example: add md5

example/example.mk

@@ -1059,3 +1059,23 @@ LIGHTING_MAPS_OBJ = \
 
 example/lighting_maps.elf: LDSCRIPT = $(LIB)/main.lds
 example/lighting_maps.elf: $(START_OBJ) $(LIGHTING_MAPS_OBJ)
+
+MD5_OBJ = \
+	example/md5.o \
+	holly/core.o \
+	holly/region_array.o \
+	holly/background.o \
+	holly/ta_fifo_polygon_converter.o \
+	holly/video_output.o \
+	sh7091/serial.o \
+	maple/maple.o \
+	sh7091/c_serial.o \
+	printf/printf.o \
+	printf/unparse.o \
+	printf/parse.o \
+	texture/container/container2.data.o \
+	texture/container/container2_specular.data.o \
+	$(LIBGCC)
+
+example/md5.elf: LDSCRIPT = $(LIB)/main.lds
+example/md5.elf: $(START_OBJ) $(MD5_OBJ)

example/lighting_maps.cpp

@@ -573,7 +573,8 @@ int main()
 
   system.IML6NRM = istnrm::end_of_render_tsp
                  | istnrm::v_blank_in
-                 | istnrm::end_of_transferring_opaque_list;
+                 | istnrm::end_of_transferring_opaque_list
+                 | istnrm::end_of_transferring_translucent_list;
 
