Broken runtime
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Jan Racek
162
src/collision.hh
162
src/collision.hh
@@ -1,17 +1,5 @@
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#pragma once
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/**
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* collision.hh - PS1 Collision System
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*
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* Provides spatial hashing broadphase and AABB narrowphase collision detection.
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* Designed for PS1's limited CPU - uses fixed-point math and spatial partitioning.
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*
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* Architecture:
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* - Broadphase: Spatial grid (cells of fixed size)
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* - Narrowphase: AABB intersection tests
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* - Trigger system: Enter/Stay/Exit events
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*/
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#include <psyqo/fixed-point.hh>
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#include <psyqo/vector.hh>
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#include <EASTL/vector.h>
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@@ -20,29 +8,17 @@
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namespace psxsplash {
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// Forward declarations
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class SceneManager;
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/**
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* Collision type flags - matches Unity PSXCollisionType enum
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*/
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enum class CollisionType : uint8_t {
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None = 0,
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Solid = 1, // Blocks movement
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Trigger = 2, // Fires events, doesn't block
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Platform = 3 // Solid from above only
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Solid = 1,
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Trigger = 2,
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Platform = 3
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};
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/**
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* Collision layer mask - 8 layers available
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* Objects only collide with matching layers
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*/
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using CollisionMask = uint8_t;
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/**
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* Axis-Aligned Bounding Box in fixed-point
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* Used for broadphase and narrowphase collision
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*/
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struct AABB {
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psyqo::Vec3 min;
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psyqo::Vec3 max;
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@@ -61,7 +37,6 @@ struct AABB {
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(point.z >= min.z && point.z <= max.z);
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}
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// Get center of AABB
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psyqo::Vec3 center() const {
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return psyqo::Vec3{
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(min.x + max.x) / 2,
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@@ -69,8 +44,7 @@ struct AABB {
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(min.z + max.z) / 2
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};
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}
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// Get half-extents
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psyqo::Vec3 halfExtents() const {
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return psyqo::Vec3{
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(max.x - min.x) / 2,
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@@ -78,162 +52,106 @@ struct AABB {
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(max.z - min.z) / 2
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};
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}
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// Expand AABB by a vector (for swept tests)
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void expand(const psyqo::Vec3& delta);
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};
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static_assert(sizeof(AABB) == 24, "AABB must be 24 bytes (2x Vec3)");
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static_assert(sizeof(AABB) == 24);
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/**
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* Collision data for a single object
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* Stored separately from GameObject for cache efficiency
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*/
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struct CollisionData {
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AABB bounds; // World-space AABB (24 bytes)
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CollisionType type; // Collision behavior (1 byte)
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CollisionMask layerMask; // Which layers this collides with (1 byte)
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uint8_t flags; // Additional flags (1 byte)
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uint8_t gridCell; // Current spatial grid cell (1 byte)
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uint16_t gameObjectIndex; // Index into GameObject array (2 bytes)
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uint16_t padding; // Alignment padding (2 bytes)
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AABB localBounds;
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AABB bounds;
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CollisionType type;
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CollisionMask layerMask;
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uint16_t gameObjectIndex;
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};
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static_assert(sizeof(CollisionData) == 32, "CollisionData must be 32 bytes");
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/**
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* Collision result - returned when collision is detected
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*/
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struct CollisionResult {
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uint16_t objectA; // First object index
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uint16_t objectB; // Second object index
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psyqo::Vec3 normal; // Collision normal (from A to B)
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psyqo::FixedPoint<12> penetration; // Penetration depth
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uint16_t objectA;
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uint16_t objectB;
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psyqo::Vec3 normal;
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psyqo::FixedPoint<12> penetration;
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};
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/**
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* Trigger state for tracking enter/stay/exit
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*/
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struct TriggerPair {
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uint16_t triggerIndex; // Index of trigger object
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uint16_t otherIndex; // Index of other object
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uint8_t framesSinceContact; // Counter for exit detection
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uint8_t state; // 0=new, 1=staying, 2=exiting
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uint16_t triggerIndex;
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uint16_t otherIndex;
