#include "global.h"
#include "vt.h"

#include <soh/OTRGlobals.h>

#define SS_NULL 0xFFFF

// bccFlags
#define BGCHECK_CHECK_WALL (1 << 0)
#define BGCHECK_CHECK_FLOOR (1 << 1)
#define BGCHECK_CHECK_CEILING (1 << 2)
#define BGCHECK_CHECK_ONE_FACE (1 << 3)
#define BGCHECK_CHECK_DYNA (1 << 4)
#define BGCHECK_CHECK_ALL \
    (BGCHECK_CHECK_WALL | BGCHECK_CHECK_FLOOR | BGCHECK_CHECK_CEILING | BGCHECK_CHECK_ONE_FACE | BGCHECK_CHECK_DYNA)

// bciFlags
#define BGCHECK_IGNORE_NONE 0
#define BGCHECK_IGNORE_CEILING (1 << 0)
#define BGCHECK_IGNORE_WALL (1 << 1)
#define BGCHECK_IGNORE_FLOOR (1 << 2)

// poly exclusion flags (xpFlags)
#define COLPOLY_IGNORE_NONE 0
#define COLPOLY_IGNORE_CAMERA (1 << 0)
#define COLPOLY_IGNORE_ENTITY (1 << 1)
#define COLPOLY_IGNORE_PROJECTILES (1 << 2)

// func_80041DB8, SurfaceType wall properties
s32 D_80119D90[32] = {
    0, 1, 3, 5, 8, 16, 32, 64, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
};

// SurfaceType_GetSfx
u16 D_80119E10[14] = {
    NA_SE_PL_WALK_GROUND - SFX_FLAG, NA_SE_PL_WALK_SAND - SFX_FLAG,   NA_SE_PL_WALK_CONCRETE - SFX_FLAG,
    NA_SE_PL_WALK_DIRT - SFX_FLAG,   NA_SE_PL_WALK_WATER0 - SFX_FLAG, NA_SE_PL_WALK_WATER1 - SFX_FLAG,
    NA_SE_PL_WALK_WATER2 - SFX_FLAG, NA_SE_PL_WALK_MAGMA - SFX_FLAG,  NA_SE_PL_WALK_GRASS - SFX_FLAG,
    NA_SE_PL_WALK_GLASS - SFX_FLAG,  NA_SE_PL_WALK_LADDER - SFX_FLAG, NA_SE_PL_WALK_GROUND - SFX_FLAG,
    NA_SE_PL_WALK_ICE - SFX_FLAG,    NA_SE_PL_WALK_IRON - SFX_FLAG,
};

/**
 * original name: T_BGCheck_PosErrorCheck
 */
s32 BgCheck_PosErrorCheck(Vec3f* pos, char* file, s32 line) {
    if (pos->x >= BGCHECK_XYZ_ABSMAX || pos->x <= -BGCHECK_XYZ_ABSMAX || pos->y >= BGCHECK_XYZ_ABSMAX ||
        pos->y <= -BGCHECK_XYZ_ABSMAX || pos->z >= BGCHECK_XYZ_ABSMAX || pos->z <= -BGCHECK_XYZ_ABSMAX) {
        osSyncPrintf(VT_FGCOL(RED));
        // "Position is invalid."
        osSyncPrintf("T_BGCheck_PosErrorCheck():位置が妥当ではありません。pos (%f,%f,%f) file:%s line:%d\n", pos->x,
                     pos->y, pos->z, file, line);
        osSyncPrintf(VT_RST);
        return true;
    }
    return false;
}

/**
 * Set SSNode
 */
void SSNode_SetValue(SSNode* node, s16* polyId, u16 next) {
    node->polyId = *polyId;
    node->next = next;
}

/**
 * Set SSList to SS_NULL
 */
void SSList_SetNull(SSList* ssList) {
    ssList->head = SS_NULL;
}

/**
 * Insert `polyId` at the start of the static `ssList` list
 */
void SSNodeList_SetSSListHead(SSNodeList* nodeList, SSList* ssList, s16* polyId) {
    u16 newNodeId = SSNodeList_GetNextNodeIdx(nodeList);

    SSNode_SetValue(&nodeList->tbl[newNodeId], polyId, ssList->head);
    ssList->head = newNodeId;
}

/**
 * Insert `polyId` at the start of the dyna `ssList` list
 */
void DynaSSNodeList_SetSSListHead(DynaSSNodeList* nodeList, SSList* ssList, s16* polyId) {
    u16 newNodeId = DynaSSNodeList_GetNextNodeIdx(nodeList);

    ASSERT(newNodeId != SS_NULL);
    SSNode_SetValue(&nodeList->tbl[newNodeId], polyId, ssList->head);
    ssList->head = newNodeId;
}

/**
 * Initialize DynaSSNodeList
 */
void DynaSSNodeList_Initialize(GlobalContext* globalCtx, DynaSSNodeList* nodeList) {
    nodeList->tbl = NULL;
    nodeList->count = 0;
}

/**
 * Initialize DynaSSNodeList tbl
 */
void DynaSSNodeList_Alloc(GlobalContext* globalCtx, DynaSSNodeList* nodeList, s32 max) {
    nodeList->tbl = THA_AllocEndAlign(&globalCtx->state.tha, max * sizeof(SSNode), -2);

    ASSERT(nodeList->tbl != NULL);

    nodeList->max = max;
    nodeList->count = 0;
}

/**
 * Reset DynaSSNodeList count
 */
void DynaSSNodeList_ResetCount(DynaSSNodeList* nodeList) {
    nodeList->count = 0;
}

