ZeldaMods (Breath of the Wild)

Havok: Difference between revisions

Page Discussion

Havok (view source)

Revision as of 11:15, 28 October 2021

10,649 bytes added ,  2 years ago
m
Relative offsets tend to be relative to the provided absolute offset.
VisualWikitext
imported>Zephenryus
m (Added Wikipedia article)
m (Relative offsets tend to be relative to the provided absolute offset.)
 
(16 intermediate revisions by 3 users not shown)
Line 1: Line 1:
<onlyinclude>
'''Havok''' is a middleware software suite developed by the Irish company Havok. Havok provides a physics engine component and related functions to video games.
'''Havok''' is a [[middleware]] [[software suite]] developed by the [[Republic of Ireland|Irish]] company [[Havok (company)|Havok]]. Havok provides a [[physics engine]] component and related functions to video games.


On September 14, 2007, [[Intel Corporation|Intel]] announced it had signed a definitive agreement to acquire Havok Inc.<ref>{{cite web |url=http://www.intel.com/pressroom/archive/releases/2007/20070914corp.htm |title=Intel To Acquire Havok|year=2007|author=Intel Corp |publisher=Intel Corp|accessdate=2009-09-09}}</ref> In 2008, Havok was honored at the 59th Annual [[Technology & Engineering Emmy Award]]s for advancing the development of physics engines in electronic entertainment. On October 2, 2015, [[Microsoft]] announced it had acquired Havok.<ref>{{cite web |url=http://blogs.microsoft.com/blog/2015/10/02/havok-to-join-microsoft|title=Havok to join Microsoft|date=2015-10-02 |website=Microsoft|accessdate=2015-10-02}}</ref>
On September 14, 2007, Intel announced it had signed a definitive agreement to acquire Havok Inc.<ref>[http://www.intel.com/pressroom/archive/releases/2007/20070914corp.htm Intel To Acquire Havok]</ref> In 2008, Havok was honored at the 59th Annual Technology & Engineering Emmy Awards for advancing the development of physics engines in electronic entertainment. On October 2, 2015, Microsoft announced it had acquired Havok.<ref>[http://blogs.microsoft.com/blog/2015/10/02/havok-to-join-microsoft Havok to join Microsoft]</ref>
</onlyinclude>
</onlyinclude>


==Products==
==Products==
The Havok middleware suite consists of the following modules:<ref>[http://www.havok.com/products Product Overview]</ref>


The Havok middleware suite consists of the following modules:<ref>{{cite web |title=Product Overview |url=http://www.havok.com/products |publisher=Havok}}</ref>
*'''Havok Physics''': It is designed primarily for video games, and allows for real-time collision and dynamics of rigid bodies in three dimensions. It provides multiple types of dynamic constraints between rigid bodies (e.g. for ragdoll physics), and has a highly optimized collision detection library. By using dynamical simulation, Havok Physics allows for more realistic virtual worlds in games. The company was developing a specialized version of Havok Physics called Havok FX that made use of ATI and NVIDIA GPUs for physics simulations;<ref>[https://web.archive.org/web/20081205092623/http://www.xbitlabs.com/news/multimedia/display/20051028224421.html Havok Intros Havok FX Engine to Compute Physics Effects on GPUs]</ref> however, the goal of GPU acceleration did not materialize until several years later.<ref>[https://www.youtube.com/watch?v=v1hoVCZZOd0&list=UUfcEdH66zmcp8JEz5NkwJuw&index=6 Havok Physics Playstation 4 Demo]</ref>
*'''Havok AI''': In 2009, Havok released Havok AI, which provides advanced pathfinding capabilities for games. Havok AI provides navigation mesh generation, pathfinding and path following for video game environments.
*'''Havok Cloth''': Released in 2008, Havok Cloth deals with efficient simulation of character garments and soft body dynamics.
*'''Havok Destruction''': Also released in 2008, Havok Destruction provides tools for creation of destructible and deformable rigid body environments.
*'''Havok Animation Studio (discontinued)''': Havok Animation Studio is formally known as Havok Behavior and Havok Animation. Havok Behavior is a runtime SDK for controlling game character animation at a high level using finite state machines. Havok Animation provides efficient playback and compression of character animations in games, and features such as inverse kinematics.
*'''Havok Script (discontinued)''': Havok Script is a Lua-compatible virtual machine designed for video game development. It is shipped as part of the Havok Script Studio.
*'''Havok Vision Engine''' '''(discontinued):''' On August 8, 2011, Havok announced their acquisition of German game engine development company Trinigy and their Vision Engine and toolset.


