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authorSergeanur <s.anureev@yandex.ua>2020-11-14 21:13:32 +0100
committerSergeanur <s.anureev@yandex.ua>2020-11-15 18:51:35 +0100
commita6f5f4634c63a515196a0f650682953356cb8e18 (patch)
tree806ca1627dbab6626634822037688aff376038c2 /src/collision/Collision.cpp
parentMerge pull request #797 from theR4K/master (diff)
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Diffstat (limited to 'src/collision/Collision.cpp')
-rw-r--r--src/collision/Collision.cpp2736
1 files changed, 2736 insertions, 0 deletions
diff --git a/src/collision/Collision.cpp b/src/collision/Collision.cpp
new file mode 100644
index 00000000..41997e32
--- /dev/null
+++ b/src/collision/Collision.cpp
@@ -0,0 +1,2736 @@
+#include "common.h"
+
+#include "VuVector.h"
+#include "main.h"
+#include "Lists.h"
+#include "Game.h"
+#include "Zones.h"
+#include "General.h"
+#include "ZoneCull.h"
+#include "World.h"
+#include "Entity.h"
+#include "Train.h"
+#include "Streaming.h"
+#include "Pad.h"
+#include "DMAudio.h"
+#include "Population.h"
+#include "FileLoader.h"
+#include "Replay.h"
+#include "CutsceneMgr.h"
+#include "RenderBuffer.h"
+#include "SurfaceTable.h"
+#include "Lines.h"
+#include "Collision.h"
+#include "Frontend.h"
+
+#ifdef VU_COLLISION
+#include "VuCollision.h"
+
+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
+
+eLevelName CCollision::ms_collisionInMemory;
+CLinkList<CColModel*> CCollision::ms_colModelCache;
+
+void
+CCollision::Init(void)
+{
+ ms_colModelCache.Init(NUMCOLCACHELINKS);
+ ms_collisionInMemory = LEVEL_GENERIC;
+}
+
+void
+CCollision::Shutdown(void)
+{
+ ms_colModelCache.Shutdown();
+}
+
+void
+CCollision::Update(void)
+{
+ CVector playerCoors;
+ playerCoors = FindPlayerCoors();
+ eLevelName level = CTheZones::m_CurrLevel;
+ bool forceLevelChange = false;
+
+ if(CTimer::GetTimeInMilliseconds() < 2000 || CCutsceneMgr::IsCutsceneProcessing())
+ return;
+
+ // hardcode a level if there are no zones
+ if(level == LEVEL_GENERIC){
+ if(CGame::currLevel == LEVEL_INDUSTRIAL &&
+ playerCoors.x < 400.0f){
+ level = LEVEL_COMMERCIAL;
+ forceLevelChange = true;
+ }else if(CGame::currLevel == LEVEL_SUBURBAN &&
+ playerCoors.x > -450.0f && playerCoors.y < -1400.0f){
+ level = LEVEL_COMMERCIAL;
+ forceLevelChange = true;
+ }else{
+ if(playerCoors.x > 800.0f){
+ level = LEVEL_INDUSTRIAL;
+ forceLevelChange = true;
+ }else if(playerCoors.x < -800.0f){
+ level = LEVEL_SUBURBAN;
+ forceLevelChange = true;
+ }
+ }
+ }
+ if(level != LEVEL_GENERIC && level != CGame::currLevel)
+ CGame::currLevel = level;
+ if(ms_collisionInMemory != CGame::currLevel)
+ LoadCollisionWhenINeedIt(forceLevelChange);
+ CStreaming::HaveAllBigBuildingsLoaded(CGame::currLevel);
+}
+
+eLevelName
+GetCollisionInSectorList(CPtrList &list)
+{
+ CPtrNode *node;
+ CEntity *e;
+ int level;
+
+ for(node = list.first; node; node = node->next){
+ e = (CEntity*)node->item;
+ level = CModelInfo::GetModelInfo(e->GetModelIndex())->GetColModel()->level;
+ if(level != LEVEL_GENERIC)
+ return (eLevelName)level;
+ }
+ return LEVEL_GENERIC;
+}
+
+// Get a level this sector is in based on collision models
+eLevelName
+GetCollisionInSector(CSector &sect)
+{
+ int level;
+
+ level = GetCollisionInSectorList(sect.m_lists[ENTITYLIST_BUILDINGS]);
+ if(level == LEVEL_GENERIC)
+ level = GetCollisionInSectorList(sect.m_lists[ENTITYLIST_BUILDINGS_OVERLAP]);
+ if(level == LEVEL_GENERIC)
+ level = GetCollisionInSectorList(sect.m_lists[ENTITYLIST_OBJECTS]);
+ if(level == LEVEL_GENERIC)
+ level = GetCollisionInSectorList(sect.m_lists[ENTITYLIST_OBJECTS_OVERLAP]);
+ if(level == LEVEL_GENERIC)
+ level = GetCollisionInSectorList(sect.m_lists[ENTITYLIST_DUMMIES]);
+ if(level == LEVEL_GENERIC)
+ level = GetCollisionInSectorList(sect.m_lists[ENTITYLIST_DUMMIES_OVERLAP]);
+ return (eLevelName)level;
+}
+
+void
+CCollision::LoadCollisionWhenINeedIt(bool forceChange)
+{
+ eLevelName level, l;
+ bool multipleLevels;
+ CVector playerCoors;
+ CVehicle *veh;
+ CEntryInfoNode *ei;
+ int sx, sy;
+ int xmin, xmax, ymin, ymax;
+ int x, y;
+
+ level = LEVEL_GENERIC;
+
+ playerCoors = FindPlayerCoors();
+ sx = CWorld::GetSectorIndexX(playerCoors.x);
+ sy = CWorld::GetSectorIndexY(playerCoors.y);
+ multipleLevels = false;
+
+ veh = FindPlayerVehicle();
+ if(veh && veh->IsTrain()){
+ if(((CTrain*)veh)->m_nDoorState != TRAIN_DOOR_OPEN)
+ return;
+ }else if(playerCoors.z < -4.0f && !CCullZones::DoINeedToLoadCollision())
+ return;
+
+ // Figure out whose level's collisions we're most likely to be interested in
+ if(!forceChange){
+ if(veh && veh->IsBoat()){
+ // on water we expect to be between levels
+ multipleLevels = true;
+ }else{
+ xmin = Max(sx - 1, 0);
+ xmax = Min(sx + 1, NUMSECTORS_X-1);
+ ymin = Max(sy - 1, 0);
+ ymax = Min(sy + 1, NUMSECTORS_Y-1);
+
+ for(x = xmin; x <= xmax; x++)
+ for(y = ymin; y <= ymax; y++){
+ l = GetCollisionInSector(*CWorld::GetSector(x, y));
+ if(l != LEVEL_GENERIC){
+ if(level == LEVEL_GENERIC)
+ level = l;
+ if(level != l)
+ multipleLevels = true;
+ }
+ }
+ }
+
+ if(multipleLevels && veh && veh->IsBoat())
+ for(ei = veh->m_entryInfoList.first; ei; ei = ei->next){
+ level = GetCollisionInSector(*ei->sector);
+ if(level != LEVEL_GENERIC)
+ break;
+ }
+ }
+
+ if (level == CGame::currLevel || forceChange) {
+#ifdef FIX_BUGS
+ CTimer::Suspend();
+#else
+ CTimer::Stop();
+#endif
+ ISLAND_LOADING_IS(LOW)
+ {
+ DMAudio.SetEffectsFadeVol(0);
+ CPad::StopPadsShaking();
+ LoadCollisionScreen(CGame::currLevel);
+ DMAudio.Service();
+ }
+
+ CPopulation::DealWithZoneChange(ms_collisionInMemory, CGame::currLevel, false);
+
+ ISLAND_LOADING_ISNT(HIGH)
+ {
+ CStreaming::RemoveIslandsNotUsed(LEVEL_INDUSTRIAL);
+ CStreaming::RemoveIslandsNotUsed(LEVEL_COMMERCIAL);
+ CStreaming::RemoveIslandsNotUsed(LEVEL_SUBURBAN);
+ }
+ ISLAND_LOADING_IS(LOW)
+ {
+ CStreaming::RemoveBigBuildings(LEVEL_INDUSTRIAL);
+ CStreaming::RemoveBigBuildings(LEVEL_COMMERCIAL);
+ CStreaming::RemoveBigBuildings(LEVEL_SUBURBAN);
+ CModelInfo::RemoveColModelsFromOtherLevels(CGame::currLevel);
+ CStreaming::RemoveUnusedModelsInLoadedList();
+ CGame::TidyUpMemory(true, true);
+ CFileLoader::LoadCollisionFromDatFile(CGame::currLevel);
+ }
+
+ ms_collisionInMemory = CGame::currLevel;
+ CReplay::EmptyReplayBuffer();
+ ISLAND_LOADING_IS(LOW)
+ {
+ if (CGame::currLevel != LEVEL_GENERIC)
+ LoadSplash(GetLevelSplashScreen(CGame::currLevel));
+ CStreaming::RemoveUnusedBigBuildings(CGame::currLevel);
+ CStreaming::RemoveUnusedBuildings(CGame::currLevel);
+ CStreaming::RequestBigBuildings(CGame::currLevel);
+ }
+#ifdef NO_ISLAND_LOADING
+ else if (CMenuManager::m_PrefsIslandLoading == CMenuManager::ISLAND_LOADING_MEDIUM)
+ CStreaming::RequestIslands(CGame::currLevel);
+#endif
+ CStreaming::LoadAllRequestedModels(true);
+
+ ISLAND_LOADING_IS(LOW)
+ {
+ CStreaming::HaveAllBigBuildingsLoaded(CGame::currLevel);
+
+ CGame::TidyUpMemory(true, true);
+ }
+#ifdef FIX_BUGS
+ CTimer::Resume();
+#else
+ CTimer::Update();
+#endif
+ ISLAND_LOADING_IS(LOW)
+ DMAudio.SetEffectsFadeVol(127);
+ }
+}
+
+#ifdef NO_ISLAND_LOADING
+bool CCollision::bAlreadyLoaded = false;
+#endif
+void
+CCollision::SortOutCollisionAfterLoad(void)
+{
+ if(ms_collisionInMemory == CGame::currLevel)
+ return;
+ ISLAND_LOADING_IS(LOW)
+ CModelInfo::RemoveColModelsFromOtherLevels(CGame::currLevel);
+
+ if (CGame::currLevel != LEVEL_GENERIC) {
+#ifdef NO_ISLAND_LOADING
+ if (CMenuManager::m_PrefsIslandLoading != CMenuManager::ISLAND_LOADING_LOW) {
+ if (bAlreadyLoaded) {
+ ms_collisionInMemory = CGame::currLevel;
+ return;
+ }
+ bAlreadyLoaded = true;
+ CFileLoader::LoadCollisionFromDatFile(LEVEL_INDUSTRIAL);
+ CFileLoader::LoadCollisionFromDatFile(LEVEL_COMMERCIAL);
+ CFileLoader::LoadCollisionFromDatFile(LEVEL_SUBURBAN);
+ } else
+#endif
+ CFileLoader::LoadCollisionFromDatFile(CGame::currLevel);
+ if(!CGame::playingIntro)
+ LoadSplash(GetLevelSplashScreen(CGame::currLevel));
+ }
+ ms_collisionInMemory = CGame::currLevel;
+ CGame::TidyUpMemory(true, false);
+}
+
+void
+CCollision::LoadCollisionScreen(eLevelName level)
+{
+ static Const char *levelNames[4] = {
+ "",
+ "IND_ZON",
+ "COM_ZON",
+ "SUB_ZON"
+ };
+
+ // Why twice?