/**
 * Get next available node index in DynaSSNodeList
 * returns SS_NULL if list is full
 */
u16 DynaSSNodeList_GetNextNodeIdx(DynaSSNodeList* nodeList) {
    u16 idx = nodeList->count++;

    if (nodeList->max <= idx) {
        return SS_NULL;
    }

    return idx;
}

/**
 * original name: T_BGCheck_Vec3sToVec3f
 */
void BgCheck_Vec3sToVec3f(Vec3s* src, Vec3f* dst) {
    dst->x = src->x;
    dst->y = src->y;
    dst->z = src->z;
}

/**
 * original name: T_BGCheck_Vec3fToVec3s
 */
void BgCheck_Vec3fToVec3s(Vec3s* dst, Vec3f* src) {
    dst->x = src->x;
    dst->y = src->y;
    dst->z = src->z;
}

/**
 * Get CollisionPoly's lowest y point
 */
s16 CollisionPoly_GetMinY(CollisionPoly* poly, Vec3s* vtxList) {
    s32 a;
    s32 b;
    s32 c;
    s16 min;

    //! @bug Due to rounding errors, some polys with a slight slope have a y normal of 1.0f/-1.0f. As such, this
    //! optimization returns the wrong minimum y for a subset of these polys.
    if (poly->normal.y == COLPOLY_SNORMAL(1.0f) || poly->normal.y == COLPOLY_SNORMAL(-1.0f)) {
        return vtxList[COLPOLY_VTX_INDEX(poly->flags_vIA)].y;
    }

    a = COLPOLY_VTX_INDEX(poly->flags_vIA);
    b = COLPOLY_VTX_INDEX(poly->flags_vIB);
    c = poly->vIC;

    min = vtxList[a].y;

    if (min > vtxList[b].y) {
        min = vtxList[b].y;
    }
    if (min < vtxList[c].y) {
        return min;
    }
    return vtxList[c].y;
}

/**
 * CollisionPoly get unit normal
 */
void CollisionPoly_GetNormalF(CollisionPoly* poly, f32* nx, f32* ny, f32* nz) {
    *nx = COLPOLY_GET_NORMAL(poly->normal.x);
    *ny = COLPOLY_GET_NORMAL(poly->normal.y);
    *nz = COLPOLY_GET_NORMAL(poly->normal.z);
}

/**
 * Compute transform matrix mapping +y (up) to the collision poly's normal
 */
void func_80038A28(CollisionPoly* poly, f32 tx, f32 ty, f32 tz, MtxF* dest) {
    f32 nx;
    f32 ny;
    f32 nz;
    s32 pad;
    f32 phi_f2;
    f32 phi_f14;
    f32 phi_f12;
    f32 inv_phi_f2;
    f32 inv_phi_f14;

    if (poly == NULL) {
        return;
    }
    CollisionPoly_GetNormalF(poly, &nx, &ny, &nz);

    phi_f2 = sqrtf(1.0f - SQ(nx));
    if (!IS_ZERO(phi_f2)) {
        inv_phi_f2 = 1.0f / phi_f2;
        phi_f14 = ny * inv_phi_f2;
        phi_f12 = -(nz * inv_phi_f2);
    } else {
        phi_f14 = sqrtf(1.0f - SQ(ny));
        if (!IS_ZERO(phi_f14)) {
            inv_phi_f14 = (1.0f / phi_f14);
            phi_f12 = nx * inv_phi_f14;
            phi_f2 = -(nz * inv_phi_f14);
        } else {
            phi_f12 = 0.0f;
            phi_f2 = 0.0f;
        }
    }
    dest->xx = phi_f2;
    dest->yx = (-nx) * phi_f14;
    dest->zx = nx * phi_f12;
    dest->xy = nx;
    dest->yy = ny;
    dest->zy = nz;
    dest->yz = phi_f12;
    dest->zz = phi_f14;
    dest->wx = 0.0f;
    dest->wy = 0.0f;
    dest->xz = 0.0f;
    dest->wz = 0.0f;
    dest->xw = tx;
    dest->yw = ty;
    dest->zw = tz;
    dest->ww = 1.0f;
}

/**
 * Calculate point distance from plane along normal
 */
f32 CollisionPoly_GetPointDistanceFromPlane(CollisionPoly* poly, Vec3f* point) {
    return (poly->normal.x * point->x + poly->normal.y * point->y + poly->normal.z * point->z) * COLPOLY_NORMAL_FRAC +
           poly->dist;
}

/**
 * Get Poly Vertices
 */
void CollisionPoly_GetVertices(CollisionPoly* poly, Vec3s* vtxList, Vec3f* dest) {
    BgCheck_Vec3sToVec3f(&vtxList[COLPOLY_VTX_INDEX(poly->flags_vIA)], &dest[0]);
    BgCheck_Vec3sToVec3f(&vtxList[COLPOLY_VTX_INDEX(poly->flags_vIB)], &dest[1]);
    BgCheck_Vec3sToVec3f(&vtxList[poly->vIC], &dest[2]);
}