* '''Havok Physics''': It is designed primarily for [[video game]]s, and allows for [[Real-time computing|real-time]] collision and [[Rigid body dynamics|dynamics of rigid bodies]] in three dimensions. It provides multiple types of [[Multibody dynamics|dynamic constraints]] between rigid bodies (e.g. for [[ragdoll physics]]), and has a highly optimized [[collision detection]] library. By using [[dynamical simulation]], Havok Physics allows for more realistic virtual worlds in games. The company was developing a specialized version of Havok Physics called Havok FX that made use of [[ATI Technologies|ATI]] and [[NVIDIA]] GPUs for physics simulations;<ref>{{cite web|url=http://www.xbitlabs.com/news/multimedia/display/20051028224421.html|title=Havok Intros Havok FX Engine to Compute Physics Effects on GPUs|year=2005|first=Anton|last=Shilov|publisher=Xbit Laboratories|accessdate=2008-11-28|deadurl=yes|archiveurl=https://web.archive.org/web/20081205092623/http://www.xbitlabs.com/news/multimedia/display/20051028224421.html|archivedate=2008-12-05|df=}}</ref> however, the goal of GPU acceleration did not materialize until several years later.<ref>{{cite web |url=https://www.youtube.com/watch?v=v1hoVCZZOd0&list=UUfcEdH66zmcp8JEz5NkwJuw&index=6 |title=Havok Physics Playstation 4 Demo|year=2013|publisher=havokchannel|accessdate=2013-02-20}}</ref>
==Usage==
* '''Havok AI''': In 2009, Havok released Havok AI, which provides advanced [[pathfinding]] capabilities for games. Havok AI provides navigation mesh generation, pathfinding and path following for video game environments.
{{Expand section}}
* '''Havok Cloth''': Released in 2008, Havok Cloth deals with efficient simulation of character garments and [[soft body dynamics]].
''Breath of the Wild'' uses the '''Havok Physics''', '''Havok AI''' and '''Havok Cloth'''.
* '''Havok Destruction''': Also released in 2008, Havok Destruction provides tools for creation of destructible and deformable rigid body environments.
{| class="wikitable"
*'''Havok Animation Studio (discontinued)''': Havok Animation Studio is formally known as Havok Behavior and Havok Animation. Havok Behavior is a runtime SDK for controlling game character animation at a high level using [[finite state machine]]s. Havok Animation provides efficient playback and compression of character animations in games, and features such as [[inverse kinematics]].
|+File Extensions
* '''Havok Script (discontinued)''': Havok Script is a [[Lua (programming language)|Lua]]-compatible [[virtual machine]] designed for [[video game development]]. It is shipped as part of the Havok Script Studio.
!Extension
* '''[[Vision (game engine)|Havok Vision Engine]]''' '''(discontinued):''' On August 8, 2011, Havok announced their acquisition of German game engine development company [[Trinigy]] and their Vision Engine and toolset.<ref>{{cite web|url=http://www.trinigy.net/en/component/content/article/7-press/423-havok-announces-acquisition-of-trinigy|title=Havok Announces Acquisition of Trinigy|accessdate=2011-08-12}}{{dead link|date=September 2012}}</ref>
!Product
!Description
!Locations
|-
|[[hknm2]]
|Havok AI
|Navigation meshes (used by AI for path finding)
|<code>NavMesh/</code>
|-
|[[hkrb]]
|Havok Physics
|Rigid body physics
|<code>Physics/RigidBody/</code>
|-
|[[hkcl]]
|Havok Cloth
|Cloth physics
|<code>Physics/Cloth/</code>
|-
|[[hkrg]]
|Havok Physics
|Rag doll physics
|<code>Physics/Ragdoll/</code>
|-
|[[hksc]]
|Havok Physics
|Static compound physics
|<code>Physics/StaticCompound/</code>
|-
|[[hktmrb]]
|Havok Physics
|Terrain mesh rigid body physics
|<code>Physics/TeraMeshRigidBody/</code>
|}


