Make collision code placement more like original (+ small fixes)

src/collision/ColBox.cpp

@@ -0,0 +1,21 @@
+#include "common.h"
+#include "ColBox.h"
+
+void
+CColBox::Set(const CVector &min, const CVector &max, uint8 surf, uint8 piece)
+{
+	this->min = min;
+	this->max = max;
+	this->surface = surf;
+	this->piece = piece;
+}
+
+CColBox&
+CColBox::operator=(const CColBox& other)
+{
+	min = other.min;
+	max = other.max;
+	surface = other.surface;
+	piece = other.piece;
+	return *this;
+}

src/collision/ColBox.h

@@ -0,0 +1,16 @@
+#pragma once
+
+#include "SurfaceTable.h"
+
+struct CColBox
+{
+	CVector min;
+	CVector max;
+	uint8 surface;
+	uint8 piece;
+
+	void Set(const CVector &min, const CVector &max, uint8 surf = SURFACE_DEFAULT, uint8 piece = 0);
+	CVector GetSize(void) { return max - min; }
+
+	CColBox& operator=(const CColBox &other);
+};

src/collision/ColLine.cpp

@@ -0,0 +1,9 @@
+#include "common.h"
+#include "ColLine.h"
+
+void
+CColLine::Set(const CVector &p0, const CVector &p1)
+{
+	this->p0 = p0;
+	this->p1 = p1;
+}

src/collision/ColLine.h

@@ -0,0 +1,14 @@
+#pragma once
+
+struct CColLine
+{
+	// NB: this has to be compatible with two CVuVectors
+	CVector p0;
+	int pad0;
+	CVector p1;
+	int pad1;
+
+	CColLine(void) { };
+	CColLine(const CVector &p0, const CVector &p1) { this->p0 = p0; this->p1 = p1; };
+	void Set(const CVector &p0, const CVector &p1);
+};

src/collision/ColModel.cpp

@@ -0,0 +1,184 @@
+#include "common.h"
+#include "ColModel.h"
+#include "Game.h"
+
+CColModel::CColModel(void)
+{
+	numSpheres = 0;
+	spheres = nil;
+	numLines = 0;
+	lines = nil;
+	numBoxes = 0;
+	boxes = nil;
+	numTriangles = 0;
+	vertices = nil;
+	triangles = nil;
+	trianglePlanes = nil;
+	level = CGame::currLevel;
+	ownsCollisionVolumes = true;
+}
+
+CColModel::~CColModel(void)
+{
+	RemoveCollisionVolumes();
+	RemoveTrianglePlanes();
+}
+
+void
+CColModel::RemoveCollisionVolumes(void)
+{
+	if(ownsCollisionVolumes){
+		RwFree(spheres);
+		RwFree(lines);
+		RwFree(boxes);
+		RwFree(vertices);
+		RwFree(triangles);
+	}
+	numSpheres = 0;
+	numLines = 0;
+	numBoxes = 0;
+	numTriangles = 0;
+	spheres = nil;
+	lines = nil;
+	boxes = nil;
+	vertices = nil;
+	triangles = nil;
+}
+
+void
+CColModel::CalculateTrianglePlanes(void)
+{
+	// HACK: allocate space for one more element to stuff the link pointer into
+	trianglePlanes = (CColTrianglePlane*)RwMalloc(sizeof(CColTrianglePlane) * (numTriangles+1));
+	for(int i = 0; i < numTriangles; i++)
+		trianglePlanes[i].Set(vertices, triangles[i]);
+}
+
+void
+CColModel::RemoveTrianglePlanes(void)
+{
+	RwFree(trianglePlanes);
+	trianglePlanes = nil;
+}
+
+void
+CColModel::SetLinkPtr(CLink<CColModel*> *lptr)
+{
+	assert(trianglePlanes);
+	*(CLink<CColModel*>**)ALIGNPTR(&trianglePlanes[numTriangles]) = lptr;
+}
+
+CLink<CColModel*>*
+CColModel::GetLinkPtr(void)
+{
+	assert(trianglePlanes);
+	return *(CLink<CColModel*>**)ALIGNPTR(&trianglePlanes[numTriangles]);
+}
+
+void
+CColModel::GetTrianglePoint(CVector &v, int i) const
+{
+	v = vertices[i].Get();
+}
+
+CColModel&
+CColModel::operator=(const CColModel &other)
+{
+	int i;
+	int numVerts;
+
+	boundingSphere = other.boundingSphere;
+	boundingBox = other.boundingBox;
+
+	// copy spheres
+	if(other.numSpheres){
+		if(numSpheres != other.numSpheres){
+			numSpheres = other.numSpheres;
+			if(spheres)
+				RwFree(spheres);
+			spheres = (CColSphere*)RwMalloc(numSpheres*sizeof(CColSphere));
+		}
+		for(i = 0; i < numSpheres; i++)
+			spheres[i] = other.spheres[i];
+	}else{
+		numSpheres = 0;
+		if(spheres)
+			RwFree(spheres);
+		spheres = nil;
+	}
+
+	// copy lines
+	if(other.numLines){
+		if(numLines != other.numLines){
+			numLines = other.numLines;
+			if(lines)
+				RwFree(lines);
+			lines = (CColLine*)RwMalloc(numLines*sizeof(CColLine));
+		}
+		for(i = 0; i < numLines; i++)
+			lines[i] = other.lines[i];
+	}else{
+		numLines = 0;
+		if(lines)
+			RwFree(lines);
+		lines = nil;
+	}
+
+	// copy boxes
+	if(other.numBoxes){
+		if(numBoxes != other.numBoxes){
+			numBoxes = other.numBoxes;
+			if(boxes)
+				RwFree(boxes);
+			boxes = (CColBox*)RwMalloc(numBoxes*sizeof(CColBox));
+		}
+		for(i = 0; i < numBoxes; i++)
+			boxes[i] = other.boxes[i];
+	}else{
+		numBoxes = 0;
+		if(boxes)
+			RwFree(boxes);
+		boxes = nil;
+	}
+
+	// copy mesh
+	if(other.numTriangles){
+		// copy vertices
+		numVerts = 0;
+		for(i = 0; i < other.numTriangles; i++){
+			if(other.triangles[i].a > numVerts)
+				numVerts = other.triangles[i].a;
+			if(other.triangles[i].b > numVerts)
+				numVerts = other.triangles[i].b;
+			if(other.triangles[i].c > numVerts)
+				numVerts = other.triangles[i].c;
+		}
+		numVerts++;
+		if(vertices)
+			RwFree(vertices);
+		if(numVerts){
+			vertices = (CompressedVector*)RwMalloc(numVerts*sizeof(CompressedVector));
+			for(i = 0; i < numVerts; i++)
+				vertices[i] = other.vertices[i];
+		}
+
+		// copy triangles
+		if(numTriangles != other.numTriangles){
+			numTriangles = other.numTriangles;
+			if(triangles)
+				RwFree(triangles);
+			triangles = (CColTriangle*)RwMalloc(numTriangles*sizeof(CColTriangle));
+		}
+		for(i = 0; i < numTriangles; i++)
+			triangles[i] = other.triangles[i];
+	}else{
+		numTriangles = 0;
+		if(triangles)
+			RwFree(triangles);
+		triangles = nil;
+		if(vertices)
+			RwFree(vertices);
+		vertices = nil;
+	}
+	return *this;
+}

src/collision/ColModel.h

@@ -0,0 +1,37 @@
+#pragma once
+
+#include "templates.h"
+#include "ColBox.h"
+#include "ColSphere.h"
+#include "ColLine.h"
+#include "ColPoint.h"
+#include "ColTriangle.h"
+
+struct CColModel
+{
+	CColSphere boundingSphere;
+	CColBox boundingBox;
+	int16 numSpheres;
+	int16 numLines;
+	int16 numBoxes;
+	int16 numTriangles;
+	int32 level;
+	bool ownsCollisionVolumes;	// missing on PS2
+	CColSphere *spheres;
+	CColLine *lines;
+	CColBox *boxes;
+	CompressedVector *vertices;
+	CColTriangle *triangles;
+	CColTrianglePlane *trianglePlanes;
+
+	CColModel(void);
+	~CColModel(void);
+	void RemoveCollisionVolumes(void);
+	void CalculateTrianglePlanes(void);
+	void RemoveTrianglePlanes(void);
+	CLink<CColModel*> *GetLinkPtr(void);
+	void SetLinkPtr(CLink<CColModel*>*);
+	void GetTrianglePoint(CVector &v, int i) const;
+
+	CColModel& operator=(const CColModel& other);
+};

src/collision/ColPoint.cpp

@@ -0,0 +1,16 @@
+#include "common.h"
+#include "ColPoint.h"
+
+CColPoint&
+CColPoint::operator=(const CColPoint &other)
+{
+	point = other.point;
+	normal = other.normal;
+	surfaceA = other.surfaceA;
+	pieceA = other.pieceA;
+	surfaceB = other.surfaceB;
+	pieceB = other.pieceB;
+
+	// no depth?
+	return *this;
+}

src/collision/ColPoint.h

@@ -0,0 +1,34 @@
+#pragma once
+
+struct CColPoint
+{
+	CVector point;
+	int pad1;
+	// the surface normal on the surface of point
+	CVector normal;
+	int pad2;
+	uint8 surfaceA;
+	uint8 pieceA;
+	uint8 surfaceB;
+	uint8 pieceB;
+	float depth;
+
+	const CVector &GetNormal() { return normal; }
+	float GetDepth() { return depth; }
+	void Set(float depth, uint8 surfA, uint8 pieceA, uint8 surfB, uint8 pieceB) {
+		this->depth = depth;
+		this->surfaceA = surfA;
+		this->pieceA = pieceA;
+		this->surfaceB = surfB;
+		this->pieceB = pieceB;
+	}
+	void Set(uint8 surfA, uint8 pieceA, uint8 surfB, uint8 pieceB) {
+		this->surfaceA = surfA;
+		this->pieceA = pieceA;
+		this->surfaceB = surfB;
+		this->pieceB = pieceB;
+	}
+
+	CColPoint &operator=(const CColPoint &other);
+};
+

src/collision/ColSphere.cpp

@@ -0,0 +1,11 @@
+#include "common.h"
+#include "ColSphere.h"
+
+void
+CColSphere::Set(float radius, const CVector &center, uint8 surf, uint8 piece)
+{
+	this->radius = radius;
+	this->center = center;
+	this->surface = surf;
+	this->piece = piece;
+}

src/collision/ColSphere.h

@@ -0,0 +1,13 @@
+#pragma once
+
+#include "SurfaceTable.h"
+
+struct CColSphere
+{
+	// NB: this has to be compatible with a CVuVector
+	CVector center;
+	float radius;
+	uint8 surface;
+	uint8 piece;
+	void Set(float radius, const CVector &center, uint8 surf = SURFACE_DEFAULT, uint8 piece = 0);
+};

src/collision/ColTriangle.cpp

@@ -0,0 +1,41 @@
+#include "common.h"
+#include "ColTriangle.h"
+
+void
+CColTriangle::Set(const CompressedVector *, int a, int b, int c, uint8 surf, uint8 piece)
+{
+	this->a = a;
+	this->b = b;
+	this->c = c;
+	this->surface = surf;
+}
+
+#ifdef VU_COLLISION
+void
+CColTrianglePlane::Set(const CVector &va, const CVector &vb, const CVector &vc)
+{
+	CVector norm = CrossProduct(vc-va, vb-va);
+	norm.Normalise();
+	float d = DotProduct(norm, va);
+	normal.x = norm.x*4096.0f;
+	normal.y = norm.y*4096.0f;
+	normal.z = norm.z*4096.0f;
+	dist = d*128.0f;
+}
+#else
+void
+CColTrianglePlane::Set(const CVector &va, const CVector &vb, const CVector &vc)
+{
+	normal = CrossProduct(vc-va, vb-va);
+	normal.Normalise();
+	dist = DotProduct(normal, va);
+	CVector an(Abs(normal.x), Abs(normal.y), Abs(normal.z));
+	// find out largest component and its direction
+	if(an.x > an.y && an.x > an.z)
+		dir = normal.x < 0.0f ? DIR_X_NEG : DIR_X_POS;
+	else if(an.y > an.z)
+		dir = normal.y < 0.0f ? DIR_Y_NEG : DIR_Y_POS;
+	else
+		dir = normal.z < 0.0f ? DIR_Z_NEG : DIR_Z_POS;
+}
+#endif