/**
 * Get vertices by bgId
 * original name: T_Polygon_GetVertex_bg_ai
 */
void CollisionPoly_GetVerticesByBgId(CollisionPoly* poly, s32 bgId, CollisionContext* colCtx, Vec3f* dest) {
    Vec3s* vtxList;

    if (poly == NULL || bgId > BG_ACTOR_MAX || dest == NULL) {
        osSyncPrintf(VT_COL(RED, WHITE));
        // "Argument not appropriate. Processing terminated."
        osSyncPrintf("T_Polygon_GetVertex_bg_ai(): Error %d %d %d 引数が適切ではありません。処理を終了します。\n",
                     poly == NULL, bgId > BG_ACTOR_MAX, dest == NULL);
        osSyncPrintf(VT_RST);

        if (dest != NULL) {
            //! @bug: dest[2] x and y are not set to 0
            dest[0].x = dest[0].y = dest[0].z = dest[1].x = dest[1].y = dest[1].z = dest[2].z = 0.0f;
        }
    } else {
        if (bgId == BGCHECK_SCENE) {
            vtxList = colCtx->colHeader->vtxList;
        } else {
            vtxList = colCtx->dyna.vtxList;
        }

        CollisionPoly_GetVertices(poly, vtxList, dest);
    }
}

/**
 * Checks if point (`x`,`z`) is within `chkDist` of `poly`, computing `yIntersect` if true
 * Determinant max 300.0f
 */
s32 CollisionPoly_CheckYIntersectApprox1(CollisionPoly* poly, Vec3s* vtxList, f32 x, f32 z, f32* yIntersect,
                                         f32 chkDist) {
    static Vec3f polyVerts[3];
    f32 nx;
    f32 ny;
    f32 nz;
    Vec3s* vA;
    Vec3s* vB;
    Vec3s* vC;

    vA = &vtxList[COLPOLY_VTX_INDEX(poly->flags_vIA)];
    Math_Vec3s_ToVec3f(&polyVerts[0], vA);
    vB = &vtxList[COLPOLY_VTX_INDEX(poly->flags_vIB)];
    Math_Vec3s_ToVec3f(&polyVerts[1], vB);
    vC = &vtxList[poly->vIC];
    Math_Vec3s_ToVec3f(&polyVerts[2], vC);

    nx = COLPOLY_GET_NORMAL(poly->normal.x);
    ny = COLPOLY_GET_NORMAL(poly->normal.y);
    nz = COLPOLY_GET_NORMAL(poly->normal.z);

    return Math3D_TriChkPointParaYIntersectDist(&polyVerts[0], &polyVerts[1], &polyVerts[2], nx, ny, nz, poly->dist, z,
                                                x, yIntersect, chkDist);
}

/**
 * Checks if point (`x`,`z`) is within `chkDist` of `poly`, computing `yIntersect` if true
 * Determinant max 0.0f (checks if on or within poly)
 */
s32 CollisionPoly_CheckYIntersect(CollisionPoly* poly, Vec3s* vtxList, f32 x, f32 z, f32* yIntersect, f32 chkDist) {
    static Vec3f polyVerts[3];
    f32 nx;
    f32 ny;
    f32 nz;

    CollisionPoly_GetVertices(poly, vtxList, polyVerts);
    CollisionPoly_GetNormalF(poly, &nx, &ny, &nz);
    return Math3D_TriChkPointParaYIntersectInsideTri(&polyVerts[0], &polyVerts[1], &polyVerts[2], nx, ny, nz,
                                                     poly->dist, z, x, yIntersect, chkDist);
}

/**
 * Checks if point (`x`,`z`) is within 1.0f of `poly`, computing `yIntersect` if true
 * Determinant max 300.0f
 */
s32 CollisionPoly_CheckYIntersectApprox2(CollisionPoly* poly, Vec3s* vtxList, f32 x, f32 z, f32* yIntersect) {
    return CollisionPoly_CheckYIntersectApprox1(poly, vtxList, x, z, yIntersect, 1.0f);
}

/**
 * Checks if point (`y`,`z`) is within 1.0f of `poly`, computing `xIntersect` if true
 * Determinant max 300.0f
 */
s32 CollisionPoly_CheckXIntersectApprox(CollisionPoly* poly, Vec3s* vtxList, f32 y, f32 z, f32* xIntersect) {
    static Vec3f polyVerts[3];
    f32 nx;
    f32 ny;
    f32 nz;

    CollisionPoly_GetVertices(poly, vtxList, polyVerts);
    CollisionPoly_GetNormalF(poly, &nx, &ny, &nz);
    return Math3D_TriChkPointParaXIntersect(&polyVerts[0], &polyVerts[1], &polyVerts[2], nx, ny, nz, poly->dist, y, z,
                                            xIntersect);
}

/**
 * Checks if point (`x`,`y`) is within 1.0f of `poly`, computing `zIntersect` if true
 * Determinant max 300.0f
 */
s32 CollisionPoly_CheckZIntersectApprox(CollisionPoly* poly, Vec3s* vtxList, f32 x, f32 y, f32* zIntersect) {
    static Vec3f polyVerts[3];
    f32 nx;
    f32 ny;
    f32 nz;

    CollisionPoly_GetVertices(poly, vtxList, polyVerts);
    CollisionPoly_GetNormalF(poly, &nx, &ny, &nz);
    return Math3D_TriChkPointParaZIntersect(&polyVerts[0], &polyVerts[1], &polyVerts[2], nx, ny, nz, poly->dist, x, y,
                                            zIntersect);
}

