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author | aap <aap@papnet.eu> | 2020-08-07 10:18:40 +0200 |
---|---|---|
committer | GitHub <noreply@github.com> | 2020-08-07 10:18:40 +0200 |
commit | 0d7fa6df3c0e8ef53f06e8aa98d73ebc58f8929b (patch) | |
tree | eccc96f08136cdc1d73c6b6e84a7669e42ef7a19 /src/core/Collision.cpp | |
parent | Enable PS2 Alpha test Emu in debug menu on RW (diff) | |
parent | VU0 collision (diff) | |
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Diffstat (limited to 'src/core/Collision.cpp')
-rw-r--r-- | src/core/Collision.cpp | 1118 |
1 files changed, 1100 insertions, 18 deletions
diff --git a/src/core/Collision.cpp b/src/core/Collision.cpp index 99be816f..6522ff1c 100644 --- a/src/core/Collision.cpp +++ b/src/core/Collision.cpp @@ -1,5 +1,6 @@ #include "common.h" +#include "VuVector.h" #include "main.h" #include "Lists.h" #include "Game.h" @@ -21,6 +22,346 @@ #include "Lines.h" #include "Collision.h" + +// TODO: where do these go? + +#ifdef VU_COLLISION + +struct VuTriangle +{ + // Compressed int16 but unpacked +#ifdef GTA_PS2 + uint128 v0; + uint128 v1; + uint128 v2; + uint128 plane; +#else + int32 v0[4]; + int32 v1[4]; + int32 v2[4]; + int32 plane[4]; +#endif +}; + +#ifndef GTA_PS2 +static int16 vi01; +static CVuVector vf01; +static CVuVector vf02; +static CVuVector vf03; + +CVuVector +DistanceBetweenSphereAndLine(const CVuVector ¢er, const CVuVector &p0, const CVuVector &line) +{ + // center VF12 + // p0 VF14 + // line VF15 + CVuVector ret; // VF16 + CVuVector p1 = p0+line; + CVuVector dist0 = center - p0; // VF20 + CVuVector dist1 = center - p1; // VF25 + float lenSq = line.MagnitudeSqr(); // VF21 + float distSq0 = dist0.MagnitudeSqr(); // VF22 + float distSq1 = dist1.MagnitudeSqr(); + float dot = DotProduct(dist0, line); // VF23 + if(dot < 0.0f){ + // not above line, closest to p0 + ret = p0; + ret.w = distSq0; + return ret; + } + float t = dot/lenSq; // param of nearest point on infinite line + if(t > 1.0f){ + // not above line, closest to p1 + ret = p1; + ret.w = distSq1; + return ret; + } + // closest to line + ret = p0 + line*t; + ret.w = (ret - center).MagnitudeSqr(); + return ret; +} +inline int SignFlags(const CVector &v) +{ + int f = 0; + if(v.x < 0.0f) f |= 1; + if(v.y < 0.0f) f |= 2; + if(v.z < 0.0f) f |= 4; + return f; +} +#endif + +extern "C" void +LineToTriangleCollision(const CVuVector &p0, const CVuVector &p1, + const CVuVector &v0, const CVuVector &v1, const CVuVector &v2, + const CVuVector &plane) +{ +#ifdef GTA_PS2 + __asm__ volatile ( + ".set noreorder\n" + "lqc2 vf12, 0x0(%0)\n" + "lqc2 vf13, 0x0(%1)\n" + "lqc2 vf14, 0x0(%2)\n" + "lqc2 vf15, 0x0(%3)\n" + "lqc2 vf16, 0x0(%4)\n" + "lqc2 vf17, 0x0(%5)\n" + "vcallms Vu0LineToTriangleCollisionStart\n" + ".set reorder\n" + : + : "r" (&p0), "r" (&p1), "r" (&v0), "r" (&v1), "r" (&v2), "r" (&plane) + ); +#else + float dot0 = DotProduct(plane, p0); + float dot1 = DotProduct(plane, p1); + float dist0 = plane.w - dot0; + float dist1 = plane.w - dot1; + + // if points are on the same side, no collision + if(dist0 * dist1 > 0.0f){ + vi01 = 0; + return; + } + + CVuVector diff = p1 - p0; + float t = dist0/(dot1 - dot0); + CVuVector p = p0 + diff*t; + p.w = 0.0f; + vf01 = p; + vf03.x = t; + + // Check if point is inside + CVector cross1 = CrossProduct(p-v0, v1-v0); + CVector cross2 = CrossProduct(p-v1, v2-v1); + CVector cross3 = CrossProduct(p-v2, v0-v2); + // Only check relevant directions + int flagmask = 0; + if(Abs(plane.x) > 0.5f) flagmask |= 1; + if(Abs(plane.y) > 0.5f) flagmask |= 2; + if(Abs(plane.z) > 0.5f) flagmask |= 4; + int flags1 = SignFlags(cross1) & flagmask; + int flags2 = SignFlags(cross2) & flagmask; + int flags3 = SignFlags(cross3) & flagmask; + // inside if on the same side of all edges + if(flags1 != flags2 || flags1 != flags3){ + vi01 = 0; + return; + } + vi01 = 1; + vf02 = plane; + return; +#endif +} + +extern "C" void +LineToTriangleCollisionCompressed(const CVuVector &p0, const CVuVector &p1, VuTriangle &tri) +{ +#ifdef GTA_PS2 + __asm__ volatile ( + ".set noreorder\n" + "lqc2 vf12, 0x0(%0)\n" + "lqc2 vf13, 0x0(%1)\n" + "lqc2 vf14, 0x0(%2)\n" + "lqc2 vf15, 0x10(%2)\n" + "lqc2 vf16, 0x20(%2)\n" + "lqc2 vf17, 0x30(%2)\n" + "vcallms Vu0LineToTriangleCollisionCompressedStart\n" + ".set reorder\n" + : + : "r" (&p0), "r" (&p1), "r" (&tri) + ); +#else + CVuVector v0, v1, v2, plane; + v0.x = tri.v0[0]/128.0f; + v0.y = tri.v0[1]/128.0f; + v0.z = tri.v0[2]/128.0f; + v0.w = tri.v0[3]/128.0f; + v1.x = tri.v1[0]/128.0f; + v1.y = tri.v1[1]/128.0f; + v1.z = tri.v1[2]/128.0f; + v1.w = tri.v1[3]/128.0f; + v2.x = tri.v2[0]/128.0f; + v2.y = tri.v2[1]/128.0f; + v2.z = tri.v2[2]/128.0f; + v2.w = tri.v2[3]/128.0f; + plane.x = tri.plane[0]/4096.0f; + plane.y = tri.plane[1]/4096.0f; + plane.z = tri.plane[2]/4096.0f; + plane.w = tri.plane[3]/128.0f; + LineToTriangleCollision(p0, p1, v0, v1, v2, plane); +#endif +} + +extern "C" void +SphereToTriangleCollision(const CVuVector &sph, + const CVuVector &v0, const CVuVector &v1, const CVuVector &v2, + const CVuVector &plane) +{ +#ifdef GTA_PS2 + __asm__ volatile ( + ".set noreorder\n" + "lqc2 vf12, 0x0(%0)\n" + "lqc2 vf14, 0x0(%1)\n" + "lqc2 vf15, 0x0(%2)\n" + "lqc2 vf16, 0x0(%3)\n" + "lqc2 vf17, 0x0(%4)\n" + "vcallms Vu0SphereToTriangleCollisionStart\n" + ".set reorder\n" + : + : "r" (&sph), "r" (&v0), "r" (&v1), "r" (&v2), "r" (&plane) + ); +#else + float planedist = DotProduct(plane, sph) - plane.w; // VF02 + if(Abs(planedist) > sph.w){ + vi01 = 0; + return; + } + // point on plane + CVuVector p = sph - planedist*plane; + p.w = 0.0f; + vf01 = p; + planedist = Abs(planedist); + // edges + CVuVector v01 = v1 - v0; + CVuVector v12 = v2 - v1; + CVuVector v20 = v0 - v2; + // VU code calculates normal again for some weird reason... + // Check sides of point + CVector cross1 = CrossProduct(p-v0, v01); + CVector cross2 = CrossProduct(p-v1, v12); + CVector cross3 = CrossProduct(p-v2, v20); + // Only check relevant directions + int flagmask = 0; + if(Abs(plane.x) > 0.1f) flagmask |= 1; + if(Abs(plane.y) > 0.1f) flagmask |= 2; + if(Abs(plane.z) > 0.1f) flagmask |= 4; + int nflags = SignFlags(plane) & flagmask; + int flags1 = SignFlags(cross1) & flagmask; + int flags2 = SignFlags(cross2) & flagmask; + int flags3 = SignFlags(cross3) & flagmask; + int testcase = 0; + CVuVector closest(0.0f, 0.0f, 0.0f); // VF04 + if(flags1 == nflags){ + closest += v2; + testcase++; + } + if(flags2 == nflags){ + closest += v0; + testcase++; + } + if(flags3 == nflags){ + closest += v1; + testcase++; + } + if(testcase == 3){ + // inside triangle - dist to plane already checked + vf02 = plane; + vf02.w = vf03.x = planedist; + vi01 = 1; + }else if(testcase == 1){ + // outside two sides - closest to point opposide inside edge + vf01 = closest; + vf02 = sph - closest; + float distSq = vf02.MagnitudeSqr(); + vi01 = sph.w*sph.w > distSq; + vf03.x = Sqrt(distSq); + vf02 *= 1.0f/vf03.x; + }else{ + // inside two sides - closest to third edge + if(flags1 != nflags) + closest = DistanceBetweenSphereAndLine(sph, v0, v01); + else if(flags2 != nflags) + closest = DistanceBetweenSphereAndLine(sph, v1, v12); + else + closest = DistanceBetweenSphereAndLine(sph, v2, v20); + vi01 = sph.w*sph.w > closest.w; + vf01 = closest; + vf02 = sph - closest; + vf03.x = Sqrt(closest.w); + vf02 *= 1.0f/vf03.x; + } +#endif +} + +extern "C" void +SphereToTriangleCollisionCompressed(const CVuVector &sph, VuTriangle &tri) +{ +#ifdef GTA_PS2 + __asm__ volatile ( + ".set noreorder\n" + "lqc2 vf12, 0x0(%0)\n" + "lqc2 vf14, 0x0(%1)\n" + "lqc2 vf15, 0x10(%1)\n" + "lqc2 vf16, 0x20(%1)\n" + "lqc2 vf17, 0x30(%1)\n" + "vcallms Vu0SphereToTriangleCollisionCompressedStart\n" + ".set reorder\n" + : + : "r" (&sph), "r" (&tri) + ); +#else + CVuVector v0, v1, v2, plane; + v0.x = tri.v0[0]/128.0f; + v0.y = tri.v0[1]/128.0f; + v0.z = tri.v0[2]/128.0f; + v0.w = tri.v0[3]/128.0f; + v1.x = tri.v1[0]/128.0f; + v1.y = tri.v1[1]/128.0f; + v1.z = tri.v1[2]/128.0f; + v1.w = tri.v1[3]/128.0f; + v2.x = tri.v2[0]/128.0f; + v2.y = tri.v2[1]/128.0f; + v2.z = tri.v2[2]/128.0f; + v2.w = tri.v2[3]/128.0f; + plane.x = tri.plane[0]/4096.0f; + plane.y = tri.plane[1]/4096.0f; + plane.z = tri.plane[2]/4096.0f; + plane.w = tri.plane[3]/128.0f; + SphereToTriangleCollision(sph, v0, v1, v2, plane); +#endif +} + +inline int +GetVUresult(void) +{ +#ifdef GTA_PS2 + int ret; + __asm__ volatile ( + "cfc2.i %0,vi01\n" // .i important! wait for VU0 to finish + : "=r" (ret) + ); + return ret; +#else + return vi01; +#endif +} + +inline int +GetVUresult(CVuVector &point, CVuVector &normal, float &dist) +{ +#ifdef GTA_PS2 + int ret; + __asm__ volatile ( + "cfc2.i %0,vi01\n" // .i important! wait for VU0 to finish + "sqc2 vf01,(%1)\n" + "sqc2 vf02,(%2)\n" + "qmfc2 $12,vf03\n" + "sw $12,(%3)\n" + : "=r" (ret) + : "r" (&point), "r" (&normal), "r" (&dist) + : "$12" + ); + return ret; +#else + point = vf01; + normal = vf02; + dist = vf03.x; + return vi01; +#endif +} + +#endif + + enum Direction { DIR_X_POS, @@ -397,6 +738,20 @@ CCollision::TestVerticalLineBox(const CColLine &line, const CColBox &box) bool CCollision::TestLineTriangle(const CColLine &line, const CompressedVector *verts, const CColTriangle &tri, const CColTrianglePlane &plane) { +#ifdef VU_COLLISION + // not used in favour of optimized loops + VuTriangle vutri; + verts[tri.a].Unpack(vutri.v0); + verts[tri.b].Unpack(vutri.v1); + verts[tri.c].Unpack(vutri.v2); + plane.Unpack(vutri.plane); + + LineToTriangleCollisionCompressed(*(CVuVector*)&line.p0, *(CVuVector*)&line.p1, vutri); + + if(GetVUresult()) + return true; + return false; +#else float t; CVector normal; plane.GetNormal(normal); @@ -470,6 +825,7 @@ CCollision::TestLineTriangle(const CColLine &line, const CompressedVector *verts