Havok: Add more ragdoll header stubs

13 files changed, 449 insertions, 0 deletions

diff --git a/lib/hkStubs/CMakeLists.txt b/lib/hkStubs/CMakeLists.txt
index 24837775..86e00c61 100644
--- a/lib/hkStubs/CMakeLists.txt
+++ b/lib/hkStubs/CMakeLists.txt
@@ -8,7 +8,9 @@ add_library(hkStubs OBJECT
   Havok/Animation/Animation/Mapper/hkaSkeletonMapperData.h
   Havok/Animation/Animation/Motion/hkaAnimatedReferenceFrame.h
   Havok/Animation/Animation/Rig/hkaBone.h
+  Havok/Animation/Animation/Rig/hkaBoneAttachment.h
   Havok/Animation/Animation/Rig/hkaSkeleton.h
+  Havok/Animation/Animation/Rig/hkaPose.h
   Havok/Animation/Physics2012Bridge/Instance/hkaRagdollInstance.h
 
   Havok/Common/Base/hkBase.h
@@ -27,6 +29,8 @@ add_library(hkStubs OBJECT
   Havok/Common/Base/Math/Matrix/hkMatrix3.h
   Havok/Common/Base/Math/Matrix/hkMatrix3f.h
   Havok/Common/Base/Math/Matrix/hkMatrix3f.inl
+  Havok/Common/Base/Math/Matrix/hkMatrix4.h
+  Havok/Common/Base/Math/Matrix/hkMatrix4f.h
   Havok/Common/Base/Math/Matrix/hkRotation.h
   Havok/Common/Base/Math/Matrix/hkRotationf.h
   Havok/Common/Base/Math/Matrix/hkTransform.h
diff --git a/lib/hkStubs/Havok/Animation/Animation/Rig/hkaBoneAttachment.h b/lib/hkStubs/Havok/Animation/Animation/Rig/hkaBoneAttachment.h
new file mode 100644
index 00000000..c68aca50
--- /dev/null
+++ b/lib/hkStubs/Havok/Animation/Animation/Rig/hkaBoneAttachment.h
@@ -0,0 +1,21 @@
+#pragma once
+
+#include <Havok/Common/Base/hkBase.h>
+
+class hkaBoneAttachment : public hkReferencedObject {
+public:
+    HK_DECLARE_CLASS_ALLOCATOR(hkaBoneAttachment)
+    HK_DECLARE_REFLECTION()
+
+    inline hkaBoneAttachment() : m_originalSkeletonName(nullptr), m_boneIndex(-1) {}
+
+    HK_FORCE_INLINE explicit hkaBoneAttachment(hkFinishLoadedObjectFlag f)
+        : hkReferencedObject(f), m_originalSkeletonName(f), m_attachment(f), m_name(f) {}
+
+    // Optional.
+    hkStringPtr m_originalSkeletonName;
+    hkMatrix4 m_boneFromAttachment;
+    hkRefVariant m_attachment;
+    hkStringPtr m_name;
+    hkInt16 m_boneIndex;
+};
diff --git a/lib/hkStubs/Havok/Animation/Animation/Rig/hkaPose.h b/lib/hkStubs/Havok/Animation/Animation/Rig/hkaPose.h
new file mode 100644
index 00000000..695503ec
--- /dev/null
+++ b/lib/hkStubs/Havok/Animation/Animation/Rig/hkaPose.h
@@ -0,0 +1,319 @@
+#pragma once
+
+#include <Havok/Animation/Animation/Rig/hkaSkeleton.h>
+#include <Havok/Common/Base/hkBase.h>
+
+class hkaPose {
+public:
+    HK_DECLARE_CLASS_ALLOCATOR(hkaPose)
+
+    enum PoseSpace { MODEL_SPACE, LOCAL_SPACE };
+
+    HK_FORCE_INLINE explicit hkaPose(const hkaSkeleton* skeleton);
+    HK_FORCE_INLINE hkaPose(const hkaSkeleton* skeleton, void* preallocatedMemory);
+
+    HK_FORCE_INLINE static int getRequiredMemorySize(const hkaSkeleton* skeleton);
+
+    hkaPose(PoseSpace space, const hkaSkeleton* skeleton, const hkArrayBase<hkQsTransform>& pose);