/**
 * Test if travelling from `posA` to `posB` intersects `poly`
 * returns true if an intersection occurs, else false
 * returns `planeIntersect`, which is the point at which the line from `posA` to `posB` crosses `poly`'s plane
 * if `chkOneFace` is true, return false (no intersection) when going through the poly from A to B is done in the
 * normal's direction
 */
s32 CollisionPoly_LineVsPoly(CollisionPoly* poly, Vec3s* vtxList, Vec3f* posA, Vec3f* posB, Vec3f* planeIntersect,
                             s32 chkOneFace, f32 chkDist) {
    static Vec3f polyVerts[3];
    static Plane plane;
    f32 planeDistA;
    f32 planeDistB;
    f32 planeDistDelta;

    plane.originDist = poly->dist;
    planeDistA =
        (poly->normal.x * posA->x + poly->normal.y * posA->y + poly->normal.z * posA->z) * COLPOLY_NORMAL_FRAC +
        plane.originDist;
    planeDistB =
        (poly->normal.x * posB->x + poly->normal.y * posB->y + poly->normal.z * posB->z) * COLPOLY_NORMAL_FRAC +
        plane.originDist;

    planeDistDelta = planeDistA - planeDistB;
    if ((planeDistA >= 0.0f && planeDistB >= 0.0f) || (planeDistA < 0.0f && planeDistB < 0.0f) ||
        (chkOneFace && planeDistA < 0.0f && planeDistB > 0.0f) || IS_ZERO(planeDistDelta)) {
        return false;
    }

    CollisionPoly_GetNormalF(poly, &plane.normal.x, &plane.normal.y, &plane.normal.z);
    CollisionPoly_GetVertices(poly, vtxList, polyVerts);
    Math3D_LineSplitRatio(posA, posB, planeDistA / planeDistDelta, planeIntersect);
    if ((fabsf(plane.normal.x) > 0.5f &&
         Math3D_TriChkPointParaXDist(&polyVerts[0], &polyVerts[1], &polyVerts[2], &plane, planeIntersect->y,
                                     planeIntersect->z, chkDist)) ||
        (fabsf(plane.normal.y) > 0.5f &&
         Math3D_TriChkPointParaYDist(&polyVerts[0], &polyVerts[1], &polyVerts[2], &plane, planeIntersect->z,
                                     planeIntersect->x, chkDist)) ||
        (fabsf(plane.normal.z) > 0.5f &&
         Math3D_TriChkLineSegParaZDist(&polyVerts[0], &polyVerts[1], &polyVerts[2], &plane, planeIntersect->x,
                                       planeIntersect->y, chkDist))) {
        return true;
    }
    return false;
}

/**
 * Tests if sphere `center` `radius` intersects `poly`
 */
s32 CollisionPoly_SphVsPoly(CollisionPoly* poly, Vec3s* vtxList, Vec3f* center, f32 radius) {
    static Sphere16 sphere;
    static TriNorm tri;
    Vec3f intersect;

    CollisionPoly_GetVertices(poly, vtxList, tri.vtx);
    CollisionPoly_GetNormalF(poly, &tri.plane.normal.x, &tri.plane.normal.y, &tri.plane.normal.z);
    tri.plane.originDist = poly->dist;
    sphere.center.x = center->x;
    sphere.center.y = center->y;
    sphere.center.z = center->z;
    sphere.radius = radius;
    return Math3D_TriVsSphIntersect(&sphere, &tri, &intersect);
}

/**
 * Add poly to StaticLookup table
 * Table is sorted by poly's smallest y vertex component
 * `ssList` is the list to append a new poly to
 * `polyList` is the CollisionPoly lookup list
 * `vtxList` is the vertex lookup list
 * `polyId` is the index of the poly in polyList to insert into the lookup table
 */
void StaticLookup_AddPolyToSSList(CollisionContext* colCtx, SSList* ssList, CollisionPoly* polyList, Vec3s* vtxList,
                                  s16 polyId) {
    SSNode* curNode;
    SSNode* nextNode;
    s32 polyYMin;
    u16 newNodeId;
    s16 curPolyId;

    // if list is null
    if (ssList->head == SS_NULL) {
        SSNodeList_SetSSListHead(&colCtx->polyNodes, ssList, &polyId);
        return;
    }

    polyYMin = CollisionPoly_GetMinY(&polyList[polyId], vtxList);
    curNode = &colCtx->polyNodes.tbl[ssList->head];
    curPolyId = curNode->polyId;

    // if the poly being inserted has a lower y than the first poly
    if (polyYMin < vtxList[COLPOLY_VTX_INDEX(polyList[curPolyId].flags_vIA)].y &&
        polyYMin < vtxList[COLPOLY_VTX_INDEX(polyList[curPolyId].flags_vIB)].y &&
        polyYMin < vtxList[polyList[curPolyId].vIC].y) {
        SSNodeList_SetSSListHead(&colCtx->polyNodes, ssList, &polyId);
        return;
    }
    while (true) {
        // if at the end of the list
        if (curNode->next == SS_NULL) {
            newNodeId = SSNodeList_GetNextNodeIdx(&colCtx->polyNodes);
            SSNode_SetValue(&colCtx->polyNodes.tbl[newNodeId], &polyId, SS_NULL);
            curNode->next = newNodeId;
            return;
        }

        nextNode = &colCtx->polyNodes.tbl[curNode->next];
        curPolyId = nextNode->polyId;

        // if the poly being inserted is lower than the next poly
        if (polyYMin < vtxList[COLPOLY_VTX_INDEX(polyList[curPolyId].flags_vIA)].y &&
            polyYMin < vtxList[COLPOLY_VTX_INDEX(polyList[curPolyId].flags_vIB)].y &&
            polyYMin < vtxList[polyList[curPolyId].vIC].y) {
            newNodeId = SSNodeList_GetNextNodeIdx(&colCtx->polyNodes);
            SSNode_SetValue(&colCtx->polyNodes.tbl[newNodeId], &polyId, curNode->next);
            curNode->next = newNodeId;
            return;
        }
        curNode = nextNode;
    }
}