==Platforms==
===File Types===


Version 1.0 of the Havok [[Software development kit|SDK]] was unveiled at the [[Game Developers Conference]] (GDC) in 2000. The Havok SDK is multi-platform by nature and is always updated to run on the majority of the latest platforms. Licensees are given access to most of the [[C (programming language)|C]]/[[C++]] source-code, giving them the freedom to customize the engine's features, or port it to different platforms although some libraries are only provided in binary format. In March 2011, Havok showed off a version of the Havok physics engine designed for use with the [[Sony Xperia Play]], or more specifically, [[Android (operating system)|Android]] 2.3.<ref name="engadget2011"/> During Microsoft's [[Build (developer conference)|//BUILD/]] 2012 conference, Havok unveiled a full technology suite for [[Windows 8]], [[Windows RT]] , [[Windows Phone 8]] and later [[Windows 10]].<ref name="yahoo-finance"/>
====hknm2====
{{Expand section}}Used in shrines and field sections.


== Havok File Specification ==
====hkrb====
{{Expand section}}Used in actors.
 
====hkcl====
{{Expand section}}Used in actors.
 
====hkrg====
{{Expand section}}Used in actors.
 
====hksc====
{{Expand section}}Used in shrines and field sections.
 
====hktmrb====
{{Expand section}}Used in field sections.
 
==Havok File Specification==
Havok files serve as a data container for multiple Havok classes per file and sometimes multiple Havok files per file<ref>Static Compound files ([[hksc]]) include two Havok file definitions. The first file defines <code>StaticCompoundInfo</code> and the second defines <code>hkpPhysicsData</code> (which includes <code>hkpRigidBody</code>, <code>hkpStaticCompoundShape</code>, <code>hkpBvCompressedMeshShape</code>, <code>hkpConvexVerticesShape</code>, et. al.).</ref>. The class names are defined in each file.
 
Note that this specification only applies to version 2014.2.0-r1
 
===File Structure===
[[File:Havok-file-structure.png|thumb|File structure]]
Each file contains a header and three sections: classnames, types and data
 
====classnames====
The classnames section (<code>__classnames__</code> internally) contains a list of Havok classes used by the file to correctly decompile the binary data into a usable data structure.
 
====types====
The types section (<code>__types__</code> internally) does not appear to be used by ''Breath of the Wild''.
 
====data====
the data section (<code>__data__</code> internally) contains binary data to be serialized into Havok data structures for use by the Havok engine.
 