+ LoadingIslandScreen(levelNames[level]);
+ LoadingIslandScreen(levelNames[level]);
+}
+
+//
+// Test
+//
+
+
+bool
+CCollision::TestSphereSphere(const CColSphere &s1, const CColSphere &s2)
+{
+ float d = s1.radius + s2.radius;
+ return (s1.center - s2.center).MagnitudeSqr() < d*d;
+}
+
+bool
+CCollision::TestSphereBox(const CColSphere &sph, const CColBox &box)
+{
+ if(sph.center.x + sph.radius < box.min.x) return false;
+ if(sph.center.x - sph.radius > box.max.x) return false;
+ if(sph.center.y + sph.radius < box.min.y) return false;
+ if(sph.center.y - sph.radius > box.max.y) return false;
+ if(sph.center.z + sph.radius < box.min.z) return false;
+ if(sph.center.z - sph.radius > box.max.z) return false;
+ return true;
+}
+
+bool
+CCollision::TestLineBox(const CColLine &line, const CColBox &box)
+{
+ float t, x, y, z;
+ // If either line point is in the box, we have a collision
+ if(line.p0.x > box.min.x && line.p0.x < box.max.x &&
+ line.p0.y > box.min.y && line.p0.y < box.max.y &&
+ line.p0.z > box.min.z && line.p0.z < box.max.z)
+ return true;
+ if(line.p1.x > box.min.x && line.p1.x < box.max.x &&
+ line.p1.y > box.min.y && line.p1.y < box.max.y &&
+ line.p1.z > box.min.z && line.p1.z < box.max.z)
+ return true;
+
+ // check if points are on opposite sides of min x plane
+ if((box.min.x - line.p1.x) * (box.min.x - line.p0.x) < 0.0f){
+ // parameter along line where we intersect
+ t = (box.min.x - line.p0.x) / (line.p1.x - line.p0.x);
+ // y of intersection
+ y = line.p0.y + (line.p1.y - line.p0.y)*t;
+ if(y > box.min.y && y < box.max.y){
+ // z of intersection
+ z = line.p0.z + (line.p1.z - line.p0.z)*t;
+ if(z > box.min.z && z < box.max.z)
+ return true;
+ }
+ }
+
+ // same test with max x plane
+ if((line.p1.x - box.max.x) * (line.p0.x - box.max.x) < 0.0f){
+ t = (line.p0.x - box.max.x) / (line.p0.x - line.p1.x);
+ y = line.p0.y + (line.p1.y - line.p0.y)*t;
+ if(y > box.min.y && y < box.max.y){
+ z = line.p0.z + (line.p1.z - line.p0.z)*t;
+ if(z > box.min.z && z < box.max.z)
+ return true;
+ }
+ }
+
+ // min y plne
+ if((box.min.y - line.p0.y) * (box.min.y - line.p1.y) < 0.0f){
+ t = (box.min.y - line.p0.y) / (line.p1.y - line.p0.y);
+ x = line.p0.x + (line.p1.x - line.p0.x)*t;
+ if(x > box.min.x && x < box.max.x){
+ z = line.p0.z + (line.p1.z - line.p0.z)*t;
+ if(z > box.min.z && z < box.max.z)
+ return true;
+ }
+ }
+
+ // max y plane
+ if((line.p0.y - box.max.y) * (line.p1.y - box.max.y) < 0.0f){
+ t = (line.p0.y - box.max.y) / (line.p0.y - line.p1.y);
+ x = line.p0.x + (line.p1.x - line.p0.x)*t;
+ if(x > box.min.x && x < box.max.x){
+ z = line.p0.z + (line.p1.z - line.p0.z)*t;
+ if(z > box.min.z && z < box.max.z)
+ return true;
+ }
+ }
+
+ // min z plne
+ if((box.min.z - line.p0.z) * (box.min.z - line.p1.z) < 0.0f){
+ t = (box.min.z - line.p0.z) / (line.p1.z - line.p0.z);
+ x = line.p0.x + (line.p1.x - line.p0.x)*t;
+ if(x > box.min.x && x < box.max.x){
+ y = line.p0.y + (line.p1.y - line.p0.y)*t;
+ if(y > box.min.y && y < box.max.y)
+ return true;
+ }
+ }
+
+ // max z plane
+ if((line.p0.z - box.max.z) * (line.p1.z - box.max.z) < 0.0f){
+ t = (line.p0.z - box.max.z) / (line.p0.z - line.p1.z);
+ x = line.p0.x + (line.p1.x - line.p0.x)*t;
+ if(x > box.min.x && x < box.max.x){
+ y = line.p0.y + (line.p1.y - line.p0.y)*t;
+ if(y > box.min.y && y < box.max.y)
+ return true;
+ }
+ }
+ return false;
+}
+
+bool
+CCollision::TestVerticalLineBox(const CColLine &line, const CColBox &box)
+{
+ if(line.p0.x <= box.min.x) return false;
+ if(line.p0.y <= box.min.y) return false;
+ if(line.p0.x >= box.max.x) return false;
+ if(line.p0.y >= box.max.y) return false;
+ if(line.p0.z < line.p1.z){
+ if(line.p0.z > box.max.z) return false;
+ if(line.p1.z < box.min.z) return false;
+ }else{
+ if(line.p1.z > box.max.z) return false;
+ if(line.p0.z < box.min.z) return false;
+ }
+ return true;
+}
+
+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);
+
+ // if points are on the same side, no collision
+ if(plane.CalcPoint(line.p0) * plane.CalcPoint(line.p1) > 0.0f)
+ return false;
+
+ // intersection parameter on line
+ t = -plane.CalcPoint(line.p0) / DotProduct(line.p1 - line.p0, normal);
+ // find point of intersection
+ CVector p = line.p0 + (line.p1-line.p0)*t;
+
+ const CVector &va = verts[tri.a].Get();
+ const CVector &vb = verts[tri.b].Get();
+ const CVector &vc = verts[tri.c].Get();
+ CVector2D vec1, vec2, vec3, vect;
+
+ // We do the test in 2D. With the plane direction we
+ // can figure out how to project the vectors.
+ // normal = (c-a) x (b-a)
+ switch(plane.dir){
+ case DIR_X_POS:
+ vec1.x = va.y; vec1.y = va.z;
+ vec2.x = vc.y; vec2.y = vc.z;
+ vec3.x = vb.y; vec3.y = vb.z;
+ vect.x = p.y; vect.y = p.z;
+ break;
+ case DIR_X_NEG:
+ vec1.x = va.y; vec1.y = va.z;
+ vec2.x = vb.y; vec2.y = vb.z;
+ vec3.x = vc.y; vec3.y = vc.z;
+ vect.x = p.y; vect.y = p.z;
+ break;
+ case DIR_Y_POS:
+ vec1.x = va.z; vec1.y = va.x;
+ vec2.x = vc.z; vec2.y = vc.x;
+ vec3.x = vb.z; vec3.y = vb.x;
+ vect.x = p.z; vect.y = p.x;
+ break;
+ case DIR_Y_NEG:
+ vec1.x = va.z; vec1.y = va.x;
+ vec2.x = vb.z; vec2.y = vb.x;
+ vec3.x = vc.z; vec3.y = vc.x;
+ vect.x = p.z; vect.y = p.x;
+ break;
+ case DIR_Z_POS:
+ vec1.x = va.x; vec1.y = va.y;
+ vec2.x = vc.x; vec2.y = vc.y;
+ vec3.x = vb.x; vec3.y = vb.y;
+ vect.x = p.x; vect.y = p.y;
+ break;
+ case DIR_Z_NEG:
+ vec1.x = va.x; vec1.y = va.y;
+ vec2.x = vb.x; vec2.y = vb.y;
+ vec3.x = vc.x; vec3.y = vc.y;
+ vect.x = p.x; vect.y = p.y;
+ break;
+ default:
+ assert(0);
+ }
+ // This is our triangle:
+ // 3-------2
+ // \ P /
+ // \ /
+ // \ /
+ // 1
+ // We can use the "2d cross product" to check on which side
+ // a vector is of another. Test is true if point is inside of all edges.
