Justin Marshall
310 lines
13 KiB
C++
310 lines
13 KiB
C++
#pragma once
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#include "cm/collisiontypes.h"
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#include "cm/jobs/collisionquery.h"
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#include "idlib/math/mat3x4.h"
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#include "idlib/math/pluecker.h"
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#include <cstddef>
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#include <cstdint>
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class idTraceModel;
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struct cm_sideCache_t {
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std::uint32_t side;
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};
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struct cm_trmVertex_t {
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idBoundsShort bounds;
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int pad;
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};
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struct cm_trmEdge_t {
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idBoundsShort bounds;
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std::uint16_t vertexNum[2];
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};
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struct cm_trmPolygon_t {
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idPlane plane;
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idBoundsShort bounds;
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std::uint32_t numEdges;
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std::uint8_t edges[16];
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std::uint32_t vertexSideMask;
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std::uint32_t vertexSideBits;
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std::uint32_t pad[2];
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};
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struct idModelCheckCounts {
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std::uint8_t baseCheckCounts[928];
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std::uint8_t checkCount;
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std::uint8_t* vertexCheckCounts;
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std::uint8_t* edgeCheckCounts;
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std::uint8_t* polygonCheckCounts;
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std::uint8_t* polytopeCheckCounts;
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void SetupForSubModel(const cm_subModelData_t* subModelData);
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};
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struct idTraceWork {
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cm_trmVertex_t verts[32];
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cm_trmEdge_t edges[32];
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cm_trmPolygon_t polys[16];
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idVec4 vertexPosition[32];
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idVec4 vertexEndPosition[32];
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idPluecker vertexPluecker[32];
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idPluecker edgePluecker[32];
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idPluecker edgeZAxisPluecker[32];
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idVec4 edgeNormal[32];
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std::uint8_t vertIsUsed[32];
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std::uint8_t edgeIsUsed[32];
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std::uint8_t polyIsUsed[16];
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std::uint32_t numVerts;
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std::uint32_t numEdges;
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std::uint32_t numPolys;
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int contents;
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idVec4 start;
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idVec4 end;
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idVec4 dir;
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idVec4 negDir;
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idMat3x4 trmTransform;
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idVec4 trmBoundsMin;
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idVec4 trmBoundsMax;
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idVec4 trmExtents;
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idVec4 traceBoundsMin;
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idVec4 traceBoundsMax;
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idBoundsShort traceBoundsShort;
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int pad;
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idPlane heartPlane1;
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idPlane heartPlane2;
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float maxDistFromHeartPlane1;
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float maxDistFromHeartPlane2;
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float fraction;
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int subModelNum;
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float angle;
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float negAngle;
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float maxTan;
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float initialTan;
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idVec4 origin;
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idVec4 axis;
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idMat3x4 ZAxisTransform;
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idMat3x4 endTransform;
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float contactDepth;
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traceType_t traceType;
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bool isConvex;
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bool quickExit;
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cm_sideCache_t polygonSideCache;
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cm_sideCache_t polygonEdgeSideCache[20];
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cm_sideCache_t polygonVertexSideCache[20];
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idPluecker polygonEdgePlueckerCache[16];
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idPluecker polygonVertexPlueckerCache[16];
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std::uint8_t subModelDataForBounds[768];
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idModelCheckCounts modelCheckCounts;
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cm_subModelPtrs_t subModelPtrs;
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trace_t* traceResult;
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contactsResult_t* contactsResult;
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clipResult_t* clipResult;
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trace_t tempTraceResult;
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int profile[5];
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void Init();
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};
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class idPolygonModelCollisionDetection {
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public:
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static void SetupSubModelPtrsFromData(cm_subModelPtrs_t& pointers,
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const cm_subModelData_t* data);
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static idTraceWork* AllocTraceWork();
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static int GetTraceWorkSPUSize();
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static cm_subModelData_t* SetupSubModelForBounds(cm_subModelData_t* data,
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int size, const idBounds& bounds);
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static bool TestStuckInSubModelBounds(idTraceWork* tw,
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const idBounds& subModelBounds);
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static idVec3 LocalExtentsFromUnTransformedBounds(
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const idBounds& globalBounds, const idVec3& globalStart,
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const idVec3& globalEnd, const idMat3& modelAxis);
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static void TraceThroughSubModelTree(idTraceWork* tw);
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static void TraceThroughSubModel(idTraceWork* tw,