src/collision/ColTriangle.h

@@ -0,0 +1,68 @@
+#pragma once
+
+#include "CompressedVector.h"
+
+enum Direction {
+	DIR_X_POS,
+	DIR_X_NEG,
+	DIR_Y_POS,
+	DIR_Y_NEG,
+	DIR_Z_POS,
+	DIR_Z_NEG,
+};
+
+struct CColTriangle
+{
+	uint16 a;
+	uint16 b;
+	uint16 c;
+	uint8 surface;
+
+	void Set(const CompressedVector *v, int a, int b, int c, uint8 surf, uint8 piece);
+};
+
+struct CColTrianglePlane
+{
+#ifdef VU_COLLISION
+	CompressedVector normal;
+	int16 dist;
+
+	void Set(const CVector &va, const CVector &vb, const CVector &vc);
+	void Set(const CompressedVector *v, CColTriangle &tri) { Set(v[tri.a].Get(), v[tri.b].Get(), v[tri.c].Get()); }
+	void GetNormal(CVector &n) const { n.x = normal.x/4096.0f; n.y = normal.y/4096.0f; n.z = normal.z/4096.0f; }
+	float CalcPoint(const CVector &v) const { CVector n; GetNormal(n); return DotProduct(n, v) - dist/128.0f; };
+#ifdef GTA_PS2
+	void Unpack(uint128 &qword) const {
+		__asm__ volatile (
+			"lh      $8, 0(%1)\n"
+			"lh      $9, 2(%1)\n"
+			"lh      $10, 4(%1)\n"
+			"lh      $11, 6(%1)\n"
+			"pextlw  $10, $8\n"
+			"pextlw  $11, $9\n"
+			"pextlw  $2, $11, $10\n"
+			"sq      $2, %0\n"
+			: "=m" (qword)
+			: "r" (this)
+			: "$8", "$9", "$10", "$11", "$2"
+		);
+	}
+#else
+	void Unpack(int32 *qword) const {
+		qword[0] = normal.x;
+		qword[1] = normal.y;
+		qword[2] = normal.z;
+		qword[3] = dist;
+	}
+#endif
+#else
+	CVector normal;
+	float dist;
+	uint8 dir;
+
+	void Set(const CVector &va, const CVector &vb, const CVector &vc);
+	void Set(const CompressedVector *v, CColTriangle &tri) { Set(v[tri.a].Get(), v[tri.b].Get(), v[tri.c].Get()); }
+	void GetNormal(CVector &n) const { n = normal; }
+	float CalcPoint(const CVector &v) const { return DotProduct(normal, v) - dist; };
+#endif
+};

src/collision/Collision.h

@@ -0,0 +1,70 @@
+#pragma once
+
+#include "ColModel.h"
+#include "Game.h"	// for eLevelName
+#ifdef VU_COLLISION
+#include "VuVector.h"
+#endif
+
+struct CStoredCollPoly
+{
+#ifdef VU_COLLISION
+	CVuVector verts[3];
+#else
+	CVector verts[3];
+#endif
+	bool valid;
+};
+
+// If you spawn many tanks at once, you will see that collisions of two entity exceeds 32.
+#if defined(FIX_BUGS) && !defined(SQUEEZE_PERFORMANCE)
+#define MAX_COLLISION_POINTS 64
+#else
+#define MAX_COLLISION_POINTS 32
+#endif
+
+class CCollision
+{
+public:
+	static eLevelName ms_collisionInMemory;
+	static CLinkList<CColModel*> ms_colModelCache;
+#ifdef NO_ISLAND_LOADING
+	static bool bAlreadyLoaded;
+#endif
+
+	static void Init(void);
+	static void Shutdown(void);
+	static void Update(void);
+	static void LoadCollisionWhenINeedIt(bool changeLevel);
+	static void SortOutCollisionAfterLoad(void);
+	static void LoadCollisionScreen(eLevelName level);
+	static void DrawColModel(const CMatrix &mat, const CColModel &colModel);
+	static void DrawColModel_Coloured(const CMatrix &mat, const CColModel &colModel, int32 id);
+
+	static void CalculateTrianglePlanes(CColModel *model);
+
+	// all these return true if there's a collision
+	static bool TestSphereSphere(const CColSphere &s1, const CColSphere &s2);
+	static bool TestSphereBox(const CColSphere &sph, const CColBox &box);
+	static bool TestLineBox(const CColLine &line, const CColBox &box);
+	static bool TestVerticalLineBox(const CColLine &line, const CColBox &box);
+	static bool TestLineTriangle(const CColLine &line, const CompressedVector *verts, const CColTriangle &tri, const CColTrianglePlane &plane);
+	static bool TestLineSphere(const CColLine &line, const CColSphere &sph);
+	static bool TestSphereTriangle(const CColSphere &sphere, const CompressedVector *verts, const CColTriangle &tri, const CColTrianglePlane &plane);
+	static bool TestLineOfSight(const CColLine &line, const CMatrix &matrix, CColModel &model, bool ignoreSeeThrough);
+
+	static bool ProcessSphereSphere(const CColSphere &s1, const CColSphere &s2, CColPoint &point, float &mindistsq);
+	static bool ProcessSphereBox(const CColSphere &sph, const CColBox &box, CColPoint &point, float &mindistsq);
+	static bool ProcessLineBox(const CColLine &line, const CColBox &box, CColPoint &point, float &mindist);
+	static bool ProcessVerticalLineTriangle(const CColLine &line, const CompressedVector *verts, const CColTriangle &tri, const CColTrianglePlane &plane, CColPoint &point, float &mindist, CStoredCollPoly *poly);
+	static bool ProcessLineTriangle(const CColLine &line , const CompressedVector *verts, const CColTriangle &tri, const CColTrianglePlane &plane, CColPoint &point, float &mindist);
+	static bool ProcessLineSphere(const CColLine &line, const CColSphere &sphere, CColPoint &point, float &mindist);
+	static bool ProcessSphereTriangle(const CColSphere &sph, const CompressedVector *verts, const CColTriangle &tri, const CColTrianglePlane &plane, CColPoint &point, float &mindistsq);
+	static bool ProcessLineOfSight(const CColLine &line, const CMatrix &matrix, CColModel &model, CColPoint &point, float &mindist, bool ignoreSeeThrough);
+	static bool ProcessVerticalLine(const CColLine &line, const CMatrix &matrix, CColModel &model, CColPoint &point, float &mindist, bool ignoreSeeThrough, CStoredCollPoly *poly);
+	static int32 ProcessColModels(const CMatrix &matrixA, CColModel &modelA, const CMatrix &matrixB, CColModel &modelB, CColPoint *spherepoints, CColPoint *linepoints, float *linedists);
+	static bool IsStoredPolyStillValidVerticalLine(const CVector &pos, float z, CColPoint &point, CStoredCollPoly *poly);
+
+	static float DistToLine(const CVector *l0, const CVector *l1, const CVector *point);
+	static float DistToLine(const CVector *l0, const CVector *l1, const CVector *point, CVector &closest);
+};

src/collision/CompressedVector.h

@@ -0,0 +1,36 @@
+#pragma once
+
+struct CompressedVector
+{
+#ifdef COMPRESSED_COL_VECTORS
+	int16 x, y, z;
+	CVector Get(void) const { return CVector(x, y, z)/128.0f; };
+	void Set(float x, float y, float z) { this->x = x*128.0f; this->y = y*128.0f; this->z = z*128.0f; };
+#ifdef GTA_PS2
+	void Unpack(uint128 &qword) const {
+		__asm__ volatile (
+			"lh      $8, 0(%1)\n"
+			"lh      $9, 2(%1)\n"
+			"lh      $10, 4(%1)\n"
+			"pextlw  $10, $8\n"
+			"pextlw  $2, $9, $10\n"
+			"sq      $2, %0\n"
+			: "=m" (qword)
+			: "r" (this)
+			: "$8", "$9", "$10", "$2"
+		);
+	}
+#else
+	void Unpack(int32 *qword) const {
+		qword[0] = x;
+		qword[1] = y;
+		qword[2] = z;
+		qword[3] = 0;	// junk
+	}
+#endif
+#else
+	float x, y, z;
+	CVector Get(void) const { return CVector(x, y, z); };
+	void Set(float x, float y, float z) { this->x = x; this->y = y; this->z = z; };
+#endif
+};

