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ss/src/d/d_jnt_col.cpp
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robojumper ad7861a840 d_a_obj_fairy mostly OK
2025-09-26 23:20:00 +02:00

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#include "d/d_jnt_col.h"
#include "c/c_math.h"
#include "common.h"
#include "d/a/obj/d_a_obj_base.h"
#include "egg/math/eggMath.h"
#include "m/m_mtx.h"
#include "m/m_vec.h"
#include "nw4r/math/math_arithmetic.h"
#include "rvl/MTX/mtxvec.h"
dJntCol_c::dJntCol_c() : mData(nullptr), mpModel(nullptr), mpActor(nullptr), field_0xC(0), field_0x10(0) {}
int dJntCol_c::init(dAcObjBase_c *i_actorP, dJntColData_c const *i_jntColP, m3d::mdl_c *i_modelP, int param_3) {
mData = i_jntColP;
mpModel = i_modelP;
field_0xC = param_3;
field_0x10 = 0;
if (i_actorP) {
i_actorP->setJntCol(this);
mpActor = i_actorP;
}
return 1;
}
void dJntCol_c::getAnmMtx(s32 jntId, mMtx_c *pOutMtx) const {
if (mpModel != nullptr) {
mpModel->getNodeWorldMtx(jntId, *pOutMtx);
} else {
*pOutMtx = mpActor->mWorldMtx;
}
}
void dJntCol_c::setNowLine(cM3dGLin *i_line, mVec3_c const *param_1, mAng3_c const *param_2, mVec3_c *param_3) {
mMtx_c mtx;
if (param_2 != nullptr) {
mtx.ZXYrotS(*param_2);
mtx.multVec(mVec3_c::Ez, *param_3);
} else {
*param_3 = mVec3_c::Ez;
}
mVec3_c start_pos = *param_1 - *param_3 * 500.0f;
mVec3_c end_pos = *param_1 + *param_3 * 500.0f;
i_line->Set(start_pos, end_pos);
}
int dJntCol_c::searchNearPos(cM3dGLin const *param_1, mVec3_c const *param_2, mVec3_c *param_3, int param_4) const {
mVec3_c const *pcVar9 = param_2;
const dJntColData_c *pcVar12 = mData;
mMtx_c mtx;
cM3dGSph sphere;
cM3dGCyl cylinder;
cM3dGLin line;
cM3dGPla plane;
mVec3_c local_19c, local_1a8;
mVec3_c local_1b4, local_1c0;
mVec3_c local_1cc, local_1d8;
mVec3_c local_1e4, local_1f0;
f32 mag;
bool bVar5 = false;
int rv = -1;
f32 max = EGG::Math<f32>::maxNumber();
f32 min = -10000000.0f;
for (int i = 0; i < field_0xC; i++, pcVar12++) {
if (checkPassNum(i) == 0 && (param_4 & (1 << pcVar12->mType))) {
getAnmMtx(pcVar12->mJntNum, &mtx);
mtx.multVec(pcVar12->getVec(0), local_1cc);
f32 radius = nw4r::math::FSqrt(mtx(0) * mtx(0) + mtx(4) * mtx(4) + mtx(8) * mtx(8)) * pcVar12->field_0x4;
if (pcVar12->field_0x0 == 0) {
sphere.Set(&local_1cc, radius);
int iVar6 = cM3d_Cross_LinSph_CrossPos(sphere, *param_1, &local_1b4, &local_1c0);
if (iVar6 != 0) {
if (iVar6 == 1) {
local_19c = local_1b4;
} else {
f32 dVar15 = local_1c0.squareDistance(param_1->GetStart());
f32 dVar16 = local_1b4.squareDistance(param_1->GetStart());
if (dVar16 < dVar15) {
local_19c = local_1b4;
} else {
local_19c = local_1c0;
}
}
} else {
