diff --git a/src/core/Collision.cpp b/src/core/Collision.cpp index 99be816f..6522ff1c 100644 --- a/src/core/Collision.cpp +++ b/src/core/Collision.cpp @@ -1,5 +1,6 @@ #include "common.h" +#include "VuVector.h" #include "main.h" #include "Lists.h" #include "Game.h" @@ -21,6 +22,346 @@ #include "Lines.h" #include "Collision.h" + +// TODO: where do these go? + +#ifdef VU_COLLISION + +struct VuTriangle +{ + // Compressed int16 but unpacked +#ifdef GTA_PS2 + uint128 v0; + uint128 v1; + uint128 v2; + uint128 plane; +#else + int32 v0[4]; + int32 v1[4]; + int32 v2[4]; + int32 plane[4]; +#endif +}; + +#ifndef GTA_PS2 +static int16 vi01; +static CVuVector vf01; +static CVuVector vf02; +static CVuVector vf03; + +CVuVector +DistanceBetweenSphereAndLine(const CVuVector ¢er, const CVuVector &p0, const CVuVector &line) +{ + // center VF12 + // p0 VF14 + // line VF15 + CVuVector ret; // VF16 + CVuVector p1 = p0+line; + CVuVector dist0 = center - p0; // VF20 + CVuVector dist1 = center - p1; // VF25 + float lenSq = line.MagnitudeSqr(); // VF21 + float distSq0 = dist0.MagnitudeSqr(); // VF22 + float distSq1 = dist1.MagnitudeSqr(); + float dot = DotProduct(dist0, line); // VF23 + if(dot < 0.0f){ + // not above line, closest to p0 + ret = p0; + ret.w = distSq0; + return ret; + } + float t = dot/lenSq; // param of nearest point on infinite line + if(t > 1.0f){ + // not above line, closest to p1 + ret = p1; + ret.w = distSq1; + return ret; + } + // closest to line + ret = p0 + line*t; + ret.w = (ret - center).MagnitudeSqr(); + return ret; +} +inline int SignFlags(const CVector &v) +{ + int f = 0; + if(v.x < 0.0f) f |= 1; + if(v.y < 0.0f) f |= 2; + if(v.z < 0.0f) f |= 4; + return f; +} +#endif + +extern "C" void +LineToTriangleCollision(const CVuVector &p0, const CVuVector &p1, + const CVuVector &v0, const CVuVector &v1, const CVuVector &v2, + const CVuVector &plane) +{ +#ifdef GTA_PS2 + __asm__ volatile ( + ".set noreorder\n" + "lqc2 vf12, 0x0(%0)\n" + "lqc2 vf13, 0x0(%1)\n" + "lqc2 vf14, 0x0(%2)\n" + "lqc2 vf15, 0x0(%3)\n" + "lqc2 vf16, 0x0(%4)\n" + "lqc2 vf17, 0x0(%5)\n" + "vcallms Vu0LineToTriangleCollisionStart\n" + ".set reorder\n" + : + : "r" (&p0), "r" (&p1), "r" (&v0), "r" (&v1), "r" (&v2), "r" (&plane) + ); +#else + float dot0 = DotProduct(plane, p0); + float dot1 = DotProduct(plane, p1); + float dist0 = plane.w - dot0; + float dist1 = plane.w - dot1; + + // if points are on the same side, no collision + if(dist0 * dist1 > 0.0f){ + vi01 = 0; + return; + } + + CVuVector diff = p1 - p0; + float t = dist0/(dot1 - dot0); + CVuVector p = p0 + diff*t; + p.w = 0.0f; + vf01 = p; + vf03.x = t; + + // Check if point is inside + CVector cross1 = CrossProduct(p-v0, v1-v0); + CVector cross2 = CrossProduct(p-v1, v2-v1); + CVector cross3 = CrossProduct(p-v2, v0-v2); + // Only check relevant directions + int flagmask = 0; + if(Abs(plane.x) > 0.5f) flagmask |= 1; + if(Abs(plane.y) > 0.5f) flagmask |= 2; + if(Abs(plane.z) > 0.5f) flagmask |= 4; + int flags1 = SignFlags(cross1) & flagmask; + int flags2 = SignFlags(cross2) & flagmask; + int flags3 = SignFlags(cross3) & flagmask; + // inside if on the same side of all edges + if(flags1 != flags2 || flags1 != flags3){ + vi01 = 0; + return; + } + vi01 = 1; + vf02 = plane; + return; +#endif +} + +extern "C" void +LineToTriangleCollisionCompressed(const CVuVector &p0, const CVuVector &p1, VuTriangle &tri) +{ +#ifdef GTA_PS2 + __asm__ volatile ( + ".set noreorder\n" + "lqc2 vf12, 0x0(%0)\n" + "lqc2 vf13, 0x0(%1)\n" + "lqc2 vf14, 0x0(%2)\n" + "lqc2 vf15, 0x10(%2)\n" + "lqc2 vf16, 0x20(%2)\n" + "lqc2 vf17, 0x30(%2)\n" + "vcallms Vu0LineToTriangleCollisionCompressedStart\n" + ".set reorder\n" + : + : "r" (&p0), "r" (&p1), "r" (&tri) + ); +#else + CVuVector v0, v1, v2, plane; + v0.x = tri.v0[0]/128.0f; + v0.y = tri.v0[1]/128.0f; + v0.z = tri.v0[2]/128.0f; + v0.w = tri.v0[3]/128.0f; + v1.x = tri.v1[0]/128.0f; + v1.y = tri.v1[1]/128.0f; + v1.z = tri.v1[2]/128.0f; + v1.w = tri.v1[3]/128.0f; + v2.x = tri.v2[0]/128.0f; + v2.y = tri.v2[1]/128.0f; + v2.z = tri.v2[2]/128.0f; + v2.w = tri.v2[3]/128.0f; + plane.x = tri.plane[0]/4096.0f; + plane.y = tri.plane[1]/4096.0f; + plane.z = tri.plane[2]/4096.0f; + plane.w = tri.plane[3]/128.0f; + LineToTriangleCollision(p0, p1, v0, v1, v2, plane); +#endif +} + +extern "C" void +SphereToTriangleCollision(const CVuVector &sph, + const CVuVector &v0, const CVuVector &v1, const CVuVector &v2, + const CVuVector &plane) +{ +#ifdef GTA_PS2 + __asm__ volatile ( + ".set noreorder\n" + "lqc2 vf12, 0x0(%0)\n" + "lqc2 vf14, 0x0(%1)\n" + "lqc2 vf15, 0x0(%2)\n" + "lqc2 vf16, 0x0(%3)\n" + "lqc2 vf17, 0x0(%4)\n" + "vcallms Vu0SphereToTriangleCollisionStart\n" + ".set reorder\n" + : + : "r" (&sph), "r" (&v0), "r" (&v1), "r" (&v2), "r" (&plane) + ); +#else + float planedist = DotProduct(plane, sph) - plane.w; // VF02 + if(Abs(planedist) > sph.w){ + vi01 = 0; + return; + } + // point on plane + CVuVector p = sph - planedist*plane; + p.w = 0.0f; + vf01 = p; + planedist = Abs(planedist); + // edges + CVuVector v01 = v1 - v0; + CVuVector v12 = v2 - v1; + CVuVector v20 = v0 - v2; + // VU code calculates normal again for some weird reason... + // Check sides of point + CVector cross1 = CrossProduct(p-v0, v01); + CVector cross2 = CrossProduct(p-v1, v12); + CVector cross3 = CrossProduct(p-v2, v20); + // Only check relevant directions + int flagmask = 0; + if(Abs(plane.x) > 0.1f) flagmask |= 1; + if(Abs(plane.y) > 0.1f) flagmask |= 2; + if(Abs(plane.z) > 0.1f) flagmask |= 4; + int nflags = SignFlags(plane) & flagmask; + int flags1 = SignFlags(cross1) & flagmask; + int flags2 = SignFlags(cross2) & flagmask; + int flags3 = SignFlags(cross3) & flagmask; + int testcase = 0; + CVuVector closest(0.0f, 0.0f, 0.0f); // VF04 + if(flags1 == nflags){ + closest += v2; + testcase++; + } + if(flags2 == nflags){ + closest += v0; + testcase++; + } + if(flags3 == nflags){ + closest += v1; + testcase++; + } + if(testcase == 3){ + // inside triangle - dist to plane already checked + vf02 = plane; + vf02.w = vf03.x = planedist; + vi01 = 1; + }else if(testcase == 1){ + // outside two sides - closest to point opposide inside edge + vf01 = closest; + vf02 = sph - closest; + float distSq = vf02.MagnitudeSqr(); + vi01 = sph.w*sph.w > distSq; + vf03.x = Sqrt(distSq); + vf02 *= 1.0f/vf03.x; + }else{ + // inside two sides - closest to third edge + if(flags1 != nflags) + closest = DistanceBetweenSphereAndLine(sph, v0, v01); + else if(flags2 != nflags) + closest = DistanceBetweenSphereAndLine(sph, v1, v12); + else + closest = DistanceBetweenSphereAndLine(sph, v2, v20); + vi01 = sph.w*sph.w > closest.w; + vf01 = closest; + vf02 = sph - closest; + vf03.x = Sqrt(closest.w); + vf02 *= 1.0f/vf03.x; + } +#endif +} + +extern "C" void +SphereToTriangleCollisionCompressed(const CVuVector &sph, VuTriangle &tri) +{ +#ifdef GTA_PS2 + __asm__ volatile ( + ".set noreorder\n" + "lqc2 vf12, 0x0(%0)\n" + "lqc2 vf14, 0x0(%1)\n" + "lqc2 vf15, 0x10(%1)\n" + "lqc2 vf16, 0x20(%1)\n" + "lqc2 vf17, 0x30(%1)\n" + "vcallms Vu0SphereToTriangleCollisionCompressedStart\n" + ".set reorder\n" + : + : "r" (&sph), "r" (&tri) + ); +#else + CVuVector v0, v1, v2, plane; + v0.x = tri.v0[0]/128.0f; + v0.y = tri.v0[1]/128.0f; + v0.z = tri.v0[2]/128.0f; + v0.w = tri.v0[3]/128.0f; + v1.x = tri.v1[0]/128.0f; + v1.y = tri.v1[1]/128.0f; + v1.z = tri.v1[2]/128.0f; + v1.w = tri.v1[3]/128.0f; + v2.x = tri.v2[0]/128.0f; + v2.y = tri.v2[1]/128.0f; + v2.z = tri.v2[2]/128.0f; + v2.w = tri.v2[3]/128.0f; + plane.x = tri.plane[0]/4096.0f; + plane.y = tri.plane[1]/4096.0f; + plane.z = tri.plane[2]/4096.0f; + plane.w = tri.plane[3]/128.0f; + SphereToTriangleCollision(sph, v0, v1, v2, plane); +#endif +} + +inline int +GetVUresult(void) +{ +#ifdef GTA_PS2 + int ret; + __asm__ volatile ( + "cfc2.i %0,vi01\n" // .i important! wait for VU0 to finish + : "=r" (ret) + ); + return ret; +#else + return vi01; +#endif +} + +inline int +GetVUresult(CVuVector &point, CVuVector &normal, float &dist) +{ +#ifdef GTA_PS2 + int ret; + __asm__ volatile ( + "cfc2.i %0,vi01\n" // .i important! wait for VU0 to finish + "sqc2 vf01,(%1)\n" + "sqc2 vf02,(%2)\n" + "qmfc2 $12,vf03\n" + "sw $12,(%3)\n" + : "=r" (ret) + : "r" (&point), "r" (&normal), "r" (&dist) + : "$12" + ); + return ret; +#else + point = vf01; + normal = vf02; + dist = vf03.x; + return vi01; +#endif +} + +#endif + + enum Direction { DIR_X_POS, @@ -397,6 +738,20 @@ CCollision::TestVerticalLineBox(const CColLine &line, const CColBox &box) bool CCollision::TestLineTriangle(const CColLine &line, const CompressedVector *verts, const CColTriangle &tri, const CColTrianglePlane &plane) { +#ifdef VU_COLLISION + // not used in favour of optimized loops + VuTriangle vutri; + verts[tri.a].Unpack(vutri.v0); + verts[tri.b].Unpack(vutri.v1); + verts[tri.c].Unpack(vutri.v2); + plane.Unpack(vutri.plane); + + LineToTriangleCollisionCompressed(*(CVuVector*)&line.p0, *(CVuVector*)&line.p1, vutri); + + if(GetVUresult()) + return true; + return false; +#else float t; CVector normal; plane.GetNormal(normal); @@ -470,6 +825,7 @@ CCollision::TestLineTriangle(const CColLine &line, const CompressedVector *verts if(CrossProduct2D(vec3-vec1, vect-vec1) > 