src/collision/TempColModels.cpp

@@ -0,0 +1,296 @@
+#include "common.h"
+
+#include "TempColModels.h"
+
+CColModel CTempColModels::ms_colModelPed1;
+CColModel CTempColModels::ms_colModelPed2;
+CColModel CTempColModels::ms_colModelBBox;
+CColModel CTempColModels::ms_colModelBumper1;
+CColModel CTempColModels::ms_colModelWheel1;
+CColModel CTempColModels::ms_colModelPanel1;
+CColModel CTempColModels::ms_colModelBodyPart2;
+CColModel CTempColModels::ms_colModelBodyPart1;
+CColModel CTempColModels::ms_colModelCutObj[5];
+CColModel CTempColModels::ms_colModelPedGroundHit;
+CColModel CTempColModels::ms_colModelBoot1;
+CColModel CTempColModels::ms_colModelDoor1;
+CColModel CTempColModels::ms_colModelBonnet1;
+
+
+CColSphere s_aPedSpheres[3];
+CColSphere s_aPed2Spheres[3];
+CColSphere s_aPedGSpheres[4];
+#ifdef FIX_BUGS
+CColSphere s_aDoorSpheres[3];
+#else
+CColSphere s_aDoorSpheres[4];
+#endif
+CColSphere s_aBumperSpheres[4];
+CColSphere s_aPanelSpheres[4];
+CColSphere s_aBonnetSpheres[4];
+CColSphere s_aBootSpheres[4];
+CColSphere s_aWheelSpheres[2];
+CColSphere s_aBodyPartSpheres1[2];
+CColSphere s_aBodyPartSpheres2[2];
+
+void
+CTempColModels::Initialise(void)
+{
+#define SET_COLMODEL_SPHERES(colmodel, sphrs)\
+	colmodel.numSpheres = ARRAY_SIZE(sphrs);\
+	colmodel.spheres = sphrs;\
+	colmodel.level = LEVEL_GENERIC;\
+	colmodel.ownsCollisionVolumes = false;\
+
+	int i;
+
+	ms_colModelBBox.boundingSphere.Set(2.0f, CVector(0.0f, 0.0f, 0.0f));
+	ms_colModelBBox.boundingBox.Set(CVector(-2.0f, -2.0f, -2.0f), CVector(2.0f, 2.0f, 2.0f));
+	ms_colModelBBox.level = LEVEL_GENERIC;
+
+	for (i = 0; i < ARRAY_SIZE(ms_colModelCutObj); i++) {
+		ms_colModelCutObj[i].boundingSphere.Set(2.0f, CVector(0.0f, 0.0f, 0.0f));
+		ms_colModelCutObj[i].boundingBox.Set(CVector(-2.0f, -2.0f, -2.0f), CVector(2.0f, 2.0f, 2.0f));
+		ms_colModelCutObj[i].level = LEVEL_GENERIC;
+	}
+
+	// Ped Spheres
+
+	for (i = 0; i < ARRAY_SIZE(s_aPedSpheres); i++)
+		s_aPedSpheres[i].radius = 0.35f;
+
+	s_aPedSpheres[0].center = CVector(0.0f, 0.0f, -0.25f);
+	s_aPedSpheres[1].center = CVector(0.0f, 0.0f, 0.15f);
+	s_aPedSpheres[2].center = CVector(0.0f, 0.0f, 0.55f);
+
+#ifdef FIX_BUGS
+	for (i = 0; i < ARRAY_SIZE(s_aPedSpheres); i++) {
+#else
+	for (i = 0; i < ARRAY_SIZE(s_aPedGSpheres); i++) {
+#endif
+		s_aPedSpheres[i].surface = SURFACE_PED;
+		s_aPedSpheres[i].piece = 0;
+	}
+
+	ms_colModelPed1.boundingSphere.Set(1.25f, CVector(0.0f, 0.0f, 0.0f));
+	ms_colModelPed1.boundingBox.Set(CVector(-0.35f, -0.35f, -1.0f), CVector(0.35f, 0.35f, 0.9f));
+	SET_COLMODEL_SPHERES(ms_colModelPed1, s_aPedSpheres);
+
+	// Ped 2 Spheres
+
+	s_aPed2Spheres[0].radius = 0.3f;
+	s_aPed2Spheres[1].radius = 0.4f;
+	s_aPed2Spheres[2].radius = 0.3f;
+
+	s_aPed2Spheres[0].center = CVector(0.0f, 0.35f, -0.9f);
+	s_aPed2Spheres[1].center = CVector(0.0f, 0.0f, -0.9f);
+	s_aPed2Spheres[2].center = CVector(0.0f, -0.35f, -0.9f);
+
+	for (i = 0; i < ARRAY_SIZE(s_aPed2Spheres); i++) {
+		s_aPed2Spheres[i].surface = SURFACE_PED;
+		s_aPed2Spheres[i].piece = 0;
+	}
+
+	ms_colModelPed2.boundingSphere.Set(2.0f, CVector(0.0f, 0.0f, 0.0f));
+	ms_colModelPed2.boundingBox.Set(CVector(-0.7f, -0.7f, -1.2f), CVector(0.7f, 0.7f, 0.0f));
+
+	SET_COLMODEL_SPHERES(ms_colModelPed2, s_aPed2Spheres);
+
+	// Ped ground collision
+	
+	s_aPedGSpheres[0].radius = 0.35f;
+	s_aPedGSpheres[1].radius = 0.35f;
+	s_aPedGSpheres[2].radius = 0.35f;
+	s_aPedGSpheres[3].radius = 0.3f;
+
+	s_aPedGSpheres[0].center = CVector(0.0f, -0.4f, -0.9f);
+	s_aPedGSpheres[1].center = CVector(0.0f, -0.1f, -0.9f);
+	s_aPedGSpheres[2].center = CVector(0.0f, 0.25f, -0.9f);
+	s_aPedGSpheres[3].center = CVector(0.0f, 0.65f, -0.9f);
+
+	s_aPedGSpheres[0].surface = SURFACE_PED;
+	s_aPedGSpheres[1].surface = SURFACE_PED;
+	s_aPedGSpheres[2].surface = SURFACE_PED;
+	s_aPedGSpheres[3].surface = SURFACE_PED;
+	s_aPedGSpheres[0].piece = 4;
+	s_aPedGSpheres[1].piece = 1;
+	s_aPedGSpheres[2].piece = 0;
+	s_aPedGSpheres[3].piece = 6;
+
+	ms_colModelPedGroundHit.boundingSphere.Set(2.0f, CVector(0.0f, 0.0f, 0.0f));
+	ms_colModelPedGroundHit.boundingBox.Set(CVector(-0.4f, -1.0f, -1.25f), CVector(0.4f, 1.2f, -0.5f));
+
+	SET_COLMODEL_SPHERES(ms_colModelPedGroundHit, s_aPedGSpheres);
+
+	// Door Spheres
+
+	s_aDoorSpheres[0].radius = 0.15f;
+	s_aDoorSpheres[1].radius = 0.15f;
+	s_aDoorSpheres[2].radius = 0.25f;
+
+	s_aDoorSpheres[0].center = CVector(0.0f, -0.25f, -0.35f);
+	s_aDoorSpheres[1].center = CVector(0.0f, -0.95f, -0.35f);
+	s_aDoorSpheres[2].center = CVector(0.0f, -0.6f, 0.25f);
+
+#ifdef FIX_BUGS
+	for (i = 0; i < ARRAY_SIZE(s_aDoorSpheres); i++) {
+#else
+	for (i = 0; i < ARRAY_SIZE(s_aPed2Spheres); i++) {
+#endif
+		s_aDoorSpheres[i].surface = SURFACE_CAR_PANEL;
+		s_aDoorSpheres[i].piece = 0;
+	}
+
+	ms_colModelDoor1.boundingSphere.Set(1.5f, CVector(0.0f, -0.6f, 0.0f));
+	ms_colModelDoor1.boundingBox.Set(CVector(-0.3f, 0.0f, -0.6f), CVector(0.3f, -1.2f, 0.6f));
+
+	SET_COLMODEL_SPHERES(ms_colModelDoor1, s_aDoorSpheres);
+
+	// Bumper Spheres
+
+	for (i = 0; i < ARRAY_SIZE(s_aBumperSpheres); i++)
+		s_aBumperSpheres[i].radius = 0.15f;
+
+	s_aBumperSpheres[0].center = CVector(0.85f, -0.05f, 0.0f);
+	s_aBumperSpheres[1].center = CVector(0.4f, 0.05f, 0.0f);
+	s_aBumperSpheres[2].center = CVector(-0.4f, 0.05f, 0.0f);
+	s_aBumperSpheres[3].center = CVector(-0.85f, -0.05f, 0.0f);
+
+	for (i = 0; i < ARRAY_SIZE(s_aBumperSpheres); i++) {
+		s_aBumperSpheres[i].surface = SURFACE_CAR_PANEL;
+		s_aBumperSpheres[i].piece = 0;
+	}
+
+	ms_colModelBumper1.boundingSphere.Set(2.2f, CVector(0.0f, -0.6f, 0.0f));
+	ms_colModelBumper1.boundingBox.Set(CVector(-1.2f, -0.3f, -0.2f), CVector(1.2f, 0.3f, 0.2f));
+
+	SET_COLMODEL_SPHERES(ms_colModelBumper1, s_aBumperSpheres);
+
+	// Panel Spheres
+
+	for (i = 0; i < ARRAY_SIZE(s_aPanelSpheres); i++)
+		s_aPanelSpheres[i].radius = 0.15f;
+
+	s_aPanelSpheres[0].center = CVector(0.15f, 0.45f, 0.0f);
+	s_aPanelSpheres[1].center = CVector(0.15f, -0.45f, 0.0f);
+	s_aPanelSpheres[2].center = CVector(-0.15f, -0.45f, 0.0f);
+	s_aPanelSpheres[3].center = CVector(-0.15f, 0.45f, 0.0f);
+
+	for (i = 0; i < ARRAY_SIZE(s_aPanelSpheres); i++) {
+		s_aPanelSpheres[i].surface = SURFACE_CAR_PANEL;
+		s_aPanelSpheres[i].piece = 0;
+	}
+
+	ms_colModelPanel1.boundingSphere.Set(1.4f, CVector(0.0f, 0.0f, 0.0f));
+	ms_colModelPanel1.boundingBox.Set(CVector(-0.3f, -0.6f, -0.15f), CVector(0.3f, 0.6f, 0.15f));
+
+	SET_COLMODEL_SPHERES(ms_colModelPanel1, s_aPanelSpheres);
+
+	// Bonnet Spheres
+
+	for (i = 0; i < ARRAY_SIZE(s_aBonnetSpheres); i++)
+		s_aBonnetSpheres[i].radius = 0.2f;
+
+	s_aBonnetSpheres[0].center = CVector(-0.4f, 0.1f, 0.0f);
+	s_aBonnetSpheres[1].center = CVector(-0.4f, 0.9f, 0.0f);
+	s_aBonnetSpheres[2].center = CVector(0.4f, 0.1f, 0.0f);
+	s_aBonnetSpheres[3].center = CVector(0.4f, 0.9f, 0.0f);
+
+	for (i = 0; i < ARRAY_SIZE(s_aBonnetSpheres); i++) {
+		s_aBonnetSpheres[i].surface = SURFACE_CAR_PANEL;
+		s_aBonnetSpheres[i].piece = 0;
+	}
+
+	ms_colModelBonnet1.boundingSphere.Set(1.7f, CVector(0.0f, 0.5f, 0.0f));
+	ms_colModelBonnet1.boundingBox.Set(CVector(-0.7f, -0.2f, -0.3f), CVector(0.7f, 1.2f, 0.3f));
+
+	SET_COLMODEL_SPHERES(ms_colModelBonnet1, s_aBonnetSpheres);
+
+	// Boot Spheres
+
+	for (i = 0; i < ARRAY_SIZE(s_aBootSpheres); i++)
+		s_aBootSpheres[i].radius = 0.2f;
+
+	s_aBootSpheres[0].center = CVector(-0.4f, -0.1f, 0.0f);
+	s_aBootSpheres[1].center = CVector(-0.4f, -0.6f, 0.0f);
+	s_aBootSpheres[2].center = CVector(0.4f, -0.1f, 0.0f);
+	s_aBootSpheres[3].center = CVector(0.4f, -0.6f, 0.0f);
+
+	for (i = 0; i < ARRAY_SIZE(s_aBootSpheres); i++) {
+		s_aBootSpheres[i].surface = SURFACE_CAR_PANEL;
+		s_aBootSpheres[i].piece = 0;
+	}
+
+	ms_colModelBoot1.boundingSphere.Set(1.4f, CVector(0.0f, -0.4f, 0.0f));
+	ms_colModelBoot1.boundingBox.Set(CVector(-0.7f, -0.9f, -0.3f), CVector(0.7f, 0.2f, 0.3f));
+
+	SET_COLMODEL_SPHERES(ms_colModelBoot1, s_aBootSpheres);
+
+	// Wheel Spheres
+
+	s_aWheelSpheres[0].radius = 0.35f;
+	s_aWheelSpheres[1].radius = 0.35f;
+
+	s_aWheelSpheres[0].center = CVector(-0.3f, 0.0f, 0.0f);
+	s_aWheelSpheres[1].center = CVector(0.3f, 0.0f, 0.0f);
+
+#ifdef FIX_BUGS
+	for (i = 0; i < ARRAY_SIZE(s_aWheelSpheres); i++) {
+#else
+	for (i = 0; i < ARRAY_SIZE(s_aBootSpheres); i++) {
+#endif
+		s_aWheelSpheres[i].surface = SURFACE_WHEELBASE;
+		s_aWheelSpheres[i].piece = 0;
+	}
+
+	ms_colModelWheel1.boundingSphere.Set(1.4f, CVector(0.0f, 0.0f, 0.0f));
+	ms_colModelWheel1.boundingBox.Set(CVector(-0.7f, -0.4f, -0.4f), CVector(0.7f, 0.4f, 0.4f));
+
+	SET_COLMODEL_SPHERES(ms_colModelWheel1, s_aWheelSpheres);
+
+	// Body Part Spheres 1
+
+	s_aBodyPartSpheres1[0].radius = 0.2f;
+	s_aBodyPartSpheres1[1].radius = 0.2f;
+
+	s_aBodyPartSpheres1[0].center = CVector(0.0f, 0.0f, 0.0f);
+	s_aBodyPartSpheres1[1].center = CVector(0.8f, 0.0f, 0.0f);
+
+#ifdef FIX_BUGS
+	for (i = 0; i < ARRAY_SIZE(s_aBodyPartSpheres1); i++) {
+#else
+	for (i = 0; i < ARRAY_SIZE(s_aBootSpheres); i++) {
+#endif
+		s_aBodyPartSpheres1[i].surface = SURFACE_PED;
+		s_aBodyPartSpheres1[i].piece = 0;
+	}
+
+	ms_colModelBodyPart1.boundingSphere.Set(0.7f, CVector(0.4f, 0.0f, 0.0f));
+	ms_colModelBodyPart1.boundingBox.Set(CVector(-0.3f, -0.3f, -0.3f), CVector(1.1f, 0.3f, 0.3f));
+
+	SET_COLMODEL_SPHERES(ms_colModelBodyPart1, s_aBodyPartSpheres1);
+
+	// Body Part Spheres 2
+
+	s_aBodyPartSpheres2[0].radius = 0.15f;
+	s_aBodyPartSpheres2[1].radius = 0.15f;
+
+	s_aBodyPartSpheres2[0].center = CVector(0.0f, 0.0f, 0.0f);
+	s_aBodyPartSpheres2[1].center = CVector(0.5f, 0.0f, 0.0f);
+
+#ifdef FIX_BUGS
+	for (i = 0; i < ARRAY_SIZE(s_aBodyPartSpheres2); i++) {
+#else
+	for (i = 0; i < ARRAY_SIZE(s_aBootSpheres); i++) {
+#endif
+		s_aBodyPartSpheres2[i].surface = SURFACE_PED;
+		s_aBodyPartSpheres2[i].piece = 0;
+	}
+
+	ms_colModelBodyPart2.boundingSphere.Set(0.5f, CVector(0.25f, 0.0f, 0.0f));
+	ms_colModelBodyPart2.boundingBox.Set(CVector(-0.2f, -0.2f, -0.2f), CVector(0.7f, 0.2f, 0.2f));
+
+	SET_COLMODEL_SPHERES(ms_colModelBodyPart2, s_aBodyPartSpheres2);
+
+#undef SET_COLMODEL_SPHERES
+}