if(CrossProduct2D(vec3-vec1, vect-vec1) > 0.0f) return false; if(CrossProduct2D(vec3-vec2, vect-vec2) < 0.0f) return false; return true; +#endif } // Test if line segment intersects with sphere. @@ -507,6 +863,20 @@ bool CCollision::TestSphereTriangle(const CColSphere &sphere, const CompressedVector *verts, const CColTriangle &tri, const CColTrianglePlane &plane) { +#ifdef VU_COLLISION + // not used in favour of optimized loops + VuTriangle vutri; + verts[tri.a].Unpack(vutri.v0); + verts[tri.b].Unpack(vutri.v1); + verts[tri.c].Unpack(vutri.v2); + plane.Unpack(vutri.plane); + + SphereToTriangleCollisionCompressed(*(CVuVector*)&sphere, vutri); + + if(GetVUresult()) + return true; + return false; +#else // If sphere and plane don't intersect, no collision float planedist = plane.CalcPoint(sphere.center); if(Abs(planedist) > sphere.radius) @@ -520,7 +890,9 @@ CCollision::TestSphereTriangle(const CColSphere &sphere, CVector vec2 = vb - va; float len = vec2.Magnitude(); vec2 = vec2 * (1.0f/len); - CVector vec1 = CrossProduct(vec2, plane.normal); + CVector normal; + plane.GetNormal(normal); + CVector vec1 = CrossProduct(vec2, normal); // We know A has local coordinate [0,0] and B has [0,len]. // Now calculate coordinates on triangle for these two vectors: @@ -563,11 +935,78 @@ CCollision::TestSphereTriangle(const CColSphere &sphere, } return dist < sphere.radius; +#endif } bool CCollision::TestLineOfSight(const CColLine &line, const CMatrix &matrix, CColModel &model, bool ignoreSeeThrough) { +#ifdef VU_COLLISION + CMatrix matTransform; + int i; + + // transform line to model space + Invert(matrix, matTransform); + CVuVector newline[2]; + TransformPoints(newline, 2, matTransform, (RwV3d*)&line.p0, sizeof(CColLine)/2); + + // If we don't intersect with the bounding box, no chance on the rest + if(!TestLineBox(*(CColLine*)newline, model.boundingBox)) + return false; + + for(i = 0; i < model.numSpheres; i++){ + if(ignoreSeeThrough && IsSeeThrough(model.spheres[i].surface)) continue; + if(TestLineSphere(*(CColLine*)newline, model.spheres[i])) + return true; + } + + for(i = 0; i < model.numBoxes; i++){ + if(ignoreSeeThrough && IsSeeThrough(model.boxes[i].surface)) continue; + if(TestLineBox(*(CColLine*)newline, model.boxes[i])) + return true; + } + + CalculateTrianglePlanes(&model); + int lastTest = -1; + VuTriangle vutri; + for(i = 0; i < model.numTriangles; i++){ + if(ignoreSeeThrough && IsSeeThrough(model.triangles[i].surface)) continue; + + CColTriangle *tri = &model.triangles[i]; + model.vertices[tri->a].Unpack(vutri.v0); + model.vertices[tri->b].Unpack(vutri.v1); + model.vertices[tri->c].Unpack(vutri.v2); + model.trianglePlanes[i].Unpack(vutri.plane); + + LineToTriangleCollisionCompressed(newline[0], newline[1], vutri); + lastTest = i; + break; + } +#ifdef FIX_BUGS + // no need to check first again + i++; +#endif + for(; i < model.numTriangles; i++){ + if(ignoreSeeThrough && IsSeeThrough(model.triangles[i].surface)) continue; + + CColTriangle *tri = &model.triangles[i]; + model.vertices[tri->a].Unpack(vutri.v0); + model.vertices[tri->b].Unpack(vutri.v1); + model.vertices[tri->c].Unpack(vutri.v2); + model.trianglePlanes[i].Unpack(vutri.plane); + + if(GetVUresult()) + return true; + + LineToTriangleCollisionCompressed(newline[0], newline[1], vutri); + lastTest = i; + + } + if(lastTest != -1 && GetVUresult()) + return true; + + return false; +#else static CMatrix matTransform; int i; @@ -599,6 +1038,7 @@ CCollision::TestLineOfSight(const CColLine &line, const CMatrix &matrix, CColMod } return false; +#endif } @@ -614,20 +1054,24 @@ CCollision::ProcessSphereSphere(const CColSphere &s1, const CColSphere &s2, CCol { CVector dist = s1.center - s2.center; float d = dist.Magnitude() - s2.radius; // distance from s1's center to s2 - float dc = d < 0.0f ? 0.0f : d; // clamp to zero, i.e. if s1's center is inside s2 + float depth = s1.radius - d; // sphere overlap + if(d < 0.0f) d = 0.0f; // clamp to zero, i.e. if s1's center is inside s2 // no collision if sphere is not close enough - if(mindistsq <= dc*dc || s1.radius <= dc) - return false; - dist.Normalise(); - point.point = s1.center - dist*dc; - point.normal = dist; - point.surfaceA = s1.surface; - point.pieceA = s1.piece; - point.surfaceB = s2.surface; - point.pieceB = s2.piece; - point.depth = s1.radius - d; // sphere overlap - mindistsq = dc*dc; // collision radius - return true; + if(d*d < mindistsq && d < s1.radius){ + dist.Normalise(); + point.point = s1.center - dist*d; + point.normal = dist; +#ifndef VU_COLLISION + point.surfaceA = s1.surface; + point.pieceA = s1.piece; + point.surfaceB = s2.surface; + point.pieceB = s2.piece; +#endif + point.depth = depth; + mindistsq = d*d; // collision radius + return true; + } + return false; } bool @@ -667,10 +1111,12 @@ CCollision::ProcessSphereBox(const CColSphere &sph, const CColBox &box, CColPoin if(lensq < mindistsq){ point.normal = dist * (1.0f/Sqrt(lensq)); point.point = sph.center - point.normal; +#ifndef VU_COLLISION point.surfaceA = sph.surface; point.pieceA = sph.piece; point.surfaceB = box.surface; point.pieceB = box.piece; +#endif // find absolute distance to the closer side in each dimension float dx = dist.x > 0.0f ? @@ -710,10 +1156,12 @@ CCollision::ProcessSphereBox(const CColSphere &sph, const CColBox &box, CColPoin float len = Sqrt(lensq); point.point = p; point.normal = dist * (1.0f/len); +#ifndef VU_COLLISION point.surfaceA = sph.surface; point.pieceA = sph.piece; point.surfaceB = box.surface; point.pieceB = box.piece; +#endif point.depth = sph.radius - len; mindistsq = lensq; return true; @@ -828,10 +1276,12 @@ CCollision::ProcessLineBox(const CColLine &line, const CColBox &box, CColPoint & point.point = p; point.normal = normal; +#ifndef VU_COLLISION point.surfaceA = 0; point.pieceA = 0; point.surfaceB = box.surface; point.pieceB = box.piece; +#endif mindist = mint; return true; @@ -861,10 +1311,12 @@ CCollision::ProcessLineSphere(const CColLine &line, const CColSphere &sphere, CC point.point = line.p0 + v01*t; point.normal = point.point - sphere.center; point.normal.Normalise(); +#ifndef VU_COLLISION point.surfaceA = 0; point.pieceA = 0; point.surfaceB = sphere.surface; point.pieceB = sphere.piece; +#endif mindist = t; return true; } @@ -874,6 +1326,17 @@ CCollision::ProcessVerticalLineTriangle(const CColLine &line, const CompressedVector *verts, const CColTriangle &tri, const CColTrianglePlane &plane, CColPoint &point, float &mindist, CStoredCollPoly *poly) { +#ifdef VU_COLLISION + // not used in favour of optimized loops + bool res = ProcessLineTriangle(line, verts, tri, plane, point, mindist); + if(res && poly){ + poly->verts[0] = verts[tri.a].Get(); + poly->verts[1] = verts[tri.b].Get(); + poly->verts[2] = verts[tri.c].Get(); + poly->valid = true; + } + return res; +#else float t; CVector normal; @@ -960,11 +1423,40 @@ CCollision::ProcessVerticalLineTriangle(const CColLine &line, } mindist = t; return true; +#endif } bool CCollision::IsStoredPolyStillValidVerticalLine(const CVector &pos, float z, CColPoint &point, CStoredCollPoly *poly) { +#ifdef VU_COLLISION + if(!poly->valid) + return false; + + CVuVector p0 = pos; + CVuVector p1 = pos; + p1.z = z; + + CVector v01 = poly->verts[1] - poly->verts[0]; + CVector v02 = poly->verts[2] - poly->verts[0]; + CVuVector plane = CrossProduct(v02, v01); + plane.Normalise(); + plane.w = DotProduct(plane, poly->verts[0]); + + LineToTriangleCollision(p0, p1, poly->verts[0], poly->verts[1], poly->verts[2], plane); + + CVuVector pnt; + float dist; + if(!GetVUresult(pnt, plane, dist)) +#ifdef FIX_BUGS + // perhaps not needed but be safe + return poly->valid = false; +#else + return false; +#endif + point.point = pnt; + return true; +#else float t; if(!poly->valid) @@ -987,7 +1479,9 @@ CCollision::IsStoredPolyStillValidVerticalLine(const CVector &pos, float z, CCol return poly->valid = false; // intersection parameter on line - t = -plane.CalcPoint(p0) / DotProduct(p1 - p0, plane.normal); + CVector normal; + plane.GetNormal(normal); + t = -plane.CalcPoint(p0) / DotProduct(p1 - p0, normal); // find point of intersection CVector p = p0 + (p1-p0)*t; @@ -1037,13 +1531,36 @@ CCollision::IsStoredPolyStillValidVerticalLine(const CVector &pos, float z, CCol if(CrossProduct2D(vec3-vec2, vect-vec2) < 0.0f) return poly->valid = false; point.point = p; return poly->valid = true; +#endif } bool -CCollision::ProcessLineTriangle(const CColLine &line , +CCollision::ProcessLineTriangle(const CColLine &line, const CompressedVector *verts, const CColTriangle &tri, const CColTrianglePlane &plane, CColPoint &point, float &mindist) { +#ifdef VU_COLLISION + // not used in favour of optimized loops + VuTriangle vutri; + verts[tri.a].Unpack(vutri.v0); + verts[tri.b].Unpack(vutri.v1); + verts[tri.c].Unpack(vutri.v2); + plane.Unpack(vutri.plane); + + LineToTriangleCollisionCompressed(*(CVuVector*)&line.p0, *(CVuVector*)&line.p1, vutri); + + CVuVector pnt, normal; + float dist; + if(GetVUresult(pnt, normal, dist)){ + if(dist < mindist){ + point.point = pnt; + point.normal = normal; + mindist = dist; + return true; + } + } + return false; +#else float t; CVector normal; plane.GetNormal(normal); @@ -1117,6 +1634,7 @@ CCollision::ProcessLineTriangle(const CColLine &line , point.pieceB = 0; mindist = t; return true; +#endif } bool @@ -1124,6 +1642,30 @@ CCollision::ProcessSphereTriangle(const CColSphere &sphere, const CompressedVector *verts, const CColTriangle &tri, const CColTrianglePlane &plane, CColPoint &point, float &mindistsq) { +#ifdef VU_COLLISION + // not used in favour of optimized loops + VuTriangle vutri; + verts[tri.a].Unpack(vutri.v0); + verts[tri.b].Unpack(vutri.v1); + verts[tri.c].Unpack(vutri.v2); + plane.Unpack(vutri.plane); + + SphereToTriangleCollisionCompressed(*(CVuVector*)&sphere, vutri); + + CVuVector