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give up on KartMath::lu

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This commit is contained in:
SwareJonge 2023-08-21 23:32:54 +02:00
parent 5e7decbac5
commit cd78aef516
5 changed files with 271 additions and 94 deletions
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6
config/Release_eu/dol_slices.yml
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@ -663,6 +663,12 @@ src/Sato/stMath.cpp:
.sbss: [0x803d5cf8, 0x803d5d00]
.sdata2: [0x803d9d60, 0x803d9db0]
#src/Yamamoto/kartvec.cpp:
#.text: [0x802a20cc, 0x802a3100] # 0x802a320c
#.ctors: [0x802d89e8, 0x802d89ec]
#.bss: [0x803ae380, 0x803ae3b0]
#.sdata2: [0x803db638, 0x803db670]
src/Yamamoto/KartStar.cpp:
.text: [0x802c796c, 0x802c7b5c] # 0x802c7c68
#.ctors: [0x802d8a2c, 0x802d8a30]

33
config/Release_eu/symbols.yml
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@ -2687,6 +2687,39 @@ global:
0x8029fd1c: DynamicsStage1__8KartCtrlFv
0x802a01b4: DynamicsStage2__8KartCtrlFv
0x803d63c8: mCtrl__8KartCtrl
# kartvec.cpp
0x802a20cc: SetVector__7KartVecFP3Vecfff
0x802a20dc: AddVector__7KartVecFP3Vecfff
0x802a2104: MulVector__7KartVecFP3Vecfff
0x802a212c: VectorLength__7KartVecFP3Vec
0x802a2150: VectorLengthSqrtf__7KartVecFP3Vec
0x802a2190: OuterCalc__7KartVecFP3VecP3VecP3Vec
0x802a21d0: VectorElement__7KartVecFPQ29JGeometry8TVec3<f>PQ29JGeometry8TVec3<f>PQ29JGeometry8TVec3<f>
0x802a2270: SpeedySqrtf__8KartMathFf
0x802a229c: CrossToPolar__8KartMathFPQ29JGeometry8TVec3<f>PQ29JGeometry8TVec3<f>PfPfPf
0x802a2384: PolarToCross__8KartMathFP3VecP3Vecfff
0x802a2424: lu__8KartMathFPA3_fPi
0x802a25cc: Gauss__8KartMathFPA3_fPfPf
0x802a26d8: LimmtNumber__8KartMathFff
0x802a26fc: fcnvge__8KartMathFffff
0x802a272c: ChaseFnumber__8KartMathFPfff
0x802a2764: ChaseFcnvge__8KartMathFPfPUsfUs
0x802a27d0: ChaseFcnvge4__8KartMathFPfPUsfUs
0x802a2844: ClearRotMatrix__7KartMatFPA4_f
0x802a2880: SetPosePosMatrix__7KartMatFPA4_fPA4_fP3Vec
0x802a28e4: SetPosMatrix__7KartMatFPA4_fP3Vec
0x802a2900: MulMatrixByVector__7KartMatFP3VecP3VecPA4_f
0x802a2964: DevMatrixByVector__7KartMatFP3VecP3VecPA4_f
0x802a29c8: DevMatrixByVector2__7KartMatFPQ29JGeometry8TVec3<f>PQ29JGeometry8TVec3<f>PA4_f
0x802a2a2c: DevCrdMatrixByVector__7KartMatFP3VecP3VecPA4_f
0x802a2aa8: MulMatrix__7KartMatFPA4_fPA4_fPA4_f
0x802a2c14: RotYMatrix__7KartMatFPA4_ff
0x802a2ca0: RotYMatrix33__7KartMatFPA4_ff