src/collision/TempColModels.h

@@ -0,0 +1,23 @@
+#pragma once
+
+#include "Collision.h"
+
+class CTempColModels
+{
+public:
+	static CColModel ms_colModelPed1;
+	static CColModel ms_colModelPed2;
+	static CColModel ms_colModelBBox;
+	static CColModel ms_colModelBumper1;
+	static CColModel ms_colModelWheel1;	
+	static CColModel ms_colModelPanel1;
+	static CColModel ms_colModelBodyPart2;
+	static CColModel ms_colModelBodyPart1;
+	static CColModel ms_colModelCutObj[5];
+	static CColModel ms_colModelPedGroundHit;
+	static CColModel ms_colModelBoot1;
+	static CColModel ms_colModelDoor1;
+	static CColModel ms_colModelBonnet1;
+
+	static void Initialise(void);
+};

src/collision/VuCollision.cpp

@@ -0,0 +1,282 @@
+#include "common.h"
+#ifdef VU_COLLISION
+#include "VuVector.h"
+#include "VuCollision.h"
+
+#ifndef GTA_PS2
+int16 vi01;
+CVuVector vf01;
+CVuVector vf02;
+CVuVector vf03;
+
+CVuVector
+DistanceBetweenSphereAndLine(const CVuVector &center, const CVuVector &p0, const CVuVector &line)
+{
+	// center  VF12
+	// p0      VF14
+	// line    VF15
+	CVuVector ret;	// VF16
+	CVuVector p1 = p0+line;
+	CVuVector dist0 = center - p0;	// VF20
+	CVuVector dist1 = center - p1;	// VF25
+	float lenSq = line.MagnitudeSqr();	// VF21
+	float distSq0 = dist0.MagnitudeSqr();	// VF22
+	float distSq1 = dist1.MagnitudeSqr();
+	float dot = DotProduct(dist0, line);	// VF23
+	if(dot < 0.0f){
+		// not above line, closest to p0
+		ret = p0;
+		ret.w = distSq0;
+		return ret;
+	}
+	float t = dot/lenSq;	// param of nearest point on infinite line
+	if(t > 1.0f){
+		// not above line, closest to p1
+		ret = p1;
+		ret.w = distSq1;
+		return ret;
+	}
+	// closest to line
+	ret = p0 + line*t;
+	ret.w = (ret - center).MagnitudeSqr();
+	return ret;
+}
+inline int SignFlags(const CVector &v)
+{
+	int f = 0;
+	if(v.x < 0.0f) f |= 1;
+	if(v.y < 0.0f) f |= 2;
+	if(v.z < 0.0f) f |= 4;
+	return f;
+}
+#endif
+
+extern "C" void
+LineToTriangleCollision(const CVuVector &p0, const CVuVector &p1,
+	const CVuVector &v0, const CVuVector &v1, const CVuVector &v2,
+	const CVuVector &plane)
+{
+#ifdef GTA_PS2
+	__asm__ volatile (
+		".set noreorder\n"
+		"lqc2	vf12, 0x0(%0)\n"
+		"lqc2	vf13, 0x0(%1)\n"
+		"lqc2	vf14, 0x0(%2)\n"
+		"lqc2	vf15, 0x0(%3)\n"
+		"lqc2	vf16, 0x0(%4)\n"
+		"lqc2	vf17, 0x0(%5)\n"
+		"vcallms	Vu0LineToTriangleCollisionStart\n"
+		".set reorder\n"
+		:
+		: "r" (&p0), "r" (&p1), "r" (&v0), "r" (&v1), "r" (&v2), "r" (&plane)
+	);
+#else
+	float dot0 = DotProduct(plane, p0);
+	float dot1 = DotProduct(plane, p1);
+	float dist0 = plane.w - dot0;
+	float dist1 = plane.w - dot1;
+
+	// if points are on the same side, no collision
+	if(dist0 * dist1 > 0.0f){
+		vi01 = 0;
+		return;
+	}
+
+	CVuVector diff = p1 - p0;
+	float t = dist0/(dot1 - dot0);
+	CVuVector p = p0 + diff*t;
+	p.w = 0.0f;
+	vf01 = p;
+	vf03.x = t;
+
+	// Check if point is inside
+	CVector cross1 = CrossProduct(p-v0, v1-v0);
+	CVector cross2 = CrossProduct(p-v1, v2-v1);
+	CVector cross3 = CrossProduct(p-v2, v0-v2);
+	// Only check relevant directions
+	int flagmask = 0;
+	if(Abs(plane.x) > 0.5f) flagmask |= 1;
+	if(Abs(plane.y) > 0.5f) flagmask |= 2;
+	if(Abs(plane.z) > 0.5f) flagmask |= 4;
+	int flags1 = SignFlags(cross1) & flagmask;
+	int flags2 = SignFlags(cross2) & flagmask;
+	int flags3 = SignFlags(cross3) & flagmask;
+	// inside if on the same side of all edges
+	if(flags1 != flags2 || flags1 != flags3){
+		vi01 = 0;
+		return;
+	}
+	vi01 = 1;
+	vf02 = plane;
+	return;
+#endif
+}
+
+extern "C" void
+LineToTriangleCollisionCompressed(const CVuVector &p0, const CVuVector &p1, VuTriangle &tri)
+{
+#ifdef GTA_PS2
+	__asm__ volatile (
+		".set noreorder\n"
+		"lqc2	vf12, 0x0(%0)\n"
+		"lqc2	vf13, 0x0(%1)\n"
+		"lqc2	vf14, 0x0(%2)\n"
+		"lqc2	vf15, 0x10(%2)\n"
+		"lqc2	vf16, 0x20(%2)\n"
+		"lqc2	vf17, 0x30(%2)\n"
+		"vcallms	Vu0LineToTriangleCollisionCompressedStart\n"
+		".set reorder\n"
+		:
+		: "r" (&p0), "r" (&p1), "r" (&tri)
+	);
+#else
+	CVuVector v0, v1, v2, plane;
+	v0.x = tri.v0[0]/128.0f;
+	v0.y = tri.v0[1]/128.0f;
+	v0.z = tri.v0[2]/128.0f;
+	v0.w = tri.v0[3]/128.0f;
+	v1.x = tri.v1[0]/128.0f;
+	v1.y = tri.v1[1]/128.0f;
+	v1.z = tri.v1[2]/128.0f;
+	v1.w = tri.v1[3]/128.0f;
+	v2.x = tri.v2[0]/128.0f;
+	v2.y = tri.v2[1]/128.0f;
+	v2.z = tri.v2[2]/128.0f;
+	v2.w = tri.v2[3]/128.0f;
+	plane.x = tri.plane[0]/4096.0f;
+	plane.y = tri.plane[1]/4096.0f;
+	plane.z = tri.plane[2]/4096.0f;
+	plane.w = tri.plane[3]/128.0f;
+	LineToTriangleCollision(p0, p1, v0, v1, v2, plane);
+#endif
+}
+
+extern "C" void
+SphereToTriangleCollision(const CVuVector &sph,
+	const CVuVector &v0, const CVuVector &v1, const CVuVector &v2,
+	const CVuVector &plane)
+{
+#ifdef GTA_PS2
+	__asm__ volatile (
+		".set noreorder\n"
+		"lqc2	vf12, 0x0(%0)\n"
+		"lqc2	vf14, 0x0(%1)\n"
+		"lqc2	vf15, 0x0(%2)\n"
+		"lqc2	vf16, 0x0(%3)\n"
+		"lqc2	vf17, 0x0(%4)\n"
+		"vcallms	Vu0SphereToTriangleCollisionStart\n"
+		".set reorder\n"
+		:
+		: "r" (&sph), "r" (&v0), "r" (&v1), "r" (&v2), "r" (&plane)
+	);
+#else
+	float planedist = DotProduct(plane, sph) - plane.w;	// VF02
+	if(Abs(planedist) > sph.w){
+		vi01 = 0;
+		return;
+	}
+	// point on plane
+	CVuVector p = sph - planedist*plane;
+	p.w = 0.0f;
+	vf01 = p;
+	planedist = Abs(planedist);
+	// edges
+	CVuVector v01 = v1 - v0;
+	CVuVector v12 = v2 - v1;
+	CVuVector v20 = v0 - v2;
+	// VU code calculates normal again for some weird reason...
+	// Check sides of point
+	CVector cross1 = CrossProduct(p-v0, v01);
+	CVector cross2 = CrossProduct(p-v1, v12);
+	CVector cross3 = CrossProduct(p-v2, v20);
+	// Only check relevant directions
+	int flagmask = 0;
+	if(Abs(plane.x) > 0.1f) flagmask |= 1;
+	if(Abs(plane.y) > 0.1f) flagmask |= 2;
+	if(Abs(plane.z) > 0.1f) flagmask |= 4;
+	int nflags = SignFlags(plane) & flagmask;
+	int flags1 = SignFlags(cross1) & flagmask;
+	int flags2 = SignFlags(cross2) & flagmask;
+	int flags3 = SignFlags(cross3) & flagmask;
+	int testcase = 0;
+	CVuVector closest(0.0f, 0.0f, 0.0f);	// VF04
+	if(flags1 == nflags){
+		closest += v2;
+		testcase++;
+	}
+	if(flags2 == nflags){
+		closest += v0;
+		testcase++;
+	}
+	if(flags3 == nflags){
+		closest += v1;
+		testcase++;
+	}
+	if(testcase == 3){
+		// inside triangle - dist to plane already checked
+		vf02 = plane;
+		vf02.w = vf03.x = planedist;
+		vi01 = 1;
+	}else if(testcase == 1){
+		// outside two sides - closest to point opposide inside edge
+		vf01 = closest;
+		vf02 = sph - closest;
+		float distSq = vf02.MagnitudeSqr();
+		vi01 = sph.w*sph.w > distSq;
+		vf03.x = Sqrt(distSq);
+		vf02 *= 1.0f/vf03.x;
+	}else{
+		// inside two sides - closest to third edge
+		if(flags1 != nflags)
+			closest = DistanceBetweenSphereAndLine(sph, v0, v01);
+		else if(flags2 != nflags)
+			closest = DistanceBetweenSphereAndLine(sph, v1, v12);
+		else
+			closest = DistanceBetweenSphereAndLine(sph, v2, v20);
+		vi01 = sph.w*sph.w > closest.w;
+		vf01 = closest;
+		vf02 = sph - closest;
+		vf03.x = Sqrt(closest.w);
+		vf02 *= 1.0f/vf03.x;
+	}
+#endif
+}
+
+extern "C" void
+SphereToTriangleCollisionCompressed(const CVuVector &sph, VuTriangle &tri)
+{
+#ifdef GTA_PS2
+	__asm__ volatile (
+		".set noreorder\n"
+		"lqc2	vf12, 0x0(%0)\n"
+		"lqc2	vf14, 0x0(%1)\n"
+		"lqc2	vf15, 0x10(%1)\n"
+		"lqc2	vf16, 0x20(%1)\n"
+		"lqc2	vf17, 0x30(%1)\n"
+		"vcallms	Vu0SphereToTriangleCollisionCompressedStart\n"
+		".set reorder\n"
+		:
+		: "r" (&sph), "r" (&tri)
+	);
+#else
+	CVuVector v0, v1, v2, plane;
+	v0.x = tri.v0[0]/128.0f;
+	v0.y = tri.v0[1]/128.0f;
+	v0.z = tri.v0[2]/128.0f;
+	v0.w = tri.v0[3]/128.0f;
+	v1.x = tri.v1[0]/128.0f;
+	v1.y = tri.v1[1]/128.0f;
+	v1.z = tri.v1[2]/128.0f;
+	v1.w = tri.v1[3]/128.0f;
+	v2.x = tri.v2[0]/128.0f;
+	v2.y = tri.v2[1]/128.0f;
+	v2.z = tri.v2[2]/128.0f;
+	v2.w = tri.v2[3]/128.0f;
+	plane.x = tri.plane[0]/4096.0f;
+	plane.y = tri.plane[1]/4096.0f;
+	plane.z = tri.plane[2]/4096.0f;
+	plane.w = tri.plane[3]/128.0f;
+	SphereToTriangleCollision(sph, v0, v1, v2, plane);
+#endif
+}
+#endif