   region_array_multipass(tile_width,
                          tile_height,

example/md5.cpp

@@ -0,0 +1,486 @@
+#include <bit>
+
+#include "holly/background.hpp"
+#include "holly/core.hpp"
+#include "holly/core_bits.hpp"
+#include "holly/holly.hpp"
+#include "holly/isp_tsp.hpp"
+#include "holly/region_array.hpp"
+#include "holly/ta_bits.hpp"
+#include "holly/ta_fifo_polygon_converter.hpp"
+#include "holly/ta_global_parameter.hpp"
+#include "holly/ta_parameter.hpp"
+#include "holly/ta_vertex_parameter.hpp"
+#include "holly/texture_memory_alloc5.hpp"
+#include "holly/video_output.hpp"
+
+#include "systembus.hpp"
+#include "systembus_bits.hpp"
+
+#include "maple/maple.hpp"
+#include "maple/maple_host_command_writer.hpp"
+#include "maple/maple_bus_bits.hpp"
+#include "maple/maple_bus_commands.hpp"
+#include "maple/maple_bus_ft0.hpp"
+
+#include "memorymap.hpp"
+
+#include "sh7091/sh7091.hpp"
+#include "sh7091/sh7091_bits.hpp"
+#include "sh7091/serial.hpp"
+#include "printf/printf.h"
+
+#include "interrupt.hpp"
+#include "assert.h"
+
+#include "math/vec2.hpp"
+#include "math/vec3.hpp"
+#include "math/vec4.hpp"
+#include "math/mat2x2.hpp"
+#include "math/mat3x3.hpp"
+#include "math/mat4x4.hpp"
+#include "math/geometry.hpp"
+#include "math/transform.hpp"
+
+using vec2 = vec<2, float>;
+using vec3 = vec<3, float>;
+using vec4 = vec<4, float>;
+using mat4x4 = mat<4, 4, float>;
+
+#include "md5/md5.h"
+#include "model/boblamp/boblamp.h"
+
+
+static ft0::data_transfer::data_format data[4];
+
+uint8_t send_buf[1024] __attribute__((aligned(32)));
+uint8_t recv_buf[1024] __attribute__((aligned(32)));
+
+void do_get_condition()
+{
+  auto writer = maple::host_command_writer(send_buf, recv_buf);
+
+  using command_type = maple::get_condition;
+  using response_type = maple::data_transfer<ft0::data_transfer::data_format>;
+
+  auto [host_command, host_response]
+    = writer.append_command_all_ports<command_type, response_type>();
+
+  for (int port = 0; port < 4; port++) {
+    auto& data_fields = host_command[port].bus_data.data_fields;
+    data_fields.function_type = std::byteswap(function_type::controller);
+  }
+  maple::dma_start(send_buf, writer.send_offset,
+                   recv_buf, writer.recv_offset);
+
+  for (uint8_t port = 0; port < 4; port++) {
+    auto& bus_data = host_response[port].bus_data;
+    if (bus_data.command_code != response_type::command_code) {
+      return;
+    }
+    auto& data_fields = bus_data.data_fields;
+    if ((std::byteswap(data_fields.function_type) & function_type::controller) == 0) {
+      return;
+    }
+
+    data[port].digital_button = data_fields.data.digital_button;
+    for (int i = 0; i < 6; i++) {
+      data[port].analog_coordinate_axis[i]
+        = data_fields.data.analog_coordinate_axis[i];
+    }
+  }
+}
+
+void vbr100()
+{
+  serial::string("vbr100\n");
+  interrupt_exception();
+}
+
+void vbr400()
+{
+  serial::string("vbr400\n");
+  interrupt_exception();
+}
+
+const int framebuffer_width = 640;
+const int framebuffer_height = 480;
+const int tile_width = framebuffer_width / 32;
+const int tile_height = framebuffer_height / 32;
+
+constexpr uint32_t ta_alloc = 0
+                            | ta_alloc_ctrl::pt_opb::no_list
+                            | ta_alloc_ctrl::tm_opb::no_list
+                            | ta_alloc_ctrl::t_opb::no_list
+                            | ta_alloc_ctrl::om_opb::no_list
+                            | ta_alloc_ctrl::o_opb::_32x4byte;
+
+constexpr int ta_cont_count = 1;
+constexpr struct opb_size opb_size[ta_cont_count] = {
+  {
+    .opaque = 32 * 4,
+    .opaque_modifier = 0,
+    .translucent = 0,
+    .translucent_modifier = 0,
+    .punch_through = 0
+  }
+};
+
+static volatile int ta_in_use = 0;
+static volatile int core_in_use = 0;
+static volatile int next_frame = 0;
+static volatile int framebuffer_ix = 0;
+static volatile int next_frame_ix = 0;
+
