mirror of
https://github.com/zeldaret/botw
synced 2026-08-13 04:00:00 -04:00
ksys/phys: Add most remaining parts of RayCast
One last function remaining (0x0000007100fc4844) but it looks obnoxious so I'll leave it for later.
This commit is contained in:
Léo Lam
@@ -140,6 +140,8 @@ add_library(hkStubs OBJECT
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Havok/Physics2012/Collide/Shape/HeightField/hkpHeightFieldShape.h
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Havok/Physics2012/Collide/Shape/HeightField/hkpSphereRepShape.h
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Havok/Physics2012/Collide/Shape/HeightField/Plane/hkpPlaneShape.h
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Havok/Physics2012/Collide/Shape/HeightField/SampledHeightField/hkpSampledHeightFieldBaseCinfo.h
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Havok/Physics2012/Collide/Shape/HeightField/SampledHeightField/hkpSampledHeightFieldShape.h
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Havok/Physics2012/Collide/Shape/Query/hkpRayShapeCollectionFilter.h
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Havok/Physics2012/Collide/Shape/Query/hkpShapeRayCastCollectorOutput.h
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Havok/Physics2012/Collide/Shape/Query/hkpShapeRayCastInput.h
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@@ -199,12 +201,14 @@ add_library(hkStubs OBJECT
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Havok/Physics2012/Dynamics/World/Simulation/hkpSimulation.h
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Havok/Physics2012/Dynamics/World/Util/hkpWorldConstraintUtil.h
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Havok/Physics2012/Internal/Collide/BvCompressedMesh/hkpBvCompressedMeshShape.h
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Havok/Physics2012/Internal/Collide/Mopp/Code/hkpMoppCode.h
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Havok/Physics2012/Internal/Collide/StaticCompound/hkpShapeKeyTable.h
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Havok/Physics2012/Internal/Collide/StaticCompound/hkpStaticCompoundShape.h
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Havok/Physics2012/Internal/Solver/Contact/hkpSimpleContactConstraintDataInfo.h
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Havok/Physics2012/Utilities/CharacterControl/CharacterRigidBody/hkpCharacterRigidBody.h
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Havok/Physics2012/Utilities/Collide/ShapeUtils/ShapeKeyPath/hkpShapeKeyPath.h
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Havok/Physics2012/Utilities/Collide/ShapeUtils/ShapeScaling/hkpShapeScalingUtility.h
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Havok/Physics2012/Utilities/Dynamics/ScaleSystem/hkpSystemScalingUtility.h
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Havok/Physics2012/Utilities/Serialize/hkpPhysicsData.h
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@@ -7,3 +7,5 @@
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#define HK_VISIBILITY_HIDDEN __attribute__((visibility("hidden")))
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#define HK_RESTRICT __restrict
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#define HK_MAX_NUM_THREADS 12
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+24
@@ -0,0 +1,24 @@
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#pragma once
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#include <Havok/Common/Base/hkBase.h>
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class hkpSampledHeightFieldBaseCinfo {
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public:
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HK_DECLARE_CLASS_ALLOCATOR(hkpSampledHeightFieldBaseCinfo)
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hkpSampledHeightFieldBaseCinfo() {
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m_scale.set(1.0f, 1.0f, 1.0f);
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m_xRes = 2;
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m_zRes = 2;
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m_minHeight = 0.0f;
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m_maxHeight = -1.0f;
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m_useProjectionBasedHeight = false;
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}
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hkVector4 m_scale;
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hkInt32 m_xRes;
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hkInt32 m_zRes;
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hkReal m_minHeight;
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hkReal m_maxHeight;
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hkBool m_useProjectionBasedHeight;
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};
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+153
@@ -0,0 +1,153 @@
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#pragma once
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#include <Havok/Common/Base/Types/Geometry/Aabb/hkAabb.h>
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#include <Havok/Common/Base/hkBase.h>
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#include <Havok/Physics2012/Collide/Shape/HeightField/SampledHeightField/hkpSampledHeightFieldBaseCinfo.h>
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#include <Havok/Physics2012/Collide/Shape/HeightField/hkpHeightFieldShape.h>
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class hkpSampledHeightFieldShape : public hkpHeightFieldShape {
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public:
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HK_DECLARE_CLASS_ALLOCATOR(hkpHeightFieldShape)
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HK_DECLARE_REFLECTION()
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HKCD_DECLARE_SHAPE_TYPE(hkcdShapeType::SAMPLED_HEIGHT_FIELD)
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enum HeightFieldType {
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/// hkpStorageSampledHeightFieldShape, stores values as hkReals
