mirror of
https://github.com/open-goal/jak-project.git
synced 2024-10-20 21:27:52 -04:00
79d14af0b5
I finally read through all the joint code and wrote up some documentation. I think this will be really helpful when we try to understand all the functions in `process-drawable`, or if somebody ever wants to import/export animations. This switches all three games to using a new faster GOAL joint decompressor. It is on by default, but you can go back to the old version by setting `*use-new-decompressor*` to false. Also fix the log-related crash, fix the clock speed used in timer math.
406 lines
12 KiB
Common Lisp
406 lines
12 KiB
Common Lisp
;;-*-Lisp-*-
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(in-package goal)
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;; name: collide-func.gc
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;; name in dgo: collide-func
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;; dgos: GAME
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;; Note: this file is entirely identical from jak 2 and copied from there -
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;; this is heavily modified from the original implementation and this shouldn't be updated by the decompiler.
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#|@file
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This file contains the primitive intersection functions used for collision.
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Most take a description of primitive and a "probe"
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The probe has an origin and a direction. The length of the direction vector is the length
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of the probe.
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Generally, collision functions will return the fraction of the probe to reach the primitive.
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For example, if the probe is 5.0 long, and hits the primitive 2.0 away from the probe origin,
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the return value (u) would be 0.4.
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If (u) would be > 1.0, then it counts as "not intersecting" (object too far away)
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If (u) would be < 0.0, then it counts as "not intersecting" (object behind probe)
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If there's a miss, return COLLISION_MISS, a large negative number.
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If we are inside of the primitive, return 0.0
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|#
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(defconstant COLLISION_MISS -100000000.0)
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(defun raw-ray-sphere-intersect ((arg0 float))
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"DANGER: this function takes two arguments by vf registers.
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As a result, it doesn't work properly in OpenGOAL. See the functions below."
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(local-vars
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(v1-1 float)
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(v1-2 float)
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(v1-4 number)
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(a0-1 float)
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(a0-2 float)
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(a0-3 int)
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(a1-0 float)
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)
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(crash!)
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(rlet ((Q :class vf)
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(vf0 :class vf)
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(vf1 :class vf)
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(vf2 :class vf)
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(vf3 :class vf)
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(vf4 :class vf)
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(vf5 :class vf)
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(vf6 :class vf)
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(vf7 :class vf)
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(vf8 :class vf)
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(vf9 :class vf)
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)
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(init-vf0-vector)
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(.mov vf3 arg0) ;; vf3 = radius
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;; sphere is at the origin, vf1 is source of the ray (o)
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;; vf2 is the ray's unit vector (u)
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(.mul.vf vf4 vf2 vf2) ;; vf4 = u.^2
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(.mul.vf vf3 vf3 vf3) ;; vf3 = r^2
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(.mul.vf vf6 vf1 vf1) ;; vf6 = o.^2
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(.mul.vf vf5 vf2 vf1) ;; vf5 = u . o
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(.add.y.vf vf4 vf4 vf4 :mask #b1)
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(let ((result (the-as float 0)))
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(.add.x.vf vf6 vf6 vf6 :mask #b10)
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(.sub.x.vf vf6 vf6 vf3 :mask #b100)
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(.add.z.vf vf4 vf4 vf4 :mask #b1)
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(.add.x.vf vf5 vf5 vf5 :mask #b10)
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(let ((v1-0 (the-as float 0)))
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(.add.z.vf vf6 vf6 vf6 :mask #b10)
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(.div.vf Q vf0 vf4 :fsf #b11 :ftf #b0)
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(.add.z.vf vf5 vf5 vf5 :mask #b10)
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(.mov a0-1 vf4)
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(.mul.x.vf vf7 vf6 vf4)
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(.mov a1-0 vf6)
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(.mul.vf vf8 vf5 vf5)
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(b! (< (the-as int a1-0) 0) cfg-7 :delay (set! a0-2 a0-1))
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(.mul.vf vf4 vf0 Q :mask #b1000)
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(.sub.vf vf9 vf8 vf7)
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(b! (= a0-2 v1-0) cfg-6 :delay (.mov v1-1 vf5))
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)
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(.sqrt.vf Q vf9 :ftf #b1)
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(b! (>= (the-as int v1-1) 0) cfg-6 :delay (.mov v1-2 vf9))
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(b! (< (the-as int v1-2) 0) cfg-6 :delay 1.0)
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(.add.x.vf vf6 vf5 vf4)
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(.mov v1-4 vf6)
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(.mul.vf vf6 vf6 vf6)
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(.mul.vf vf9 vf0 Q :mask #b1000)
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(.sub.vf vf6 vf9 vf6)
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(.add.w.vf vf9 vf5 vf9 :mask #b10)
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(.mov a0-3 vf6)
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(.mul.w.vf vf9 vf9 vf4 :mask #b10)
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(b!