+ if(CrossProduct2D(vec2-vec1, vect-vec1) < 0.0f) return false;
+ 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.
+// If the first point is inside the sphere this test does not register a collision!
+// The code is reversed from the original code and rather ugly, see Process for a clear version.
+// TODO: actually rewrite this mess
+bool
+CCollision::TestLineSphere(const CColLine &line, const CColSphere &sph)
+{
+ CVector v01 = line.p1 - line.p0; // vector from p0 to p1
+ CVector v0c = sph.center - line.p0; // vector from p0 to center
+ float linesq = v01.MagnitudeSqr();
+ // I leave in the strange -2 factors even though they serve no real purpose
+ float projline = -2.0f * DotProduct(v01, v0c); // project v0c onto line
+ // Square of tangent from p0 multiplied by line length so we can compare with projline.
+ // The length of the tangent would be this: Sqrt((c-p0)^2 - r^2).
+ // Negative if p0 is inside the sphere! This breaks the test!
+ float tansq = 4.0f * linesq *
+ (sph.center.MagnitudeSqr() - 2.0f*DotProduct(sph.center, line.p0) + line.p0.MagnitudeSqr() - sph.radius*sph.radius);
+ float diffsq = projline*projline - tansq;
+ // if diffsq < 0 that means the line is a passant, so no intersection
+ if(diffsq < 0.0f)
+ return false;
+ // projline (negative in GTA for some reason) is the point on the line
+ // in the middle of the two intersection points (startin from p0).
+ // Sqrt(diffsq) somehow works out to be the distance from that
+ // midpoint to the intersection points.
+ // So subtract that and get rid of the awkward scaling:
+ float f = (-projline - Sqrt(diffsq)) / (2.0f*linesq);
+ // f should now be in range [0, 1] for [p0, p1]
+ return f >= 0.0f && f <= 1.0f;
+}
+
+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)
+ return false;
+
+ const CVector &va = verts[tri.a].Get();
+ const CVector &vb = verts[tri.b].Get();
+ const CVector &vc = verts[tri.c].Get();
+
+ // calculate two orthogonal basis vectors for the triangle
+ CVector vec2 = vb - va;
+ float len = vec2.Magnitude();
+ vec2 = vec2 * (1.0f/len);
+ 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:
+ CVector vac = vc - va;
+ CVector vas = sphere.center - va;
+ CVector2D b(0.0f, len);
+ CVector2D c(DotProduct(vec1, vac), DotProduct(vec2, vac));
+ CVector2D s(DotProduct(vec1, vas), DotProduct(vec2, vas));
+
+ // The three triangle lines partition the space into 6 sectors,
+ // find out in which the center lies.
+ int insideAB = CrossProduct2D(s, b) >= 0.0f;
+ int insideAC = CrossProduct2D(c, s) >= 0.0f;
+ int insideBC = CrossProduct2D(s-b, c-b) >= 0.0f;
+
+ int testcase = insideAB + insideAC + insideBC;
+ float dist = 0.0f;
+ switch(testcase){
+ case 1:
+ // closest to a vertex
+ if(insideAB) dist = (sphere.center - vc).Magnitude();
+ else if(insideAC) dist = (sphere.center - vb).Magnitude();
+ else if(insideBC) dist = (sphere.center - va).Magnitude();
+ else assert(0);
+ break;
+ case 2:
+ // closest to an edge
+ // looks like original game as DistToLine manually inlined
+ if(!insideAB) dist = DistToLine(&va, &vb, &sphere.center);
+ else if(!insideAC) dist = DistToLine(&va, &vc, &sphere.center);
+ else if(!insideBC) dist = DistToLine(&vb, &vc, &sphere.center);
+ else assert(0);
+ break;
+ case 3:
+ // center is in triangle
+ dist = Abs(planedist);
+ break;
+ default:
+ assert(0);
+ }
+
+ 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;
+
+ // transform line to model space
+ Invert(matrix, matTransform);
+ CColLine newline(matTransform * line.p0, matTransform * line.p1);
+
+ // If we don't intersect with the bounding box, no chance on the rest
+ if(!TestLineBox(newline, model.boundingBox))
+ return false;
+
+ for(i = 0; i < model.numSpheres; i++){
+ if(ignoreSeeThrough && IsSeeThrough(model.spheres[i].surface)) continue;
+ if(TestLineSphere(newline, model.spheres[i]))
+ return true;
+ }
+
+ for(i = 0; i < model.numBoxes; i++){
+ if(ignoreSeeThrough && IsSeeThrough(model.boxes[i].surface)) continue;
+ if(TestLineBox(newline, model.boxes[i]))
+ return true;
+ }
+
+ CalculateTrianglePlanes(&model);
+ for(i = 0; i < model.numTriangles; i++){
+ if(ignoreSeeThrough && IsSeeThrough(model.triangles[i].surface)) continue;
+ if(TestLineTriangle(newline, model.vertices, model.triangles[i], model.trianglePlanes[i]))
+ return true;
+ }
+
+ return false;
+#endif
+}
+
+
+//
+// Process
+//
+
+// For Spheres mindist is the squared distance to its center
+// For Lines mindist is between [0,1]
+
+bool
+CCollision::ProcessSphereSphere(const CColSphere &s1, const CColSphere &s2, CColPoint &point, float &mindistsq)
+{
+ CVector dist = s1.center - s2.center;
+ float d = dist.Magnitude() - s2.radius; // distance from s1's center to 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(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
+CCollision::ProcessSphereBox(const CColSphere &sph, const CColBox &box, CColPoint &point, float &mindistsq)
+{
+ CVector p;
+ CVector dist;
+
+ // GTA's code is too complicated, uses a huge 3x3x3 if statement
+ // we can simplify the structure a lot
+
+ // first make sure we have a collision at all
+ if(sph.center.x + sph.radius < box.min.x) return false;
+ if(sph.center.x - sph.radius > box.max.x) return false;
+ if(sph.center.y + sph.radius < box.min.y) return false;
+ if(sph.center.y - sph.radius > box.max.y) return false;
+ if(sph.center.z + sph.radius < box.min.z) return false;
+ if(sph.center.z - sph.radius > box.max.z) return false;
+
+ // Now find out where the sphere center lies in relation to all the sides
+ int xpos = sph.center.x < box.min.x ? 1 :
+ sph.center.x > box.max.x ? 2 :
+ 0;
+ int ypos = sph.center.y < box.min.y ? 1 :
+ sph.center.y > box.max.y ? 2 :
+ 0;
+ int zpos = sph.center.z < box.min.z ? 1 :
+ sph.center.z > box.max.z ? 2 :
+ 0;
+
+ if(xpos == 0 && ypos == 0 && zpos == 0){
+ // sphere is inside the box
+ p = (box.min + box.max)*0.5f;
+
+ dist = sph.center - p;
+ float lensq = dist.MagnitudeSqr();
+ 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 ?
+ box.max.x - sph.center.x :
+ sph.center.x - box.min.x;
+ float dy = dist.y > 0.0f ?
+ box.max.y - sph.center.y :
+ sph.center.y - box.min.y;
+ float dz = dist.z > 0.0f ?
+ box.max.z - sph.center.z :
+ sph.center.z - box.min.z;
+ // collision depth is maximum of that:
+ if(dx > dy && dx > dz)
+ point.depth = dx;
+ else if(dy > dz)
+ point.depth = dy;
+ else
+ point.depth = dz;
+ return true;
+ }
+ }else{
+ // sphere is outside.