src/collision/VuCollision.h

@@ -0,0 +1,32 @@
+#pragma once
+
+
+struct VuTriangle
+{
+	// Compressed int16 but unpacked
+#ifdef GTA_PS2
+	uint128 v0;
+	uint128 v1;
+	uint128 v2;
+	uint128 plane;
+#else
+	int32 v0[4];
+	int32 v1[4];
+	int32 v2[4];
+	int32 plane[4];
+#endif
+};
+
+#ifndef GTA_PS2
+extern int16 vi01;
+extern CVuVector vf01;
+extern CVuVector vf02;
+extern CVuVector vf03;
+#endif
+
+extern "C" {
+void LineToTriangleCollision(const CVuVector &p0, const CVuVector &p1, const CVuVector &v0, const CVuVector &v1, const CVuVector &v2, const CVuVector &plane);
+void LineToTriangleCollisionCompressed(const CVuVector &p0, const CVuVector &p1, VuTriangle &tri);
+void SphereToTriangleCollision(const CVuVector &sph, const CVuVector &v0, const CVuVector &v1, const CVuVector &v2, const CVuVector &plane);
+void SphereToTriangleCollisionCompressed(const CVuVector &sph, VuTriangle &tri);
+}

src/collision/vu0Collision.dsm

@@ -0,0 +1,21 @@
+.align 4
+.global Vu0CollisionDmaTag
+Vu0CollisionDmaTag:
+DMAcnt *
+MPG 0, *
+.vu
+.include "vu0Collision_1.s"
+.EndMPG
+.EndDmaData
+DMAend
+
+.global Vu0Collision2DmaTag
+Vu0Collision2DmaTag:
+DMAcnt *
+MPG 0, *
+.vu
+.include "vu0Collision_2.s"
+.EndMPG
+.EndDmaData
+DMAend
+.end

