ksys/phys: Add prerequisites for RigidBody (RigidBodyParam fixes)

Seems to have fixed _ZN4ksys4phys11InstanceSet14sub_7100FBB00CEPNS0_9RigidBodyEPNS0_14RigidBodyParamE

src/KingSystem/Physics/RigidBody/Shape/physBoxShape.h

@@ -1,6 +1,7 @@
 #pragma once
 
 #include "KingSystem/Physics/RigidBody/physRigidBody.h"
+#include "KingSystem/Physics/RigidBody/physRigidBodyParam.h"
 
 namespace ksys::phys {
 

src/KingSystem/Physics/RigidBody/Shape/physCapsuleShape.h

@@ -5,6 +5,7 @@
 #include <prim/seadTypedBitFlag.h>
 #include <thread/seadAtomic.h>
 #include "KingSystem/Physics/RigidBody/physRigidBody.h"
+#include "KingSystem/Physics/RigidBody/physRigidBodyParam.h"
 #include "KingSystem/Physics/System/physDefines.h"
 #include "KingSystem/Physics/System/physMaterialMask.h"
 

src/KingSystem/Physics/RigidBody/Shape/physCylinderShape.h

@@ -1,6 +1,7 @@
 #pragma once
 
 #include "KingSystem/Physics/RigidBody/physRigidBody.h"
+#include "KingSystem/Physics/RigidBody/physRigidBodyParam.h"
 
 namespace ksys::phys {
 

src/KingSystem/Physics/RigidBody/Shape/physSphereShape.h

@@ -1,6 +1,7 @@
 #pragma once
 
 #include "KingSystem/Physics/RigidBody/physRigidBody.h"
+#include "KingSystem/Physics/RigidBody/physRigidBodyParam.h"
 
 namespace ksys::phys {
 

src/KingSystem/Physics/RigidBody/Shape/physWaterCylinderShape.h

@@ -1,6 +1,7 @@
 #pragma once
 
 #include "KingSystem/Physics/RigidBody/physRigidBody.h"
+#include "KingSystem/Physics/RigidBody/physRigidBodyParam.h"
 
 namespace ksys::phys {
 

src/KingSystem/Physics/RigidBody/physRigidBody.cpp

@@ -1,7 +1,12 @@
 #include "KingSystem/Physics/RigidBody/physRigidBody.h"
 #include <Havok/Physics2012/Dynamics/Collide/hkpResponseModifier.h>
 #include <Havok/Physics2012/Dynamics/Entity/hkpRigidBody.h>
+#include "KingSystem/Physics/RigidBody/physMotionAccessor.h"
+#include "KingSystem/Physics/RigidBody/physRigidBodyMotion.h"
+#include "KingSystem/Physics/RigidBody/physRigidBodyMotionProxy.h"
+#include "KingSystem/Physics/RigidBody/physRigidBodyParam.h"
 #include "KingSystem/Physics/System/physMemSystem.h"
+#include "KingSystem/Physics/physConversions.h"
 
 namespace ksys::phys {
 
@@ -26,6 +31,52 @@ RigidBody::RigidBody(Type type, u32 mass_scaling, hkpRigidBody* hk_body,
     mFlags.set(Flag::_100);
 }
 
+RigidBody::~RigidBody() {
+    if (mType != Type::_0 && mType != Type::TerrainHeightField &&
+        mType != Type::CharacterController) {
+        mHkBody->setName(nullptr);
+        mHkBody->deallocateInternalArrays();
+    }
+
+    if (mMotionAccessor) {
+        delete mMotionAccessor;
+        mMotionAccessor = nullptr;
+    }
+}
+
+namespace {
+struct RigidBodyDynamicInstanceParam : RigidBodyInstanceParam {};
+}  // namespace
+
+bool RigidBody::initMotionAccessorForDynamicMotion(sead::Heap* heap) {
+    if (isMassScaling())
+        mMotionAccessor = new (heap) RigidBodyMotionProxy(this);
+    else
+        mMotionAccessor = new (heap) RigidBodyMotion(this);
+
+    RigidBodyDynamicInstanceParam param;
+    auto* body = getHkBody();
+    param.motion_type = MotionType::Dynamic;
+    param.mass = body->getMass();
+
+    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)};
+    param.center_of_mass = toVec3(body->getCenterOfMassLocal());
+    param.linear_damping = body->getLinearDamping();
+    param.angular_damping = body->getAngularDamping();
+    param.gravity_factor = body->getGravityFactor();
+    param.time_factor = body->getTimeFactor();
+    param.max_linear_velocity = body->getMaxLinearVelocity();
+    param.max_angular_velocity_rad = body->getMaxAngularVelocity();
+
+    mMotionAccessor->init(param, heap);
+    return true;
+}
+
 sead::SafeString RigidBody::getHkBodyName() const {
     const char* name = mHkBody->getName();
     if (!name)