/**
 * Add CollisionPoly to StaticLookup list
 */
void StaticLookup_AddPoly(StaticLookup* lookup, CollisionContext* colCtx, CollisionPoly* polyList, Vec3s* vtxList,
                          s16 index) {
    if (polyList[index].normal.y > COLPOLY_SNORMAL(0.5f)) {
        StaticLookup_AddPolyToSSList(colCtx, &lookup->floor, polyList, vtxList, index);
    } else if (polyList[index].normal.y < COLPOLY_SNORMAL(-0.8f)) {
        StaticLookup_AddPolyToSSList(colCtx, &lookup->ceiling, polyList, vtxList, index);
    } else {
        StaticLookup_AddPolyToSSList(colCtx, &lookup->wall, polyList, vtxList, index);
    }
}

/**
 * Locates the closest static poly directly underneath `pos`, starting at list `ssList`
 * returns yIntersect of the closest poly, or `yIntersectMin`
 * stores the pointer of the closest poly to `outPoly`
 * if (flags & 1), ignore polys with a normal.y < 0 (from vertical walls to ceilings)
 */
f32 BgCheck_RaycastFloorStaticList(CollisionContext* colCtx, u16 xpFlags, SSList* ssList, CollisionPoly** outPoly,
                                   Vec3f* pos, f32 yIntersectMin, f32 chkDist, s32 flags) {
    SSNode* curNode;
    s32 polyId;
    f32 result;
    f32 yIntersect;

    result = yIntersectMin;
    if (ssList->head == SS_NULL) {
        return result;
    }

    curNode = &colCtx->polyNodes.tbl[ssList->head];

    while (true) {
        polyId = curNode->polyId;

        if (COLPOLY_VIA_FLAG_TEST(colCtx->colHeader->polyList[polyId].flags_vIA, xpFlags) ||
            ((flags & 1) && colCtx->colHeader->polyList[polyId].normal.y < 0)) {
            if (curNode->next == SS_NULL) {
                break;
            }
            curNode = &colCtx->polyNodes.tbl[curNode->next];
            continue;
        }

        if (pos->y < colCtx->colHeader->vtxList[COLPOLY_VTX_INDEX(colCtx->colHeader->polyList[polyId].flags_vIA)].y &&
            pos->y < colCtx->colHeader->vtxList[COLPOLY_VTX_INDEX(colCtx->colHeader->polyList[polyId].flags_vIB)].y &&
            pos->y < colCtx->colHeader->vtxList[colCtx->colHeader->polyList[polyId].vIC].y) {
            break;
        }

        if (CollisionPoly_CheckYIntersect(&colCtx->colHeader->polyList[polyId], colCtx->colHeader->vtxList, pos->x,
                                          pos->z, &yIntersect, chkDist) == true) {
            // if poly is closer to pos without going over
            if (yIntersect < pos->y && result < yIntersect) {

                result = yIntersect;
                *outPoly = &colCtx->colHeader->polyList[polyId];
            }
        }

        if (curNode->next == SS_NULL) {
            break;
        }
        curNode = &colCtx->polyNodes.tbl[curNode->next];
    }
    return result;
}

/**
 * Locates the closest static poly directly underneath `pos` within `lookup`.
 * returns yIntersect of the closest poly, or `yIntersectMin`
 * stores the pointer of the closest poly to `outPoly`
 */
f32 BgCheck_RaycastFloorStatic(StaticLookup* lookup, CollisionContext* colCtx, u16 xpFlags, CollisionPoly** poly,
                               Vec3f* pos, u32 arg5, f32 chkDist, f32 yIntersectMin) {
    s32 flag; // skip polys with normal.y < 0
    f32 yIntersect = yIntersectMin;

    if (arg5 & 4) {
        yIntersect = BgCheck_RaycastFloorStaticList(colCtx, xpFlags, &lookup->floor, poly, pos, yIntersect, chkDist, 0);
    }

    if ((arg5 & 2) || (arg5 & 8)) {
        flag = 0;
        if (arg5 & 0x10) {
            flag = 1;
        }
        yIntersect =
            BgCheck_RaycastFloorStaticList(colCtx, xpFlags, &lookup->wall, poly, pos, yIntersect, chkDist, flag);
    }

    if (arg5 & 1) {
        flag = 0;
        if (arg5 & 0x10) {
            flag = 1;
        }
        yIntersect =
            BgCheck_RaycastFloorStaticList(colCtx, xpFlags, &lookup->ceiling, poly, pos, yIntersect, chkDist, flag);
    }

    return yIntersect;
}

/**
 * Compute wall displacement on `posX` and `posZ`
 * sets `wallPolyPtr` to `poly` if `wallPolyPtr` is NULL or not a damage wall
 * returns true if `wallPolyPtr` was changed
 * `invXZlength` is 1 / sqrt( sq(poly.normal.x) + sq(poly.normal.z) )
 */
s32 BgCheck_ComputeWallDisplacement(CollisionContext* colCtx, CollisionPoly* poly, f32* posX, f32* posZ, f32 nx, f32 ny,
                                    f32 nz, f32 invXZlength, f32 planeDist, f32 radius, CollisionPoly** wallPolyPtr) {
    CollisionPoly* wallPoly;
    u32 surfaceData;
    u32 wallDamage;
    f32 displacement = (radius - planeDist) * invXZlength;