0.0f) return false; if(CrossProduct2D(vec3-vec2, vect-vec2) < 0.0f) return false; return true; +#endif } // Test if line segment intersects with sphere. @@ -507,6 +863,20 @@ bool CCollision::TestSphereTriangle(const CColSphere &sphere, const CompressedVector *verts, const CColTriangle &tri, const CColTrianglePlane &plane) { +#ifdef VU_COLLISION + // not used in favour of optimized loops + VuTriangle vutri; + verts[tri.a].Unpack(vutri.v0); + verts[tri.b].Unpack(vutri.v1); + verts[tri.c].Unpack(vutri.v2); + plane.Unpack(vutri.plane); + + SphereToTriangleCollisionCompressed(*(CVuVector*)&sphere, vutri); + + if(GetVUresult()) + return true; + return false; +#else // If sphere and plane don't intersect, no collision float planedist = plane.CalcPoint(sphere.center); if(Abs(planedist) > sphere.radius) @@ -520,7 +890,9 @@ CCollision::TestSphereTriangle(const CColSphere &sphere, CVector vec2 = vb - va; float len = vec2.Magnitude(); vec2 = vec2 * (1.0f/len); - CVector vec1 = CrossProduct(vec2, plane.normal); + CVector normal; + plane.GetNormal(normal); + CVector vec1 = CrossProduct(vec2, normal); // We know A has local coordinate [0,0] and B has [0,len]. // Now calculate coordinates on triangle for these two vectors: @@ -563,11 +935,78 @@ CCollision::TestSphereTriangle(const CColSphere &sphere, } return dist < sphere.radius; +#endif } bool CCollision::TestLineOfSight(const CColLine &line, const CMatrix &matrix, CColModel &model, bool ignoreSeeThrough) { +#ifdef VU_COLLISION + CMatrix matTransform; + int i; + + // transform line to model space + Invert(matrix, matTransform); + CVuVector newline[2]; + TransformPoints(newline, 2, matTransform, (RwV3d*)&line.p0, sizeof(CColLine)/2); + + // If we don't intersect with the bounding box, no chance on the rest + if(!TestLineBox(*(CColLine*)newline, model.boundingBox)) + return false; + + for(i = 0; i < model.numSpheres; i++){ + if(ignoreSeeThrough && IsSeeThrough(model.spheres[i].surface)) continue; + if(TestLineSphere(*(CColLine*)newline, model.spheres[i])) + return true; + } + + for(i = 0; i < model.numBoxes; i++){ + if(ignoreSeeThrough && IsSeeThrough(model.boxes[i].surface)) continue; + if(TestLineBox(*(CColLine*)newline, model.boxes[i])) + return true; + } + + CalculateTrianglePlanes(&model); + int lastTest = -1; + VuTriangle vutri; + for(i = 0; i < model.numTriangles; i++){ + if(ignoreSeeThrough && IsSeeThrough(model.triangles[i].surface)) continue; + + CColTriangle *tri = &model.triangles[i]; + model.vertices[tri->a].Unpack(vutri.v0); + model.vertices[tri->b].Unpack(vutri.v1); + model.vertices[tri->c].Unpack(vutri.v2); + model.trianglePlanes[i].Unpack(vutri.plane); + + LineToTriangleCollisionCompressed(newline[0], newline[1], vutri); + lastTest = i; + break; + } +#ifdef FIX_BUGS + // no need to check first again + i++; +#endif + for(; i < model.numTriangles; i++){ + if(ignoreSeeThrough && IsSeeThrough(model.triangles[i].surface)) continue; + + CColTriangle *tri = &model.triangles[i]; + model.vertices[tri->a].Unpack(vutri.v0); + model.vertices[tri->b].Unpack(vutri.v1); + model.vertices[tri->c].Unpack(vutri.v2); + model.trianglePlanes[i].Unpack(vutri.plane); + + if(GetVUresult()) + return true; + + LineToTriangleCollisionCompressed(newline[0], newline[1], vutri); + lastTest = i; + + } + if(lastTest != -1 && GetVUresult()) + return true; + + return false; +#else static CMatrix matTransform; int i; @@ -599,6 +1038,7 @@ CCollision::TestLineOfSight(const CColLine &line, const CMatrix &matrix, CColMod } return false; +#endif } @@ -614,20 +1054,24 @@ CCollision::ProcessSphereSphere(const CColSphere &s1, const CColSphere &s2, CCol { CVector dist = s1.center - s2.center; float d = dist.Magnitude() - s2.radius; // distance from s1's center to s2 - float dc = d < 0.0f ? 0.0f : d; // clamp to zero, i.e. if s1's center is inside s2 + float depth = s1.radius - d; // sphere overlap + if(d < 0.0f) d = 0.0f; // clamp to zero, i.e. if s1's center is inside s2 // no collision if sphere is not close enough - if(mindistsq <= dc*dc || s1.radius <= dc) - return false; - dist.Normalise(); - point.point = s1.center - dist*dc; - point.normal = dist; - point.surfaceA = s1.surface; - point.pieceA = s1.piece; - point.surfaceB = s2.surface; - point.pieceB = s2.piece; - point.depth = s1.radius - d; // sphere overlap - mindistsq = dc*dc; // collision radius - return true; + if(d*d < mindistsq && d < s1.radius){ + dist.Normalise(); + point.point = s1.center - dist*d; + point.normal = dist; +#ifndef VU_COLLISION + point.surfaceA = s1.surface; + point.pieceA = s1.piece; + point.surfaceB = s2.surface; + point.pieceB = s2.piece; +#endif + point.depth = depth; + mindistsq = d*d; // collision radius + return true; + } + return false; } bool @@ -667,10 +1111,12 @@ CCollision::ProcessSphereBox(const CColSphere &sph, const CColBox &box, CColPoin if(lensq < mindistsq){ point.normal = dist * (1.0f/Sqrt(lensq)); point.point = sph.center - point.normal; +#ifndef VU_COLLISION point.surfaceA = sph.surface; point.pieceA = sph.piece; point.surfaceB = box.surface; point.pieceB = box.piece; +#endif // find absolute distance to the closer side in each dimension float dx = dist.x > 0.0f ? @@ -710,10 +1156,12 @@ CCollision::ProcessSphereBox(const CColSphere &sph, const CColBox &box, CColPoin float len = Sqrt(lensq); point.point = p; point.normal = dist * (1.0f/len); +#ifndef VU_COLLISION point.surfaceA = sph.surface; point.pieceA = sph.piece; point.surfaceB = box.surface; point.pieceB = box.piece; +#endif point.depth = sph.radius - len; mindistsq = lensq; return true; @@ -828,10 +1276,12 @@ CCollision::ProcessLineBox(const CColLine &line, const CColBox &box, CColPoint & point.point = p; point.normal = normal; +#ifndef VU_COLLISION point.surfaceA = 0; point.pieceA = 0; point.surfaceB = box.surface; point.pieceB = box.piece; +#endif mindist = mint; return true; @@ -861,10 +1311,12 @@ CCollision::ProcessLineSphere(const CColLine &line, const CColSphere &sphere, CC point.point = line.p0 + v01*t; point.normal = point.point - sphere.center; point.normal.Normalise(); +#ifndef VU_COLLISION point.surfaceA = 0; point.pieceA = 0; point.surfaceB = sphere.surface; point.pieceB = sphere.piece; +#endif mindist = t; return true; } @@ -874,6 +1326,17 @@ CCollision::ProcessVerticalLineTriangle(const CColLine &line, const CompressedVector *verts, const CColTriangle &tri, const CColTrianglePlane &plane, CColPoint &point, float &mindist, CStoredCollPoly *poly) { +#ifdef VU_COLLISION + // not used in favour of optimized loops + bool res = ProcessLineTriangle(line, verts, tri, plane, point, mindist); + if(res && poly){ + poly->verts[0] = verts[tri.a].Get(); + poly->verts[1] = verts[tri.b].Get(); + poly->verts[2] = verts[tri.c].Get(); + poly->valid = true; + } + return res; +#else float t; CVector normal; @@ -960,11 +1423,40 @@ CCollision::ProcessVerticalLineTriangle(const CColLine &line, } mindist = t; return true; +#endif } bool CCollision::IsStoredPolyStillValidVerticalLine(const CVector &pos, float z, CColPoint &point, CStoredCollPoly *poly) { +#ifdef VU_COLLISION + if(!poly->valid) + return false; + + CVuVector p0 = pos; + CVuVector p1 = pos; + p1.z = z; + + CVector v01 = poly->verts[1] - poly->verts[0]; + CVector v02 = poly->verts[2] - poly->verts[0]; + CVuVector plane = CrossProduct(v02, v01); + plane.Normalise(); + plane.w = DotProduct(plane, poly->verts[0]); + + LineToTriangleCollision(p0, p1, poly->verts[0], poly->verts[1], poly->verts[2], plane); + + CVuVector pnt; + float dist; + if(!GetVUresult(pnt, plane, dist)) +#ifdef FIX_BUGS + // perhaps not needed but be safe + return poly->valid = false; +#else + return false; +#endif + point.point = pnt; + return true; +#else float t; if(!poly->valid) @@ -987,7 +1479,9 @@ CCollision::IsStoredPolyStillValidVerticalLine(const CVector &pos, float z, CCol return poly->valid = false; // intersection parameter on line - t = -plane.CalcPoint(p0) / DotProduct(p1 - p0, plane.normal); + CVector normal; + plane.GetNormal(normal); + t = -plane.CalcPoint(p0) / DotProduct(p1 - p0, normal); // find point of intersection CVector p = p0 + (p1-p0)*t; @@ -1037,13 +1531,36 @@ CCollision::IsStoredPolyStillValidVerticalLine(const CVector &pos, float z, CCol if(CrossProduct2D(vec3-vec2, vect-vec2) < 0.0f) return poly->valid = false; point.point = p; return poly->valid = true; +#endif } bool -CCollision::ProcessLineTriangle(const CColLine &line , +CCollision::ProcessLineTriangle(const CColLine &line, const CompressedVector *verts, const CColTriangle &tri, const CColTrianglePlane &plane, CColPoint &point, float &mindist) { +#ifdef VU_COLLISION + // not used in favour of optimized loops + VuTriangle vutri; + verts[tri.a].Unpack(vutri.v0); + verts[tri.b].Unpack(vutri.v1); + verts[tri.c].Unpack(vutri.v2); + plane.Unpack(vutri.plane); + + LineToTriangleCollisionCompressed(*(CVuVector*)&line.p0, *(CVuVector*)&line.p1, vutri); + + CVuVector pnt, normal; + float dist; + if(GetVUresult(pnt, normal, dist)){ + if(dist < mindist){ + point.point = pnt; + point.normal = normal; + mindist = dist; + return true; + } + } + return false; +#else float t; CVector normal; plane.GetNormal(normal); @@ -1117,6 +1634,7 @@ CCollision::ProcessLineTriangle(const CColLine &line , point.pieceB = 0; mindist = t; return true; +#endif } bool @@ -1124,6 +1642,30 @@ CCollision::ProcessSphereTriangle(const CColSphere &sphere, const CompressedVector *verts, const CColTriangle &tri, const CColTrianglePlane &plane, CColPoint &point, float &mindistsq) { +#ifdef VU_COLLISION + // not used in favour of optimized loops + VuTriangle vutri; + verts[tri.a].Unpack(vutri.v0); + verts[tri.b].Unpack(vutri.v1); + verts[tri.c].Unpack(vutri.v2); + plane.Unpack(vutri.plane); + + SphereToTriangleCollisionCompressed(*(CVuVector*)&sphere, vutri); + + CVuVector pnt, normal; + float dist; + if(GetVUresult(pnt, normal, dist) && dist*dist < mindistsq){ + float depth = sphere.radius - dist; + if(depth > point.depth){ + point.point = pnt; + point.normal = normal; + point.depth = depth; + mindistsq = dist*dist; + return true; + } + } + return false; +#else // If sphere and plane don't intersect, no collision float planedist = plane.CalcPoint(sphere.center); float distsq = planedist*planedist; @@ -1191,13 +1733,16 @@ CCollision::ProcessSphereTriangle(const CColSphere &sphere, point.point = p; point.normal = sphere.center - p; point.normal.Normalise(); +#ifndef VU_COLLISION point.surfaceA = sphere.surface; point.pieceA = sphere.piece; point.surfaceB = tri.surface; point.pieceB = 0; +#endif point.depth = sphere.radius - dist; mindistsq = dist*dist; return true; +#endif } bool @@ -1205,6 +1750,94 @@ CCollision::ProcessLineOfSight(const CColLine &line, const CMatrix &matrix, CColModel &model, CColPoint &point, float &mindist, bool ignoreSeeThrough) { +#ifdef VU_COLLISION + CMatrix matTransform; + int i; + + // transform line to model space + Invert(matrix, matTransform); + CVuVector newline[2]; + TransformPoints(newline, 2, matTransform, (RwV3d*)&line.p0, sizeof(CColLine)/2); + + if(mindist < 1.0f) + newline[1] = newline[0] + (newline[1] - newline[0])*mindist; + + // If we don't intersect with the bounding box, no chance on the rest + if(!TestLineBox(*(CColLine*)newline, model.boundingBox)) + return false; + + float coldist = 1.0f; + for(i = 0; i < model.numSpheres; i++){ + if(ignoreSeeThrough && IsSeeThrough(model.spheres[i].surface)) continue; + if(ProcessLineSphere(*(CColLine*)newline, model.spheres[i], point, coldist)) + point.Set(0, 0, model.spheres[i].surface, model.spheres[i].piece); + } + + for(i = 0; i < model.numBoxes; i++){ + if(ignoreSeeThrough && IsSeeThrough(model.boxes[i].surface)) continue; + if(ProcessLineBox(*(CColLine*)newline, model.boxes[i], point, coldist)) + point.Set(0, 0, model.boxes[i].surface, model.boxes[i].piece); + } + + CalculateTrianglePlanes(&model); + VuTriangle vutri; + CColTriangle *lasttri = nil; + for(i = 0; i < model.numTriangles; i++){ + if(ignoreSeeThrough && IsSeeThrough(model.triangles[i].surface)) continue; + + CColTriangle *tri = &model.triangles[i]; + model.vertices[tri->a].Unpack(vutri.v0); + model.vertices[tri->b].Unpack(vutri.v1); + model.vertices[tri->c].Unpack(vutri.v2); + model.trianglePlanes[i].Unpack(vutri.plane); + + LineToTriangleCollisionCompressed(newline[0], newline[1], vutri); + lasttri = tri; + break; + } +#ifdef FIX_BUGS + // no need to check first again + i++; +#endif + CVuVector pnt, normal; + float dist; + for(; i < model.numTriangles; i++){ + if(ignoreSeeThrough && IsSeeThrough(model.triangles[i].surface)) continue; + + CColTriangle *tri = &model.triangles[i]; + model.vertices[tri->a].Unpack(vutri.v0); + model.vertices[tri->b].Unpack(vutri.v1); + model.vertices[tri->c].Unpack(vutri.v2); + model.trianglePlanes[i].Unpack(vutri.plane); + + if(GetVUresult(pnt, normal, dist)) + if(dist < coldist){ + point.point = pnt; + point.normal = normal; + point.Set(0, 0, lasttri->surface, 0); + coldist = dist; + } + + LineToTriangleCollisionCompressed(newline[0], newline[1], vutri); + lasttri = tri; + } + if(lasttri && GetVUresult(pnt, normal, dist)) + if(dist < coldist){ + point.point = pnt; + point.normal = normal; + point.Set(0, 0, lasttri->surface, 0); + coldist = dist; + } + + + if(coldist < 1.0f){ + point.point = matrix * point.point; + point.normal = Multiply3x3(matrix, point.normal); + mindist *= coldist; + return true; + } + return false; +#else static CMatrix matTransform; int i; @@ -1240,6 +1873,7 @@ CCollision::ProcessLineOfSight(const CColLine &line, return true; } return false; +#endif } bool @@ -1247,6 +1881,125 @@ CCollision::ProcessVerticalLine(const CColLine &line, const CMatrix &matrix, CColModel &model, CColPoint &point, float &mindist, bool ignoreSeeThrough, CStoredCollPoly *poly) { +#ifdef VU_COLLISION + static CStoredCollPoly TempStoredPoly; + CMatrix matTransform; + int i; + + // transform line to model space + Invert(matrix, matTransform); + CVuVector newline[2]; + TransformPoints(newline, 2, matTransform, (RwV3d*)&line.p0, sizeof(CColLine)/2); + + if(mindist < 1.0f) + newline[1] = newline[0] + (newline[1] - newline[0])*mindist; + + if(!TestLineBox(*(CColLine*)newline, model.boundingBox)) + return false; + + float coldist = 1.0f; + for(i = 0; i < model.numSpheres; i++){ + if(ignoreSeeThrough && IsSeeThrough(model.spheres[i].surface)) continue; + if(ProcessLineSphere(*(CColLine*)newline, model.spheres[i], point, coldist)) + point.Set(0, 0, model.spheres[i].surface, model.spheres[i].piece); + } + + for(i = 0; i < model.numBoxes; i++){ + if(ignoreSeeThrough && IsSeeThrough(model.boxes[i].surface)) continue; + if(ProcessLineBox(*(CColLine*)newline, model.boxes[i], point, coldist)) + point.Set(0, 0, model.boxes[i].surface, model.boxes[i].piece); + } + + CalculateTrianglePlanes(&model); + TempStoredPoly.valid = false; + if(model.numTriangles){ + bool registeredCol; + CColTriangle *lasttri = nil; + VuTriangle vutri; + for(i = 0; i < model.numTriangles; i++){ + if(ignoreSeeThrough && IsSeeThrough(model.triangles[i].surface)) continue; + + CColTriangle *tri = &model.triangles[i]; + model.vertices[tri->a].Unpack(vutri.v0); + model.vertices[tri->b].Unpack(vutri.v1); + model.vertices[tri->c].Unpack(vutri.v2); + model.trianglePlanes[i].Unpack(vutri.plane); + + LineToTriangleCollisionCompressed(newline[0], newline[1], vutri); + lasttri = tri; + break; + } +#ifdef FIX_BUGS + // no need to check first again + i++; +#endif + CVuVector pnt, normal; + float dist; + for(; i < model.numTriangles; i++){ + if(ignoreSeeThrough && IsSeeThrough(model.triangles[i].surface)) continue; + + CColTriangle *tri = &model.triangles[i]; + model.vertices[tri->a].Unpack(vutri.v0); + model.vertices[tri->b].Unpack(vutri.v1); + model.vertices[tri->c].Unpack(vutri.v2); + model.trianglePlanes[i].Unpack(vutri.plane); + + if(GetVUresult(pnt, normal, dist)){ + if(dist < coldist){ + point.point = pnt; + point.normal = normal; + point.Set(0, 0, lasttri->surface, 0); + coldist = dist; + registeredCol = true; + }else + registeredCol = false; + }else + registeredCol = false; + + if(registeredCol){ + TempStoredPoly.verts[0] = model.vertices[lasttri->a].Get(); + TempStoredPoly.verts[1] = model.vertices[lasttri->b].Get(); + TempStoredPoly.verts[2] = model.vertices[lasttri->c].Get(); + TempStoredPoly.valid = true; + } + + LineToTriangleCollisionCompressed(newline[0], newline[1], vutri); + lasttri = tri; + } + if(lasttri && GetVUresult(pnt, normal, dist)){ + if(dist < coldist){ + point.point = pnt; + point.normal = normal; + point.Set(0, 0, lasttri->surface, 0); + coldist = dist; + registeredCol = true; + }else + registeredCol = false; + }else + registeredCol = false; + + if(registeredCol){ + TempStoredPoly.verts[0] = model.vertices[lasttri->a].Get(); + TempStoredPoly.verts[1] = model.vertices[lasttri->b].Get(); + TempStoredPoly.verts[2] = model.vertices[lasttri->c].Get(); + TempStoredPoly.valid = true; + } + } + + if(coldist < 1.0f){ + point.point = matrix * point.point; + point.normal = Multiply3x3(matrix, point.normal); + if(TempStoredPoly.valid && poly){ + *poly = TempStoredPoly; + poly->verts[0] = matrix * CVector(poly->verts[0]); + poly->verts[1] = matrix * CVector(poly->verts[1]); + poly->verts[2] = matrix * CVector(poly->verts[2]); + } + mindist *= coldist; + return true; + } + return false; +#else static CStoredCollPoly TempStoredPoly; int i; @@ -1290,6 +2043,7 @@ CCollision::ProcessVerticalLine(const CColLine &line, return true; } return false; +#endif } enum { @@ -1299,6 +2053,15 @@ enum { MAXNUMTRIS = 600 }; +#ifdef VU_COLLISION +#ifdef GTA_PS2 +#define SPR(off) ((uint8*)(0x70000000 + (off))) +#else +static uint8 fakeSPR[16*1024]; +#define SPR(off) ((uint8*)(fakeSPR + (off))) +#endif +#endif + // This checks model A's spheres and lines against model B's spheres, boxes and triangles. // Returns the number of A's spheres that collide. // Returned ColPoints are in world space. @@ -1308,6 +2071,308 @@ CCollision::ProcessColModels(const CMatrix &matrixA, CColModel &modelA, const CMatrix &matrixB, CColModel &modelB, CColPoint *spherepoints, CColPoint *linepoints, float *linedists) { +#ifdef VU_COLLISION + CVuVector *aSpheresA = (CVuVector*)SPR(0x0000); + CVuVector *aSpheresB = (CVuVector*)SPR(0x0800); + CVuVector *aLinesA = (CVuVector*)SPR(0x1000); + int32 *aSphereIndicesA = (int32*)SPR(0x1200); + int32 *aSphereIndicesB = (int32*)SPR(0x1400); + int32 *aBoxIndicesB = (int32*)SPR(0x1600); + int32 *aTriangleIndicesB = (int32*)SPR(0x1680); + bool *aCollided = (bool*)SPR(0x1FE0); + CMatrix &matAB = *(CMatrix*)SPR(0x1FF0); + CMatrix &matBA = *(CMatrix*)SPR(0x2040); + int i, j, k; + + // From model A space to model B space + Invert(matrixB, matAB); + matAB *= matrixA; + + CVuVector bsphereAB; // bounding sphere of A in B space + TransformPoint(bsphereAB, matAB, *(RwV3d*)modelA.boundingSphere.center); // inlined + bsphereAB.w = modelA.boundingSphere.radius; + if(!TestSphereBox(*(CColSphere*)&bsphereAB, modelB.boundingBox)) + return 0; + + // transform modelA's spheres and lines to B space + TransformPoints(aSpheresA, modelA.numSpheres, matAB, (RwV3d*)&modelA.spheres->center, sizeof(CColSphere)); + for(i = 0; i < modelA.numSpheres; i++) + aSpheresA[i].w = modelA.spheres[i].radius; + TransformPoints(aLinesA, modelA.numLines*2, matAB, (RwV3d*)&modelA.lines->p0, sizeof(CColLine)/2); + + // Test them against model B's bounding volumes + int numSpheresA = 0; + for(i = 0; i < modelA.numSpheres; i++) + if(TestSphereBox(*(CColSphere*)&aSpheresA[i], modelB.boundingBox)) + aSphereIndicesA[numSpheresA++] = i; + // No collision + if(numSpheresA == 0 && modelA.numLines == 0) + return 0; + + + // B to A space + Invert(matrixA, matBA); + matBA *= matrixB; + + // transform modelB's spheres to A space + TransformPoints(aSpheresB, modelB.numSpheres, matBA, (RwV3d*)&modelB.spheres->center, sizeof(CColSphere)); + for(i = 0; i < modelB.numSpheres; i++) + aSpheresB[i].w = modelB.spheres[i].radius; + + // Check model B against A's bounding volumes + int numSpheresB = 0; + int numBoxesB = 0; + int numTrianglesB = 0; + for(i = 0; i < modelB.numSpheres; i++) + if(TestSphereBox(*(CColSphere*)&aSpheresB[i], modelA.boundingBox)) + aSphereIndicesB[numSpheresB++] = i; + for(i = 0; i < modelB.numBoxes; i++) + if(TestSphereBox(*(CColSphere*)&bsphereAB, modelB.boxes[i])) + aBoxIndicesB[numBoxesB++] = i; + CalculateTrianglePlanes(&modelB); + if(modelB.numTriangles){ + VuTriangle vutri; + // process the first triangle + CColTriangle *tri = &modelB.triangles[0]; + modelB.vertices[tri->a].Unpack(vutri.v0); + modelB.vertices[tri->b].Unpack(vutri.v1); + modelB.vertices[tri->c].Unpack(vutri.v2); + modelB.trianglePlanes[0].Unpack(vutri.plane); + + SphereToTriangleCollisionCompressed(bsphereAB, vutri); + + for(i = 1; i < modelB.numTriangles; i++){ + // set up the next triangle while VU0 is running + tri = &modelB.triangles[i]; + modelB.vertices[tri->a].Unpack(vutri.v0); + modelB.vertices[tri->b].Unpack(vutri.v1); + modelB.vertices[tri->c].Unpack(vutri.v2); + modelB.trianglePlanes[i].Unpack(vutri.plane); + + // check previous result + if(GetVUresult()) + aTriangleIndicesB[numTrianglesB++] = i-1; + + // kick off this one + SphereToTriangleCollisionCompressed(bsphereAB, vutri); + } + + // check last result + if(GetVUresult()) + aTriangleIndicesB[numTrianglesB++] = i-1; + } + // No collision + if(numSpheresB == 0 && numBoxesB == 0 && numTrianglesB == 0) + return 0; + + // We now have the collision volumes in A and B that are worth processing. + + // Process A's spheres against B's collision volumes + int numCollisions = 0; + spherepoints[numCollisions].depth = -1.0f; + for(i = 0; i < numSpheresA; i++){ + float coldist = 1.0e24f; + bool hasCollided = false; + CColSphere *sphA = &modelA.spheres[aSphereIndicesA[i]]; + CVuVector *vusphA = &aSpheresA[aSphereIndicesA[i]]; + + for(j = 0; j < numSpheresB; j++) + // This actually looks like something was inlined here + if(ProcessSphereSphere(*(CColSphere*)vusphA, modelB.spheres[aSphereIndicesB[j]], + spherepoints[numCollisions], coldist)){ + spherepoints[numCollisions].Set( + sphA->surface, sphA->piece, + modelB.spheres[aSphereIndicesB[j]].surface, modelB.spheres[aSphereIndicesB[j]].piece); + hasCollided = true; + } + for(j = 0; j < numBoxesB; j++) + if(ProcessSphereBox(*(CColSphere*)vusphA, modelB.boxes[aBoxIndicesB[j]], + spherepoints[numCollisions], coldist)){ + spherepoints[numCollisions].Set( + sphA->surface, sphA->piece, + modelB.boxes[aBoxIndicesB[j]].surface, modelB.boxes[aBoxIndicesB[j]].piece); + hasCollided = true; + } + if(numTrianglesB){ + CVuVector point, normal; + float depth; + bool registeredCol; + CColTriangle *lasttri; + + VuTriangle vutri; + // process the first triangle + k = aTriangleIndicesB[0]; + CColTriangle *tri = &modelB.triangles[k]; + modelB.vertices[tri->a].Unpack(vutri.v0); + modelB.vertices[tri->b].Unpack(vutri.v1); + modelB.vertices[tri->c].Unpack(vutri.v2); + modelB.trianglePlanes[k].Unpack(vutri.plane); + + SphereToTriangleCollisionCompressed(*vusphA, vutri); + lasttri = tri; + + for(j = 1; j < numTrianglesB; j++){ + k = aTriangleIndicesB[j]; + // set up the next triangle while VU0 is running + tri = &modelB.triangles[k]; + modelB.vertices[tri->a].Unpack(vutri.v0); + modelB.vertices[tri->b].Unpack(vutri.v1); + modelB.vertices[tri->c].Unpack(vutri.v2); + modelB.trianglePlanes[k].Unpack(vutri.plane); + + // check previous result + // TODO: this looks inlined but spherepoints[numCollisions] does not... + if(GetVUresult(point, normal, depth)){ + depth = sphA->radius - depth; + if(depth > spherepoints[numCollisions].depth){ + spherepoints[numCollisions].point = point; + spherepoints[numCollisions].normal = normal; + spherepoints[numCollisions].Set(depth, + sphA->surface, sphA->piece, lasttri->surface, 0); + registeredCol = true; + }else + registeredCol = false; + }else + registeredCol = false; + + if(registeredCol) + hasCollided = true; + + // kick off this one + SphereToTriangleCollisionCompressed(*vusphA, vutri); + lasttri = tri; + } + + // check last result + // TODO: this looks inlined but spherepoints[numCollisions] does not... + if(GetVUresult(point, normal, depth)){ + depth = sphA->radius - depth; + if(depth > spherepoints[numCollisions].depth){ + spherepoints[numCollisions].point = point; + spherepoints[numCollisions].normal = normal; + spherepoints[numCollisions].Set(depth, + sphA->surface, sphA->piece, lasttri->surface, 0); + registeredCol = true; + }else + registeredCol = false; + }else + registeredCol = false; + + if(registeredCol) + hasCollided = true; + } + + if(hasCollided){ + numCollisions++; + if(numCollisions == MAX_COLLISION_POINTS) + break; + spherepoints[numCollisions].depth = -1.0f; + } + } + for(i = 0; i < numCollisions; i++){ + // TODO: both VU0 macros + spherepoints[i].point = matrixB * spherepoints[i].point; + spherepoints[i].normal = Multiply3x3(matrixB, spherepoints[i].normal); + } + + // And the same thing for the lines in A + for(i = 0; i < modelA.numLines; i++){ + aCollided[i] = false; + CVuVector *lineA = &aLinesA[i*2]; + + for(j = 0; j < numSpheresB; j++) + if(ProcessLineSphere(*(CColLine*)lineA, modelB.spheres[aSphereIndicesB[j]], + linepoints[i], linedists[i])){ + linepoints[i].Set(0, 0, +#ifdef FIX_BUGS + modelB.spheres[aSphereIndicesB[j]].surface, modelB.spheres[aSphereIndicesB[j]].piece); +#else + modelB.spheres[j].surface, modelB.spheres[j].piece); +#endif + aCollided[i] = true; + } + for(j = 0; j < numBoxesB; j++) + if(ProcessLineBox(*(CColLine*)lineA, modelB.boxes[aBoxIndicesB[j]], + linepoints[i], linedists[i])){ + linepoints[i].Set(0, 0, + modelB.boxes[aBoxIndicesB[j]].surface, modelB.boxes[aBoxIndicesB[j]].piece); + aCollided[i] = true; + } + if(numTrianglesB){ + CVuVector point, normal; + float dist; + bool registeredCol; + CColTriangle *lasttri; + + VuTriangle vutri; + // process the first triangle + k = aTriangleIndicesB[0]; + CColTriangle *tri = &modelB.triangles[k]; + modelB.vertices[tri->a].Unpack(vutri.v0); + modelB.vertices[tri->b].Unpack(vutri.v1); + modelB.vertices[tri->c].Unpack(vutri.v2); + modelB.trianglePlanes[k].Unpack(vutri.plane); + + LineToTriangleCollisionCompressed(lineA[0], lineA[1], vutri); + lasttri = tri; + + for(j = 1; j < numTrianglesB; j++){ + k = aTriangleIndicesB[j]; + // set up the next triangle while VU0 is running + CColTriangle *tri = &modelB.triangles[k]; + modelB.vertices[tri->a].Unpack(vutri.v0); + modelB.vertices[tri->b].Unpack(vutri.v1); + modelB.vertices[tri->c].Unpack(vutri.v2); + modelB.trianglePlanes[k].Unpack(vutri.plane); + + // check previous result + // TODO: this again somewhat looks inlined + if(GetVUresult(point, normal, dist)){ + if(dist < linedists[i]){ + linepoints[i].point = point; + linepoints[i].normal = normal; + linedists[i] = dist; + linepoints[i].Set(0, 0, lasttri->surface, 0); + registeredCol = true; + }else + registeredCol = false; + }else + registeredCol = false; + + if(registeredCol) + aCollided[i] = true; + + // kick of this one + LineToTriangleCollisionCompressed(lineA[0], lineA[1], vutri); + lasttri = tri; + } + + // check last result + if(GetVUresult(point, normal, dist)){ + if(dist < linedists[i]){ + linepoints[i].point = point; + linepoints[i].normal = normal; + linedists[i] = dist; + linepoints[i].Set(0, 0, lasttri->surface, 0); + registeredCol = true; + }else + registeredCol = false; + }else + registeredCol = false; + + if(registeredCol) + aCollided[i] = true; + } + + if(aCollided[i]){ + // TODO: both VU0 macros + linepoints[i].point = matrixB * linepoints[i].point; + linepoints[i].normal = Multiply3x3(matrixB, linepoints[i].normal); + } + } + + return numCollisions; // sphere collisions +#else static int aSphereIndicesA[MAXNUMSPHERES]; static int aLineIndicesA[MAXNUMLINES]; static int aSphereIndicesB[MAXNUMSPHERES]; @@ -1324,14 +2389,16 @@ CCollision::ProcessColModels(const CMatrix &matrixA, CColModel &modelA, assert(modelA.numLines <= MAXNUMLINES); // From model A space to model B space - matAB = Invert(matrixB, matAB) * matrixA; + Invert(matrixB, matAB); + matAB *= matrixA; CColSphere bsphereAB; // bounding sphere of A in B space bsphereAB.Set(modelA.boundingSphere.radius, matAB * modelA.boundingSphere.center); if(!TestSphereBox(bsphereAB, modelB.boundingBox)) return 0; // B to A space - matBA = Invert(matrixA, matBA) * matrixB; + matBA = Invert(matrixA, matBA); + matBA *= matrixB; // transform modelA's spheres and lines to B space for(i = 0; i < modelA.numSpheres; i++){ @@ -1444,6 +2511,7 @@ CCollision::ProcessColModels(const CMatrix &matrixA, CColModel &modelA, } return numCollisions; // sphere collisions +#endif } @@ -1987,6 +3055,19 @@ CColTriangle::Set(const CompressedVector *, int a, int b, int c, uint8 surf, uin this->surface = surf; } +#ifdef VU_COLLISION +void +CColTrianglePlane::Set(const CVector &va, const CVector &vb, const CVector &vc) +{ + CVector norm = CrossProduct(vc-va, vb-va); + norm.Normalise(); + float d = DotProduct(norm, va); + normal.x = norm.x*4096.0f; + normal.y = norm.y*4096.0f; + normal.z = norm.z*4096.0f; + dist = d*128.0f; +} +#else void CColTrianglePlane::Set(const CVector &va, const CVector &vb, const CVector &vc) { @@ -2002,6 +3083,7 @@ CColTrianglePlane::Set(const CVector &va, const CVector &vb, const CVector &vc) else dir = normal.z < 0.0f ? DIR_Z_NEG : DIR_Z_POS; } +#endif CColModel::CColModel(void) { diff --git a/src/core/Collision.h b/src/core/Collision.h index d988f0c2..ccc99244 100644 --- a/src/core/Collision.h +++ b/src/core/Collision.h @@ -2,6 +2,9 @@ #include "templates.h" #include "Game.h" // for eLevelName +#ifdef VU_COLLISION +#include "VuVector.h" +#endif // If you spawn many tanks at once, you will see that collisions of two entity exceeds 32. #ifdef FIX_BUGS @@ -16,6 +19,28 @@ struct CompressedVector int16 x, y, z; CVector Get(void) const { return CVector(x, y, z)/128.0f; }; void Set(float x, float y, float z) { this->x = x*128.0f; this->y = y*128.0f; this->z = z*128.0f; }; +#ifdef GTA_PS2 + void Unpack(uint128 &qword) const { + __asm__ volatile ( + "lh $8, 0(%1)\n" + "lh $9, 2(%1)\n" + "lh $10, 4(%1)\n" + "pextlw $10, $8\n" + "pextlw $2, $9, $10\n" + "sq $2, %0\n" + : "=m" (qword) + : "r" (this) + : "$8", "$9", "$10", "$2" + ); + } +#else + void Unpack(int32 *qword) const { + qword[0] = x; + qword[1] = y; + qword[2] = z; + qword[3] = 0; // junk + } +#endif #else float x, y, z; CVector Get(void) const { return CVector(x, y, z); }; @@ -25,6 +50,7 @@ struct CompressedVector struct CColSphere { + // NB: this has to be compatible with a CVuVector CVector center; float radius; uint8 surface; @@ -47,6 +73,7 @@ struct CColBox struct CColLine { + // NB: this has to be compatible with two CVuVectors CVector p0; int pad0; CVector p1; @@ -69,6 +96,39 @@ struct CColTriangle struct CColTrianglePlane { +#ifdef VU_COLLISION + CompressedVector normal; + int16 dist; + + void Set(const CVector &va, const CVector &vb, const CVector &vc); + void Set(const CompressedVector *v, CColTriangle &tri) { Set(v[tri.a].Get(), v[tri.b].Get(), v[tri.c].Get()); } + void GetNormal(CVector &n) const { n.x = normal.x/4096.0f; n.y = normal.y/4096.0f; n.z = normal.z/4096.0f; } + float CalcPoint(const CVector &v) const { CVector n; GetNormal(n); return DotProduct(n, v) - dist/128.0f; }; +#ifdef GTA_PS2 + void Unpack(uint128 &qword) const { + __asm__ volatile ( + "lh $8, 0(%1)\n" + "lh $9, 2(%1)\n" + "lh $10, 4(%1)\n" + "lh $11, 6(%1)\n" + "pextlw $10, $8\n" + "pextlw $11, $9\n" + "pextlw $2, $11, $10\n" + "sq $2, %0\n" + : "=m" (qword) + : "r" (this) + : "$8", "$9", "$10", "$11", "$2" + ); + } +#else + void Unpack(int32 *qword) const { + qword[0] = normal.x; + qword[1] = normal.y; + qword[2] = normal.z; + qword[3] = dist; + } +#endif +#else CVector normal; float dist; uint8 dir; @@ -77,6 +137,7 @@ struct CColTrianglePlane void Set(const CompressedVector *v, CColTriangle &tri) { Set(v[tri.a].Get(), v[tri.b].Get(), v[tri.c].Get()); } void GetNormal(CVector &n) const { n = normal; } float CalcPoint(const CVector &v) const { return DotProduct(normal, v) - dist; }; +#endif }; struct CColPoint @@ -91,11 +152,29 @@ struct CColPoint uint8 surfaceB; uint8 pieceB; float depth; + + void Set(float depth, uint8 surfA, uint8 pieceA, uint8 surfB, uint8 pieceB) { + this->depth = depth; + this->surfaceA = surfA; + this->pieceA = pieceA; + this->surfaceB = surfB; + this->pieceB = pieceB; + } + void Set(uint8 surfA, uint8 pieceA, uint8 surfB, uint8 pieceB) { + this->surfaceA = surfA; + this->pieceA = pieceA; + this->surfaceB = surfB; + this->pieceB = pieceB; + } }; struct CStoredCollPoly { +#ifdef VU_COLLISION + CVuVector verts[3]; +#else CVector verts[3]; +#endif bool valid; }; diff --git a/src/core/SurfaceTable.h b/src/core/SurfaceTable.h index 1f16843d..8ee1724e 100644 --- a/src/core/SurfaceTable.h +++ b/src/core/SurfaceTable.h @@ -60,6 +60,11 @@ IsSeeThrough(uint8 surfType) switch(surfType) case SURFACE_GLASS: case SURFACE_TRANSPARENT_CLOTH: +#if defined(FIX_BUGS) || defined(GTA_PS2) + case SURFACE_METAL_CHAIN_FENCE: + case SURFACE_TRANSPARENT_STONE: + case SURFACE_SCAFFOLD_POLE: +#endif return true; return false; } diff --git a/src/core/common.h b/src/core/common.h index ebb3acb0..e876c4ec 100644 --- a/src/core/common.h +++ b/src/core/common.h @@ -89,6 +89,16 @@ typedef uint16_t wchar; #include #endif +#ifdef __GNUC__ +#define TYPEALIGN(n) __attribute__ ((aligned (n))) +#else +#ifdef _MSC_VER +#define TYPEALIGN(n) __declspec(align(n)) +#else +#define TYPEALIGN(n) // unknown compiler...ignore +#endif +#endif + #define ALIGNPTR(p) (void*)((((uintptr)(void*)p) + sizeof(void*)-1) & ~(sizeof(void*)-1)) // PDP-10 like byte functions diff --git a/src/core/config.h b/src/core/config.h index 94a35782..92b9f2f9 100644 --- a/src/core/config.h +++ b/src/core/config.h @@ -158,7 +158,7 @@ enum Config { #if defined GTA_PS2 # define GTA_PS2_STUFF # define RANDOMSPLASH -# define COMPRESSED_COL_VECTORS +# define VU_COLLISION #elif defined GTA_PC # define GTA3_1_1_PATCH //# define GTA3_STEAM_PATCH @@ -170,6 +170,10 @@ enum Config { #elif defined GTA_XBOX #endif +#ifdef VU_COLLISION +#define COMPRESSED_COL_VECTORS // current need compressed vectors in this code +#endif + #ifdef MASTER // only in master builds #else diff --git a/src/core/vu0Collision.dsm b/src/core/vu0Collision.dsm new file mode 100644 index 00000000..657c8b81 --- /dev/null +++ b/src/core/vu0Collision.dsm @@ -0,0 +1,21 @@ +.align 4 +.global Vu0CollisionDmaTag +Vu0CollisionDmaTag: +DMAcnt * +MPG 0, * +.vu +.include "vu0Collision_1.s" +.EndMPG +.EndDmaData +DMAend + +.global Vu0Collision2DmaTag +Vu0Collision2DmaTag: +DMAcnt * +MPG 0, * +.vu +.include "vu0Collision_2.s" +.EndMPG +.EndDmaData +DMAend +.end diff --git a/src/core/vu0Collision_1.s b/src/core/vu0Collision_1.s new file mode 100644 index 00000000..055c8640 --- /dev/null +++ b/src/core/vu0Collision_1.s @@ -0,0 +1,610 @@ +QuitAndFail: + NOP[E] IADDIU VI01, VI00, 0 + NOP NOP + + +QuitAndSucceed: + NOP[E] IADDIU VI01, VI00, 1 + NOP NOP + + +; 20 -- unused +; VF12, VF13 xyz: sphere centers +; VF14, VF15 x: sphere radii +; out: +; VI01: set when collision +; VF01: supposed to be intersection point? +; VF02: normal (pointing towards s1, not normalized) +.globl Vu0SphereToSphereCollision +Vu0SphereToSphereCollision: + SUB.xyz VF02, VF13, VF12 NOP ; dist of centers + ADD.x VF04, VF14, VF15 NOP ; s = sum of radii + MUL.xyzw VF03, VF02, VF02 NOP ; + MUL.x VF04, VF04, VF04 DIV Q, VF14x, VF04x ; square s + NOP NOP ; + NOP NOP ; + MULAx.w ACC, VF00, VF03 NOP ; + MADDAy.w ACC, VF00, VF03 NOP ; + MADDz.w VF03, VF00, VF03 NOP ; d = DistSq of centers + NOP NOP ; + MULAw.xyz ACC, VF12, VF00 NOP ; + MADDq.xyz VF01, VF02, Q NOP ; intersection, but wrong + CLIPw.xyz VF04, VF03 NOP ; compare s and d + SUB.xyz VF02, VF00, VF02 NOP ; compute normal + NOP NOP ; + NOP NOP ; + NOP FCAND VI01, 0x3 ; 0x2 cannot be set here + NOP[E] NOP ; + NOP NOP ; + + +; B8 -- unused +; VF12: +; VF13: radius +; VF14: +; VF15: box dimensions (?) +.globl Vu0SphereToAABBCollision +Vu0SphereToAABBCollision: + SUB.xyz VF03, VF12, VF14 LOI 0.5 + MULi.xyz VF15, VF15, I NOP + MUL.x VF13, VF13, VF13 NOP + SUB.xyz VF04, VF03, VF15 NOP + ADD.xyz VF05, VF03, VF15 MR32.xyzw VF16, VF15 + CLIPw.xyz VF03, VF16 MR32.xyzw VF17, VF16 + MUL.xyz VF04, VF04, VF04 NOP + MUL.xyz VF05, VF05, VF05 NOP + CLIPw.xyz VF03, VF17 MR32.xyzw VF16, VF17 + NOP FCAND VI01, 0x1 + MINI.xyz VF04, VF04, VF05 MFIR.x VF09, VI01 + NOP NOP + CLIPw.xyz VF03, VF16 FCAND VI01, 0x4 + NOP MFIR.y VF09, VI01 + NOP NOP + MULAx.w ACC, VF00, VF00 NOP + ADD.xyz VF01, VF00, VF03 FCAND VI01, 0x10 + NOP MFIR.z VF09, VI01 + NOP LOI 2 + NOP FCAND VI01, 0x30 + SUBAw.xyz ACC, VF00, VF00 IADD VI04, VI00, VI01 + ITOF0.xyz VF09, VF09 FCAND VI01, 0x300 + NOP IADD VI03, VI00, VI01 + NOP FCAND VI01, 0x3000 + NOP IADD