+    hkaPose(PoseSpace space, const hkaSkeleton* skeleton, const hkQsTransform* pose, int numBones);
+
+    enum PropagateOrNot { DONT_PROPAGATE = 0, PROPAGATE = 1 };
+
+    HK_FORCE_INLINE const hkaSkeleton* getSkeleton() const;
+
+    const hkArray<hkQsTransform>& getSyncedPoseLocalSpace() const;
+    const hkArray<hkQsTransform>& getSyncedPoseModelSpace() const;
+
+    HK_FORCE_INLINE const hkArray<hkReal>& getFloatSlotValues() const;
+
+    void setPoseLocalSpace(const hkArrayBase<hkQsTransform>& poseLocal);
+    void setPoseModelSpace(const hkArrayBase<hkQsTransform>& poseModel);
+
+    HK_FORCE_INLINE void setFloatSlotValues(const hkArrayBase<hkReal>& floatSlotValues);
+
+    HK_FORCE_INLINE const hkQsTransform& getBoneLocalSpace(int boneIdx) const;
+    HK_FORCE_INLINE const hkQsTransform& getBoneModelSpace(int boneIdx) const;
+
+    HK_FORCE_INLINE hkReal getFloatSlotValue(int floatSlotIdx) const;
+
+    HK_FORCE_INLINE void setBoneLocalSpace(int boneIdx, const hkQsTransform& boneLocal);
+    HK_FORCE_INLINE void setBoneModelSpace(int boneIdx, const hkQsTransform& boneModel,
+                                           PropagateOrNot propagateOrNot);
+
+    HK_FORCE_INLINE void setFloatSlotValue(int floatSlotIdx, hkReal value);
+
+    void syncLocalSpace() const;
+    void syncModelSpace() const;
+    inline void syncAll() const;
+
+    hkQsTransform& accessBoneLocalSpace(int boneIdx);
+    hkQsTransform& accessBoneModelSpace(int boneIdx,
+                                        PropagateOrNot propagateOrNot = DONT_PROPAGATE);
+
+    hkArray<hkQsTransform>& accessSyncedPoseLocalSpace();
+    hkArray<hkQsTransform>& accessSyncedPoseModelSpace();
+
+    hkArray<hkQsTransform>& accessUnsyncedPoseLocalSpace();
+    hkArray<hkQsTransform>& accessUnsyncedPoseModelSpace();
+
+    HK_FORCE_INLINE hkArray<hkReal>& getFloatSlotValues();
+
+    void setToReferencePose();
+
+    void enforceSkeletonConstraintsLocalSpace();
+    void enforceSkeletonConstraintsModelSpace();
+
+    void getModelSpaceAabb(class hkAabb& aabbOut) const;
+
+    inline hkaPose& operator=(const hkaPose& other);
+
+private:
+    void init(PoseSpace space, const hkaSkeleton* skeleton, const hkArrayBase<hkQsTransform>& pose);
+
+    using hkaPoseFlag = hkUint32;
+
+    const hkaSkeleton* m_skeleton;
+
+    mutable hkArray<hkQsTransform> m_localPose;
+    mutable hkArray<hkQsTransform> m_modelPose;
+    mutable hkArray<hkaPoseFlag> m_boneFlags;
+
+    mutable hkBool m_modelInSync;
+    mutable hkBool m_localInSync;
+
+    hkArray<hkReal> m_floatSlotValues;
+
+    enum {
+        F_BONE_LOCAL_DIRTY = 0x1,
+        F_BONE_MODEL_DIRTY = 0x2,
+        F_BONE_INTERNAL_FLAG1 = 0x4,
+        F_BONE_INTERNAL_FLAG2 = 0x8,
+        F_BONE_INTERNAL_FLAG3 = 0x10,
+    };
+
+    enum {
+        M_BONE_INTERNAL_FLAGS =