==Header==
The header seems to have a 16-byte alignment and can be 64-bytes (short header) or 80-bytes (long header) in length, depending on if '''Section offset''' equals 0 (short header) or 16 (long header).
{| class="wikitable"
|+
Header Specification
!Offset (h)
!Size
!Data Type
!Description
|-
|<code>0x00</code>
|8
|Bytes
|Havok file signature (magic) <code>57 E0 E0 57 10 C0 C0 10</code>
|-
|<code>0x08</code>
|4
|Int
|User tag (always 0)
|-
|<code>0x0c</code>
|4
|Int
|Version (always 11)
|-
|<code>0x10</code>
|1
|Byte
|Pointer size (always 4 on Wii U, 8 on Switch)
|-
|<code>0x11</code>
|1
|Byte
|Endian (always 0 on WiiU, 1 on Switch)
|-
|<code>0x12</code>
|1
|Byte
|Padding option (always 0 on WiiU, 1 on Switch)
|-
|<code>0x13</code>
|1
|Byte
|Base class (always 1)
|-
|<code>0x14</code>
|4
|Int
|Section count (always 3)
|-
|<code>0x18</code>
|4
|Int
|Contents section index (always 2)
|-
|<code>0x1c</code>
|4
|Int
|Contents section offset (always 0)
|-
|<code>0x20</code>
|4
|Int
|Contents classname section index (always 0)
|-
|<code>0x24</code>
|4
|Int
|Contents classname section offset (always 75)
|-
|<code>0x28</code>
|16
|String
|Havok version <code>hk_2014.2.0-r1</code> for BotW files
|-
|<code>0x38</code>
|4
|Int
|Flags (always 0)
|-
|<code>0x3c</code>
|2
|Short
|Unknown (always 21)
|-
|<code>0x3e</code>
|2
|Short
|Section offset (0 or 16; if 16, the header is 16 bytes longer)
|}
 
===Optional Header Bytes===
There are optional header bytes for a long header. If Section offset equals 16, an additional 16 bytes are added to the header for a total of 80 bytes.
{| class="wikitable"
|+Optional Header Bytes
!Offset (h)
!Size
!Data Type
!Description
|-
|0x40
|4
|Int
|Unknown (always 20)
|-
|0x44
|4
|Int
|Unknown (always 0; probably padding for alignment)
|-
|0x48
|4
|Int
|Unknown (always 0; probably padding for alignment)
|-
|0x4c
|4
|Int
|Unknown (always 0; probably padding for alignment)
|}
 
==Section Headers==
[[File:Havok-class-header-delimits.png|thumb|<code>FF</code> bytes indicate section header boundaries]]
Each section has a 64-byte header which includes the section name, absolute offset to the section start and six relative offsets to segments within the section. These relative offsets are often relative to the absolute offset. {{check}} All three section headers follow the file header and are delimited by 16 delimiter bytes (<code>0xFF</code>).
{| class="wikitable"
|+Section Header Specification
!Offset (h)
!Size
!Data Type
!Description
|-
|<code>0x00</code>
|20
|String
|Section name
|-
|<code>0x14</code>
|4
|Unsigned Int
|Absolute offset
|-
|<code>0x18</code>
|4
|Unsigned Int
|Relative offset 1
|-
|<code>0x1c</code>
|4
|Unsigned Int
|Relative offset 2
|-
|<code>0x20</code>
|4
|Unsigned Int
|Relative offset 3
|-
|<code>0x24</code>
|4
|Unsigned Int
|Relative offset 4
|-
|<code>0x28</code>
|4
|Unsigned Int
|Relative offset 5
|-
|<code>0x2c</code>
|4
|Unsigned Int
|Relative offset 6
|}
 
===Section Name===
There are only three section names: <code>__classnames__</code>, <code>__types__</code> and <code>__data__</code>. The section name is a null-terminated string with a delimiter byte (<code>0xFF</code>) in byte 20.
 
===Absolute Offset===
The absolute offset to the section.
 
===Relative Offsets===
The relative offsets point to different large structures within the section.
 
For example, given the following section header:
<syntaxhighlight>
5F 5F 64 61 74 61 5F 5F 00 00 00 00 00 00 00 00 | __data__........
00 00 00 FF 00 00 01 60 00 00 3C 00 00 00 3C 10 | .......`..<...<.
00 00 3C 10 00 00 3C 20 00 00 3C 20 00 00 3C 20 | ..<...< ..< ..<
FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF | ................
</syntaxhighlight>The section name is <code>__data__</code>.
 
The absolute offset is the beginning of the data section, right after the class names.
 