VI02, VI00, VI01 + MADDi.xyzw VF09, VF09, I NOP + NOP IBEQ VI04, VI00, IgnoreZValue + NOP NOP + MADDAz.w ACC, VF00, VF04 NOP + MUL.z VF01, VF09, VF15 NOP +IgnoreZValue: + NOP IBEQ VI03, VI00, IgnoreYValue + NOP NOP + MADDAy.w ACC, VF00, VF04 NOP + MUL.y VF01, VF09, VF15 NOP +IgnoreYValue: + NOP IBEQ VI02, VI00, IgnoreXValue + NOP NOP + MADDAx.w ACC, VF00, VF04 NOP + MUL.x VF01, VF09, VF15 NOP +IgnoreXValue: + MADDx.w VF06, VF00, VF00 NOP + SUB.xyz VF02, VF03, VF01 NOP + ADD.xyz VF01, VF01, VF14 NOP + MULx.w VF01, VF00, VF00 NOP + CLIPw.xyz VF13, VF06 NOP + NOP NOP + NOP NOP + NOP NOP + NOP FCAND VI01, 0x1 +QuitMicrocode: + NOP[E] NOP + NOP NOP + + +; 240 +.globl Vu0LineToSphereCollision +Vu0LineToSphereCollision: + SUB.xyzw VF01, VF13, VF12 NOP + SUB.xyzw VF02, VF14, VF12 NOP + MUL.xyz VF03, VF01, VF02 NOP + MUL.xyz VF04, VF01, VF01 NOP + MUL.x VF15, VF15, VF15 NOP + MUL.xyz VF02, VF02, VF02 NOP + MULAx.w ACC, VF00, VF03 NOP + MADDAy.w ACC, VF00, VF03 NOP + MADDz.w VF03, VF00, VF03 NOP + MULAx.w ACC, VF00, VF04 NOP + MADDAy.w ACC, VF00, VF04 NOP + MADDz.w VF01, VF00, VF04 NOP + MULAx.w ACC, VF00, VF02 NOP + MADDAy.w ACC, VF00, VF02 NOP + MADDz.w VF02, VF00, VF02 NOP + MULA.w ACC, VF03, VF03 NOP + MADDAx.w ACC, VF01, VF15 NOP + MSUB.w VF05, VF01, VF02 NOP + NOP NOP + NOP NOP + NOP IADDIU VI02, VI00, 0x10 + NOP FMAND VI01, VI02 + NOP IBNE VI01, VI00, QuitAndFail + NOP NOP + CLIPw.xyz VF15, VF02 SQRT Q, VF05w + NOP NOP + NOP NOP + NOP NOP + NOP FCAND VI01, 0x1 + NOP IBNE VI00, VI01, LineStartInsideSphere + NOP NOP + SUBq.w VF05, VF03, Q NOP + SUB.w VF05, VF05, VF01 DIV Q, VF05w, VF01w + NOP FMAND VI01, VI02 + NOP IBNE VI01, VI00, QuitAndFail + NOP NOP + NOP FMAND VI01, VI02 + NOP IBEQ VI01, VI00, QuitAndFail + NOP NOP + ADDA.xyz ACC, VF12, VF00 NOP + MADDq.xyz VF01, VF01, Q NOP + MULx.w VF01, VF00, VF00 NOP + SUB.xyz VF02, VF01, VF14 NOP + NOP[E] NOP + NOP NOP +LineStartInsideSphere: + NOP MOVE.xyzw VF01, VF12 + NOP[E] IADDIU VI01, VI00, 0x1 + NOP NOP + + +; 3C0 +.globl Vu0LineToAABBCollision +Vu0LineToAABBCollision: + SUB.xyzw VF08, VF13, VF12 LOI 0.5 + MULi.xyz VF15, VF15, I IADDIU VI08, VI00, 0x0 + SUB.xyzw VF12, VF12, VF14 NOP + SUB.xyzw VF13, VF13, VF14 NOP + NOP DIV Q, VF00w, VF08x + NOP MR32.xyzw VF03, VF15 + SUB.xyz VF06, VF15, VF12 NOP + ADD.xyz VF07, VF15, VF12 NOP + NOP NOP + CLIPw.xyz VF12, VF03 MR32.xyzw VF04, VF03 + NOP NOP + ADDq.x VF09, VF00, Q DIV Q, VF00w, VF08y + NOP NOP + CLIPw.xyz VF12, VF04 MR32.xyzw VF05, VF04 + SUB.xyz VF07, VF00, VF07 IADDIU VI06, VI00, 0xCC + NOP IADDIU VI07, VI00, 0x30 + NOP NOP + CLIPw.xyz VF12, VF05 FCGET VI02 + NOP IAND VI02, VI02, VI06 + ADDq.y VF09, VF00, Q DIV Q, VF00w, VF08z + SUB.xyz VF10, VF00, VF10 NOP + CLIPw.xyz VF13, VF03 FCGET VI03 + CLIPw.xyz VF13, VF04 IAND VI03, VI03, VI07 + CLIPw.xyz VF13, VF05 FCAND VI01, 0x3330 + NOP IBEQ VI01, VI00, StartPointInsideAABB + NOP NOP + ADDq.z VF09, VF00, Q FCGET VI04 + NOP FCGET VI05 + NOP IAND VI04, VI04, VI06 + NOP IAND VI05, VI05, VI07 + MULx.xyz VF17, VF08, VF09 NOP + MULy.xyz VF18, VF08, VF09 IADDIU VI07, VI00, 0x80 + MULz.xyz VF19, VF08, VF09 IAND VI06, VI02, VI07 + MUL.w VF10, VF00, VF00 IAND VI07, VI04, VI07 + NOP NOP + NOP IBEQ VI06, VI07, CheckMaxXSide + NOP NOP + MULAx.xyz ACC, VF17, VF07 NOP + MADDw.xyz VF16, VF12, VF00 NOP + MUL.x VF10, VF07, VF09 NOP + CLIPw.xyz VF16, VF04 NOP + CLIPw.xyz VF16, VF05 NOP + NOP NOP + NOP NOP + NOP NOP + NOP FCAND VI01, 0x330 + NOP IBNE VI01, VI00, CheckMaxXSide + NOP NOP + MULx.w VF10, VF00, VF10 IADDIU VI08, VI00, 0x1 + ADD.yz VF02, VF00, VF00 MOVE.xyzw VF01, VF16 + SUBw.x VF02, VF00, VF00 NOP +CheckMaxXSide: + MULAx.xyz ACC, VF17, VF06 IADDIU VI07, VI00, 0x40 + MADDw.xyz VF16, VF12, VF00 IAND VI06, VI02, VI07 + MUL.x VF10, VF06, VF09 IAND VI07, VI04, VI07 + NOP NOP + NOP IBEQ VI06, VI07, CheckMinYSide + NOP NOP + CLIPw.xyz VF16, VF04 NOP + CLIPw.xyz VF16, VF05 NOP + CLIPw.xyz VF10, VF10 NOP + NOP NOP + NOP NOP + NOP NOP + NOP FCAND VI01, 0xCC03 + NOP IBNE VI01, VI00, CheckMinYSide + NOP NOP + MULx.w VF10, VF00, VF10 IADDIU VI08, VI00, 0x1 + ADD.yz VF02, VF00, VF00 MOVE.xyzw VF01, VF16 + ADDw.x VF02, VF00, VF00 NOP +CheckMinYSide: + MULAy.xyz ACC, VF18, VF07 IADDIU VI07, VI00, 0x8 + MADDw.xyz VF16, VF12, VF00 IAND VI06, VI02, VI07 + MUL.y VF10, VF07, VF09 IAND VI07, VI04, VI07 + NOP NOP + NOP IBEQ VI06, VI07, CheckMaxYSide + NOP NOP + CLIPw.xyz VF16, VF03 NOP + CLIPw.xyz VF16, VF05 NOP + CLIPw.xyz VF10, VF10 NOP + NOP NOP + NOP NOP + NOP NOP + NOP FCAND VI01, 0x3C0C + NOP IBNE VI01, VI00, CheckMaxYSide + NOP NOP + MULy.w VF10, VF00, VF10 IADDIU VI08, VI00, 0x1 + ADD.xz VF02, VF00, VF00 MOVE.xyzw VF01, VF16 + SUBw.y VF02, VF00, VF00 NOP +CheckMaxYSide: + MULAy.xyz ACC, VF18, VF06 IADDIU VI07, VI00, 0x4 + MADDw.xyz VF16, VF12, VF00 IAND VI06, VI02, VI07 + MUL.y VF10, VF06, VF09 IAND VI07, VI04, VI07 + NOP NOP + NOP IBEQ VI06, VI07, CheckMinZSide + NOP NOP + CLIPw.xyz VF16, VF03 NOP + CLIPw.xyz VF16, VF05 NOP + CLIPw.xyz VF10, VF10 NOP + NOP NOP + NOP NOP + NOP NOP + NOP FCAND VI01, 0x3C0C + NOP IBNE VI01, VI00, CheckMinZSide + NOP NOP + MULy.w VF10, VF00, VF10 IADDIU VI08, VI00, 0x1 + ADD.xz VF02, VF00, VF00 MOVE.xyzw VF01, VF16 + ADDw.y VF02, VF00, VF00 NOP +CheckMinZSide: + MULAz.xyz ACC, VF19, VF07 IADDIU VI07, VI00, 0x20 + MADDw.xyz VF16, VF12, VF00 IAND VI06, VI03, VI07 + MUL.z VF10, VF07, VF09 IAND VI07, VI05, VI07 + NOP NOP + NOP IBEQ VI06, VI07, CheckMaxZSide + NOP NOP + CLIPw.xyz VF16, VF03 NOP + CLIPw.xyz VF16, VF04 NOP + CLIPw.xyz VF10, VF10 NOP + NOP NOP + NOP NOP + NOP NOP + NOP FCAND VI01, 0x3330 + NOP IBNE VI01, VI00, CheckMaxZSide + NOP NOP + MULz.w VF10, VF00, VF10 IADDIU VI08, VI00, 0x1 + ADD.xy VF02, VF00, VF00 MOVE.xyzw VF01, VF16 + SUBw.z VF02, VF00, VF00 NOP +CheckMaxZSide: + MULAz.xyz ACC, VF19, VF06 IADDIU VI07, VI00, 0x10 + MADDw.xyz VF16, VF12, VF00 IAND VI06, VI03, VI07 + MUL.z VF10, VF06, VF09 IAND VI07, VI05, VI07 + NOP NOP + NOP IBEQ VI06, VI07, DoneAllChecks + NOP NOP + CLIPw.xyz VF16, VF03 NOP + CLIPw.xyz VF16, VF04 NOP + CLIPw.xyz VF10, VF10 NOP + NOP NOP + NOP NOP + NOP NOP + NOP FCAND VI01, 0x3330 + NOP IBNE VI01, VI00, DoneAllChecks + NOP NOP + MULz.w VF10, VF00, VF10 IADDIU VI08, VI00, 0x1 + ADD.xy VF02, VF00, VF00 MOVE.xyzw VF01, VF16 + ADDw.z VF02, VF00, VF00 NOP +DoneAllChecks: + ADD.xyz VF01, VF01, VF14 IADD VI01, VI00, VI08 + NOP[E] NOP + NOP NOP +StartPointInsideAABB: + ADD.xyz VF01, VF12, VF14 WAITQ + NOP IADDIU VI01, VI00, 0x1 + NOP[E] NOP + NOP NOP + + +; 860 +.globl Vu0LineToTriangleCollisionCompressedStart +Vu0LineToTriangleCollisionCompressedStart: + ITOF0.xyzw VF17, VF17 LOI 0.000244140625 ; 1.0/4096.0 + ITOF0.xyzw VF14, VF14 NOP + ITOF0.xyzw VF15, VF15 NOP + ITOF0.xyzw VF16, VF16 NOP + MULi.xyz VF17, VF17, I LOI 0.0078125 ; 1.0/128.0 + MULi.w VF17, VF17, I NOP + MULi.xyzw VF14, VF14, I NOP + MULi.xyzw VF15, VF15, I NOP + MULi.xyzw VF16, VF16, I NOP +; fall through + +; 8A8 +; VF12: point0 +; VF13: point1 +; VF14-16: verts +; VF17: plane +; out: +; VF01: intersection point +; VF02: triangle normal +; VF03 x: intersection parameter +.globl Vu0LineToTriangleCollisionStart +Vu0LineToTriangleCollisionStart: + MUL.xyz VF10, VF17, VF12 LOI 0.5 + MUL.xyz VF11, VF17, VF13 NOP + SUB.xyz VF02, VF13, VF12 NOP ; line dist + ADD.xyz VF17, VF17, VF00 NOP + MULi.w VF03, VF00, I NOP + MULAx.w ACC, VF00, VF10 NOP + MADDAy.w ACC, VF00, VF10 IADDIU VI06, VI00, 0xE0 + MADDz.w VF10, VF00, VF10 FMAND VI05, VI06 ; -- normal sign flags, unused + MULAx.w ACC, VF00, VF11 NOP + MADDAy.w ACC, VF00, VF11 NOP + MADDz.w VF11, VF00, VF11 NOP + SUB.w VF09, VF17, VF10 NOP ; plane-pos 0 + CLIPw.xyz VF17, VF03 NOP ; compare normal against 0.5 to figure out which in which dimension to compare + NOP IADDIU VI02, VI00, 0x10 ; Sw flag + SUBA.w ACC, VF17, VF11 NOP ; plane-pos 1 + SUB.w VF08, VF11, VF10 FMAND VI01, VI02 + NOP NOP + NOP NOP + NOP FMAND VI02, VI02 + NOP IBEQ VI01, VI02, QuitAndFail ; if on same side, no collision + NOP NOP + NOP DIV Q, VF09w, VF08w ; parameter of intersection + NOP FCAND VI01, 0x3 ; check x direction + NOP IADDIU VI02, VI01, 0x7F + NOP IADDIU VI06, VI00, 0x80 + NOP IAND VI02, VI02, VI06 ; Sx flag + NOP FCAND VI01, 0xC ; check y direction + NOP IADDIU VI03, VI01, 0x3F + MULAw.xyz ACC, VF12, VF00 IADDIU VI06, VI00, 0x40 + MADDq.xyz VF01, VF02, Q IAND VI03, VI03, VI06 ; point of intersection -- Sy flag + MULx.w VF01, VF00, VF00 FCAND VI01, 0x30 ; -- check z direction + ADDq.x VF03, VF00, Q IADDIU VI04, VI01, 0x1F ; output parameter + SUB.xyz VF05, VF15, VF14 IADDIU VI06, VI00, 0x20 ; edge vectors + SUB.xyz VF08, VF01, VF14 IAND VI04, VI04, VI06 ; edge vectors -- Sz flag + SUB.xyz VF06, VF16, VF15 IADD VI06, VI02, VI03 ; edge vectors + SUB.xyz VF09, VF01, VF15 IADD VI06, VI06, VI04 ; edge vectors -- combine flags + SUB.xyz VF07, VF14, VF16 NOP ; edge vectors + SUB.xyz VF10, VF01, VF16 NOP ; edge vectors + OPMULA.xyz ACC, VF08, VF05 NOP + OPMSUB.xyz VF18, VF05, VF08 NOP ; cross1 + OPMULA.xyz ACC, VF09, VF06 NOP + OPMSUB.xyz VF19, VF06, VF09 NOP ; cross2 + OPMULA.xyz ACC, VF10, VF07 NOP + OPMSUB.xyz VF20, VF07, VF10 FMAND VI02, VI06 ; cross3 + NOP NOP + NOP FMAND VI03, VI06 + NOP NOP + NOP FMAND VI04, VI06 + NOP NOP + NOP IBNE