+            F_BONE_INTERNAL_FLAG1 | F_BONE_INTERNAL_FLAG2 | F_BONE_INTERNAL_FLAG3
+    };
+
+    HK_FORCE_INLINE int isFlagOn(int boneIdx, hkaPoseFlag enumToCheck) const;
+    HK_FORCE_INLINE void setFlag(int boneIdx, hkaPoseFlag enumToCheck) const;
+    HK_FORCE_INLINE void clearFlag(int boneIdx, hkaPoseFlag enumToCheck) const;
+
+    HK_FORCE_INLINE int isFlagOnExplicit(hkaPoseFlag flag, hkaPoseFlag enumToCheck) const;
+    HK_FORCE_INLINE void setFlagExplicit(hkaPoseFlag& flag, hkaPoseFlag enumToCheck) const;
+    HK_FORCE_INLINE void clearFlagExplicit(hkaPoseFlag& flag, hkaPoseFlag enumToCheck) const;
+
+    HK_FORCE_INLINE void clearInternalFlags() const;
+
+    HK_FORCE_INLINE void makeAllChildrenLocalSpace(int boneIdx) const;
+    HK_FORCE_INLINE void makeFirstChildrenModelSpace(int boneIdx) const;
+
+    const hkQsTransform& calculateBoneModelSpace(int boneIdx) const;
+
+    void setNonInitializedFlags();
+    hkBool checkInternalFlagIsClear(hkaPoseFlag flag) const;
+
+public:
+    hkBool checkPoseValidity() const;
+    hkBool checkPoseTransformsValidity() const;
+};
+
+inline hkaPose::hkaPose(const hkaSkeleton* skeleton)
+    : m_skeleton(skeleton), m_modelInSync(false), m_localInSync(false) {
+    const int numBones = m_skeleton->m_bones.getSize();
+    const int numBonesRoundedUp = HK_NEXT_MULTIPLE_OF(4, numBones);
+
+    m_modelPose.reserveExactly(numBonesRoundedUp);
+    m_localPose.reserveExactly(numBonesRoundedUp);
+    m_boneFlags.reserveExactly(numBonesRoundedUp);
+    m_modelPose.setSize(numBones);
+    m_localPose.setSize(numBones);
+    m_boneFlags.setSize(numBones);
+
+    const int numSlots = m_skeleton->m_floatSlots.getSize();
+    const int numSlotsRoundedUp = HK_NEXT_MULTIPLE_OF(4, numSlots);
+    m_floatSlotValues.reserveExactly(numSlotsRoundedUp);
+    m_floatSlotValues.setSize(numSlots, hkReal(0));
+}
+
+inline hkaPose::hkaPose(const hkaSkeleton* skeleton, void* preallocatedMemory)
+    : m_skeleton(skeleton), m_localPose(reinterpret_cast<hkQsTransform*>(preallocatedMemory),
+                                        skeleton->m_bones.getSize(), skeleton->m_bones.getSize()),
+      m_modelPose(m_localPose.begin() + skeleton->m_bones.getSize(), skeleton->m_bones.getSize(),
+                  skeleton->m_bones.getSize()),
+      m_boneFlags(reinterpret_cast<hkaPoseFlag*>(m_modelPose.begin() + skeleton->m_bones.getSize()),
+                  skeleton->m_bones.getSize(), skeleton->m_bones.getSize()),
+      m_modelInSync(false), m_localInSync(false),
+      m_floatSlotValues(
+          reinterpret_cast<hkReal*>(m_boneFlags.begin() + skeleton->m_bones.getSize()),
+          skeleton->m_floatSlots.getSize(),
+          HK_NEXT_MULTIPLE_OF(4, skeleton->m_floatSlots.getSize())) {}
+
+inline int hkaPose::getRequiredMemorySize(const hkaSkeleton* skeleton) {
+    const int numBonesRoundedUp = HK_NEXT_MULTIPLE_OF(4, skeleton->m_bones.getSize());
