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Clean up KCL collision functions
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@malleoz
malleoz committed May 4, 2024
1 parent 3adf682 commit be5312d
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Showing 3 changed files with 52 additions and 157 deletions.
2 changes: 1 addition & 1 deletion source/game/field/CourseColMgr.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -37,7 +37,7 @@ bool CourseColMgr::checkSphereFullPush(f32 scalar, f32 radius, KColData *data,
data->lookupSphere(radius, scaled_position, vStack88, flags);

if (info) {
return doCheckWithFullInfoPush(data, &KColData::checkSphere, info, kcl_flags_out);
return doCheckWithFullInfoPush(data, &KColData::checkSphereCollision, info, kcl_flags_out);
}
return doCheckMaskOnlyPush(data, &KColData::checkSphereCollision, kcl_flags_out);
}
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195 changes: 43 additions & 152 deletions source/game/field/KColData.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -73,7 +73,9 @@ void KColData::narrowPolygon_EachBlock(const u16 *prismArray) {
m_prismIter = prismArray;

while (checkSphereSingle(nullptr, nullptr, nullptr)) {
*(m_prismCacheTop++) = parse<u16>(*m_prismIter);
/// We assume the cache has same endianness as the archive file,
/// so do not parse out the prism index and directly store it in the cache.
*(m_prismCacheTop++) = *m_prismIter;

if (m_prismCacheTop == m_prismCache.end()) {
--m_prismCacheTop;
Expand Down Expand Up @@ -121,7 +123,7 @@ bool KColData::checkSphere(f32 *distOut, EGG::Vector3f *fnrmOut, u16 *flagsOut)
// Check collision for all triangles, and continuously call the function until we're out
while (*++m_prismIter != 0) {
const KCollisionPrism prism = getPrism(parse<u16>(*m_prismIter));
if (checkSphereTriCollision(prism, distOut, fnrmOut, flagsOut)) {
if (checkCollision(prism, distOut, fnrmOut, flagsOut, CollisionCheckType::Plane)) {
return true;
}
}
Expand Down Expand Up @@ -151,7 +153,7 @@ bool KColData::checkSphereSingle(f32 *distOut, EGG::Vector3f *fnrmOut, u16 *flag
}

const KCollisionPrism prism = getPrism(parse<u16>(*m_prismIter));
if (checkSphereTriCollision(prism, distOut, fnrmOut, flagsOut)) {
if (checkCollision(prism, distOut, fnrmOut, flagsOut, CollisionCheckType::Edge)) {
return true;
}
}
Expand All @@ -175,7 +177,7 @@ void KColData::lookupSphereCached(const EGG::Vector3f &p1, const EGG::Vector3f &
EGG::Sphere3f sphere1(p1, radius);
EGG::Sphere3f sphere2(m_cachedPos, m_cachedRadius);

if (sphere1.isInsideOtherSphere(sphere2)) {
if (!sphere1.isInsideOtherSphere(sphere2)) {
m_prismIter = searchBlock(p1);
m_radius = std::min(m_sphereRadius, radius);
} else {
Expand Down Expand Up @@ -287,9 +289,13 @@ u16 KColData::prismCache(u32 idx) const {
return m_prismCache[idx];
}

// Returns whether or not our sphere is colliding with the triangle
bool KColData::checkSphereTriCollision(const KCollisionPrism &prism, f32 *distOut,
EGG::Vector3f *fnrmOut, u16 *flagsOut) {
// This is a combination of the three collision checks in the base game.
// The three checks vary only by a few if-statements, related to whether we are checking for:
// 1. A collision with at least the triangle edge (0x807C0F00)
// 2. A collision with the triangle plane (0x807C1514)
// 3. A collision such that we are inside the triangle (0x807C0884)
bool KColData::checkCollision(const KCollisionPrism &prism, f32 *distOut, EGG::Vector3f *fnrmOut,
u16 *flagsOut, CollisionCheckType type) {
// Responsible for updating the output params
auto out = [&](f32 dist) {
if (distOut) {
Expand All @@ -306,7 +312,8 @@ bool KColData::checkSphereTriCollision(const KCollisionPrism &prism, f32 *distOu

// The flag check occurs earlier than in the base game here. We don't want to do math if the tri
// we're checking doesn't have matching flags.
if ((KCL_ATTRIBUTE_TYPE_BIT(prism.attribute) & m_typeMask) == 0) {
u32 attributeMask = KCL_ATTRIBUTE_TYPE_BIT(prism.attribute);
if ((attributeMask & m_typeMask) == 0) {
return false;
}

