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CMetroidAreaCollider & CCollidableOBBTree #53

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4f7763c
WIP CMetroidAreaCollider
encounter Mar 25, 2026
91370fc
WIP CCollidableOBBTree
encounter Mar 25, 2026
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20 changes: 10 additions & 10 deletions config/GM8E01_00/symbols.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -11627,19 +11627,19 @@ GetTriangleArray__Q212CAreaOctTree4NodeCFv = .text:0x802A2D3C; // type:function
GetChild__Q212CAreaOctTree4NodeCFi = .text:0x802A2D60; // type:function size:0x150 scope:global
BoxFromIndex__FiRC9CVector3fRC9CVector3fRC9CVector3f = .text:0x802A2EB0; // type:function size:0x1EC scope:local
__ct__Q220CMetroidAreaCollider22CMovingAABoxComponentsFRC6CAABoxRC9CVector3f = .text:0x802A309C; // type:function size:0x2E8 scope:global
fn_802A3384 = .text:0x802A3384; // type:function size:0x48
fn_802A33CC = .text:0x802A33CC; // type:function size:0x28
fn_802A33F4 = .text:0x802A33F4; // type:function size:0xB4
push_back__Q24rstl53reserved_vector<Q220CMetroidAreaCollider8SBoxEdge,12>FRCQ220CMetroidAreaCollider8SBoxEdge = .text:0x802A3384; // type:function size:0x48 scope:weak
construct<Q220CMetroidAreaCollider8SBoxEdge>__4rstlFPvRCQ220CMetroidAreaCollider8SBoxEdge = .text:0x802A33CC; // type:function size:0x28 scope:local
__ct__Q220CMetroidAreaCollider8SBoxEdgeFRCQ220CMetroidAreaCollider8SBoxEdge = .text:0x802A33F4; // type:function size:0xB4 scope:weak
__ct__Q220CMetroidAreaCollider8SBoxEdgeFRC6CAABoxiRC9CVector3f = .text:0x802A34A8; // type:function size:0x118 scope:global
FlagVertexIndicesForFace__FUiPb = .text:0x802A35C0; // type:function size:0xC4 scope:global
FlagEdgeIndicesForFace__FUiPb = .text:0x802A3684; // type:function size:0xC4 scope:global
BuildOctreeLeafCache__20CMetroidAreaColliderFRCQ212CAreaOctTree4NodeRC6CAABoxRQ220CMetroidAreaCollider16COctreeLeafCache = .text:0x802A3748; // type:function size:0xF0 scope:global
ClearCache__19CAreaCollisionCacheFv = .text:0x802A3838; // type:function size:0xAC scope:global
SetCacheBounds__19CAreaCollisionCacheFRC6CAABox = .text:0x802A38E4; // type:function size:0x34 scope:global
AddOctreeLeafCache__19CAreaCollisionCacheFRCQ220CMetroidAreaCollider16COctreeLeafCache = .text:0x802A3918; // type:function size:0x78 scope:global
fn_802A3990 = .text:0x802A3990; // type:function size:0x48
fn_802A39D8 = .text:0x802A39D8; // type:function size:0x28
fn_802A3A00 = .text:0x802A3A00; // type:function size:0x90
push_back__Q24rstl61reserved_vector<Q220CMetroidAreaCollider16COctreeLeafCache,3>FRCQ220CMetroidAreaCollider16COctreeLeafCache = .text:0x802A3990; // type:function size:0x48 scope:global
construct<Q220CMetroidAreaCollider16COctreeLeafCache>__4rstlFPvRCQ220CMetroidAreaCollider16COctreeLeafCache = .text:0x802A39D8; // type:function size:0x28 scope:local
__ct__Q220CMetroidAreaCollider16COctreeLeafCacheFRCQ220CMetroidAreaCollider16COctreeLeafCache = .text:0x802A3A00; // type:function size:0x90 scope:global
__ct__19CAreaCollisionCacheFRC6CAABox = .text:0x802A3A90; // type:function size:0x54 scope:global
AddLeaf__Q220CMetroidAreaCollider16COctreeLeafCacheFRCQ212CAreaOctTree4Node = .text:0x802A3AE4; // type:function size:0x88 scope:global