src/collision/vu0Collision_1.s

@@ -0,0 +1,610 @@
+QuitAndFail:
+	NOP[E]                                   IADDIU VI01, VI00, 0
+	NOP                                      NOP
+
+
+QuitAndSucceed:
+	NOP[E]                                   IADDIU VI01, VI00, 1
+	NOP                                      NOP
+
+
+; 20 -- unused
+; VF12, VF13 xyz: sphere centers
+; VF14, VF15 x: sphere radii
+; out:
+;  VI01: set when collision
+;  VF01: supposed to be intersection point?
+;  VF02: normal (pointing towards s1, not normalized)
+.globl Vu0SphereToSphereCollision
+Vu0SphereToSphereCollision:
+	SUB.xyz VF02, VF13, VF12                 NOP                     ; dist of centers
+	ADD.x VF04, VF14, VF15                   NOP                     ; s = sum of radii
+	MUL.xyzw VF03, VF02, VF02                NOP                     ;
+	MUL.x VF04, VF04, VF04                   DIV Q, VF14x, VF04x     ; square s
+	NOP                                      NOP                     ;
+	NOP                                      NOP                     ;
+	MULAx.w ACC, VF00, VF03                  NOP                     ;
+	MADDAy.w ACC, VF00, VF03                 NOP                     ;
+	MADDz.w VF03, VF00, VF03                 NOP                     ; d = DistSq of centers
+	NOP                                      NOP                     ;
+	MULAw.xyz ACC, VF12, VF00                NOP                     ;
+	MADDq.xyz VF01, VF02, Q                  NOP                     ; intersection, but wrong
+	CLIPw.xyz VF04, VF03                     NOP                     ; compare s and d
+	SUB.xyz VF02, VF00, VF02                 NOP                     ; compute normal
+	NOP                                      NOP                     ;
+	NOP                                      NOP                     ;
+	NOP                                      FCAND VI01, 0x3         ; 0x2 cannot be set here
+	NOP[E]                                   NOP                     ;
+	NOP                                      NOP                     ;
+
+
+; B8 -- unused
+; VF12:
+; VF13: radius
+; VF14:
+; VF15: box dimensions (?)
+.globl Vu0SphereToAABBCollision
+Vu0SphereToAABBCollision:
+	SUB.xyz VF03, VF12, VF14                 LOI 0.5
+	MULi.xyz VF15, VF15, I                   NOP
+	MUL.x VF13, VF13, VF13                   NOP
+	SUB.xyz VF04, VF03, VF15                 NOP
+	ADD.xyz VF05, VF03, VF15                 MR32.xyzw VF16, VF15
+	CLIPw.xyz VF03, VF16                     MR32.xyzw VF17, VF16
+	MUL.xyz VF04, VF04, VF04                 NOP
+	MUL.xyz VF05, VF05, VF05                 NOP
+	CLIPw.xyz VF03, VF17                     MR32.xyzw VF16, VF17
+	NOP                                      FCAND VI01, 0x1
+	MINI.xyz VF04, VF04, VF05                MFIR.x VF09, VI01
+	NOP                                      NOP
+	CLIPw.xyz VF03, VF16                     FCAND VI01, 0x4
+	NOP                                      MFIR.y VF09, VI01
+	NOP                                      NOP
+	MULAx.w ACC, VF00, VF00                  NOP
+	ADD.xyz VF01, VF00, VF03                 FCAND VI01, 0x10
+	NOP                                      MFIR.z VF09, VI01
+	NOP                                      LOI 2
+	NOP                                      FCAND VI01, 0x30
+	SUBAw.xyz ACC, VF00, VF00                IADD VI04, VI00, VI01
+	ITOF0.xyz VF09, VF09                     FCAND VI01, 0x300
+	NOP                                      IADD VI03, VI00, VI01
+	NOP                                      FCAND VI01, 0x3000
+	NOP                                      IADD VI02, VI00, VI01
+	MADDi.xyzw VF09, VF09, I                 NOP
+	NOP                                      IBEQ VI04, VI00, IgnoreZValue
+	NOP                                      NOP
+	MADDAz.w ACC, VF00, VF04                 NOP
+	MUL.z VF01, VF09, VF15                   NOP
+IgnoreZValue:
+	NOP                                      IBEQ VI03, VI00, IgnoreYValue
+	NOP                                      NOP
+	MADDAy.w ACC, VF00, VF04                 NOP
+	MUL.y VF01, VF09, VF15                   NOP
+IgnoreYValue:
+	NOP                                      IBEQ VI02, VI00, IgnoreXValue
+	NOP                                      NOP
+	MADDAx.w ACC, VF00, VF04                 NOP
+	MUL.x VF01, VF09, VF15                   NOP
+IgnoreXValue:
+	MADDx.w VF06, VF00, VF00                 NOP
+	SUB.xyz VF02, VF03, VF01                 NOP
+	ADD.xyz VF01, VF01, VF14                 NOP
+	MULx.w VF01, VF00, VF00                  NOP
+	CLIPw.xyz VF13, VF06                     NOP
+	NOP                                      NOP
+	NOP                                      NOP
+	NOP                                      NOP
+	NOP                                      FCAND VI01, 0x1
+QuitMicrocode:
+	NOP[E]                                   NOP
+	NOP                                      NOP
+
+
+; 240
+.globl Vu0LineToSphereCollision
+Vu0LineToSphereCollision:
+	SUB.xyzw VF01, VF13, VF12                NOP
+	SUB.xyzw VF02, VF14, VF12                NOP
+	MUL.xyz VF03, VF01, VF02                 NOP
+	MUL.xyz VF04, VF01, VF01                 NOP
+	MUL.x VF15, VF15, VF15                   NOP
+	MUL.xyz VF02, VF02, VF02                 NOP
+	MULAx.w ACC, VF00, VF03                  NOP
+	MADDAy.w ACC, VF00, VF03                 NOP
+	MADDz.w VF03, VF00, VF03                 NOP
+	MULAx.w ACC, VF00, VF04                  NOP
+	MADDAy.w ACC, VF00, VF04                 NOP
+	MADDz.w VF01, VF00, VF04                 NOP
+	MULAx.w ACC, VF00, VF02                  NOP
+	MADDAy.w ACC, VF00, VF02                 NOP
+	MADDz.w VF02, VF00, VF02                 NOP
+	MULA.w ACC, VF03, VF03                   NOP
+	MADDAx.w ACC, VF01, VF15                 NOP
+	MSUB.w VF05, VF01, VF02                  NOP
+	NOP                                      NOP
+	NOP                                      NOP
+	NOP                                      IADDIU VI02, VI00, 0x10
+	NOP                                      FMAND VI01, VI02
+	NOP                                      IBNE VI01, VI00, QuitAndFail
+	NOP                                      NOP
+	CLIPw.xyz VF15, VF02                     SQRT Q, VF05w
+	NOP                                      NOP
+	NOP                                      NOP
+	NOP                                      NOP
+	NOP                                      FCAND VI01, 0x1
+	NOP                                      IBNE VI00, VI01, LineStartInsideSphere
+	NOP                                      NOP
+	SUBq.w VF05, VF03, Q                     NOP
+	SUB.w VF05, VF05, VF01                   DIV Q, VF05w, VF01w
+	NOP                                      FMAND VI01, VI02
+	NOP                                      IBNE VI01, VI00, QuitAndFail
+	NOP                                      NOP
+	NOP                                      FMAND VI01, VI02
+	NOP                                      IBEQ VI01, VI00, QuitAndFail
+	NOP                                      NOP
+	ADDA.xyz ACC, VF12, VF00                 NOP
+	MADDq.xyz VF01, VF01, Q                  NOP
+	MULx.w VF01, VF00, VF00                  NOP
+	SUB.xyz VF02, VF01, VF14                 NOP
+	NOP[E]                                   NOP
+	NOP                                      NOP
+LineStartInsideSphere:
+	NOP                                      MOVE.xyzw VF01, VF12
+	NOP[E]                                   IADDIU VI01, VI00, 0x1
+	NOP                                      NOP
+
+
+; 3C0
+.globl Vu0LineToAABBCollision
+Vu0LineToAABBCollision:
+	SUB.xyzw VF08, VF13, VF12                LOI 0.5
+	MULi.xyz VF15, VF15, I                   IADDIU VI08, VI00, 0x0
+	SUB.xyzw VF12, VF12, VF14                NOP
+	SUB.xyzw VF13, VF13, VF14                NOP
+	NOP                                      DIV Q, VF00w, VF08x
+	NOP                                      MR32.xyzw VF03, VF15
+	SUB.xyz VF06, VF15, VF12                 NOP
+	ADD.xyz VF07, VF15, VF12                 NOP
+	NOP                                      NOP
+	CLIPw.xyz VF12, VF03                     MR32.xyzw VF04, VF03
+	NOP                                      NOP
+	ADDq.x VF09, VF00, Q                     DIV Q, VF00w, VF08y
+	NOP                                      NOP
+	CLIPw.xyz VF12, VF04                     MR32.xyzw VF05, VF04
+	SUB.xyz VF07, VF00, VF07                 IADDIU VI06, VI00, 0xCC
+	NOP                                      IADDIU VI07, VI00, 0x30
+	NOP                                      NOP
+	CLIPw.xyz VF12, VF05                     FCGET VI02
+	NOP                                      IAND VI02, VI02, VI06
+	ADDq.y VF09, VF00, Q                     DIV Q, VF00w, VF08z
+	SUB.xyz VF10, VF00, VF10                 NOP
+	CLIPw.xyz VF13, VF03                     FCGET VI03
+	CLIPw.xyz VF13, VF04                     IAND VI03, VI03, VI07
+	CLIPw.xyz VF13, VF05                     FCAND VI01, 0x3330
+	NOP                                      IBEQ VI01, VI00, StartPointInsideAABB
+	NOP                                      NOP
+	ADDq.z VF09, VF00, Q                     FCGET VI04
+	NOP                                      FCGET VI05
+	NOP                                      IAND VI04, VI04, VI06
+	NOP                                      IAND VI05, VI05, VI07
+	MULx.xyz VF17, VF08, VF09                NOP
+	MULy.xyz VF18, VF08, VF09                IADDIU VI07, VI00, 0x80
+	MULz.xyz VF19, VF08, VF09                IAND VI06, VI02, VI07
+	MUL.w VF10, VF00, VF00                   IAND VI07, VI04, VI07
+	NOP                                      NOP
+	NOP                                      IBEQ VI06, VI07, CheckMaxXSide
+	NOP                                      NOP
+	MULAx.xyz ACC, VF17, VF07                NOP
+	MADDw.xyz VF16, VF12, VF00               NOP
+	MUL.x VF10, VF07, VF09                   NOP
+	CLIPw.xyz VF16, VF04                     NOP
+	CLIPw.xyz VF16, VF05                     NOP
+	NOP                                      NOP
+	NOP                                      NOP
+	NOP                                      NOP
+	NOP                                      FCAND VI01, 0x330
+	NOP                                      IBNE VI01, VI00, CheckMaxXSide
+	NOP                                      NOP
+	MULx.w VF10, VF00, VF10                  IADDIU VI08, VI00, 0x1
+	ADD.yz VF02, VF00, VF00                  MOVE.xyzw VF01, VF16
+	SUBw.x VF02, VF00, VF00                  NOP
+CheckMaxXSide:
+	MULAx.xyz ACC, VF17, VF06                IADDIU VI07, VI00, 0x40
+	MADDw.xyz VF16, VF12, VF00               IAND VI06, VI02, VI07
+	MUL.x VF10, VF06, VF09                   IAND VI07, VI04, VI07
+	NOP                                      NOP
+	NOP                                      IBEQ VI06, VI07, CheckMinYSide
+	NOP                                      NOP
+	CLIPw.xyz VF16, VF04                     NOP
+	CLIPw.xyz VF16, VF05                     NOP
+	CLIPw.xyz VF10, VF10                     NOP
+	NOP                                      NOP
+	NOP                                      NOP
+	NOP                                      NOP
+	NOP                                      FCAND VI01, 0xCC03
+	NOP                                      IBNE VI01, VI00, CheckMinYSide
+	NOP                                      NOP
+	MULx.w VF10, VF00, VF10                  IADDIU VI08, VI00, 0x1
+	ADD.yz VF02, VF00, VF00                  MOVE.xyzw VF01, VF16
+	ADDw.x VF02, VF00, VF00                  NOP
+CheckMinYSide:
+	MULAy.xyz ACC, VF18, VF07                IADDIU VI07, VI00, 0x8
+	MADDw.xyz VF16, VF12, VF00               IAND VI06, VI02, VI07
+	MUL.y VF10, VF07, VF09                   IAND VI07, VI04, VI07
+	NOP                                      NOP
+	NOP                                      IBEQ VI06, VI07, CheckMaxYSide
+	NOP                                      NOP
+	CLIPw.xyz VF16, VF03                     NOP
+	CLIPw.xyz VF16, VF05                     NOP
+	CLIPw.xyz VF10, VF10                     NOP
+	NOP                                      NOP
+	NOP                                      NOP
+	NOP                                      NOP
+	NOP                                      FCAND VI01, 0x3C0C
+	NOP                                      IBNE VI01, VI00, CheckMaxYSide
+	NOP                                      NOP
+	MULy.w VF10, VF00, VF10                  IADDIU VI08, VI00, 0x1
+	ADD.xz VF02, VF00, VF00                  MOVE.xyzw VF01, VF16
+	SUBw.y VF02, VF00, VF00                  NOP
+CheckMaxYSide:
+	MULAy.xyz ACC, VF18, VF06                IADDIU VI07, VI00, 0x4
+	MADDw.xyz VF16, VF12, VF00               IAND VI06, VI02, VI07
+	MUL.y VF10, VF06, VF09                   IAND VI07, VI04, VI07
+	NOP                                      NOP
+	NOP                                      IBEQ VI06, VI07, CheckMinZSide
+	NOP                                      NOP
+	CLIPw.xyz VF16, VF03                     NOP
+	CLIPw.xyz VF16, VF05                     NOP
+	CLIPw.xyz VF10, VF10                     NOP
+	NOP                                      NOP
+	NOP                                      NOP
+	NOP                                      NOP
+	NOP                                      FCAND VI01, 0x3C0C
+	NOP                                      IBNE VI01, VI00, CheckMinZSide
+	NOP                                      NOP
+	MULy.w VF10, VF00, VF10                  IADDIU VI08, VI00, 0x1
+	ADD.xz VF02, VF00, VF00                  MOVE.xyzw VF01, VF16
+	ADDw.y VF02, VF00, VF00                  NOP
+CheckMinZSide:
+	MULAz.xyz ACC, VF19, VF07                IADDIU VI07, VI00, 0x20
+	MADDw.xyz VF16, VF12, VF00               IAND VI06, VI03, VI07
+	MUL.z VF10, VF07, VF09                   IAND VI07, VI05, VI07
+	NOP                                      NOP
+	NOP                                      IBEQ VI06, VI07, CheckMaxZSide
+	NOP                                      NOP
+	CLIPw.xyz VF16, VF03                     NOP
+	CLIPw.xyz VF16, VF04                     NOP
+	CLIPw.xyz VF10, VF10                     NOP
+	NOP                                      NOP
+	NOP                                      NOP
+	NOP                                      NOP
+	NOP                                      FCAND VI01, 0x3330
+	NOP                                      IBNE VI01, VI00, CheckMaxZSide
+	NOP                                      NOP
+	MULz.w VF10, VF00, VF10                  IADDIU VI08, VI00, 0x1
+	ADD.xy VF02, VF00, VF00                  MOVE.xyzw VF01, VF16
+	SUBw.z VF02, VF00, VF00                  NOP
+CheckMaxZSide:
+	MULAz.xyz ACC, VF19, VF06                IADDIU VI07, VI00, 0x10
+	MADDw.xyz VF16, VF12, VF00               IAND VI06, VI03, VI07
+	MUL.z VF10, VF06, VF09                   IAND VI07, VI05, VI07
+	NOP                                      NOP
+	NOP                                      IBEQ VI06, VI07, DoneAllChecks
+	NOP                                      NOP
+	CLIPw.xyz VF16, VF03                     NOP
+	CLIPw.xyz VF16, VF04                     NOP
+	CLIPw.xyz VF10, VF10                     NOP
+	NOP                                      NOP
+	NOP                                      NOP
+	NOP                                      NOP
+	NOP                                      FCAND VI01, 0x3330
+	NOP                                      IBNE VI01, VI00, DoneAllChecks
+	NOP                                      NOP
+	MULz.w VF10, VF00, VF10                  IADDIU VI08, VI00, 0x1
+	ADD.xy VF02, VF00, VF00                  MOVE.xyzw VF01, VF16
+	ADDw.z VF02, VF00, VF00                  NOP
+DoneAllChecks:
+	ADD.xyz VF01, VF01, VF14                 IADD VI01, VI00, VI08
+	NOP[E]                                   NOP
+	NOP                                      NOP
+StartPointInsideAABB:
+	ADD.xyz VF01, VF12, VF14                 WAITQ
+	NOP                                      IADDIU VI01, VI00, 0x1
+	NOP[E]                                   NOP
+	NOP                                      NOP
+
+
+; 860
+.globl Vu0LineToTriangleCollisionCompressedStart
+Vu0LineToTriangleCollisionCompressedStart:
+	ITOF0.xyzw VF17, VF17                    LOI 0.000244140625	; 1.0/4096.0
+	ITOF0.xyzw VF14, VF14                    NOP
+	ITOF0.xyzw VF15, VF15                    NOP
+	ITOF0.xyzw VF16, VF16                    NOP
+	MULi.xyz VF17, VF17, I                   LOI 0.0078125		; 1.0/128.0