+ // closest point on box:
+ p.x = xpos == 1 ? box.min.x :
+ xpos == 2 ? box.max.x :
+ sph.center.x;
+ p.y = ypos == 1 ? box.min.y :
+ ypos == 2 ? box.max.y :
+ sph.center.y;
+ p.z = zpos == 1 ? box.min.z :
+ zpos == 2 ? box.max.z :
+ sph.center.z;
+
+ dist = sph.center - p;
+ float lensq = dist.MagnitudeSqr();
+ if(lensq < mindistsq){
+ 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;
+ }
+ }
+ return false;
+}
+
+bool
+CCollision::ProcessLineBox(const CColLine &line, const CColBox &box, CColPoint &point, float &mindist)
+{
+ float mint, t, x, y, z;
+ CVector normal;
+ CVector p;
+
+ mint = 1.0f;
+ // check if points are on opposite sides of min x plane
+ if((box.min.x - line.p1.x) * (box.min.x - line.p0.x) < 0.0f){
+ // parameter along line where we intersect
+ t = (box.min.x - line.p0.x) / (line.p1.x - line.p0.x);
+ // y of intersection
+ y = line.p0.y + (line.p1.y - line.p0.y)*t;
+ if(y > box.min.y && y < box.max.y){
+ // z of intersection
+ z = line.p0.z + (line.p1.z - line.p0.z)*t;
+ if(z > box.min.z && z < box.max.z)
+ if(t < mint){
+ mint = t;
+ p = CVector(box.min.x, y, z);
+ normal = CVector(-1.0f, 0.0f, 0.0f);
+ }
+ }
+ }
+
+ // max x plane
+ if((line.p1.x - box.max.x) * (line.p0.x - box.max.x) < 0.0f){
+ t = (line.p0.x - box.max.x) / (line.p0.x - line.p1.x);
+ y = line.p0.y + (line.p1.y - line.p0.y)*t;
+ if(y > box.min.y && y < box.max.y){
+ z = line.p0.z + (line.p1.z - line.p0.z)*t;
+ if(z > box.min.z && z < box.max.z)
+ if(t < mint){
+ mint = t;
+ p = CVector(box.max.x, y, z);
+ normal = CVector(1.0f, 0.0f, 0.0f);
+ }
+ }
+ }
+
+ // min y plne
+ if((box.min.y - line.p0.y) * (box.min.y - line.p1.y) < 0.0f){
+ t = (box.min.y - line.p0.y) / (line.p1.y - line.p0.y);
+ x = line.p0.x + (line.p1.x - line.p0.x)*t;
+ if(x > box.min.x && x < box.max.x){
+ z = line.p0.z + (line.p1.z - line.p0.z)*t;
+ if(z > box.min.z && z < box.max.z)
+ if(t < mint){
+ mint = t;
+ p = CVector(x, box.min.y, z);
+ normal = CVector(0.0f, -1.0f, 0.0f);
+ }
+ }
+ }
+
+ // max y plane
+ if((line.p0.y - box.max.y) * (line.p1.y - box.max.y) < 0.0f){
+ t = (line.p0.y - box.max.y) / (line.p0.y - line.p1.y);
+ x = line.p0.x + (line.p1.x - line.p0.x)*t;
+ if(x > box.min.x && x < box.max.x){
+ z = line.p0.z + (line.p1.z - line.p0.z)*t;
+ if(z > box.min.z && z < box.max.z)
+ if(t < mint){
+ mint = t;
+ p = CVector(x, box.max.y, z);
+ normal = CVector(0.0f, 1.0f, 0.0f);
+ }
+ }
+ }
+
+ // min z plne
+ if((box.min.z - line.p0.z) * (box.min.z - line.p1.z) < 0.0f){
+ t = (box.min.z - line.p0.z) / (line.p1.z - line.p0.z);
+ x = line.p0.x + (line.p1.x - line.p0.x)*t;
+ if(x > box.min.x && x < box.max.x){
+ y = line.p0.y + (line.p1.y - line.p0.y)*t;
+ if(y > box.min.y && y < box.max.y)
+ if(t < mint){
+ mint = t;
+ p = CVector(x, y, box.min.z);
+ normal = CVector(0.0f, 0.0f, -1.0f);
+ }
+ }
+ }
+
+ // max z plane
+ if((line.p0.z - box.max.z) * (line.p1.z - box.max.z) < 0.0f){
+ t = (line.p0.z - box.max.z) / (line.p0.z - line.p1.z);
+ x = line.p0.x + (line.p1.x - line.p0.x)*t;
+ if(x > box.min.x && x < box.max.x){
+ y = line.p0.y + (line.p1.y - line.p0.y)*t;
+ if(y > box.min.y && y < box.max.y)
+ if(t < mint){
+ mint = t;
+ p = CVector(x, y, box.max.z);
+ normal = CVector(0.0f, 0.0f, 1.0f);
+ }
+ }
+ }
+
+ if(mint >= mindist)
+ return false;
+
+ 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;
+}
+
+// If line.p0 lies inside sphere, no collision is registered.
+bool
+CCollision::ProcessLineSphere(const CColLine &line, const CColSphere &sphere, CColPoint &point, float &mindist)
+{
+ CVector v01 = line.p1 - line.p0;
+ CVector v0c = sphere.center - line.p0;
+ float linesq = v01.MagnitudeSqr();
+ // project v0c onto v01, scaled by |v01| this is the midpoint of the two intersections
+ float projline = DotProduct(v01, v0c);
+ // tangent of p0 to sphere, scaled by linesq just like projline^2
+ float tansq = (v0c.MagnitudeSqr() - sphere.radius*sphere.radius) * linesq;
+ // this works out to be the square of the distance between the midpoint and the intersections
+ float diffsq = projline*projline - tansq;
+ // no intersection
+ if(diffsq < 0.0f)
+ return false;
+ // point of first intersection, in range [0,1] between p0 and p1
+ float t = (projline - Sqrt(diffsq)) / linesq;
+ // if not on line or beyond mindist, no intersection
+ if(t < 0.0f || t > 1.0f || t >= mindist)
+ return false;
+ 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;
+}
+
+bool
+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;
+
+ const CVector &p0 = line.p0;
+ const CVector &va = verts[tri.a].Get();
+ const CVector &vb = verts[tri.b].Get();
+ const CVector &vc = verts[tri.c].Get();
+
+ // early out bound rect test
+ if(p0.x < va.x && p0.x < vb.x && p0.x < vc.x) return false;
+ if(p0.x > va.x && p0.x > vb.x && p0.x > vc.x) return false;
+ if(p0.y < va.y && p0.y < vb.y && p0.y < vc.y) return false;
+ if(p0.y > va.y && p0.y > vb.y && p0.y > vc.y) return false;
+
+ plane.GetNormal(normal);
+ // if points are on the same side, no collision
+ if(plane.CalcPoint(p0) * plane.CalcPoint(line.p1) > 0.0f)
+ return false;
+
+ // intersection parameter on line
+ float h = (line.p1 - p0).z;
+ t = -plane.CalcPoint(p0) / (h * normal.z);
+ // early out if we're beyond the mindist
+ if(t >= mindist)
+ return false;
+ CVector p(p0.x, p0.y, p0.z + h*t);
+
+ CVector2D vec1, vec2, vec3, vect;
+ switch(plane.dir){
+ case DIR_X_POS:
+ vec1.x = va.y; vec1.y = va.z;
+ vec2.x = vc.y; vec2.y = vc.z;
+ vec3.x = vb.y; vec3.y = vb.z;
+ vect.x = p.y; vect.y = p.z;
+ break;
+ case DIR_X_NEG:
+ vec1.x = va.y; vec1.y = va.z;
+ vec2.x = vb.y; vec2.y = vb.z;
+ vec3.x = vc.y; vec3.y = vc.z;
+ vect.x = p.y; vect.y = p.z;
+ break;
+ case DIR_Y_POS:
+ vec1.x = va.z; vec1.y = va.x;
+ vec2.x = vc.z; vec2.y = vc.x;
+ vec3.x = vb.z; vec3.y = vb.x;
+ vect.x = p.z; vect.y = p.x;
+ break;
+ case DIR_Y_NEG:
+ vec1.x = va.z; vec1.y = va.x;
+ vec2.x = vb.z; vec2.y = vb.x;
+ vec3.x = vc.z; vec3.y = vc.x;
+ vect.x = p.z; vect.y = p.x;
+ break;
+ case DIR_Z_POS:
+ vec1.x = va.x; vec1.y = va.y;
+ vec2.x = vc.x; vec2.y = vc.y;
+ vec3.x = vb.x; vec3.y = vb.y;
+ vect.x = p.x; vect.y = p.y;
+ break;
+ case DIR_Z_NEG:
+ vec1.x = va.x; vec1.y = va.y;
+ vec2.x = vb.x; vec2.y = vb.y;
+ vec3.x = vc.x; vec3.y = vc.y;
+ vect.x = p.x; vect.y = p.y;
+ break;
+ default:
+ assert(0);
+ }
+ if(CrossProduct2D(vec2-vec1, vect-vec1) < 0.0f) return false;
+ if(CrossProduct2D(vec3-vec1, vect-vec1) > 0.0f) return false;
+ if(CrossProduct2D(vec3-vec2, vect-vec2) < 0.0f) return false;
+ if(t >= mindist) return false;
+ point.point = p;
+ point.normal = normal;
+ point.surfaceA = 0;
+ point.pieceA = 0;
+ point.surfaceB = tri.surface;
+ point.pieceB = 0;
+ if(poly){
+ poly->verts[0] = va;
+ poly->verts[1] = vb;
+ poly->verts[2] = vc;
+ poly->valid = true;
+ }
+ 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)
+ return false;
+
+ // maybe inlined?