Expand Down Expand Up @@ -338,9 +345,22 @@ bool KColData::checkSphereTriCollision(const KCollisionPrism &prism, f32 *distOu
return false;
}

if (type == CollisionCheckType::Movement) {
if ((attributeMask & KCL_TYPE_DIRECTIONAL) != 0 && m_movement.dot(fnrm) > 0.0f) {
return false;
}
}

// Originally part of the edge searching, but moved out for simplicity
// If these are all zero, then we're inside the triangle
if (dist_ab <= 0.0f && dist_bc <= 0.0f && dist_ca <= 0.0f) {
if (type == CollisionCheckType::Movement) {
EGG::Vector3f lastPos = relativePos - m_movement;
// We're only colliding if we are moving towards the face
if (plane_dist < 0.0f && lastPos.dot(fnrm) < 0.0f) {
return false;
}
}
return out(dist_in_plane);
}

Expand Down Expand Up @@ -391,168 +411,39 @@ bool KColData::checkSphereTriCollision(const KCollisionPrism &prism, f32 *distOu
f32 cos = edge_nor.ps_dot(other_edge_nor);
f32 sq_dist;
if (cos * edge_dist > other_edge_dist) {
if (edge_dist > plane_dist) {
return false;
if (type == CollisionCheckType::Plane) {
if (edge_dist > plane_dist) {
return false;
}
}

sq_dist = m_radius * m_radius - edge_dist * edge_dist;
} else {
f32 sq_sin = cos * cos - 1.0f;
f32 t = (cos * edge_dist - other_edge_dist) / sq_sin;
f32 s = edge_dist - t * cos;
const EGG::Vector3f corner_pos = edge_nor * s + other_edge_nor * t;
f32 corner_sq_dist = corner_pos.dot();

if (corner_sq_dist > plane_dist * plane_dist) {
return false;
if (type == CollisionCheckType::Plane) {
if (corner_pos.dot() > plane_dist * plane_dist) {
return false;
}
}

sq_dist = m_radius * m_radius - corner_sq_dist;
sq_dist = m_radius * m_radius - corner_pos.dot();
}

if (sq_dist < plane_dist * plane_dist || sq_dist < 0.0f) {
if (sq_dist < plane_dist * plane_dist || sq_dist <= 0.0f) {
return false;
}

f32 dist = EGG::Mathf::sqrt(sq_dist) - plane_dist;
if (dist <= 0.0f) {
return false;
}

return out(dist);
}

bool KColData::checkSphereMovementCollision(const KCollisionPrism &prism, f32 *distOut,
EGG::Vector3f *fnrmOut, u16 *flagsOut) {
// Responsible for updating the output params
auto out = [&](f32 dist) {
if (distOut) {
*distOut = dist;
}
if (fnrmOut) {
*fnrmOut = getNrm(prism.fnrm_i);
}
if (flagsOut) {
*flagsOut = prism.attribute;
}
return true;
};

// The flag check occurs earlier than in the base game here. We don't want to do math if the tri
// we're checking doesn't have matching flags.
if ((KCL_ATTRIBUTE_TYPE_BIT(prism.attribute) & m_typeMask) == 0) {
return false;
}

const EGG::Vector3f relativePos = m_pos - getPos(prism.pos_i);

// Edge normals point outside the triangle
const EGG::Vector3f enrm1 = getNrm(prism.enrm1_i);
f32 dist_ca = relativePos.ps_dot(enrm1);
if (m_radius <= dist_ca) {
return false;
}

const EGG::Vector3f enrm2 = getNrm(prism.enrm2_i);
f32 dist_ab = relativePos.ps_dot(enrm2);
if (m_radius <= dist_ab) {
return false;
}

const EGG::Vector3f enrm3 = getNrm(prism.enrm3_i);
f32 dist_bc = relativePos.ps_dot(enrm3) - prism.height;
if (m_radius <= dist_bc) {
return false;
}

const EGG::Vector3f fnrm = getNrm(prism.fnrm_i);
f32 plane_dist = relativePos.ps_dot(fnrm);
f32 dist_in_plane = m_radius - plane_dist;
if (dist_in_plane <= 0.0f || dist_in_plane >= m_prismThickness) {
return false;
}

// Originally part of the edge searching, but moved out for simplicity
// If these are all zero, then we're inside the triangle
if (dist_ab <= 0.0f && dist_bc <= 0.0f && dist_ca <= 0.0f) {
EGG::Vector3f lastPos = relativePos - (m_pos - m_prevPos);
if (plane_dist < 0.0f && lastPos.dot(fnrm) < 0.0f) {
if (type == CollisionCheckType::Movement) {
EGG::Vector3f lastPos = relativePos - m_movement;
// We're only colliding if we are moving towards the face
if (lastPos.dot(fnrm) < 0.0f) {
return false;
}

return out(dist_in_plane);
}

EGG::Vector3f edge_nor, other_edge_nor;
f32 edge_dist, other_edge_dist;
// > means further, < means closer, = means same distance
if (dist_ab >= dist_ca && dist_ab > dist_bc) {
// AB is the furthest edge
edge_nor = enrm2;
edge_dist = dist_ab;
if (dist_ca >= dist_bc) {
// CA is the second furthest edge
other_edge_nor = enrm1;
other_edge_dist = dist_ca;
} else {
// BC is the second furthest edge
other_edge_nor = enrm3;
other_edge_dist = dist_bc;
}
} else if (dist_bc >= dist_ca) {
// BC is the furthest edge
edge_nor = enrm3;
edge_dist = dist_bc;
if (dist_ab >= dist_ca) {
// AB is the second furthest edge
other_edge_nor = enrm2;
other_edge_dist = dist_ab;
} else {
// CA is the second furthest edge
other_edge_nor = enrm1;
other_edge_dist = dist_ca;
}
} else {
// CA is the furthest edge
edge_nor = enrm1;
edge_dist = dist_ca;
if (dist_bc >= dist_ab) {
// BC is the second furthest edge
other_edge_nor = enrm3;
other_edge_dist = dist_bc;
} else {
// AB is the second furthest edge
other_edge_nor = enrm2;
other_edge_dist = dist_ab;
}
}

f32 cos = edge_nor.ps_dot(other_edge_nor);
f32 sq_dist;
if (cos * edge_dist > other_edge_dist) {
sq_dist = m_radius * m_radius - edge_dist * edge_dist;
} else {
f32 sq_sin = cos * cos - 1.0f;
f32 t = (cos * edge_dist - other_edge_dist) / sq_sin;
f32 s = edge_dist - t * cos;
const EGG::Vector3f corner_pos = edge_nor * s + other_edge_nor * t;
f32 corner_sq_dist = corner_pos.dot();
sq_dist = m_radius * m_radius - corner_sq_dist;
}

if (sq_dist < plane_dist * plane_dist || sq_dist < 0.0f) {
return false;
}

f32 dist = EGG::Mathf::sqrt(sq_dist) - plane_dist;
if (dist <= 0.0f) {
return false;
}

EGG::Vector3f lastPos = relativePos - (m_pos - m_prevPos);

if (lastPos.dot(fnrm) < 0.0f) {
return false;
}

return out(dist);
Expand All @@ -567,7 +458,7 @@ bool KColData::checkSphereMovement(f32 *distOut, EGG::Vector3f *fnrmOut, u16 *at
// Check collision for all triangles, and continuously call the function until we're out
while (*++m_prismIter != 0) {
const KCollisionPrism prism = getPrism(parse<u16>(*m_prismIter));
if (checkSphereMovementCollision(prism, distOut, fnrmOut, attributeOut)) {
if (checkCollision(prism, distOut, fnrmOut, attributeOut, CollisionCheckType::Movement)) {
return true;
}
}
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12 changes: 8 additions & 4 deletions source/game/field/KColData.hh
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Original file line number Diff line number Diff line change
Expand Up @@ -11,6 +11,12 @@ namespace Field {

class KColData {
public:
enum class CollisionCheckType {
Edge,
Plane,
Movement,
};

struct KCollisionPrism {
KCollisionPrism();
KCollisionPrism(f32 height, u16 posIndex, u16 faceNormIndex, u16 edge1NormIndex,
Expand Down Expand Up @@ -54,10 +60,8 @@ public:
u16 prismCache(u32 idx) const;

private:
bool checkSphereTriCollision(const KCollisionPrism &prism, f32 *distOut, EGG::Vector3f *fnrmOut,
u16 *flagsOut);
bool checkSphereMovementCollision(const KCollisionPrism &prism, f32 *distOut,
EGG::Vector3f *fnrmOut, u16 *flagsOut);
bool checkCollision(const KCollisionPrism &prism, f32 *distOut, EGG::Vector3f *fnrmOut,
u16 *flagsOut, CollisionCheckType type);
bool checkSphereMovement(f32 *distOut, EGG::Vector3f *fnrmOut, u16 *attributeOut);

const void *m_posData;
Expand Down

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