src/KingSystem/Physics/RigidBody/physRigidBody.h

@@ -8,7 +8,6 @@
 #include <thread/seadAtomic.h>
 #include <thread/seadCriticalSection.h>
 #include "KingSystem/Physics/RigidBody/physRigidBodyAccessor.h"
-#include "KingSystem/Physics/RigidBody/physRigidBodyParam.h"
 #include "KingSystem/Physics/System/physDefines.h"
 #include "KingSystem/Utils/Types.h"
 
@@ -20,13 +19,14 @@ class hkpMotion;
 namespace ksys::phys {
 
 class MotionAccessor;
+struct RigidBodyInstanceParam;
 class RigidBodyMotion;
 class RigidContactPoints;
 class UserTag;
 
 class RigidBase {
 public:
-    virtual ~RigidBase() = 0;
+    virtual ~RigidBase() = default;
 };
 
 class RigidBody : public sead::IDisposer, public RigidBase {
@@ -107,9 +107,9 @@ public:
     virtual const char* getName();
 
     // 0x0000007100f8ca50
-    bool initMotionAccessor(sead::Heap* heap);
+    bool initMotionAccessorForDynamicMotion(sead::Heap* heap);
     // 0x0000007100f8cc98
-    void initMotionAndAccessor();
+    void initMotionAccessor();
     // 0x0000007100f8cd44
     void initMotion(hkpMotion* motion, MotionType motion_type,
                     const RigidBodyInstanceParam& params);
@@ -182,7 +182,7 @@ public:
     void setCollideWater(bool);
     void sub_7100F8F51C();
     void sub_7100F8F8CC(ContactLayer, GroundHit, void*);
-    void sub_7100F8F9E8(u32*, void*);
+    void sub_7100F8F9E8(ReceiverMask*, void*);
     void sub_7100F8FA44(ContactLayer, u32);
     hkpMotion* getMotion() const;
 

src/KingSystem/Physics/RigidBody/physRigidBodyMotion.cpp

@@ -9,6 +9,7 @@
 #include <prim/seadSafeString.h>
 #include <prim/seadScopedLock.h>
 #include "KingSystem/Physics/RigidBody/physRigidBodyMotionProxy.h"
+#include "KingSystem/Physics/RigidBody/physRigidBodyParam.h"
 #include "KingSystem/Physics/physConversions.h"
 #include "KingSystem/Utils/Debug.h"
 

src/KingSystem/Physics/RigidBody/physRigidBodyMotionProxy.cpp

@@ -2,6 +2,7 @@
 #include <Havok/Common/Base/hkBase.h>
 #include <Havok/Physics2012/Dynamics/Entity/hkpRigidBody.h>
 #include "KingSystem/Physics/RigidBody/physRigidBodyMotion.h"
+#include "KingSystem/Physics/RigidBody/physRigidBodyParam.h"
 #include "KingSystem/Physics/physConversions.h"
 
 namespace ksys::phys {

src/KingSystem/Physics/RigidBody/physRigidBodyParam.cpp

@@ -66,6 +66,36 @@ bool RigidBodyParam::parse(const agl::utl::ResParameterList& res_list, sead::Hea
     return true;
 }
 