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const cm_subModelData_t* subModelData, int subModelNum);
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static unsigned int GetSubModelsForTrace(const cm_polygonModel_t& model,
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const idVec3& start, const idVec3& end, const idVec3& extents,
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int* subModelNums);
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static void TraceThroughModel(idTraceWork* tw,
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const cm_polygonModel_t& model);
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static bool TestTrmVertsInPolytope(idTraceWork* tw, int polytopeNum);
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static bool TestTrmInPolygon(idTraceWork* tw, int polygonNum);
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static void StartContents(idTraceWork* tw, trace_t* result,
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const idVec3& start, const idTraceModel* trm,
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const idMat3& trmAxis, int contentMask,
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const idVec3& modelOrigin, const idMat3& modelAxis);
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static void StartContentsPoint(idTraceWork* tw, trace_t* result,
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const idVec3& start, int contentMask,
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const idVec3& modelOrigin, const idMat3& modelAxis);
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static void FinishContents(idTraceWork* tw, const idVec3& modelOrigin,
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const idMat3& modelAxis, int modelEntityNum, int modelPhysicsId,
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int modelBodyId, int selfId, int modelContentsOverride);
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static void TranslationSetup(idTraceWork* tw, const idVec3& start,
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const idVec3& end, const idVec3& offset, const idMat3& trmAxis,
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const idVec3& modelOrigin, const idMat3& modelAxis);
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static void TranslationUsedPrimitives(idTraceWork* tw,
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const idVec3& start, const idVec3& end, const idTraceModel& trm,
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const idMat3& trmAxis);
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static void TranslationHeartPlanes(idTraceWork* tw);
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static void TranslationVerts(idTraceWork* tw, const idTraceModel& trm);
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static void TranslationEdges(idTraceWork* tw, const idTraceModel& trm);
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static void TranslationPolys(idTraceWork* tw, const idTraceModel& trm);
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static void TranslationBounds(idTraceWork* tw);
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static void TranslationUpdateBounds(idTraceWork* tw);
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static void TranslationPlueckerCache(idTraceWork* tw,
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const cm_polygon_t& polygon);
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static void TranslationEdgePlueckerCache(idTraceWork* tw,
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const cm_polygon_t& polygon);
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static void TranslationSideCache(const idPluecker* pluecker,
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const std::uint8_t* used, unsigned int count,
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const idPluecker* plueckerCache, cm_sideCache_t* sideCache,
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unsigned int cacheSize);
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static void TranslationPolygonSideCache(idTraceWork* tw,
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const cm_polygon_t& polygon);
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static void AddContact(idTraceWork* tw);
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static float TranslateEdgeThroughEdge(const idPluecker& first,
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const idPluecker& second, const idVec3& direction);
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static int TranslateTrmEdgesThroughPolygon(idTraceWork* tw,
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const cm_polygon_t& polygon);
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static float TranslatePointThroughPlane(const idPlane& plane,
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const idVec3& start, const idVec3& end);
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static int TranslateTrmVertsThroughPolygon(idTraceWork* tw,
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const cm_polygon_t& polygon, const idPlane& polygonPlane);
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static int TranslatePolygonVertsThroughTrm(idTraceWork* tw,
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const cm_polygon_t& polygon);
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static int TranslateTrmThroughPolygon(idTraceWork* tw, int polygonNum);
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static int TranslatePointThroughPolygon(idTraceWork* tw, int polygonNum);
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static int StartTranslation(idTraceWork* tw, trace_t* result,
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contactsResult_t* contacts, const idVec3& start, const idVec3& end,
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const idTraceModel* trm, const idMat3& trmAxis, int contentMask,
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const idVec3& modelOrigin, const idMat3& modelAxis);
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static int StartTranslationPoint(idTraceWork* tw, trace_t* result,
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const idVec3& start, const idVec3& end, int contentMask,
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const idVec3& modelOrigin, const idMat3& modelAxis);
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static void FinishTranslation(idTraceWork* tw, const idVec3& start,
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const idVec3& end, const idVec3& modelOrigin,
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const idMat3& modelAxis, int modelEntityNum, int modelPhysicsId,
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int modelBodyId, int selfId, int modelContentsOverride);
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static int ClipInPlace(idVec5* points, int numPoints,
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const idPlane& plane, float epsilon, bool keepOn);
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static bool ClipPolygonWithTrm(idTraceWork* tw, int polygonNum);
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static void StartClip(idTraceWork* tw, clipResult_t* result,
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const idVec3& start, const idTraceModel& trm,
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const idMat3& trmAxis, int contentMask,
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const idVec3& modelOrigin, const idMat3& modelAxis);
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static void FinishClip(idTraceWork* tw, int firstClipVert,
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const idVec3& modelOrigin, const idMat3& modelAxis);
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static void TestTrmEdgeInContactWithPolygon(idTraceWork* tw,
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const cm_polygon_t& polygon, int trmEdgeNum);
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static void TestTrmVertexInContactWithPolygon(idTraceWork* tw,
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const cm_polygon_t& polygon, const idPlane& polygonPlane,
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int trmVertNum);
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static void TestVertexInContactWithTrmPolygon(idTraceWork* tw,
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const cm_trmPolygon_t& trmPolygon, const cm_polygon_t& polygon,
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const cm_vertex_t& vertex);
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static bool TestTrmInContactWithPolygon(idTraceWork* tw,
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int polygonNum);
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static void StartContacts(idTraceWork* tw, contactsResult_t* result,
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const idVec3& start, const idVec3& direction, float depth,
