diff options
Diffstat (limited to '')
| -rw-r--r-- | src/collision/Collision.cpp (renamed from src/core/Collision.cpp) | 609 |
1 files changed, 7 insertions, 602 deletions
diff --git a/src/core/Collision.cpp b/src/collision/Collision.cpp index 91e7bba7..20778345 100644 --- a/src/core/Collision.cpp +++ b/src/collision/Collision.cpp @@ -26,303 +26,8 @@ //--MIAMI: file done - -// 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 -} +#include "VuCollision.h" inline int GetVUresult(void) @@ -365,17 +70,6 @@ GetVUresult(CVuVector &point, CVuVector &normal, float &dist) #endif - -enum Direction -{ - DIR_X_POS, - DIR_X_NEG, - DIR_Y_POS, - DIR_Y_NEG, - DIR_Z_POS, - DIR_Z_NEG, -}; - eLevelName CCollision::ms_collisionInMemory; CLinkList<CColModel*> CCollision::ms_colModelCache; @@ -2261,11 +1955,12 @@ CCollision::ProcessColModels(const CMatrix &matrixA, CColModel &modelA, assert(modelA.numLines <= MAXNUMLINES); // From model A space to model B space - Invert(matrixB, matAB); + matAB = Invert(matrixB, matAB); matAB *= matrixA; CColSphere bsphereAB; // bounding sphere of A in B space - bsphereAB.Set(modelA.boundingSphere.radius, matAB * modelA.boundingSphere.center); + bsphereAB.radius = modelA.boundingSphere.radius; + bsphereAB.center = matAB * modelA.boundingSphere.center; if(!TestSphereBox(bsphereAB, modelB.boundingBox)) return 0; // B to A space @@ -2298,7 +1993,8 @@ CCollision::ProcessColModels(const CMatrix &matrixA, CColModel &modelA, int numBoxesB = 0; int numTrianglesB = 0; for(i = 0; i < modelB.numSpheres; i++){ - s.Set(modelB.spheres[i].radius, matBA * modelB.spheres[i].center); + s.radius = modelB.spheres[i].radius; + s.center = matBA * modelB.spheres[i].center; if(TestSphereBox(s, modelA.boundingBox)) aSphereIndicesB[numSpheresB++] = i; } @@ -2870,295 +2566,4 @@ CCollision::DrawColModel_Coloured(const CMatrix &mat, const CColModel &colModel, RwRenderStateSet(rwRENDERSTATEVERTEXALPHAENABLE, (void*)FALSE); RwRenderStateSet(rwRENDERSTATEZWRITEENABLE, (void*)TRUE); RwRenderStateSet(rwRENDERSTATEZTESTENABLE, (void*)TRUE); -} - - -/* - * ColModel code - */ - -void -CColSphere::Set(float radius, const CVector ¢er, uint8 surf, uint8 piece) -{ - this->radius = radius; - this->center = center; - this->surface = surf; - this->piece = piece; -} - -bool -CColSphere::IntersectRay(CVector const& from, CVector const& dir, CVector &entry, CVector &exit) -{ - CVector distToCenter = from - center; - float distToTouchSqr = distToCenter.MagnitudeSqr() - sq(radius); - float root1, root2; - - if (!CGeneral::SolveQuadratic(1.0f, DotProduct(distToCenter, dir) * 2.f, distToTouchSqr, root1, root2)) - return false; - - entry = from + dir * root1; - exit = from + dir * root2; - return true; -} - -void -CColBox::Set(const CVector &min, const CVector &max, uint8 surf, uint8 piece) -{ - this->min = min; - this->max = max; - this->surface = surf; - this->piece = piece; -} - -void -CColLine::Set(const CVector &p0, const CVector &p1) -{ - this->p0 = p0; - this->p1 = p1; -} - -void -CColTriangle::Set(const CompressedVector *, int a, int b, int c, uint8 surf, uint8 piece) -{ - this->a = a; - this->b = b; - this->c = c; - 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) -{ - normal = CrossProduct(vc-va, vb-va); - normal.Normalise(); - dist = DotProduct(normal, va); - CVector an(Abs(normal.x), Abs(normal.y), Abs(normal.z)); - // find out largest component and its direction - if(an.x > an.y && an.x > an.z) - dir = normal.x < 0.0f ? DIR_X_NEG : DIR_X_POS; - else if(an.y > an.z) - dir = normal.y < 0.0f ? DIR_Y_NEG : DIR_Y_POS; - else - dir = normal.z < 0.0f ? DIR_Z_NEG : DIR_Z_POS; -} -#endif - -CColPoint& -CColPoint::operator=(const CColPoint& other) -{ - point = other.point; - normal = other.normal; - surfaceA = other.surfaceA; - pieceA = other.pieceA; - surfaceB = other.surfaceB; - pieceB = other.pieceB; - // doesn't copy depth - return *this; -} - -CColModel::CColModel(void) -{ - numSpheres = 0; - spheres = nil; - numLines = 0; - lines = nil; - numBoxes = 0; - boxes = nil; - numTriangles = 0; - vertices = nil; - triangles = nil; - trianglePlanes = nil; - level = 0; // generic col slot - ownsCollisionVolumes = true; -} - -CColModel::~CColModel(void) -{ - RemoveCollisionVolumes(); - RemoveTrianglePlanes(); -} - -void -CColModel::RemoveCollisionVolumes(void) -{ - if(ownsCollisionVolumes){ - RwFree(spheres); - RwFree(lines); - RwFree(boxes); - RwFree(vertices); - RwFree(triangles); - CCollision::RemoveTrianglePlanes(this); - } - numSpheres = 0; - numLines = 0; - numBoxes = 0; - numTriangles = 0; - spheres = nil; - lines = nil; - boxes = nil; - vertices = nil; - triangles = nil; -} - -void -CColModel::CalculateTrianglePlanes(void) -{ - // HACK: allocate space for one more element to stuff the link pointer into - trianglePlanes = (CColTrianglePlane*)RwMalloc(sizeof(CColTrianglePlane) * (numTriangles+1)); - for(int i = 0; i < numTriangles; i++) - trianglePlanes[i].Set(vertices, triangles[i]); -} - -void -CColModel::RemoveTrianglePlanes(void) -{ - RwFree(trianglePlanes); - trianglePlanes = nil; -} - -void -CColModel::SetLinkPtr(CLink<CColModel*> *lptr) -{ - assert(trianglePlanes); - *(CLink<CColModel*>**)ALIGNPTR(&trianglePlanes[numTriangles]) = lptr; -} - -CLink<CColModel*>* -CColModel::GetLinkPtr(void) -{ - assert(trianglePlanes); - return *(CLink<CColModel*>**)ALIGNPTR(&trianglePlanes[numTriangles]); -} - -void -CColModel::GetTrianglePoint(CVector &v, int i) const -{ - v = vertices[i].Get(); -} - -void* -CColModel::operator new(size_t){ - CColModel *node = CPools::GetColModelPool()->New(); - assert(node); - return node; -} - -void -CColModel::operator delete(void *p, size_t){ - CPools::GetColModelPool()->Delete((CColModel*)p); -} - -CColModel& -CColModel::operator=(const CColModel &other) -{ - int i; - int numVerts; - - boundingSphere = other.boundingSphere; - boundingBox = other.boundingBox; - - // copy spheres - if(other.numSpheres){ - if(numSpheres != other.numSpheres){ - numSpheres = other.numSpheres; - if(spheres) - RwFree(spheres); - spheres = (CColSphere*)RwMalloc(numSpheres*sizeof(CColSphere)); - } - for(i = 0; i < numSpheres; i++) - spheres[i] = other.spheres[i]; - }else{ - numSpheres = 0; - if(spheres) - RwFree(spheres); - spheres = nil; - } - - // copy lines - if(other.numLines){ - if(numLines != other.numLines){ - numLines = other.numLines; - if(lines) - RwFree(lines); - lines = (CColLine*)RwMalloc(numLines*sizeof(CColLine)); - } - for(i = 0; i < numLines; i++) - lines[i] = other.lines[i]; - }else{ - numLines = 0; - if(lines) - RwFree(lines); - lines = nil; - } - - // copy boxes - if(other.numBoxes){ - if(numBoxes != other.numBoxes){ - numBoxes = other.numBoxes; - if(boxes) - RwFree(boxes); - boxes = (CColBox*)RwMalloc(numBoxes*sizeof(CColBox)); - } - for(i = 0; i < numBoxes; i++) - boxes[i] = other.boxes[i]; - }else{ - numBoxes = 0; - if(boxes) - RwFree(boxes); - boxes = nil; - } - - // copy mesh - if(other.numTriangles){ - // copy vertices - numVerts = 0; - for(i = 0; i < other.numTriangles; i++){ - if(other.triangles[i].a > numVerts) - numVerts = other.triangles[i].a; - if(other.triangles[i].b > numVerts) - numVerts = other.triangles[i].b; - if(other.triangles[i].c > numVerts) - numVerts = other.triangles[i].c; - } - numVerts++; - if(vertices) - RwFree(vertices); - if(numVerts){ - vertices = (CompressedVector*)RwMalloc(numVerts*sizeof(CompressedVector)); - for(i = 0; i < numVerts; i++) - vertices[i] = other.vertices[i]; - } - - // copy triangles - if(numTriangles != other.numTriangles){ - numTriangles = other.numTriangles; - if(triangles) - RwFree(triangles); - triangles = (CColTriangle*)RwMalloc(numTriangles*sizeof(CColTriangle)); - } - for(i = 0; i < numTriangles; i++) - triangles[i] = other.triangles[i]; - }else{ - numTriangles = 0; - if(triangles) - RwFree(triangles); - triangles = nil; - if(vertices) - RwFree(vertices); - vertices = nil; - } - return *this; -} +}
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