#include "common.h" #include "model.h" typedef struct HitFile { /* 0x00 */ u32 collisionOffset; /* 0x04 */ u32 zoneOffset; } HitFile; // size = 0x08 typedef struct ColliderBackupEntry { /* 0x00 */ s32 flags; /* 0x04 */ s16 parentModelIndex; /* 0x06 */ PAD(2); } ColliderBackupEntry; // size = 0x08 typedef struct HitFileHeader { /* 0x00 */ s16 numColliders; /* 0x02 */ PAD(2); /* 0x04 */ s32 collidersOffset; /* 0x08 */ s16 numVertices; /* 0x0A */ PAD(2); /* 0x0C */ s32 verticesOffset; /* 0x10 */ s16 boundingBoxesDataSize; /* 0x12 */ PAD(2); /* 0x14 */ s32 boundingBoxesOffset; } HitFileHeader; // size = 0x18 typedef struct HitAssetCollider { /* 0x00 */ s16 boundingBoxOffset; /* 0x02 */ s16 nextSibling; /* 0x04 */ s16 firstChild; /* 0x06 */ s16 numTriangles; /* 0x08 */ s32 trianglesOffset; } HitAssetCollider; // size = 0x0C CollisionData gCollisionData; CollisionData gZoneCollisionData; BSS f32 gCollisionRayStartX; BSS f32 gCollisionRayStartY; BSS f32 gCollisionRayStartZ; BSS f32 gCollisionRayDirX; BSS f32 gCollisionRayDirY; BSS f32 gCollisionRayDirZ; BSS f32 gCollisionPointX; BSS f32 gCollisionPointY; BSS f32 gCollisionPointZ; BSS f32 gCollisionRayLength; BSS f32 gCollisionNormalX; BSS f32 gCollisionNormalY; BSS f32 gCollisionNormalZ; BSS ColliderBackupEntry* gCollisionDataBackup; BSS ColliderBackupEntry* gCollisionDataZoneBackup; Vec3s gEntityColliderFaces[] = { { 4, 6, 5 }, { 4, 7, 6 }, { 0, 3, 4 }, { 3, 7, 4 }, { 3, 2, 7 }, { 2, 6, 7 }, { 2, 1, 6 }, { 1, 5, 6 }, { 1, 0, 5 }, { 0, 4, 5 }, { 0, 1, 2 }, { 0, 2, 3 }, }; Vec3f gEntityColliderNormals[] = { { 0.0f, 1.0f, 0.0f }, { 0.0f, 1.0f, 0.0f }, { 1.0f, 0.0f, 0.0f }, { 1.0f, 0.0f, 0.0f }, { 0.0f, 0.0f, -1.0f }, { 0.0f, 0.0f, -1.0f }, { -1.0f, 0.0f, 0.0f }, { -1.0f, 0.0f, 0.0f }, { 0.0f, 0.0f, 1.0f }, { 0.0f, 0.0f, 1.0f }, { 0.0f, -1.0f, 0.0f }, { 0.0f, -1.0f, 0.0f }, }; s32 collision_heap_create(void); void* collision_heap_malloc(s32 size); void collision_heap_free(void*); void load_hit_data(s32 idx, HitFile* hit); void _add_hit_vert_to_buffer(Vec3f** buf, Vec3f* vert, s32* bufSize); s32 _get_hit_vert_index_from_buffer(Vec3f** buffer, Vec3f* vert, s32* bufferSize); void backup_map_collision_data(void) { CollisionData* collisionData; Collider* collider; ColliderBackupEntry* backupEntry; s32 i; collisionData = &gCollisionData; gCollisionDataBackup = general_heap_malloc(collisionData->numColliders * sizeof(ColliderBackupEntry)); for (i = 0, backupEntry = gCollisionDataBackup; i < collisionData->numColliders; i++, backupEntry++) { collider = &collisionData->colliderList[i]; backupEntry->flags = collider->flags; backupEntry->parentModelIndex = collider->parentModelIndex; } collisionData = &gZoneCollisionData; gCollisionDataZoneBackup = general_heap_malloc(collisionData->numColliders * sizeof(ColliderBackupEntry)); for (i = 0, backupEntry = gCollisionDataZoneBackup; i < collisionData->numColliders; i++, backupEntry++) { collider = &collisionData->colliderList[i]; backupEntry->flags = collider->flags; backupEntry->parentModelIndex = collider->parentModelIndex; } gZoneCollisionData.numColliders = 0; } void initialize_collision(void) { gCollisionData.numColliders = 0; gZoneCollisionData.numColliders = 0; collision_heap_create(); } void load_map_hit_asset(void) { u32 assetSize; MapSettings* map = get_current_map_settings(); void* compressedData = load_asset_by_name(wMapHitName, &assetSize); HitFile* uncompressedData = heap_malloc(assetSize); decode_yay0(compressedData, uncompressedData); general_heap_free(compressedData); map->hitAssetCollisionOffset = uncompressedData->collisionOffset; map->hitAssetZoneOffset = uncompressedData->zoneOffset; load_hit_data(0, uncompressedData); // Colliders load_hit_data(1, uncompressedData); // Zones heap_free(uncompressedData); } void restore_map_collision_data(void) { CollisionData* collisionData; Collider* collider; ColliderBackupEntry* backupEntry; s32 i; load_map_hit_asset(); collisionData = &gCollisionData; for (i = 0, backupEntry = gCollisionDataBackup; i < collisionData->numColliders; i++, backupEntry++) { collider = &collisionData->colliderList[i]; collider->flags = backupEntry->flags; collider->parentModelIndex = backupEntry->parentModelIndex; if (collider->flags != -1 && collider->flags & COLLIDER_FLAG_HAS_MODEL_PARENT) { parent_collider_to_model(i, collider->parentModelIndex); update_collider_transform(i); } } collisionData = &gZoneCollisionData; for (i = 0, backupEntry = gCollisionDataZoneBackup; i < collisionData->numColliders; i++, backupEntry++) { collider = &collisionData->colliderList[i]; collider->flags = backupEntry->flags; collider->parentModelIndex = backupEntry->parentModelIndex; } general_heap_free(gCollisionDataBackup); general_heap_free(gCollisionDataZoneBackup); } void load_battle_hit_asset(const char* hitName) { if (hitName == nullptr) { gCollisionData.numColliders = 0; } else { u32 assetSize; MapSettings* map = get_current_map_settings(); void* compressedData = load_asset_by_name(hitName, &assetSize); HitFile* uncompressedData = heap_malloc(assetSize); decode_yay0(compressedData, uncompressedData); general_heap_free(compressedData); map->hitAssetCollisionOffset = uncompressedData->collisionOffset; load_hit_data(0, uncompressedData); heap_free(uncompressedData); } } void load_hit_data(s32 idx, HitFile* hit) { s32 collisionOffset; MapSettings* map; CollisionData* collisionData; HitFileHeader* assetCollisionData; Vec3f* vertices; Vec3s* assetVertices; u32* boundingBox; u32* assetBoundingBox; Collider* collider; HitAssetCollider* assetCollider; ColliderTriangle* triangle; s32* trianglePacked; s16 numTriangles; s32 i, j; f32 e13Y, e21Z, e13Z, e21Y, e21X, e13X, normalX, normalY, normalZ, coeff; assetCollisionData = nullptr; collisionData = nullptr; map = get_current_map_settings(); switch (idx) { case 0: // Colliders collisionOffset = map->hitAssetCollisionOffset; if (collisionOffset == 0) { return; } assetCollisionData = (HitFileHeader*) ((void*) hit + collisionOffset); collisionData = &gCollisionData; break; case 1: // Zones collisionOffset = map->hitAssetZoneOffset; if (collisionOffset == 0) { return; } assetCollisionData = (HitFileHeader*) ((void*) hit + collisionOffset); collisionData = &gZoneCollisionData; break; } assetBoundingBox = (u32*) ((void*) hit + assetCollisionData->boundingBoxesOffset); collisionData->aabbs = collision_heap_malloc(assetCollisionData->boundingBoxesDataSize * 4); for (i = 0, boundingBox = (u32*) (collisionData->aabbs); i < assetCollisionData->boundingBoxesDataSize; assetBoundingBox++, boundingBox++, i++) { *boundingBox = *assetBoundingBox; } assetVertices = (Vec3s*) ((void*) hit + assetCollisionData->verticesOffset); collisionData->vertices = collision_heap_malloc(assetCollisionData->numVertices * sizeof(Vec3f)); for (i = 0, vertices = collisionData->vertices; i < assetCollisionData->numVertices; vertices++, assetVertices++, i++) { vertices->x = assetVertices->x; vertices->y = assetVertices->y; vertices->z = assetVertices->z; } assetCollider = (HitAssetCollider*) ((void*) hit + assetCollisionData->collidersOffset); collider = collisionData->colliderList = collision_heap_malloc(assetCollisionData->numColliders * sizeof(Collider)); collisionData->numColliders = assetCollisionData->numColliders; for (i = 0; i < assetCollisionData->numColliders; assetCollider++, collider++, i++) { collider->flags = 0; collider->nextSibling = assetCollider->nextSibling; collider->firstChild = assetCollider->firstChild; collider->numTriangles = assetCollider->numTriangles; numTriangles = collider->numTriangles; if (numTriangles) { collider->triangleTable = triangle = collision_heap_malloc(assetCollider->numTriangles * sizeof(ColliderTriangle)); if (assetCollider->boundingBoxOffset < 0) { collider->aabb = nullptr; } else { collider->aabb = (ColliderBoundingBox*) ((u32*) (collisionData->aabbs) + assetCollider->boundingBoxOffset); if (idx == 0) { collider->aabb->min.x -= 1; collider->aabb->min.y -= 1; collider->aabb->min.z -= 1; collider->aabb->max.x += 1; collider->aabb->max.y += 1; collider->aabb->max.z += 1; collider->flags = collider->aabb->flagsForCollider; } } trianglePacked = (s32*) ((void*) hit + assetCollider->trianglesOffset); for (j = 0; j < assetCollider->numTriangles; trianglePacked++, triangle++, j++) { Vec3f* v1 = triangle->v1 = &collisionData->vertices[(*trianglePacked) & 0x3FF]; Vec3f* v2 = triangle->v2 = &collisionData->vertices[(*trianglePacked >> 10) & 0x3FF]; Vec3f* v3 = triangle->v3 = &collisionData->vertices[(*trianglePacked >> 20) & 0x3FF]; triangle->oneSided = (*trianglePacked >> 30) & 1; triangle->e13.x = v3->x - v1->x; triangle->e13.y = v3->y - v1->y; triangle->e13.z = v3->z - v1->z; triangle->e21.x = v1->x - v2->x; triangle->e21.y = v1->y - v2->y; triangle->e21.z = v1->z - v2->z; triangle->e32.x = v2->x - v3->x; triangle->e32.y = v2->y - v3->y; triangle->e32.z = v2->z - v3->z; e13X = triangle->e13.x; e13Y = triangle->e13.y; e13Z = triangle->e13.z; e21X = triangle->e21.x; e21Y = triangle->e21.y; e21Z = triangle->e21.z; // cross product normalX = e13Y * e21Z - e13Z * e21Y; normalY = e13Z * e21X - e13X * e21Z; normalZ = e13X * e21Y - e13Y * e21X; coeff = SQ(normalX) + SQ(normalY) + SQ(normalZ); if (coeff != 0) { coeff = 1.0f / sqrtf(coeff); } else { coeff = 0.0f; } triangle->normal.x = normalX * coeff; triangle->normal.y = normalY * coeff; triangle->normal.z = normalZ * coeff; } } } } void parent_collider_to_model(s16 colliderID, s16 modelIndex) { Collider* collider; ColliderTriangle* triangle; s32 i; Vec3f** vertexBuffer; Vec3f** vertexPtr; s32 vertexBufferSize; Vec3f* vertexTable; Vec3f* vertex; collider = &gCollisionData.colliderList[colliderID]; collider->parentModelIndex = modelIndex; collider->flags |= COLLIDER_FLAG_HAS_MODEL_PARENT; vertexBuffer = collision_heap_malloc(collider->numTriangles * sizeof(Vec3f)); vertexBufferSize = 0; vertexPtr = vertexBuffer; for (i = 0, triangle = collider->triangleTable; i < collider->numTriangles; i++, triangle++) { _add_hit_vert_to_buffer(vertexBuffer, triangle->v1, &vertexBufferSize); _add_hit_vert_to_buffer(vertexBuffer, triangle->v2, &vertexBufferSize); _add_hit_vert_to_buffer(vertexBuffer, triangle->v3, &vertexBufferSize); } collider->numVertices = vertexBufferSize; collider->vertexTable = collision_heap_malloc(vertexBufferSize * 2 * sizeof(Vec3f)); for (i = 0, vertexTable = collider->vertexTable; i < vertexBufferSize; vertexPtr++, vertexTable += 2, i++) { vertex = *vertexPtr; vertexTable[0].x = vertexTable[1].x = vertex->x; vertexTable[0].y = vertexTable[1].y = vertex->y; vertexTable[0].z = vertexTable[1].z = vertex->z; } vertexTable = collider->vertexTable; for (i = 0, triangle = collider->triangleTable; i < collider->numTriangles; triangle++, i++) { triangle->v1 = &vertexTable[_get_hit_vert_index_from_buffer(vertexBuffer, triangle->v1, &vertexBufferSize) * 2]; triangle->v2 = &vertexTable[_get_hit_vert_index_from_buffer(vertexBuffer, triangle->v2, &vertexBufferSize) * 2]; triangle->v3 = &vertexTable[_get_hit_vert_index_from_buffer(vertexBuffer, triangle->v3, &vertexBufferSize) * 2]; } collision_heap_free(vertexBuffer); } void _add_hit_vert_to_buffer(Vec3f** buf, Vec3f* vert, s32* bufSize) { s32 i; for (i = 0; i < *bufSize; i++) { if (buf[i] == vert) { break; } } if (i == *bufSize) { buf[i] = vert; (*bufSize)++; } } s32 _get_hit_vert_index_from_buffer(Vec3f** buffer, Vec3f* vert, s32* bufferSize) { s32 i; for (i = 0; i < *bufferSize; i++) { if (*buffer == vert) { break; } buffer++; } return i; } void update_collider_transform(s16 colliderID) { Collider* collider; struct Model* model; Matrix4f matrix; s32 i; Vec3f* vertexTable; f32 minX, minY, minZ, maxX, maxY, maxZ; ColliderTriangle* triangle; f32 e13Y, e21Z, e13Z, e21Y, e21X, e13X, normalX, normalY, normalZ, coeff; collider = &gCollisionData.colliderList[colliderID]; model = get_model_from_list_index(collider->parentModelIndex); if (model->bakedMtx == nullptr) { copy_matrix(model->userTransformMtx, matrix); } else { guMtxL2F(matrix, model->bakedMtx); guMtxCatF(model->userTransformMtx, matrix, matrix); } triangle = collider->triangleTable; vertexTable = collider->vertexTable; minX = minY = minZ = 999999.9f; maxX = maxY = maxZ = -999999.9f; for (i = 0; i < collider->numVertices; vertexTable += 2, i++) { guMtxXFMF( matrix, vertexTable[1].x, vertexTable[1].y, vertexTable[1].z, &vertexTable[0].x, &vertexTable[0].y, &vertexTable[0].z ); if (vertexTable[0].x < minX) minX = vertexTable[0].x; if (vertexTable[0].x > maxX) maxX = vertexTable[0].x; if (vertexTable[0].y < minY) minY = vertexTable[0].y; if (vertexTable[0].y > maxY) maxY = vertexTable[0].y; if (vertexTable[0].z < minZ) minZ = vertexTable[0].z; if (vertexTable[0].z > maxZ) maxZ = vertexTable[0].z; } collider->aabb->min.x = minX; collider->aabb->min.y = minY; collider->aabb->min.z = minZ; collider->aabb->max.x = maxX; collider->aabb->max.y = maxY; collider->aabb->max.z = maxZ; for (i = 0; i < collider->numTriangles; triangle++, i++) { Vec3f* v1 = triangle->v1; Vec3f* v2 = triangle->v2; Vec3f* v3 = triangle->v3; triangle->e13.x = v3->x - v1->x; triangle->e13.y = v3->y - v1->y; triangle->e13.z = v3->z - v1->z; triangle->e21.x = v1->x - v2->x; triangle->e21.y = v1->y - v2->y; triangle->e21.z = v1->z - v2->z; triangle->e32.x = v2->x - v3->x; triangle->e32.y = v2->y - v3->y; triangle->e32.z = v2->z - v3->z; e13X = triangle->e13.x; e13Y = triangle->e13.y; e13Z = triangle->e13.z; e21X = triangle->e21.x; e21Y = triangle->e21.y; e21Z = triangle->e21.z; // vector product normalX = e13Y * e21Z - e13Z * e21Y; normalY = e13Z * e21X - e13X * e21Z; normalZ = e13X * e21Y - e13Y * e21X; coeff = SQ(normalX) + SQ(normalY) + SQ(normalZ); if (coeff != 0) { coeff = 1.0f / sqrtf(coeff); } else { coeff = 0.0f; } triangle->normal.x = normalX * coeff; triangle->normal.y = normalY * coeff; triangle->normal.z = normalZ * coeff; } } s32 get_collider_flags(s32 colliderID) { if (colliderID & COLLISION_WITH_ENTITY_BIT) { return 0; } else { return gCollisionData.colliderList[colliderID].flags; } } void get_flat_collider_normal(s32 colliderID, f32* x, f32* y, f32* z) { ColliderTriangle* triangle = &gCollisionData.colliderList[colliderID].triangleTable[0]; *x = triangle->normal.x; *y = triangle->normal.y; *z = triangle->normal.z; } void get_collider_center(s32 colliderID, f32* x, f32* y, f32* z) { ColliderBoundingBox* aabb = gCollisionData.colliderList[colliderID].aabb; *x = (aabb->min.x + aabb->max.x) * 0.5f; *y = (aabb->min.y + aabb->max.y) * 0.5f; *z = (aabb->min.z + aabb->max.z) * 0.5f; } s32 test_ray_triangle_general(ColliderTriangle* triangle, Vec3f* vertices) { f32 distToTrianglePlane; f32 cosAngle; Vec3f* v1; Vec3f* v2; Vec3f* v3; if (triangle->normal.x == 0 && triangle->normal.y == 0 && triangle->normal.z == 0) return false; v1 = triangle->v1; v2 = triangle->v2; v3 = triangle->v3; distToTrianglePlane = triangle->normal.x * (gCollisionRayStartX - v1->x) + triangle->normal.y * (gCollisionRayStartY - v1->y) + triangle->normal.z * (gCollisionRayStartZ - v1->z); if (triangle->oneSided) { if (distToTrianglePlane < 0) { return false; } if (triangle->normal.x * gCollisionRayDirX + triangle->normal.y * gCollisionRayDirY + triangle->normal.z * gCollisionRayDirZ >= 0) { return false; } if ((gCollisionRayStartX - v1->x) * (triangle->e13.z * gCollisionRayDirY - triangle->e13.y * gCollisionRayDirZ) + (gCollisionRayStartY - v1->y) * (triangle->e13.x * gCollisionRayDirZ - triangle->e13.z * gCollisionRayDirX) + (gCollisionRayStartZ - v1->z) * (triangle->e13.y * gCollisionRayDirX - triangle->e13.x * gCollisionRayDirY) < 0) { return false; } if ((gCollisionRayStartX - v2->x) * (triangle->e21.z * gCollisionRayDirY - triangle->e21.y * gCollisionRayDirZ) + (gCollisionRayStartY - v2->y) * (triangle->e21.x * gCollisionRayDirZ - triangle->e21.z * gCollisionRayDirX) + (gCollisionRayStartZ - v2->z) * (triangle->e21.y * gCollisionRayDirX - triangle->e21.x * gCollisionRayDirY) < 0) { return false; } if ((gCollisionRayStartX - v3->x) * (triangle->e32.z * gCollisionRayDirY - triangle->e32.y * gCollisionRayDirZ) + (gCollisionRayStartY - v3->y) * (triangle->e32.x * gCollisionRayDirZ - triangle->e32.z * gCollisionRayDirX) + (gCollisionRayStartZ - v3->z) * (triangle->e32.y * gCollisionRayDirX - triangle->e32.x * gCollisionRayDirY) < 0) { return false; } } else { if ((triangle->normal.x * gCollisionRayDirX + triangle->normal.y * gCollisionRayDirY + triangle->normal.z * gCollisionRayDirZ) * distToTrianglePlane >= 0) { return false; } if (((gCollisionRayStartX - v1->x) * (triangle->e13.z * gCollisionRayDirY - triangle->e13.y * gCollisionRayDirZ) + (gCollisionRayStartY - v1->y) * (triangle->e13.x * gCollisionRayDirZ - triangle->e13.z * gCollisionRayDirX) + (gCollisionRayStartZ - v1->z) * (triangle->e13.y * gCollisionRayDirX - triangle->e13.x * gCollisionRayDirY)) * distToTrianglePlane < 0) { return false; } if (((gCollisionRayStartX - v2->x) * (triangle->e21.z * gCollisionRayDirY - triangle->e21.y * gCollisionRayDirZ) + (gCollisionRayStartY - v2->y) * (triangle->e21.x * gCollisionRayDirZ - triangle->e21.z * gCollisionRayDirX) + (gCollisionRayStartZ - v2->z) * (triangle->e21.y * gCollisionRayDirX - triangle->e21.x * gCollisionRayDirY)) * distToTrianglePlane < 0) { return false; } if (((gCollisionRayStartX - v3->x) * (triangle->e32.z * gCollisionRayDirY - triangle->e32.y * gCollisionRayDirZ) + (gCollisionRayStartY - v3->y) * (triangle->e32.x * gCollisionRayDirZ - triangle->e32.z * gCollisionRayDirX) + (gCollisionRayStartZ - v3->z) * (triangle->e32.y * gCollisionRayDirX - triangle->e32.x * gCollisionRayDirY)) * distToTrianglePlane < 0) { return false; } } cosAngle = triangle->normal.x * gCollisionRayDirX + triangle->normal.y * gCollisionRayDirY + triangle->normal.z * gCollisionRayDirZ; if (gCollisionRayLength >= 0 && gCollisionRayLength <= -distToTrianglePlane / cosAngle) { return false; } gCollisionRayLength = -distToTrianglePlane / cosAngle; gCollisionPointX = gCollisionRayStartX + gCollisionRayDirX * gCollisionRayLength; gCollisionPointY = gCollisionRayStartY + gCollisionRayDirY * gCollisionRayLength; gCollisionPointZ = gCollisionRayStartZ + gCollisionRayDirZ * gCollisionRayLength; gCollisionNormalX = triangle->normal.x; gCollisionNormalY = triangle->normal.y; gCollisionNormalZ = triangle->normal.z; return true; } s32 test_ray_triangle_down(ColliderTriangle* triangle, Vec3f* vertices) { f32 distToTrianglePlane, cosAngle; Vec3f* v1; Vec3f* v2; Vec3f* v3; if (triangle->normal.x == 0 && triangle->normal.y == 0 && triangle->normal.z == 0) { return false; } v1 = triangle->v1; v2 = triangle->v2; v3 = triangle->v3; distToTrianglePlane = triangle->normal.x * (gCollisionRayStartX - v1->x) + triangle->normal.y * (gCollisionRayStartY - v1->y) + triangle->normal.z * (gCollisionRayStartZ - v1->z); if (triangle->oneSided) { if (distToTrianglePlane < 0) { return false; } if (triangle->normal.y <= 0) return false; if ((gCollisionRayStartZ - v1->z) * triangle->e13.x - (gCollisionRayStartX - v1->x) * triangle->e13.z < 0) { return false; } if ((gCollisionRayStartZ - v2->z) * triangle->e21.x - (gCollisionRayStartX - v2->x) * triangle->e21.z < 0) { return false; } if ((gCollisionRayStartZ - v3->z) * triangle->e32.x - (gCollisionRayStartX - v3->x) * triangle->e32.z < 0) { return false; } } else { if (triangle->normal.y * distToTrianglePlane <= 0) { return false; } if (((gCollisionRayStartZ - v1->z) * triangle->e13.x - (gCollisionRayStartX - v1->x) * triangle->e13.z) * distToTrianglePlane < 0) { return false; } if (((gCollisionRayStartZ - v2->z) * triangle->e21.x - (gCollisionRayStartX - v2->x) * triangle->e21.z) * distToTrianglePlane < 0) { return false; } if (((gCollisionRayStartZ - v3->z) * triangle->e32.x - (gCollisionRayStartX - v3->x) * triangle->e32.z) * distToTrianglePlane < 0) { return false; } } cosAngle = -triangle->normal.y; if (gCollisionRayLength >= 0 && gCollisionRayLength <= -distToTrianglePlane / cosAngle) { return false; } gCollisionRayLength = -distToTrianglePlane / cosAngle; gCollisionPointX = gCollisionRayStartX; gCollisionPointY = gCollisionRayStartY - gCollisionRayLength; gCollisionPointZ = gCollisionRayStartZ; gCollisionNormalX = triangle->normal.x; gCollisionNormalY = triangle->normal.y; gCollisionNormalZ = triangle->normal.z; return true; } s32 test_ray_triangle_horizontal(ColliderTriangle* triangle, Vec3f* vertices) { f32 distToTrianglePlane, cosAngle; Vec3f* v1; Vec3f* v2; Vec3f* v3; if (triangle->normal.x == 0 && triangle->normal.y == 0 && triangle->normal.z == 0) { return false; } v1 = triangle->v1; v2 = triangle->v2; v3 = triangle->v3; distToTrianglePlane = triangle->normal.x * (gCollisionRayStartX - v1->x) + triangle->normal.y * (gCollisionRayStartY - v1->y) + triangle->normal.z * (gCollisionRayStartZ - v1->z); if (triangle->oneSided) { if (distToTrianglePlane < 0) { return false; } if (triangle->normal.x * gCollisionRayDirX + triangle->normal.z * gCollisionRayDirZ >= 0) { return false; } if ((gCollisionRayStartX - v1->x) * (-triangle->e13.y * gCollisionRayDirZ) + (gCollisionRayStartY - v1->y) * (triangle->e13.x * gCollisionRayDirZ - triangle->e13.z * gCollisionRayDirX) + (gCollisionRayStartZ - v1->z) * (triangle->e13.y * gCollisionRayDirX) < 0) { return false; } if ((gCollisionRayStartX - v2->x) * (-triangle->e21.y * gCollisionRayDirZ) + (gCollisionRayStartY - v2->y) * (triangle->e21.x * gCollisionRayDirZ - triangle->e21.z * gCollisionRayDirX) + (gCollisionRayStartZ - v2->z) * (triangle->e21.y * gCollisionRayDirX) < 0) { return false; } if ((gCollisionRayStartX - v3->x) * (-triangle->e32.y * gCollisionRayDirZ) + (gCollisionRayStartY - v3->y) * (triangle->e32.x * gCollisionRayDirZ - triangle->e32.z * gCollisionRayDirX) + (gCollisionRayStartZ - v3->z) * (triangle->e32.y * gCollisionRayDirX) < 0) { return false; } } else { if ((triangle->normal.x * gCollisionRayDirX + triangle->normal.z * gCollisionRayDirZ) * distToTrianglePlane >= 0) { return false; } if (((gCollisionRayStartX - v1->x) * (-triangle->e13.y * gCollisionRayDirZ) + (gCollisionRayStartY - v1->y) * (triangle->e13.x * gCollisionRayDirZ - triangle->e13.z * gCollisionRayDirX) + (gCollisionRayStartZ - v1->z) * (triangle->e13.y * gCollisionRayDirX)) * distToTrianglePlane < 0) { return false; } if (((gCollisionRayStartX - v2->x) * (-triangle->e21.y * gCollisionRayDirZ) + (gCollisionRayStartY - v2->y) * (triangle->e21.x * gCollisionRayDirZ - triangle->e21.z * gCollisionRayDirX) + (gCollisionRayStartZ - v2->z) * (triangle->e21.y * gCollisionRayDirX)) * distToTrianglePlane < 0) { return false; } if (((gCollisionRayStartX - v3->x) * (-triangle->e32.y * gCollisionRayDirZ) + (gCollisionRayStartY - v3->y) * (triangle->e32.x * gCollisionRayDirZ - triangle->e32.z * gCollisionRayDirX) + (gCollisionRayStartZ - v3->z) * (triangle->e32.y * gCollisionRayDirX)) * distToTrianglePlane < 0) { return false; } } cosAngle = triangle->normal.x * gCollisionRayDirX + triangle->normal.z * gCollisionRayDirZ; if (gCollisionRayLength >= 0 && gCollisionRayLength <= -distToTrianglePlane / cosAngle) { return false; } gCollisionRayLength = -distToTrianglePlane / cosAngle; gCollisionPointX = gCollisionRayStartX + gCollisionRayDirX * gCollisionRayLength; gCollisionPointY = gCollisionRayStartY; gCollisionPointZ = gCollisionRayStartZ + gCollisionRayDirZ * gCollisionRayLength; gCollisionNormalX = triangle->normal.x; gCollisionNormalY = triangle->normal.y; gCollisionNormalZ = triangle->normal.z; return true; } s32 test_ray_colliders( s32 ignoreFlags, f32 startX, f32 startY, f32 startZ, f32 dirX, f32 dirY, f32 dirZ, f32* hitX, f32* hitY, f32* hitZ, f32* hitDepth, f32* hitNx, f32* hitNy, f32* hitNz ) { Collider* collider; CollisionData* collisionData; ColliderTriangle* triangle; s32 i, j; s32 colliderID; f32 minX, minY, minZ, maxX, maxY, maxZ; if (dirX == 0 && dirY == 0 && dirZ == 0) { return 0; } collisionData = &gCollisionData; gCollisionRayDirX = dirX; gCollisionRayDirY = dirY; gCollisionRayDirZ = dirZ; gCollisionRayStartX = startX; gCollisionRayStartY = startY; gCollisionRayStartZ = startZ; gCollisionRayLength = *hitDepth; colliderID = NO_COLLIDER; if (dirX < 0) { minX = startX + dirX * gCollisionRayLength; maxX = startX; } else { minX = startX; maxX = startX + dirX * gCollisionRayLength; } if (dirY < 0) { minY = startY + dirY * gCollisionRayLength; maxY = startY; } else { minY = startY; maxY = startY + dirY * gCollisionRayLength; } if (dirZ < 0) { minZ = startZ + dirZ * gCollisionRayLength; maxZ = startZ; } else { minZ = startZ; maxZ = startZ + dirZ * gCollisionRayLength; } for (i = 0; i < collisionData->numColliders; i++) { collider = &collisionData->colliderList[i]; if ((collider->flags & ignoreFlags) || collider->numTriangles == 0 || maxX < collider->aabb->min.x || minX > collider->aabb->max.x || maxZ < collider->aabb->min.z || minZ > collider->aabb->max.z || maxY < collider->aabb->min.y || minY > collider->aabb->max.y) { continue; } triangle = collider->triangleTable; if (gCollisionRayDirX == 0 && gCollisionRayDirZ == 0 && gCollisionRayDirY == -1.0) { for (j = 0; j < collider->numTriangles; j++) { if (test_ray_triangle_down(triangle++, collisionData->vertices)) { colliderID = i; } } } else if (gCollisionRayDirY == 0) { for (j = 0; j < collider->numTriangles; j++) { if (test_ray_triangle_horizontal(triangle++, collisionData->vertices)) { colliderID = i; } } } else { for (j = 0; j < collider->numTriangles; j++) { if (test_ray_triangle_general(triangle++, collisionData->vertices)) { colliderID = i; } } } } if (colliderID > NO_COLLIDER) { *hitX = gCollisionPointX; *hitY = gCollisionPointY; *hitZ = gCollisionPointZ; *hitDepth = gCollisionRayLength; *hitNx = gCollisionNormalX; *hitNy = gCollisionNormalY; *hitNz = gCollisionNormalZ; return colliderID; } else { return colliderID; } } s32 test_ray_zones( f32 startX, f32 startY, f32 startZ, f32 dirX, f32 dirY, f32 dirZ, f32* hitX, f32* hitY, f32* hitZ, f32* hitDepth, f32* hitNx, f32* hitNy, f32* hitNz ) { Collider* collider; CollisionData* collisionData; ColliderTriangle* triangle; s32 i, j; s32 colliderID; collisionData = &gZoneCollisionData; gCollisionRayDirX = dirX; gCollisionRayDirY = dirY; gCollisionRayDirZ = dirZ; gCollisionRayStartX = startX; gCollisionRayStartY = startY; gCollisionRayStartZ = startZ; gCollisionRayLength = *hitDepth; colliderID = NO_COLLIDER; for (i = 0; i < collisionData->numColliders; i++) { collider = &collisionData->colliderList[i]; if (collider->flags & COLLIDER_FLAG_IGNORE_PLAYER) continue; if (collider->numTriangles == 0 || collider->aabb == nullptr) continue; triangle = collider->triangleTable; for (j = 0; j < collider->numTriangles; j++) { if (test_ray_triangle_down(triangle++, collisionData->vertices)) { colliderID = i; } } } if (colliderID > NO_COLLIDER) { *hitX = gCollisionPointX; *hitY = gCollisionPointY; *hitZ = gCollisionPointZ; *hitDepth = gCollisionRayLength; *hitNx = gCollisionNormalX; *hitNy = gCollisionNormalY; *hitNz = gCollisionNormalZ; return colliderID; } else { return colliderID; } } f32 test_ray_collider_horizontal(s32 ignoreFlags, s32 colliderID, f32 x, f32 y, f32 z, f32 length, f32 yaw) { CollisionData* collisionData = &gCollisionData; f32 cosTheta; f32 sinTheta; Collider* collider; ColliderTriangle* triangleTable; s32 i; f32 ret; sin_cos_rad(DEG_TO_RAD(yaw), &sinTheta, &cosTheta); collider = &collisionData->colliderList[colliderID]; gCollisionRayDirY = 0; gCollisionRayStartX = x; gCollisionRayStartY = y; gCollisionRayStartZ = z; gCollisionRayLength = length; gCollisionRayDirX = sinTheta; gCollisionRayDirZ = -cosTheta; ret = -1.0f; if (!