum = CAxisAngle(x144_angularVelocity.GetVector() * xf0_inertiaTensor);
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}
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CAxisAngle CPhysicsActor::GetAngularVelocityOR() const {
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return CAxisAngle(GetTransform().TransposeRotate(x144_angularVelocity.GetVector()));
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}
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void CPhysicsActor::SetAngularVelocityOR(const CAxisAngle& angVel) {
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x144_angularVelocity = CAxisAngle(GetTransform().Rotate(angVel.GetVector()));
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x108_angularMomentum = CAxisAngle(x144_angularVelocity.GetVector() * xf0_inertiaTensor);
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}
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void CPhysicsActor::SetMass(float mass) {
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xe8_mass = mass;
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xec_massRecip = (xe8_mass > 0.0f) ? (1.0f / xe8_mass) : 1.0f;
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SetInertiaTensorScalar(0.16666667f * xe8_mass);
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}
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void CPhysicsActor::SetInertiaTensorScalar(float tensor) {
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xf0_inertiaTensor = (tensor > 0.0f) ? tensor : 1.0f;
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xf4_inertiaTensorRecip = 1.0f / xf0_inertiaTensor;
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}
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const CCollisionPrimitive* CPhysicsActor::GetCollisionPrimitive() const {
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return &x1c0_collisionPrimitive;
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}
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void CPhysicsActor::MoveCollisionPrimitive(const CVector3f& offset) {
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x1e8_primitiveOffset = offset;
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}
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CTransform4f CPhysicsActor::GetPrimitiveTransform() const {
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return CTransform4f::Translate(GetTransform().GetTranslation() + x1e8_primitiveOffset);
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}
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void CPhysicsActor::CollidedWith(const TUniqueId& id, const CCollisionInfoList& list,
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CStateManager& mgr) {}
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const CAABox& CPhysicsActor::GetBaseBoundingBox() const { return x1a4_baseBoundingBox; }
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CAABox CPhysicsActor::GetBoundingBox() const {
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CVector3f off = x1e8_primitiveOffset + GetTransform().GetTranslation();
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return CAABox(x1a4_baseBoundingBox.GetMinPoint() + off, x1a4_baseBoundingBox.GetMaxPoint() + off);
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}
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CAABox CPhysicsActor::GetMotionVolume(float dt) const {
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CAABox aabox = GetCollisionPrimitive()->CalculateAABox(GetPrimitiveTransform());
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CVector3f velocity = CalculateNewVelocityWR_UsingImpulses();
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const CVector3f dv = (dt * velocity);
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aabox.AccumulateBounds(aabox.GetMaxPoint() + dv);
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aabox.AccumulateBounds(aabox.GetMinPoint() + dv);
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float up = rstl::max_val(GetStepUpHeight(), 0.f);
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aabox.AccumulateBounds(aabox.GetMaxPoint() + CVector3f(0.5f, 0.5f, up + 1.f));
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float down = rstl::max_val(GetStepDownHeight(), 0.f);
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aabox.AccumulateBounds(aabox.GetMinPoint() - CVector3f(0.5f, 0.5f, down + 1.5f));
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return aabox;
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}
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void CPhysicsActor::SetBoundingBox(const CAABox& box) {
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x1a4_baseBoundingBox = box;
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MoveCollisionPrimitive(CVector3f::Zero());
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}
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float CPhysicsActor::GetWeight() const { return CPhysicsActor::GravityConstant() * GetMass(); }
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CVector3f CPhysicsActor::GetPrimitiveOffset() const { return x1e8_primitiveOffset; }
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float CPhysicsActor::GetStepDownHeight() const { return x240_stepDownHeight; }
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float CPhysicsActor::GetStepUpHeight() const { return x23c_stepUpHeight; }
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CVector3f CPhysicsActor::GetOrbitPosition(const CStateManager&) const {
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return GetBoundingBox().GetCenterPoint();
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}
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CVector3f CPhysicsActor::GetAimPosition(const CStateManager&, float dt) const {
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if (dt > 0.0f) {
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CVector3f trans = PredictMotion(dt).GetTranslation();
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return GetBoundingBox().GetCenterPoint() + trans;
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} else {
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return GetBoundingBox().GetCenterPoint();
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}
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}
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void CPhysicsActor::Render(const CStateManager& mgr) const { CActor::Render(mgr); }
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void CPhysicsActor::SetCoefficientOfRestitutionModifier(float modifier) {
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x244_restitutionCoefModifier = modifier;
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}
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float CPhysicsActor::GetCoefficientOfRestitutionModifier() const {
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return x244_restitutionCoefModifier;
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}
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float CPhysicsActor::GetCollisionAccuracyModifier() const { return x248_collisionAccuracyModifier; }
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void CPhysicsActor::SetCollisionAccuracyModifier(float modifier) {
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x248_collisionAccuracyModifier = modifier;
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}
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float CPhysicsActor::GetMaximumCollisionVelocity() const { return x238_maximumCollisionVelocity; }
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void CPhysicsActor::SetMaximumCollisionVelocity(float velocity) {
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x238_maximumCollisionVelocity = velocity;
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}
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