pnt, normal; + float dist; + if(GetVUresult(pnt, normal, dist) && dist*dist < mindistsq){ + float depth = sphere.radius - dist; + if(depth > point.depth){ + point.point = pnt; + point.normal = normal; + point.depth = depth; + mindistsq = dist*dist; + return true; + } + } + return false; +#else // If sphere and plane don't intersect, no collision float planedist = plane.CalcPoint(sphere.center); float distsq = planedist*planedist; @@ -1191,13 +1733,16 @@ CCollision::ProcessSphereTriangle(const CColSphere &sphere, point.point = p; point.normal = sphere.center - p; point.normal.Normalise(); +#ifndef VU_COLLISION point.surfaceA = sphere.surface; point.pieceA = sphere.piece; point.surfaceB = tri.surface; point.pieceB = 0; +#endif point.depth = sphere.radius - dist; mindistsq = dist*dist; return true; +#endif } bool @@ -1205,6 +1750,94 @@ CCollision::ProcessLineOfSight(const CColLine &line, const CMatrix &matrix, CColModel &model, CColPoint &point, float &mindist, bool ignoreSeeThrough) { +#ifdef VU_COLLISION + CMatrix matTransform; + int i; + + // transform line to model space + Invert(matrix, matTransform); + CVuVector newline[2]; + TransformPoints(newline, 2, matTransform, (RwV3d*)&line.p0, sizeof(CColLine)/2); + + if(mindist < 1.0f) + newline[1] = newline[0] + (newline[1] - newline[0])*mindist; + + // If we don't intersect with the bounding box, no chance on the rest + if(!TestLineBox(*(CColLine*)newline, model.boundingBox)) + return false; + + float coldist = 1.0f; + for(i = 0; i < model.numSpheres; i++){ + if(ignoreSeeThrough && IsSeeThrough(model.spheres[i].surface)) continue; + if(ProcessLineSphere(*(CColLine*)newline, model.spheres[i], point, coldist)) + point.Set(0, 0, model.spheres[i].surface, model.spheres[i].piece); + } + + for(i = 0; i < model.numBoxes; i++){ + if(ignoreSeeThrough && IsSeeThrough(model.boxes[i].surface)) continue; + if(ProcessLineBox(*(CColLine*)newline, model.boxes[i], point, coldist)) + point.Set(0, 0, model.boxes[i].surface, model.boxes[i].piece); + } + + CalculateTrianglePlanes(&model); + VuTriangle vutri; + CColTriangle *lasttri = nil; + for(i = 0; i < model.numTriangles; i++){ + if(ignoreSeeThrough && IsSeeThrough(model.triangles[i].surface)) continue; + + CColTriangle *tri = &model.triangles[i]; + model.vertices[tri->a].Unpack(vutri.v0); + model.vertices[tri->b].Unpack(vutri.v1); + model.vertices[tri->c].Unpack(vutri.v2); + model.trianglePlanes[i].Unpack(vutri.plane); + + LineToTriangleCollisionCompressed(newline[0], newline[1], vutri); + lasttri = tri; + break; + } +#ifdef FIX_BUGS + // no need to check first again + i++; +#endif + CVuVector pnt, normal; + float dist; + for(; i < model.numTriangles; i++){ + if(ignoreSeeThrough && IsSeeThrough(model.triangles[i].surface)) continue; + + CColTriangle *tri = &model.triangles[i]; + model.vertices[tri->a].Unpack(vutri.v0); + model.vertices[tri->b].Unpack(vutri.v1); + model.vertices[tri->c].Unpack(vutri.v2); + model.trianglePlanes[i].Unpack(vutri.plane); + + if(GetVUresult(pnt, normal, dist)) + if(dist < coldist){ + point.point = pnt; + point.normal = normal; + point.Set(0, 0, lasttri->surface, 0); + coldist = dist; + } + + LineToTriangleCollisionCompressed(newline[0], newline[1], vutri); + lasttri = tri; + } + if(lasttri && GetVUresult(pnt, normal, dist)) + if(dist < coldist){ + point.point = pnt; + point.normal = normal; + point.Set(0, 0, lasttri->surface, 0); + coldist = dist; + } + + + if(coldist < 1.0f){ + point.point = matrix * point.point; + point.normal = Multiply3x3(matrix, point.normal); + mindist *= coldist; + return true; + } + return false; +#else static CMatrix matTransform; int i; @@ -1240,6 +1873,7 @@ CCollision::ProcessLineOfSight(const CColLine &line, return true; } return false; +#endif } bool @@ -1247,6 +1881,125 @@ CCollision::ProcessVerticalLine(const CColLine &line, const CMatrix &matrix, CColModel &model, CColPoint &point, float &mindist, bool ignoreSeeThrough, CStoredCollPoly *poly) { +#ifdef VU_COLLISION + static CStoredCollPoly TempStoredPoly; + CMatrix matTransform; + int i; + + // transform line to model space + Invert(matrix, matTransform); + CVuVector newline[2]; + TransformPoints(newline, 2, matTransform, (RwV3d*)&line.p0, sizeof(CColLine)/2); + + if(mindist < 1.0f) + newline[1] = newline[0] + (newline[1] - newline[0])*mindist; + + if(!TestLineBox(*(CColLine*)newline, model.boundingBox)) + return false; + + float coldist = 1.0f; + for(i = 0; i < model.numSpheres; i++){ + if(ignoreSeeThrough && IsSeeThrough(model.spheres[i].surface)) continue; + if(ProcessLineSphere(*(CColLine*)newline, model.spheres[i], point, coldist)) + point.Set(0, 0, model.spheres[i].surface, model.spheres[i].piece); + } + + for(i = 0; i < model.numBoxes; i++){ + if(ignoreSeeThrough && IsSeeThrough(model.boxes[i].surface)) continue; + if(ProcessLineBox(*(CColLine*)newline, model.boxes[i], point, coldist)) + point.Set(0, 