__ct__Q220CMetroidAreaCollider16COctreeLeafCacheFRC12CAreaOctTree = .text:0x802A3B6C; // type:function size:0x1C scope:global
Expand Down Expand Up @@ -11704,7 +11704,7 @@ LineIntersectsLeaf__18CCollidableOBBTreeCFRCQ28COBBTree9CLeafDataR12CRayCastInfo
LineIntersectsOBBTree__18CCollidableOBBTreeCFPCQ28COBBTree5CNodePCQ28COBBTree5CNodeR12CRayCastInfo = .text:0x802A9A88; // type:function size:0x2E8 scope:global
LineIntersectsOBBTree__18CCollidableOBBTreeCFPCQ28COBBTree5CNodeR12CRayCastInfo = .text:0x802A9D70; // type:function size:0xF0 scope:global
LineIntersectsTree__18CCollidableOBBTreeCFRC5CMRayRC15CMaterialFilterfRC12CTransform4f = .text:0x802A9E60; // type:function size:0x26C scope:global
TransformPlane__FRC6CPlaneRC12CTransform4f = .text:0x802AA0CC; // type:function size:0xEC scope:global
TransformPlane__FRC6CPlaneRC12CTransform4f = .text:0x802AA0CC; // type:function size:0xEC scope:local
CastRayInternal__18CCollidableOBBTreeCFRC25CInternalRayCastStructure = .text:0x802AA1B8; // type:function size:0x38 scope:global
SphereCollideWithLeafMoving__18CCollidableOBBTreeCFRCQ28COBBTree9CLeafDataRC12CTransform4fRC7CSphereRC13CMaterialListRC15CMaterialFilterRC9CVector3fRdR14CCollisionInfo = .text:0x802AA1F0; // type:function size:0xF54 scope:global
SphereCollisionMoving__18CCollidableOBBTreeCFRCQ28COBBTree5CNodeRC12CTransform4fRC7CSphereRC6COBBoxRC13CMaterialListRC15CMaterialFilterRC9CVector3fRdR14CCollisionInfo = .text:0x802AB144; // type:function size:0x13C scope:global
Expand Down Expand Up @@ -18746,8 +18746,8 @@ __vt__22CSustainedPlayerDamage = .data:0x803EC370; // type:object size:0x20
__vt__17CPoisonProjectile = .data:0x803EC390; // type:object size:0x74 scope:global
jumptable_803EC408 = .data:0x803EC408; // type:object size:0x20 scope:local
lbl_803EC428 = .data:0x803EC428; // type:object size:0x10
lbl_803EC438 = .data:0x803EC438; // type:object size:0x10
lbl_803EC448 = .data:0x803EC448; // type:object size:0x28
mod3 = .data:0x803EC438; // type:object size:0x10 scope:local
__vt__18CCollidableOBBTree = .data:0x803EC448; // type:object size:0x28 scope:global
__vt__23CCollidableOBBTreeGroup = .data:0x803EC470; // type:object size:0x28 scope:global
__vt__60TObjOwnerDerivedFromIObj<32CCollidableOBBTreeGroupContainer> = .data:0x803EC498; // type:object size:0x10
jumptable_803EC4A8 = .data:0x803EC4A8; // type:object size:0x20 scope:local
Expand Down Expand Up @@ -21282,7 +21282,7 @@ lbl_805A8620 = .sdata:0x805A8620; // type:object size:0x4 data:4byte
lbl_805A8624 = .sdata:0x805A8624; // type:object size:0x4 data:4byte
lbl_805A8628 = .sdata:0x805A8628; // type:object size:0x4 data:4byte
lbl_805A862C = .sdata:0x805A862C; // type:object size:0x1 data:byte
lbl_805A8630 = .sdata:0x805A8630; // type:object size:0x8 data:4byte
sTableIndex__18CCollidableOBBTree = .sdata:0x805A8630; // type:object size:0x4 scope:global data:4byte
lbl_805A8638 = .sdata:0x805A8638; // type:object size:0x8 data:4byte
lbl_805A8640 = .sdata:0x805A8640; // type:object size:0x8
skGlobalSeed__17CProjectileWeapon = .sdata:0x805A8648; // type:object size:0x4 data:4byte
Expand Down
2 changes: 2 additions & 0 deletions include/Kyoto/Math/CUnitVector3f.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -13,6 +13,8 @@ class CUnitVector3f : public CVector3f {
};