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HEIGHTFIELD_STORAGE = 0,
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/// hkpCompressedSampledHeightFieldShape, stores values as hkUint16s
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HEIGHTFIELD_COMPRESSED,
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HEIGHTFIELD_USER,
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HEIGHTFIELD_MAX_ID
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};
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explicit hkpSampledHeightFieldShape(const hkpSampledHeightFieldBaseCinfo& ci,
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HeightFieldType type = HEIGHTFIELD_USER);
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hkpSampledHeightFieldShape()
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: hkpHeightFieldShape(HKCD_SHAPE_TYPE_FROM_CLASS(hkpSampledHeightFieldShape)) {}
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explicit hkpSampledHeightFieldShape(hkFinishLoadedObjectFlag flag);
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~hkpSampledHeightFieldShape() override;
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void getCinfo(hkpSampledHeightFieldBaseCinfo& cinfo) const;
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HK_FORCE_INLINE hkReal getHeightAt(int x, int z) const;
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HK_FORCE_INLINE hkBool getTriangleFlip() const;
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void buildCoarseMinMaxTree(int coarseness = 3);
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virtual void getCoarseMinMax(int level, int x, int z, hkVector4& minOut,
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hkVector4& maxOut) const;
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void setMinMaxTreeCoarseness(int coarseness);
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void getAabb(const hkTransform& localToWorld, hkReal tolerance, hkAabb& out) const override;
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void collideSpheres(const CollideSpheresInput& input,
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SphereCollisionOutput* outputArray) const override;
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void castSphere(const hkpSphereCastInput& input, const hkpCdBody& cdBody,
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hkpRayHitCollector& collector) const override;
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hkBool castRay(const hkpShapeRayCastInput& input, hkpShapeRayCastOutput& output) const override;
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void castRayWithCollector(const hkpShapeRayCastInput& input, const hkpCdBody& cdBody,
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hkpRayHitCollector& collector) const override;
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virtual hkReal getHeightAtImpl(int x, int z) const;
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virtual hkBool getTriangleFlipImpl() const;
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using RayCastInternalFunc = void (hkpSampledHeightFieldShape::*)(const hkpShapeRayCastInput&,
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const hkpCdBody&,
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hkpRayHitCollector&) const;
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static RayCastInternalFunc s_rayCastFunc;
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void castRayDefault(const hkpShapeRayCastInput& input, const hkpCdBody& cdBody,
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hkpRayHitCollector& collector) const;
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void castRayDda(const hkpShapeRayCastInput& input, const hkpCdBody& cdBody,
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hkpRayHitCollector& collector) const;
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void castRayCoarseTree(const hkpShapeRayCastInput& input, const hkpCdBody& cdBody,
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hkpRayHitCollector& collector) const;
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using SphereCastInternalFunc = void (hkpSampledHeightFieldShape::*)(const hkpSphereCastInput&,
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const hkpCdBody&,
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hkpRayHitCollector&) const;
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static SphereCastInternalFunc s_sphereCastFunc;
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void castSphereDefault(const hkpSphereCastInput& input, const hkpCdBody& cdBody,
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hkpRayHitCollector& collector) const;
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void castSphereDda(const hkpSphereCastInput& input, const hkpCdBody& cdBody,
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hkpRayHitCollector& collector) const;
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void castSphereCoarseTree(const hkpSphereCastInput& input, const hkpCdBody& cdBody,
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hkpRayHitCollector& collector) const;
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protected:
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void castRayDdaInternal(const hkpShapeRayCastInput& input, const hkpCdBody& cdBody,
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hkBool reportPenetratingStartPosition, hkReal maxExtraPenetration,
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hkpRayHitCollector& collector) const;
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void castRayCoarseTreeInternal(const hkVector4& from, const hkVector4& to,
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const hkpCdBody& cdBody, hkpRayHitCollector& collector) const;
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HK_FORCE_INLINE void _getHeightAndNormalAt(int xPos, int zPos, hkReal subX, hkReal subZ,
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hkVector4& normalOut, hkReal& heightOut,
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int& triangleIndexOut) const;
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HK_FORCE_INLINE void calcMinMax(int coarseness, int x, int z, hkReal& minheightOut,
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hkReal& maxheightOut) const;
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struct AABBStackElement {
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hkAabb aabb;
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int level;
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int x;
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int z;
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};
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HK_FORCE_INLINE void findStartCell(AABBStackElement& startOut, const hkVector4& from,
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const hkVector4& to) const;
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HK_FORCE_INLINE void rayTriangleQuadCheck(const struct hkcdRay& ray, hkAabb& aabb, int x, int z,
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const hkVector4Comparison& flipSelect,
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const hkpCdBody& cdBody,
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hkpRayHitCollector& collector) const;
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public:
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struct CoarseMinMaxLevel {
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HK_DECLARE_CLASS_ALLOCATOR(CoarseMinMaxLevel)
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HK_DECLARE_REFLECTION()
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CoarseMinMaxLevel() {}
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explicit CoarseMinMaxLevel(hkFinishLoadedObjectFlag f) : m_minMaxData(f) {}
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CoarseMinMaxLevel(const CoarseMinMaxLevel& l) : m_xRes(l.m_xRes), m_zRes(l.m_zRes) {
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m_minMaxData = l.m_minMaxData;
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}
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hkArray<hkVector4> m_minMaxData;
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int m_xRes;
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int m_zRes;
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};
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hkArray<CoarseMinMaxLevel> m_coarseTreeData;
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void getHeightAndNormalAt(int xPos, int zPos, hkReal subX, hkReal subZ, hkVector4& normalOut,
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hkReal& heightOut, int& triangleIndexOut) const;
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int m_coarseness;
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hkReal m_raycastMinY;
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hkReal m_raycastMaxY;
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int m_xRes;
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int m_zRes;
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hkReal m_heightCenter;
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hkBool m_useProjectionBasedHeight;
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hkEnum<HeightFieldType, hkUint8> m_heightfieldType;
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hkVector4 m_intToFloatScale;
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hkVector4 m_floatToIntScale;
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hkVector4 m_floatToIntOffsetFloorCorrected;
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hkVector4 m_extents;
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};
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+154
@@ -0,0 +1,154 @@
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#pragma once
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#include <Havok/Common/Base/hkBase.h>
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#include <Havok/Physics2012/Collide/Shape/Compound/Tree/hkpBvTreeShape.h>
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#include <Havok/Physics2012/Collide/Shape/hkpShapeContainer.h>
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#include <Havok/Physics2012/Collide/Util/Welding/hkpWeldingUtility.h>
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struct hkGeometry;
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class hkpBvCompressedMeshShapeCinfo;
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class hkpBvCompressedMeshShape : public hkpBvTreeShape, public hkpShapeContainer {
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public:
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enum PerPrimitiveDataMode {
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PER_PRIMITIVE_DATA_NONE,
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PER_PRIMITIVE_DATA_8_BIT,
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PER_PRIMITIVE_DATA_PALETTE,
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PER_PRIMITIVE_DATA_STRING_PALETTE,
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};
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enum PrimitiveType {
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PRIMITIVE_TYPE_BOX,
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PRIMITIVE_TYPE_HULL,
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PRIMITIVE_TYPE_SPHERE,
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PRIMITIVE_TYPE_CAPSULE,
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PRIMITIVE_TYPE_CYLINDER,
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};
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enum Config {
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#if HK_POINTER_SIZE == 8
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#ifdef HK_REAL_IS_DOUBLE
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NUM_BYTES_FOR_TREE = 224,
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#else
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NUM_BYTES_FOR_TREE = 160,
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#endif
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#else
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#ifdef HK_REAL_IS_DOUBLE