VI03, VI02, QuitAndFail ; point has to lie on the same side of all edges (i.e. inside) + NOP NOP + NOP IBNE VI04, VI02, QuitAndFail + NOP NOP + MULw.xyz VF02, VF17, VF00 IADDIU VI01, VI00, 0x1 ; success + NOP[E] NOP + NOP NOP + + +; A68 +; VF12: center +; VF14: line origin +; VF15: line vector to other point +; out: VF16 xyz: nearest point on line; w: distance to that point +DistanceBetweenSphereAndLine: + SUB.xyz VF20, VF12, VF14 NOP + MUL.xyz VF21, VF15, VF15 NOP + ADDA.xyz ACC, VF14, VF15 NOP + MSUBw.xyz VF25, VF12, VF00 NOP ; VF25 = VF12 - (VF14+VF15) + MUL.xyz VF22, VF20, VF20 NOP + MUL.xyz VF23, VF20, VF15 NOP + MULAx.w ACC, VF00, VF21 NOP + MADDAy.w ACC, VF00, VF21 NOP + MADDz.w VF21, VF00, VF21 NOP ; MagSq VF15 (line length) + MULAx.w ACC, VF00, VF23 NOP + MADDAy.w ACC, VF00, VF23 NOP + MADDz.w VF23, VF00, VF23 NOP ; dot(VF12-VF14, VF15) + MULAx.w ACC, VF00, VF22 NOP + MADDAy.w ACC, VF00, VF22 NOP + MADDz.w VF22, VF00, VF22 IADDIU VI08, VI00, 0x10 ; MagSq VF12-VF14 -- Sw bit + MUL.xyz VF25, VF25, VF25 FMAND VI08, VI08 + NOP DIV Q, VF23w, VF21w + NOP IBNE VI00, VI08, NegativeRatio + NOP NOP + ADDA.xyz ACC, VF00, VF14 NOP + MADDq.xyz VF16, VF15, Q WAITQ ; nearest point on infinte line + ADDq.x VF24, VF00, Q NOP ; ratio + NOP NOP + NOP NOP + SUB.xyz VF26, VF16, VF12 NOP + CLIPw.xyz VF24, VF00 NOP ; compare ratio to 1.0 + NOP NOP + NOP NOP + MUL.xyz VF26, VF26, VF26 NOP + NOP FCAND VI01, 0x1 + NOP IBNE VI00, VI01, RatioGreaterThanOne + NOP NOP + MULAx.w ACC, VF00, VF26 NOP + MADDAy.w ACC, VF00, VF26 NOP + MADDz.w VF16, VF00, VF26 NOP ; distance + NOP JR VI15 + NOP NOP +NegativeRatio: + ADD.xyz VF16, VF00, VF14 NOP ; return line origin + MUL.w VF16, VF00, VF22 NOP ; and DistSq to it + NOP JR VI15 + NOP NOP +RatioGreaterThanOne: + MULAx.w ACC, VF00, VF25 NOP + MADDAy.w ACC, VF00, VF25 NOP + MADDz.w VF16, VF00, VF25 NOP + ADD.xyz VF16, VF14, VF15 NOP ; return toerh line point + NOP JR VI15 + NOP NOP + + +; BE0 +.globl Vu0SphereToTriangleCollisionCompressedStart +Vu0SphereToTriangleCollisionCompressedStart: + ITOF0.xyzw VF17, VF17 LOI 0.000244140625 ; 1.0/4096.0 + ITOF0.xyzw VF14, VF14 NOP + ITOF0.xyzw VF15, VF15 NOP + ITOF0.xyzw VF16, VF16 NOP + MULi.xyz VF17, VF17, I LOI 0.0078125 ; 1.0/128.0 + MULi.w VF17, VF17, I NOP + MULi.xyzw VF14, VF14, I NOP + MULi.xyzw VF15, VF15, I NOP + MULi.xyzw VF16, VF16, I NOP +; fall through + +; C28 +; VF12: sphere +; VF14-16: verts +; VF17: plane +; out: +; VF01: intersection point +; VF02: triangle normal +; VF03 x: intersection parameter +.globl Vu0SphereToTriangleCollisionStart +Vu0SphereToTriangleCollisionStart: + MUL.xyz VF02, VF12, VF17 LOI 0.1 + ADD.xyz VF17, VF17, VF00 NOP + ADDw.x VF13, VF00, VF12 NOP + NOP NOP + MULAx.w ACC, VF00, VF02 IADDIU VI06, VI00, 0xE0 + MADDAy.w ACC, VF00, VF02 FMAND VI05, VI06 ; normal sign flags + MADDAz.w ACC, VF00, VF02 NOP + MSUB.w VF02, VF00, VF17 NOP ; center plane pos + MULi.w VF03, VF00, I MOVE.xyzw VF04, VF03 + NOP NOP + NOP NOP + CLIPw.xyz VF13, VF02 NOP ; compare dist and radius + CLIPw.xyz VF17, VF03 NOP + MULAw.xyz ACC, VF12, VF00 IADDIU VI07, VI00, 0x0 ; -- clear test case + MSUBw.xyz VF01, VF17, VF02 NOP + MULx.w VF01, VF00, VF00 FCAND VI01, 0x3 ; projected center on plane + ABS.w VF02, VF02 IBEQ VI00, VI01, QuitAndFail ; no intersection + NOP NOP + NOP FCAND VI01, 0x3 ; -- check x direction + SUB.xyz VF02, VF12, VF01 IADDIU VI02, VI01, 0x7F + NOP IADDIU VI06, VI00, 0x80 + SUB.xyz VF05, VF15, VF14 IAND VI02, VI02, VI06 + SUB.xyz VF08, VF01, VF14 FCAND VI01, 0xC ; -- check y direction + SUB.xyz VF06, VF16, VF15 IADDIU VI03, VI01, 0x3F + SUB.xyz VF09, VF01, VF15 IADDIU VI06, VI00, 0x40 + SUB.xyz VF07, VF14, VF16 IAND VI03, VI03, VI06 + SUB.xyz VF10, VF01, VF16 FCAND VI01, 0x30 ; -- check z direction + MUL.xyz VF03, VF02, VF02 IADDIU VI04, VI01, 0x1F + OPMULA.xyz ACC, VF08, VF05 IADDIU VI06, VI00, 0x20 + OPMSUB.xyz VF18, VF05, VF08 IAND VI04, VI04, VI06 + OPMULA.xyz ACC, VF09, VF06 NOP + OPMSUB.xyz VF19, VF06, VF09 IADD VI06, VI02, VI03 + OPMULA.xyz ACC, VF10, VF07 IADD VI06, VI06, VI04 ; -- combine flags + OPMSUB.xyz VF20, VF07, VF10 FMAND VI02, VI06 ; -- cross 1 flags + MULAx.w ACC, VF00, VF03 IAND VI05, VI05, VI06 + MADDAy.w ACC, VF00, VF03 FMAND VI03, VI06 ; -- cross 2 flags + MADDz.w VF03, VF00, VF03 IADDIU VI08, VI00, 0x3 + NOP FMAND VI04, VI06 ; -- cross 3 flags + NOP NOP + NOP IBNE VI02, VI05, CheckSide2 + NOP RSQRT Q, VF00w, VF03w + ADD.xyz VF04, VF00, VF16 IADDIU VI07, VI07, 0x1 ; inside side 1 +CheckSide2: + NOP IBNE VI03, VI05, CheckSide3 + NOP NOP + ADD.xyz VF04, VF00, VF14 IADDIU VI07, VI07, 0x1 ; inside side 2 +CheckSide3: + NOP IBNE VI04, VI05, FinishCheckingSides + NOP NOP + ADD.xyz VF04, VF00, VF15 IADDIU VI07, VI07, 0x1 ; inside side 3 + NOP NOP + NOP IBEQ VI07, VI08, TotallyInsideTriangle + NOP NOP +FinishCheckingSides: + MUL.x VF13, VF13, VF13 IADDIU VI08, VI00, 0x2 + MULq.xyz VF02, VF02, Q WAITQ + NOP IBNE VI07, VI08, IntersectionOutsideTwoSides + NOP NOP + NOP IBEQ VI02, VI05, CheckDistanceSide2 + NOP NOP + NOP MOVE.xyzw VF15, VF05 + NOP BAL VI15, DistanceBetweenSphereAndLine + NOP NOP + NOP B ProcessLineResult + NOP NOP +CheckDistanceSide2: + NOP IBEQ VI03, VI05, CheckDistanceSide3 + NOP NOP + NOP MOVE.xyzw VF14, VF15 + NOP MOVE.xyzw VF15, VF06 + NOP BAL VI15, DistanceBetweenSphereAndLine + NOP NOP + NOP B ProcessLineResult + NOP NOP +CheckDistanceSide3: + NOP MOVE.xyzw VF14, VF16 + NOP MOVE.xyzw VF15, VF07 + NOP BAL VI15, DistanceBetweenSphereAndLine + NOP NOP + NOP B ProcessLineResult + NOP NOP +IntersectionOutsideTwoSides: + SUB.xyz VF05, VF04, VF12 NOP + ADD.xyz VF01, VF00, VF04 NOP ; col point + SUB.xyz VF02, VF12, VF04 NOP + NOP NOP + MUL.xyz VF05, VF05, VF05 NOP + NOP NOP + NOP NOP + NOP NOP + MULAx.w ACC, VF00, VF05 NOP + MADDAy.w ACC, VF00, VF05 NOP + MADDz.w VF05, VF00, VF05 NOP ; distSq to vertex + NOP NOP + NOP NOP + NOP NOP + CLIPw.xyz VF13, VF05 SQRT Q, VF05w ; compare radiusSq and distSq + NOP NOP + NOP NOP + NOP NOP + NOP FCAND VI01, 0x1 + ADDq.x VF03, VF00, Q WAITQ ; dist to vertex + NOP IBEQ VI00, VI01, QuitAndFail ; too far + NOP NOP + NOP NOP + NOP DIV Q, VF00w, VF03x + MULq.xyz VF02, VF02, Q WAITQ ; col normal + NOP[E] NOP + NOP NOP +TotallyInsideTriangle: + ADDw.x VF03, VF00, VF02 WAITQ + MULq.xyz VF02, VF02, Q NOP + NOP[E] IADDIU VI01, VI00, 0x1 + NOP NOP +ProcessLineResult: + CLIPw.xyz VF13, VF16 SQRT Q, VF16w + ADD.xyz VF01, VF00, VF16 NOP + SUB.xyz VF02, VF12, VF16 NOP + NOP NOP + NOP FCAND VI01, 0x1 + ADDq.x VF03, VF00, Q WAITQ + NOP IBEQ VI00, VI01, QuitAndFail + NOP NOP + NOP NOP + NOP DIV Q, VF00w, VF03x + MULq.xyz VF02, VF02, Q WAITQ + NOP[E] NOP + NOP NOP + +EndOfMicrocode: diff --git a/src/core/vu0Collision_2.s b/src/core/vu0Collision_2.s new file mode 100644 index 00000000..716c29ac --- /dev/null +++ b/src/core/vu0Collision_2.s @@ -0,0 +1,191 @@ +QuitAndFail2: + NOP[E] IADDIU VI01, VI00, 0x0 + NOP NOP + + +QuitAndSucceed2: + NOP[E] IADDIU VI01, VI00, 0x1 + NOP NOP + + +; 20 +GetBBVertices: + MULw.xy VF02, VF01, VF00 NOP + MUL.z VF02, VF01, VF11 NOP + MULw.xz VF03, VF01, VF00 NOP + MUL.y VF03, VF01, VF11 NOP + MULw.x VF04, VF01, VF00 NOP + MUL.yz VF04, VF01, VF11 NOP + NOP JR VI15 + NOP NOP + + +; 60 +Vu0OBBToOBBCollision: + SUBw.xyz VF11, VF00, VF00 LOI 0.5 + MULi.xyz VF12, VF12, I NOP + MULi.xyz VF13, VF13, I NOP + NOP NOP + NOP NOP + NOP MOVE.xyz VF01, VF12 + NOP BAL VI15, GetBBVertices + NOP NOP + MULAx.xyz ACC, VF14, VF01 NOP + MADDAy.xyz ACC, VF15, VF01 NOP + MADDz.xyz VF01, VF16, VF01 NOP + MULAx.xyz ACC, VF14, VF02 NOP + MADDAy.xyz ACC, VF15, VF02 NOP + MADDz.xyz VF02, VF16, VF02 NOP + MULAx.xyz ACC, VF14, VF03 NOP + MADDAy.xyz ACC, VF15, VF03 NOP + MADDz.xyz VF03, VF16, VF03 NOP + MULAx.xyz ACC, VF14, VF04 NOP + MADDAy.xyz ACC, VF15, VF04 NOP + MADDz.xyz VF04, VF16, VF04 NOP + ABS.xyz VF05, VF01 NOP + ABS.xyz VF06, VF02 NOP + ABS.xyz VF07, VF03 NOP + ABS.xyz VF08, VF04 NOP + NOP NOP + MAX.xyz VF05, VF05, VF06 NOP + NOP NOP + MAX.xyz VF07, VF07, VF08 NOP + NOP NOP + NOP NOP + NOP NOP + MAX.xyz VF05, VF05, VF07 NOP + NOP NOP + NOP NOP + NOP NOP + ADD.xyz VF09, VF05, VF13 NOP + NOP NOP + NOP NOP + NOP NOP + MULx.w VF05, VF00, VF09 NOP + MULy.w VF06, VF00, VF09 NOP + MULz.w VF07, VF00, VF09 NOP + CLIPw.xyz VF17, VF05 NOP + CLIPw.xyz VF17, VF06 NOP + CLIPw.xyz VF17, VF07 MOVE.xyz VF01, VF13 + NOP NOP + NOP NOP + NOP NOP + NOP FCAND VI01, 0x3330 + NOP IBNE VI01, VI00, QuitAndFail2 + NOP NOP + NOP BAL VI15, GetBBVertices + NOP NOP + MULAx.xyz ACC, VF18, VF01 NOP + MADDAy.xyz ACC, VF19, VF01 NOP + MADDz.xyz VF01, VF20, VF01 NOP + MULAx.xyz ACC, VF18, VF02 NOP + MADDAy.xyz ACC, VF19, VF02 NOP + MADDz.xyz VF02, VF20, VF02 NOP + MULAx.xyz ACC, VF18, VF03 NOP + MADDAy.xyz ACC, VF19, VF03 NOP + MADDz.xyz VF03, VF20, VF03 NOP + MULAx.xyz ACC, VF18, VF04 NOP + MADDAy.xyz ACC, VF19, VF04 NOP + MADDz.xyz VF04, VF20, VF04 NOP + ABS.xyz VF05, VF01 NOP + ABS.xyz VF06, VF02 NOP + ABS.xyz VF07, VF03 NOP + ABS.xyz VF08, VF04 NOP + NOP NOP + MAX.xyz VF05, VF05, VF06 NOP + NOP NOP + MAX.xyz VF07, VF07, VF08 NOP + NOP NOP + NOP NOP + NOP NOP + MAX.xyz VF05, VF05, VF07 NOP + NOP NOP + NOP NOP + NOP NOP + ADD.xyz VF09, VF05, VF12 NOP + NOP NOP + NOP NOP + NOP NOP + MULx.w VF05, VF00, VF09 