CUnitVector3f(const float x, const float y, const float z) : CVector3f(x, y, z) {}
CUnitVector3f(const float x, const float y, const float z, ENormalize)
: CVector3f(x, y, z) {}
CUnitVector3f(const CVector3f& vec, const ENormalize normalize) : CVector3f(vec) {
if (normalize == kN_Yes) {
Normalize();
Expand Down
4 changes: 2 additions & 2 deletions include/Kyoto/Math/CVector3d.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -17,8 +17,8 @@ class CVector3d {
double GetY() const { return mY; }
double GetZ() const { return mZ; }

double& operator[](int i) { return (&mX)[i]; }
const double operator[](int i) const { return (&mX)[i]; }
double& operator[](int i) { return reinterpret_cast<double*>(this)[i]; }
const double& operator[](int i) const { return reinterpret_cast<const double*>(this)[i]; }

static double Dot(const CVector3d& a, const CVector3d& b);
static CVector3d Cross(const CVector3d& a, const CVector3d& b);
Expand Down
16 changes: 12 additions & 4 deletions include/WorldFormat/CAreaOctTree.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -10,7 +10,8 @@

#include "rstl/optional_object.hpp"

class CCollisionEdge;
#include "WorldFormat/CCollisionEdge.hpp"

class CLine;
class CMaterialFilter;

Expand All @@ -27,8 +28,8 @@ class CAreaOctTree {
class TriListReference {
public:
explicit TriListReference(const ushort* ptr) : m_ptr(ptr) {}
ushort GetAt(int idx) const { return m_ptr[idx + 1]; }
ushort GetSize() const { return m_ptr[0]; }
ushort GetAt(int idx) const { return m_ptr[idx + 13]; }
ushort GetSize() const { return m_ptr[12]; }

private:
const ushort* m_ptr;
Expand Down Expand Up @@ -81,7 +82,14 @@ class CAreaOctTree {
const void* GetTreeMemory() const { return x20_treeBuf; }
const CAABox& GetBoundingBox() const { return x0_aabb; }
Node::ETreeType GetTreeType() const { return x18_treeType; }
// TODO

const CVector3f& GetVert(int idx) const { return x4c_verts[idx]; }
const CCollisionEdge& GetEdge(int idx) const { return x3c_edges[idx]; }
uint GetVertMaterial(int idx) const { return x28_materials[x2c_vertMats[idx]]; }
uint GetEdgeMaterial(int idx) const { return x28_materials[x30_edgeMats[idx]]; }
uint GetTriangleMaterial(int idx) const { return x28_materials[x34_polyMats[idx]]; }
void GetTriangleVertexIndices(ushort idx, ushort indicesOut[3]) const;
const ushort* GetTriangleEdgeIndices(ushort idx) const;

private:
CAABox x0_aabb;
Expand Down
108 changes: 102 additions & 6 deletions include/WorldFormat/CCollidableOBBTree.hpp
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Original file line number Diff line number Diff line change
@@ -1,19 +1,115 @@
#ifndef _CCOLLIDABLEOBBTREE
#define _CCOLLIDABLEOBBTREE