+
+    const int floatSizeRoundedUp = HK_NEXT_MULTIPLE_OF(4, skeleton->m_floatSlots.getSize());
+
+    const int totalSize =
+        numBonesRoundedUp * (2 * hkSizeOf(hkQsTransform) + hkSizeOf(hkaPoseFlag)) +
+        floatSizeRoundedUp * hkSizeOf(hkReal);
+
+    return totalSize;
+}
+
+inline const hkaSkeleton* hkaPose::getSkeleton() const {
+    return m_skeleton;
+}
+
+inline const hkArray<hkReal>& hkaPose::getFloatSlotValues() const {
+    return m_floatSlotValues;
+}
+
+inline void hkaPose::setFloatSlotValues(const hkArrayBase<hkReal>& floatSlotValues) {
+    m_floatSlotValues = floatSlotValues;
+}
+
+inline const hkQsTransform& hkaPose::getBoneLocalSpace(int boneIdx) const {
+    if (!isFlagOn(boneIdx, F_BONE_LOCAL_DIRTY))
+        return m_localPose[boneIdx];
+
+    const hkQsTransform& modelFromBone = m_modelPose[boneIdx];
+
+    const hkInt16 parentIdx = m_skeleton->m_parentIndices[boneIdx];
+
+    if (parentIdx != -1) {
+        const hkQsTransform& modelFromParent = getBoneModelSpace(parentIdx);
+        m_localPose[boneIdx].setMulInverseMul(modelFromParent, modelFromBone);
+    } else {
+        m_localPose[boneIdx] = modelFromBone;
+    }
+
+    clearFlag(boneIdx, F_BONE_LOCAL_DIRTY);
+
+    return m_localPose[boneIdx];
+}
+
+inline const hkQsTransform& hkaPose::getBoneModelSpace(int boneIdx) const {
+    if (isFlagOn(boneIdx, F_BONE_MODEL_DIRTY))
+        return calculateBoneModelSpace(boneIdx);
+    return m_modelPose[boneIdx];
+}
+
+inline hkReal hkaPose::getFloatSlotValue(int floatSlotIdx) const {
+    return m_floatSlotValues[floatSlotIdx];
+}
+
+inline void hkaPose::setBoneLocalSpace(int boneIdx, const hkQsTransform& boneLocal) {
+    makeAllChildrenLocalSpace(boneIdx);
+    m_localPose[boneIdx] = boneLocal;
+    m_boneFlags[boneIdx] = F_BONE_MODEL_DIRTY;
+    m_modelInSync = false;
+}
+
+inline void hkaPose::setBoneModelSpace(int boneIdx, const hkQsTransform& boneModel,
+                                       hkaPose::PropagateOrNot propagateOrNot) {
+    if (propagateOrNot)
+        makeAllChildrenLocalSpace(boneIdx);
+    else
+        makeFirstChildrenModelSpace(boneIdx);
+
+    m_modelPose[boneIdx] = boneModel;
+    m_boneFlags[boneIdx] = F_BONE_LOCAL_DIRTY;
+    m_localInSync = false;
+}
+
+inline void hkaPose::setFloatSlotValue(int floatSlotIdx, hkReal value) {
+    m_floatSlotValues[floatSlotIdx] = value;
+}
+
+inline void hkaPose::syncAll() const {
+    syncLocalSpace();
+    syncModelSpace();
+}
+
+inline hkArray<hkReal>& hkaPose::getFloatSlotValues() {
+    return m_floatSlotValues;
+}
+
+inline hkaPose& hkaPose::operator=(const hkaPose& other) {
+    m_skeleton = other.m_skeleton;
+    m_localPose = other.m_localPose;
+    m_modelPose = other.m_modelPose;
+    m_boneFlags = other.m_boneFlags;
+    m_modelInSync = other.m_modelInSync;
+    m_localInSync = other.m_localInSync;