NOP + MULy.w VF06, VF00, VF09 NOP + MULz.w VF07, VF00, VF09 NOP + CLIPw.xyz VF21, VF05 NOP + CLIPw.xyz VF21, VF06 NOP + CLIPw.xyz VF21, VF07 NOP + NOP NOP + NOP NOP + NOP NOP + NOP FCAND VI01, 0x3330 + NOP IBNE VI01, VI00, QuitAndFail2 + NOP NOP + SUB.xyz VF06, VF02, VF01 NOP + SUB.xyz VF07, VF03, VF01 NOP + ADD.xyz VF08, VF04, VF01 NOP + ADD.x VF09, VF00, VF12 NOP + ADD.yz VF09, VF00, VF00 NOP + ADD.y VF10, VF00, VF12 NOP + ADD.xz VF10, VF00, VF00 NOP + ADD.z VF11, VF00, VF12 IADDI VI04, VI00, 0x0 + ADD.xy VF11, VF00, VF00 IADD VI02, VI00, VI00 + OPMULA.xyz ACC, VF06, VF09 NOP + OPMSUB.xyz VF01, VF09, VF06 NOP + OPMULA.xyz ACC, VF06, VF10 NOP + OPMSUB.xyz VF02, VF10, VF06 NOP + OPMULA.xyz ACC, VF06, VF11 NOP + OPMSUB.xyz VF03, VF11, VF06 SQI.xyzw VF01, (VI02++) + OPMULA.xyz ACC, VF07, VF09 NOP + OPMSUB.xyz VF01, VF09, VF07 SQI.xyzw VF02, (VI02++) + OPMULA.xyz ACC, VF07, VF10 NOP + OPMSUB.xyz VF02, VF10, VF07 SQI.xyzw VF03, (VI02++) + OPMULA.xyz ACC, VF07, VF11 NOP + OPMSUB.xyz VF03, VF11, VF07 SQI.xyzw VF01, (VI02++) + OPMULA.xyz ACC, VF08, VF09 NOP + OPMSUB.xyz VF01, VF09, VF08 SQI.xyzw VF02, (VI02++) + OPMULA.xyz ACC, VF08, VF10 NOP + OPMSUB.xyz VF02, VF10, VF08 SQI.xyzw VF03, (VI02++) + OPMULA.xyz ACC, VF08, VF11 LOI 0.5 + OPMSUB.xyz VF01, VF11, VF08 SQI.xyzw VF01, (VI02++) + MULi.xyz VF06, VF06, I NOP + MULi.xyz VF07, VF07, I SQI.xyzw VF02, (VI02++) + MULi.xyz VF08, VF08, I NOP + MUL.xyz VF02, VF21, VF01 NOP + MUL.xyz VF03, VF12, VF01 NOP + MUL.xyz VF09, VF06, VF01 NOP + MUL.xyz VF10, VF07, VF01 NOP + MUL.xyz VF11, VF08, VF01 NOP + ABS.xyz VF03, VF03 NOP + ADDy.x VF05, VF09, VF09 NOP + ADDx.y VF05, VF10, VF10 NOP + ADDx.z VF05, VF11, VF11 NOP + NOP NOP +EdgePairLoop: + ADDz.x VF05, VF05, VF09 NOP + ADDz.y VF05, VF05, VF10 NOP + ADDy.z VF05, VF05, VF11 NOP + MULAx.w ACC, VF00, VF02 IADD VI03, VI02, VI00 + MADDAy.w ACC, VF00, VF02 LQD.xyzw VF01, (--VI02) + MADDz.w VF02, VF00, VF02 NOP + ABS.xyz VF05, VF05 NOP + MULAx.w ACC, VF00, VF03 NOP + MADDAy.w ACC, VF00, VF03 NOP + MADDAz.w ACC, VF00, VF03 NOP + MADDAx.w ACC, VF00, VF05 NOP + MADDAy.w ACC, VF00, VF05 NOP + MADDz.w VF03, VF00, VF05 NOP + ADDw.x VF04, VF00, VF02 NOP + MUL.xyz VF02, VF21, VF01 NOP + MUL.xyz VF03, VF12, VF01 NOP + MUL.xyz VF09, VF06, VF01 NOP + CLIPw.xyz VF04, VF03 NOP + MUL.xyz VF10, VF07, VF01 NOP + MUL.xyz VF11, VF08, VF01 NOP + ABS.xyz VF03, VF03 NOP + ADDy.x VF05, VF09, VF09 FCAND VI01, 0x3 + ADDx.y VF05, VF10, VF10 IBNE VI01, VI00, QuitAndFail2 + ADDx.z VF05, VF11, VF11 NOP + NOP IBNE VI03, VI00, EdgePairLoop + NOP NOP + NOP[E] IADDIU VI01, VI00, 0x1 + NOP NOP + +EndOfMicrocode2: diff --git a/src/math/Matrix.h b/src/math/Matrix.h index c849a5c4..e2d6b0e0 100644 --- a/src/math/Matrix.h +++ b/src/math/Matrix.h @@ -81,6 +81,7 @@ public: m_matrix.pos.z += rhs.m_matrix.pos.z; return *this; } + CMatrix& operator*=(CMatrix const &rhs); CVector &GetPosition(void){ return *(CVector*)&m_matrix.pos; } CVector &GetRight(void) { return *(CVector*)&m_matrix.right; } diff --git a/src/math/VuVector.h b/src/math/VuVector.h new file mode 100644 index 00000000..f90818e0 --- /dev/null +++ b/src/math/VuVector.h @@ -0,0 +1,41 @@ +#pragma once + +class TYPEALIGN(16) CVuVector : public CVector +{ +public: + float w; + CVuVector(void) {} + CVuVector(float x, float y, float z) : CVector(x, y, z) {} + CVuVector(float x, float y, float z, float w) : CVector(x, y, z), w(w) {} + CVuVector(const CVector &v) : CVector(v.x, v.y, v.z) {} +#ifdef RWCORE_H + CVuVector(const RwV3d &v) : CVector(v.x, v.y, v.z) {} + + operator RwV3d (void) const { + RwV3d vecRw = { this->x, this->y, this->z }; + return vecRw; + } + + operator RwV3d *(void) { + return (RwV3d*)this; + } +#endif +/* + void Normalise(void) { + float sq = MagnitudeSqr(); + // TODO: VU0 code + if(sq > 0.0f){ + float invsqrt = RecipSqrt(sq); + x *= invsqrt; + y *= invsqrt; + z *= invsqrt; + }else + x = 1.0f; + } +*/ +}; + +void TransformPoint(CVuVector &out, const CMatrix &mat, const CVuVector &in); +void TransformPoint(CVuVector &out, const CMatrix &mat, const RwV3d &in); +void TransformPoints(CVuVector *out, int n, const CMatrix &mat, const RwV3d *in, int stride); +void TransformPoints(CVuVector *out, int n, const CMatrix &mat, const CVuVector *in); diff --git a/src/math/math.cpp b/src/math/math.cpp index 0cfc2ce9..4792fdd0 100644 --- a/src/math/math.cpp +++ b/src/math/math.cpp @@ -1,9 +1,124 @@ #include "common.h" #include "Quaternion.h" +#include "VuVector.h" // TODO: move more stuff into here + +void TransformPoint(CVuVector &out, const CMatrix &mat, const CVuVector &in) +{ +#ifdef GTA_PS2 + __asm__ __volatile__("\n\ + lqc2 vf01,0x0(%2)\n\ + lqc2 vf02,0x0(%1)\n\ + lqc2 vf03,0x10(%1)\n\ + lqc2 vf04,0x20(%1)\n\ + lqc2 vf05,0x30(%1)\n\ + vmulax.xyz ACC, vf02,vf01\n\ + vmadday.xyz ACC, vf03,vf01\n\ + vmaddaz.xyz ACC, vf04,vf01\n\ + vmaddw.xyz vf06,vf05,vf00\n\ + sqc2 vf06,0x0(%0)\n\ + ": : "r" (&out) , "r" (&mat) ,"r" (&in): "memory"); +#else + out = mat * in; +#endif +} + +void TransformPoint(CVuVector &out, const CMatrix &mat, const RwV3d &in) +{ +#ifdef GTA_PS2 + __asm__ __volatile__("\n\ + ldr $8,0x0(%2)\n\ + ldl $8,0x7(%2)\n\ + lw $9,0x8(%2)\n\ + pcpyld $10,$9,$8\n\ + qmtc2 $10,vf01\n\ + lqc2 vf02,0x0(%1)\n\ + lqc2 vf03,0x10(%1)\n\ + lqc2 vf04,0x20(%1)\n\ + lqc2 vf05,0x30(%1)\n\ + vmulax.xyz ACC, vf02,vf01\n\ + vmadday.xyz ACC, vf03,vf01\n\ + vmaddaz.xyz ACC, vf04,vf01\n\ + vmaddw.xyz vf06,vf05,vf00\n\ + sqc2 vf06,0x0(%0)\n\ + ": : "r" (&out) , "r" (&mat) ,"r" (&in): "memory"); +#else + out = mat * in; +#endif +} + +void TransformPoints(CVuVector *out, int n, const CMatrix &mat, const RwV3d *in, int stride) +{ +#ifdef GTA_PS3 + __asm__ __volatile__("\n\ + paddub $3,%4,$0\n\ + lqc2 vf02,0x0(%2)\n\ + lqc2 vf03,0x10(%2)\n\ + lqc2 vf04,0x20(%2)\n\ + lqc2 vf05,0x30(%2)\n\ + ldr $8,0x0(%3)\n\ + ldl $8,0x7(%3)\n\ + lw $9,0x8(%3)\n\ + pcpyld $10,$9,$8\n\ + qmtc2 $10,vf01\n\ + 1: vmulax.xyz ACC, vf02,vf01\n\ + vmadday.xyz ACC, vf03,vf01\n\ + vmaddaz.xyz ACC, vf04,vf01\n\ + vmaddw.xyz vf06,vf05,vf00\n\ + add %3,%3,$3\n\ + ldr $8,0x0(%3)\n\ + ldl $8,0x7(%3)\n\ + lw $9,0x8(%3)\n\ + pcpyld $10,$9,$8\n\ + qmtc2 $10,vf01\n\ + addi %1,%1,-1\n\ + addiu %0,%0,0x10\n\ + sqc2 vf06,-0x10(%0)\n\ + bnez %1,1b\n\ + ": : "r" (out) , "r" (n), "r" (&mat), "r" (in), "r" (stride): "memory"); +#else + while(n--){ + *out = mat * *in; + in = (RwV3d*)((uint8*)in + stride); + out++; + } +#endif +} + +void TransformPoints(CVuVector *out, int n, const CMatrix &mat, const CVuVector *in) +{ +#ifdef GTA_PS2 + __asm__ __volatile__("\n\ + lqc2 vf02,0x0(%2)\n\ + lqc2 vf03,0x10(%2)\n\ + lqc2 vf04,0x20(%2)\n\ + lqc2 vf05,0x30(%2)\n\ + lqc2 vf01,0x0(%3)\n\ + nop\n\ + 1: vmulax.xyz ACC, vf02,vf01\n\ + vmadday.xyz ACC, vf03,vf01\n\ + vmaddaz.xyz ACC, vf04,vf01\n\ + vmaddw.xyz vf06,vf05,vf00\n\ + lqc2 vf01,0x10(%3)\n\ + addiu %3,%3,0x10\n\ + addi %1,%1,-1\n\ + addiu %0,%0,0x10\n\ + sqc2 vf06,-0x10(%0)\n\ + bnez %1,1b\n\ + ": : "r" (out) , "r" (n), "r" (&mat) ,"r" (in): "memory"); +#else + while(n--){ + *out = mat * *in; + in++; + out++; + } +#endif +} + + void CVector2D::Normalise(void) { @@ -87,6 +202,7 @@ CMatrix::Reorthogonalise(void) CMatrix& Invert(const CMatrix &src, CMatrix &dst) { + // TODO: VU0 code // GTA handles this as a raw 4x4 orthonormal matrix // and trashes the RW flags, let's not do that // actual copy of librw code: @@ -117,6 +233,7 @@ Invert(const CMatrix &src, CMatrix &dst) CVector operator*(const CMatrix &mat, const CVector &vec) { + // TODO: VU0 code return CVector( mat.m_matrix.right.x * vec.x + mat.m_matrix.up.x * vec.y + mat.m_matrix.at.x * vec.z + mat.m_matrix.pos.x, mat.m_matrix.right.y * vec.x + mat.m_matrix.up.y * vec.y + mat.m_matrix.at.y * vec.z + mat.m_matrix.pos.y, @@ -126,6 +243,7 @@ operator*(const CMatrix &mat, const CVector &vec) CMatrix operator*(const CMatrix &m1, const CMatrix &m2) { + // TODO: VU0 code CMatrix out; RwMatrix *dst = &out.m_matrix; const RwMatrix *src1 = &m1.m_matrix; @@ -145,9 +263,18 @@ operator*(const CMatrix &m1, const CMatrix &m2) return out; } +CMatrix& +CMatrix::operator*=(CMatrix const &rhs) +{ + // TODO: VU0 code + *this = *this * rhs; + return *this; +} + const CVector Multiply3x3(const CMatrix &mat, const CVector &vec) { + // TODO: VU0 code return CVector( mat.m_matrix.right.x * vec.x + mat.m_matrix.up.x * vec.y + mat.m_matrix.at.x * vec.z, mat.m_matrix.right.y * vec.x + mat.m_matrix.up.y * vec.y + mat.m_matrix.at.y * vec.z, @@ -179,6 +306,7 @@ CQuaternion::Slerp(const CQuaternion &q1, const CQuaternion &q2, float theta, fl w1 = Sin((1.0f - t) * theta) * invSin; w2 = Sin(t * theta) * invSin; } + // TODO: VU0 code *this = w1*q1 + w2*q2; } } diff --git a/src/render/Shadows.cpp b/src/render/Shadows.cpp index c169c351..9980d678 100644 --- a/src/render/Shadows.cpp +++ b/src/render/Shadows.cpp @@ -1027,7 +1027,9 @@ CShadows::CastShadowEntity(CEntity *pEntity, float fStartX, float fStartY, floa CColTrianglePlane *pColTriPlanes = pCol->trianglePlanes; ASSERT(pColTriPlanes != NULL); - if ( Abs(pColTriPlanes[i].normal.z) > 0.1f ) + CVector normal; + pColTriPlanes[i].GetNormal(normal); + if ( Abs(normal.z) > 0.1f ) { CColTriangle *pColTri = pCol->triangles; ASSERT(pColTri != NULL);