+ CColTrianglePlane plane;
+ plane.Set(poly->verts[0], poly->verts[1], poly->verts[2]);
+
+ const CVector &va = poly->verts[0];
+ const CVector &vb = poly->verts[1];
+ const CVector &vc = poly->verts[2];
+ CVector p0 = pos;
+ CVector p1(pos.x, pos.y, z);
+
+ // The rest is pretty much CCollision::ProcessLineTriangle
+
+ // if points are on the same side, no collision
+ if(plane.CalcPoint(p0) * plane.CalcPoint(p1) > 0.0f)
+ return poly->valid = false;
+
+ // intersection parameter on line
+ CVector normal;
+ plane.GetNormal(normal);
+ t = -plane.CalcPoint(p0) / DotProduct(p1 - p0, normal);
+ // find point of intersection
+ CVector p = p0 + (p1-p0)*t;
+
+ CVector2D vec1, vec2, vec3, vect;
+ switch(plane.dir){
+ case DIR_X_POS:
+ vec1.x = va.y; vec1.y = va.z;
+ vec2.x = vc.y; vec2.y = vc.z;
+ vec3.x = vb.y; vec3.y = vb.z;
+ vect.x = p.y; vect.y = p.z;
+ break;
+ case DIR_X_NEG:
+ vec1.x = va.y; vec1.y = va.z;
+ vec2.x = vb.y; vec2.y = vb.z;
+ vec3.x = vc.y; vec3.y = vc.z;
+ vect.x = p.y; vect.y = p.z;
+ break;
+ case DIR_Y_POS:
+ vec1.x = va.z; vec1.y = va.x;
+ vec2.x = vc.z; vec2.y = vc.x;
+ vec3.x = vb.z; vec3.y = vb.x;
+ vect.x = p.z; vect.y = p.x;
+ break;
+ case DIR_Y_NEG:
+ vec1.x = va.z; vec1.y = va.x;
+ vec2.x = vb.z; vec2.y = vb.x;
+ vec3.x = vc.z; vec3.y = vc.x;
+ vect.x = p.z; vect.y = p.x;
+ break;
+ case DIR_Z_POS:
+ vec1.x = va.x; vec1.y = va.y;
+ vec2.x = vc.x; vec2.y = vc.y;
+ vec3.x = vb.x; vec3.y = vb.y;
+ vect.x = p.x; vect.y = p.y;
+ break;
+ case DIR_Z_NEG:
+ vec1.x = va.x; vec1.y = va.y;
+ vec2.x = vb.x; vec2.y = vb.y;
+ vec3.x = vc.x; vec3.y = vc.y;
+ vect.x = p.x; vect.y = p.y;
+ break;
+ default:
+ assert(0);
+ }
+ if(CrossProduct2D(vec2-vec1, vect-vec1) < 0.0f) return poly->valid = false;
+ if(CrossProduct2D(vec3-vec1, vect-vec1) > 0.0f) return poly->valid = false;
+ 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,
+ 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);
+
+ // if points are on the same side, no collision
+ if(plane.CalcPoint(line.p0) * plane.CalcPoint(line.p1) > 0.0f)
+ return false;
+
+ // intersection parameter on line
+ t = -plane.CalcPoint(line.p0) / DotProduct(line.p1 - line.p0, normal);
+ // early out if we're beyond the mindist
+ if(t >= mindist)
+ return false;
+ // find point of intersection
+ CVector p = line.p0 + (line.p1-line.p0)*t;
+
+ const CVector &va = verts[tri.a].Get();
+ const CVector &vb = verts[tri.b].Get();
+ const CVector &vc = verts[tri.c].Get();
+ CVector2D vec1, vec2, vec3, vect;
+
+ switch(plane.dir){
+ case DIR_X_POS:
+ vec1.x = va.y; vec1.y = va.z;
+ vec2.x = vc.y; vec2.y = vc.z;
+ vec3.x = vb.y; vec3.y = vb.z;
+ vect.x = p.y; vect.y = p.z;
+ break;
+ case DIR_X_NEG:
+ vec1.x = va.y; vec1.y = va.z;
+ vec2.x = vb.y; vec2.y = vb.z;
+ vec3.x = vc.y; vec3.y = vc.z;
+ vect.x = p.y; vect.y = p.z;
+ break;
+ case DIR_Y_POS:
+ vec1.x = va.z; vec1.y = va.x;
+ vec2.x = vc.z; vec2.y = vc.x;
+ vec3.x = vb.z; vec3.y = vb.x;
+ vect.x = p.z; vect.y = p.x;
+ break;
+ case DIR_Y_NEG:
+ vec1.x = va.z; vec1.y = va.x;
+ vec2.x = vb.z; vec2.y = vb.x;
+ vec3.x = vc.z; vec3.y = vc.x;
+ vect.x = p.z; vect.y = p.x;
+ break;
+ case DIR_Z_POS:
+ vec1.x = va.x; vec1.y = va.y;
+ vec2.x = vc.x; vec2.y = vc.y;
+ vec3.x = vb.x; vec3.y = vb.y;
+ vect.x = p.x; vect.y = p.y;
+ break;
+ case DIR_Z_NEG:
+ vec1.x = va.x; vec1.y = va.y;
+ vec2.x = vb.x; vec2.y = vb.y;
+ vec3.x = vc.x; vec3.y = vc.y;
+ vect.x = p.x; vect.y = p.y;
+ break;
+ default:
+ assert(0);
+ }
+ if(CrossProduct2D(vec2-vec1, vect-vec1) < 0.0f) return false;
+ if(CrossProduct2D(vec3-vec1, vect-vec1) > 0.0f) return false;
+ if(CrossProduct2D(vec3-vec2, vect-vec2) < 0.0f) return false;
+ if(t >= mindist) return false;
+ point.point = p;
+ point.normal = normal;
+ point.surfaceA = 0;
+ point.pieceA = 0;
+ point.surfaceB = tri.surface;
+ point.pieceB = 0;
+ mindist = t;
+ return true;
+#endif
+}
+
+bool
+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;
+ if(Abs(planedist) > sphere.radius || distsq > mindistsq)
+ return false;
+
+ const CVector &va = verts[tri.a].Get();
+ const CVector &vb = verts[tri.b].Get();
+ const CVector &vc = verts[tri.c].Get();
+
+ // calculate two orthogonal basis vectors for the triangle
+ CVector normal;
+ plane.GetNormal(normal);
+ CVector vec2 = vb - va;
+ float len = vec2.Magnitude();
+ vec2 = vec2 * (1.0f/len);
+ 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:
+ CVector vac = vc - va;
+ CVector vas = sphere.center - va;
+ CVector2D b(0.0f, len);
+ CVector2D c(DotProduct(vec1, vac), DotProduct(vec2, vac));
+ CVector2D s(DotProduct(vec1, vas), DotProduct(vec2, vas));
+
+ // The three triangle lines partition the space into 6 sectors,
+ // find out in which the center lies.
+ int insideAB = CrossProduct2D(s, b) >= 0.0f;
+ int insideAC = CrossProduct2D(c, s) >= 0.0f;
+ int insideBC = CrossProduct2D(s-b, c-b) >= 0.0f;
+
+ int testcase = insideAB + insideAC + insideBC;
+ float dist = 0.0f;
+ CVector p;
+ switch(testcase){
+ case 1:
+ // closest to a vertex
+ if(insideAB) p = vc;
+ else if(insideAC) p = vb;
+ else if(insideBC) p = va;
+ else assert(0);
+ dist = (sphere.center - p).Magnitude();
+ break;
+ case 2:
+ // closest to an edge
+ // looks like original game as DistToLine manually inlined
+ if(!insideAB) dist = DistToLine(&va, &vb, &sphere.center, p);
+ else if(!insideAC) dist = DistToLine(&va, &vc, &sphere.center, p);
+ else if(!insideBC) dist = DistToLine(&vb, &vc, &sphere.center, p);
+ else assert(0);
+ break;
+ case 3:
+ // center is in triangle
+ dist = Abs(planedist);
+ p = sphere.center - normal*planedist;
+ break;
+ default:
+ assert(0);
+ }
+
+ if(dist >= sphere.radius || dist*dist >= mindistsq)
+ return false;
+
+ 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
+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;
+
+ // transform line to model space
+ Invert(matrix, matTransform);
+ CColLine newline(matTransform * line.p0, matTransform * line.p1);
+
+ // If we don't intersect with the bounding box, no chance on the rest
+ if(!TestLineBox(newline, model.boundingBox))
+ return false;
+
+ float coldist = mindist;
+ for(i = 0; i < model.numSpheres; i++){
+ if(ignoreSeeThrough && IsSeeThrough(model.spheres[i].surface)) continue;
+ ProcessLineSphere(newline, model.spheres[i], point, coldist);
+ }
+
+ for(i = 0; i < model.numBoxes; i++){
+ if(ignoreSeeThrough && IsSeeThrough(model.boxes[i].surface)) continue;
+ ProcessLineBox(newline, model.boxes[i], point, coldist);
+ }
+
+ CalculateTrianglePlanes(&model);
+ for(i = 0; i < model.numTriangles; i++){
+ if(ignoreSeeThrough && IsSeeThrough(model.triangles[i].surface)) continue;
+ ProcessLineTriangle(newline, model.vertices, model.triangles[i], model.trianglePlanes[i], point, coldist);
+ }
+
+ if(coldist < mindist){
+ point.point = matrix * point.point;
+ point.normal = Multiply3x3(matrix, point.normal);
+ mindist = coldist;
+ return true;
+ }
+ return false;
+#endif
+}
+
+bool
+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;
+
+ // transform line to model space
+ // Why does the game seem to do this differently than above?
+ CColLine newline(MultiplyInverse(matrix, line.p0), MultiplyInverse(matrix, line.p1));
+ newline.p1.x = newline.p0.x;
+ newline.p1.y = newline.p0.y;
+
+ if(!TestVerticalLineBox(newline, model.boundingBox))
+ return false;
+
+ float coldist = mindist;
+ for(i = 0; i < model.numSpheres; i++){
+ if(ignoreSeeThrough && IsSeeThrough(model.spheres[i].surface)) continue;
+ ProcessLineSphere(newline, model.spheres[i], point, coldist);
+ }
+
+ for(i = 0; i < model.numBoxes; i++){
+ if(ignoreSeeThrough && IsSeeThrough(model.boxes[i].surface)) continue;
+ ProcessLineBox(newline, model.boxes[i], point, coldist);
+ }
+
+ CalculateTrianglePlanes(&model);
+ TempStoredPoly.valid = false;
+ for(i = 0; i < model.numTriangles; i++){
+ if(ignoreSeeThrough && IsSeeThrough(model.triangles[i].surface)) continue;
+ ProcessVerticalLineTriangle(newline, model.vertices, model.triangles[i], model.trianglePlanes[i], point, coldist, &TempStoredPoly);
+ }
+
+ if(coldist < mindist){
+ point.point = matrix * point.point;
+ point.normal = Multiply3x3(matrix, point.normal);
+ if(TempStoredPoly.valid && poly){
+ *poly = TempStoredPoly;
+ poly->verts[0] = matrix * poly->verts[0];
+ poly->verts[1] = matrix * poly->verts[1];
+ poly->verts[2] = matrix * poly->verts[2];
+ }
+ mindist = coldist;
+ return true;
+ }
+ return false;
+#endif
+}
+
+enum {
+ MAXNUMSPHERES = 128,
+ MAXNUMBOXES = 32,
+ MAXNUMLINES = 16,
+ 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.
+// NB: only vehicles can have col models with lines, exactly 4, one for each wheel
+int32
+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];
+ static int aBoxIndicesB[MAXNUMBOXES];
+ static int aTriangleIndicesB[MAXNUMTRIS];
+ static bool aCollided[MAXNUMLINES];
+ static CColSphere aSpheresA[MAXNUMSPHERES];
+ static CColLine aLinesA[MAXNUMLINES];
+ static CMatrix matAB, matBA;
+ CColSphere s;
+ int i, j;
+
+ assert(modelA.numSpheres <= MAXNUMSPHERES);
+ assert(modelA.numLines <= MAXNUMLINES);
+
+ // From model A space to model B space
+ matAB = Invert(matrixB, matAB);
+ matAB *= matrixA;
+
+ CColSphere bsphereAB; // bounding sphere of A in B space
+ bsphereAB.radius = modelA.boundingSphere.radius;
+ bsphereAB.center = matAB * modelA.boundingSphere.center;
+ if(!TestSphereBox(bsphereAB, modelB.boundingBox))
+ return 0;
+ // B to A space
+ matBA = Invert(matrixA, matBA);
+ matBA *= matrixB;
+
+ // transform modelA's spheres and lines to B space
+ for(i = 0; i < modelA.numSpheres; i++){
+ CColSphere &s = modelA.spheres[i];
+ aSpheresA[i].Set(s.radius, matAB * s.center, s.surface, s.piece);
+ }
+ for(i = 0; i < modelA.numLines; i++)
+ aLinesA[i].Set(matAB * modelA.lines[i].p0, matAB * modelA.lines[i].p1);
+
+ // Test them against model B's bounding volumes
+ int numSpheresA = 0;
+ int numLinesA = 0;
+ for(i = 0; i < modelA.numSpheres; i++)
+ if(TestSphereBox(aSpheresA[i], modelB.boundingBox))
+ aSphereIndicesA[numSpheresA++] = i;
+ // no actual check???