+    m_floatSlotValues = other.m_floatSlotValues;
+
+    return *this;
+}
+
+inline int hkaPose::isFlagOn(int boneIdx, hkaPose::hkaPoseFlag enumToCheck) const {
+    return m_boneFlags[boneIdx] & enumToCheck;
+}
+
+inline void hkaPose::setFlag(int boneIdx, hkaPose::hkaPoseFlag enumToCheck) const {
+    m_boneFlags[boneIdx] |= enumToCheck;
+}
+
+inline void hkaPose::clearFlag(int boneIdx, hkaPose::hkaPoseFlag enumToCheck) const {
+    m_boneFlags[boneIdx] &= static_cast<hkaPoseFlag>(~enumToCheck);
+}
+
+inline int hkaPose::isFlagOnExplicit(hkaPose::hkaPoseFlag flag,
+                                     hkaPose::hkaPoseFlag enumToCheck) const {
+    return int(flag & enumToCheck);
+}
+
+inline void hkaPose::setFlagExplicit(hkaPose::hkaPoseFlag& flag,
+                                     hkaPose::hkaPoseFlag enumToCheck) const {
+    flag |= enumToCheck;
+}
+
+inline void hkaPose::clearFlagExplicit(hkaPose::hkaPoseFlag& flag,
+                                       hkaPose::hkaPoseFlag enumToCheck) const {
+    flag &= static_cast<hkaPoseFlag>(~enumToCheck);
+}
+
+inline void hkaPose::clearInternalFlags() const {
+    const int numBones = m_boneFlags.getSize();
+    for (int i = 0; i < numBones; ++i)
+        m_boneFlags[i] &= (~M_BONE_INTERNAL_FLAGS);
+}
+
+inline void hkaPose::makeAllChildrenLocalSpace(int boneIdx) const {
+    const int numBones = m_skeleton->m_bones.getSize();
+
+    setFlag(boneIdx, F_BONE_INTERNAL_FLAG1);
+
+    for (int i = boneIdx + 1; i < numBones; ++i) {
+        const hkInt16 parentId = m_skeleton->m_parentIndices[i];
+        if (parentId != -1 && isFlagOn(parentId, F_BONE_INTERNAL_FLAG1)) {
+            getBoneLocalSpace(i);
+            setFlag(i, F_BONE_INTERNAL_FLAG1);
+            m_modelInSync = false;
+        }
+    }
+
+    for (int i = boneIdx + 1; i < numBones; ++i) {
+        hkaPoseFlag f = m_boneFlags[i];
+        if (isFlagOnExplicit(f, F_BONE_INTERNAL_FLAG1)) {
+            setFlagExplicit(f, F_BONE_MODEL_DIRTY);
+            clearFlagExplicit(f, F_BONE_INTERNAL_FLAG1);
+            m_boneFlags[i] = f;
+        }
+    }
+}
+
+inline void hkaPose::makeFirstChildrenModelSpace(int boneIdx) const {
+    const int numBones = m_skeleton->m_bones.getSize();
+
+    for (int i = boneIdx + 1; i < numBones; ++i) {
+        const hkInt16 parentId = m_skeleton->m_parentIndices[i];
+        if (parentId == boneIdx) {
+            getBoneModelSpace(i);  // sync model
+            m_boneFlags[i] = F_BONE_LOCAL_DIRTY;
+            m_localInSync = false;
+        }
+    }
+}
diff --git a/lib/hkStubs/Havok/Common/Base/Container/Array/hkArray.h b/lib/hkStubs/Havok/Common/Base/Container/Array/hkArray.h
index a4afe8d6..ba542278 100644
--- a/lib/hkStubs/Havok/Common/Base/Container/Array/hkArray.h
+++ b/lib/hkStubs/Havok/Common/Base/Container/Array/hkArray.h
@@ -122,6 +122,8 @@ public:
 