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(< (logand (the-as uint v1-4) (the-as uint a0-3)) 0)
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cfg-6
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:delay
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(.sub.y.vf vf4 vf0 vf9)
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)
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(b! #t cfg-7 :delay (.mov result vf4))
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(label cfg-6)
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(set! result -100000000.0)
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(label cfg-7)
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(the-as float result)
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)
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)
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)
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(defmacro pc-port-do-raw-ray-sphere-intersect (rad vf1-val vf2-val)
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"Calls to raw-ray-sphere-intersect should be replaced with this macro,
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and this should be given vf1, vf2, which contain the origin and direction of the probe."
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`(let ((vf1-storage (new 'stack-no-clear 'vector))
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(vf2-storage (new 'stack-no-clear 'vector))
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)
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(.svf (&-> vf1-storage quad) ,vf1-val)
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(.svf (&-> vf2-storage quad) ,vf2-val)
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(pc-port-raw-ray-sphere-implementation ,rad vf1-storage vf2-storage)
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)
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)
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(defun pc-port-raw-ray-sphere-implementation ((rad float) (vf1-val vector) (vf2-val vector))
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"This is one of the main primitives for collision.
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Assumes a sphere of radius rad is at the origin.
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Handles:
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- miss (return MISS)
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- behind (return MISS)
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- too far away (return MISS)
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- inside (return 0)
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"
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(local-vars
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(v1-1 int)
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(v1-2 int)
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(v1-4 int)
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(a0-1 float)
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(a0-2 float)
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(a0-3 int)
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(a1-0 int)
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)
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(rlet ((Q :class vf)
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(vf0 :class vf)
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(vf1 :class vf)
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(vf2 :class vf)
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(vf3 :class vf)
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(vf4 :class vf)
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(vf5 :class vf)
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(vf6 :class vf)
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(vf7 :class vf)
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(vf8 :class vf)
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(vf9 :class vf)
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)
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(init-vf0-vector)
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(.lvf vf1 (&-> vf1-val quad))
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(.lvf vf2 (&-> vf2-val quad))
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(.mov vf3 rad)
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(.mul.vf vf4 vf2 vf2)
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(.mul.vf vf3 vf3 vf3)
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(.mul.vf vf6 vf1 vf1)
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(.mul.vf vf5 vf2 vf1)
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(.add.y.vf vf4 vf4 vf4 :mask #b1)
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(let ((result (the-as float 0)))
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(.add.x.vf vf6 vf6 vf6 :mask #b10)
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(.sub.x.vf vf6 vf6 vf3 :mask #b100)
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(.add.z.vf vf4 vf4 vf4 :mask #b1)
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(.add.x.vf vf5 vf5 vf5 :mask #b10)
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(let ((v1-0 (the-as float 0)))
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(.add.z.vf vf6 vf6 vf6 :mask #b10)
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(.div.vf Q vf0 vf4 :fsf #b11 :ftf #b0)
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(.add.z.vf vf5 vf5 vf5 :mask #b10)
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(.mov a0-1 vf4)
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(.mul.x.vf vf7 vf6 vf4)
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(.mov a1-0 vf6)
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(.mul.vf vf8 vf5 vf5)
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(b! (< (the-as int a1-0) 0) cfg-7 :delay (set! a0-2 a0-1)) ;; in the sphere
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(.mul.vf vf4 vf0 Q :mask #b1000)
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(.sub.vf vf9 vf8 vf7)
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(b! (= a0-2 v1-0) cfg-6 :delay (.mov v1-1 vf5)) ;; bad denominator in division
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)
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(.sqrt.vf Q vf9 :ftf #b1)
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(b! (>= (the-as int v1-1) 0) cfg-6 :delay (.mov v1-2 vf9)) ;; wrong dir
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(b! (< (the-as int v1-2) 0) cfg-6 :delay 1.0) ;; bad sqrt
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(.add.x.vf vf6 vf5 vf4)
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(.mov v1-4 vf6)
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(.mul.vf vf6 vf6 vf6)
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(.mul.vf vf9 vf0 Q :mask #b1000)
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(.sub.vf vf6 vf9 vf6)
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(.add.w.vf vf9 vf5 vf9 :mask #b10)
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(.mov a0-3 vf6)
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(.mul.w.vf vf9 vf9 vf4 :mask #b10)
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;; too far.