0x802a2d20: RotXMatrix__7KartMatFPA4_ff
0x802a2dac: RotZMatrix__7KartMatFPA4_ff
0x802a2e38: AddMatrix__7KartMatFPA4_fPA4_f
0x802a2ecc: NormalizeMatrix__7KartMatFPA4_f
0x802a30a4: OmegaMatrix__7KartMatFPA4_fP3Vecf
# kartCtrlInfo.cpp
0x802b1ad4: GetKartSoundMgr__8KartCtrlFi
0x802b1284: GetBodyPos__8KartCtrlFiPQ29JGeometry8TVec3<f>

2
include/Yamamoto/KartMath.h
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@ -19,7 +19,7 @@ public:
void ChaseFcnvge4(f32 *, u16 *, f32, u16);
// Inline/Unused
// void GetDir(JGeometry::TVec3f *, JGeometry::TVec3f *);
// void cnvge(int, int, int, int);
int cnvge(int, int, int, int);
};
#endif

8
include/Yamamoto/KartVec.h
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@ -15,14 +15,14 @@ public:
f32 InnerCalc(VecPtr, VecPtr);
void VectorElement(JGeometry::TVec3f *, JGeometry::TVec3f *, JGeometry::TVec3f *);
// Inline/Unused
// void SetZeroVector(VecPtr);
void SetZeroVector(VecPtr);
// void AddVectorToVector(VecPtr, VecPtr);
// void SubVector(VecPtr, f32, f32, f32);
void SubVector(VecPtr, f32, f32, f32);
// void SubVectorToVector(VecPtr, VecPtr);
// void MulVectorToVector(VecPtr, VecPtr);
// void DevVector(VecPtr, f32, f32, f32);
void DevVector(VecPtr, f32, f32, f32);
// void DevVectorToVector(VecPtr, VecPtr);
// void NormalizeVector(VecPtr);
void NormalizeVector(VecPtr);
};
#endif

316
src/Yamamoto/kartvec.cpp
View File

@ -4,13 +4,16 @@
#include "std/math.h"
#include <ppcdis.h>
#include "orderfloatsm/8041d7f8_8041d818.inc"
#include "orderdoublesm/8041d818_8041d830.inc"
// TODO: hire a mathematician to properly name variables
// Unused
void KartVec::SetZeroVector(VecPtr vec)
{
vec->x = 0.0f;
vec->y = 0.0f;
vec->z = 0.0f;
}
void KartVec::SetVector(VecPtr vec, f32 x, f32 y, f32 z)
{
vec->x = x;
@ -18,12 +21,20 @@ void KartVec::SetVector(VecPtr vec, f32 x, f32 y, f32 z)
vec->z = z;
}
void KartVec::AddVector(VecPtr vec, f32 x, f32 y, f32 z){
void KartVec::AddVector(VecPtr vec, f32 x, f32 y, f32 z)
{
vec->x += x;
vec->y += y;
vec->z += z;
}
void KartVec::SubVector(VecPtr vec, f32 x, f32 y, f32 z)
{
vec->x -= x;
vec->y -= y;
vec->z -= z;
}
void KartVec::MulVector(VecPtr vec, f32 x, f32 y, f32 z)
{
vec->x *= x;
@ -31,11 +42,20 @@ void KartVec::MulVector(VecPtr vec, f32 x, f32 y, f32 z)
vec->z *= z;
}
f32 KartVec::VectorLength(VecPtr vec){
void KartVec::DevVector(VecPtr vec, f32 x, f32 y, f32 z)
{
vec->x /= x;
vec->y /= y;
vec->z /= z;
}