local_1a8 = *param_2 - local_1cc;
local_1a8.normalize();
local_19c = local_1cc + local_1a8 * radius;
}
} else if (pcVar12->field_0x0 == 1) {
mtx.multVecSR(pcVar12->getVec(1), local_1a8);
local_1d8 = local_1cc + local_1a8;
int bVar13;
if (!cM::isZero(local_1a8.absXZ())) {
mtx.transS(local_1cc);
mtx.XrotM(cM::atan2s(-local_1a8.absXZ(), local_1a8.y));
mtx.YrotM(cM::atan2s(-local_1a8.x, local_1a8.z));
mtx.transM(-local_1cc.x, -local_1cc.y, -local_1cc.z);
mtx.multVec(local_1d8, local_1c0);
mtx.multVec(param_1->GetStart(), local_1e4);
mtx.multVec(param_1->GetEnd(), local_1f0);
line.Set(local_1e4, local_1f0);
bVar13 = true;
} else {
if (local_1d8.y < local_1cc.y) {
mVec3_c tmp = local_1cc;
local_1cc = local_1d8;
local_1d8 = tmp;
}
local_1c0 = local_1d8;
line.Set(param_1->GetStart(), param_1->GetEnd());
bVar13 = false;
}
cylinder.SetC(local_1cc, radius, nw4r::ut::Max<f32>(local_1c0.y - local_1cc.y, 0.f));
if (cM3d_Cross_CylLin(cylinder, line, &local_1b4, &local_1c0)) {
if (bVar13) {
mtx.inverse();
mtx.multVec(local_1b4, local_19c);
} else {
local_19c = local_1b4;
}
} else {
line.Set(local_1cc, local_1d8);
f32 dVar15 = cM3d_lineVsPosSuisenCross(line, *param_2, local_1b4);
local_1a8 = *param_2 - local_1b4;
mag = local_1a8.getSquareMag();
if (mag < 1e-04f) {
local_1b4 = line.GetStart() - line.GetEnd();
local_1c0 = param_1->GetStart() - param_1->GetEnd();
f32 inprod = local_1b4.dot(local_1c0);
if (inprod > 0.0f) {
local_19c = line.GetEnd();
} else if (inprod < 0.0f) {
local_19c = line.GetStart();
} else if (dVar15 < 0.5f) {
local_19c = line.GetStart();
} else {
local_19c = line.GetEnd();
}
} else {
if (dVar15 >= 0.0f && dVar15 <= 1.0f) {
local_19c = local_1b4 + (local_1a8 / nw4r::math::FSqrt(mag)) * radius;
} else {
local_1b4 = line.GetStart() - line.GetEnd();
local_1c0 = param_1->GetStart() - param_1->GetEnd();
f32 dVar14 = local_1b4.dot(local_1c0);
if (dVar14 > 0.0f) {
local_1b4 = line.GetEnd();
} else {
if (dVar14 < 0.0f) {
local_1b4 = line.GetStart();
} else {
if (dVar15 < 0.5f) {
local_1b4 = line.GetStart();
} else {
local_1b4 = line.GetEnd();
}
}
}
local_19c = local_1b4 + (local_1a8 / nw4r::math::FSqrt(mag)) * radius;
}
}
}
} else {
mtx.multVecSR(pcVar12->getVec(1), local_1a8);
plane.SetupNP0(local_1a8, local_1cc);
if (plane.CrossInfLin(*param_2, param_1->GetEnd(), local_19c)) {
if (!(local_1cc.distance(local_19c) < radius)) {
local_1a8 = local_19c - local_1cc;
local_1a8.normalize();
local_19c = local_1cc + local_1a8 * radius;
}
} else {
f32 pla = cM3d_SignedLenPlaAndPos(&plane, param_2);
local_1a8.normalize();
local_19c = *param_2 - local_1a8 * pla;
}
}
f32 cross = cM3d_lineVsPosSuisenCross(*param_1, local_19c, &local_1b4);