     HK_FORCE_INLINE void clearAndDeallocate();
     HK_FORCE_INLINE void pushBack(const T& e);
+    HK_FORCE_INLINE hkResult reserve(int size);
+    HK_FORCE_INLINE hkResult reserveExactly(int size);
     HK_FORCE_INLINE void setSize(int size);
     HK_FORCE_INLINE void setSize(int size, const T& fill);
 
@@ -425,6 +427,16 @@ inline void hkArray<T, Allocator>::setSize(int size, const T& fill) {
     this->_setSize(AllocatorType().get(), size, fill);
 }
 
+template <typename T, typename Allocator>
+inline hkResult hkArray<T, Allocator>::reserve(int size) {
+    return this->_reserve(AllocatorType().get(), size);
+}
+
+template <typename T, typename Allocator>
+inline hkResult hkArray<T, Allocator>::reserveExactly(int size) {
+    return this->_reserveExactly(AllocatorType().get(), size);
+}
+
 template <typename T, unsigned N, typename Allocator>
 inline hkInplaceArray<T, N, Allocator>::hkInplaceArray(int size)
     : hkArray<T, Allocator>(m_storage, size, N) {}
diff --git a/lib/hkStubs/Havok/Common/Base/Math/Matrix/hkMatrix4.h b/lib/hkStubs/Havok/Common/Base/Math/Matrix/hkMatrix4.h
new file mode 100644
index 00000000..a0917d8e
--- /dev/null
+++ b/lib/hkStubs/Havok/Common/Base/Math/Matrix/hkMatrix4.h
@@ -0,0 +1,5 @@
+#pragma once
+
+#include <Havok/Common/Base/Math/Matrix/hkMatrix4f.h>
+
+using hkMatrix4 = hkMatrix4f;
diff --git a/lib/hkStubs/Havok/Common/Base/Math/Matrix/hkMatrix4f.h b/lib/hkStubs/Havok/Common/Base/Math/Matrix/hkMatrix4f.h
new file mode 100644
index 00000000..677b2164
--- /dev/null
+++ b/lib/hkStubs/Havok/Common/Base/Math/Matrix/hkMatrix4f.h
@@ -0,0 +1,9 @@
+#pragma once
+
+class hkMatrix4f {
+public:
+    hkVector4f m_col0;
+    hkVector4f m_col1;
+    hkVector4f m_col2;
+    hkVector4f m_col3;
+};
diff --git a/lib/hkStubs/Havok/Common/Base/Math/QsTransform/hkQsTransformf.h b/lib/hkStubs/Havok/Common/Base/Math/QsTransform/hkQsTransformf.h
index 8a602afc..0955f489 100644
--- a/lib/hkStubs/Havok/Common/Base/Math/QsTransform/hkQsTransformf.h
+++ b/lib/hkStubs/Havok/Common/Base/Math/QsTransform/hkQsTransformf.h
@@ -36,6 +36,21 @@ public:
     void setFromTransform(const hkQTransformf& qt);
     void copyToTransform(hkTransformf& transformOut) const;
 