    *posX += displacement * nx;
    *posZ += displacement * nz;

    wallPoly = *wallPolyPtr;
    if (wallPoly == NULL) {
        *wallPolyPtr = poly;
        return true;
    }

    surfaceData = colCtx->colHeader->surfaceTypeList[wallPoly->type].data[1];
    wallDamage = surfaceData & 0x08000000 ? 1 : 0;

    if (!wallDamage) {
        *wallPolyPtr = poly;
        return true;
    }
    return false;
}

/**
 * Performs collision detection on static poly walls within `lookup` on sphere `pos`, `radius`
 * returns true if a collision was detected
 * `outX` `outZ` return the displaced x,z coordinates,
 * `outPoly` returns the pointer to the nearest poly collided with, or NULL
 */
s32 BgCheck_SphVsStaticWall(StaticLookup* lookup, CollisionContext* colCtx, u16 xpFlags, f32* outX, f32* outZ,
                            Vec3f* pos, f32 radius, CollisionPoly** outPoly) {
    Vec3f resultPos;
    f32 temp_f2;
    f32 temp_f2_2;
    f32 planeDist;
    f32 intersect;
    s32 result;
    CollisionPoly* curPoly;
    CollisionPoly* polyList;
    SSNode* curNode;
    f32 invNormalXZ;
    f32 zTemp;
    f32 xTemp;
    s32 polyId;
    f32 normalXZ;
    f32 nx;
    f32 ny;
    f32 nz;
    f32 temp_f16;
    Vec3s* vtxList;
    u16 pad;

    f32 zMin;
    f32 zMax;
    f32 xMin;
    f32 xMax;

    result = false;
    if (lookup->wall.head == SS_NULL) {
        return result;
    }
    resultPos = *pos;

    polyList = colCtx->colHeader->polyList;
    vtxList = colCtx->colHeader->vtxList;
    curNode = &colCtx->polyNodes.tbl[lookup->wall.head];

    while (true) {
        polyId = curNode->polyId;
        curPoly = &polyList[polyId];
        if (pos->y < vtxList[COLPOLY_VTX_INDEX(curPoly->flags_vIA)].y &&
            pos->y < vtxList[COLPOLY_VTX_INDEX(curPoly->flags_vIB)].y && pos->y < vtxList[curPoly->vIC].y) {
            break;
        }

        nx = COLPOLY_GET_NORMAL(curPoly->normal.x);
        ny = COLPOLY_GET_NORMAL(curPoly->normal.y);
        nz = COLPOLY_GET_NORMAL(curPoly->normal.z);
        normalXZ = sqrtf(SQ(nx) + SQ(nz));
        planeDist = Math3D_DistPlaneToPos(nx, ny, nz, curPoly->dist, &resultPos);
        if (radius < fabsf(planeDist) || COLPOLY_VIA_FLAG_TEST(curPoly->flags_vIA, xpFlags)) {
            if (curNode->next == SS_NULL) {
                break;
            } else {
                curNode = &colCtx->polyNodes.tbl[curNode->next];
                continue;
            }
        }

        ASSERT(!IS_ZERO(normalXZ));

        invNormalXZ = 1.0f / normalXZ;
        temp_f16 = fabsf(nz) * invNormalXZ;
        if (temp_f16 < 0.4f) {
            if (curNode->next == SS_NULL) {
                break;
            } else {
                curNode = &colCtx->polyNodes.tbl[curNode->next];
                continue;
            }
        }

        // compute curPoly zMin/zMax
        zTemp = vtxList[COLPOLY_VTX_INDEX(curPoly->flags_vIA)].z;
        zMax = zMin = zTemp;
        zTemp = vtxList[COLPOLY_VTX_INDEX(curPoly->flags_vIB)].z;

        if (zTemp < zMin) {
            zMin = zTemp;
        } else if (zMax < zTemp) {
            zMax = zTemp;
        }
        zTemp = vtxList[curPoly->vIC].z;
        if (zTemp < zMin) {
            zMin = zTemp;
        } else if (zTemp > zMax) {
            zMax = zTemp;
        }

        zMin -= radius;
        zMax += radius;

        if (resultPos.z < zMin || resultPos.z > zMax) {
            if (curNode->next == SS_NULL) {
                break;
            } else {
                curNode = &colCtx->polyNodes.tbl[curNode->next];
                continue;
            }
        }
        if (CollisionPoly_CheckZIntersectApprox(curPoly, vtxList, resultPos.x, pos->y, &intersect)) {
            if (fabsf(intersect - resultPos.z) <= radius / temp_f16) {
                if ((intersect - resultPos.z) * nz <= 4.0f) {
                    BgCheck_ComputeWallDisplacement(colCtx, curPoly, &resultPos.x, &resultPos.z, nx, ny, nz,
                                                    invNormalXZ, planeDist, radius, outPoly);
                    result = true;
                }
            }
        }
        if (curNode->next == SS_NULL) {
            break;
        } else {
            curNode = &colCtx->polyNodes.tbl[curNode->next];
        }
    }

    curNode = &colCtx->polyNodes.tbl[lookup->wall.head];

    while (true) {
        polyId = curNode->polyId;
        curPoly = &polyList[polyId];
        if (pos->y < vtxList[COLPOLY_VTX_INDEX(curPoly->flags_vIA)].y &&
            pos->y < vtxList[COLPOLY_VTX_INDEX(curPoly->flags_vIB)].y && pos->y < vtxList[curPoly->vIC].y) {
            break;
        }

        nx = COLPOLY_GET_NORMAL(curPoly->normal.x);
        ny = COLPOLY_GET_NORMAL(curPoly->normal.y);
        nz = COLPOLY_GET_NORMAL(curPoly->normal.z);
        normalXZ = sqrtf(SQ(nx) + SQ(nz));
        planeDist = Math3D_DistPlaneToPos(nx, ny, nz, curPoly->dist, &resultPos);
        if (radius < fabsf(planeDist) || COLPOLY_VIA_FLAG_TEST(curPoly->flags_vIA, xpFlags)) {
            if (curNode->next == SS_NULL) {
                break;
            } else {
                curNode = &colCtx->polyNodes.tbl[curNode->next];
                continue;
            }
        }