(collider->flags & ignoreFlags) && collider->numTriangles != 0) { triangleTable = collider->triangleTable; for (i = 0; i < collider->numTriangles; i++) if (test_ray_triangle_horizontal(triangleTable++, collisionData->vertices)) ret = gCollisionRayLength; } return ret; } s32 test_ray_entities( f32 startX, f32 startY, f32 startZ, f32 dirX, f32 dirY, f32 dirZ, f32* hitX, f32* hitY, f32* hitZ, f32* hitDepth, f32* hitNx, f32* hitNy, f32* hitNz ) { f32 hitDepthDown, hitDepthHoriz; s32 type; s32 i, j; Entity* entity; Matrix4f tempMatrix1; Matrix4f tempMatrix2; Vec3f boxVertices[8]; ColliderTriangle entityTriangle; s32 entityIndex; f32 h; f32 aabbX, aabbZ; s32 hasCollision; f32 dist, dist2; ColliderTriangle* triangle = &entityTriangle; enum { ENTITY_TEST_ANY = 0, ENTITY_TEST_DOWN = 1, ENTITY_TEST_LATERAL = 2, }; entityIndex = NO_COLLIDER; type = ENTITY_TEST_ANY; hitDepthDown = hitDepthHoriz = *hitDepth; if (dirX == 0 && dirZ == 0 && dirY < 0) { hitDepthHoriz = 0; type = ENTITY_TEST_DOWN; } else if (dirY == 0) { hitDepthDown = 0; type = ENTITY_TEST_LATERAL; } gCollisionRayLength = -1; triangle->oneSided = true; for (i = 0; i < MAX_ENTITIES; i++) { entity = get_entity_by_index(i); if (entity == nullptr || (entity->flags & (ENTITY_FLAG_SKIP_UPDATE | ENTITY_FLAG_DISABLE_COLLISION))) { continue; } dist = hitDepthHoriz + entity->effectiveSize; if (startX > entity->pos.x + dist || startX < entity->pos.x - dist) { continue; } if (startZ > entity->pos.z + dist || startZ < entity->pos.z - dist) { continue; } switch (type) { case ENTITY_TEST_ANY: case ENTITY_TEST_DOWN: dist = entity->pos.y; dist2 = hitDepthDown + entity->effectiveSize * 2; if (dist + dist2 < startY || startY < dist - dist2) { continue; } break; case ENTITY_TEST_LATERAL: dist = entity->pos.y; dist2 = entity->effectiveSize * 2; if (dist + dist2 < startY || startY < dist - dist2) { continue; } break; } aabbX = entity->aabb.x / 2; aabbZ = entity->aabb.z / 2; boxVertices[1].x = boxVertices[2].x = boxVertices[5].x = boxVertices[6].x = -aabbX; boxVertices[0].x = boxVertices[3].x = boxVertices[4].x = boxVertices[7].x = aabbX; boxVertices[0].y = boxVertices[1].y = boxVertices[2].y = boxVertices[3].y = 0; boxVertices[4].y = boxVertices[5].y = boxVertices[6].y = boxVertices[7].y = entity->aabb.y; boxVertices[0].z = boxVertices[1].z = boxVertices[4].z = boxVertices[5].z = aabbZ; boxVertices[2].z = boxVertices[3].z = boxVertices[6].z = boxVertices[7].z = -aabbZ; guMtxXFMF( entity->inverseTransformMatrix, dirX, dirY, dirZ, &gCollisionRayDirX, &gCollisionRayDirY, &gCollisionRayDirZ ); guMtxXFMF( entity->inverseTransformMatrix, startX - entity->pos.x, startY - entity->pos.y, startZ - entity->pos.z, &gCollisionRayStartX, &gCollisionRayStartY, &gCollisionRayStartZ ); for (j = 0; j < 12; j++) { Vec3f* v1 = triangle->v1 = &boxVertices[gEntityColliderFaces[j].x]; Vec3f* v2 = triangle->v2 = &boxVertices[gEntityColliderFaces[j].y]; Vec3f* v3 = triangle->v3 = &boxVertices[gEntityColliderFaces[j].z]; triangle->e13.x = v3->x - v1->x; triangle->e13.y = v3->y - v1->y; triangle->e13.z = v3->z - v1->z; triangle->e21.x = v1->x - v2->x; triangle->e21.y = v1->y - v2->y; triangle->e21.z = v1->z - v2->z; triangle->e32.x = v2->x - v3->x; triangle->e32.y = v2->y - v3->y; triangle->e32.z = v2->z - v3->z; triangle->normal.x = gEntityColliderNormals[j].x; triangle->normal.y = gEntityColliderNormals[j].y; triangle->normal.z = gEntityColliderNormals[j].z; hasCollision = test_ray_triangle_general(&entityTriangle, boxVertices); if (hasCollision) { break; } } if (hasCollision && gCollisionRayLength < *hitDepth) { entityIndex = i; *hitDepth = gCollisionRayLength; switch (type) { case ENTITY_TEST_ANY: hitDepthDown = gCollisionRayLength; hitDepthHoriz = gCollisionRayLength; break; case ENTITY_TEST_DOWN: hitDepthDown = gCollisionRayLength; break; case ENTITY_TEST_LATERAL: hitDepthHoriz = gCollisionRayLength; break; } guRotateF(tempMatrix1, entity->rot.x, 1.0f, 0.0f, 0.0f); guRotateF(tempMatrix2, entity->rot.z, 0.0f, 0.0f, 1.0f); guMtxCatF(tempMatrix1, tempMatrix2, tempMatrix1); guRotateF(tempMatrix2, entity->rot.y, 0.0f, 1.0f, 0.0f); guMtxCatF(tempMatrix1, tempMatrix2, tempMatrix1); guTranslateF(tempMatrix2, entity->pos.x, entity->pos.y, entity->pos.z); guMtxCatF(tempMatrix1, tempMatrix2, tempMatrix1); guMtxXFMF(tempMatrix1, gCollisionPointX, gCollisionPointY, gCollisionPointZ, hitX, hitY, hitZ); h = 1.0f / sqrtf(SQ(gCollisionNormalX) + SQ(gCollisionNormalY) + SQ(gCollisionNormalZ)); *hitNx = gCollisionNormalX * h; *hitNy = gCollisionNormalY * h; *hitNz = gCollisionNormalZ * h; } } return entityIndex; }