+ for(i = 0; i < modelA.numLines; i++)
+ aLineIndicesA[numLinesA++] = i;
+ // No collision
+ if(numSpheresA == 0 && numLinesA == 0)
+ return 0;
+
+ // Check model B against A's bounding volumes
+ int numSpheresB = 0;
+ int numBoxesB = 0;
+ int numTrianglesB = 0;
+ for(i = 0; i < modelB.numSpheres; i++){
+ s.radius = modelB.spheres[i].radius;
+ s.center = matBA * modelB.spheres[i].center;
+ if(TestSphereBox(s, modelA.boundingBox))
+ aSphereIndicesB[numSpheresB++] = i;
+ }
+ for(i = 0; i < modelB.numBoxes; i++)
+ if(TestSphereBox(bsphereAB, modelB.boxes[i]))
+ aBoxIndicesB[numBoxesB++] = i;
+ CalculateTrianglePlanes(&modelB);
+ for(i = 0; i < modelB.numTriangles; i++)
+ if(TestSphereTriangle(bsphereAB, modelB.vertices, modelB.triangles[i], modelB.trianglePlanes[i]))
+ aTriangleIndicesB[numTrianglesB++] = i;
+ assert(numSpheresB <= MAXNUMSPHERES);
+ assert(numBoxesB <= MAXNUMBOXES);
+ assert(numTrianglesB <= MAXNUMTRIS);
+ // 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;
+ for(i = 0; i < numSpheresA; i++){
+ float coldist = 1.0e24f;
+ bool hasCollided = false;
+
+ for(j = 0; j < numSpheresB; j++)
+ hasCollided |= ProcessSphereSphere(
+ aSpheresA[aSphereIndicesA[i]],
+ modelB.spheres[aSphereIndicesB[j]],
+ spherepoints[numCollisions], coldist);
+ for(j = 0; j < numBoxesB; j++)
+ hasCollided |= ProcessSphereBox(
+ aSpheresA[aSphereIndicesA[i]],
+ modelB.boxes[aBoxIndicesB[j]],
+ spherepoints[numCollisions], coldist);
+ for(j = 0; j < numTrianglesB; j++)
+ hasCollided |= ProcessSphereTriangle(
+ aSpheresA[aSphereIndicesA[i]],
+ modelB.vertices,
+ modelB.triangles[aTriangleIndicesB[j]],
+ modelB.trianglePlanes[aTriangleIndicesB[j]],
+ spherepoints[numCollisions], coldist);
+
+ if(hasCollided)
+ numCollisions++;
+ }
+ for(i = 0; i < numCollisions; i++){
+ 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 < numLinesA; i++){
+ aCollided[i] = false;
+
+ for(j = 0; j < numSpheresB; j++)
+ aCollided[i] |= ProcessLineSphere(
+ aLinesA[aLineIndicesA[i]],
+ modelB.spheres[aSphereIndicesB[j]],
+ linepoints[aLineIndicesA[i]],
+ linedists[aLineIndicesA[i]]);
+ for(j = 0; j < numBoxesB; j++)
+ aCollided[i] |= ProcessLineBox(
+ aLinesA[aLineIndicesA[i]],
+ modelB.boxes[aBoxIndicesB[j]],
+ linepoints[aLineIndicesA[i]],
+ linedists[aLineIndicesA[i]]);
+ for(j = 0; j < numTrianglesB; j++)
+ aCollided[i] |= ProcessLineTriangle(
+ aLinesA[aLineIndicesA[i]],
+ modelB.vertices,
+ modelB.triangles[aTriangleIndicesB[j]],
+ modelB.trianglePlanes[aTriangleIndicesB[j]],
+ linepoints[aLineIndicesA[i]],
+ linedists[aLineIndicesA[i]]);
+ }
+ for(i = 0; i < numLinesA; i++)
+ if(aCollided[i]){
+ j = aLineIndicesA[i];
+ linepoints[j].point = matrixB * linepoints[j].point;
+ linepoints[j].normal = Multiply3x3(matrixB, linepoints[j].normal);
+ }
+
+ return numCollisions; // sphere collisions
+#endif
+}
+
+
+//
+// Misc
+//
+
+float
+CCollision::DistToLine(const CVector *l0, const CVector *l1, const CVector *point)
+{
+ float lensq = (*l1 - *l0).MagnitudeSqr();
+ float dot = DotProduct(*point - *l0, *l1 - *l0);
+ // Between 0 and len we're above the line.
+ // if not, calculate distance to endpoint
+ if(dot <= 0.0f)
+ return (*point - *l0).Magnitude();
+ if(dot >= lensq)
+ return (*point - *l1).Magnitude();
+ // distance to line
+ return Sqrt((*point - *l0).MagnitudeSqr() - dot*dot/lensq);
+}
+
+// same as above but also return the point on the line
+float
+CCollision::DistToLine(const CVector *l0, const CVector *l1, const CVector *point, CVector &closest)
+{
+ float lensq = (*l1 - *l0).MagnitudeSqr();
+ float dot = DotProduct(*point - *l0, *l1 - *l0);
+ // find out which point we're closest to
+ if(dot <= 0.0f)
+ closest = *l0;
+ else if(dot >= lensq)
+ closest = *l1;
+ else
+ closest = *l0 + (*l1 - *l0)*(dot/lensq);
+ // this is the distance
+ return (*point - closest).Magnitude();
+}
+
+void
+CCollision::CalculateTrianglePlanes(CColModel *model)
+{
+ assert(model);
+ if(model->numTriangles == 0)
+ return;
+
+ CLink<CColModel*> *lptr;
+ if(model->trianglePlanes){
+ // re-insert at front so it's not removed again soon
+ lptr = model->GetLinkPtr();
+ lptr->Remove();
+ ms_colModelCache.head.Insert(lptr);
+ }else{
+ lptr = ms_colModelCache.Insert(model);
+ if(lptr == nil){
+ // make room if we have to, remove last in list
+ lptr = ms_colModelCache.tail.prev;
+ assert(lptr);
+ assert(lptr->item);
+ lptr->item->RemoveTrianglePlanes();
+ ms_colModelCache.Remove(lptr);
+ // now this cannot fail
+ lptr = ms_colModelCache.Insert(model);
+ assert(lptr);
+ }
+ model->CalculateTrianglePlanes();
+ model->SetLinkPtr(lptr);
+ }
+}
+
+void
+CCollision::DrawColModel(const CMatrix &mat, const CColModel &colModel)
+{
+ int i;
+ CVector min, max;
+ CVector verts[8];
+ CVector c;
+ float r;
+
+ RwRenderStateSet(rwRENDERSTATEZWRITEENABLE, (void*)TRUE);
+ RwRenderStateSet(rwRENDERSTATEVERTEXALPHAENABLE, (void*)TRUE);
+ RwRenderStateSet(rwRENDERSTATESRCBLEND, (void*)rwBLENDSRCALPHA);
+ RwRenderStateSet(rwRENDERSTATEDESTBLEND, (void*)rwBLENDINVSRCALPHA);
+ RwRenderStateSet(rwRENDERSTATETEXTURERASTER, nil);
+
+ min = colModel.boundingBox.min;
+ max = colModel.boundingBox.max;
+
+ verts[0] = mat * CVector(min.x, min.y, min.z);
+ verts[1] = mat * CVector(min.x, min.y, max.z);
+ verts[2] = mat * CVector(min.x, max.y, min.z);
+ verts[3] = mat * CVector(min.x, max.y, max.z);
+ verts[4] = mat * CVector(max.x, min.y, min.z);
+ verts[5] = mat * CVector(max.x, min.y, max.z);
+ verts[6] = mat * CVector(max.x, max.y, min.z);
+ verts[7] = mat * CVector(max.x, max.y, max.z);
+
+ CLines::RenderLineWithClipping(
+ verts[0].x, verts[0].y, verts[0].z,
+ verts[1].x, verts[1].y, verts[1].z,
+ 0xFF0000FF, 0xFF0000FF);
+ CLines::RenderLineWithClipping(
+ verts[1].x, verts[1].y, verts[1].z,
+ verts[3].x, verts[3].y, verts[3].z,
+ 0xFF0000FF, 0xFF0000FF);
+ CLines::RenderLineWithClipping(
+ verts[3].x, verts[3].y, verts[3].z,
+ verts[2].x, verts[2].y, verts[2].z,
+ 0xFF0000FF, 0xFF0000FF);
+ CLines::RenderLineWithClipping(
+ verts[2].x, verts[2].y, verts[2].z,
+ verts[0].x, verts[0].y, verts[0].z,