0, model.boxes[i].surface, model.boxes[i].piece); + } + + CalculateTrianglePlanes(&model); + TempStoredPoly.valid = false; + if(model.numTriangles){ + bool registeredCol; + CColTriangle *lasttri = nil; + VuTriangle vutri; + for(i = 0; i < model.numTriangles; i++){ + if(ignoreSeeThrough && IsSeeThrough(model.triangles[i].surface)) continue; + + CColTriangle *tri = &model.triangles[i]; + model.vertices[tri->a].Unpack(vutri.v0); + model.vertices[tri->b].Unpack(vutri.v1); + model.vertices[tri->c].Unpack(vutri.v2); + model.trianglePlanes[i].Unpack(vutri.plane); + + LineToTriangleCollisionCompressed(newline[0], newline[1], vutri); + lasttri = tri; + break; + } +#ifdef FIX_BUGS + // no need to check first again + i++; +#endif + CVuVector pnt, normal; + float dist; + for(; i < model.numTriangles; i++){ + if(ignoreSeeThrough && IsSeeThrough(model.triangles[i].surface)) continue; + + CColTriangle *tri = &model.triangles[i]; + model.vertices[tri->a].Unpack(vutri.v0); + model.vertices[tri->b].Unpack(vutri.v1); + model.vertices[tri->c].Unpack(vutri.v2); + model.trianglePlanes[i].Unpack(vutri.plane); + + if(GetVUresult(pnt, normal, dist)){ + if(dist < coldist){ + point.point = pnt; + point.normal = normal; + point.Set(0, 0, lasttri->surface, 0); + coldist = dist; + registeredCol = true; + }else + registeredCol = false; + }else + registeredCol = false; + + if(registeredCol){ + TempStoredPoly.verts[0] = model.vertices[lasttri->a].Get(); + TempStoredPoly.verts[1] = model.vertices[lasttri->b].Get(); + TempStoredPoly.verts[2] = model.vertices[lasttri->c].Get(); + TempStoredPoly.valid = true; + } + + LineToTriangleCollisionCompressed(newline[0], newline[1], vutri); + lasttri = tri; + } + if(lasttri && GetVUresult(pnt, normal, dist)){ + if(dist < coldist){ + point.point = pnt; + point.normal = normal; + point.Set(0, 0, lasttri->surface, 0); + coldist = dist; + registeredCol = true; + }else + registeredCol = false; + }else + registeredCol = false; + + if(registeredCol){ + TempStoredPoly.verts[0] = model.vertices[lasttri->a].Get(); + TempStoredPoly.verts[1] = model.vertices[lasttri->b].Get(); + TempStoredPoly.verts[2] = model.vertices[lasttri->c].Get(); + TempStoredPoly.valid = true; + } + } + + if(coldist < 1.0f){ + point.point = matrix * point.point; + point.normal = Multiply3x3(matrix, point.normal); + if(TempStoredPoly.valid && poly){ + *poly = TempStoredPoly; + poly->verts[0] = matrix * CVector(poly->verts[0]); + poly->verts[1] = matrix * CVector(poly->verts[1]); + poly->verts[2] = matrix * CVector(poly->verts[2]); + } + mindist *= coldist; + return true; + } + return false; +#else static CStoredCollPoly TempStoredPoly; int i; @@ -1290,6 +2043,7 @@ CCollision::ProcessVerticalLine(const CColLine &line, return true; } return false; +#endif } enum { @@ -1299,6 +2053,15 @@ enum { MAXNUMTRIS = 600 }; +#ifdef VU_COLLISION +#ifdef GTA_PS2 +#define SPR(off) ((uint8*)(0x70000000 + (off))) +#else +static uint8 fakeSPR[16*1024]; +#define SPR(off) ((uint8*)(fakeSPR + (off))) +#endif +#endif + // This checks model A's spheres and lines against model B's spheres, boxes and triangles. // Returns the number of A's spheres that collide. // Returned ColPoints are in world space. @@ -1308,6 +2071,308 @@ CCollision::ProcessColModels(const CMatrix &matrixA, CColModel &modelA, const CMatrix &matrixB, CColModel &modelB, CColPoint *spherepoints, CColPoint *linepoints, float *linedists) { +#ifdef VU_COLLISION + CVuVector *aSpheresA = (CVuVector*)SPR(0x0000); + CVuVector *aSpheresB = (CVuVector*)SPR(0x0800); + CVuVector *aLinesA = (CVuVector*)SPR(0x1000); + int32 *aSphereIndicesA = (int32*)SPR(0x1200); + int32 *aSphereIndicesB = (int32*)SPR(0x1400); + int32 *aBoxIndicesB = (int32*)SPR(0x1600); + int32 *aTriangleIndicesB = (int32*)SPR(0x1680); + bool *aCollided = (bool*)SPR(0x1FE0); + CMatrix &matAB = *(CMatrix*)SPR(0x1FF0); + CMatrix &matBA = *(CMatrix*)SPR(0x2040); + int i, j, k; + + // From model A space to model B space + Invert(matrixB, matAB); + matAB *= matrixA; + + CVuVector bsphereAB; // bounding sphere of A in B space + TransformPoint(bsphereAB, matAB, *(RwV3d*)modelA.boundingSphere.center); // inlined + bsphereAB.w = modelA.boundingSphere.radius; + if(!TestSphereBox(*(CColSphere*)&bsphereAB, modelB.boundingBox)) + return 0; + + // transform modelA's spheres and lines to B space + TransformPoints(aSpheresA, modelA.numSpheres, matAB, (RwV3d*)&modelA.spheres->center, sizeof(CColSphere)); + for(i = 0; i < modelA.numSpheres; i++) + aSpheresA[i].w = modelA.spheres[i].radius; + TransformPoints(aLinesA, modelA.numLines*2, matAB, (RwV3d*)&modelA.lines->p0, sizeof(CColLine)/2); + + // Test them against model B's bounding volumes + int numSpheresA = 0; + for(i = 0; i < modelA.numSpheres; i++) + if(TestSphereBox(*(CColSphere*)&aSpheresA[i], modelB.boundingBox)) + aSphereIndicesA[numSpheresA++] = i; + // No