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(b! (< (logand (the-as int v1-4) (the-as int a0-3)) 0)
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cfg-6
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:delay (.sub.y.vf vf4 vf0 vf9)
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)
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(b! #t cfg-7 :delay (.mov result vf4))
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(label cfg-6)
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(set! result -100000000.0)
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(label cfg-7)
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(the-as float result)
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)
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)
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)
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(defun ray-sphere-intersect ((ray-origin vector) (ray-dir vector) (sph-origin vector) (radius float))
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"Intersect a ray and sphere. Will return 0 if you are in the sphere, -huge number if you don't hit it.
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Returns the length of the ray to the first intersection."
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;; offset stuff as if the sphere is at the origin.
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(rlet ((vf1 :class vf)
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(vf2 :class vf)
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)
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(.lvf vf1 (&-> ray-origin quad))
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(.lvf vf2 (&-> sph-origin quad))
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(.sub.vf vf1 vf1 vf2) ;; the sphere is at the origin in the actual intersection.
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(.lvf vf2 (&-> ray-dir quad))
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;;(raw-ray-sphere-intersect radius)
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(pc-port-do-raw-ray-sphere-intersect radius vf1 vf2)
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)
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)
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(defun ray-circle-intersect ((ray-origin vector) (ray-dir vector) (circle-origin vector) (radius float))
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"Intersect ray with circle. Circle is on the y plane and this throws out the y components
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of ray-origin, circle-origin, and ray-dir"
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(rlet ((vf0 :class vf)
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(vf1 :class vf)
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(vf2 :class vf)
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)
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(init-vf0-vector)
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(.lvf vf1 (&-> ray-origin quad))
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(.mov.vf vf1 vf0 :mask #b10)
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(.lvf vf2 (&-> circle-origin quad))
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(.mov.vf vf2 vf0 :mask #b10)
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(.sub.vf vf1 vf1 vf2)
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(.lvf vf2 (&-> ray-dir quad))
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(.mov.vf vf2 vf0 :mask #b10)
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;;(raw-ray-sphere-intersect radius)
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(pc-port-do-raw-ray-sphere-intersect radius vf1 vf2)
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)
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)
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(defun ray-cylinder-intersect ((ray-origin vector) (ray-dir vector) (cyl-origin vector) (cyl-axis vector) (cyl-rad float) (cyl-len float) (pt-out vector))
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"Intersect with a cylinder.
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Currently this is untested."
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(local-vars
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(v0-1 float)
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(v1-0 int)
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(v1-2 int)
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(a0-1 int)
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(a0-2 int)
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(a0-4 int)
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(a0-5 int)
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)
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(rlet ((vf1 :class vf)
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(vf10 :class vf)
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(vf11 :class vf)
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(vf12 :class vf)
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(vf13 :class vf)
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(vf14 :class vf)
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(vf15 :class vf)
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(vf16 :class vf)
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(vf17 :class vf)
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(vf18 :class vf)
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(vf19 :class vf)
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(vf2 :class vf)
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(vf20 :class vf)
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(vf21 :class vf)
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)
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(.lvf vf10 (&-> ray-origin quad))
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(.lvf vf12 (&-> cyl-origin quad))
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(.sub.vf vf15 vf10 vf12)
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(.lvf vf11 (&-> ray-dir quad))
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(.lvf vf13 (&-> cyl-axis quad))
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(.mov vf14 cyl-len)
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(.mul.vf vf16 vf15 vf13)
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(.mul.vf vf17 vf11 vf13)
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(.add.x.vf vf16 vf16 vf16 :mask #b10)
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(.add.x.vf vf17 vf17 vf17 :mask #b10)
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(.add.z.vf vf16 vf16 vf16 :mask #b10)
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(.add.z.vf vf17 vf17 vf17 :mask #b10)
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(.mul.y.vf vf1 vf13 vf16)
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(.add.vf vf18 vf17 vf16)
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(.sub.x.vf vf19 vf16 vf14)
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(.mul.y.vf vf2 vf13 vf17)
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(.mov v1-0 vf16)
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(.sub.x.vf vf20 vf18 vf14)
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(.mov a0-1 vf18)
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(let ((v1-1 (logand v1-0 (the-as uint a0-1))))
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(.sub.vf vf1 vf15 vf1)
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(b! (< v1-1 0) cfg-6 :delay (.sub.vf vf2 vf11 vf2))
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)
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(.mov v1-2 vf19)
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(.mov a0-2 vf20)
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(b! (>= (the-as int (logior v1-2 (the-as uint a0-2))) 0) cfg-6 :delay (nop!))
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;;(let ((v1-4 (raw-ray-sphere-intersect cyl-rad)))
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(let ((v1-4 (pc-port-do-raw-ray-sphere-intersect cyl-rad vf1 vf2)))
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(b! (< (the-as int v1-4) 0) cfg-6 :delay (.mov vf21 v1-4))
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(.mul.x.vf vf17 vf17 vf21)
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(.add.vf vf16 vf16 vf17)
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(.mul.y.vf vf13 vf13 vf16)
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(.sub.x.vf vf19 vf16 vf14)
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(.mov a0-4 vf16)
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(b!