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NUM_BYTES_FOR_TREE = 224,
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#else
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NUM_BYTES_FOR_TREE = 144,
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#endif
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#endif
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MAX_NUM_VERTICES_PER_HULL = 255,
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MAX_NUM_PRIMITIVES = 1 << 23
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};
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public:
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HK_DECLARE_CLASS_ALLOCATOR(hkpBvCompressedMeshShape)
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HK_DECLARE_REFLECTION()
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HKCD_DECLARE_SHAPE_TYPE(hkcdShapeType::BV_COMPRESSED_MESH)
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explicit hkpBvCompressedMeshShape(const hkpBvCompressedMeshShapeCinfo& cInfo);
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explicit hkpBvCompressedMeshShape(hkFinishLoadedObjectFlag flag);
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HK_FORCE_INLINE hkpBvCompressedMeshShape() {}
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~hkpBvCompressedMeshShape() override;
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HK_FORCE_INLINE hkReal getConvexRadius() const;
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hkUint32 getPrimitiveUserData(hkpShapeKey key) const;
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hkStringPtr getPrimitiveUserString(hkpShapeKey key) const;
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HK_FORCE_INLINE PerPrimitiveDataMode getCollisionFilterInfoMode() const;
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HK_FORCE_INLINE PerPrimitiveDataMode getUserDataMode() const;
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HK_FORCE_INLINE hkArray<hkUint32>& accessCollisionFilterInfoPalette();
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HK_FORCE_INLINE hkArray<hkUint32>& accessUserDataPalette();
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HK_FORCE_INLINE hkArray<hkStringPtr>& accessUserStringPalette();
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void convertToGeometry(hkGeometry& geometryOut, const hkArray<hkpShapeKey>* inclKeys = nullptr,
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const hkArray<hkpShapeKey>* exclKeys = nullptr) const;
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const hkpShapeContainer* getContainer() const override { return this; }
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int calcSizeForSpu(const CalcSizeForSpuInput& input, int spuBufferSizeLeft) const override;
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void getAabb(const hkTransform& localToWorld, hkReal tolerance, hkAabb& out) const override;
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hkBool castRay(const hkpShapeRayCastInput& input,
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hkpShapeRayCastOutput& results) const override;
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void castRayWithCollector(const hkpShapeRayCastInput& input, const hkpCdBody& body,
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hkpRayHitCollector& collector) const override;
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void queryAabb(const hkAabb& aabb, hkArray<hkpShapeKey>& hits) const override;
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hkUint32 queryAabbImpl(const hkAabb& aabb, hkpShapeKey* hits, int maxNumKeys) const override;
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void castAabbImpl(const hkAabb& from, hkVector4Parameter to,
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hkpAabbCastCollector& collector) const override;
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int getNumChildShapes() const override;
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hkpShapeKey getFirstKey() const override;
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hkpShapeKey getNextKey(hkpShapeKey oldKey) const override;
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const hkpShape* getChildShape(hkpShapeKey key, hkpShapeBuffer& buffer) const override;
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hkUint32 getCollisionFilterInfo(hkpShapeKey key) const override;
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protected:
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hkReal m_convexRadius;
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hkEnum<hkpWeldingUtility::WeldingType, hkUint8> m_weldingType;
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hkBool m_hasPerPrimitiveCollisionFilterInfo;
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hkBool m_hasPerPrimitiveUserData;
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hkArray<hkUint32> m_collisionFilterInfoPalette;
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hkArray<hkUint32> m_userDataPalette;
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hkArray<hkStringPtr> m_userStringPalette;
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alignas(16) hkUint8 m_tree[NUM_BYTES_FOR_TREE];
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friend struct hkpBvCompressedMeshShape_Internals;
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public:
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alignas(16) static hkVector4 g_vertexBufferPool[HK_MAX_NUM_THREADS][MAX_NUM_VERTICES_PER_HULL];
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};
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inline hkReal hkpBvCompressedMeshShape::getConvexRadius() const {
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return m_convexRadius;
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}
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inline hkpBvCompressedMeshShape::PerPrimitiveDataMode
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hkpBvCompressedMeshShape::getCollisionFilterInfoMode() const {
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return m_hasPerPrimitiveCollisionFilterInfo ?