This following tables shows to which sections the offsets are pointing:
{| class="wikitable"
|+Data Header Specification
!Offset (h)
!Size
!Data Type
!Description / Section
|-
|<code>0x00</code>
|20
|String
|Section name
|-
|<code>0x14</code>
|4
|Unsigned Int
|Beginning of data section
|-
|<code>0x18</code>
|4
|Unsigned Int
|Pointer - Data Pointer
|-
|<code>0x1c</code>
|4
|Unsigned Int
|Pointer - Linked Entries
|-
|<code>0x20</code>
|4
|Unsigned Int
|Pointer - Class Mapping
|-
|<code>0x24</code>
|4
|Unsigned Int
|EOF
|-
|<code>0x28</code>
|4
|Unsigned Int
|EOF
|-
|<code>0x2c</code>
|4
|Unsigned Int
|EOF
|}
 
==Class Names Section==
[[File:Havok-class-names.png|thumb|Class names binary data]]
The classnames section header includes the absolute offset to the class names data and a single unique relative offset to the end of the section. The section is made up of an array of hash ids and a null-terminated string class name.
 
===Class Name===
Class names are read until the end of the section or a delimiter byte (<code>0xFF</code>) is is reached.
{| class="wikitable"
|+Class Name Specification
!Offset (h)
!Size
!Type
!Description
|-
|0x00
|4
|Unsigned Int
|An integer associated with the class type
|-
|0x05
|1
|Byte
|Unknown (always <code>0x09</code>)<ref>It is assumed to be a delimiter between the id and the class name string. However, <code>0x09</code> is also the tab character and could imply something to the engine.</ref>
|-
|0x06
|n
|String
|Class name (null-terminated string)
|}
 
==Types Section==
The types section is unused in ''Breath of the Wild''. The absolute offset points to the beginning of the data section with all null (<code>0x00</code>) relative offsets.
 
==Data Section==
[[File:Havok-data-structure.png|thumb|390x390px|Data structure]]
 
===Data===
The bulk of the file is devoted to the data section which is divided into smaller segments dependent on the file type.
All files follow a general structure as you can see in the picture.
 
Right after the header begins the data section which contains multiple chunks, luckily, the first four chunks are always the same.
 
After that, several more chunks can be found depending on the file.
 
===Pointer===
The next section, at the end of the file, contains three different pointer arrays.
It is used to connect the whole file together, and should be used as an entry point while reading the file.
 
The offsets to these three sections can be found in the header.
 
====Data Pointer====
An array of offsets relative to the beginning of the data section, pointing into various chunks.
 
Which offsets ends up in this list, depends completely on the chunks used in the data section.
 
However, since the first four classes are always the same, the first 14 offsets will be the constant.
[[File:Havok_data_pointer.png|none|thumb|Data Pointer]]
 
 
====Linked Entries====
Contains pointer-pairs to connect chunks together.
 
Each pair has the following format:
{| class="wikitable"
|+Pointer Pair
!Offset (h)
!Size
!Type
!Name
!Description
|-
|0x00
|4
|Unsigned Int
|base
|Offset somewhere in the parent chunk
|-
|0x04
|4
|Unsigned Int
|flags
|Unknown (always <code>0x00000002)</code>
|-
|0x08
|4
|Unsigned Int
|target
|Target chunk (always beginning of the chunk)
|}
To connect a chunk with another, a base pointer somewhere inside the base-chunk (depending on the class/type) is used as the first pointer.
 
Then, the target pointer is the offset of the beginning of the target chunk.
[[File:Havok_pointer_linked.png|none|thumb|Linked Entries]]
 
 
====Class Mapping====
The last section contains the mapping between the chunks and the classes they are using.
 
They, again, use pointer pairs:
{| class="wikitable"
|+Class Mapping Pointer
!Offset (h)
!Size
!Type
!Name
!Description
|-
|0x00
|4
|Unsigned Int
|data
|Offset to the start of an chunk, relative to data-section
|-
|0x04
|4
|Unsigned Int
|flags
|Unknown (always <code>0x00000000)</code>
|-
|0x08
|4
|Unsigned Int
|class
|Offset to the class name, relative to class-section
|}
To link a chunk to a class, the data pointer is set to the beginning of the chunk.
 