        ASSERT(!IS_ZERO(normalXZ));

        invNormalXZ = 1.0f / normalXZ;
        temp_f16 = fabsf(nx) * invNormalXZ;
        if (temp_f16 < 0.4f) {
            if (curNode->next == SS_NULL) {
                break;
            } else {
                curNode = &colCtx->polyNodes.tbl[curNode->next];
                continue;
            }
        }

        // compute curPoly xMin/xMax
        xTemp = vtxList[COLPOLY_VTX_INDEX(curPoly->flags_vIA)].x;
        xMax = xMin = xTemp;
        xTemp = vtxList[COLPOLY_VTX_INDEX(curPoly->flags_vIB)].x;

        if (xTemp < xMin) {
            xMin = xTemp;
        } else if (xMax < xTemp) {
            xMax = xTemp;
        }
        xTemp = vtxList[curPoly->vIC].x;
        if (xTemp < xMin) {
            xMin = xTemp;
        } else if (xMax < xTemp) {
            xMax = xTemp;
        }

        xMin -= radius;
        xMax += radius;

        if (resultPos.x < xMin || xMax < resultPos.x) {
            if (curNode->next == SS_NULL) {
                break;
            } else {
                curNode = &colCtx->polyNodes.tbl[curNode->next];
                continue;
            }
        }
        if (CollisionPoly_CheckXIntersectApprox(curPoly, vtxList, pos->y, resultPos.z, &intersect)) {
            if (fabsf(intersect - resultPos.x) <= radius / temp_f16) {
                if ((intersect - resultPos.x) * nx <= 4.0f) {
                    BgCheck_ComputeWallDisplacement(colCtx, curPoly, &resultPos.x, &resultPos.z, nx, ny, nz,
                                                    invNormalXZ, planeDist, radius, outPoly);
                    result = true;
                }
            }
        }
        if (curNode->next == SS_NULL) {
            break;
        } else {
            curNode = &colCtx->polyNodes.tbl[curNode->next];
            continue;
        }
    }

    *outX = resultPos.x;
    *outZ = resultPos.z;
    return result;
}

/**
 * Tests for collision with a static poly ceiling
 * returns true if a collision occurs, else false
 * `outPoly` returns the poly collided with
 * `outY` returns the y coordinate needed to not collide with `outPoly`
 */
s32 BgCheck_CheckStaticCeiling(StaticLookup* lookup, u16 xpFlags, CollisionContext* colCtx, f32* outY, Vec3f* pos,
                               f32 checkHeight, CollisionPoly** outPoly) {
    s32 result = false;
    u16 nextId;
    CollisionPoly* curPoly;
    CollisionPoly* polyList;
    f32 ceilingY;
    Vec3s* vtxList;
    SSNode* curNode;
    s32 curPolyId;

    if (lookup->ceiling.head == SS_NULL) {
        return false;
    }
    curNode = &colCtx->polyNodes.tbl[lookup->ceiling.head];
    polyList = colCtx->colHeader->polyList;
    vtxList = colCtx->colHeader->vtxList;

    *outY = pos->y;

    while (true) {
        curPolyId = curNode->polyId;
        if (COLPOLY_VIA_FLAG_TEST(colCtx->colHeader->polyList[curPolyId].flags_vIA, xpFlags)) {
            if (curNode->next == SS_NULL) {
                break;
            } else {
                curNode = &colCtx->polyNodes.tbl[curNode->next];
                continue;
            }
        }
        curPoly = &polyList[curPolyId];

        if (CollisionPoly_CheckYIntersectApprox2(curPoly, vtxList, pos->x, pos->z, &ceilingY)) {
            f32 intersectDist = ceilingY - *outY;
            f32 ny = COLPOLY_GET_NORMAL(curPoly->normal.y);

            if (intersectDist > 0.0f && intersectDist < checkHeight && intersectDist * ny <= 0) {
                *outY = ceilingY - checkHeight;
                *outPoly = curPoly;
                result = true;
            }
        }
        if (curNode->next == SS_NULL) {
            break;
        } else {
            curNode = &colCtx->polyNodes.tbl[curNode->next];
            continue;
        }
    }
    return result;
}