+	MULi.w VF17, VF17, I                     NOP
+	MULi.xyzw VF14, VF14, I                  NOP
+	MULi.xyzw VF15, VF15, I                  NOP
+	MULi.xyzw VF16, VF16, I                  NOP
+; fall through
+
+; 8A8
+; VF12: point0
+; VF13: point1
+; VF14-16: verts
+; VF17: plane
+; out:
+;  VF01: intersection point
+;  VF02: triangle normal
+;  VF03 x: intersection parameter
+.globl Vu0LineToTriangleCollisionStart
+Vu0LineToTriangleCollisionStart:
+	MUL.xyz VF10, VF17, VF12                 LOI 0.5
+	MUL.xyz VF11, VF17, VF13                 NOP
+	SUB.xyz VF02, VF13, VF12                 NOP                            ; line dist
+	ADD.xyz VF17, VF17, VF00                 NOP
+	MULi.w VF03, VF00, I                     NOP
+	MULAx.w ACC, VF00, VF10                  NOP
+	MADDAy.w ACC, VF00, VF10                 IADDIU VI06, VI00, 0xE0
+	MADDz.w VF10, VF00, VF10                 FMAND VI05, VI06               ; -- normal sign flags, unused
+	MULAx.w ACC, VF00, VF11                  NOP
+	MADDAy.w ACC, VF00, VF11                 NOP
+	MADDz.w VF11, VF00, VF11                 NOP
+	SUB.w VF09, VF17, VF10                   NOP                            ; plane-pos 0
+	CLIPw.xyz VF17, VF03                     NOP                            ; compare normal against 0.5 to figure out which in which dimension to compare
+	NOP                                      IADDIU VI02, VI00, 0x10        ; Sw flag
+	SUBA.w ACC, VF17, VF11                   NOP                            ; plane-pos 1
+	SUB.w VF08, VF11, VF10                   FMAND VI01, VI02
+	NOP                                      NOP
+	NOP                                      NOP
+	NOP                                      FMAND VI02, VI02
+	NOP                                      IBEQ VI01, VI02, QuitAndFail   ; if on same side, no collision
+	NOP                                      NOP
+	NOP                                      DIV Q, VF09w, VF08w            ; parameter of intersection
+	NOP                                      FCAND VI01, 0x3                ; check x direction
+	NOP                                      IADDIU VI02, VI01, 0x7F
+	NOP                                      IADDIU VI06, VI00, 0x80
+	NOP                                      IAND VI02, VI02, VI06          ; Sx flag
+	NOP                                      FCAND VI01, 0xC                ; check y direction
+	NOP                                      IADDIU VI03, VI01, 0x3F
+	MULAw.xyz ACC, VF12, VF00                IADDIU VI06, VI00, 0x40
+	MADDq.xyz VF01, VF02, Q                  IAND VI03, VI03, VI06          ; point of intersection -- Sy flag
+	MULx.w VF01, VF00, VF00                  FCAND VI01, 0x30               ; -- check z direction
+	ADDq.x VF03, VF00, Q                     IADDIU VI04, VI01, 0x1F        ; output parameter
+	SUB.xyz VF05, VF15, VF14                 IADDIU VI06, VI00, 0x20        ; edge vectors
+	SUB.xyz VF08, VF01, VF14                 IAND VI04, VI04, VI06          ; edge vectors -- Sz flag
+	SUB.xyz VF06, VF16, VF15                 IADD VI06, VI02, VI03          ; edge vectors
+	SUB.xyz VF09, VF01, VF15                 IADD VI06, VI06, VI04          ; edge vectors -- combine flags
+	SUB.xyz VF07, VF14, VF16                 NOP                            ; edge vectors
+	SUB.xyz VF10, VF01, VF16                 NOP                            ; edge vectors
+	OPMULA.xyz ACC, VF08, VF05               NOP
+	OPMSUB.xyz VF18, VF05, VF08              NOP                            ; cross1
+	OPMULA.xyz ACC, VF09, VF06               NOP
+	OPMSUB.xyz VF19, VF06, VF09              NOP                            ; cross2
+	OPMULA.xyz ACC, VF10, VF07               NOP
+	OPMSUB.xyz VF20, VF07, VF10              FMAND VI02, VI06               ; cross3
+	NOP                                      NOP
+	NOP                                      FMAND VI03, VI06
+	NOP                                      NOP
+	NOP                                      FMAND VI04, VI06
+	NOP                                      NOP
+	NOP                                      IBNE VI03, VI02, QuitAndFail   ; point has to lie on the same side of all edges (i.e. inside)
+	NOP                                      NOP
+	NOP                                      IBNE VI04, VI02, QuitAndFail
+	NOP                                      NOP
+	MULw.xyz VF02, VF17, VF00                IADDIU VI01, VI00, 0x1         ; success
+	NOP[E]                                   NOP
+	NOP                                      NOP
+
+
+; A68
+; VF12: center
+; VF14: line origin
+; VF15: line vector to other point
+; out: VF16 xyz: nearest point on line; w: distance to that point
+DistanceBetweenSphereAndLine:
+	SUB.xyz VF20, VF12, VF14                 NOP
+	MUL.xyz VF21, VF15, VF15                 NOP
+	ADDA.xyz ACC, VF14, VF15                 NOP
+	MSUBw.xyz VF25, VF12, VF00               NOP                                        ; VF25 = VF12 - (VF14+VF15)
+	MUL.xyz VF22, VF20, VF20                 NOP
+	MUL.xyz VF23, VF20, VF15                 NOP
+	MULAx.w ACC, VF00, VF21                  NOP
+	MADDAy.w ACC, VF00, VF21                 NOP
+	MADDz.w VF21, VF00, VF21                 NOP	                                    ; MagSq VF15 (line length)
+	MULAx.w ACC, VF00, VF23                  NOP
+	MADDAy.w ACC, VF00, VF23                 NOP
+	MADDz.w VF23, VF00, VF23                 NOP                                        ; dot(VF12-VF14, VF15)
+	MULAx.w ACC, VF00, VF22                  NOP
+	MADDAy.w ACC, VF00, VF22                 NOP
+	MADDz.w VF22, VF00, VF22                 IADDIU VI08, VI00, 0x10                    ; MagSq VF12-VF14 -- Sw bit
+	MUL.xyz VF25, VF25, VF25                 FMAND VI08, VI08
+	NOP                                      DIV Q, VF23w, VF21w
+	NOP                                      IBNE VI00, VI08, NegativeRatio
+	NOP                                      NOP
+	ADDA.xyz ACC, VF00, VF14                 NOP
+	MADDq.xyz VF16, VF15, Q                  WAITQ                                     ; nearest point on infinte line
+	ADDq.x VF24, VF00, Q                     NOP                                       ; ratio
+	NOP                                      NOP
+	NOP                                      NOP
+	SUB.xyz VF26, VF16, VF12                 NOP
+	CLIPw.xyz VF24, VF00                     NOP                                       ; compare ratio to 1.0
+	NOP                                      NOP
+	NOP                                      NOP
+	MUL.xyz VF26, VF26, VF26                 NOP
+	NOP                                      FCAND VI01, 0x1
+	NOP                                      IBNE VI00, VI01, RatioGreaterThanOne
+	NOP                                      NOP
+	MULAx.w ACC, VF00, VF26                  NOP
+	MADDAy.w ACC, VF00, VF26                 NOP
+	MADDz.w VF16, VF00, VF26                 NOP                                      ; distance
+	NOP                                      JR VI15
+	NOP                                      NOP
+NegativeRatio:
+	ADD.xyz VF16, VF00, VF14                 NOP                 ; return line origin
+	MUL.w VF16, VF00, VF22                   NOP                 ; and DistSq to it
+	NOP                                      JR VI15
+	NOP                                      NOP
+RatioGreaterThanOne:
+	MULAx.w ACC, VF00, VF25                  NOP
+	MADDAy.w ACC, VF00, VF25                 NOP
+	MADDz.w VF16, VF00, VF25                 NOP
+	ADD.xyz VF16, VF14, VF15                 NOP                ; return toerh line point
+	NOP                                      JR VI15
+	NOP                                      NOP
+
+
+; BE0
+.globl Vu0SphereToTriangleCollisionCompressedStart
+Vu0SphereToTriangleCollisionCompressedStart:
+	ITOF0.xyzw VF17, VF17                    LOI 0.000244140625	; 1.0/4096.0
+	ITOF0.xyzw VF14, VF14                    NOP
+	ITOF0.xyzw VF15, VF15                    NOP
+	ITOF0.xyzw VF16, VF16                    NOP
+	MULi.xyz VF17, VF17, I                   LOI 0.0078125		; 1.0/128.0
+	MULi.w VF17, VF17, I                     NOP
+	MULi.xyzw VF14, VF14, I                  NOP
+	MULi.xyzw VF15, VF15, I                  NOP
+	MULi.xyzw VF16, VF16, I                  NOP
+; fall through
+
+; C28
+; VF12: sphere
+; VF14-16: verts
+; VF17: plane
+; out:
+;  VF01: intersection point
+;  VF02: triangle normal
+;  VF03 x: intersection parameter
+.globl Vu0SphereToTriangleCollisionStart
+Vu0SphereToTriangleCollisionStart:
+	MUL.xyz VF02, VF12, VF17                 LOI 0.1
+	ADD.xyz VF17, VF17, VF00                 NOP
+	ADDw.x VF13, VF00, VF12                  NOP
+	NOP                                      NOP
+	MULAx.w ACC, VF00, VF02                  IADDIU VI06, VI00, 0xE0
+	MADDAy.w ACC, VF00, VF02                 FMAND VI05, VI06                  ; normal sign flags
+	MADDAz.w ACC, VF00, VF02                 NOP
+	MSUB.w VF02, VF00, VF17                  NOP                               ; center plane pos
+	MULi.w VF03, VF00, I                     MOVE.xyzw VF04, VF03
+	NOP                                      NOP
+	NOP                                      NOP
+	CLIPw.xyz VF13, VF02                     NOP                               ; compare dist and radius
+	CLIPw.xyz VF17, VF03                     NOP
+	MULAw.xyz ACC, VF12, VF00                IADDIU VI07, VI00, 0x0            ; -- clear test case
+	MSUBw.xyz VF01, VF17, VF02               NOP
+	MULx.w VF01, VF00, VF00                  FCAND VI01, 0x3                   ; projected center on plane
+	ABS.w VF02, VF02                         IBEQ VI00, VI01, QuitAndFail      ; no intersection
+	NOP                                      NOP
+	NOP                                      FCAND VI01, 0x3                   ; -- check x direction
+	SUB.xyz VF02, VF12, VF01                 IADDIU VI02, VI01, 0x7F
+	NOP                                      IADDIU VI06, VI00, 0x80
+	SUB.xyz VF05, VF15, VF14                 IAND VI02, VI02, VI06
+	SUB.xyz VF08, VF01, VF14                 FCAND VI01, 0xC                   ; -- check y direction
+	SUB.xyz VF06, VF16, VF15                 IADDIU VI03, VI01, 0x3F
+	SUB.xyz VF09, VF01, VF15                 IADDIU VI06, VI00, 0x40
+	SUB.xyz VF07, VF14, VF16                 IAND VI03, VI03, VI06
+	SUB.xyz VF10, VF01, VF16                 FCAND VI01, 0x30                  ; -- check z direction
+	MUL.xyz VF03, VF02, VF02                 IADDIU VI04, VI01, 0x1F
+	OPMULA.xyz ACC, VF08, VF05               IADDIU VI06, VI00, 0x20
+	OPMSUB.xyz VF18, VF05, VF08              IAND VI04, VI04, VI06
+	OPMULA.xyz ACC, VF09, VF06               NOP
+	OPMSUB.xyz VF19, VF06, VF09              IADD VI06, VI02, VI03
+	OPMULA.xyz ACC, VF10, VF07               IADD VI06, VI06, VI04             ; -- combine flags
+	OPMSUB.xyz VF20, VF07, VF10              FMAND VI02, VI06                  ; -- cross 1 flags
+	MULAx.w ACC, VF00, VF03                  IAND VI05, VI05, VI06
+	MADDAy.w ACC, VF00, VF03                 FMAND VI03, VI06                  ; -- cross 2 flags
+	MADDz.w VF03, VF00, VF03                 IADDIU VI08, VI00, 0x3
+	NOP                                      FMAND VI04, VI06                  ; -- cross 3 flags
+	NOP                                      NOP
+	NOP                                      IBNE VI02, VI05, CheckSide2
+	NOP                                      RSQRT Q, VF00w, VF03w
+	ADD.xyz VF04, VF00, VF16                 IADDIU VI07, VI07, 0x1                          ; inside side 1
+CheckSide2:
+	NOP                                      IBNE VI03, VI05, CheckSide3
+	NOP                                      NOP
+	ADD.xyz VF04, VF00, VF14                 IADDIU VI07, VI07, 0x1                          ; inside side 2
+CheckSide3:
+	NOP                                      IBNE VI04, VI05, FinishCheckingSides
+	NOP                                      NOP
+	ADD.xyz VF04, VF00, VF15                 IADDIU VI07, VI07, 0x1                          ; inside side 3
+	NOP                                      NOP
+	NOP                                      IBEQ VI07, VI08, TotallyInsideTriangle
+	NOP                                      NOP
+FinishCheckingSides:
+	MUL.x VF13, VF13, VF13                   IADDIU VI08, VI00, 0x2
+	MULq.xyz VF02, VF02, Q                   WAITQ
+	NOP                                      IBNE VI07, VI08, IntersectionOutsideTwoSides
+	NOP                                      NOP
+	NOP                                      IBEQ VI02, VI05, CheckDistanceSide2
+	NOP                                      NOP
+	NOP                                      MOVE.xyzw VF15, VF05
+	NOP                                      BAL VI15, DistanceBetweenSphereAndLine
+	NOP                                      NOP
+	NOP                                      B ProcessLineResult
+	NOP                                      NOP
+CheckDistanceSide2:
+	NOP                                      IBEQ VI03, VI05, CheckDistanceSide3
+	NOP                                      NOP
+	NOP                                      MOVE.xyzw VF14, VF15
+	NOP                                      MOVE.xyzw VF15, VF06
+	NOP                                      BAL VI15, DistanceBetweenSphereAndLine
+	NOP                                      NOP
+	NOP                                      B ProcessLineResult
+	NOP                                      NOP
+CheckDistanceSide3:
+	NOP                                      MOVE.xyzw VF14, VF16
+	NOP                                      MOVE.xyzw VF15, VF07
+	NOP                                      BAL VI15, DistanceBetweenSphereAndLine
+	NOP                                      NOP
+	NOP                                      B ProcessLineResult
+	NOP                                      NOP
+IntersectionOutsideTwoSides:
+	SUB.xyz VF05, VF04, VF12                 NOP
+	ADD.xyz VF01, VF00, VF04                 NOP                                ; col point
+	SUB.xyz VF02, VF12, VF04                 NOP
+	NOP                                      NOP
+	MUL.xyz VF05, VF05, VF05                 NOP
+	NOP                                      NOP
+	NOP                                      NOP
+	NOP                                      NOP
+	MULAx.w ACC, VF00, VF05                  NOP
+	MADDAy.w ACC, VF00, VF05                 NOP
+	MADDz.w VF05, VF00, VF05                 NOP                                ; distSq to vertex
+	NOP                                      NOP
+	NOP                                      NOP
+	NOP                                      NOP
+	CLIPw.xyz VF13, VF05                     SQRT Q, VF05w                      ; compare radiusSq and distSq
+	NOP                                      NOP
+	NOP                                      NOP
+	NOP                                      NOP
+	NOP                                      FCAND VI01, 0x1
+	ADDq.x VF03, VF00, Q                     WAITQ                              ; dist to vertex
+	NOP                                      IBEQ VI00, VI01, QuitAndFail       ; too far
+	NOP                                      NOP
+	NOP                                      NOP
+	NOP                                      DIV Q, VF00w, VF03x
+	MULq.xyz VF02, VF02, Q                   WAITQ                              ; col normal
+	NOP[E]                                   NOP
+	NOP                                      NOP
+TotallyInsideTriangle:
+	ADDw.x VF03, VF00, VF02                  WAITQ
+	MULq.xyz VF02, VF02, Q                   NOP
+	NOP[E]                                   IADDIU VI01, VI00, 0x1
+	NOP                                      NOP
+ProcessLineResult:
+	CLIPw.xyz VF13, VF16                     SQRT Q, VF16w
+	ADD.xyz VF01, VF00, VF16                 NOP
+	SUB.xyz VF02, VF12, VF16                 NOP
+	NOP                                      NOP
+	NOP                                      FCAND VI01, 0x1
+	ADDq.x VF03, VF00, Q                     WAITQ
+	NOP                                      IBEQ VI00, VI01, QuitAndFail
+	NOP                                      NOP
+	NOP                                      NOP
+	NOP                                      DIV Q, VF00w, VF03x
+	MULq.xyz VF02, VF02, Q                   WAITQ
+	NOP[E]                                   NOP
+	NOP                                      NOP
+
+EndOfMicrocode:

