mirror/botw
1
0
Fork 0
mirror of https://github.com/zeldaret/botw synced 2026-07-30 15:53:56 -04:00
Code Issues Packages Projects Releases Wiki Activity

ksys/phys: Start implementing HavokCylinderWaterShape

Browse Source
This commit is contained in:
Léo Lam
2022-02-03 19:16:51 +01:00
parent 3af0c57f95
commit e58c1a4a44
5 changed files with 127 additions and 8 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/KingSystem/Physics/RigidBody/Shape/CylinderWater/physCylinderWaterShape.cpp
+54 -4
View File
@@ -1,10 +1,29 @@
#include "KingSystem/Physics/RigidBody/Shape/CylinderWater/physCylinderWaterShape.h"
#include <Havok/Common/Base/Types/Geometry/Aabb/hkAabb.h>
#include <Havok/Common/Base/Types/Geometry/Aabb/hkAabbUtil.h>
#include <Havok/Common/Base/Types/Geometry/Sphere/hkSphere.h>
#include <Havok/Physics2012/Collide/Agent/Collidable/hkpCdBody.h>
#include <Havok/Physics2012/Collide/Query/hkpRayHitCollector.h>
#include <Havok/Physics2012/Collide/Shape/HeightField/hkpHeightFieldShape.h>
#include <Havok/Physics2012/Collide/Shape/Query/hkpShapeRayCastOutput.h>
#include "KingSystem/Utils/HeapUtil.h"
#include "KingSystem/Utils/SafeDelete.h"
namespace ksys::phys {
static void addAabb(const hkTransform localToWorld, const hkVector4& halfExtents, hkAabb& aabbOut) {
hkVector4f x, y, z;
x.setMul(halfExtents.getComponent<0>(), localToWorld.getRotation().getColumn<0>());
y.setMul(halfExtents.getComponent<1>(), localToWorld.getRotation().getColumn<1>());
z.setMul(halfExtents.getComponent<2>(), localToWorld.getRotation().getColumn<2>());
hkVector4f max;
max.setAdd(x, y);
max.add(z);
aabbOut.m_min.add(max);
aabbOut.m_max.add(max);
}
class alignas(16) HavokCylinderWaterShape : public hkpHeightFieldShape {
public:
HK_DECLARE_CLASS_ALLOCATOR(HavokCylinderWaterShape)
@@ -13,15 +32,46 @@ public:
void setRadius(float radius) { m_radius = radius; }
void getAabb(const hkTransform& localToWorld, hkReal tolerance, hkAabb& aabbOut) const override;
void getAabb(const hkTransform& localToWorld, hkReal tolerance,
hkAabb& aabbOut) const override {
hkVector4 half_extents(m_height / 2, m_radius / 2, m_radius / 2);
hkAabbUtil::calcAabb(localToWorld, half_extents, tolerance, aabbOut);
hkBool castRay(const hkpShapeRayCastInput& input, hkpShapeRayCastOutput& output) const override;
hkVector4 half_extents2(0, -m_radius / 2, m_radius / 2);
addAabb(localToWorld, half_extents2, aabbOut);
}
hkBool castRay(const hkpShapeRayCastInput& input,
hkpShapeRayCastOutput& output) const override {
// FIXME: implement
return false;
}
void castRayWithCollector(const hkpShapeRayCastInput& input, const hkpCdBody& cdBody,
hkpRayHitCollector& collector) const override;
hkpRayHitCollector& collector) const override {
hkpShapeRayCastOutput output;
output.m_hitFraction = collector.m_earlyOutHitFraction;
if (castRay(input, output)) {
output.m_normal._setRotatedDir(cdBody.getTransform().getRotation(), output.m_normal);
collector.addRayHit(cdBody, output);
}
}
void collideSpheres(const CollideSpheresInput& input,
SphereCollisionOutput* outputArray) const override;
SphereCollisionOutput* outputArray) const override {
auto* sphere = input.m_spheres;
const hkSphere dummy({0, 1, 0}, hkSimdReal::getConstant<HK_QUADREAL_MAX>());
for (int i = input.m_numSpheres - 1; i >= 0; --i) {
hkSphere out = dummy;
// FIXME: implement the rest of this function
*outputArray = out.getPositionAndRadius();
++sphere;
++outputArray;
}
}
void castSphere(const hkpSphereCastInput& input, const hkpCdBody& cdBody,
hkpRayHitCollector& collector) const override {}