+ 0xFF0000FF, 0xFF0000FF);
+
+ CLines::RenderLineWithClipping(
+ verts[4].x, verts[4].y, verts[4].z,
+ verts[5].x, verts[5].y, verts[5].z,
+ 0xFF0000FF, 0xFF0000FF);
+ CLines::RenderLineWithClipping(
+ verts[5].x, verts[5].y, verts[5].z,
+ verts[7].x, verts[7].y, verts[7].z,
+ 0xFF0000FF, 0xFF0000FF);
+ CLines::RenderLineWithClipping(
+ verts[7].x, verts[7].y, verts[7].z,
+ verts[6].x, verts[6].y, verts[6].z,
+ 0xFF0000FF, 0xFF0000FF);
+ CLines::RenderLineWithClipping(
+ verts[6].x, verts[6].y, verts[6].z,
+ verts[4].x, verts[4].y, verts[4].z,
+ 0xFF0000FF, 0xFF0000FF);
+
+ CLines::RenderLineWithClipping(
+ verts[0].x, verts[0].y, verts[0].z,
+ verts[4].x, verts[4].y, verts[4].z,
+ 0xFF0000FF, 0xFF0000FF);
+ CLines::RenderLineWithClipping(
+ verts[1].x, verts[1].y, verts[1].z,
+ verts[5].x, verts[5].y, verts[5].z,
+ 0xFF0000FF, 0xFF0000FF);
+ CLines::RenderLineWithClipping(
+ verts[2].x, verts[2].y, verts[2].z,
+ verts[6].x, verts[6].y, verts[6].z,
+ 0xFF0000FF, 0xFF0000FF);
+ CLines::RenderLineWithClipping(
+ verts[3].x, verts[3].y, verts[3].z,
+ verts[7].x, verts[7].y, verts[7].z,
+ 0xFF0000FF, 0xFF0000FF);
+
+ for(i = 0; i < colModel.numSpheres; i++){
+ c = mat * colModel.spheres[i].center;
+ r = colModel.spheres[i].radius;
+
+ CLines::RenderLineWithClipping(
+ c.x, c.y, c.z-r,
+ c.x-r, c.y-r, c.z,
+ 0xFF00FFFF, 0xFF00FFFF);
+ CLines::RenderLineWithClipping(
+ c.x, c.y, c.z-r,
+ c.x-r, c.y+r, c.z,
+ 0xFF00FFFF, 0xFF00FFFF);
+ CLines::RenderLineWithClipping(
+ c.x, c.y, c.z-r,
+ c.x+r, c.y-r, c.z,
+ 0xFF00FFFF, 0xFF00FFFF);
+ CLines::RenderLineWithClipping(
+ c.x, c.y, c.z-r,
+ c.x+r, c.y+r, c.z,
+ 0xFF00FFFF, 0xFF00FFFF);
+ CLines::RenderLineWithClipping(
+ c.x-r, c.y-r, c.z,
+ c.x, c.y, c.z+r,
+ 0xFF00FFFF, 0xFF00FFFF);
+ CLines::RenderLineWithClipping(
+ c.x-r, c.y+r, c.z,
+ c.x, c.y, c.z+r,
+ 0xFF00FFFF, 0xFF00FFFF);
+ CLines::RenderLineWithClipping(
+ c.x+r, c.y-r, c.z,
+ c.x, c.y, c.z+r,
+ 0xFF00FFFF, 0xFF00FFFF);
+ CLines::RenderLineWithClipping(
+ c.x+r, c.y+r, c.z,
+ c.x, c.y, c.z+r,
+ 0xFF00FFFF, 0xFF00FFFF);
+ }
+
+ for(i = 0; i < colModel.numLines; i++){
+ verts[0] = colModel.lines[i].p0;
+ verts[1] = colModel.lines[i].p1;
+
+ verts[0] = mat * verts[0];
+ verts[1] = mat * verts[1];
+
+ CLines::RenderLineWithClipping(
+ verts[0].x, verts[0].y, verts[0].z,
+ verts[1].x, verts[1].y, verts[1].z,
+ 0x00FFFFFF, 0x00FFFFFF);
+ }
+
+ for(i = 0; i < colModel.numBoxes; i++){
+ min = colModel.boxes[i].min;
+ max = colModel.boxes[i].max;
+
+ verts[0] = mat * CVector(min.x, min.y, min.z);
+ verts[1] = mat * CVector(min.x, min.y, max.z);
+ verts[2] = mat * CVector(min.x, max.y, min.z);
+ verts[3] = mat * CVector(min.x, max.y, max.z);
+ verts[4] = mat * CVector(max.x, min.y, min.z);
+ verts[5] = mat * CVector(max.x, min.y, max.z);
+ verts[6] = mat * CVector(max.x, max.y, min.z);
+ verts[7] = mat * CVector(max.x, max.y, max.z);
+
+ CLines::RenderLineWithClipping(
+ verts[0].x, verts[0].y, verts[0].z,
+ verts[1].x, verts[1].y, verts[1].z,
+ 0xFFFFFFFF, 0xFFFFFFFF);
+ CLines::RenderLineWithClipping(
+ verts[1].x, verts[1].y, verts[1].z,
+ verts[3].x, verts[3].y, verts[3].z,
+ 0xFFFFFFFF, 0xFFFFFFFF);
+ CLines::RenderLineWithClipping(
+ verts[3].x, verts[3].y, verts[3].z,
+ verts[2].x, verts[2].y, verts[2].z,
+ 0xFFFFFFFF, 0xFFFFFFFF);
+ CLines::RenderLineWithClipping(
+ verts[2].x, verts[2].y, verts[2].z,
+ verts[0].x, verts[0].y, verts[0].z,
+ 0xFFFFFFFF, 0xFFFFFFFF);
+
+ CLines::RenderLineWithClipping(
+ verts[4].x, verts[4].y, verts[4].z,
+ verts[5].x, verts[5].y, verts[5].z,
+ 0xFFFFFFFF, 0xFFFFFFFF);
+ CLines::RenderLineWithClipping(
+ verts[5].x, verts[5].y, verts[5].z,
+ verts[7].x, verts[7].y, verts[7].z,
+ 0xFFFFFFFF, 0xFFFFFFFF);
+ CLines::RenderLineWithClipping(
+ verts[7].x, verts[7].y, verts[7].z,
+ verts[6].x, verts[6].y, verts[6].z,
+ 0xFFFFFFFF, 0xFFFFFFFF);
+ CLines::RenderLineWithClipping(
+ verts[6].x, verts[6].y, verts[6].z,
+ verts[4].x, verts[4].y, verts[4].z,
+ 0xFFFFFFFF, 0xFFFFFFFF);
+
+ CLines::RenderLineWithClipping(
+ verts[0].x, verts[0].y, verts[0].z,
+ verts[4].x, verts[4].y, verts[4].z,
+ 0xFFFFFFFF, 0xFFFFFFFF);
+ CLines::RenderLineWithClipping(
+ verts[1].x, verts[1].y, verts[1].z,
+ verts[5].x, verts[5].y, verts[5].z,
+ 0xFFFFFFFF, 0xFFFFFFFF);
+ CLines::RenderLineWithClipping(
+ verts[2].x, verts[2].y, verts[2].z,
+ verts[6].x, verts[6].y, verts[6].z,
+ 0xFFFFFFFF, 0xFFFFFFFF);
+ CLines::RenderLineWithClipping(
+ verts[3].x, verts[3].y, verts[3].z,
+ verts[7].x, verts[7].y, verts[7].z,
+ 0xFFFFFFFF, 0xFFFFFFFF);
+ }
+
+ for(i = 0; i < colModel.numTriangles; i++){
+ colModel.GetTrianglePoint(verts[0], colModel.triangles[i].a);
+ colModel.GetTrianglePoint(verts[1], colModel.triangles[i].b);
+ colModel.GetTrianglePoint(verts[2], colModel.triangles[i].c);
+ verts[0] = mat * verts[0];
+ verts[1] = mat * verts[1];
+ verts[2] = mat * verts[2];
+ CLines::RenderLineWithClipping(
+ verts[0].x, verts[0].y, verts[0].z,
+ verts[1].x, verts[1].y, verts[1].z,
+ 0x00FF00FF, 0x00FF00FF);
+ CLines::RenderLineWithClipping(
+ verts[0].x, verts[0].y, verts[0].z,
+ verts[2].x, verts[2].y, verts[2].z,
+ 0x00FF00FF, 0x00FF00FF);
+ CLines::RenderLineWithClipping(
+ verts[1].x, verts[1].y, verts[1].z,
+ verts[2].x, verts[2].y, verts[2].z,
+ 0x00FF00FF, 0x00FF00FF);
+ }
+
+ RwRenderStateSet(rwRENDERSTATESRCBLEND, (void*)rwBLENDSRCALPHA);
+ RwRenderStateSet(rwRENDERSTATEDESTBLEND, (void*)rwBLENDINVSRCALPHA);
+ RwRenderStateSet(rwRENDERSTATEVERTEXALPHAENABLE, (void*)FALSE);
+ RwRenderStateSet(rwRENDERSTATEZWRITEENABLE, (void*)TRUE);
+ RwRenderStateSet(rwRENDERSTATEZTESTENABLE, (void*)TRUE);
+}
+
+void
+CCollision::DrawColModel_Coloured(const CMatrix &mat, const CColModel &colModel, int32 id)
+{
+ int i;
+ int s;
+ float f;
+ CVector verts[8];
+ CVector min, max;
+ int r, g, b;
+ RwImVertexIndex *iptr;
+ RwIm3DVertex *vptr;
+
+ RenderBuffer::ClearRenderBuffer();
+ RwRenderStateSet(rwRENDERSTATEZWRITEENABLE, (void*)TRUE);
+ RwRenderStateSet(rwRENDERSTATEVERTEXALPHAENABLE, (void*)TRUE);