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const idTraceModel& trm, const idMat3& trmAxis, int contentMask,
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const idVec3& modelOrigin, const idMat3& modelAxis);
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static void FinishContacts(idTraceWork* tw, int firstContact,
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const idVec3& modelOrigin, const idMat3& modelAxis,
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int modelEntityNum, int modelPhysicsId, int modelBodyId, int selfId,
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int modelContentsOverride);
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static bool EdgeIntersectsBoundsShort(const idBoundsShort& bounds,
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const idVec3& start, const idVec3& end);
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static void RotationSetup(idTraceWork* tw, const idVec3& rotationOrigin,
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const idVec3& rotationAxis, float angle, const idVec3& start,
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const idVec3& offset, const idMat3& trmAxis,
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const idVec3& modelOrigin, const idMat3& modelAxis);
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static void TransformFromOriginAxisAngle(idMat3x4& transform,
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const idVec3& origin, const idVec3& axis, float angle);
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static void TransformAxisToZAxis(idMat3x4& transform,
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const idVec3& origin, const idVec3& axis);
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static void RotationVerts(idTraceWork* tw, const idTraceModel& trm,
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idVec4* zverts);
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static void RotationEdges(idTraceWork* tw, const idTraceModel& trm,
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const idVec4* zverts);
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static void RotationPolys(idTraceWork* tw, const idTraceModel& trm);
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static void RotationBounds(idTraceWork* tw);
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static void RotationEdgePlueckerCache(idTraceWork* tw,
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const cm_polygon_t& polygon);
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static void RotationCullPolygonEdges(idTraceWork* tw,
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const cm_polygon_t& polygon);
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static int CollisionBetweenEdgeBounds(const idTraceWork& tw,
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const idVec3& firstStart, const idVec3& firstEnd,
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const idVec3& secondStart, const idVec3& secondEnd,
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float tanHalfAngle, idVec3& collisionPoint,
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idVec3& collisionNormal);
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static int RotateEdgeThroughEdge(const idPluecker& first,
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const idPluecker& second, float angle, float minTan, float maxTan,
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float& tanHalfAngle);
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static int EdgeFurthestFromEdge(const idPluecker& first,
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const idPluecker& second, float angle, float& tanHalfAngle,
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float& direction);
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static int RotateTrmEdgesThroughPolygon(idTraceWork* tw,
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const cm_polygon_t& polygon);
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static int RotatePointThroughPlane(const idVec3& point,
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const idPlane& plane, float angle, float minTan, float maxTan,
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float& tanHalfAngle);
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static int PointFurthestFromPlane(const idVec3& point,
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const idPlane& plane, float angle, float& tanHalfAngle,
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float& direction);
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static int RotatePointThroughEpsilonPlane(const idTraceWork& tw,
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const idVec3& point, const idVec3& endPoint, const idPlane& plane,
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float angle, const idVec3& rotationOrigin, float& tanHalfAngle,
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idVec3& collisionPoint, idVec3& endDirection);
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static int RotateTrmVertsThroughPolygon(idTraceWork* tw,
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const cm_polygon_t& polygon, const idPlane& polygonPlane);
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static int RotatePolygonVertsThroughTrm(idTraceWork* tw,
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const cm_polygon_t& polygon);
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static bool RotateTrmThroughPolygon(idTraceWork* tw, int polygonNum);
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static int StartRotation(idTraceWork* tw, trace_t* result,
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const idVec3& rotationOrigin, const idVec3& rotationAxis,
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float angle, const idVec3& start, const idTraceModel* trm,
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const idMat3& trmAxis, int contentMask,
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const idVec3& modelOrigin, const idMat3& modelAxis);
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static int StartRotationPoint(idTraceWork* tw, trace_t* result,
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const idVec3& rotationOrigin, const idVec3& rotationAxis,
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float angle, const idVec3& start, int contentMask,
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const idVec3& modelOrigin, const idMat3& modelAxis);
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static void FinishRotation(idTraceWork* tw,
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const idVec3& rotationOrigin, const idVec3& rotationAxis,
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float angle, const idVec3& start, const idMat3& trmAxis,
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const idVec3& modelOrigin, const idMat3& modelAxis,
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int modelEntityNum, int modelPhysicsId, int modelBodyId, int selfId,
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int modelContentsOverride);
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};
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float CM_TanZeroHalfPI(float angle);
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float CM_ArcTanPositive(float value);
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void CM_PointRotationBounds(const idVec3& origin, const idVec3& axis,
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const idVec3& start, const idVec3& end,
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idVec4& boundsMin, idVec4& boundsMax);
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static_assert(sizeof(cm_sideCache_t) == 4,
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"Recovered cm_sideCache_t ABI changed");
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static_assert(sizeof(cm_trmVertex_t) == 16,
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"Recovered cm_trmVertex_t ABI changed");
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static_assert(sizeof(cm_trmEdge_t) == 16,
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"Recovered cm_trmEdge_t ABI changed");
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static_assert(sizeof(cm_trmPolygon_t) == 64,
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"Recovered cm_trmPolygon_t ABI changed");
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#if INTPTR_MAX == INT32_MAX
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static_assert(sizeof(idModelCheckCounts) == 948,
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"Recovered idModelCheckCounts ABI changed");
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static_assert(sizeof(idTraceWork) == 9244,
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"Recovered idTraceWork ABI changed");
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#endif
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