f32 dVar16 = local_19c.squareDistance(local_1b4);
if (dVar16 < 1e-04f) {
if (!bVar5 || min < cross) {
min = cross;
*param_3 = local_19c;
rv = i;
bVar5 = TRUE;
}
} else {
if (!bVar5 && (max >= dVar16)) {
max = dVar16;
*param_3 = local_19c;
rv = i;
}
}
};
}
return rv;
}
int dJntCol_c::getArrowOffsetPosAndAngle(
mVec3_c const *param_1, mAng3_c const *param_2, mVec3_c *param_3, mVec3_c *param_4, bool param_5
) const {
cM3dGLin acStack_34;
mVec3_c cStack_40;
setNowLine(&acStack_34, param_1, param_2, &cStack_40);
mVec3_c cStack_4c;
int iVar1 = searchNearPos(&acStack_34, param_1, &cStack_4c, param_5 ? 12 : 3);
if (iVar1 < 0) {
return -3;
}
const dJntColData_c *jntColData = &mData[iVar1];
if (jntColData->mType == 0) {
return -3;
}
if (jntColData->mType == 2) {
return -2;
}
mMtx_c mtx;
getAnmMtx(jntColData->mJntNum, &mtx);
mtx.inverse();
MTXMultVecSR(mtx, cStack_40, *param_4);
MTXMultVec(mtx, cStack_4c, *param_3);
return jntColData->mJntNum;
}
int dJntCol_c::getHitmarkPosAndAngle(
mVec3_c const *param_1, mAng3_c const *param_2, mVec3_c *param_3, mAng3_c *param_4, int param_5
) const {
cM3dGLin acStack_54;
mVec3_c cStack_60;
setNowLine(&acStack_54, param_1, param_2, &cStack_60);
int iVar3 = searchNearPos(&acStack_54, param_1, param_3, param_5);
if (iVar3 < 0) {
return -1;
}
const dJntColData_c *jntColData = &mData[iVar3];
mVec3_c cStack_6c;
mVec3_c local_78;
mMtx_c mtx;
getAnmMtx(jntColData->mJntNum, &mtx);
MTXMultVec(mtx, jntColData->getVec(0), cStack_6c);
if (jntColData->field_0x0 == 0) {
local_78 = *param_3 - cStack_6c;
} else if (jntColData->field_0x0 == 1) {
mVec3_c cStack_84;
mVec3_c cStack_90;
MTXMultVecSR(mtx, jntColData->getVec(1), cStack_84);
cStack_84 += cStack_6c;
cM3d_lineVsPosSuisenCross(cStack_6c, cStack_84, *param_3, &cStack_90);
local_78 = *param_3 - cStack_90;
if (local_78.getSquareMag() < 1e-04f) {
if (param_3->squareDistance(cStack_6c) < param_3->squareDistance(cStack_84)) {
local_78 = cStack_6c - cStack_84;
} else {
local_78 = cStack_84 - cStack_6c;
}
}
} else {
MTXMultVecSR(mtx, jntColData->getVec(1), local_78);
}
param_4->x = cM::atan2s(local_78.y, local_78.absXZ());
param_4->y = cM::atan2s(-local_78.x, -local_78.z);
param_4->z = 0;
return iVar3;
}
void dJntCol_c::setArrowPosAndAngle(
mVec3_c const *param_0, mVec3_c const *i_srcPos, int i_anmMtxIdx, mVec3_c *param_3, mAng3_c *i_arrowPosP
) {
mMtx_c mtx;
mVec3_c dstPos;
getAnmMtx(i_anmMtxIdx, &mtx);
MTXMultVecSR(mtx, *i_srcPos, dstPos);
i_arrowPosP->x = dstPos.atan2snY_XZ();
i_arrowPosP->y = dstPos.atan2sX_Z();
MTXMultVec(mtx, *param_0, *param_3);
}
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