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uint8_t framesSinceContact;
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uint8_t state; // 0=new, 1=staying, 2=exiting
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uint16_t padding;
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};
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/**
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* Spatial Grid for broadphase collision
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* Divides world into fixed-size cells for fast overlap queries
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*/
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class SpatialGrid {
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public:
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// Grid configuration
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static constexpr int GRID_SIZE = 8; // 8x8x8 grid
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static constexpr int GRID_SIZE = 8;
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static constexpr int CELL_COUNT = GRID_SIZE * GRID_SIZE * GRID_SIZE;
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static constexpr int MAX_OBJECTS_PER_CELL = 16;
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// World bounds (fixed for simplicity) - values set in collision.cpp
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static psyqo::FixedPoint<12> WORLD_MIN;
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static psyqo::FixedPoint<12> WORLD_MAX;
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static psyqo::FixedPoint<12> CELL_SIZE;
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struct Cell {
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uint16_t objectIndices[MAX_OBJECTS_PER_CELL];
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uint8_t count;
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uint8_t padding[3];
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};
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// Clear all cells
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void clear();
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// Insert an object into the grid
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void insert(uint16_t objectIndex, const AABB& bounds);
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// Get all potential colliders for an AABB
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// Returns number of results written to output
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int queryAABB(const AABB& bounds, uint16_t* output, int maxResults) const;
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// Get cell index for a position
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int getCellIndex(const psyqo::Vec3& pos) const;
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private:
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Cell m_cells[CELL_COUNT];
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// Convert world position to grid coordinates
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void worldToGrid(const psyqo::Vec3& pos, int& gx, int& gy, int& gz) const;
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};
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/**
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* Main Collision System
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* Manages all collision detection and trigger events
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*/
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class CollisionSystem {
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public:
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static constexpr int MAX_COLLIDERS = 64;
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static constexpr int MAX_TRIGGERS = 32;
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static constexpr int MAX_COLLISION_RESULTS = 32;
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CollisionSystem() = default;
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// Initialize the system
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void init();
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// Reset for new scene
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void reset();
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// Register a collider (called during scene load)
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void registerCollider(uint16_t gameObjectIndex, const AABB& localBounds,
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void registerCollider(uint16_t gameObjectIndex, const AABB& localBounds,
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CollisionType type, CollisionMask mask);
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// Update collision data for an object (call when object moves)
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void updateCollider(uint16_t gameObjectIndex, const psyqo::Vec3& position,
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const psyqo::Matrix33& rotation);
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// Run collision detection for one frame
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// Returns number of collisions detected
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int detectCollisions();
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// Get collision results (valid until next detectCollisions call)
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const CollisionResult* getResults() const { return m_results; }
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int getResultCount() const { return m_resultCount; }
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// Check if two specific objects are colliding
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bool areColliding(uint16_t indexA, uint16_t indexB) const;
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// Raycast against all colliders
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// Returns true if hit, fills hitPoint and hitNormal
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bool raycast(const psyqo::Vec3& origin, const psyqo::Vec3& direction,
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psyqo::FixedPoint<12> maxDistance,
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psyqo::Vec3& hitPoint, psyqo::Vec3& hitNormal,
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uint16_t& hitObjectIndex) const;
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// Get trigger events for current frame (call from SceneManager)
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void processTriggerEvents(class SceneManager& scene);
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// Debug: Get collider count
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int getColliderCount() const { return m_colliderCount; }
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private:
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// Collision data for all registered colliders
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CollisionData m_colliders[MAX_COLLIDERS];
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int m_colliderCount = 0;
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// Spatial partitioning grid
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SpatialGrid m_grid;
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// Collision results for current frame
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CollisionResult m_results[MAX_COLLISION_RESULTS];
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int m_resultCount = 0;
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// Trigger tracking
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TriggerPair m_triggerPairs[MAX_TRIGGERS];
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int m_triggerPairCount = 0;
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// Narrowphase AABB test
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bool testAABB(const AABB& a, const AABB& b,
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bool testAABB(const AABB& a, const AABB& b,
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psyqo::Vec3& normal, psyqo::FixedPoint<12>& penetration) const;
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// Update trigger state machine
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void updateTriggerState(uint16_t triggerIndex, uint16_t otherIndex, bool isOverlapping);
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};
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} // namespace psxsplash
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} // namespace psxsplash
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