+static inline void pump_events(uint32_t istnrm)
+{
+  if (istnrm & istnrm::v_blank_in) {
+    system.ISTNRM = istnrm::v_blank_in;
+
+    next_frame = 1;
+    holly.FB_R_SOF1 = texture_memory_alloc.framebuffer[next_frame_ix].start;
+  }
+
+  if (istnrm & istnrm::end_of_render_tsp) {
+    system.ISTNRM = istnrm::end_of_render_tsp
+                  | istnrm::end_of_render_isp
+                  | istnrm::end_of_render_video;
+
+    next_frame_ix = framebuffer_ix;
+    framebuffer_ix += 1;
+    if (framebuffer_ix >= 3) framebuffer_ix = 0;
+
+    core_in_use = 0;
+  }
+
+  if (istnrm & istnrm::end_of_transferring_opaque_list) {
+    system.ISTNRM = istnrm::end_of_transferring_opaque_list;
+
+    core_in_use = 1;
+    core_start_render2(texture_memory_alloc.region_array.start,
+                       texture_memory_alloc.isp_tsp_parameters.start,
+                       texture_memory_alloc.background[0].start,
+                       texture_memory_alloc.framebuffer[framebuffer_ix].start,
+                       framebuffer_width);
+
+    assert(ta_in_use);
+    ta_in_use = 0;
+  }
+}
+
+void vbr600()
+{
+  uint32_t sr;
+  asm volatile ("stc sr,%0" : "=r" (sr));
+  sr |= sh::sr::imask(15);
+  asm volatile ("ldc %0,sr" : : "r" (sr));
+  //serial::string("imask\n");
+
+  //check_pipeline();
+
+  if (sh7091.CCN.EXPEVT == 0 && sh7091.CCN.INTEVT == 0x320) {
+    uint32_t istnrm = system.ISTNRM;
+    uint32_t isterr = system.ISTERR;
+
+    if (isterr) {
+      serial::string("isterr: ");
+      serial::integer<uint32_t>(system.ISTERR);
+    }
+
+    pump_events(istnrm);
+
+    sr &= ~sh::sr::imask(15);
+    asm volatile ("ldc %0,sr" : : "r" (sr));
+
+    return;
+  }
+
+  serial::string("vbr600\n");
+  interrupt_exception();
+}
+
+void global_polygon_type_1(ta_parameter_writer& writer,
+                           uint32_t para_control_obj_control,
+                           uint32_t tsp_instruction_word,
+                           uint32_t texture_control_word,
+                           const float a = 1.0f,
+                           const float r = 1.0f,
+                           const float g = 1.0f,
+                           const float b = 1.0f
+                           )
+{
+  const uint32_t parameter_control_word = para_control::para_type::polygon_or_modifier_volume
+                                        | obj_control::col_type::intensity_mode_1
+                                        | obj_control::gouraud
+                                        | para_control_obj_control
+                                        ;
+
+  const uint32_t isp_tsp_instruction_word = isp_tsp_instruction_word::depth_compare_mode::greater
+                                          | isp_tsp_instruction_word::culling_mode::no_culling
+                                          ;
+
+  writer.append<ta_global_parameter::polygon_type_1>() =
+    ta_global_parameter::polygon_type_1(parameter_control_word,
+                                        isp_tsp_instruction_word,
+                                        tsp_instruction_word,
+                                        texture_control_word,
+                                        a,
+                                        r,
+                                        g,
+                                        b
+                                        );
+}
+
+void transfer_triangle(ta_parameter_writer& writer,
+                       vec3 ap,
+                       vec3 bp,
+                       vec3 cp,
+                       float ai,
+                       float bi,
+                       float ci
+                       )
+{
+  if (ap.z < 0 || bp.z < 0 || cp.z < 0)
+    return;
+
+  writer.append<ta_vertex_parameter::polygon_type_2>() =
+    ta_vertex_parameter::polygon_type_2(polygon_vertex_parameter_control_word(false),
+                                        ap.x, ap.y, ap.z,
+                                        ai);
+
+  writer.append<ta_vertex_parameter::polygon_type_2>() =
+    ta_vertex_parameter::polygon_type_2(polygon_vertex_parameter_control_word(false),
+                                        bp.x, bp.y, bp.z,
+                                        bi);
+
+  writer.append<ta_vertex_parameter::polygon_type_2>() =
+    ta_vertex_parameter::polygon_type_2(polygon_vertex_parameter_control_word(true),
+                                        cp.x, cp.y, cp.z,
+                                        ci);
+}
+
+vec4 quaternion_normalize(vec4 q)
+{
+  float mag = magnitude(q);
+  if (mag > 0.0f) {
+    return q * (1.0f / mag);
+  } else {
+    return q;
+  }
+}
+
+vec4 quaternion_mul_quaternion(vec4 a, vec4 b)
+{
+  return (vec4){
+    (a.x * b.w) + (a.w * b.x) + (a.y * b.z) - (a.z * b.y),
+    (a.y * b.w) + (a.w * b.y) + (a.z * b.x) - (a.x * b.z),
+    (a.z * b.w) + (a.w * b.z) + (a.x * b.y) - (a.y * b.x),
+    (a.w * b.w) - (a.x * b.x) - (a.y * b.y) - (a.z * b.z),
+  };
+}
+
+vec4 quaternion_mul_vec4(vec4 q, vec3 v)
+{
+  return (vec4){
+      (q.w * v.x) + (q.y * v.z) - (q.z * v.y),
+      (q.w * v.y) + (q.z * v.x) - (q.x * v.z),
+      (q.w * v.z) + (q.x * v.y) - (q.y * v.x),
+    - (q.x * v.x) - (q.y * v.y) - (q.z * v.z),
+  };
+}
+
+vec3 quaternion_rotate_point(vec4 q, vec3 v)
+{
+  vec4 neg = {
+    -q.x,
+    -q.y,
+    -q.z,
+     q.w,
+  };
+
+  vec4 qv = quaternion_mul_quaternion(quaternion_mul_vec4(q, v),
+                                      quaternion_normalize(neg));
+  return (vec3){qv.x, qv.y, qv.z};
+}
+
+vec3 vertex_weights(const md5_mesh_joint * joints,
+                    const md5_mesh_mesh * mesh,
+                    const md5_mesh_vert * v)
+{
+  const md5_mesh_weight * weights = &mesh->weights[v->weight_index];
+
+  vec3 sum = {0, 0, 0};
+
+  for (int i = 0; i < v->weight_elem; i++) {
+    const md5_mesh_weight * weight = &weights[i];
+    const md5_mesh_joint * joint = &joints[weight->joint_index];
+    vec3 rv = quaternion_rotate_point(joint->orient, weight->pos);
+    sum += (joint->pos + rv) * weight->weight_value;
+  }
+
+  return sum;
+}
+
+static inline vec3 screen_transform(vec3 v)
+{
+  float x2 = 640 / 2.0;
+  float y2 = 480 / 2.0;
+  float iz = 1.0f / v.z;
+
+  return {
+    v.x * iz * y2 + x2,
+    v.y * iz * y2 + y2,
+    iz,
+  };
+}
+
+float light_intensity(vec3 l1, vec3 n)
+{
+  float intensity = 0.2f;
+  {
+    float n_dot_l = dot(n, l1);
+    if (n_dot_l > 0)
+      intensity += 0.9f * n_dot_l * (inverse_length(n) * inverse_length(l1));
+  }
+
+  if (intensity > 1.0f)
+    intensity = 1.0f;
+
+  return intensity;
+}
+
+void transfer_mesh(ta_parameter_writer& writer,
+                   const mat4x4& screen_trans,
+                   const md5_mesh_joint * joints,
+                   const md5_mesh_mesh * mesh)
+{
+  const vec3 light_pos = {1.2f, 1.0f, -2.0f};
+
+  for (int i = 0; i < mesh->num_tris; i++) {
+    const md5_mesh_tri * tri = &mesh->tris[i];
+    const md5_mesh_vert * av = &mesh->verts[tri->vert_index.a];
+    const md5_mesh_vert * bv = &mesh->verts[tri->vert_index.b];
+    const md5_mesh_vert * cv = &mesh->verts[tri->vert_index.c];
+
+    vec3 ap = screen_trans * vertex_weights(joints, mesh, av);
+    vec3 bp = screen_trans * vertex_weights(joints, mesh, bv);
+    vec3 cp = screen_trans * vertex_weights(joints, mesh, cv);
+
+    vec3 n = -normalize(cross(bp - ap, cp - ap));
+
+    vec3 a_light_dir = normalize(light_pos - ap);
+    vec3 b_light_dir = normalize(light_pos - bp);
+    vec3 c_light_dir = normalize(light_pos - cp);
+
+    float a_diffuse = max(dot(n, a_light_dir), 0.0f);
+    float b_diffuse = max(dot(n, b_light_dir), 0.0f);
+    float c_diffuse = max(dot(n, c_light_dir), 0.0f);
+
+    transfer_triangle(writer,
+                      screen_transform(ap),
+                      screen_transform(bp),
+                      screen_transform(cp),
+                      a_diffuse,
