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ksys/phys: Add two RigidBody init functions (and prerequisites)

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This commit is contained in:
Léo Lam
2022-01-16 13:08:22 +01:00
parent a15790e624
commit 2a8dc8ad25
7 changed files with 131 additions and 27 deletions
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data/uking_functions.csv
+10 -10
View File
@@ -82966,8 +82966,8 @@ Address,Quality,Size,Name
0x0000007100f8c900,O,000168,_ZN4ksys4phys9RigidBodyD0Ev
0x0000007100f8c9a8,O,000168,_ZThn32_N4ksys4phys9RigidBodyD0Ev
0x0000007100f8ca50,O,000584,_ZN4ksys4phys9RigidBody34initMotionAccessorForDynamicMotionEPN4sead4HeapE
0x0000007100f8cc98,U,000172,phys::RigidBody::initRigidMotion
0x0000007100f8cd44,U,000552,phys::RigidBody::initMotion
0x0000007100f8cc98,O,000172,_ZN4ksys4phys9RigidBody18initMotionAccessorERKNS0_22RigidBodyInstanceParamEPN4sead4HeapEb
0x0000007100f8cd44,O,000552,_ZN4ksys4phys9RigidBody12createMotionEP16hkpMaxSizeMotionNS0_10MotionTypeERKNS0_22RigidBodyInstanceParamE
0x0000007100f8cf6c,O,000052,_ZNK4ksys4phys9RigidBody13getHkBodyNameEv
0x0000007100f8cfa0,U,000424,phys::RigidBody::x_0
0x0000007100f8d148,O,000144,_ZN4ksys4phys9RigidBody13setMotionFlagENS1_10MotionFlagE
@@ -83036,7 +83036,7 @@ Address,Quality,Size,Name
0x0000007100f90094,U,000968,phys::RigidBody::x_3
0x0000007100f9045c,U,001132,phys::RigidBody::x_39
0x0000007100f908c8,U,001632,phys::RigidBody::x_40
0x0000007100f90f28,U,000140,phys::RigidBody::getMotionAccessorType1_0
0x0000007100f90f28,U,000140,phys::RigidBody::getMotionAccessorForProxy
0x0000007100f90fb4,U,000332,phys::RigidBody::x_41
0x0000007100f91100,U,000140,phys::RigidBody::x_42
0x0000007100f9118c,U,000032,phys::RigidBody::getLinearVelocity
@@ -83132,9 +83132,9 @@ Address,Quality,Size,Name
0x0000007100f96700,U,000068,phys::RigidBody::m5
0x0000007100f96744,U,000176,phys::RigidBody::x_118
0x0000007100f967f4,U,000428,phys::RigidBody::x_119
0x0000007100f969a0,U,000072,phys::RigidBody::x_120
0x0000007100f969e8,U,000088,phys::RigidBody::x_121
0x0000007100f96a40,U,000012,phys::RigidBody::x_122
0x0000007100f969a0,U,000072,phys::RigidBody::lock
0x0000007100f969e8,U,000088,phys::RigidBody::unlock
0x0000007100f96a40,O,000012,_ZNK4ksys4phys9RigidBody9getMotionEv
0x0000007100f96a4c,U,000076,phys::RigidBody::x_123
0x0000007100f96a98,U,000188,phys::RigidBody::x_124
0x0000007100f96b54,U,000156,phys::RigidBody::x_125
@@ -93414,8 +93414,8 @@ Address,Quality,Size,Name
0x000000710121542c,U,000276,
0x0000007101215540,U,000016,
0x0000007101215550,U,000516,PhysicsMemSys::runJobsMaybe
0x0000007101215754,U,000048,PhysicsMemSys::__auto13
0x0000007101215784,U,000048,PhysicsMemSys::__auto16
0x0000007101215754,U,000048,PhysicsMemSys::lockWorld
0x0000007101215784,U,000048,PhysicsMemSys::unlockWorld
0x00000071012157b4,U,000464,PhysicsMemSys::__auto0
0x0000007101215984,U,000484,PhysicsMemSys::initGroupFilterXs
0x0000007101215b68,U,000036,PhysicsMemSys::removeGroupFilterX
@@ -95480,8 +95480,8 @@ Address,Quality,Size,Name
0x00000071012b3948,U,000908,phys::createHkpWorldStuff
0x00000071012b3cd4,U,000020,
0x00000071012b3ce8,U,000052,
0x00000071012b3d1c,U,000104,
0x00000071012b3d84,U,000104,
0x00000071012b3d1c,U,000104,phys::World::lockCS
0x00000071012b3d84,U,000104,phys::World::unlockCS
0x00000071012b3dec,O,000356,_ZN13hkpWorldCinfoD2Ev
0x00000071012b3f50,U,000096,
0x00000071012b3fb0,U,000024,
Can't render this file because it is too large.