+void RigidBodyParam::makeInstanceParam(RigidBodyInstanceParam* param) const {
+    param->mass = *info.mass;
+    param->name = info.rigid_body_name->cstr();
+    param->inertia = *info.inertia;
+    param->center_of_mass = *info.center_of_mass;
+    param->max_linear_velocity = *info.max_linear_velocity;
+    param->max_angular_velocity_rad = *info.max_angular_velocity_rad;
+    param->toi = *info.toi;
+    param->motion_type = getMotionType();
+    param->linear_damping = *info.linear_damping;
+    param->angular_damping = *info.angular_damping;
+    param->max_impulse = *info.max_impulse;
+    param->col_impulse_scale = *info.col_impulse_scale;
+    param->ignore_normal_for_impulse = *info.ignore_normal_for_impulse;
+    param->always_character_mass_scaling = *info.always_character_mass_scaling;
+    param->friction_scale = *info.friction_scale;
+    param->restitution_scale = *info.restitution_scale;
+    param->water_buoyancy_scale = *info.water_buoyancy_scale;
+    param->water_flow_effective_rate = *info.water_flow_effective_rate;
+    param->magne_mass_scaling_factor = *info.magne_mass_scaling_factor;
+    param->contact_layer = getContactLayer();
+    param->groundhit = getGroundHit();
+    param->groundhit_mask = info.ground_hit_mask;
+    param->contact_mask = *info.contact_mask;
+    param->no_hit_ground = *info.no_hit_ground;
+    param->no_hit_water = *info.no_hit_water;
+    param->no_char_standing_on = *info.no_char_standing_on;
+    receiverMaskGetSensorLayerMaskForType(&param->receiver_mask, *info.receiver_type);
+}
+
 ContactLayer RigidBodyParam::getContactLayer() const {
     return contactLayerFromText(*info.layer);
 }

src/KingSystem/Physics/RigidBody/physRigidBodyParam.h

@@ -57,7 +57,7 @@ public:
     sead::Vector3f center_of_mass = sead::Vector3f::zero;
     float linear_damping = 0.0f;
     float angular_damping = 0.05f;
-    f32 _3c = 1.0f;
+    f32 gravity_factor = 1.0f;
     f32 time_factor = 1.0f;
     float max_linear_velocity = 200.0f;
     float max_angular_velocity_rad = 200.0f;
@@ -74,20 +74,21 @@ public:
     void* p = nullptr;
     ContactLayer contact_layer = ContactLayer::EntityObject;
     GroundHit groundhit = GroundHit::HitAll;
-    u32 info_5e0 = 0;
+    u32 groundhit_mask = 0;
     u32 contact_mask = 0;
-    u32 flags = 0x80000000;
+    ReceiverMask receiver_mask;
     bool ignore_normal_for_impulse = false;
     bool no_hit_ground = false;
     bool no_hit_water = false;
     bool no_char_standing_on = false;
+    bool _90 = false;
 
     bool isDynamicSensor() const {
         return getContactLayerType(contact_layer) == ContactLayerType::Sensor &&
                motion_type == MotionType::Dynamic;
     }
 };
-KSYS_CHECK_SIZE_NX150(RigidBodyInstanceParam, 0x90);
+KSYS_CHECK_SIZE_NX150(RigidBodyInstanceParam, 0x98);
 
 struct RigidBodyParam : agl::utl::ParameterList {
     struct Info : agl::utl::ParameterObj {
@@ -152,7 +153,7 @@ struct RigidBodyParam : agl::utl::ParameterList {
 
     // TODO: types and names
     void* createRigidBody(void* x, sead::Heap* heap, bool y);
-    bool getParams(RigidBodyInstanceParam* params) const;
+    void makeInstanceParam(RigidBodyInstanceParam* param) const;
     void* createEntityShape(void* x, void* y, sead::Heap* heap);
 
     ContactLayer getContactLayer() const;

src/KingSystem/Physics/System/physInstanceSet.cpp

@@ -122,17 +122,16 @@ void* InstanceSet::sub_7100FBAEDC(s32 idx1, s32 idx2) const {
     return mRigidBodySets[idx1]->getRigidBody(idx2);
 }
 
-// NON_MATCHING
 void InstanceSet::sub_7100FBB00C(phys::RigidBody* body, phys::RigidBodyParam* param) {
     if (body == nullptr)
         return;
 
     phys::RigidBodyInstanceParam instance_params;
-    param->getParams(&instance_params);
+    param->makeInstanceParam(&instance_params);
     if (instance_params.contact_layer == phys::ContactLayer::SensorCustomReceiver) {
-        body->sub_7100F8F9E8(&instance_params.flags, _188[body->isMassScaling()]);
-    } else if (instance_params.info_5e0) {
-        body->sub_7100F8FA44(instance_params.contact_layer, instance_params.info_5e0);
+        body->sub_7100F8F9E8(&instance_params.receiver_mask, _188[body->isMassScaling()]);
+    } else if (instance_params.groundhit_mask) {
+        body->sub_7100F8FA44(instance_params.contact_layer, instance_params.groundhit_mask);
     } else {
         body->sub_7100F8F8CC(instance_params.contact_layer, instance_params.groundhit,
                              _188[body->isMassScaling()]);