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#include "KingSystem/Physics/System/physShapeCastWithInfo.h"
#include <Havok/Physics2012/Collide/Agent/Collidable/hkpCollidable.h>
#include <Havok/Physics2012/Collide/Query/Collector/PointCollector/hkpAllCdPointCollector.h>
#include <Havok/Physics2012/Dynamics/Entity/hkpRigidBody.h>
#include <Havok/Physics2012/Dynamics/World/hkpWorld.h>
#include "KingSystem/Physics/RigidBody/Shape/Sphere/physSphereRigidBody.h"
#include "KingSystem/Physics/RigidBody/Shape/Sphere/physSphereShape.h"
#include "KingSystem/Physics/RigidBody/physRigidBody.h"
#include "KingSystem/Physics/System/physQueryContactPointInfo.h"
#include "KingSystem/Physics/System/physSystem.h"
#include "KingSystem/Physics/physConversions.h"
namespace ksys::phys {
ShapeCastWithInfo::ShapeCastWithInfo(RigidBody* body, int num_contact_points, Mode mode,
const sead::SafeString& name, LowPriority low_priority)
: ShapeCast(body, nullptr, mode) {
mStatus = Status::_1;
auto* heap = System::instance()->getPhysicsTempHeap(low_priority);
mContactPointInfo = QueryContactPointInfo::make(heap, num_contact_points, name, 0, 0);
}
ShapeCastWithInfo::ShapeCastWithInfo(RigidBody* body, QueryContactPointInfo* contact_point_info,
Mode mode)
: ShapeCast(body, contact_point_info, mode) {}
ShapeCastWithInfo::~ShapeCastWithInfo() {
if (mStatus == Status::_1 || mStatus == Status::_3)
QueryContactPointInfo::free(mContactPointInfo);
}
// NON_MATCHING: mMode test + regalloc
bool ShapeCastWithInfo::executeQuery(WeldClosestPoints weld_closest_points) {
if (mMode == Mode::_1 || mMode == Mode::_0) {
FilteredClosestCdPointCollector cast_collector{mBody, mContactPointInfo};
hkpAllCdPointCollector start_collector;
return doExecuteQuery(cast_collector, &start_collector, weld_closest_points,
OnlyLockIfNeeded::Yes);
} else {
hkpAllCdPointCollector cast_collector;
hkpAllCdPointCollector start_collector;
return doExecuteQuery(cast_collector, &start_collector, weld_closest_points,
OnlyLockIfNeeded::Yes);
}
}
void ShapeCastWithInfo::doCast(const hkpLinearCastInput& input, hkpCdPointCollector& cast_collector,
hkpCdPointCollector* start_collector) {
hkTransformf transform;
const auto translate = mFrom;
transform.set(toHkQuat(mRotation), toHkVec4(translate));
hkpRigidBody* hk_body = mBody->getHkBody();
hkpCollidable collidable{hk_body->getCollidable()->getShape(),
hk_body->getMotion()->getMotionState()};
collidable.setTransform(&transform);
collidable.setCollisionFilterInfo(hk_body->getCollisionFilterInfo());
auto* world = System::instance()->getHavokWorld(mBody->getLayerType());
world->linearCast(&collidable, input, cast_collector, start_collector);
}
SphereCast::SphereCast(ContactLayer layer, GroundHit ground_hit, SystemGroupHandler* group_handler,
int num_contact_points, ShapeCast::Mode mode, const sead::Vector3f& from,
float sphere_radius, const sead::SafeString& name, LowPriority low_priority)
: ShapeCastWithInfo(nullptr, num_contact_points, mode, name, low_priority) {
auto* heap = System::instance()->getPhysicsTempHeap(low_priority);
SphereParam sphere_param;
sphere_param.name = sead::SafeString::cEmptyString.cstr();
sphere_param.radius = sphere_radius;
sphere_param.translate = from;
sphere_param.contact_layer = layer;
sphere_param.groundhit = ground_hit;
sphere_param.motion_type = MotionType::Fixed;
sphere_param.system_group_handler = group_handler;
sphere_param._90 = true;
mSphere = SphereRigidBody::make(&sphere_param, heap);
mBody = mSphere;
mStatus = Status::_3;
}
SphereCast::~SphereCast() {
if (mStatus == Status::_2 || mStatus == Status::_3)
delete mSphere;
}
void SphereCast::setRadius(float radius) {
mSphere->setRadius(radius);
mSphere->x_40();
}
} // namespace ksys::phys
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