lib/hkStubs/Havok/Common/Base/Math/Quaternion/hkQuaternionf.h
+6
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@@ -23,6 +23,8 @@ public:
HK_FORCE_INLINE void mul(hkQuaternionfParameter q);
HK_FORCE_INLINE void setMul(hkQuaternionfParameter q0, hkQuaternionfParameter q1);
HK_FORCE_INLINE static const hkQuaternionf& getIdentity();
hkVector4f m_vec;
};
@@ -76,3 +78,7 @@ inline void hkQuaternionf::setMul(hkQuaternionfParameter r, hkQuaternionfParamet
vec.addMul(qReal, rImag);
m_vec.setXYZ_W(vec, (rReal * qReal) - rImag.dot<3>(qImag));
}
inline const hkQuaternionf& hkQuaternionf::getIdentity() {
return reinterpret_cast<const hkQuaternionf&>(g_vectorfConstants[HK_QUADREAL_0001]);
}
src/KingSystem/Physics/RigidBody/physRigidBody.cpp
+86 -5
View File
@@ -1,6 +1,8 @@
#include "KingSystem/Physics/RigidBody/physRigidBody.h"
#include <Havok/Physics2012/Dynamics/Collide/hkpResponseModifier.h>
#include <Havok/Physics2012/Dynamics/Entity/hkpRigidBody.h>
#include <Havok/Physics2012/Dynamics/Motion/Rigid/hkpFixedRigidMotion.h>
#include <Havok/Physics2012/Dynamics/Motion/Rigid/hkpKeyframedRigidMotion.h>
#include "KingSystem/Physics/RigidBody/physMotionAccessor.h"
#include "KingSystem/Physics/RigidBody/physRigidBodyMotion.h"
#include "KingSystem/Physics/RigidBody/physRigidBodyMotionProxy.h"
@@ -10,6 +12,8 @@
namespace ksys::phys {
constexpr float MinInertia = 0.001;
RigidBody::RigidBody(Type type, u32 mass_scaling, hkpRigidBody* hk_body,
const sead::SafeString& name, sead::Heap* heap, bool a7)
: mCS(heap), mHkBody(hk_body), mRigidBodyAccessor(hk_body), mType(type) {
@@ -44,15 +48,19 @@ RigidBody::~RigidBody() {
}
}
inline void RigidBody::createMotionAccessor(sead::Heap* heap) {
if (isMassScaling())
mMotionAccessor = new (heap) RigidBodyMotionProxy(this);
else
mMotionAccessor = new (heap) RigidBodyMotion(this);
}
namespace {
struct RigidBodyDynamicInstanceParam : RigidBodyInstanceParam {};
} // namespace
bool RigidBody::initMotionAccessorForDynamicMotion(sead::Heap* heap) {
if (isMassScaling())
mMotionAccessor = new (heap) RigidBodyMotionProxy(this);
else
mMotionAccessor = new (heap) RigidBodyMotion(this);
createMotionAccessor(heap);
RigidBodyDynamicInstanceParam param;
auto* body = getHkBody();
@@ -61,7 +69,6 @@ bool RigidBody::initMotionAccessorForDynamicMotion(sead::Heap* heap) {
hkMatrix3 inertia;
body->getInertiaLocal(inertia);
constexpr float MinInertia = 0.001;
param.inertia = {sead::Mathf::max(inertia(0, 0), MinInertia),
sead::Mathf::max(inertia(1, 1), MinInertia),
sead::Mathf::max(inertia(2, 2), MinInertia)};
@@ -77,6 +84,76 @@ bool RigidBody::initMotionAccessorForDynamicMotion(sead::Heap* heap) {
return true;
}
bool RigidBody::initMotionAccessor(const RigidBodyInstanceParam& param, sead::Heap* heap,
bool init_motion) {
if (init_motion)
createMotion(static_cast<hkpMaxSizeMotion*>(getMotion()), param.motion_type, param);
createMotionAccessor(heap);
mMotionAccessor->init(param, heap);
return true;
}
bool RigidBody::createMotion(hkpMaxSizeMotion* motion, MotionType motion_type,
const RigidBodyInstanceParam& param) {
auto position = hkVector4f::zero();
auto rotation = hkQuaternionf::getIdentity();
hkVector4f center_of_mass;
loadFromVec3(&center_of_mass, param.center_of_mass);
auto velocity = hkVector4f::zero();
switch (motion_type) {
case MotionType::Fixed:
new (motion) hkpFixedRigidMotion(position, rotation);
break;
case MotionType::Dynamic: {
hkMatrix3f inertia_local;
inertia_local.m_col0.set(sead::Mathf::max(param.inertia.x, MinInertia), 0, 0);
inertia_local.m_col1.set(0, sead::Mathf::max(param.inertia.y, MinInertia), 0);
inertia_local.m_col2.set(0, 0, sead::Mathf::max(param.inertia.z, MinInertia));
hkpRigidBody::createDynamicRigidMotion(
hkpMotion::MOTION_DYNAMIC, position, rotation, param.mass, inertia_local,
center_of_mass, param.max_linear_velocity, param.max_angular_velocity_rad, motion);
motion->getMotionState()->m_maxLinearVelocity = param.max_linear_velocity;
motion->getMotionState()->m_maxAngularVelocity = param.max_angular_velocity_rad;
motion->setLinearDamping(param.linear_damping);
motion->setAngularDamping(param.angular_damping);
motion->setTimeFactor(param.time_factor);
motion->setGravityFactor(param.gravity_factor);
motion->setLinearVelocity(velocity);
motion->setAngularVelocity(velocity);
break;
}
case MotionType::Keyframed:
new (motion) hkpKeyframedRigidMotion(position, rotation);
motion->setCenterOfMassInLocal(center_of_mass);
motion->getMotionState()->m_maxLinearVelocity = param.max_linear_velocity;
motion->getMotionState()->m_maxAngularVelocity = param.max_angular_velocity_rad;
motion->setTimeFactor(param.time_factor);
motion->setLinearVelocity(velocity);
motion->setAngularVelocity(velocity);
break;
case MotionType::Unknown:
case MotionType::Invalid:
break;
}
if (mFlags.isOff(Flag::_2000000) && mFlags.isOff(Flag::_4000000) &&
mFlags.isOff(Flag::_8000000)) {
mHkBody->enableDeactivation(false);
mHkBody->enableDeactivation(true);
}
return true;
}
sead::SafeString RigidBody::getHkBodyName() const {
const char* name = mHkBody->getName();
if (!name)
@@ -148,4 +225,8 @@ void RigidBody::setContactNone() {
mContactMask.makeAllZero();
}
hkpMotion* RigidBody::getMotion() const {
return getHkBody()->getMotion();
}
} // namespace ksys::phys
src/KingSystem/Physics/RigidBody/physRigidBody.h
+18 -7
View File
@@ -14,6 +14,7 @@
class hkQuaternionf;
class hkVector4f;
class hkpRigidBody;
class hkpMaxSizeMotion;
class hkpMotion;
namespace ksys::phys {
@@ -63,6 +64,14 @@ public:
_20000 = 1 << 17,
_40000 = 1 << 18,
_80000 = 1 << 19,
_100000 = 1 << 20,
_200000 = 1 << 21,
_400000 = 1 << 22,
_800000 = 1 << 23,
_1000000 = 1 << 24,
_2000000 = 1 << 25,
_4000000 = 1 << 26,
_8000000 = 1 << 27,
};
enum class MotionFlag {
@@ -106,13 +115,12 @@ public:
virtual void m13();
virtual const char* getName();
// 0x0000007100f8ca50
bool initMotionAccessorForDynamicMotion(sead::Heap* heap);
// 0x0000007100f8cc98
void initMotionAccessor();
// 0x0000007100f8cd44
void initMotion(hkpMotion* motion, MotionType motion_type,
const RigidBodyInstanceParam& params);
bool initMotionAccessor(const RigidBodyInstanceParam& param, sead::Heap* heap,
bool init_motion);
/// Create a hkpMotion in the specified motion storage and initialise it.
bool createMotion(hkpMaxSizeMotion* motion, MotionType motion_type,
const RigidBodyInstanceParam& param);
sead::SafeString getHkBodyName() const;
@@ -184,7 +192,6 @@ public:
void sub_7100F8F8CC(ContactLayer, GroundHit, void*);
void sub_7100F8F9E8(ReceiverMask*, void*);
void sub_7100F8FA44(ContactLayer, u32);
hkpMotion* getMotion() const;
// 0x0000007100f9004c
void getTransform(sead::Matrix34f* mtx) const;
@@ -251,6 +258,8 @@ public:
// 0x0000007100f969e8
void unlock(bool also_unlock_world);
hkpMotion* getMotion() const;
class ScopedLock {
public:
explicit ScopedLock(RigidBody* body, bool also_lock_world)
@@ -271,6 +280,8 @@ public:
}
private:
void createMotionAccessor(sead::Heap* heap);
sead::CriticalSection mCS;
sead::TypedBitFlag<Flag, sead::Atomic<u32>> mFlags{};
sead::TypedBitFlag<MotionFlag, sead::Atomic<u32>> mMotionFlags{};
src/KingSystem/Physics/RigidBody/physRigidBodyMotion.cpp
+1 -1
View File
@@ -30,7 +30,7 @@ RigidBodyMotion::~RigidBodyMotion() {
bool RigidBodyMotion::init(const RigidBodyInstanceParam& params, sead::Heap* heap) {
auto* motion_storage = new (heap, alignof(hkpMaxSizeMotion)) u8[sizeof(hkpMaxSizeMotion)];
mMotion = new (motion_storage) hkpMaxSizeMotion;
mBody->initMotion(mMotion, MotionType::Dynamic, params);
mBody->createMotion(static_cast<hkpMaxSizeMotion*>(mMotion), MotionType::Dynamic, params);
mMaxImpulse = params.max_impulse;
mColImpulseScale = params.col_impulse_scale;
mFrictionScale = params.friction_scale;
src/KingSystem/Physics/RigidBody/physRigidBodyMotion.h
+1
View File
@@ -7,6 +7,7 @@
#include "KingSystem/Physics/RigidBody/physMotionAccessor.h"
#include "KingSystem/Physics/RigidBody/physRigidBody.h"
class hkpMaxSizeMotion;
class hkpMotion;
namespace ksys::phys {
src/KingSystem/Physics/physConversions.h
+9 -4
View File
@@ -17,10 +17,6 @@ inline void toVec3(sead::Vector3f* out, const hkVector4f& vec) {
return {vec.getX(), vec.getY(), vec.getZ()};
}
inline void storeToVec3(sead::Vector3f* out, const hkVector4f& vec) {
vec.store<3>(out->e.data());
}
inline void toHkVec4(hkVector4f* out, const sead::Vector3f& vec) {
out->set(vec.x, vec.y, vec.z);
}
@@ -29,6 +25,15 @@ inline void toHkVec4(hkVector4f* out, const sead::Vector3f& vec) {
return {vec.x, vec.y, vec.z};
}
inline void storeToVec3(sead::Vector3f* out, const hkVector4f& vec) {
vec.store<3>(out->e.data());
}
inline void loadFromVec3(hkVector4f* out, const sead::Vector3f& vec) {
out->load<3>(vec.e.data());
out->setW(0);
}
inline void toQuat(sead::Quatf* out, const hkQuaternionf& quat) {
out->set(quat.m_vec.getW(), quat.m_vec.getX(), quat.m_vec.getY(), quat.m_vec.getZ());
}