collision + if(numSpheresA == 0 && modelA.numLines == 0) + return 0; + + + // B to A space + Invert(matrixA, matBA); + matBA *= matrixB; + + // transform modelB's spheres to A space + TransformPoints(aSpheresB, modelB.numSpheres, matBA, (RwV3d*)&modelB.spheres->center, sizeof(CColSphere)); + for(i = 0; i < modelB.numSpheres; i++) + aSpheresB[i].w = modelB.spheres[i].radius; + + // Check model B against A's bounding volumes + int numSpheresB = 0; + int numBoxesB = 0; + int numTrianglesB = 0; + for(i = 0; i < modelB.numSpheres; i++) + if(TestSphereBox(*(CColSphere*)&aSpheresB[i], modelA.boundingBox)) + aSphereIndicesB[numSpheresB++] = i; + for(i = 0; i < modelB.numBoxes; i++) + if(TestSphereBox(*(CColSphere*)&bsphereAB, modelB.boxes[i])) + aBoxIndicesB[numBoxesB++] = i; + CalculateTrianglePlanes(&modelB); + if(modelB.numTriangles){ + VuTriangle vutri; + // process the first triangle + CColTriangle *tri = &modelB.triangles[0]; + modelB.vertices[tri->a].Unpack(vutri.v0); + modelB.vertices[tri->b].Unpack(vutri.v1); + modelB.vertices[tri->c].Unpack(vutri.v2); + modelB.trianglePlanes[0].Unpack(vutri.plane); + + SphereToTriangleCollisionCompressed(bsphereAB, vutri); + + for(i = 1; i < modelB.numTriangles; i++){ + // set up the next triangle while VU0 is running + tri = &modelB.triangles[i]; + modelB.vertices[tri->a].Unpack(vutri.v0); + modelB.vertices[tri->b].Unpack(vutri.v1); + modelB.vertices[tri->c].Unpack(vutri.v2); + modelB.trianglePlanes[i].Unpack(vutri.plane); + + // check previous result + if(GetVUresult()) + aTriangleIndicesB[numTrianglesB++] = i-1; + + // kick off this one + SphereToTriangleCollisionCompressed(bsphereAB, vutri); + } + + // check last result + if(GetVUresult()) + aTriangleIndicesB[numTrianglesB++] = i-1; + } + // No collision + if(numSpheresB == 0 && numBoxesB == 0 && numTrianglesB == 0) + return 0; + + // We now have the collision volumes in A and B that are worth processing. + + // Process A's spheres against B's collision volumes + int numCollisions = 0; + spherepoints[numCollisions].depth = -1.0f; + for(i = 0; i < numSpheresA; i++){ + float coldist = 1.0e24f; + bool hasCollided = false; + CColSphere *sphA = &modelA.spheres[aSphereIndicesA[i]]; + CVuVector *vusphA = &aSpheresA[aSphereIndicesA[i]]; + + for(j = 0; j < numSpheresB; j++) + // This actually looks like something was inlined here + if(ProcessSphereSphere(*(CColSphere*)vusphA, modelB.spheres[aSphereIndicesB[j]], + spherepoints[numCollisions], coldist)){ + spherepoints[numCollisions].Set( + sphA->surface, sphA->piece, + modelB.spheres[aSphereIndicesB[j]].surface, modelB.spheres[aSphereIndicesB[j]].piece); + hasCollided = true; + } + for(j = 0; j < numBoxesB; j++) + if(ProcessSphereBox(*(CColSphere*)vusphA, modelB.boxes[aBoxIndicesB[j]], + spherepoints[numCollisions], coldist)){ + spherepoints[numCollisions].Set( + sphA->surface, sphA->piece, + modelB.boxes[aBoxIndicesB[j]].surface, modelB.boxes[aBoxIndicesB[j]].piece); + hasCollided = true; + } + if(numTrianglesB){ + CVuVector point, normal; + float depth; + bool registeredCol; + CColTriangle *lasttri; + + VuTriangle vutri; + // process the first triangle + k = aTriangleIndicesB[0]; + CColTriangle *tri = &modelB.triangles[k]; + modelB.vertices[tri->a].Unpack(vutri.v0); + modelB.vertices[tri->b].Unpack(vutri.v1); + modelB.vertices[tri->c].Unpack(vutri.v2); + modelB.trianglePlanes[k].Unpack(vutri.plane); + + SphereToTriangleCollisionCompressed(*vusphA, vutri); + lasttri = tri; + + for(j = 1; j < numTrianglesB; j++){ + k = aTriangleIndicesB[j]; + // set up the next triangle while VU0 is running + tri = &modelB.triangles[k]; + modelB.vertices[tri->a].Unpack(vutri.v0); + modelB.vertices[tri->b].Unpack(vutri.v1); + modelB.vertices[tri->c].Unpack(vutri.v2); + modelB.trianglePlanes[k].Unpack(vutri.plane); + + // check previous result + // TODO: this looks inlined but spherepoints[numCollisions] does not... + if(GetVUresult(point, normal, depth)){ + depth = sphA->radius - depth; + if(depth > spherepoints[numCollisions].depth){ + spherepoints[numCollisions].point = point; + spherepoints[numCollisions].normal = normal; + spherepoints[numCollisions].Set(depth, + sphA->surface, sphA->piece, lasttri->surface, 0); + registeredCol = true; + }else + registeredCol = false; + }else + registeredCol = false; + + if(registeredCol) + hasCollided = true; + + // kick off this one + SphereToTriangleCollisionCompressed(*vusphA, vutri); + lasttri = tri; + } + + // check last result + // TODO: this looks inlined but spherepoints[numCollisions] does not... + if(GetVUresult(point, normal, depth)){ + depth = sphA->radius - depth; + if(depth > spherepoints[numCollisions].depth){ + spherepoints[numCollisions].point = point; + spherepoints[numCollisions].normal = normal; + spherepoints[numCollisions].Set(depth, + sphA->surface, sphA->piece, lasttri->surface, 0); + registeredCol = true; + }else + registeredCol = false; + }else + registeredCol = false; + + if(registeredCol) + hasCollided = true; + } + + if(hasCollided){ + numCollisions++; + if(numCollisions == MAX_COLLISION_POINTS) + break; + spherepoints[numCollisions].depth = -1.0f; + } + } + for(i = 0; i < numCollisions; i++){ + // TODO: both VU0 macros + spherepoints[i].point = matrixB * spherepoints[i].point; + spherepoints[i].normal = Multiply3x3(matrixB, spherepoints[i].normal); + } + + // And the same thing for the lines in A + for(i = 0; i < modelA.numLines; i++){ + aCollided[i] = false; + CVuVector *lineA = &aLinesA[i*2]; + + for(j = 0; j < numSpheresB; j++) + if(ProcessLineSphere(*(CColLine*)lineA, modelB.spheres[aSphereIndicesB[j]], + linepoints[i], linedists[i])){ + linepoints[i].Set(0, 0, +#ifdef FIX_BUGS + modelB.spheres[aSphereIndicesB[j]].surface, modelB.spheres[aSphereIndicesB[j]].piece); +#else + modelB.spheres[j].surface, modelB.spheres[j].piece); +#endif + aCollided[i] = true; + } + for(j = 0; j < numBoxesB; j++) + if(ProcessLineBox(*(CColLine*)lineA, modelB.boxes[aBoxIndicesB[j]], + linepoints[i], linedists[i])){ + linepoints[i].Set(0, 0, + modelB.boxes[aBoxIndicesB[j]].surface, modelB.boxes[aBoxIndicesB[j]].piece); + aCollided[i] = true; + } + if(numTrianglesB){ + CVuVector point, normal; + float dist; + bool registeredCol; + CColTriangle *lasttri; + + VuTriangle vutri; + // process the first triangle + k = aTriangleIndicesB[0]; + CColTriangle *tri = &modelB.triangles[k]; + modelB.vertices[tri->a].Unpack(vutri.v0); + modelB.vertices[tri->b].Unpack(vutri.v1); + modelB.vertices[tri->c].Unpack(vutri.v2); + modelB.trianglePlanes[k].Unpack(vutri.plane); + + LineToTriangleCollisionCompressed(lineA[0], lineA[1], vutri); + lasttri = tri; + + for(j = 1; j < numTrianglesB; j++){ + k = aTriangleIndicesB[j]; + // set up the next triangle while VU0 is running + CColTriangle *tri = &modelB.triangles[k]; + modelB.vertices[tri->a].Unpack(vutri.v0); + modelB.vertices[tri->b].Unpack(vutri.v1); + modelB.vertices[tri->c].Unpack(vutri.v2); + modelB.trianglePlanes[k].Unpack(vutri.plane); + + // check previous result + // TODO: this again somewhat looks inlined + if(GetVUresult(point, normal, dist)){ + if(dist < linedists[i]){ + linepoints[i].point = point; + linepoints[i].normal = normal; + linedists[i] = dist; + linepoints[i].Set(0, 0, lasttri->surface, 0); + registeredCol = true; + }else + registeredCol = false; + }else + registeredCol = false; + + if(registeredCol) + aCollided[i] = true; + + // kick of this one + LineToTriangleCollisionCompressed(lineA[0], lineA[1], vutri); + lasttri = tri; + } + + // check last result + if(GetVUresult(point, normal, dist)){ + if(dist < linedists[i]){ + linepoints[i].point = point; + linepoints[i].normal = normal; + linedists[i] = dist; + linepoints[i].Set(0, 0, lasttri->surface, 0); + registeredCol = true; + }else + registeredCol = false; + }else + registeredCol = false; + + if(registeredCol) + aCollided[i] = true; + } + + if(aCollided[i]){ + // TODO: both VU0 macros + linepoints[i].point = matrixB * linepoints[i].point; + linepoints[i].normal = Multiply3x3(matrixB, linepoints[i].normal); + } + } + + return numCollisions; // sphere collisions +#else static int aSphereIndicesA[MAXNUMSPHERES]; static int aLineIndicesA[MAXNUMLINES]; static int aSphereIndicesB[MAXNUMSPHERES]; @@ -1324,14 +2389,16 @@ CCollision::ProcessColModels(const CMatrix &matrixA, CColModel &modelA, assert(modelA.numLines <= MAXNUMLINES); // From model A space to model B space - matAB = Invert(matrixB, matAB) * matrixA; + Invert(matrixB, matAB); + matAB *= matrixA; CColSphere bsphereAB; // bounding sphere of A in B space bsphereAB.Set(modelA.boundingSphere.radius, matAB * modelA.boundingSphere.center); if(!TestSphereBox(bsphereAB, modelB.boundingBox)) return 0; // B to A space - matBA = Invert(matrixA, matBA) * matrixB; + matBA = Invert(matrixA, matBA); + matBA *= matrixB; // transform modelA's spheres and lines to B space for(i = 0; i < modelA.numSpheres; i++){ @@ -1444,6 +2511,7 @@ CCollision::ProcessColModels(const CMatrix &matrixA, CColModel &modelA, } return numCollisions; // sphere collisions +#endif } @@ -1987,6 +3055,19 @@ CColTriangle::Set(const CompressedVector *, int a, int b, int c, uint8 surf, uin this->surface = surf; } +#ifdef VU_COLLISION +void +CColTrianglePlane::Set(const CVector &va, const CVector &vb, const CVector &vc) +{ + CVector norm = CrossProduct(vc-va, vb-va); + norm.Normalise(); + float d = DotProduct(norm, va); + normal.x = norm.x*4096.0f; + normal.y = norm.y*4096.0f; + normal.z = norm.z*4096.0f; + dist = d*128.0f; +} +#else void CColTrianglePlane::Set(const CVector &va, const CVector &vb, const CVector &vc) { @@ -2002,6 +3083,7 @@ CColTrianglePlane::Set(const CVector &va, const CVector &vb, const CVector &vc) else dir = normal.z < 0.0f ? DIR_Z_NEG : DIR_Z_POS; } +#endif CColModel::CColModel(void) { |