The class pointer is set to the first character of the class name found in the header section.
[[File:Havok_class_mapping.png|none|thumb|Class Mapping]]
 
 
This also marks the end of the file, if the offset is not aligned to 16 bytes, the rest is filled with <code>0xFF</code>.
 
==Data Classes==
{{Expand section}}
All known classes that chunks can use are listed here.
{| class="wikitable"
|+Generally used classes
!Signature
!Name
|-
|0x2772c11e
|hkRootLevelContainer
|-
|}
 
{| class="wikitable"
|+Havok Animation classes
!Signature
!Name
|-
|0x26859f4c
|hkaAnimationContainer
|-
|0xfec1cedb
|hkaSkeleton
|-
|0xace9849c
|hkaSkeletonMapper
|-
|0x5448f464
|hkaRagdollInstance
|-
|}
 
{| class="wikitable"
|+Havok Physics classes
!Signature
!Name
|-
|0x47a8ca83
|hkpPhysicsData
|-
|0xb3cc6e64
|hkpPhysicsSystem
|-
|0xcd2e69e5
|hkpRigidBody
|-
|0xfda179f3
|hkpCapsuleShape
|-
|0xda4ce91e
|hkpConstraintInstance
|-
|0xed9648f7
|hkpRagdollConstraintData
|-
|0x75aae5a3
|hkpLimitedHingeConstraintData
|-
|0x143dd400
|hkpPositionConstraintMotor
|-
|0xabab6bb3
|hkpBvCompressedMeshShape
|-
|}
 
{| class="wikitable"
|+Havok Cloth classes
!Signature
!Name
|-
|0x3512912b
|hclClothContainer
|-
|0xf14068be
|hclCollidable
|-
|0xdd03f524
|hclCapsuleShape
|-
|0xd779f2c5
|hclSphereShape
|-
|0x92f3edba
|hclClothData
|-
|0xe6105187
|hclSimClothData
|-
|0x426b3354
|hclStandardLinkConstraintSet
|-
|0x426b3354
|hclStretchLinkConstraintSet
|-
|0x82567805
|hclLocalRangeConstraintSet
|-
|0x9cfe2c7d
|hclTransitionConstraintSet
|-
|0x26824757
|hclBendLinkConstraintSet
|-
|0x1b254ca1
|hclSimClothPose
|-
|0xa0130a2c
|hclScratchBufferDefinition
|-
|0x7f4a5bfc
|hclBufferDefinition
|-
|0x18fd4565
|hclTransformSetDefinition
|-
|0x6171b106
|hclObjectSpaceSkinPOperator
|-
|0xe65a701c
|hclMoveParticlesOperator
|-
|0x75c72f0f
|hclSimulateOperator
|-
|0x80d9769f
|hclSimpleMeshBoneDeformOperator
|-
|0xda737296
|hclGatherAllVerticesOperator
|-
|0x7b02cd1b
|hclClothState
|-
|0xe6db074c
|hclCopyVerticesOperator
|-
|}
 
{| class="wikitable"
|+Havok AI classes
!Signature
!Name
|-
|0x6d493bdb
|hkaiNavMesh
|-
|0x2f02d92c
|hkaiDirectedGraphExplicitCost
|-
|0x433a1e61
|hkaiStaticTreeNavMeshQueryMediator
|-
|}
 
{| class="wikitable"
|+Havok Compound classes
!Signature
!Name
|-
|0x99e8d0cb
|hkcdStaticAabbTree
|-
|0x33735476
|hkcdStaticTreeDefaultTreeStorage6
|-
|0x5115a202
|StaticCompoundInfo
|-
|}
 
 
<references />
[[Category:File formats]]
Greenlord
7

edits

Retrieved from "https://zeldamods.org/wiki/Special:MobileDiff/7515...11031"