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(m_collisionFilterInfoPalette.getSize() ? PER_PRIMITIVE_DATA_PALETTE :
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PER_PRIMITIVE_DATA_8_BIT) :
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PER_PRIMITIVE_DATA_NONE;
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}
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inline hkpBvCompressedMeshShape::PerPrimitiveDataMode
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hkpBvCompressedMeshShape::getUserDataMode() const {
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if (!m_hasPerPrimitiveUserData)
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return PER_PRIMITIVE_DATA_NONE;
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if (m_userDataPalette.getSize() > 0)
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return PER_PRIMITIVE_DATA_PALETTE;
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if (m_userStringPalette.getSize() > 0)
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return PER_PRIMITIVE_DATA_STRING_PALETTE;
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return PER_PRIMITIVE_DATA_8_BIT;
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}
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inline hkArray<hkUint32>& hkpBvCompressedMeshShape::accessCollisionFilterInfoPalette() {
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return m_collisionFilterInfoPalette;
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}
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inline hkArray<hkUint32>& hkpBvCompressedMeshShape::accessUserDataPalette() {
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return m_userDataPalette;
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}
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inline hkArray<hkStringPtr>& hkpBvCompressedMeshShape::accessUserStringPalette() {
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return m_userStringPalette;
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}
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+77
@@ -0,0 +1,77 @@
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#pragma once
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#include <Havok/Common/Base/hkBase.h>
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#include <Havok/Physics2012/Collide/Shape/hkpShape.h>
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#include <Havok/Physics2012/Collide/Shape/hkpShapeBuffer.h>
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class hkpContactPointEvent;
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struct hkpRootCdPoint;
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struct hkpShapeRayBundleCastOutput;
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struct hkpWorldRayCastOutput;
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class hkpShapeKeyPath {
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public:
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HK_DECLARE_CLASS_ALLOCATOR(hkpShapeKeyPath)
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class Iterator;
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hkpShapeKeyPath(const hkpContactPointEvent& event, int bodyIdx);
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explicit hkpShapeKeyPath(const hkpWorldRayCastOutput& output);
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hkpShapeKeyPath(const hkpShape* shape, const hkpShapeRayCastOutput& output);
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hkpShapeKey getShapeKey(int keyIndex) const;
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Iterator getIterator() const;
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void getShapes(int maxShapesOut, hkpShapeBuffer* buffers, const hkpShape** shapesOut,
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int& numShapesOut);
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class Iterator {
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public:
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HK_DECLARE_CLASS_ALLOCATOR(Iterator)
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friend class hkpShapeKeyPath;
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/// Returns nullptr if the iterator is invalid.
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const hkpShape* getShape() const;
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/// @warning This can invalidate the shape.
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void next();
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hkBool isValid() const;
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private:
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Iterator(const hkpShapeKeyPath* path, const hkpShape* rootShape);
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void nextImpl(hkpShapeBuffer* buf);
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const hkpShapeKeyPath* m_path;
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const hkpShape* m_currentShape;
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int m_currentKeyIdx;
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hkBool m_isValid;
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hkpShapeBuffer m_tempBuffer;
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};
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private:
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void init(const hkpShape* shape, const hkpShapeKey* keys, int maxKeys);
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const hkpShape* m_rootShape;
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const hkpShapeKey* m_keys;
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int m_numKeys;
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hkBool m_isOrderLeafToRoot;
|
||||
};
|
||||
|
||||
inline hkpShapeKeyPath::Iterator hkpShapeKeyPath::getIterator() const {
|
||||
return {this, m_rootShape};
|
||||
}
|
||||
|
||||
inline const hkpShape* hkpShapeKeyPath::Iterator::getShape() const {
|
||||
return m_currentShape;
|
||||
}
|
||||
|
||||
inline void hkpShapeKeyPath::Iterator::next() {
|
||||
return nextImpl(&m_tempBuffer);
|
||||
}
|
||||
|
||||
inline hkBool hkpShapeKeyPath::Iterator::isValid() const {
|
||||
return m_isValid;
|
||||
}
|
||||
Reference in New Issue
Block a user