+ RwRenderStateSet(rwRENDERSTATESRCBLEND, (void*)rwBLENDSRCALPHA);
+ RwRenderStateSet(rwRENDERSTATEDESTBLEND, (void*)rwBLENDINVSRCALPHA);
+ RwRenderStateSet(rwRENDERSTATETEXTURERASTER, nil);
+
+ for(i = 0; i < colModel.numTriangles; i++){
+ colModel.GetTrianglePoint(verts[0], colModel.triangles[i].a);
+ colModel.GetTrianglePoint(verts[1], colModel.triangles[i].b);
+ colModel.GetTrianglePoint(verts[2], colModel.triangles[i].c);
+ verts[0] = mat * verts[0];
+ verts[1] = mat * verts[1];
+ verts[2] = mat * verts[2];
+
+ // game doesn't do this
+ r = 255;
+ g = 128;
+ b = 0;
+
+ s = colModel.triangles[i].surface;
+ f = (s & 0xF)/32.0f + 0.5f;
+ switch(CSurfaceTable::GetAdhesionGroup(s)){
+ case ADHESIVE_RUBBER:
+ r = f * 255.0f;
+ g = 0;
+ b = 0;
+ break;
+ case ADHESIVE_HARD:
+ r = f*255.0f;
+ g = f*255.0f;
+ b = f*128.0f;
+ break;
+ case ADHESIVE_ROAD:
+ r = f*128.0f;
+ g = f*128.0f;
+ b = f*128.0f;
+ break;
+ case ADHESIVE_LOOSE:
+ r = 0;
+ g = f * 255.0f;
+ b = 0;
+ break;
+ case ADHESIVE_WET:
+ r = 0;
+ g = 0;
+ b = f * 255.0f;
+ break;
+ default:
+ // this doesn't make much sense
+ r *= f;
+ g *= f;
+ b *= f;
+ }
+
+ if(s == SURFACE_TRANSPARENT_CLOTH || s == SURFACE_METAL_CHAIN_FENCE ||
+ s == SURFACE_TRANSPARENT_STONE || s == SURFACE_SCAFFOLD_POLE)
+ if(CTimer::GetFrameCounter() & 1){
+ r = 0;
+ g = 0;
+ b = 0;
+ }
+
+ if(s > SURFACE_METAL_GATE){
+ r = CGeneral::GetRandomNumber();
+ g = CGeneral::GetRandomNumber();
+ b = CGeneral::GetRandomNumber();
+ printf("Illegal surfacetype:%d on MI:%d\n", s, id);
+ }
+
+ RenderBuffer::StartStoring(6, 3, &iptr, &vptr);
+ RwIm3DVertexSetRGBA(&vptr[0], r, g, b, 255);
+ RwIm3DVertexSetRGBA(&vptr[1], r, g, b, 255);
+ RwIm3DVertexSetRGBA(&vptr[2], r, g, b, 255);
+ RwIm3DVertexSetU(&vptr[0], 0.0f);
+ RwIm3DVertexSetV(&vptr[0], 0.0f);
+ RwIm3DVertexSetU(&vptr[1], 0.0f);
+ RwIm3DVertexSetV(&vptr[1], 1.0f);
+ RwIm3DVertexSetU(&vptr[2], 1.0f);
+ RwIm3DVertexSetV(&vptr[2], 1.0f);
+ RwIm3DVertexSetPos(&vptr[0], verts[0].x, verts[0].y, verts[0].z);
+ RwIm3DVertexSetPos(&vptr[1], verts[1].x, verts[1].y, verts[1].z);
+ RwIm3DVertexSetPos(&vptr[2], verts[2].x, verts[2].y, verts[2].z);
+ iptr[0] = 0; iptr[1] = 1; iptr[2] = 2;
+ iptr[3] = 0; iptr[4] = 2; iptr[5] = 1;
+ RenderBuffer::StopStoring();
+ }
+
+ for(i = 0; i < colModel.numBoxes; i++){
+ min = colModel.boxes[i].min;
+ max = colModel.boxes[i].max;
+
+ verts[0] = mat * CVector(min.x, min.y, min.z);
+ verts[1] = mat * CVector(min.x, min.y, max.z);
+ verts[2] = mat * CVector(min.x, max.y, min.z);
+ verts[3] = mat * CVector(min.x, max.y, max.z);
+ verts[4] = mat * CVector(max.x, min.y, min.z);
+ verts[5] = mat * CVector(max.x, min.y, max.z);
+ verts[6] = mat * CVector(max.x, max.y, min.z);
+ verts[7] = mat * CVector(max.x, max.y, max.z);
+
+ s = colModel.boxes[i].surface;
+ f = (s & 0xF)/32.0f + 0.5f;
+ switch(CSurfaceTable::GetAdhesionGroup(s)){
+ case ADHESIVE_RUBBER:
+ r = f * 255.0f;
+ g = 0;
+ b = 0;
+ break;
+ case ADHESIVE_HARD:
+ r = f*255.0f;
+ g = f*255.0f;
+ b = f*128.0f;
+ break;
+ case ADHESIVE_ROAD:
+ r = f*128.0f;
+ g = f*128.0f;
+ b = f*128.0f;
+ break;
+ case ADHESIVE_LOOSE:
+ r = 0;
+ g = f * 255.0f;
+ b = 0;
+ break;
+ case ADHESIVE_WET:
+ r = 0;
+ g = 0;
+ b = f * 255.0f;
+ break;
+ default:
+ // this doesn't make much sense
+ r *= f;
+ g *= f;
+ b *= f;
+ }
+
+ if(s == SURFACE_TRANSPARENT_CLOTH || s == SURFACE_METAL_CHAIN_FENCE ||
+ s == SURFACE_TRANSPARENT_STONE || s == SURFACE_SCAFFOLD_POLE)
+ if(CTimer::GetFrameCounter() & 1){
+ r = 0;
+ g = 0;
+ b = 0;
+ }
+
+ RenderBuffer::StartStoring(36, 8, &iptr, &vptr);
+ RwIm3DVertexSetRGBA(&vptr[0], r, g, b, 255);
+ RwIm3DVertexSetRGBA(&vptr[1], r, g, b, 255);
+ RwIm3DVertexSetRGBA(&vptr[2], r, g, b, 255);
+ RwIm3DVertexSetRGBA(&vptr[3], r, g, b, 255);
+ RwIm3DVertexSetRGBA(&vptr[4], r, g, b, 255);
+ RwIm3DVertexSetRGBA(&vptr[5], r, g, b, 255);
+ RwIm3DVertexSetRGBA(&vptr[6], r, g, b, 255);
+ RwIm3DVertexSetRGBA(&vptr[7], r, g, b, 255);
+ RwIm3DVertexSetU(&vptr[0], 0.0f);
+ RwIm3DVertexSetV(&vptr[0], 0.0f);
+ RwIm3DVertexSetU(&vptr[1], 0.0f);
+ RwIm3DVertexSetV(&vptr[1], 1.0f);
+ RwIm3DVertexSetU(&vptr[2], 1.0f);
+ RwIm3DVertexSetV(&vptr[2], 1.0f);
+ RwIm3DVertexSetU(&vptr[3], 0.0f);
+ RwIm3DVertexSetV(&vptr[3], 0.0f);
+ RwIm3DVertexSetU(&vptr[4], 0.0f);
+ RwIm3DVertexSetV(&vptr[4], 1.0f);
+ RwIm3DVertexSetU(&vptr[5], 1.0f);
+ RwIm3DVertexSetV(&vptr[5], 1.0f);
+ RwIm3DVertexSetU(&vptr[6], 0.0f);
+ RwIm3DVertexSetV(&vptr[6], 1.0f);
+ RwIm3DVertexSetU(&vptr[7], 1.0f);
+ RwIm3DVertexSetV(&vptr[7], 1.0f);
+ RwIm3DVertexSetPos(&vptr[0], verts[0].x, verts[0].y, verts[0].z);
+ RwIm3DVertexSetPos(&vptr[1], verts[1].x, verts[1].y, verts[1].z);
+ RwIm3DVertexSetPos(&vptr[2], verts[2].x, verts[2].y, verts[2].z);
+ RwIm3DVertexSetPos(&vptr[3], verts[3].x, verts[3].y, verts[3].z);
+ RwIm3DVertexSetPos(&vptr[4], verts[4].x, verts[4].y, verts[4].z);
+ RwIm3DVertexSetPos(&vptr[5], verts[5].x, verts[5].y, verts[5].z);
+ RwIm3DVertexSetPos(&vptr[6], verts[6].x, verts[6].y, verts[6].z);
+ RwIm3DVertexSetPos(&vptr[7], verts[7].x, verts[7].y, verts[7].z);
+ iptr[0] = 0; iptr[1] = 1; iptr[2] = 2;
+ iptr[3] = 1; iptr[4] = 3; iptr[5] = 2;
+ iptr[6] = 1; iptr[7] = 5; iptr[8] = 7;
+ iptr[9] = 1; iptr[10] = 7; iptr[11] = 3;
+ iptr[12] = 2; iptr[13] = 3; iptr[14] = 7;
+ iptr[15] = 2; iptr[16] = 7; iptr[17] = 6;
+ iptr[18] = 0; iptr[19] = 5; iptr[20] = 1;
+ iptr[21] = 0; iptr[22] = 4; iptr[23] = 5;
+ iptr[24] = 0; iptr[25] = 2; iptr[26] = 4;
+ iptr[27] = 2; iptr[28] = 6; iptr[29] = 4;
+ iptr[30] = 4; iptr[31] = 6; iptr[32] = 7;
+ iptr[33] = 4; iptr[34] = 7; iptr[35] = 5;
+ RenderBuffer::StopStoring();
+ }
+
+ RenderBuffer::RenderStuffInBuffer();
+ RwRenderStateSet(rwRENDERSTATESRCBLEND, (void*)rwBLENDSRCALPHA);
+ RwRenderStateSet(rwRENDERSTATEDESTBLEND, (void*)rwBLENDINVSRCALPHA);
+ RwRenderStateSet(rwRENDERSTATEVERTEXALPHAENABLE, (void*)FALSE);
+ RwRenderStateSet(rwRENDERSTATEZWRITEENABLE, (void*)TRUE);
+ RwRenderStateSet(rwRENDERSTATEZTESTENABLE, (void*)TRUE);
+} \ No newline at end of file