#include <Collision/CCollisionPrimitive.hpp>
#include "Collision/CCollisionPrimitive.hpp"
#include "Collision/CMaterialFilter.hpp"
#include "Collision/CMaterialList.hpp"

class COBBTree;
class CCollidableOBBTree : public CCollisionPrimitive {
#include "Kyoto/Math/CPlane.hpp"

#include "WorldFormat/CMetroidAreaCollider.hpp"
#include "WorldFormat/COBBTree.hpp"

class CCollisionInfo;
class CCollisionInfoList;
class CMRay;
class COBBox;
class CSphere;

class CRayCastInfo {
const CMRay& x0_ray;
const CMaterialFilter& x4_filter;
float x8_mag;
CPlane xc_plane;
CMaterialList x20_material;

public:
CCollidableOBBTree(const COBBTree& tree, const CMaterialList& list);
CRayCastInfo(const CMRay& ray, const CMaterialFilter& filter, float mag)
: x0_ray(ray)
, x4_filter(filter)
, x8_mag(mag)
, xc_plane(CVector3f::Zero(), CUnitVector3f(CVector3f(0.f, 0.f, 1.f), CUnitVector3f::kN_Yes))
, x20_material() {}

const CMRay& GetRay() const { return x0_ray; }
const CMaterialFilter& GetMaterialFilter() const { return x4_filter; }
float GetMagnitude() const { return x8_mag; }
float& Magnitude() { return x8_mag; }
const CPlane& GetPlane() const { return xc_plane; }
CPlane& Plane() { return xc_plane; }
const CMaterialList& GetMaterial() const { return x20_material; }
CMaterialList& Material() { return x20_material; }
};

class CCollidableOBBTree : public CCollisionPrimitive {
public:
CCollidableOBBTree(COBBTree* tree, const CMaterialList& list);
~CCollidableOBBTree() override;

uint GetTableIndex() const override;
CAABox CalculateAABox(const CTransform4f& xf) const override;
const CAABox CalculateLocalAABox() const override;
CAABox CalculateLocalAABox() const override;
FourCC GetPrimType() const override;
CRayCastResult CastRayInternal(const CInternalRayCastStructure& intRayCast) const override;
CRayCastResult CastRayInternal(const CInternalRayCastStructure& rayCast) const override;

const COBBTree& GetOBBTree() const { return *x10_tree; }

bool AABoxCollision(const COBBTree::CNode& node, const CTransform4f& xf, const CAABox& aabb,
const COBBox& obb, const CMaterialList& material,
const CMaterialFilter& filter, const CPlane* planes,
CCollisionInfoList& infoList) const;
bool AABoxCollideWithLeaf(const COBBTree::CLeafData& leaf, const CTransform4f& xf,
const CAABox& aabb, const CMaterialList& material,
const CMaterialFilter& filter, const CPlane* planes,
CCollisionInfoList& infoList) const;
bool SphereCollision(const COBBTree::CNode& node, const CTransform4f& xf,
const CSphere& sphere, const COBBox& obb, const CMaterialList& material,
const CMaterialFilter& filter, CCollisionInfoList& infoList) const;
bool SphereCollideWithLeaf(const COBBTree::CLeafData& leaf, const CTransform4f& xf,
const CSphere& sphere, const CMaterialList& material,
const CMaterialFilter& filter, CCollisionInfoList& infoList) const;
bool AABoxCollisionBoolean(const COBBTree::CNode& node, const CTransform4f& xf,
const CAABox& aabb, const COBBox& obb,
const CMaterialFilter& filter) const;
bool SphereCollisionBoolean(const COBBTree::CNode& node, const CTransform4f& xf,
const CSphere& sphere, const COBBox& obb,
const CMaterialFilter& filter) const;
bool AABoxCollisionMoving(const COBBTree::CNode& node, const CTransform4f& xf,
const CAABox& aabb, const COBBox& obb,
const CMaterialList& material, const CMaterialFilter& filter,
const CMetroidAreaCollider::CMovingAABoxComponents& components,
const CVector3f& dir, double& dOut, CCollisionInfo& info) const;
bool AABoxCollideWithLeafMoving(
const COBBTree::CLeafData& leaf, const CTransform4f& xf, const CAABox& aabb,
const CMaterialList& material, const CMaterialFilter& filter,
const CMetroidAreaCollider::CMovingAABoxComponents& components, const CVector3f& dir,
double& dOut, CCollisionInfo& info) const;
bool SphereCollisionMoving(const COBBTree::CNode& node, const CTransform4f& xf,
const CSphere& sphere, const COBBox& obb,
const CMaterialList& material, const CMaterialFilter& filter,
const CVector3f& dir, double& dOut, CCollisionInfo& info) const;
bool SphereCollideWithLeafMoving(const COBBTree::CLeafData& leaf, const CTransform4f& xf,
const CSphere& sphere, const CMaterialList& material,
const CMaterialFilter& filter, const CVector3f& dir,
double& dOut, CCollisionInfo& info) const;