+    HK_FORCE_INLINE void setInverse(const hkQsTransformf& t);
+
+    HK_FORCE_INLINE void setMul(const hkQsTransformf& t1, const hkQsTransformf& t2);
+
+    HK_FORCE_INLINE void setMulScaled(const hkQsTransformf& t1, const hkQsTransformf& t2);
+
+    /// this = t1^-1 * t2
+    HK_FORCE_INLINE void setMulInverseMul(const hkQsTransformf& t1, const hkQsTransformf& t2);
+
+    /// this = t1 * t2^-1
+    HK_FORCE_INLINE void setMulMulInverse(const hkQsTransformf& t1, const hkQsTransformf& t2);
+
+    /// this *= b
+    HK_FORCE_INLINE void setMulEq(const hkQsTransformf& b);
+
     hkVector4f m_translation;
     hkQuaternionf m_rotation;
     hkVector4f m_scale;
diff --git a/lib/hkStubs/Havok/Common/Base/Math/QsTransform/hkQsTransformf.inl b/lib/hkStubs/Havok/Common/Base/Math/QsTransform/hkQsTransformf.inl
index 886d0652..4d8401f2 100644
--- a/lib/hkStubs/Havok/Common/Base/Math/QsTransform/hkQsTransformf.inl
+++ b/lib/hkStubs/Havok/Common/Base/Math/QsTransform/hkQsTransformf.inl
@@ -47,3 +47,38 @@ inline void hkQsTransformf::setZero() {
     m_rotation.m_vec.setZero();
     m_scale.setZero();
 }
+
+inline void hkQsTransformf::setInverse(const hkQsTransformf& t) {
+    m_translation.setRotatedInverseDir(t.m_rotation, t.m_translation);
+    m_translation.setNeg<4>(m_translation);
+    m_rotation.setInverse(t.m_rotation);
+
+    m_scale.setReciprocal(t.m_scale);
+
+    m_scale.zeroComponent<3>();
+}
+
+inline void hkQsTransformf::setMul(const hkQsTransformf& t1, const hkQsTransformf& t2) {
+    hkVector4f extraTrans;
+    extraTrans._setRotatedDir(t1.m_rotation, t2.m_translation);
+    m_translation.setAdd(t1.m_translation, extraTrans);
+    m_rotation.setMul(t1.m_rotation, t2.m_rotation);
+
+    m_scale.setMul(t1.m_scale, t2.m_scale);
+}
+
+inline void hkQsTransformf::setMulInverseMul(const hkQsTransformf& t1, const hkQsTransformf& t2) {
+    hkQsTransformf inv;
+    inv.setInverse(t1);
+    setMul(inv, t2);
+}
+
+inline void hkQsTransformf::setMulMulInverse(const hkQsTransformf& t1, const hkQsTransformf& t2) {
+    hkQsTransformf inv;
+    inv.setInverse(t2);
+    setMul(t1, inv);
+}
+
+inline void hkQsTransformf::setMulEq(const hkQsTransformf& b) {
+    setMul(*this, b);
+}
diff --git a/lib/hkStubs/Havok/Common/Base/Math/Vector/hkVector4f.h b/lib/hkStubs/Havok/Common/Base/Math/Vector/hkVector4f.h
index 699d1e93..c9bd6b97 100644
--- a/lib/hkStubs/Havok/Common/Base/Math/Vector/hkVector4f.h
+++ b/lib/hkStubs/Havok/Common/Base/Math/Vector/hkVector4f.h
@@ -27,6 +27,9 @@ public:
     HK_FORCE_INLINE void setAll(hkFloat32 x);
     HK_FORCE_INLINE void setAll(hkSimdFloat32Parameter x);
     HK_FORCE_INLINE void setZero();
+    template <int I>
+    HK_FORCE_INLINE void zeroComponent();
+    HK_FORCE_INLINE void zeroComponent(int i);
 
     // ========== Vector operations
 
@@ -116,7 +119,17 @@ public:
     // ========== Matrix operations (out-of-line)
 
     void setRotatedDir(const hkMatrix3f& a, hkVector4fParameter b);
+    void setRotatedInverseDir(const hkMatrix3f& a, hkVector4fParameter b);
     void setTransformedPos(const hkTransformf& a, const hkVector4f& pos);
+    void setTransformedInversePos(const hkTransformf& a, hkVector4fParameter b);
+
+    void setRotatedDir(hkQuaternionfParameter quat, hkVector4fParameter direction);
+    void setRotatedInverseDir(hkQuaternionfParameter quat, hkVector4fParameter direction);
+    void setTransformedPos(const hkQsTransformf& a, hkVector4fParameter b);
+    void setTransformedInversePos(const hkQsTransformf& a, hkVector4fParameter b);
+
+    void setTransformedPos(const hkQTransformf& a, hkVector4fParameter b);
+    void setTransformedInversePos(const hkQTransformf& a, hkVector4fParameter b);
 
     // ========== Matrix operations (inline)
 
diff --git a/lib/hkStubs/Havok/Common/Base/Math/Vector/hkVector4f.inl b/lib/hkStubs/Havok/Common/Base/Math/Vector/hkVector4f.inl
index a4ad8c2a..8356223a 100644
--- a/lib/hkStubs/Havok/Common/Base/Math/Vector/hkVector4f.inl
+++ b/lib/hkStubs/Havok/Common/Base/Math/Vector/hkVector4f.inl
@@ -63,6 +63,15 @@ inline void hkVector4f::setZero() {
     setAll(0);
 }
 
+template <int I>
+inline void hkVector4f::zeroComponent() {
+    v[I] = 0;
+}
+
+inline void hkVector4f::zeroComponent(int i) {
+    v[i] = 0;
+}
+
 inline void hkVector4f::add(hkVector4fParameter a) {
     setAdd(*this, a);
 }
diff --git a/lib/hkStubs/Havok/Common/Base/Math/hkMath.h b/lib/hkStubs/Havok/Common/Base/Math/hkMath.h
index 055af896..6c310de7 100644
--- a/lib/hkStubs/Havok/Common/Base/Math/hkMath.h
+++ b/lib/hkStubs/Havok/Common/Base/Math/hkMath.h
@@ -18,6 +18,7 @@ class hkRotationf;
 class hkTransformf;
 class hkQTransformf;
 class hkQsTransformf;
+class hkMatrix4f;
 
 // Type aliases
 using hkVector4fParameter = const hkVector4f&;
@@ -34,6 +35,7 @@ using hkQuaternionfParameter = const hkQuaternionf&;
 #include <Havok/Common/Base/Math/Matrix/hkRotation.h>
 #include <Havok/Common/Base/Math/Matrix/hkTransform.h>
 #include <Havok/Common/Base/Math/QsTransform/hkQsTransform.h>
+#include <Havok/Common/Base/Math/Matrix/hkMatrix4.h>
 
 // Implementations
 #include <Havok/Common/Base/Math/Vector/hkVector4f.inl>
diff --git a/lib/hkStubs/Havok/Common/Base/Types/hkBaseDefs.h b/lib/hkStubs/Havok/Common/Base/Types/hkBaseDefs.h
index dc0db329..30d53aba 100644
--- a/lib/hkStubs/Havok/Common/Base/Types/hkBaseDefs.h
+++ b/lib/hkStubs/Havok/Common/Base/Types/hkBaseDefs.h
@@ -9,3 +9,6 @@
 #define HK_RESTRICT __restrict
 
 #define HK_MAX_NUM_THREADS 12
+
+#define HK_NEXT_MULTIPLE_OF(ALIGNMENT, VALUE)                                                      \
+    (((VALUE) + ((ALIGNMENT)-1)) & (~((ALIGNMENT) + (VALUE)*0 - 1)))
diff --git a/lib/hkStubs/Havok/Common/Base/Types/hkBaseTypes.h b/lib/hkStubs/Havok/Common/Base/Types/hkBaseTypes.h
index c6719c75..d2e63472 100644
--- a/lib/hkStubs/Havok/Common/Base/Types/hkBaseTypes.h
+++ b/lib/hkStubs/Havok/Common/Base/Types/hkBaseTypes.h
@@ -212,6 +212,8 @@ public:
     int m_finishing = 0;
 };
 
+#define hkSizeOf(A) int(sizeof(A))
+
 HK_FORCE_INLINE hkLong hkGetByteOffset(const void* base, const void* pntr) {
     return hkLong(pntr) - hkLong(base);
 }