diff options
Diffstat (limited to 'src')
25 files changed, 951 insertions, 873 deletions
diff --git a/src/collision/ColBox.cpp b/src/collision/ColBox.cpp new file mode 100644 index 00000000..53cba88b --- /dev/null +++ b/src/collision/ColBox.cpp @@ -0,0 +1,21 @@ +#include "common.h" +#include "ColBox.h" + +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; +} + +CColBox& +CColBox::operator=(const CColBox& other) +{ + min = other.min; + max = other.max; + surface = other.surface; + piece = other.piece; + return *this; +}
\ No newline at end of file diff --git a/src/collision/ColBox.h b/src/collision/ColBox.h new file mode 100644 index 00000000..0df55925 --- /dev/null +++ b/src/collision/ColBox.h @@ -0,0 +1,22 @@ +#pragma once + +#include "SurfaceTable.h" + +struct CBox +{ + CVector min; + CVector max; + CVector GetSize(void) { return max - min; } + void Set(const CVector &min, const CVector &max) { this->min = min; this->max = max; } +}; + +struct CColBox : public CBox +{ + uint8 surface; + uint8 piece; + + void Set(const CVector &min, const CVector &max, uint8 surf, uint8 piece); + using CBox::Set; + + CColBox& operator=(const CColBox &other); +};
\ No newline at end of file diff --git a/src/collision/ColLine.cpp b/src/collision/ColLine.cpp new file mode 100644 index 00000000..c6247449 --- /dev/null +++ b/src/collision/ColLine.cpp @@ -0,0 +1,9 @@ +#include "common.h" +#include "ColLine.h" + +void +CColLine::Set(const CVector &p0, const CVector &p1) +{ + this->p0 = p0; + this->p1 = p1; +}
\ No newline at end of file diff --git a/src/collision/ColLine.h b/src/collision/ColLine.h new file mode 100644 index 00000000..21587a06 --- /dev/null +++ b/src/collision/ColLine.h @@ -0,0 +1,14 @@ +#pragma once + +struct CColLine +{ + // NB: this has to be compatible with two CVuVectors + CVector p0; + int pad0; + CVector p1; + int pad1; + + CColLine(void) { }; + CColLine(const CVector &p0, const CVector &p1) { this->p0 = p0; this->p1 = p1; }; + void Set(const CVector &p0, const CVector &p1); +};
\ No newline at end of file diff --git a/src/collision/ColModel.cpp b/src/collision/ColModel.cpp new file mode 100644 index 00000000..ba33c134 --- /dev/null +++ b/src/collision/ColModel.cpp @@ -0,0 +1,201 @@ +#include "common.h" +#include "ColModel.h" +#include "Collision.h" +#include "Game.h" +#include "Pools.h" + +CColModel::CColModel(void) +{ + numSpheres = 0; + spheres = nil; + numLines = 0; + lines = nil; + numBoxes = 0; + boxes = nil; + numTriangles = 0; + vertices = nil; + triangles = nil; + trianglePlanes = nil; + level = LEVEL_GENERIC; // generic col slot + ownsCollisionVolumes = true; +} + +CColModel::~CColModel(void) +{ + RemoveCollisionVolumes(); + RemoveTrianglePlanes(); +} + +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); +} + +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(); +} + +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; +}
\ No newline at end of file diff --git a/src/collision/ColModel.h b/src/collision/ColModel.h new file mode 100644 index 00000000..cd5ae651 --- /dev/null +++ b/src/collision/ColModel.h @@ -0,0 +1,39 @@ +#pragma once + +#include "templates.h" +#include "ColBox.h" +#include "ColSphere.h" +#include "ColLine.h" +#include "ColPoint.h" +#include "ColTriangle.h" + +struct CColModel +{ + CSphere boundingSphere; + CBox boundingBox; + int16 numSpheres; + int16 numBoxes; + int16 numTriangles; + int8 numLines; + uint8 level; // colstore slot but probably still named level + bool ownsCollisionVolumes; + CColSphere *spheres; + CColLine *lines; + CColBox *boxes; + CompressedVector *vertices; + CColTriangle *triangles; + CColTrianglePlane *trianglePlanes; + + CColModel(void); + ~CColModel(void); + void RemoveCollisionVolumes(void); + void CalculateTrianglePlanes(void); + void RemoveTrianglePlanes(void); + CLink<CColModel*> *GetLinkPtr(void); + void SetLinkPtr(CLink<CColModel*>*); + void GetTrianglePoint(CVector &v, int i) const; + + void *operator new(size_t); + void operator delete(void *p, size_t); + CColModel& operator=(const CColModel& other); +};