CRayCastResult LineIntersectsTree(const CMRay& ray, const CMaterialFilter& filter, float maxTime,
const CTransform4f& xf) const;
bool LineIntersectsOBBTree(const COBBTree::CNode* node, CRayCastInfo& info) const;
bool LineIntersectsOBBTree(const COBBTree::CNode* n0, const COBBTree::CNode* n1,
CRayCastInfo& info) const;
bool LineIntersectsLeaf(const COBBTree::CLeafData& leaf, CRayCastInfo& info) const;

static void SetStaticTableIndex(uint idx) { sTableIndex = idx; }

private:
COBBTree* x10_tree;
uint x14_tries;
uint x18_misses;
uint x1c_hits;

static uint sTableIndex;
};
CHECK_SIZEOF(CCollidableOBBTree, 0x20)

#endif // _CCOLLIDABLEOBBTREE
99 changes: 91 additions & 8 deletions include/WorldFormat/CMetroidAreaCollider.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -10,8 +10,10 @@
#include "Collision/CMaterialList.hpp"

#include "Kyoto/Math/CAABox.hpp"
#include "Kyoto/Math/CLineSeg.hpp"
#include "Kyoto/Math/CPlane.hpp"
#include "Kyoto/Math/CSphere.hpp"
#include "Kyoto/Math/CVector3d.hpp"
#include "Kyoto/Math/CVector3f.hpp"

#include "rstl/reserved_vector.hpp"
Expand All @@ -21,14 +23,7 @@ class CAABoxAreaCache {
friend class CMetroidAreaCollider;

CAABoxAreaCache(const CAABox& aabb, const CPlane* pl, const CMaterialFilter& filter,
const CMaterialList& material, CCollisionInfoList& collisionList)
: x0_aabb(aabb)
, x4_planes(pl)
, x8_filter(filter)
, xc_material(material)
, x10_collisionList(collisionList)
, x14_center(aabb.GetCenterPoint())
, x20_halfExtent(aabb.GetHalfExtent()) {}
const CMaterialList& material, CCollisionInfoList& collisionList);

private:
const CAABox& x0_aabb;
Expand All @@ -40,8 +35,76 @@ class CAABoxAreaCache {
CVector3f x20_halfExtent;
};

class CBooleanAABoxAreaCache {
public:
friend class CMetroidAreaCollider;

CBooleanAABoxAreaCache(const CAABox& aabb, const CMaterialFilter& filter);

private:
const CAABox& x0_aabb;
const CMaterialFilter& x4_filter;
CVector3f x8_center;
CVector3f x14_halfExtent;
};

class CSphereAreaCache {
public:
friend class CMetroidAreaCollider;