+                      b_diffuse,
+                      c_diffuse);
+  }
+}
+
+void transfer_scene(ta_parameter_writer& writer,
+                    const mat4x4& screen_trans)
+{
+  uint32_t control = para_control::list_type::opaque;
+  uint32_t tsp_instruction_word = tsp_instruction_word::src_alpha_instr::one
+                                | tsp_instruction_word::dst_alpha_instr::zero
+                                | tsp_instruction_word::fog_control::no_fog
+                                | tsp_instruction_word::texture_shading_instruction::decal;
+  uint32_t texture_control_word = 0;
+  global_polygon_type_1(writer,
+                        control,
+                        tsp_instruction_word,
+                        texture_control_word);
+
+  for (int i = 0; i < boblamp_mesh.num_meshes; i++) {
+    transfer_mesh(writer, screen_trans, boblamp_mesh.joints, &boblamp_mesh.meshes[i]);
+  }
+
+  writer.append<ta_global_parameter::end_of_list>() =
+    ta_global_parameter::end_of_list(para_control::para_type::end_of_list);
+}
+
+uint8_t __attribute__((aligned(32))) ta_parameter_buf[1024 * 1024];
+
+int main()
+{
+  sh7091.TMU.TSTR = 0; // stop all timers
+  sh7091.TMU.TOCR = tmu::tocr::tcoe::tclk_is_external_clock_or_input_capture;
+  sh7091.TMU.TCR0 = tmu::tcr0::tpsc::p_phi_256; // 256 / 50MHz = 5.12 μs ; underflows in ~1 hour
+  sh7091.TMU.TCOR0 = 0xffff'ffff;
+  sh7091.TMU.TCNT0 = 0xffff'ffff;
+  sh7091.TMU.TSTR = tmu::tstr::str0::counter_start;
+
+  serial::init(0);
+
+  interrupt_init();
+
+  holly.SOFTRESET = softreset::pipeline_soft_reset
+		  | softreset::ta_soft_reset;
+  holly.SOFTRESET = 0;
+
+  core_init();
+
+  holly.FPU_SHAD_SCALE = fpu_shad_scale::simple_shadow_enable::parameter_selection_volume_mode;
+
+  system.IML6NRM = istnrm::end_of_render_tsp
+                 | istnrm::v_blank_in
+                 | istnrm::end_of_transferring_opaque_list;
+
+  region_array_multipass(tile_width,
+                         tile_height,
+                         opb_size,
+                         ta_cont_count,
+                         texture_memory_alloc.region_array.start,
+                         texture_memory_alloc.object_list.start);
+
+  background_parameter2(texture_memory_alloc.background[0].start,
+                        0xff202040);
+
+  ta_parameter_writer writer = ta_parameter_writer(ta_parameter_buf, (sizeof (ta_parameter_buf)));
+
+  video_output::set_mode_vga();
+
+  mat4x4 screen_trans = {
+    1, 0, 0, 0,
+    0, 0, -1, 0,
+    0, 1, 0, 40,
+    0, 0, 0, 1,
+  };
+
+  screen_trans = translate((vec3){0, 30, 0}) * screen_trans;
+
+  do_get_condition();
+  while (1) {
+    maple::dma_wait_complete();
+    do_get_condition();
+
+    screen_trans = screen_trans * rotate_z(0.01f);
+
+    writer.offset = 0;
+    transfer_scene(writer, screen_trans);
+    while (ta_in_use);
+    while (core_in_use);
+    ta_in_use = 1;
+    ta_polygon_converter_init2(texture_memory_alloc.isp_tsp_parameters.start,
+                               texture_memory_alloc.isp_tsp_parameters.end,
+                               texture_memory_alloc.object_list.start,
+                               texture_memory_alloc.object_list.end,
+                               opb_size[0].total(),
+                               ta_alloc,
+                               tile_width,
+                               tile_height);
+    ta_polygon_converter_writeback(writer.buf, writer.offset);
+    ta_polygon_converter_transfer(writer.buf, writer.offset);
+    while (next_frame == 0);
+    next_frame = 0;
+  }
+}

md5/md5mesh_gen.py

@@ -37,7 +37,7 @@ def render_md5_mesh_vert(vert):
 
 def render_md5_mesh_tri(tri):
     yield f".tri_index = {tri.tri_index},"
-    vi = f"{{{tri.vert_index2}, {tri.vert_index2}, {tri.vert_index3}}}"
+    vi = f"{{{tri.vert_index1}, {tri.vert_index2}, {tri.vert_index3}}}"
     yield f".vert_index = {vi},"
 
 def render_md5_mesh_weight(weight):