src/collision/vu0Collision_2.s

@@ -0,0 +1,191 @@
+QuitAndFail2:
+	NOP[E]                                   IADDIU VI01, VI00, 0x0
+	NOP                                      NOP
+
+
+QuitAndSucceed2:
+	NOP[E]                                   IADDIU VI01, VI00, 0x1
+	NOP                                      NOP
+
+
+; 20
+GetBBVertices:
+	MULw.xy VF02, VF01, VF00                 NOP
+	MUL.z VF02, VF01, VF11                   NOP
+	MULw.xz VF03, VF01, VF00                 NOP
+	MUL.y VF03, VF01, VF11                   NOP
+	MULw.x VF04, VF01, VF00                  NOP
+	MUL.yz VF04, VF01, VF11                  NOP
+	NOP                                      JR VI15
+	NOP                                      NOP
+
+
+; 60
+Vu0OBBToOBBCollision:
+	SUBw.xyz VF11, VF00, VF00                LOI 0.5
+	MULi.xyz VF12, VF12, I                   NOP
+	MULi.xyz VF13, VF13, I                   NOP
+	NOP                                      NOP
+	NOP                                      NOP
+	NOP                                      MOVE.xyz VF01, VF12
+	NOP                                      BAL VI15, GetBBVertices
+	NOP                                      NOP
+	MULAx.xyz ACC, VF14, VF01                NOP
+	MADDAy.xyz ACC, VF15, VF01               NOP
+	MADDz.xyz VF01, VF16, VF01               NOP
+	MULAx.xyz ACC, VF14, VF02                NOP
+	MADDAy.xyz ACC, VF15, VF02               NOP
+	MADDz.xyz VF02, VF16, VF02               NOP
+	MULAx.xyz ACC, VF14, VF03                NOP
+	MADDAy.xyz ACC, VF15, VF03               NOP
+	MADDz.xyz VF03, VF16, VF03               NOP
+	MULAx.xyz ACC, VF14, VF04                NOP
+	MADDAy.xyz ACC, VF15, VF04               NOP
+	MADDz.xyz VF04, VF16, VF04               NOP
+	ABS.xyz VF05, VF01                       NOP
+	ABS.xyz VF06, VF02                       NOP
+	ABS.xyz VF07, VF03                       NOP
+	ABS.xyz VF08, VF04                       NOP
+	NOP                                      NOP
+	MAX.xyz VF05, VF05, VF06                 NOP
+	NOP                                      NOP
+	MAX.xyz VF07, VF07, VF08                 NOP
+	NOP                                      NOP
+	NOP                                      NOP
+	NOP                                      NOP
+	MAX.xyz VF05, VF05, VF07                 NOP
+	NOP                                      NOP
+	NOP                                      NOP
+	NOP                                      NOP
+	ADD.xyz VF09, VF05, VF13                 NOP
+	NOP                                      NOP
+	NOP                                      NOP
+	NOP                                      NOP
+	MULx.w VF05, VF00, VF09                  NOP
+	MULy.w VF06, VF00, VF09                  NOP
+	MULz.w VF07, VF00, VF09                  NOP
+	CLIPw.xyz VF17, VF05                     NOP
+	CLIPw.xyz VF17, VF06                     NOP
+	CLIPw.xyz VF17, VF07                     MOVE.xyz VF01, VF13
+	NOP                                      NOP
+	NOP                                      NOP
+	NOP                                      NOP
+	NOP                                      FCAND VI01, 0x3330
+	NOP                                      IBNE VI01, VI00, QuitAndFail2
+	NOP                                      NOP
+	NOP                                      BAL VI15, GetBBVertices
+	NOP                                      NOP
+	MULAx.xyz ACC, VF18, VF01                NOP
+	MADDAy.xyz ACC, VF19, VF01               NOP
+	MADDz.xyz VF01, VF20, VF01               NOP
+	MULAx.xyz ACC, VF18, VF02                NOP
+	MADDAy.xyz ACC, VF19, VF02               NOP
+	MADDz.xyz VF02, VF20, VF02               NOP
+	MULAx.xyz ACC, VF18, VF03                NOP
+	MADDAy.xyz ACC, VF19, VF03               NOP
+	MADDz.xyz VF03, VF20, VF03               NOP
+	MULAx.xyz ACC, VF18, VF04                NOP
+	MADDAy.xyz ACC, VF19, VF04               NOP
+	MADDz.xyz VF04, VF20, VF04               NOP
+	ABS.xyz VF05, VF01                       NOP
+	ABS.xyz VF06, VF02                       NOP
+	ABS.xyz VF07, VF03                       NOP
+	ABS.xyz VF08, VF04                       NOP
+	NOP                                      NOP
+	MAX.xyz VF05, VF05, VF06                 NOP
+	NOP                                      NOP
+	MAX.xyz VF07, VF07, VF08                 NOP
+	NOP                                      NOP
+	NOP                                      NOP
+	NOP                                      NOP
+	MAX.xyz VF05, VF05, VF07                 NOP
+	NOP                                      NOP
+	NOP                                      NOP
+	NOP                                      NOP
+	ADD.xyz VF09, VF05, VF12                 NOP
+	NOP                                      NOP
+	NOP                                      NOP
+	NOP                                      NOP
+	MULx.w VF05, VF00, VF09                  NOP
+	MULy.w VF06, VF00, VF09                  NOP
+	MULz.w VF07, VF00, VF09                  NOP
+	CLIPw.xyz VF21, VF05                     NOP
+	CLIPw.xyz VF21, VF06                     NOP
+	CLIPw.xyz VF21, VF07                     NOP
+	NOP                                      NOP
+	NOP                                      NOP
+	NOP                                      NOP
+	NOP                                      FCAND VI01, 0x3330
+	NOP                                      IBNE VI01, VI00, QuitAndFail2
+	NOP                                      NOP
+	SUB.xyz VF06, VF02, VF01                 NOP
+	SUB.xyz VF07, VF03, VF01                 NOP
+	ADD.xyz VF08, VF04, VF01                 NOP
+	ADD.x VF09, VF00, VF12                   NOP
+	ADD.yz VF09, VF00, VF00                  NOP
+	ADD.y VF10, VF00, VF12                   NOP
+	ADD.xz VF10, VF00, VF00                  NOP
+	ADD.z VF11, VF00, VF12                   IADDI VI04, VI00, 0x0
+	ADD.xy VF11, VF00, VF00                  IADD VI02, VI00, VI00
+	OPMULA.xyz ACC, VF06, VF09               NOP
+	OPMSUB.xyz VF01, VF09, VF06              NOP
+	OPMULA.xyz ACC, VF06, VF10               NOP
+	OPMSUB.xyz VF02, VF10, VF06              NOP
+	OPMULA.xyz ACC, VF06, VF11               NOP
+	OPMSUB.xyz VF03, VF11, VF06              SQI.xyzw VF01, (VI02++)
+	OPMULA.xyz ACC, VF07, VF09               NOP
+	OPMSUB.xyz VF01, VF09, VF07              SQI.xyzw VF02, (VI02++)
+	OPMULA.xyz ACC, VF07, VF10               NOP
+	OPMSUB.xyz VF02, VF10, VF07              SQI.xyzw VF03, (VI02++)
+	OPMULA.xyz ACC, VF07, VF11               NOP
+	OPMSUB.xyz VF03, VF11, VF07              SQI.xyzw VF01, (VI02++)
+	OPMULA.xyz ACC, VF08, VF09               NOP
+	OPMSUB.xyz VF01, VF09, VF08              SQI.xyzw VF02, (VI02++)
+	OPMULA.xyz ACC, VF08, VF10               NOP
+	OPMSUB.xyz VF02, VF10, VF08              SQI.xyzw VF03, (VI02++)
+	OPMULA.xyz ACC, VF08, VF11               LOI 0.5
+	OPMSUB.xyz VF01, VF11, VF08              SQI.xyzw VF01, (VI02++)
+	MULi.xyz VF06, VF06, I                   NOP
+	MULi.xyz VF07, VF07, I                   SQI.xyzw VF02, (VI02++)
+	MULi.xyz VF08, VF08, I                   NOP
+	MUL.xyz VF02, VF21, VF01                 NOP
+	MUL.xyz VF03, VF12, VF01                 NOP
+	MUL.xyz VF09, VF06, VF01                 NOP
+	MUL.xyz VF10, VF07, VF01                 NOP
+	MUL.xyz VF11, VF08, VF01                 NOP
+	ABS.xyz VF03, VF03                       NOP
+	ADDy.x VF05, VF09, VF09                  NOP
+	ADDx.y VF05, VF10, VF10                  NOP
+	ADDx.z VF05, VF11, VF11                  NOP
+	NOP                                      NOP
+EdgePairLoop:
+	ADDz.x VF05, VF05, VF09                  NOP
+	ADDz.y VF05, VF05, VF10                  NOP
+	ADDy.z VF05, VF05, VF11                  NOP
+	MULAx.w ACC, VF00, VF02                  IADD VI03, VI02, VI00
+	MADDAy.w ACC, VF00, VF02                 LQD.xyzw VF01, (--VI02)
+	MADDz.w VF02, VF00, VF02                 NOP
+	ABS.xyz VF05, VF05                       NOP
+	MULAx.w ACC, VF00, VF03                  NOP
+	MADDAy.w ACC, VF00, VF03                 NOP
+	MADDAz.w ACC, VF00, VF03                 NOP
+	MADDAx.w ACC, VF00, VF05                 NOP
+	MADDAy.w ACC, VF00, VF05                 NOP
+	MADDz.w VF03, VF00, VF05                 NOP
+	ADDw.x VF04, VF00, VF02                  NOP
+	MUL.xyz VF02, VF21, VF01                 NOP
+	MUL.xyz VF03, VF12, VF01                 NOP
+	MUL.xyz VF09, VF06, VF01                 NOP
+	CLIPw.xyz VF04, VF03                     NOP
+	MUL.xyz VF10, VF07, VF01                 NOP
+	MUL.xyz VF11, VF08, VF01                 NOP
+	ABS.xyz VF03, VF03                       NOP
+	ADDy.x VF05, VF09, VF09                  FCAND VI01, 0x3
+	ADDx.y VF05, VF10, VF10                  IBNE VI01, VI00, QuitAndFail2
+	ADDx.z VF05, VF11, VF11                  NOP
+	NOP                                      IBNE VI03, VI00, EdgePairLoop
+	NOP                                      NOP
+	NOP[E]                                   IADDIU VI01, VI00, 0x1
+	NOP                                      NOP
+
+EndOfMicrocode2: