path: root/src/d/d_jnt_hit.cpp

//
// Generated by dtk
// Translation Unit: d_jnt_hit.cpp
//

#include "d/dolzel.h" // IWYU pragma: keep
#include "d/d_jnt_hit.h"
#include "m_Do/m_Do_mtx.h"
#include "SSystem/SComponent/c_math.h"
#include "SSystem/SComponent/c_lib.h"

/* 80060BE8-80060C44       .text __ct__12JntHit_HIO_cFv */
JntHit_HIO_c::JntHit_HIO_c() {
    m06 = 0;
    m08 = 0;
    m0C = 50.0f;
    m10 = cXyz::Zero;
    m1C = 0.0f;
    m20 = 0.0f;
    m24 = 100.0f;
    mNo = -1;
}

/* 80060C44-80060EC4       .text CreateInit__8JntHit_cFv */
BOOL JntHit_c::CreateInit() {
    __jnt_hit_data_c* pHitData = mpSearchData;
    int posCount = 0;
    int i;
    for (i = 0; i < mMaxNum; i++) {
        if (isCylinder(pHitData->mShapeType)) {
            posCount += 2;
        } else if (isSphere(pHitData->mShapeType)) {
            posCount += 1;
        }
        pHitData++;
    }
    
    mpShapeTypes = new s16[mMaxNum];
    mpOffsets = new cXyz[posCount];
    mpRadiuses = new f32[mMaxNum];
    mpJointIndexes = new s16[mMaxNum];
    if (!mpShapeTypes || !mpOffsets || !mpRadiuses || !mpJointIndexes) {
        return FALSE;
    }
    
    pHitData = mpSearchData;
    s16* pShapeType = mpShapeTypes;
    s16* pJointIndex = mpJointIndexes;
    f32* pRadius = mpRadiuses;
    cXyz* pOffset = mpOffsets;
    for (i = 0; i < mMaxNum;) {
        pShapeType[0] = pHitData->mShapeType;
        pJointIndex[0] = pHitData->mJointIndex;
        pRadius[0] = pHitData->mRadius;
        
        if (isCylinder(pShapeType[0])) {
            pOffset[0] = pHitData->mpOffsets[0];
            pOffset[1] = pHitData->mpOffsets[1];
            pOffset++;
        } else if (isSphere(pShapeType[0])) {
            pOffset[0] = pHitData->mpOffsets[0];
        }
        
        pOffset++;
        i++;
        pHitData++;
        pShapeType++;
        pJointIndex++;
        pRadius++;
    }
    
    return TRUE;
}

/* 80060EC4-80061440       .text CylHitPosAngleOffset__8JntHit_cFP4cXyzP5csXyzP4cXyzP5csXyz4cXyz4cXyzf */
BOOL JntHit_c::CylHitPosAngleOffset(cXyz* r27, csXyz* r28, cXyz* r29, csXyz* r30, cXyz r31, cXyz r9, f32 f28) {
    cXyz r1_100 = r9 - r31;
    cXyz r1_F4 = r1_100.normZP();
    f32 f30 = r1_100.abs();
    f32 f1 = r27->inprod(r1_F4);
    cXyz r1_E8;
    cXyz r1_DC = *r27;
    cXyz r1_D0 = r1_F4;
    r1_D0 *= f1;
    r1_DC -= r1_D0;
    
    f32 sinX = cM_ssin(r28->x);
    f32 cosX = cM_scos(r28->x);
    f32 sinY = cM_ssin(r28->y);
    f32 cosY = cM_scos(r28->y);
    cXyz r1_C4(cosX * sinY, -sinX, cosX * cosY);
    f1 = r1_C4.inprod(r1_F4);
    cXyz r1_B8 = r1_C4;
    r1_D0 = r1_F4;
    r1_D0 *= f1;
    r1_B8 -= r1_D0;
    if (r1_B8.normalizeRS()) {
        f32 f31 = r1_DC.inprod(r1_B8);
        f32 temp = f31*f31 + f28*f28 - r1_DC.abs2();
        if (temp < 0.0f)
            temp = 0.0f;
        f32 temp2 = (-f31 - std::sqrtf(temp));
        r1_E8 = r1_C4 * temp2;
        r1_E8 += *r27;
        if (temp == 0.0f) {
            cXyz r1_AC = r1_E8;
            r1_AC -= r1_F4 * r1_E8.inprod(r1_F4);
            r1_AC.normalizeZP();
            r1_AC = r1_AC * f28;
            r1_AC += r1_F4 * r1_E8.inprod(r1_F4);
            r1_E8 = r1_AC;
        }
    } else {
        r1_E8 = *r27;
        cXyz r1_A0 = *r27;
        r1_A0 -= r1_F4 * r1_E8.inprod(r1_F4);
        r1_A0.normalizeZP();
        r1_A0 = r1_A0 * f28;
        r1_A0 += r1_F4 * r1_E8.inprod(r1_F4);
        r1_E8 = r1_A0;
    }
    