\ No newline at end of file diff --git a/src/collision/ColPoint.cpp b/src/collision/ColPoint.cpp new file mode 100644 index 00000000..fbf9e8c3 --- /dev/null +++ b/src/collision/ColPoint.cpp @@ -0,0 +1,16 @@ +#include "common.h" +#include "ColPoint.h" + +CColPoint& +CColPoint::operator=(const CColPoint &other) +{ + point = other.point; + normal = other.normal; + surfaceA = other.surfaceA; + pieceA = other.pieceA; + surfaceB = other.surfaceB; + pieceB = other.pieceB; + + // no depth? + return *this; +} diff --git a/src/collision/ColPoint.h b/src/collision/ColPoint.h new file mode 100644 index 00000000..a15b2345 --- /dev/null +++ b/src/collision/ColPoint.h @@ -0,0 +1,34 @@ +#pragma once + +struct CColPoint +{ + CVector point; + int pad1; + // the surface normal on the surface of point + CVector normal; + int pad2; + uint8 surfaceA; + uint8 pieceA; + uint8 surfaceB; + uint8 pieceB; + float depth; + + const CVector &GetNormal() { return normal; } + float GetDepth() { return depth; } + void Set(float depth, uint8 surfA, uint8 pieceA, uint8 surfB, uint8 pieceB) { + this->depth = depth; + this->surfaceA = surfA; + this->pieceA = pieceA; + this->surfaceB = surfB; + this->pieceB = pieceB; + } + void Set(uint8 surfA, uint8 pieceA, uint8 surfB, uint8 pieceB) { + this->surfaceA = surfA; + this->pieceA = pieceA; + this->surfaceB = surfB; + this->pieceB = pieceB; + } + + CColPoint &operator=(const CColPoint &other); +}; + diff --git a/src/collision/ColSphere.cpp b/src/collision/ColSphere.cpp new file mode 100644 index 00000000..65f02860 --- /dev/null +++ b/src/collision/ColSphere.cpp @@ -0,0 +1,27 @@ +#include "common.h" +#include "ColSphere.h" +#include "General.h" + +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; +}
\ No newline at end of file diff --git a/src/collision/ColSphere.h b/src/collision/ColSphere.h new file mode 100644 index 00000000..f86b282a --- /dev/null +++ b/src/collision/ColSphere.h @@ -0,0 +1,21 @@ +#pragma once + +#include "SurfaceTable.h" + +struct CSphere +{ + // NB: this has to be compatible with a CVuVector + CVector center; + float radius; + void Set(float radius, const CVector ¢er) { this->center = center; this->radius = radius; } +}; + +struct CColSphere : public CSphere +{ + uint8 surface; + uint8 piece; + + void Set(float radius, const CVector ¢er, uint8 surf, uint8 piece); + bool IntersectRay(CVector const &from, CVector const &dir, CVector &entry, CVector &exit); + using CSphere::Set; +};
\ No newline at end of file diff --git a/src/collision/ColTriangle.cpp b/src/collision/ColTriangle.cpp new file mode 100644 index 00000000..843fb93f --- /dev/null +++ b/src/collision/ColTriangle.cpp @@ -0,0 +1,32 @@ +#include "common.h" +#include "ColTriangle.h" + +#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
\ No newline at end of file diff --git a/src/collision/ColTriangle.h b/src/collision/ColTriangle.h new file mode 100644 index 00000000..a2580c58 --- /dev/null +++ b/src/collision/ColTriangle.h @@ -0,0 +1,77 @@ +#pragma once + +#include "CompressedVector.h" + +enum Direction { + DIR_X_POS, + DIR_X_NEG, + DIR_Y_POS, + DIR_Y_NEG, + DIR_Z_POS, + DIR_Z_NEG, +}; + +struct CColTriangle +{ + uint16 a; + uint16 b; + uint16 c; + uint8 surface; + + void Set(int a, int b, int c, uint8 surf) + { + this->a = a; + this->b = b; + this->c = c; + this->surface = surf; + } +}; + +struct CColTrianglePlane +{ +#ifdef VU_COLLISION + CompressedVector normal; + int16 dist; + + void Set(const CVector &va, const CVector &vb, const CVector &vc); + void Set(const CompressedVector *v, CColTriangle &tri) { Set(v[tri.a].Get(), v[tri.b].Get(), v[tri.c].Get()); } + void GetNormal(CVector &n) const { n.x = normal.x/4096.0f; n.y = normal.y/4096.0f; n.z = normal.z/4096.0f; } + float CalcPoint(const CVector &v) const { CVector n; GetNormal(n); return DotProduct(n, v) - dist/128.0f; }; +#ifdef GTA_PS2 + void Unpack(uint128 &qword) const { + __asm__ volatile ( + "lh $8, 0(%1)\n" + "lh $9, 2(%1)\n" + "lh $10, 4(%1)\n" + "lh $11, 6(%1)\n" + "pextlw $10, $8\n" + "pextlw $11, $9\n" + "pextlw $2, $11, $10\n" + "sq $2, %0\n" + : "=m" (qword) + : "r" (this) + : "$8", "$9", "$10", "$11", "$2" + ); + } +#else + void Unpack(int32 *qword) const { + qword[0] = normal.x; + qword[1] = normal.y; + qword[2] = normal.z; + qword[3] = dist; + } +#endif +#else + CVector normal; + float dist; + uint8 dir; + + void Set(const CVector &va, const CVector &vb, const CVector &vc); + void Set(const CompressedVector *v, CColTriangle &tri) { Set(v[tri.a].Get(), v[tri.b].Get(), v[tri.c].Get()); } + void GetNormal(CVector &n) const { n = normal; } + float GetNormalX() const { return normal.x; } + float GetNormalY() const { return normal.y; } + float GetNormalZ() const { return normal.z; } + float CalcPoint(const CVector &v) const { return DotProduct(normal, v) - dist; }; +#endif +};
\ No newline at end of file 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; -} +}
\ No newline at end of file diff --git a/src/collision/Collision.h b/src/collision/Collision.h new file mode 100644 index 00000000..57f5f86e --- /dev/null +++ b/src/collision/Collision.h @@ -0,0 +1,68 @@ +#pragma once + +#include "ColModel.h" +#include "Game.h" // for eLevelName +#ifdef VU_COLLISION +#include "VuVector.h" +#endif + +struct CStoredCollPoly +{ +#ifdef VU_COLLISION + CVuVector verts[3]; +#else + CVector verts[3]; +#endif + bool valid; +}; + +// If you spawn many tanks at once, you will see that collisions of two entity exceeds 32. +#if defined(FIX_BUGS) && !defined(SQUEEZE_PERFORMANCE) +#define MAX_COLLISION_POINTS 64 +#else +#define MAX_COLLISION_POINTS 32 +#endif + +class CCollision +{ +public: + static eLevelName ms_collisionInMemory; + static CLinkList<CColModel*> ms_colModelCache; + + static void Init(void); + static void Shutdown(void); + static void Update(void); + static void LoadCollisionWhenINeedIt(bool changeLevel); + static void SortOutCollisionAfterLoad(void); + static void LoadCollisionScreen(eLevelName level); + static void DrawColModel(const CMatrix &mat, const CColModel &colModel); + static void DrawColModel_Coloured(const CMatrix &mat, const CColModel &colModel, int32 id); + + static void CalculateTrianglePlanes(CColModel *model); + static void RemoveTrianglePlanes(CColModel *model); + + // all these return true if there's a collision + static bool TestSphereSphere(const CSphere &s1, const CSphere &s2); + static bool TestSphereBox(const CSphere &sph, const CBox &box); + static bool TestLineBox(const CColLine &line, const CBox &box); + static bool TestVerticalLineBox(const CColLine &line, const CBox &box); + static bool TestLineTriangle(const CColLine &line, const CompressedVector *verts, const CColTriangle &tri, const CColTrianglePlane &plane); + static bool TestLineSphere(const CColLine &line, const CColSphere &sph); + static bool TestSphereTriangle(const CColSphere &sphere, const CompressedVector *verts, const CColTriangle &tri, const CColTrianglePlane &plane); + static bool TestLineOfSight(const CColLine &line, const CMatrix &matrix, CColModel &model, bool ignoreSeeThrough, bool ignoreShootThrough); + + static bool ProcessSphereSphere(const CColSphere &s1, const CColSphere &s2, CColPoint &point, float &mindistsq); + static bool ProcessSphereBox(const CColSphere &sph, const CColBox &box, CColPoint &point, float &mindistsq); + static bool ProcessLineBox(const CColLine &line, const CColBox &box, CColPoint &point, float &mindist); + static bool ProcessVerticalLineTriangle(const CColLine &line, const CompressedVector *verts, const CColTriangle &tri, const CColTrianglePlane &plane, CColPoint &point, float &mindist, CStoredCollPoly *poly); + static bool ProcessLineTriangle(const CColLine &line , const CompressedVector *verts, const CColTriangle &tri, const CColTrianglePlane &plane, CColPoint &point, float &mindist, CStoredCollPoly *poly = nil); + static bool ProcessLineSphere(const CColLine &line, const CColSphere &sphere, CColPoint &point, float &mindist); + static bool ProcessSphereTriangle(const CColSphere &sph, const CompressedVector *verts, const CColTriangle &tri, const CColTrianglePlane &plane, CColPoint &point, float &mindistsq); + static bool ProcessLineOfSight(const CColLine &line, const CMatrix &matrix, CColModel &model, CColPoint &point, float &mindist, bool ignoreSeeThrough, bool ignoreShootThrough); + static bool ProcessVerticalLine(const CColLine &line, const CMatrix &matrix, CColModel &model, CColPoint &point, float &mindist, bool ignoreSeeThrough, bool ignoreShootThrough, CStoredCollPoly *poly); + static int32 ProcessColModels(const CMatrix &matrixA, CColModel &modelA, const CMatrix &matrixB, CColModel &modelB, CColPoint *spherepoints, CColPoint *linepoints, float *linedists); + static bool IsStoredPolyStillValidVerticalLine(const CVector &pos, float z, CColPoint &point, CStoredCollPoly *poly); + + static float DistToLine(const CVector *l0, const CVector *l1, const CVector *point); + static float DistToLine(const CVector *l0, const CVector *l1, const CVector *point, CVector &closest); +}; diff --git a/src/collision/CompressedVector.h b/src/collision/CompressedVector.h new file mode 100644 index 00000000..d54e49b1 --- /dev/null +++ b/src/collision/CompressedVector.h @@ -0,0 +1,36 @@ +#pragma once + +struct CompressedVector +{ +#ifdef COMPRESSED_COL_VECTORS + int16 x, y, z; + CVector Get(void) const { return CVector(x, y, z)/128.0f; }; + void Set(float x, float y, float z) { this->x = x*128.0f; this->y = y*128.0f; this->z = z*128.0f; }; +#ifdef GTA_PS2 + void Unpack(uint128 &qword) const { + __asm__ volatile ( + "lh $8, 0(%1)\n" + "lh $9, 2(%1)\n" + "lh $10, 4(%1)\n" + "pextlw $10, $8\n" + "pextlw $2, $9, $10\n" + "sq $2, %0\n" + : "=m" (qword) + : "r" (this) + : "$8", "$9", "$10", "$2" + ); + } +#else + void Unpack(int32 *qword) const { + qword[0] = x; + qword[1] = y; + qword[2] = z; + qword[3] = 0; // junk + } +#endif +#else + float x, y, z; + CVector Get(void) const { return CVector(x, y, z); }; + void Set(float x, float y, float z) { this->x = x; this->y = y; this->z = z; }; +#endif +};
\ No newline at end of file diff --git a/src/core/TempColModels.cpp b/src/collision/TempColModels.cpp index 203d24d0..e7ba54f1 100644 --- a/src/core/TempColModels.cpp +++ b/src/collision/TempColModels.cpp @@ -1,7 +1,6 @@ #include "common.h" #include "TempColModels.h" -#include "SurfaceTable.h" CColModel CTempColModels::ms_colModelPed1; CColModel CTempColModels::ms_colModelPed2; diff --git a/src/core/TempColModels.h b/src/collision/TempColModels.h index 0c936d6f..0c936d6f 100644 --- a/src/core/TempColModels.h +++ b/src/collision/TempColModels.h diff --git a/src/collision/VuCollision.cpp b/src/collision/VuCollision.cpp new file mode 100644 index 00000000..8828d2e1 --- /dev/null +++ b/src/collision/VuCollision.cpp @@ -0,0 +1,282 @@ +#include "common.h" +#ifdef VU_COLLISION +#include "VuVector.h" +#include "VuCollision.h" + +#ifndef GTA_PS2 +int16 vi01; +CVuVector vf01; +CVuVector vf02; +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 +} +#endif
\ No newline at end of file diff --git a/src/collision/VuCollision.h b/src/collision/VuCollision.h new file mode 100644 index 00000000..29ca4cbf --- /dev/null +++ b/src/collision/VuCollision.h @@ -0,0 +1,32 @@ +#pragma once + + +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 +extern int16 vi01; +extern CVuVector vf01; +extern CVuVector vf02; +extern CVuVector vf03; +#endif + +extern "C" { +void LineToTriangleCollision(const CVuVector &p0, const CVuVector &p1, const CVuVector &v0, const CVuVector &v1, const CVuVector &v2, const CVuVector &plane); +void LineToTriangleCollisionCompressed(const CVuVector &p0, const CVuVector &p1, VuTriangle &tri); +void SphereToTriangleCollision(const CVuVector &sph, const CVuVector &v0, const CVuVector &v1, const CVuVector &v2, const CVuVector &plane); +void SphereToTriangleCollisionCompressed(const CVuVector &sph, VuTriangle &tri); +} diff --git a/src/core/vu0Collision.dsm b/src/collision/vu0Collision.dsm index 657c8b81..657c8b81 100644 --- a/src/core/vu0Collision.dsm +++ b/src/collision/vu0Collision.dsm diff --git a/src/core/vu0Collision_1.s b/src/collision/vu0Collision_1.s index 055c8640..055c8640 100644 --- a/src/core/vu0Collision_1.s +++ b/src/collision/vu0Collision_1.s diff --git a/src/core/vu0Collision_2.s b/src/collision/vu0Collision_2.s index 716c29ac..716c29ac 100644 --- a/src/core/vu0Collision_2.s +++ b/src/collision/vu0Collision_2.s diff --git a/src/core/Collision.h b/src/core/Collision.h deleted file mode 100644 index 93959a72..00000000 --- a/src/core/Collision.h +++ /dev/null @@ -1,257 +0,0 @@ -#pragma once - -#include "templates.h" -#include "Game.h" // for eLevelName -#ifdef VU_COLLISION -#include "VuVector.h" -#endif - -// If you spawn many tanks at once, you will see that collisions of two entity exceeds 32. -#if defined(FIX_BUGS) && !defined(SQUEEZE_PERFORMANCE) -#define MAX_COLLISION_POINTS 64 -#else -#define MAX_COLLISION_POINTS 32 -#endif - -struct CompressedVector -{ -#ifdef COMPRESSED_COL_VECTORS - int16 x, y, z; - CVector Get(void) const { return CVector(x, y, z)/128.0f; }; - void Set(float x, float y, float z) { this->x = x*128.0f; this->y = y*128.0f; this->z = z*128.0f; }; -#ifdef GTA_PS2 - void Unpack(uint128 &qword) const { - __asm__ volatile ( - "lh $8, 0(%1)\n" - "lh $9, 2(%1)\n" - "lh $10, 4(%1)\n" - "pextlw $10, $8\n" - "pextlw $2, $9, $10\n" - "sq $2, %0\n" - : "=m" (qword) - : "r" (this) - : "$8", "$9", "$10", "$2" - ); - } -#else - void Unpack(int32 *qword) const { - qword[0] = x; - qword[1] = y; - qword[2] = z; - qword[3] = 0; // junk - } -#endif -#else - float x, y, z; - CVector Get(void) const { return CVector(x, y, z); }; - void Set(float x, float y, float z) { this->x = x; this->y = y; this->z = z; }; -#endif -}; - -struct CSphere -{ - // NB: this has to be compatible with a CVuVector - CVector center; - float radius; - void Set(float radius, const CVector ¢er) { this->center = center; this->radius = radius; } -}; - -struct CBox -{ - CVector min; - CVector max; - CVector GetSize(void) { return max - min; } - void Set(const CVector &min, const CVector &max) { this->min = min; this->max = max; } -}; - -struct CColSphere : public CSphere -{ - uint8 surface; - uint8 piece; - - void Set(float radius, const CVector ¢er, uint8 surf, uint8 piece); - bool IntersectRay(CVector const &from, CVector const &dir, CVector &entry, CVector &exit); - using CSphere::Set; -}; - -struct CColBox : public CBox -{ - uint8 surface; - uint8 piece; - - void Set(const CVector &min, const CVector &max, uint8 surf, uint8 piece); - using CBox::Set; -}; - -struct CColLine -{ - // NB: this has to be compatible with two CVuVectors - CVector p0; - int pad0; - CVector p1; - int pad1; - - CColLine(void) { }; - CColLine(const CVector &p0, const CVector &p1) { this->p0 = p0; this->p1 = p1; }; - void Set(const CVector &p0, const CVector &p1); -}; - -struct CColTriangle -{ - uint16 a; - uint16 b; - uint16 c; - uint8 surface; - - void Set(const CompressedVector *v, int a, int b, int c, uint8 surf, uint8 piece); -}; - -struct CColTrianglePlane -{ -#ifdef VU_COLLISION - CompressedVector normal; - int16 dist; - - void Set(const CVector &va, const CVector &vb, const CVector &vc); - void Set(const CompressedVector *v, CColTriangle &tri) { Set(v[tri.a].Get(), v[tri.b].Get(), v[tri.c].Get()); } - void GetNormal(CVector &n) const { n.x = normal.x/4096.0f; n.y = normal.y/4096.0f; n.z = normal.z/4096.0f; } - float CalcPoint(const CVector &v) const { CVector n; GetNormal(n); return DotProduct(n, v) - dist/128.0f; }; -#ifdef GTA_PS2 - void Unpack(uint128 &qword) const { - __asm__ volatile ( - "lh $8, 0(%1)\n" - "lh $9, 2(%1)\n" - "lh $10, 4(%1)\n" - "lh $11, 6(%1)\n" - "pextlw $10, $8\n" - "pextlw $11, $9\n" - "pextlw $2, $11, $10\n" - "sq $2, %0\n" - : "=m" (qword) - : "r" (this) - : "$8", "$9", "$10", "$11", "$2" - ); - } -#else - void Unpack(int32 *qword) const { - qword[0] = normal.x; - qword[1] = normal.y; - qword[2] = normal.z; - qword[3] = dist; - } -#endif -#else - CVector normal; - float dist; - uint8 dir; - - void Set(const CVector &va, const CVector &vb, const CVector &vc); - void Set(const CompressedVector *v, CColTriangle &tri) { Set(v[tri.a].Get(), v[tri.b].Get(), v[tri.c].Get()); } - void GetNormal(CVector &n) const { n = normal; } - float GetNormalX() const { return normal.x; } - float GetNormalY() const { return normal.y; } - float GetNormalZ() const { return normal.z; } - float CalcPoint(const CVector &v) const { return DotProduct(normal, v) - dist; }; -#endif -}; - -struct CColPoint -{ - CVector point; - int pad1; - // the surface normal on the surface of point - CVector normal; - int pad2; - uint8 surfaceA; - uint8 pieceA; - uint8 surfaceB; - uint8 pieceB; - float depth; - - CColPoint& operator=(const CColPoint& other); -}; - -struct CStoredCollPoly -{ -#ifdef VU_COLLISION - CVuVector verts[3]; -#else - CVector verts[3]; -#endif - bool valid; -}; - -struct CColModel -{ - CSphere boundingSphere; - CBox boundingBox; - int16 numSpheres; - int16 numBoxes; - int16 numTriangles; - int8 numLines; - uint8 level; // colstore slot but probably still named level - bool ownsCollisionVolumes; - CColSphere *spheres; - CColLine *lines; - CColBox *boxes; - CompressedVector *vertices; - CColTriangle *triangles; - CColTrianglePlane *trianglePlanes; - - CColModel(void); - ~CColModel(void); - void RemoveCollisionVolumes(void); - void CalculateTrianglePlanes(void); - void RemoveTrianglePlanes(void); - CLink<CColModel*> *GetLinkPtr(void); - void SetLinkPtr(CLink<CColModel*>*); - void GetTrianglePoint(CVector &v, int i) const; - - void *operator new(size_t); - void operator delete(void *p, size_t); - CColModel& operator=(const CColModel& other); -}; - -class CCollision -{ -public: - static eLevelName ms_collisionInMemory; - static CLinkList<CColModel*> ms_colModelCache; - - static void Init(void); - static void Shutdown(void); - static void Update(void); - static void LoadCollisionWhenINeedIt(bool changeLevel); - static void SortOutCollisionAfterLoad(void); - static void LoadCollisionScreen(eLevelName level); - static void DrawColModel(const CMatrix &mat, const CColModel &colModel); - static void DrawColModel_Coloured(const CMatrix &mat, const CColModel &colModel, int32 id); - - static void CalculateTrianglePlanes(CColModel *model); - static void RemoveTrianglePlanes(CColModel *model); - - // all these return true if there's a collision - static bool TestSphereSphere(const CSphere &s1, const CSphere &s2); - static bool TestSphereBox(const CSphere &sph, const CBox &box); - static bool TestLineBox(const CColLine &line, const CBox &box); - static bool TestVerticalLineBox(const CColLine &line, const CBox &box); - static bool TestLineTriangle(const CColLine &line, const CompressedVector *verts, const CColTriangle &tri, const CColTrianglePlane &plane); - static bool TestLineSphere(const CColLine &line, const CColSphere &sph); - static bool TestSphereTriangle(const CColSphere &sphere, const CompressedVector *verts, const CColTriangle &tri, const CColTrianglePlane &plane); - static bool TestLineOfSight(const CColLine &line, const CMatrix &matrix, CColModel &model, bool ignoreSeeThrough, bool ignoreShootThrough); - - static bool ProcessSphereSphere(const CColSphere &s1, const CColSphere &s2, CColPoint &point, float &mindistsq); - static bool ProcessSphereBox(const CColSphere &sph, const CColBox &box, CColPoint &point, float &mindistsq); - static bool ProcessLineBox(const CColLine &line, const CColBox &box, CColPoint &point, float &mindist); - static bool ProcessVerticalLineTriangle(const CColLine &line, const CompressedVector *verts, const CColTriangle &tri, const CColTrianglePlane &plane, CColPoint &point, float &mindist, CStoredCollPoly *poly); - static bool ProcessLineTriangle(const CColLine &line , const CompressedVector *verts, const CColTriangle &tri, const CColTrianglePlane &plane, CColPoint &point, float &mindist, CStoredCollPoly *poly = nil); - static bool ProcessLineSphere(const CColLine &line, const CColSphere &sphere, CColPoint &point, float &mindist); - static bool ProcessSphereTriangle(const CColSphere &sph, const CompressedVector *verts, const CColTriangle &tri, const CColTrianglePlane &plane, CColPoint &point, float &mindistsq); - static bool ProcessLineOfSight(const CColLine &line, const CMatrix &matrix, CColModel &model, CColPoint &point, float &mindist, bool ignoreSeeThrough, bool ignoreShootThrough); - static bool ProcessVerticalLine(const CColLine &line, const CMatrix &matrix, CColModel &model, CColPoint &point, float &mindist, bool ignoreSeeThrough, bool ignoreShootThrough, CStoredCollPoly *poly); - static int32 ProcessColModels(const CMatrix &matrixA, CColModel &modelA, const CMatrix &matrixB, CColModel &modelB, CColPoint *spherepoints, CColPoint *linepoints, float *linedists); - static bool IsStoredPolyStillValidVerticalLine(const CVector &pos, float z, CColPoint &point, CStoredCollPoly *poly); - - static float DistToLine(const CVector *l0, const CVector *l1, const CVector *point); - static float DistToLine(const CVector *l0, const CVector *l1, const CVector *point, CVector &closest); -}; diff --git a/src/core/FileLoader.cpp b/src/core/FileLoader.cpp index da678fd3..1c9b4036 100644 --- a/src/core/FileLoader.cpp +++ b/src/core/FileLoader.cpp @@ -345,7 +345,7 @@ CFileLoader::LoadCollisionModel(uint8 *buf, CColModel &model, char *modelname) if(model.numTriangles > 0){ model.triangles = (CColTriangle*)RwMalloc(model.numTriangles*sizeof(CColTriangle)); for(i = 0; i < model.numTriangles; i++){ - model.triangles[i].Set(model.vertices, *(int32*)buf, *(int32*)(buf+4), *(int32*)(buf+8), buf[12], buf[13]); + model.triangles[i].Set(*(int32*)buf, *(int32*)(buf+4), *(int32*)(buf+8), buf[12]); buf += 16; } }else diff --git a/src/entities/Physical.cpp b/src/entities/Physical.cpp index 5483641f..acf9c702 100644 --- a/src/entities/Physical.cpp +++ b/src/entities/Physical.cpp @@ -633,7 +633,7 @@ CPhysical::ApplyCollision(CPhysical *B, CColPoint &colpoint, float &impulseA, fl if(IsGlass(B->GetModelIndex())) CGlass::WindowRespondsToSoftCollision(B, impulseA); if(!A->bInfiniteMass) - A->ApplyMoveForce(colpoint.normal*(1.0f + A->m_fElasticity)*impulseA); + A->ApplyMoveForce(colpoint.GetNormal() * (1.0f + A->m_fElasticity) * impulseA); return true; } }else if(!B->bInfiniteMass) @@ -688,7 +688,7 @@ CPhysical::ApplyCollision(CPhysical *B, CColPoint &colpoint, float &impulseA, fl }else{ if(IsGlass(B->GetModelIndex())) CGlass::WindowRespondsToSoftCollision(B, impulseA); - CVector f = colpoint.normal * impulseA; + CVector f = colpoint.GetNormal() * impulseA; if(A->IsVehicle() && colpoint.normal.z < 0.7f) f.z *= 0.3f; if(!A->bInfiniteMass){ @@ -1303,43 +1303,43 @@ CPhysical::ProcessShiftSectorList(CPtrList *lists) mostColliding = 0; for(j = 1; j < numCollisions; j++) - if(colpoints[j].depth > colpoints[mostColliding].depth) + if (colpoints[j].GetDepth() > colpoints[mostColliding].GetDepth()) mostColliding = j; if(CWorld::bSecondShift) for(j = 0; j < numCollisions; j++) - shift += colpoints[j].normal * colpoints[j].depth * 1.5f/numCollisions; + shift += colpoints[j].GetNormal() * colpoints[j].GetDepth() * 1.5f / numCollisions; else for(j = 0; j < numCollisions; j++) - shift += colpoints[j].normal * colpoints[j].depth * 1.2f/numCollisions; + shift += colpoints[j].GetNormal() * colpoints[j].GetDepth() * 1.2f / numCollisions; if(A->IsVehicle() && B->IsVehicle()){ CVector dir = A->GetPosition() - B->GetPosition(); dir.Normalise(); if(dir.z < 0.0f && dir.z < A->GetForward().z && dir.z < A->GetRight().z) dir.z = Min(0.0f, Min(A->GetForward().z, A->GetRight().z)); - shift += dir * colpoints[mostColliding].depth * 0.5f; + shift += dir * colpoints[mostColliding].GetDepth() * 0.5f; }else if(A->IsPed() && B->IsVehicle() && ((CVehicle*)B)->IsBoat()){ - CVector dir = colpoints[mostColliding].normal; + CVector dir = colpoints[mostColliding].GetNormal(); float f = Min(Abs(dir.z), 0.9f); dir.z = 0.0f; dir.Normalise(); - shift += dir * colpoints[mostColliding].depth / (1.0f - f); + shift += dir * colpoints[mostColliding].GetDepth() / (1.0f - f); boat = B; }else if(B->IsPed() && A->IsVehicle() && ((CVehicle*)A)->IsBoat()){ - CVector dir = colpoints[mostColliding].normal * -1.0f; + CVector dir = colpoints[mostColliding].GetNormal() * -1.0f; float f = Min(Abs(dir.z), 0.9f); dir.z = 0.0f; dir.Normalise(); - B->GetMatrix().Translate(dir * colpoints[mostColliding].depth / (1.0f - f)); + B->GetMatrix().Translate(dir * colpoints[mostColliding].GetDepth() / (1.0f - f)); // BUG? how can that ever happen? A is a Ped if(B->IsVehicle()) B->ProcessEntityCollision(A, colpoints); }else{ if(CWorld::bSecondShift) - shift += colpoints[mostColliding].normal * colpoints[mostColliding].depth * 0.4f; + shift += colpoints[mostColliding].GetNormal() * colpoints[mostColliding].GetDepth() * 0.4f; else - shift += colpoints[mostColliding].normal * colpoints[mostColliding].depth * 0.2f; + shift += colpoints[mostColliding].GetNormal() * colpoints[mostColliding].GetDepth() * 0.2f; } doShift = true; |