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(< (the-as int a0-4) 0)
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cfg-6
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:delay
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(.add.vf vf12 vf12 vf13 :mask #b111)
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)
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(.mov a0-5 vf19)
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(b! (>= (the-as int a0-5) 0) cfg-6 :delay (.svf (&-> pt-out quad) vf12))
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(b! #t cfg-7 :delay (set! v0-1 v1-4))
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)
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(label cfg-6)
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(set! v0-1 -100000000.0)
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(label cfg-7)
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v0-1
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)
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)
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(defun ray-plane-intersect ((arg0 vector) (arg1 vector) (arg2 vector) (arg3 vector) (arg4 vector) (arg5 vector) (arg6 vector))
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"Unused."
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(local-vars (v1-0 float) (v1-1 float) (a2-1 float))
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(rlet ((acc :class vf)
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(Q :class vf)
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(vf0 :class vf)
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(vf1 :class vf)
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(vf2 :class vf)
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(vf3 :class vf)
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(vf4 :class vf)
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(vf5 :class vf)
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(vf6 :class vf)
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(vf7 :class vf)
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(vf8 :class vf)
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(vf9 :class vf)
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)
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(init-vf0-vector)
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(.lvf vf3 (&-> arg5 quad))
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(.lvf vf1 (&-> arg4 quad))
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(.lvf vf2 (&-> arg6 quad))
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(.sub.vf vf1 vf3 vf1)
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(.sub.vf vf2 vf3 vf2)
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(.lvf vf6 (&-> arg2 quad))
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(.lvf vf7 (&-> arg3 quad))
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(.sub.vf vf8 vf3 vf6)
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(.outer.product.a.vf acc vf2 vf1)
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(.outer.product.b.vf vf4 vf1 vf2 acc)
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(.mul.vf vf8 vf8 vf4)
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(.mul.vf vf9 vf7 vf4)
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(.mul.vf vf5 vf4 vf4)
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(.add.y.vf vf8 vf8 vf8 :mask #b1)
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(.add.y.vf vf9 vf9 vf9 :mask #b1)
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(.add.y.vf vf5 vf5 vf5 :mask #b1)
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(.add.z.vf vf8 vf8 vf8 :mask #b1)
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(.add.z.vf vf9 vf9 vf9 :mask #b1)
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(.add.z.vf vf5 vf5 vf5 :mask #b1)
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(.mov v1-0 vf9)
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(.mov a2-1 vf8)
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(.isqrt.vf Q vf0 vf5 :fsf #b11 :ftf #b0)
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(let ((f1-0 a2-1)
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(f2-0 v1-0)
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)
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(cond
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((!= f2-0 0.0)
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(let ((f1-1 (/ f1-0 f2-0)))
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(.mov.vf vf4 vf0 :mask #b1000)
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(.wait.vf)
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(.mul.vf vf4 vf4 Q :mask #b111)
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(let ((v0-0 f1-1))
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(.mov vf8 v0-0)
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(.svf (&-> arg1 quad) vf4)
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(.mul.x.vf acc vf7 vf8)
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(.add.mul.w.vf vf7 vf6 vf0 acc :mask #b111)
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(.svf (&-> arg0 quad) vf7)
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(.mov v1-1 vf7)
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v0-0
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)
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)
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)
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(else
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-100000000.0
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)
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)
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)
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)
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)
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;; ray-triangle-intersect (unused)
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;; collide-do-primitives (used in moving-sphere-triangle-intersect)
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(def-mips2c collide-do-primitives (function float))
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;; moving-sphere-triangle-intersect (used in cam)
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(def-mips2c moving-sphere-triangle-intersect (function vector vector float collide-cache-tri vector vector float))
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;; moving-sphere-sphere-intersect (used in collide)
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(defun moving-sphere-sphere-intersect ((arg0 vector) (arg1 vector) (arg2 vector) (arg3 vector))
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(let ((f30-0 (ray-sphere-intersect arg0 arg1 arg2 (+ (-> arg0 w) (-> arg2 w)))))
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(when (>= f30-0 0.0)
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(let ((s3-1 (vector-normalize! (vector-! (new-stack-vector0) arg2 arg0) (-> arg0 w))))
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(vector+*! arg3 arg0 arg1 f30-0)
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(vector+! arg3 arg3 s3-1)
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)
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)
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f30-0
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)
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)
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;; moving-sphere-moving-sphere-intersect (unused)
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