    f32 temp = r1_E8.inprod(r1_F4);
    f32 temp2 = 0.0f;
    if (temp < 0.0f)
        temp2 = -temp;
    else if (temp > f30)
        temp2 = f30 - temp;
    r1_E8 += r1_F4 * temp2;
    r1_E8 += r31;
    
    mDoMtx_stack_c::inverse();
    mDoMtx_stack_c::transM(r1_E8);
    mDoMtx_stack_c::ZXYrotM(*r28);
    mDoMtx_stack_c::multVecZero(r29);
    mDoMtx_MtxToRot(mDoMtx_stack_c::get(), r30);
    
    return TRUE;
}

/* 80061440-80061830       .text Cyl2HitPosAngleOffset__8JntHit_cFP4cXyzP5csXyzP4cXyzP5csXyz4cXyz4cXyzf */
BOOL JntHit_c::Cyl2HitPosAngleOffset(cXyz* r27, csXyz* r29, cXyz* r30, csXyz* r31, cXyz r28, cXyz r9, f32 f31) {
    cXyz r1_94 = r9 - r28;
    cXyz r1_88 = r1_94.normZP();
    f32 f29 = r1_94.abs();
    f32 f30 = r27->inprod(r1_88);

    f32 sinX = cM_ssin(r29->x);
    f32 cosX = cM_scos(r29->x);
    f32 sinY = cM_ssin(r29->y);
    f32 cosY = cM_scos(r29->y);
    cXyz r1_7C;
    cXyz r1_70(cosX * sinY, -sinX, cosX * cosY);
    f32 f1 = r1_70.inprod(r1_88);
    if (!cLib_IsZero(f1)) {
        if (f1 > 0.0f) {
            f1 = -f30 / f1;
        } else {
            f1 = (f29 - f30) / f1;
        }
        cXyz r1_64 = r1_70;
        r1_64 *= f1;
        r1_7C = *r27 + r1_64;
    } else {
        r1_7C = *r27;
    }
    
    cXyz r1_58 = r1_7C;
    f32 temp = r1_58.inprod(r1_88);
    cXyz r1_4C = r1_88;
    r1_4C *= temp;
    r1_58 -= r1_4C;
    cXyz r1_40 = r1_58;
    if (r1_58.abs() > f31 && r1_58.normalizeRS()) {
        r1_58 *= f31;
        r1_58 = r1_40 - r1_58;
        r1_7C -= r1_58;
    }
    r1_7C += r28;
    
    mDoMtx_stack_c::inverse();
    mDoMtx_stack_c::transM(r1_7C);
    mDoMtx_stack_c::ZXYrotM(*r29);
    mDoMtx_stack_c::multVecZero(r30);
    mDoMtx_MtxToRot(mDoMtx_stack_c::get(), r31);
    
    return TRUE;
}

/* 80061830-80061ACC       .text SphHitPosAngleOffset__8JntHit_cFP4cXyzP5csXyzP4cXyzP5csXyz4cXyzf */
BOOL JntHit_c::SphHitPosAngleOffset(cXyz* r27, csXyz* r29, cXyz* r30, csXyz* r31, cXyz r28, f32 f30) {
    f32 sinX = cM_ssin(r29->x);
    f32 cosX = cM_scos(r29->x);
    f32 sinY = cM_ssin(r29->y);
    f32 cosY = cM_scos(r29->y);
    cXyz r1_34(cosX * sinY, -sinX, cosX * cosY);
    f32 f31 = r27->inprod(r1_34);
    f32 temp = f31*f31 + f30*f30 - r27->abs2();
    if (temp < 0.0f)
        temp = 0.0f;
    f32 temp2 = (-f31 - std::sqrtf(temp));
    cXyz r1_28 = r1_34 * temp2;
    r1_28 += *r27;
    if (r1_28.abs() > f30) {
        r1_28.normalizeZP();
        r1_28 *= f30;
    }
    r1_28 += r28;
    
    mDoMtx_stack_c::inverse();
    mDoMtx_stack_c::transM(r1_28);
    mDoMtx_stack_c::ZXYrotM(*r29);
    mDoMtx_stack_c::multVecZero(r30);
    mDoMtx_MtxToRot(mDoMtx_stack_c::get(), r31);
    
    return TRUE;
}

/* 80061ACC-80061C28       .text HitBufferUpdate__8JntHit_cFPiP4cXyziP5csXyzP4cXyz */
BOOL JntHit_c::HitBufferUpdate(int* r28, cXyz* r29, int r30, csXyz* r31, cXyz* r27) {
    mDoMtx_stack_c::copy(mpModel->getAnmMtx(r30));
    cXyz r1_2C;
    mDoMtx_stack_c::multVec(r27, &r1_2C);
    if (*r28 >= 0) {
        cXyz r1_20(
            cM_scos(r31->x) * cM_ssin(r31->y),
            -cM_ssin(r31->x),
            cM_scos(r31->x) * cM_scos(r31->y)
        );
        cXyz r1_14 = r1_2C - *r29;
        if (r1_14.inprod(r1_20) < 0.0f) {
            *r28 = r30;
            *r29 = r1_2C;
            return TRUE;
        } else {
            return FALSE;
        }
    } else {
        *r28 = r30;
        *r29 = r1_2C;
        return TRUE;
    }
}

/* 80061C28-800627DC       .text searchJntHitPosAngleOffset__8JntHit_cFP4cXyzP5csXyzP4cXyzP5csXyz */
s32 JntHit_c::searchJntHitPosAngleOffset(cXyz* r18, csXyz* r28, cXyz* r29, csXyz* r30) {
    cXyz r1_1A0;
    cXyz r1_194;
    cXyz r1_188;
    cXyz r1_17C;
    cXyz r1_170;
    cXyz r1_164;
    cXyz r1_158;
    cXyz r1_14C;
    cXyz r1_140;
    cXyz r1_134;
    cXyz r1_128;
    cXyz r1_11C;
    cXyz r1_110;
    cXyz r1_104;
    csXyz r1_24;
    J3DModel* model = mpModel;
    f32 f31 = 10000.0f;
    int j = 0;
    int jointIndex = JntHitIdx_NONE_e;
    s16* pShapeType = mpShapeTypes;
    s16* pJointIndex = mpJointIndexes;
    f32* pRadius = mpRadiuses;
    cXyz* pOffset = mpOffsets;
    int i = 0;
    int posIndex = 0;
    int hitIndex = 0;
    int hitPosIndex = 0;
    int tmp = JntHitIdx_NONE_e;
    int r1_20 = tmp;
    for (; j++ < mMaxNum; i++) {
        mDoMtx_stack_c::copy(model->getAnmMtx(*pJointIndex));
        
        if (isCylinder(*pShapeType)) {
            mDoMtx_stack_c::multVec(pOffset, &r1_17C);
            mDoMtx_stack_c::multVec(pOffset+1, &r1_170);
            r1_164 = r1_170 - r1_17C;
            r1_158 = r1_164;
            r1_1A0 = *r18 - r1_17C;
            if (!r1_158.normalizeRS()) {
                f32 temp = cLib_minLimit(r1_1A0.abs() - *pRadius, 0.0f);
                if (temp <= f31) {
                    jointIndex = *pJointIndex;
                    f31 = temp;
                    hitIndex = i;
                    hitPosIndex = posIndex;
                    if (f31 < *pRadius) {
                        SphHitPosAngleOffset(&r1_1A0, r28, r29, r30, r1_17C, *pRadius);
                        if (HitBufferUpdate(&r1_20, &r1_194, jointIndex, r28, r29)) {
                            r1_188 = *r29;
                            r1_24 = *r30;
                        }
                    }
                }
            } else {
                r1_14C = r1_158.outprod(r1_1A0);
                f32 f29 = cLib_minLimit(r1_14C.abs() - *pRadius, 0.0f);
                f32 f30 = r1_158.inprod(r1_1A0);
                f32 f5;
                if (f30 < 0.0f) {
                    f5 = -f30;
                } else {
                    if (f30 > r1_164.abs()) {
                        f5 = f30 - r1_164.abs();
                    } else {
                        f5 = 0.0f;
                    }
                }
                f32 f4 = std::sqrtf(f5*f5 + f29*f29);
                if (f4 <= f31) {
                    jointIndex = *pJointIndex;
                    f31 = f4;
                    hitIndex = i;
                    hitPosIndex = posIndex;
                    if (cLib_IsZero(f5) && cLib_IsZero(f29)) {
                        if (!isThrow(*pShapeType)) {
                            if (*pShapeType == JntHitType_CYL_e) {
                                CylHitPosAngleOffset(&r1_1A0, r28, r29, r30, r1_17C, r1_170, *pRadius);
                            } else if (*pShapeType == JntHitType_CYL2_e) {
                                Cyl2HitPosAngleOffset(&r1_1A0, r28, r29, r30, r1_17C, r1_170, *pRadius);
                            }
                            if (isDelete(*pShapeType)) {
                                return JntHitIdx_DELETE_e;
                            }
                            if (HitBufferUpdate(&r1_20, &r1_194, jointIndex, r28, r29)) {
                                r1_188 = *r29;
                                r1_24 = *r30;
                            }
                        }
                    }
                }
            }
            pOffset += 2;
            posIndex += 2;
        } else if (isSphere(*pShapeType)) {
            mDoMtx_stack_c::multVec(pOffset, &r1_140);
            r1_1A0 = *r18 - r1_140;
            f32 temp = cLib_minLimit(r1_1A0.abs() - *pRadius, 0.0f);
            if (temp <= f31) {
                jointIndex = *pJointIndex;
                f31 = temp;
                hitIndex = i;
                hitPosIndex = posIndex;
                if (cLib_IsZero(f31)) {
                    SphHitPosAngleOffset(&r1_1A0, r28, r29, r30, r1_140, *pRadius);
                    if (isDelete(*pShapeType)) {
                        jointIndex = JntHitIdx_DELETE_e;
                        return jointIndex;
                    } else if (isThrow(*pShapeType)) {
                        // Do nothing
                    } else if (HitBufferUpdate(&r1_20, &r1_194, jointIndex, r28, r29)) {
                        r1_188 = *r29;
                        r1_24 = *r30;
                    }
                }
            }
            pOffset += 1;
            posIndex += 1;
        }
        
        pShapeType++;
        pJointIndex++;
        pRadius++;
    }
    
    if (r1_20 >= 0) {
        *r29 = r1_188;
        *r30 = r1_24;
        return r1_20;
    }
    
    pShapeType = mpShapeTypes;
    pRadius = mpRadiuses;
    pOffset = mpOffsets;
    
    mDoMtx_stack_c::copy(model->getAnmMtx(jointIndex));
    if (isThrow(pShapeType[hitIndex])) {
        jointIndex = JntHitIdx_NONE_e;
    } else if (isDelete(pShapeType[hitIndex])) {
        jointIndex = JntHitIdx_DELETE_e;
    } else if (pShapeType[hitIndex] == JntHitType_CYL_e) {
        mDoMtx_stack_c::multVec(&pOffset[hitPosIndex], &r1_134);
        mDoMtx_stack_c::multVec(&pOffset[hitPosIndex+1], &r1_128);
        r1_1A0 = *r18 - r1_134;
        CylHitPosAngleOffset(&r1_1A0, r28, r29, r30, r1_134, r1_128, pRadius[hitIndex]);
    } else if (pShapeType[hitIndex] == JntHitType_SPH_e) {
        mDoMtx_stack_c::multVec(&pOffset[hitPosIndex], &r1_11C);
        r1_1A0 = *r18 - r1_11C;
        SphHitPosAngleOffset(&r1_1A0, r28, r29, r30, r1_11C, pRadius[hitIndex]);
    } else { // JntHitType_CYL2_e
        mDoMtx_stack_c::multVec(&pOffset[hitPosIndex], &r1_110);
        mDoMtx_stack_c::multVec(&pOffset[hitPosIndex+1], &r1_104);
        r1_1A0 = *r18 - r1_110;
        Cyl2HitPosAngleOffset(&r1_1A0, r28, r29, r30, r1_110, r1_104, pRadius[hitIndex]);
    }
    
    return jointIndex;
}

/* 800627DC-8006286C       .text JntHit_create__FP8J3DModelP16__jnt_hit_data_cs */
JntHit_c* JntHit_create(J3DModel* model, __jnt_hit_data_c* jntHitData, s16 hitDataCount) {
    JntHit_c * pJntHit = new JntHit_c();

    if (pJntHit != NULL) {
        pJntHit->setSearchData(jntHitData);
        pJntHit->setMdlPtr(model);
        pJntHit->setMaxNum(hitDataCount);
        if (pJntHit->CreateInit())
            return pJntHit;
    }

    return NULL;
}