CSphereAreaCache(const CAABox& aabb, const CSphere& sphere, const CMaterialFilter& filter,
const CMaterialList& material, CCollisionInfoList& collisionList)
: x0_aabb(aabb)
, x4_sphere(sphere)
, x8_filter(filter)
, xc_material(material)
, x10_collisionList(collisionList) {}

private:
const CAABox& x0_aabb;
const CSphere& x4_sphere;
const CMaterialFilter& x8_filter;
const CMaterialList& xc_material;
CCollisionInfoList& x10_collisionList;
};

class CBooleanSphereAreaCache {
public:
friend class CMetroidAreaCollider;

CBooleanSphereAreaCache(const CAABox& aabb, const CSphere& sphere, const CMaterialFilter& filter)
: x0_aabb(aabb), x4_sphere(sphere), x8_filter(filter) {}

private:
const CAABox& x0_aabb;
const CSphere& x4_sphere;
const CMaterialFilter& x8_filter;
};

class CMetroidAreaCollider {
public:
struct SBoxEdge {
CLineSeg x0_seg;
CVector3d x28_start;
CVector3d x40_end;
CVector3d x58_delta;
CVector3d x70_coDir;
double x88_dirCoDirDot;
SBoxEdge(const CAABox& aabb, int idx, const CVector3f& dir);
};

class CMovingAABoxComponents {
public:
CMovingAABoxComponents(const CAABox& aabb, const CVector3f& dir);

private:
friend class CMetroidAreaCollider;
friend class CCollidableOBBTree;
rstl::reserved_vector< SBoxEdge, 12 > x0_edges;
rstl::reserved_vector< uint, 8 > x6c4_vertIdxs;
CAABox x6e8_aabb;
};

class COctreeLeafCache {
public:
COctreeLeafCache(const CAreaOctTree& octTree);
Expand All @@ -58,6 +121,7 @@ class CMetroidAreaCollider {
}

private:
friend class CMetroidAreaCollider;
const CAreaOctTree& x0_octTree;
rstl::reserved_vector< CAreaOctTree::Node, 64 > x4_nodeCache;
bool x908_24_overflow : 1;
Expand Down Expand Up @@ -106,13 +170,32 @@ class CMetroidAreaCollider {
float d, CCollisionInfo& infoOut,
double& dOut);

static ushort GetPrimitiveCheckCount() { return sDupPrimitiveCheckCount; }
static ushort& DupVertexListValue(uint idx) { return sDupVertexList[idx]; }
static ushort& DupEdgeListValue(uint idx) { return sDupEdgeList[idx]; }
static ushort* GetTriangleList() { return sDupTriangleList; }

private:
friend class CCollidableOBBTree;
static ushort sDupPrimitiveCheckCount;
static ushort sDupVertexList[0x2800];
static ushort sDupEdgeList[0x6000];
static ushort sDupTriangleList[0x4000];
static void ResetInternalCounters();
static bool AABoxCollisionCheck_Internal(const CAreaOctTree::Node&, CAABoxAreaCache&);
static bool AABoxCollisionCheckBoolean_Internal(const CAreaOctTree::Node&,
const CBooleanAABoxAreaCache&);
static bool SphereCollisionCheck_Internal(const CAreaOctTree::Node&, CSphereAreaCache&);
static bool SphereCollisionCheckBoolean_Internal(const CAreaOctTree::Node&,
const CBooleanSphereAreaCache&);
static bool MovingAABoxCollisionCheck_BoxVertexTri(const CCollisionSurface&, const CAABox&,
const rstl::reserved_vector< uint, 8 >&,
CVector3f, double&, CVector3f&, CVector3f&);
static bool MovingAABoxCollisionCheck_TriVertexBox(const CVector3f&, const CAABox&,
CVector3f, double&, CVector3f&, CVector3f&);
static bool MovingAABoxCollisionCheck_Edge(const CVector3f&, const CVector3f&,
const rstl::reserved_vector< SBoxEdge, 12 >&,
CVector3f, double&, CVector3f&, CVector3f&);
};

class CAreaCollisionCache {
Expand Down
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