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-rw-r--r--src/core/Collision.cpp1118
1 files changed, 1100 insertions, 18 deletions
diff --git a/src/core/Collision.cpp b/src/core/Collision.cpp
index 99be816f..6522ff1c 100644
--- a/src/core/Collision.cpp
+++ b/src/core/Collision.cpp
@@ -1,5 +1,6 @@
#include "common.h"
+#include "VuVector.h"
#include "main.h"
#include "Lists.h"
#include "Game.h"
@@ -21,6 +22,346 @@
#include "Lines.h"
#include "Collision.h"
+
+// TODO: where do these go?
+
+#ifdef VU_COLLISION
+
+struct VuTriangle
+{
+ // Compressed int16 but unpacked
+#ifdef GTA_PS2
+ uint128 v0;
+ uint128 v1;
+ uint128 v2;
+ uint128 plane;
+#else
+ int32 v0[4];
+ int32 v1[4];
+ int32 v2[4];
+ int32 plane[4];
+#endif
+};
+
+#ifndef GTA_PS2
+static int16 vi01;
+static CVuVector vf01;
+static CVuVector vf02;
+static CVuVector vf03;
+
+CVuVector
+DistanceBetweenSphereAndLine(const CVuVector &center, const CVuVector &p0, const CVuVector &line)
+{
+ // center VF12
+ // p0 VF14
+ // line VF15
+ CVuVector ret; // VF16
+ CVuVector p1 = p0+line;
+ CVuVector dist0 = center - p0; // VF20
+ CVuVector dist1 = center - p1; // VF25
+ float lenSq = line.MagnitudeSqr(); // VF21
+ float distSq0 = dist0.MagnitudeSqr(); // VF22
+ float distSq1 = dist1.MagnitudeSqr();
+ float dot = DotProduct(dist0, line); // VF23
+ if(dot < 0.0f){
+ // not above line, closest to p0
+ ret = p0;
+ ret.w = distSq0;
+ return ret;
+ }
+ float t = dot/lenSq; // param of nearest point on infinite line
+ if(t > 1.0f){
+ // not above line, closest to p1
+ ret = p1;
+ ret.w = distSq1;
+ return ret;
+ }
+ // closest to line
+ ret = p0 + line*t;
+ ret.w = (ret - center).MagnitudeSqr();
+ return ret;
+}
+inline int SignFlags(const CVector &v)
+{
+ int f = 0;
+ if(v.x < 0.0f) f |= 1;
+ if(v.y < 0.0f) f |= 2;
+ if(v.z < 0.0f) f |= 4;
+ return f;
+}
+#endif
+
+extern "C" void
+LineToTriangleCollision(const CVuVector &p0, const CVuVector &p1,
+ const CVuVector &v0, const CVuVector &v1, const CVuVector &v2,
+ const CVuVector &plane)
+{
+#ifdef GTA_PS2
+ __asm__ volatile (
+ ".set noreorder\n"
+ "lqc2 vf12, 0x0(%0)\n"
+ "lqc2 vf13, 0x0(%1)\n"
+ "lqc2 vf14, 0x0(%2)\n"
+ "lqc2 vf15, 0x0(%3)\n"
+ "lqc2 vf16, 0x0(%4)\n"
+ "lqc2 vf17, 0x0(%5)\n"
+ "vcallms Vu0LineToTriangleCollisionStart\n"
+ ".set reorder\n"
+ :
+ : "r" (&p0), "r" (&p1), "r" (&v0), "r" (&v1), "r" (&v2), "r" (&plane)
+ );
+#else
+ float dot0 = DotProduct(plane, p0);
+ float dot1 = DotProduct(plane, p1);
+ float dist0 = plane.w - dot0;
+ float dist1 = plane.w - dot1;
+
+ // if points are on the same side, no collision
+ if(dist0 * dist1 > 0.0f){
+ vi01 = 0;
+ return;
+ }
+
+ CVuVector diff = p1 - p0;
+ float t = dist0/(dot1 - dot0);
+ CVuVector p = p0 + diff*t;
+ p.w = 0.0f;
+ vf01 = p;
+ vf03.x = t;
+
+ // Check if point is inside
+ CVector cross1 = CrossProduct(p-v0, v1-v0);
+ CVector cross2 = CrossProduct(p-v1, v2-v1);
+ CVector cross3 = CrossProduct(p-v2, v0-v2);
+ // Only check relevant directions
+ int flagmask = 0;
+ if(Abs(plane.x) > 0.5f) flagmask |= 1;
+ if(Abs(plane.y) > 0.5f) flagmask |= 2;
+ if(Abs(plane.z) > 0.5f) flagmask |= 4;
+ int flags1 = SignFlags(cross1) & flagmask;
+ int flags2 = SignFlags(cross2) & flagmask;
+ int flags3 = SignFlags(cross3) & flagmask;
+ // inside if on the same side of all edges
+ if(flags1 != flags2 || flags1 != flags3){
+ vi01 = 0;
+ return;
+ }
+ vi01 = 1;
+ vf02 = plane;
+ return;
+#endif
+}
+
+extern "C" void
+LineToTriangleCollisionCompressed(const CVuVector &p0, const CVuVector &p1, VuTriangle &tri)
+{
+#ifdef GTA_PS2
+ __asm__ volatile (
+ ".set noreorder\n"
+ "lqc2 vf12, 0x0(%0)\n"
+ "lqc2 vf13, 0x0(%1)\n"
+ "lqc2 vf14, 0x0(%2)\n"
+ "lqc2 vf15, 0x10(%2)\n"
+ "lqc2 vf16, 0x20(%2)\n"
+ "lqc2 vf17, 0x30(%2)\n"
+ "vcallms Vu0LineToTriangleCollisionCompressedStart\n"
+ ".set reorder\n"
+ :
+ : "r" (&p0), "r" (&p1), "r" (&tri)
+ );
+#else
+ CVuVector v0, v1, v2, plane;
+ v0.x = tri.v0[0]/128.0f;
+ v0.y = tri.v0[1]/128.0f;
+ v0.z = tri.v0[2]/128.0f;
+ v0.w = tri.v0[3]/128.0f;
+ v1.x = tri.v1[0]/128.0f;
+ v1.y = tri.v1[1]/128.0f;
+ v1.z = tri.v1[2]/128.0f;
+ v1.w = tri.v1[3]/128.0f;
+ v2.x = tri.v2[0]/128.0f;
+ v2.y = tri.v2[1]/128.0f;
+ v2.z = tri.v2[2]/128.0f;
+ v2.w = tri.v2[3]/128.0f;
+ plane.x = tri.plane[0]/4096.0f;
+ plane.y = tri.plane[1]/4096.0f;
+ plane.z = tri.plane[2]/4096.0f;
+ plane.w = tri.plane[3]/128.0f;
+ LineToTriangleCollision(p0, p1, v0, v1, v2, plane);
+#endif
+}
+
+extern "C" void
+SphereToTriangleCollision(const CVuVector &sph,
+ const CVuVector &v0, const CVuVector &v1, const CVuVector &v2,
+ const CVuVector &plane)
+{
+#ifdef GTA_PS2
+ __asm__ volatile (
+ ".set noreorder\n"
+ "lqc2 vf12, 0x0(%0)\n"
+ "lqc2 vf14, 0x0(%1)\n"
+ "lqc2 vf15, 0x0(%2)\n"
+ "lqc2 vf16, 0x0(%3)\n"
+ "lqc2 vf17, 0x0(%4)\n"
+ "vcallms Vu0SphereToTriangleCollisionStart\n"
+ ".set reorder\n"
+ :
+ : "r" (&sph), "r" (&v0), "r" (&v1), "r" (&v2), "r" (&plane)
+ );
+#else
+ float planedist = DotProduct(plane, sph) - plane.w; // VF02
+ if(Abs(planedist) > sph.w){
+ vi01 = 0;
+ return;
+ }
+ // point on plane
+ CVuVector p = sph - planedist*plane;
+ p.w = 0.0f;
+ vf01 = p;
+ planedist = Abs(planedist);
+ // edges
+ CVuVector v01 = v1 - v0;
+ CVuVector v12 = v2 - v1;
+ CVuVector v20 = v0 - v2;
+ // VU code calculates normal again for some weird reason...
+ // Check sides of point
+ CVector cross1 = CrossProduct(p-v0, v01);
+ CVector cross2 = CrossProduct(p-v1, v12);
+ CVector cross3 = CrossProduct(p-v2, v20);
+ // Only check relevant directions
+ int flagmask = 0;
+ if(Abs(plane.x) > 0.1f) flagmask |= 1;
+ if(Abs(plane.y) > 0.1f) flagmask |= 2;
+ if(Abs(plane.z) > 0.1f) flagmask |= 4;
+ int nflags = SignFlags(plane) & flagmask;
+ int flags1 = SignFlags(cross1) & flagmask;
+ int flags2 = SignFlags(cross2) & flagmask;
+ int flags3 = SignFlags(cross3) & flagmask;
+ int testcase = 0;
+ CVuVector closest(0.0f, 0.0f, 0.0f); // VF04
+ if(flags1 == nflags){
+ closest += v2;
+ testcase++;
+ }
+ if(flags2 == nflags){
+ closest += v0;
+ testcase++;
+ }
+ if(flags3 == nflags){
+ closest += v1;
+ testcase++;
+ }
+ if(testcase == 3){
+ // inside triangle - dist to plane already checked
+ vf02 = plane;
+ vf02.w = vf03.x = planedist;
+ vi01 = 1;
+ }else if(testcase == 1){
+ // outside two sides - closest to point opposide inside edge
+ vf01 = closest;
+ vf02 = sph - closest;
+ float distSq = vf02.MagnitudeSqr();
+ vi01 = sph.w*sph.w > distSq;
+ vf03.x = Sqrt(distSq);
+ vf02 *= 1.0f/vf03.x;
+ }else{
+ // inside two sides - closest to third edge
+ if(flags1 != nflags)
+ closest = DistanceBetweenSphereAndLine(sph, v0, v01);
+ else if(flags2 != nflags)
+ closest = DistanceBetweenSphereAndLine(sph, v1, v12);
+ else
+ closest = DistanceBetweenSphereAndLine(sph, v2, v20);
+ vi01 = sph.w*sph.w > closest.w;
+ vf01 = closest;
+ vf02 = sph - closest;
+ vf03.x = Sqrt(closest.w);
+ vf02 *= 1.0f/vf03.x;
+ }
+#endif
+}
+
+extern "C" void
+SphereToTriangleCollisionCompressed(const CVuVector &sph, VuTriangle &tri)
+{
+#ifdef GTA_PS2
+ __asm__ volatile (
+ ".set noreorder\n"
+ "lqc2 vf12, 0x0(%0)\n"
+ "lqc2 vf14, 0x0(%1)\n"
+ "lqc2 vf15, 0x10(%1)\n"
+ "lqc2 vf16, 0x20(%1)\n"
+ "lqc2 vf17, 0x30(%1)\n"
+ "vcallms Vu0SphereToTriangleCollisionCompressedStart\n"
+ ".set reorder\n"
+ :
+ : "r" (&sph), "r" (&tri)
+ );
+#else
+ CVuVector v0, v1, v2, plane;
+ v0.x = tri.v0[0]/128.0f;
+ v0.y = tri.v0[1]/128.0f;
+ v0.z = tri.v0[2]/128.0f;
+ v0.w = tri.v0[3]/128.0f;
+ v1.x = tri.v1[0]/128.0f;
+ v1.y = tri.v1[1]/128.0f;
+ v1.z = tri.v1[2]/128.0f;
+ v1.w = tri.v1[3]/128.0f;
+ v2.x = tri.v2[0]/128.0f;
+ v2.y = tri.v2[1]/128.0f;
+ v2.z = tri.v2[2]/128.0f;
+ v2.w = tri.v2[3]/128.0f;
+ plane.x = tri.plane[0]/4096.0f;
+ plane.y = tri.plane[1]/4096.0f;
+ plane.z = tri.plane[2]/4096.0f;
+ plane.w = tri.plane[3]/128.0f;
+ SphereToTriangleCollision(sph, v0, v1, v2, plane);
+#endif
+}
+
+inline int
+GetVUresult(void)
+{
+#ifdef GTA_PS2
+ int ret;
+ __asm__ volatile (
+ "cfc2.i %0,vi01\n" // .i important! wait for VU0 to finish
+ : "=r" (ret)
+ );
+ return ret;
+#else
+ return vi01;
+#endif
+}
+
+inline int
+GetVUresult(CVuVector &point, CVuVector &normal, float &dist)
+{
+#ifdef GTA_PS2
+ int ret;
+ __asm__ volatile (
+ "cfc2.i %0,vi01\n" // .i important! wait for VU0 to finish
+ "sqc2 vf01,(%1)\n"
+ "sqc2 vf02,(%2)\n"
+ "qmfc2 $12,vf03\n"
+ "sw $12,(%3)\n"
+ : "=r" (ret)
+ : "r" (&point), "r" (&normal), "r" (&dist)
+ : "$12"
+ );
+ return ret;
+#else
+ point = vf01;
+ normal = vf02;
+ dist = vf03.x;
+ return vi01;
+#endif
+}
+
+#endif
+
+
enum Direction
{
DIR_X_POS,
@@ -397,6 +738,20 @@ CCollision::TestVerticalLineBox(const CColLine &line, const CColBox &box)
bool
CCollision::TestLineTriangle(const CColLine &line, const CompressedVector *verts, const CColTriangle &tri, const CColTrianglePlane &plane)
{
+#ifdef VU_COLLISION
+ // not used in favour of optimized loops
+ VuTriangle vutri;
+ verts[tri.a].Unpack(vutri.v0);
+ verts[tri.b].Unpack(vutri.v1);
+ verts[tri.c].Unpack(vutri.v2);
+ plane.Unpack(vutri.plane);
+
+ LineToTriangleCollisionCompressed(*(CVuVector*)&line.p0, *(CVuVector*)&line.p1, vutri);
+
+ if(GetVUresult())
+ return true;
+ return false;
+#else
float t;
CVector normal;
plane.GetNormal(normal);
@@ -470,6 +825,7 @@ CCollision::TestLineTriangle(const CColLine &line, const CompressedVector *verts
if(CrossProduct2D(vec3-vec1, vect-vec1) > 0.0f) return false;
if(CrossProduct2D(vec3-vec2, vect-vec2) < 0.0f) return false;
return true;
+#endif
}
// Test if line segment intersects with sphere.
@@ -507,6 +863,20 @@ bool
CCollision::TestSphereTriangle(const CColSphere &sphere,
const CompressedVector *verts, const CColTriangle &tri, const CColTrianglePlane &plane)
{
+#ifdef VU_COLLISION
+ // not used in favour of optimized loops
+ VuTriangle vutri;
+ verts[tri.a].Unpack(vutri.v0);
+ verts[tri.b].Unpack(vutri.v1);
+ verts[tri.c].Unpack(vutri.v2);
+ plane.Unpack(vutri.plane);
+
+ SphereToTriangleCollisionCompressed(*(CVuVector*)&sphere, vutri);
+
+ if(GetVUresult())
+ return true;
+ return false;
+#else
// If sphere and plane don't intersect, no collision
float planedist = plane.CalcPoint(sphere.center);
if(Abs(planedist) > sphere.radius)
@@ -520,7 +890,9 @@ CCollision::TestSphereTriangle(const CColSphere &sphere,
CVector vec2 = vb - va;
float len = vec2.Magnitude();
vec2 = vec2 * (1.0f/len);
- CVector vec1 = CrossProduct(vec2, plane.normal);
+ CVector normal;
+ plane.GetNormal(normal);
+ CVector vec1 = CrossProduct(vec2, normal);
// We know A has local coordinate [0,0] and B has [0,len].
// Now calculate coordinates on triangle for these two vectors:
@@ -563,11 +935,78 @@ CCollision::TestSphereTriangle(const CColSphere &sphere,
}
return dist < sphere.radius;
+#endif
}
bool
CCollision::TestLineOfSight(const CColLine &line, const CMatrix &matrix, CColModel &model, bool ignoreSeeThrough)
{
+#ifdef VU_COLLISION
+ CMatrix matTransform;
+ int i;
+
+ // transform line to model space
+ Invert(matrix, matTransform);
+ CVuVector newline[2];
+ TransformPoints(newline, 2, matTransform, (RwV3d*)&line.p0, sizeof(CColLine)/2);
+
+ // If we don't intersect with the bounding box, no chance on the rest
+ if(!TestLineBox(*(CColLine*)newline, model.boundingBox))
+ return false;
+
+ for(i = 0; i < model.numSpheres; i++){
+ if(ignoreSeeThrough && IsSeeThrough(model.spheres[i].surface)) continue;
+ if(TestLineSphere(*(CColLine*)newline, model.spheres[i]))
+ return true;
+ }
+
+ for(i = 0; i < model.numBoxes; i++){
+ if(ignoreSeeThrough && IsSeeThrough(model.boxes[i].surface)) continue;
+ if(TestLineBox(*(CColLine*)newline, model.boxes[i]))
+ return true;
+ }
+
+ CalculateTrianglePlanes(&model);
+ int lastTest = -1;
+ VuTriangle vutri;
+ for(i = 0; i < model.numTriangles; i++){
+ if(ignoreSeeThrough && IsSeeThrough(model.triangles[i].surface)) continue;
+
+ CColTriangle *tri = &model.triangles[i];
+ model.vertices[tri->a].Unpack(vutri.v0);
+ model.vertices[tri->b].Unpack(vutri.v1);
+ model.vertices[tri->c].Unpack(vutri.v2);
+ model.trianglePlanes[i].Unpack(vutri.plane);
+
+ LineToTriangleCollisionCompressed(newline[0], newline[1], vutri);
+ lastTest = i;
+ break;
+ }
+#ifdef FIX_BUGS
+ // no need to check first again
+ i++;
+#endif
+ for(; i < model.numTriangles; i++){
+ if(ignoreSeeThrough && IsSeeThrough(model.triangles[i].surface)) continue;
+
+ CColTriangle *tri = &model.triangles[i];
+ model.vertices[tri->a].Unpack(vutri.v0);
+ model.vertices[tri->b].Unpack(vutri.v1);
+ model.vertices[tri->c].Unpack(vutri.v2);
+ model.trianglePlanes[i].Unpack(vutri.plane);
+
+ if(GetVUresult())
+ return true;
+
+ LineToTriangleCollisionCompressed(newline[0], newline[1], vutri);
+ lastTest = i;
+
+ }
+ if(lastTest != -1 && GetVUresult())
+ return true;
+
+ return false;
+#else
static CMatrix matTransform;
int i;
@@ -599,6 +1038,7 @@ CCollision::TestLineOfSight(const CColLine &line, const CMatrix &matrix, CColMod
}
return false;
+#endif
}
@@ -614,20 +1054,24 @@ CCollision::ProcessSphereSphere(const CColSphere &s1, const CColSphere &s2, CCol
{
CVector dist = s1.center - s2.center;
float d = dist.Magnitude() - s2.radius; // distance from s1's center to s2
- float dc = d < 0.0f ? 0.0f : d; // clamp to zero, i.e. if s1's center is inside s2
+ float depth = s1.radius - d; // sphere overlap
+ if(d < 0.0f) d = 0.0f; // clamp to zero, i.e. if s1's center is inside s2
// no collision if sphere is not close enough
- if(mindistsq <= dc*dc || s1.radius <= dc)
- return false;
- dist.Normalise();
- point.point = s1.center - dist*dc;
- point.normal = dist;
- point.surfaceA = s1.surface;
- point.pieceA = s1.piece;
- point.surfaceB = s2.surface;
- point.pieceB = s2.piece;
- point.depth = s1.radius - d; // sphere overlap
- mindistsq = dc*dc; // collision radius
- return true;
+ if(d*d < mindistsq && d < s1.radius){
+ dist.Normalise();
+ point.point = s1.center - dist*d;
+ point.normal = dist;
+#ifndef VU_COLLISION
+ point.surfaceA = s1.surface;
+ point.pieceA = s1.piece;
+ point.surfaceB = s2.surface;
+ point.pieceB = s2.piece;
+#endif
+ point.depth = depth;
+ mindistsq = d*d; // collision radius
+ return true;
+ }
+ return false;
}
bool
@@ -667,10 +1111,12 @@ CCollision::ProcessSphereBox(const CColSphere &sph, const CColBox &box, CColPoin
if(lensq < mindistsq){
point.normal = dist * (1.0f/Sqrt(lensq));
point.point = sph.center - point.normal;
+#ifndef VU_COLLISION
point.surfaceA = sph.surface;
point.pieceA = sph.piece;
point.surfaceB = box.surface;
point.pieceB = box.piece;
+#endif
// find absolute distance to the closer side in each dimension
float dx = dist.x > 0.0f ?
@@ -710,10 +1156,12 @@ CCollision::ProcessSphereBox(const CColSphere &sph, const CColBox &box, CColPoin
float len = Sqrt(lensq);
point.point = p;
point.normal = dist * (1.0f/len);
+#ifndef VU_COLLISION
point.surfaceA = sph.surface;
point.pieceA = sph.piece;
point.surfaceB = box.surface;
point.pieceB = box.piece;
+#endif
point.depth = sph.radius - len;
mindistsq = lensq;
return true;
@@ -828,10 +1276,12 @@ CCollision::ProcessLineBox(const CColLine &line, const CColBox &box, CColPoint &
point.point = p;
point.normal = normal;
+#ifndef VU_COLLISION
point.surfaceA = 0;
point.pieceA = 0;
point.surfaceB = box.surface;
point.pieceB = box.piece;
+#endif
mindist = mint;
return true;
@@ -861,10 +1311,12 @@ CCollision::ProcessLineSphere(const CColLine &line, const CColSphere &sphere, CC
point.point = line.p0 + v01*t;
point.normal = point.point - sphere.center;
point.normal.Normalise();
+#ifndef VU_COLLISION
point.surfaceA = 0;
point.pieceA = 0;
point.surfaceB = sphere.surface;
point.pieceB = sphere.piece;
+#endif
mindist = t;
return true;
}
@@ -874,6 +1326,17 @@ CCollision::ProcessVerticalLineTriangle(const CColLine &line,
const CompressedVector *verts, const CColTriangle &tri, const CColTrianglePlane &plane,
CColPoint &point, float &mindist, CStoredCollPoly *poly)
{
+#ifdef VU_COLLISION
+ // not used in favour of optimized loops
+ bool res = ProcessLineTriangle(line, verts, tri, plane, point, mindist);
+ if(res && poly){
+ poly->verts[0] = verts[tri.a].Get();
+ poly->verts[1] = verts[tri.b].Get();
+ poly->verts[2] = verts[tri.c].Get();
+ poly->valid = true;
+ }
+ return res;
+#else
float t;
CVector normal;
@@ -960,11 +1423,40 @@ CCollision::ProcessVerticalLineTriangle(const CColLine &line,
}
mindist = t;
return true;
+#endif
}
bool
CCollision::IsStoredPolyStillValidVerticalLine(const CVector &pos, float z, CColPoint &point, CStoredCollPoly *poly)
{
+#ifdef VU_COLLISION
+ if(!poly->valid)
+ return false;
+
+ CVuVector p0 = pos;
+ CVuVector p1 = pos;
+ p1.z = z;
+
+ CVector v01 = poly->verts[1] - poly->verts[0];
+ CVector v02 = poly->verts[2] - poly->verts[0];
+ CVuVector plane = CrossProduct(v02, v01);
+ plane.Normalise();
+ plane.w = DotProduct(plane, poly->verts[0]);
+
+ LineToTriangleCollision(p0, p1, poly->verts[0], poly->verts[1], poly->verts[2], plane);
+
+ CVuVector pnt;
+ float dist;
+ if(!GetVUresult(pnt, plane, dist))
+#ifdef FIX_BUGS
+ // perhaps not needed but be safe
+ return poly->valid = false;
+#else
+ return false;
+#endif
+ point.point = pnt;
+ return true;
+#else
float t;
if(!poly->valid)
@@ -987,7 +1479,9 @@ CCollision::IsStoredPolyStillValidVerticalLine(const CVector &pos, float z, CCol
return poly->valid = false;
// intersection parameter on line
- t = -plane.CalcPoint(p0) / DotProduct(p1 - p0, plane.normal);
+ CVector normal;
+ plane.GetNormal(normal);
+ t = -plane.CalcPoint(p0) / DotProduct(p1 - p0, normal);
// find point of intersection
CVector p = p0 + (p1-p0)*t;
@@ -1037,13 +1531,36 @@ CCollision::IsStoredPolyStillValidVerticalLine(const CVector &pos, float z, CCol
if(CrossProduct2D(vec3-vec2, vect-vec2) < 0.0f) return poly->valid = false;
point.point = p;
return poly->valid = true;
+#endif
}
bool
-CCollision::ProcessLineTriangle(const CColLine &line ,
+CCollision::ProcessLineTriangle(const CColLine &line,
const CompressedVector *verts, const CColTriangle &tri, const CColTrianglePlane &plane,
CColPoint &point, float &mindist)
{
+#ifdef VU_COLLISION
+ // not used in favour of optimized loops
+ VuTriangle vutri;
+ verts[tri.a].Unpack(vutri.v0);
+ verts[tri.b].Unpack(vutri.v1);
+ verts[tri.c].Unpack(vutri.v2);
+ plane.Unpack(vutri.plane);
+
+ LineToTriangleCollisionCompressed(*(CVuVector*)&line.p0, *(CVuVector*)&line.p1, vutri);
+
+ CVuVector pnt, normal;
+ float dist;
+ if(GetVUresult(pnt, normal, dist)){
+ if(dist < mindist){
+ point.point = pnt;
+ point.normal = normal;
+ mindist = dist;
+ return true;
+ }
+ }
+ return false;
+#else
float t;
CVector normal;
plane.GetNormal(normal);
@@ -1117,6 +1634,7 @@ CCollision::ProcessLineTriangle(const CColLine &line ,
point.pieceB = 0;
mindist = t;
return true;
+#endif
}
bool
@@ -1124,6 +1642,30 @@ CCollision::ProcessSphereTriangle(const CColSphere &sphere,
const CompressedVector *verts, const CColTriangle &tri, const CColTrianglePlane &plane,
CColPoint &point, float &mindistsq)
{
+#ifdef VU_COLLISION
+ // not used in favour of optimized loops
+ VuTriangle vutri;
+ verts[tri.a].Unpack(vutri.v0);
+ verts[tri.b].Unpack(vutri.v1);
+ verts[tri.c].Unpack(vutri.v2);
+ plane.Unpack(vutri.plane);
+
+ SphereToTriangleCollisionCompressed(*(CVuVector*)&sphere, vutri);
+
+ CVuVector pnt, normal;
+ float dist;
+ if(GetVUresult(pnt, normal, dist) && dist*dist < mindistsq){
+ float depth = sphere.radius - dist;
+ if(depth > point.depth){
+ point.point = pnt;
+ point.normal = normal;
+ point.depth = depth;
+ mindistsq = dist*dist;
+ return true;
+ }
+ }
+ return false;
+#else
// If sphere and plane don't intersect, no collision
float planedist = plane.CalcPoint(sphere.center);
float distsq = planedist*planedist;
@@ -1191,13 +1733,16 @@ CCollision::ProcessSphereTriangle(const CColSphere &sphere,
point.point = p;
point.normal = sphere.center - p;
point.normal.Normalise();
+#ifndef VU_COLLISION
point.surfaceA = sphere.surface;
point.pieceA = sphere.piece;
point.surfaceB = tri.surface;
point.pieceB = 0;
+#endif
point.depth = sphere.radius - dist;
mindistsq = dist*dist;
return true;
+#endif
}
bool
@@ -1205,6 +1750,94 @@ CCollision::ProcessLineOfSight(const CColLine &line,
const CMatrix &matrix, CColModel &model,
CColPoint &point, float &mindist, bool ignoreSeeThrough)
{
+#ifdef VU_COLLISION
+ CMatrix matTransform;
+ int i;
+
+ // transform line to model space
+ Invert(matrix, matTransform);
+ CVuVector newline[2];
+ TransformPoints(newline, 2, matTransform, (RwV3d*)&line.p0, sizeof(CColLine)/2);
+
+ if(mindist < 1.0f)
+ newline[1] = newline[0] + (newline[1] - newline[0])*mindist;
+
+ // If we don't intersect with the bounding box, no chance on the rest
+ if(!TestLineBox(*(CColLine*)newline, model.boundingBox))
+ return false;
+
+ float coldist = 1.0f;
+ for(i = 0; i < model.numSpheres; i++){
+ if(ignoreSeeThrough && IsSeeThrough(model.spheres[i].surface)) continue;
+ if(ProcessLineSphere(*(CColLine*)newline, model.spheres[i], point, coldist))
+ point.Set(0, 0, model.spheres[i].surface, model.spheres[i].piece);
+ }
+
+ for(i = 0; i < model.numBoxes; i++){
+ if(ignoreSeeThrough && IsSeeThrough(model.boxes[i].surface)) continue;
+ if(ProcessLineBox(*(CColLine*)newline, model.boxes[i], point, coldist))
+ point.Set(0, 0, model.boxes[i].surface, model.boxes[i].piece);
+ }
+
+ CalculateTrianglePlanes(&model);
+ VuTriangle vutri;
+ CColTriangle *lasttri = nil;
+ for(i = 0; i < model.numTriangles; i++){
+ if(ignoreSeeThrough && IsSeeThrough(model.triangles[i].surface)) continue;
+
+ CColTriangle *tri = &model.triangles[i];
+ model.vertices[tri->a].Unpack(vutri.v0);
+ model.vertices[tri->b].Unpack(vutri.v1);
+ model.vertices[tri->c].Unpack(vutri.v2);
+ model.trianglePlanes[i].Unpack(vutri.plane);
+
+ LineToTriangleCollisionCompressed(newline[0], newline[1], vutri);
+ lasttri = tri;
+ break;
+ }
+#ifdef FIX_BUGS
+ // no need to check first again
+ i++;
+#endif
+ CVuVector pnt, normal;
+ float dist;
+ for(; i < model.numTriangles; i++){
+ if(ignoreSeeThrough && IsSeeThrough(model.triangles[i].surface)) continue;
+
+ CColTriangle *tri = &model.triangles[i];
+ model.vertices[tri->a].Unpack(vutri.v0);
+ model.vertices[tri->b].Unpack(vutri.v1);
+ model.vertices[tri->c].Unpack(vutri.v2);
+ model.trianglePlanes[i].Unpack(vutri.plane);
+
+ if(GetVUresult(pnt, normal, dist))
+ if(dist < coldist){
+ point.point = pnt;
+ point.normal = normal;
+ point.Set(0, 0, lasttri->surface, 0);
+ coldist = dist;
+ }
+
+ LineToTriangleCollisionCompressed(newline[0], newline[1], vutri);
+ lasttri = tri;
+ }
+ if(lasttri && GetVUresult(pnt, normal, dist))
+ if(dist < coldist){
+ point.point = pnt;
+ point.normal = normal;
+ point.Set(0, 0, lasttri->surface, 0);
+ coldist = dist;
+ }
+
+
+ if(coldist < 1.0f){
+ point.point = matrix * point.point;
+ point.normal = Multiply3x3(matrix, point.normal);
+ mindist *= coldist;
+ return true;
+ }
+ return false;
+#else
static CMatrix matTransform;
int i;
@@ -1240,6 +1873,7 @@ CCollision::ProcessLineOfSight(const CColLine &line,
return true;
}
return false;
+#endif
}
bool
@@ -1247,6 +1881,125 @@ CCollision::ProcessVerticalLine(const CColLine &line,
const CMatrix &matrix, CColModel &model,
CColPoint &point, float &mindist, bool ignoreSeeThrough, CStoredCollPoly *poly)
{
+#ifdef VU_COLLISION
+ static CStoredCollPoly TempStoredPoly;
+ CMatrix matTransform;
+ int i;
+
+ // transform line to model space
+ Invert(matrix, matTransform);
+ CVuVector newline[2];
+ TransformPoints(newline, 2, matTransform, (RwV3d*)&line.p0, sizeof(CColLine)/2);
+
+ if(mindist < 1.0f)
+ newline[1] = newline[0] + (newline[1] - newline[0])*mindist;
+
+ if(!TestLineBox(*(CColLine*)newline, model.boundingBox))
+ return false;
+
+ float coldist = 1.0f;
+ for(i = 0; i < model.numSpheres; i++){
+ if(ignoreSeeThrough && IsSeeThrough(model.spheres[i].surface)) continue;
+ if(ProcessLineSphere(*(CColLine*)newline, model.spheres[i], point, coldist))
+ point.Set(0, 0, model.spheres[i].surface, model.spheres[i].piece);
+ }
+
+ for(i = 0; i < model.numBoxes; i++){
+ if(ignoreSeeThrough && IsSeeThrough(model.boxes[i].surface)) continue;
+ if(ProcessLineBox(*(CColLine*)newline, model.boxes[i], point, coldist))
+ point.Set(0, 0, model.boxes[i].surface, model.boxes[i].piece);
+ }
+
+ CalculateTrianglePlanes(&model);
+ TempStoredPoly.valid = false;
+ if(model.numTriangles){
+ bool registeredCol;
+ CColTriangle *lasttri = nil;
+ VuTriangle vutri;
+ for(i = 0; i < model.numTriangles; i++){
+ if(ignoreSeeThrough && IsSeeThrough(model.triangles[i].surface)) continue;
+
+ CColTriangle *tri = &model.triangles[i];
+ model.vertices[tri->a].Unpack(vutri.v0);
+ model.vertices[tri->b].Unpack(vutri.v1);
+ model.vertices[tri->c].Unpack(vutri.v2);
+ model.trianglePlanes[i].Unpack(vutri.plane);
+
+ LineToTriangleCollisionCompressed(newline[0], newline[1], vutri);
+ lasttri = tri;
+ break;
+ }
+#ifdef FIX_BUGS
+ // no need to check first again
+ i++;
+#endif
+ CVuVector pnt, normal;
+ float dist;
+ for(; i < model.numTriangles; i++){
+ if(ignoreSeeThrough && IsSeeThrough(model.triangles[i].surface)) continue;
+
+ CColTriangle *tri = &model.triangles[i];
+ model.vertices[tri->a].Unpack(vutri.v0);
+ model.vertices[tri->b].Unpack(vutri.v1);
+ model.vertices[tri->c].Unpack(vutri.v2);
+ model.trianglePlanes[i].Unpack(vutri.plane);
+
+ if(GetVUresult(pnt, normal, dist)){
+ if(dist < coldist){
+ point.point = pnt;
+ point.normal = normal;
+ point.Set(0, 0, lasttri->surface, 0);
+ coldist = dist;
+ registeredCol = true;
+ }else
+ registeredCol = false;
+ }else
+ registeredCol = false;
+
+ if(registeredCol){
+ TempStoredPoly.verts[0] = model.vertices[lasttri->a].Get();
+ TempStoredPoly.verts[1] = model.vertices[lasttri->b].Get();
+ TempStoredPoly.verts[2] = model.vertices[lasttri->c].Get();
+ TempStoredPoly.valid = true;
+ }
+
+ LineToTriangleCollisionCompressed(newline[0], newline[1], vutri);
+ lasttri = tri;
+ }
+ if(lasttri && GetVUresult(pnt, normal, dist)){
+ if(dist < coldist){
+ point.point = pnt;
+ point.normal = normal;
+ point.Set(0, 0, lasttri->surface, 0);
+ coldist = dist;
+ registeredCol = true;
+ }else
+ registeredCol = false;
+ }else
+ registeredCol = false;
+
+ if(registeredCol){
+ TempStoredPoly.verts[0] = model.vertices[lasttri->a].Get();
+ TempStoredPoly.verts[1] = model.vertices[lasttri->b].Get();
+ TempStoredPoly.verts[2] = model.vertices[lasttri->c].Get();
+ TempStoredPoly.valid = true;
+ }
+ }
+
+ if(coldist < 1.0f){
+ point.point = matrix * point.point;
+ point.normal = Multiply3x3(matrix, point.normal);
+ if(TempStoredPoly.valid && poly){
+ *poly = TempStoredPoly;
+ poly->verts[0] = matrix * CVector(poly->verts[0]);
+ poly->verts[1] = matrix * CVector(poly->verts[1]);
+ poly->verts[2] = matrix * CVector(poly->verts[2]);
+ }
+ mindist *= coldist;
+ return true;
+ }
+ return false;
+#else
static CStoredCollPoly TempStoredPoly;
int i;
@@ -1290,6 +2043,7 @@ CCollision::ProcessVerticalLine(const CColLine &line,
return true;
}
return false;
+#endif
}
enum {
@@ -1299,6 +2053,15 @@ enum {
MAXNUMTRIS = 600
};
+#ifdef VU_COLLISION
+#ifdef GTA_PS2
+#define SPR(off) ((uint8*)(0x70000000 + (off)))
+#else
+static uint8 fakeSPR[16*1024];
+#define SPR(off) ((uint8*)(fakeSPR + (off)))
+#endif
+#endif
+
// This checks model A's spheres and lines against model B's spheres, boxes and triangles.
// Returns the number of A's spheres that collide.
// Returned ColPoints are in world space.
@@ -1308,6 +2071,308 @@ CCollision::ProcessColModels(const CMatrix &matrixA, CColModel &modelA,
const CMatrix &matrixB, CColModel &modelB,
CColPoint *spherepoints, CColPoint *linepoints, float *linedists)
{
+#ifdef VU_COLLISION
+ CVuVector *aSpheresA = (CVuVector*)SPR(0x0000);
+ CVuVector *aSpheresB = (CVuVector*)SPR(0x0800);
+ CVuVector *aLinesA = (CVuVector*)SPR(0x1000);
+ int32 *aSphereIndicesA = (int32*)SPR(0x1200);
+ int32 *aSphereIndicesB = (int32*)SPR(0x1400);
+ int32 *aBoxIndicesB = (int32*)SPR(0x1600);
+ int32 *aTriangleIndicesB = (int32*)SPR(0x1680);
+ bool *aCollided = (bool*)SPR(0x1FE0);
+ CMatrix &matAB = *(CMatrix*)SPR(0x1FF0);
+ CMatrix &matBA = *(CMatrix*)SPR(0x2040);
+ int i, j, k;
+
+ // From model A space to model B space
+ Invert(matrixB, matAB);
+ matAB *= matrixA;
+
+ CVuVector bsphereAB; // bounding sphere of A in B space
+ TransformPoint(bsphereAB, matAB, *(RwV3d*)modelA.boundingSphere.center); // inlined
+ bsphereAB.w = modelA.boundingSphere.radius;
+ if(!TestSphereBox(*(CColSphere*)&bsphereAB, modelB.boundingBox))
+ return 0;
+
+ // transform modelA's spheres and lines to B space
+ TransformPoints(aSpheresA, modelA.numSpheres, matAB, (RwV3d*)&modelA.spheres->center, sizeof(CColSphere));
+ for(i = 0; i < modelA.numSpheres; i++)
+ aSpheresA[i].w = modelA.spheres[i].radius;
+ TransformPoints(aLinesA, modelA.numLines*2, matAB, (RwV3d*)&modelA.lines->p0, sizeof(CColLine)/2);
+
+ // Test them against model B's bounding volumes
+ int numSpheresA = 0;
+ for(i = 0; i < modelA.numSpheres; i++)
+ if(TestSphereBox(*(CColSphere*)&aSpheresA[i], modelB.boundingBox))
+ aSphereIndicesA[numSpheresA++] = i;
+ // No collision
+ if(numSpheresA == 0 && modelA.numLines == 0)
+ return 0;
+
+
+ // B to A space
+ Invert(matrixA, matBA);
+ matBA *= matrixB;
+
+ // transform modelB's spheres to A space
+ TransformPoints(aSpheresB, modelB.numSpheres, matBA, (RwV3d*)&modelB.spheres->center, sizeof(CColSphere));
+ for(i = 0; i < modelB.numSpheres; i++)
+ aSpheresB[i].w = modelB.spheres[i].radius;
+
+ // Check model B against A's bounding volumes
+ int numSpheresB = 0;
+ int numBoxesB = 0;
+ int numTrianglesB = 0;
+ for(i = 0; i < modelB.numSpheres; i++)
+ if(TestSphereBox(*(CColSphere*)&aSpheresB[i], modelA.boundingBox))
+ aSphereIndicesB[numSpheresB++] = i;
+ for(i = 0; i < modelB.numBoxes; i++)
+ if(TestSphereBox(*(CColSphere*)&bsphereAB, modelB.boxes[i]))
+ aBoxIndicesB[numBoxesB++] = i;
+ CalculateTrianglePlanes(&modelB);
+ if(modelB.numTriangles){
+ VuTriangle vutri;
+ // process the first triangle
+ CColTriangle *tri = &modelB.triangles[0];
+ modelB.vertices[tri->a].Unpack(vutri.v0);
+ modelB.vertices[tri->b].Unpack(vutri.v1);
+ modelB.vertices[tri->c].Unpack(vutri.v2);
+ modelB.trianglePlanes[0].Unpack(vutri.plane);
+
+ SphereToTriangleCollisionCompressed(bsphereAB, vutri);
+
+ for(i = 1; i < modelB.numTriangles; i++){
+ // set up the next triangle while VU0 is running
+ tri = &modelB.triangles[i];
+ modelB.vertices[tri->a].Unpack(vutri.v0);
+ modelB.vertices[tri->b].Unpack(vutri.v1);
+ modelB.vertices[tri->c].Unpack(vutri.v2);
+ modelB.trianglePlanes[i].Unpack(vutri.plane);
+
+ // check previous result
+ if(GetVUresult())
+ aTriangleIndicesB[numTrianglesB++] = i-1;
+
+ // kick off this one
+ SphereToTriangleCollisionCompressed(bsphereAB, vutri);
+ }
+
+ // check last result
+ if(GetVUresult())
+ aTriangleIndicesB[numTrianglesB++] = i-1;
+ }
+ // No collision
+ if(numSpheresB == 0 && numBoxesB == 0 && numTrianglesB == 0)
+ return 0;
+
+ // We now have the collision volumes in A and B that are worth processing.
+
+ // Process A's spheres against B's collision volumes
+ int numCollisions = 0;
+ spherepoints[numCollisions].depth = -1.0f;
+ for(i = 0; i < numSpheresA; i++){
+ float coldist = 1.0e24f;
+ bool hasCollided = false;
+ CColSphere *sphA = &modelA.spheres[aSphereIndicesA[i]];
+ CVuVector *vusphA = &aSpheresA[aSphereIndicesA[i]];
+
+ for(j = 0; j < numSpheresB; j++)
+ // This actually looks like something was inlined here
+ if(ProcessSphereSphere(*(CColSphere*)vusphA, modelB.spheres[aSphereIndicesB[j]],
+ spherepoints[numCollisions], coldist)){
+ spherepoints[numCollisions].Set(
+ sphA->surface, sphA->piece,
+ modelB.spheres[aSphereIndicesB[j]].surface, modelB.spheres[aSphereIndicesB[j]].piece);
+ hasCollided = true;
+ }
+ for(j = 0; j < numBoxesB; j++)
+ if(ProcessSphereBox(*(CColSphere*)vusphA, modelB.boxes[aBoxIndicesB[j]],
+ spherepoints[numCollisions], coldist)){
+ spherepoints[numCollisions].Set(
+ sphA->surface, sphA->piece,
+ modelB.boxes[aBoxIndicesB[j]].surface, modelB.boxes[aBoxIndicesB[j]].piece);
+ hasCollided = true;
+ }
+ if(numTrianglesB){
+ CVuVector point, normal;
+ float depth;
+ bool registeredCol;
+ CColTriangle *lasttri;
+
+ VuTriangle vutri;
+ // process the first triangle
+ k = aTriangleIndicesB[0];
+ CColTriangle *tri = &modelB.triangles[k];
+ modelB.vertices[tri->a].Unpack(vutri.v0);
+ modelB.vertices[tri->b].Unpack(vutri.v1);
+ modelB.vertices[tri->c].Unpack(vutri.v2);
+ modelB.trianglePlanes[k].Unpack(vutri.plane);
+
+ SphereToTriangleCollisionCompressed(*vusphA, vutri);
+ lasttri = tri;
+
+ for(j = 1; j < numTrianglesB; j++){
+ k = aTriangleIndicesB[j];
+ // set up the next triangle while VU0 is running
+ tri = &modelB.triangles[k];
+ modelB.vertices[tri->a].Unpack(vutri.v0);
+ modelB.vertices[tri->b].Unpack(vutri.v1);
+ modelB.vertices[tri->c].Unpack(vutri.v2);
+ modelB.trianglePlanes[k].Unpack(vutri.plane);
+
+ // check previous result
+ // TODO: this looks inlined but spherepoints[numCollisions] does not...
+ if(GetVUresult(point, normal, depth)){
+ depth = sphA->radius - depth;
+ if(depth > spherepoints[numCollisions].depth){
+ spherepoints[numCollisions].point = point;
+ spherepoints[numCollisions].normal = normal;
+ spherepoints[numCollisions].Set(depth,
+ sphA->surface, sphA->piece, lasttri->surface, 0);
+ registeredCol = true;
+ }else
+ registeredCol = false;
+ }else
+ registeredCol = false;
+
+ if(registeredCol)
+ hasCollided = true;
+
+ // kick off this one
+ SphereToTriangleCollisionCompressed(*vusphA, vutri);
+ lasttri = tri;
+ }
+
+ // check last result
+ // TODO: this looks inlined but spherepoints[numCollisions] does not...
+ if(GetVUresult(point, normal, depth)){
+ depth = sphA->radius - depth;
+ if(depth > spherepoints[numCollisions].depth){
+ spherepoints[numCollisions].point = point;
+ spherepoints[numCollisions].normal = normal;
+ spherepoints[numCollisions].Set(depth,
+ sphA->surface, sphA->piece, lasttri->surface, 0);
+ registeredCol = true;
+ }else
+ registeredCol = false;
+ }else
+ registeredCol = false;
+
+ if(registeredCol)
+ hasCollided = true;
+ }
+
+ if(hasCollided){
+ numCollisions++;
+ if(numCollisions == MAX_COLLISION_POINTS)
+ break;
+ spherepoints[numCollisions].depth = -1.0f;
+ }
+ }
+ for(i = 0; i < numCollisions; i++){
+ // TODO: both VU0 macros
+ spherepoints[i].point = matrixB * spherepoints[i].point;
+ spherepoints[i].normal = Multiply3x3(matrixB, spherepoints[i].normal);
+ }
+
+ // And the same thing for the lines in A
+ for(i = 0; i < modelA.numLines; i++){
+ aCollided[i] = false;
+ CVuVector *lineA = &aLinesA[i*2];
+
+ for(j = 0; j < numSpheresB; j++)
+ if(ProcessLineSphere(*(CColLine*)lineA, modelB.spheres[aSphereIndicesB[j]],
+ linepoints[i], linedists[i])){
+ linepoints[i].Set(0, 0,
+#ifdef FIX_BUGS
+ modelB.spheres[aSphereIndicesB[j]].surface, modelB.spheres[aSphereIndicesB[j]].piece);
+#else
+ modelB.spheres[j].surface, modelB.spheres[j].piece);
+#endif
+ aCollided[i] = true;
+ }
+ for(j = 0; j < numBoxesB; j++)
+ if(ProcessLineBox(*(CColLine*)lineA, modelB.boxes[aBoxIndicesB[j]],
+ linepoints[i], linedists[i])){
+ linepoints[i].Set(0, 0,
+ modelB.boxes[aBoxIndicesB[j]].surface, modelB.boxes[aBoxIndicesB[j]].piece);
+ aCollided[i] = true;
+ }
+ if(numTrianglesB){
+ CVuVector point, normal;
+ float dist;
+ bool registeredCol;
+ CColTriangle *lasttri;
+
+ VuTriangle vutri;
+ // process the first triangle
+ k = aTriangleIndicesB[0];
+ CColTriangle *tri = &modelB.triangles[k];
+ modelB.vertices[tri->a].Unpack(vutri.v0);
+ modelB.vertices[tri->b].Unpack(vutri.v1);
+ modelB.vertices[tri->c].Unpack(vutri.v2);
+ modelB.trianglePlanes[k].Unpack(vutri.plane);
+
+ LineToTriangleCollisionCompressed(lineA[0], lineA[1], vutri);
+ lasttri = tri;
+
+ for(j = 1; j < numTrianglesB; j++){
+ k = aTriangleIndicesB[j];
+ // set up the next triangle while VU0 is running
+ CColTriangle *tri = &modelB.triangles[k];
+ modelB.vertices[tri->a].Unpack(vutri.v0);
+ modelB.vertices[tri->b].Unpack(vutri.v1);
+ modelB.vertices[tri->c].Unpack(vutri.v2);
+ modelB.trianglePlanes[k].Unpack(vutri.plane);
+
+ // check previous result
+ // TODO: this again somewhat looks inlined
+ if(GetVUresult(point, normal, dist)){
+ if(dist < linedists[i]){
+ linepoints[i].point = point;
+ linepoints[i].normal = normal;
+ linedists[i] = dist;
+ linepoints[i].Set(0, 0, lasttri->surface, 0);
+ registeredCol = true;
+ }else
+ registeredCol = false;
+ }else
+ registeredCol = false;
+
+ if(registeredCol)
+ aCollided[i] = true;
+
+ // kick of this one
+ LineToTriangleCollisionCompressed(lineA[0], lineA[1], vutri);
+ lasttri = tri;
+ }
+
+ // check last result
+ if(GetVUresult(point, normal, dist)){
+ if(dist < linedists[i]){
+ linepoints[i].point = point;
+ linepoints[i].normal = normal;
+ linedists[i] = dist;
+ linepoints[i].Set(0, 0, lasttri->surface, 0);
+ registeredCol = true;
+ }else
+ registeredCol = false;
+ }else
+ registeredCol = false;
+
+ if(registeredCol)
+ aCollided[i] = true;
+ }
+
+ if(aCollided[i]){
+ // TODO: both VU0 macros
+ linepoints[i].point = matrixB * linepoints[i].point;
+ linepoints[i].normal = Multiply3x3(matrixB, linepoints[i].normal);
+ }
+ }
+
+ return numCollisions; // sphere collisions
+#else
static int aSphereIndicesA[MAXNUMSPHERES];
static int aLineIndicesA[MAXNUMLINES];
static int aSphereIndicesB[MAXNUMSPHERES];
@@ -1324,14 +2389,16 @@ CCollision::ProcessColModels(const CMatrix &matrixA, CColModel &modelA,
assert(modelA.numLines <= MAXNUMLINES);
// From model A space to model B space
- matAB = Invert(matrixB, matAB) * matrixA;
+ Invert(matrixB, matAB);
+ matAB *= matrixA;
CColSphere bsphereAB; // bounding sphere of A in B space
bsphereAB.Set(modelA.boundingSphere.radius, matAB * modelA.boundingSphere.center);
if(!TestSphereBox(bsphereAB, modelB.boundingBox))
return 0;
// B to A space
- matBA = Invert(matrixA, matBA) * matrixB;
+ matBA = Invert(matrixA, matBA);
+ matBA *= matrixB;
// transform modelA's spheres and lines to B space
for(i = 0; i < modelA.numSpheres; i++){
@@ -1444,6 +2511,7 @@ CCollision::ProcessColModels(const CMatrix &matrixA, CColModel &modelA,
}
return numCollisions; // sphere collisions
+#endif
}
@@ -1987,6 +3055,19 @@ CColTriangle::Set(const CompressedVector *, int a, int b, int c, uint8 surf, uin
this->surface = surf;
}
+#ifdef VU_COLLISION
+void
+CColTrianglePlane::Set(const CVector &va, const CVector &vb, const CVector &vc)
+{
+ CVector norm = CrossProduct(vc-va, vb-va);
+ norm.Normalise();
+ float d = DotProduct(norm, va);
+ normal.x = norm.x*4096.0f;
+ normal.y = norm.y*4096.0f;
+ normal.z = norm.z*4096.0f;
+ dist = d*128.0f;
+}
+#else
void
CColTrianglePlane::Set(const CVector &va, const CVector &vb, const CVector &vc)
{
@@ -2002,6 +3083,7 @@ CColTrianglePlane::Set(const CVector &va, const CVector &vb, const CVector &vc)
else
dir = normal.z < 0.0f ? DIR_Z_NEG : DIR_Z_POS;
}
+#endif
CColModel::CColModel(void)
{
generated by cgit v1.2.3 (git 2.25.1) at 2024-06-26 07:27:14 +0200