f32 KartVec::VectorLength(VecPtr vec)
{
return vec->x * vec->x + vec->y * vec->y + vec->z * vec->z;
}
f32 KartVec::VectorLengthSqrtf(VecPtr vec){
f32 KartVec::VectorLengthSqrtf(VecPtr vec)
{
return SpeedySqrtf(vec->x * vec->x + vec->y * vec->y + vec->z * vec->z);
}
@ -58,27 +78,37 @@ f32 KartVec::InnerCalc(VecPtr vec1, VecPtr vec2)
return vec1->x * vec2->x + vec1->y * vec2->y + vec1->z * vec2->z;
}
// Unused, size match, not confirmed matching, needed for float ordering
void KartVec::NormalizeVector(VecPtr vec)
{
f32 len = 1.0f / KartMath::SpeedySqrtf(vec->x * vec->x + vec->y * vec->y + vec->z * vec->z);
vec->x *= len;
vec->y *= len;
vec->z *= len;
}
void KartVec::VectorElement(JGeometry::TVec3f *out, JGeometry::TVec3f *vec1, JGeometry::TVec3f *vec2)
{
f32 len = VectorLength((VecPtr)vec1);
if(vec1->isZero() == false) {
f32 inner = InnerCalc((VecPtr)vec2, (VecPtr)vec1);
out->x = vec2->x * (inner / len);
out->y = vec2->y * (inner / len);
out->z = vec2->z * (inner / len);
if (!vec1->isZero())
{
f32 inner = InnerCalc((VecPtr)vec2, (VecPtr)vec1) / len;
out->x = vec2->x * inner;
out->y = vec2->y * inner;
out->z = vec2->z * inner;
}
else {
else
{
out->zero();
}
}
f32 KartMath::SpeedySqrtf(register f32 x) {
register f64 recip;
f32 KartMath::SpeedySqrtf(f32 x)
{
volatile f32 xf;
if (x > 0.0f)
{
__asm { frsqrte recip, x }
xf = x * recip;
xf = __frsqrte(x) * x;
return xf;
}
return x;
@ -86,7 +116,7 @@ f32 KartMath::SpeedySqrtf(register f32 x) {
void KartMath::CrossToPolar(JGeometry::TVec3f *vec1, JGeometry::TVec3f *vec2, f32 *pLength, f32 *pAng1, f32 *pAng2)
{
f32 divX = (vec2->x - vec1->x);
f32 divX = (vec2->x - vec1->x); // i hate this codec!
f32 divY = (vec2->y - vec1->y);
f32 divZ = (vec2->z - vec1->z);
@ -97,8 +127,9 @@ void KartMath::CrossToPolar(JGeometry::TVec3f *vec1, JGeometry::TVec3f *vec2, f3
*pAng2 = std::atan2f(divZ, divX);
}
void KartMath::PolarToCross(VecPtr base, VecPtr out, f32 x, f32 y, f32 z) {
// angle in ??? convert radian to euler?
void KartMath::PolarToCross(VecPtr base, VecPtr out, f32 x, f32 y, f32 z)
{
// angle in ??? convert radian to euler?
s16 angleY = 16384.0f * ((180.0f * y) / 3.141f) / 90.0f;
s16 angleZ = 16384.0f * ((180.0f * z) / 3.141f) / 90.0f;
@ -113,70 +144,166 @@ void KartMath::PolarToCross(VecPtr base, VecPtr out, f32 x, f32 y, f32 z) {
out->z = base->z + x * cosY * cosZ;
}
// These 2 are by far the hardest in this file
MANGLED_ASM(f32 KartMath::lu(Mtx33, int *)){
#include "asm/802e5600.s"
}
f32 fake(f32 x) // remove when ::lu is decompiled
f32 KartMath::lu(Mtx33 m, int *pivot)
{
return std::fabs(x);
}
/*f32 KartMath::lu(Mtx33 m, int *pValidMatrices) {
// TODO: rename everything, get rid of hacky matches, figure out if this is matrix43
// release https://decomp.me/scratch/YnEQ9
// debug: https://decomp.me/scratch/XSADp
// f1: ret
// f2: tmp
// f3: max_val
// f4: 0.0f
// f5: row_val
f32 tmp[3];
f32 rowMaxValue;
f32 scaleFactor;
f32 rowValue;
f32 ret = 0.0f;
for(int i = 0; i < 3; i++) {
pValidMatrices[i] = i;
f32 x = 0.0f;
int i, j, k;
for (i = 0; i < 3; i++)
{
pivot[i] = i;
rowMaxValue = 0.0f;
for(int j = 0; j < 3; j++) {
f32 absval = std::fabs(m[j][i]);
if (x < absval) {
x = absval;
for (k = 0; k < 3; k++)
{
f32 absval = std::fabs(m[i][k]);
if (absval > rowMaxValue)
{
rowMaxValue = absval;
}
}
if(x == 0.0f) return x;
if (ret == rowMaxValue)
{
goto hell;
}
tmp[i] = 1.0f / x;
tmp[i] = 1.0f / rowMaxValue;
}
for(int i = 0; i < 3; i++) {
for(int j = 0; j < 3; j++) {
ret = 1.0f;
for (i = 0; i < 3; i++)
{
rowMaxValue = -1.0f;
for (j = i; j < 3; j++)
{
int pk = pivot[j];
f32 absval = tmp[pk] * std::fabs(m[pk][i]);
if (absval > rowMaxValue)
{
rowMaxValue = absval;
k = j;
}
}
int row = pivot[k];
if (k != i)
{ // swap pivot rows
ret = -ret;
pivot[k] = pivot[i];
pivot[i] = row;
}
rowValue = m[row][i];
ret *= rowValue;
if (0.0f == rowValue)
break;
for (j = i; ++j < 3;)
{
int prow = pivot[j];
scaleFactor = m[prow][i] / rowValue;
m[prow][i] = scaleFactor;
for (k = i; ++k < 3;)
{
m[prow][k] -= scaleFactor * m[row][k];
}
}
}
}*/
MANGLED_ASM(void KartMath::solve(Mtx33, f32 *, int *, f32 *, int n)){
#include "asm/802e5824.s"
}
f32 KartMath::Gauss(Mtx33 mtx, f32 *vec1, f32 *vec2)
{
int stack[4];
f32 ret = lu(mtx, stack);
if (ret != 0.0f)
{
solve(mtx, vec1, stack, vec2, 3);
}
hell:
return ret;
}
f32 KartMath::LimmtNumber(f32 f1, f32 f2) {
if(f1 < -f2) {
void KartMath::solve(Mtx33 m, f32 *a, int *pivot, f32 *b, int n)
{
int i, j;
// Solve Ly
for (i = 0; i < n; i++)
{
int pivot_row = pivot[i];
f32 val = a[pivot_row];
for (j = 0; j < i; j++)
{
val -= b[j] * m[pivot_row][j];
}
b[i] = val;
}
// Solve Ux
for (i = n; --i >= 0;)
{
int pivot_row = pivot[i];
f32 val = b[i];
for (j = i + 1; j < n; j++)
{
val -= b[j] * m[pivot_row][j];
}
b[i] = val / m[pivot_row][i];
}
}
f32 KartMath::Gauss(Mtx33 a, f32 *b, f32 *x)
{
int pivot[4]; // 3 or 4?
f32 max_val = lu(a, pivot);
if (max_val != 0.0f)
{
solve(a, b, pivot, x, 3);
}
return max_val;
}
f32 KartMath::LimmtNumber(f32 f1, f32 f2)
{
if (f1 < -f2)
{
return -f2;
}
if(f1 > f2) {
if (f1 > f2)
{
return f2;
}
return f1;
}
int KartMath::cnvge(int x, int y, int z, int w)
{
if (x < y)
{
if (x + z > y)
{
return y;
}
return x + z;
}
else
{
if (x - w < y)
{
return y;
}
return x - w;
}
}
f32 KartMath::fcnvge(f32 x, f32 y, f32 z, f32 w)
{
if (x < y)
@ -197,7 +324,8 @@ f32 KartMath::fcnvge(f32 x, f32 y, f32 z, f32 w)
}
}
void KartMath::ChaseFnumber(f32 *out, f32 x, f32 y) {
void KartMath::ChaseFnumber(f32 *out, f32 x, f32 y)
{
*out += y * (x - *out);
if (*out < 0.001 && *out > -0.001)
@ -206,7 +334,8 @@ void KartMath::ChaseFnumber(f32 *out, f32 x, f32 y) {
}
}
void KartMath::ChaseFcnvge(f32 *outf, u16 *outi, f32 x, u16 y) {
void KartMath::ChaseFcnvge(f32 *outf, u16 *outi, f32 x, u16 y)
{
*outf += (f32)*outi / (f32)y * (x - *outf);
*outi = *outi + 1;
@ -229,7 +358,8 @@ void KartMath::ChaseFcnvge4(f32 *outf, u16 *outi, f32 x, u16 y)
}
}
void KartMat::ClearRotMatrix(Mtx mtx) {
void KartMat::ClearRotMatrix(Mtx mtx)
{
mtx[0][0] = 1.0f;
mtx[1][0] = 0.0f;
mtx[2][0] = 0.0f;
@ -247,7 +377,8 @@ void KartMat::ClearRotMatrix(Mtx mtx) {
mtx[2][3] = 0.0f;
}
void KartMat::SetPosePosMatrix(Mtx out, Mtx in, VecPtr vec){
void KartMat::SetPosePosMatrix(Mtx out, Mtx in, VecPtr vec)
{
out[0][0] = in[0][0];
out[1][0] = in[1][0];
out[2][0] = in[2][0];
@ -265,7 +396,8 @@ void KartMat::SetPosePosMatrix(Mtx out, Mtx in, VecPtr vec){
out[2][3] = vec->z;
}
void KartMat::SetPosMatrix(Mtx out, VecPtr vec) {
void KartMat::SetPosMatrix(Mtx out, VecPtr vec)
{
out[0][3] = vec->x;
out[1][3] = vec->y;
out[2][3] = vec->z;
@ -282,7 +414,8 @@ void KartMat::MulMatrixByVector(VecPtr out, VecPtr base, Mtx m)
out->z = z;
}
void KartMat::DevMatrixByVector(VecPtr out, VecPtr base, Mtx m) {
void KartMat::DevMatrixByVector(VecPtr out, VecPtr base, Mtx m)
{
f32 x = m[0][0] * base->x + m[1][0] * base->y + m[2][0] * base->z;
f32 y = m[0][1] * base->x + m[1][1] * base->y + m[2][1] * base->z;
f32 z = m[0][2] * base->x + m[1][2] * base->y + m[2][2] * base->z;
@ -292,8 +425,8 @@ void KartMat::DevMatrixByVector(VecPtr out, VecPtr base, Mtx m) {
out->z = z;
}
void KartMat::DevMatrixByVector2(JGeometry::TVec3f *out, JGeometry::TVec3f *base, Mtx m) {
void KartMat::DevMatrixByVector2(JGeometry::TVec3f *out, JGeometry::TVec3f *base, Mtx m)
{
f32 x = m[0][0] * base->x + m[1][0] * base->y + m[2][0] * base->z;
f32 y = m[0][1] * base->x + m[1][1] * base->y + m[2][1] * base->z;
f32 z = m[0][2] * base->x + m[1][2] * base->y + m[2][2] * base->z;
@ -303,8 +436,9 @@ void KartMat::DevMatrixByVector2(JGeometry::TVec3f *out, JGeometry::TVec3f *base
out->z = z;
}
void KartMat::DevCrdMatrixByVector(VecPtr out, VecPtr base, Mtx m) {
f32 divX = (base->x - m[0][3]); // i hate this codec!
void KartMat::DevCrdMatrixByVector(VecPtr out, VecPtr base, Mtx m)
{
f32 divX = (base->x - m[0][3]);
f32 divY = (base->y - m[1][3]);
f32 divZ = (base->z - m[2][3]);
@ -317,7 +451,8 @@ void KartMat::DevCrdMatrixByVector(VecPtr out, VecPtr base, Mtx m) {
out->z = z;
}
void KartMat::MulMatrix(Mtx m, Mtx m2, Mtx m3) {
void KartMat::MulMatrix(Mtx m, Mtx m2, Mtx m3)
{
m[0][0] = m2[0][0] * m3[0][0] + m2[1][0] * m3[0][1] + m2[2][0] * m3[0][2];
m[1][0] = m2[0][0] * m3[1][0] + m2[1][0] * m3[1][1] + m2[2][0] * m3[1][2];
m[2][0] = m2[0][0] * m3[2][0] + m2[1][0] * m3[2][1] + m2[2][0] * m3[2][2];
@ -331,8 +466,8 @@ void KartMat::MulMatrix(Mtx m, Mtx m2, Mtx m3) {
m[2][2] = m2[0][2] * m3[2][0] + m2[1][2] * m3[2][1] + m2[2][2] * m3[2][2];
}
void KartMat::RotYMatrix(Mtx m, f32 ang) {
// Use PI Macro later
void KartMat::RotYMatrix(Mtx m, f32 ang)
{
s16 v = 16384.0f * ((180.0f * ang) / 3.141f) / 90.0f;
f32 cos = JMASCos(v);
@ -355,8 +490,8 @@ void KartMat::RotYMatrix(Mtx m, f32 ang) {
m[2][3] = 0.0f;
}
void KartMat::RotYMatrix33(Mtx m, f32 ang){
// Use PI Macro later
void KartMat::RotYMatrix33(Mtx m, f32 ang)
{
s16 v = 16384.0f * ((180.0f * ang) / 3.141f) / 90.0f;
f32 cos = JMASCos(v);
@ -375,8 +510,8 @@ void KartMat::RotYMatrix33(Mtx m, f32 ang){
m[2][2] = cos;
}
void KartMat::RotXMatrix(Mtx m, f32 ang) {
// Use PI Macro later
void KartMat::RotXMatrix(Mtx m, f32 ang)
{
s16 v = 16384.0f * ((180.0f * ang) / 3.141f) / 90.0f;
f32 cos = JMASCos(v);
@ -399,8 +534,8 @@ void KartMat::RotXMatrix(Mtx m, f32 ang) {
m[2][3] = 0.0f;
}
void KartMat::RotZMatrix(Mtx m, f32 ang) {
// Use PI Macro later
void KartMat::RotZMatrix(Mtx m, f32 ang)
{
s16 v = 16384.0f * ((180.0f * ang) / 3.141f) / 90.0f;
f32 cos = JMASCos(v);
@ -423,7 +558,8 @@ void KartMat::RotZMatrix(Mtx m, f32 ang) {
m[2][3] = 0.0f;
}
void KartMat::AddMatrix(Mtx m, Mtx other) {
void KartMat::AddMatrix(Mtx m, Mtx other)
{
m[0][0] += other[0][0];
m[1][0] += other[1][0];
m[2][0] += other[2][0];
@ -437,20 +573,22 @@ void KartMat::AddMatrix(Mtx m, Mtx other) {
m[2][2] += other[2][2];
}
void KartMat::NormalizeMatrix(Mtx m) {
void KartMat::NormalizeMatrix(Mtx m)
{
f32 x = m[0][2];
f32 y = m[1][2];
f32 z = m[2][2];
f32 len = x * x + y * y + z * z;
if (len == 0.0f) {
if (len == 0.0f)
{
m[0][2] = 0.0f;
m[1][2] = 0.0f;
m[2][2] = 0.0f;
}
else {
len = 1.0f/KartMath::SpeedySqrtf(len);
else
{
len = 1.0f / KartMath::SpeedySqrtf(len); // new variable?
m[0][2] *= len;
m[1][2] *= len;
m[2][2] *= len;
@ -505,7 +643,7 @@ void KartMat::OmegaMatrix(Mtx m, VecPtr vec, f32 w)
m[0][2] = vec->y;
m[1][2] = -vec->x;
m[2][2] = 0.0f;
m[2][2] = 0.0f;
m[0][3] = 0.0;
m[1][3] = w;