/**
 * Tests if line `posA` to `posB` intersects with a static poly in list `ssList`. Uses polyCheckTbl
 * returns true if such a poly exists, else false
 * `outPoly` returns the pointer of the poly intersected
 * `posB` and `outPos` returns the point of intersection with `outPoly`
 * `outDistSq` returns the squared distance from `posA` to the point of intersect
 */
s32 BgCheck_CheckLineAgainstSSList(SSList* ssList, CollisionContext* colCtx, u16 xpFlags1, u16 xpFlags2, Vec3f* posA,
                                   Vec3f* posB, Vec3f* outPos, CollisionPoly** outPoly, f32* outDistSq, f32 chkDist,
                                   s32 bccFlags) {
    SSNode* curNode;
    u8* checkedPoly;
    Vec3f polyIntersect;
    CollisionPoly* polyList;
    CollisionPoly* curPoly;
    s32 result;
    f32 minY;
    f32 distSq;
    s16 polyId;

    result = false;
    polyList = colCtx->colHeader->polyList;
    if (ssList->head == SS_NULL) {
        return result;
    }

    curNode = &colCtx->polyNodes.tbl[ssList->head];
    while (true) {
        polyId = curNode->polyId;
        checkedPoly = &colCtx->polyNodes.polyCheckTbl[polyId];

        if (*checkedPoly == true || COLPOLY_VIA_FLAG_TEST(polyList[polyId].flags_vIA, xpFlags1) ||
            !(xpFlags2 == 0 || COLPOLY_VIA_FLAG_TEST(polyList[polyId].flags_vIA, xpFlags2))) {

            if (curNode->next == SS_NULL) {
                break;
            } else {
                curNode = &colCtx->polyNodes.tbl[curNode->next];
                continue;
            }
        }
        *checkedPoly = true;
        curPoly = &polyList[polyId];
        minY = CollisionPoly_GetMinY(curPoly, colCtx->colHeader->vtxList);
        if (posA->y < minY && posB->y < minY) {
            break;
        }
        if (CollisionPoly_LineVsPoly(curPoly, colCtx->colHeader->vtxList, posA, posB, &polyIntersect,
                                     (bccFlags & BGCHECK_CHECK_ONE_FACE) != 0, chkDist)) {
            distSq = Math3D_Vec3fDistSq(posA, &polyIntersect);
            if (distSq < *outDistSq) {

                *outDistSq = distSq;
                *outPos = polyIntersect;
                *posB = polyIntersect;
                *outPoly = curPoly;
                result = true;
            }
        }
        if (curNode->next == SS_NULL) {
            break;
        }
        curNode = &colCtx->polyNodes.tbl[curNode->next];
    }
    return result;
}

/**
 * Tests if line `posA` to `posB` intersects with a static poly in `lookup`. Uses polyCheckTbl
 * returns true if such a poly exists, else false
 * `outPoly` returns the pointer of the poly intersected
 * `posB` and `outPos` returns the point of intersection with `outPoly`
 * `outDistSq` returns the squared distance from `posA` to the point of intersect
 */
s32 BgCheck_CheckLineInSubdivision(StaticLookup* lookup, CollisionContext* colCtx, u16 xpFlags1, u16 xpFlags2,
                                   Vec3f* posA, Vec3f* posB, Vec3f* outPos, CollisionPoly** outPoly, f32 chkDist,
                                   f32* outDistSq, u32 bccFlags) {
    s32 result = false;

    if ((bccFlags & BGCHECK_CHECK_FLOOR) && lookup->floor.head != SS_NULL) {
        if (BgCheck_CheckLineAgainstSSList(&lookup->floor, colCtx, xpFlags1, xpFlags2, posA, posB, outPos, outPoly,
                                           outDistSq, chkDist, bccFlags)) {
            result = true;
        }
    }

    if ((bccFlags & BGCHECK_CHECK_WALL) && lookup->wall.head != SS_NULL) {
        if (BgCheck_CheckLineAgainstSSList(&lookup->wall, colCtx, xpFlags1, xpFlags2, posA, posB, outPos, outPoly,
                                           outDistSq, chkDist, bccFlags)) {
            result = true;
        }
    }

    if ((bccFlags & BGCHECK_CHECK_CEILING) && lookup->ceiling.head != SS_NULL) {
        if (BgCheck_CheckLineAgainstSSList(&lookup->ceiling, colCtx, xpFlags1, xpFlags2, posA, posB, outPos, outPoly,
                                           outDistSq, chkDist, bccFlags)) {
            result = true;
        }
    }
    return result;
}

/**
 * Get first static poly intersecting sphere `center` `radius` from list `node`
 * returns true if any poly intersects the sphere, else returns false
 * `outPoly` returns the pointer of the first poly found that intersects
 */
s32 BgCheck_SphVsFirstStaticPolyList(SSNode* node, u16 xpFlags, CollisionContext* colCtx, Vec3f* center, f32 radius,
                                     CollisionPoly** outPoly) {
    CollisionPoly* polyList = colCtx->colHeader->polyList;
    Vec3s* vtxList = colCtx->colHeader->vtxList;
    CollisionPoly* curPoly;
    u16 nextId;
    s16 curPolyId;

    while (true) {
        curPolyId = node->polyId;
        curPoly = &polyList[curPolyId];
        if (COLPOLY_VIA_FLAG_TEST(colCtx->colHeader->polyList[curPolyId].flags_vIA, xpFlags)) {
            if (node->next == SS_NULL) {
                break;
            } else {
                node = &colCtx->polyNodes.tbl[node->next];
                continue;
            }
        }

        if (center->y + radius < vtxList[COLPOLY_VTX_INDEX(curPoly->flags_vIA)].y &&
            center->y + radius < vtxList[COLPOLY_VTX_INDEX(curPoly->flags_vIB)].y &&
            center->y + radius < vtxList[curPoly->vIC].y) {
            break;
        }

        if (CollisionPoly_SphVsPoly(curPoly, vtxList, center, radius)) {
            *outPoly = curPoly;
            return true;
        }
        if (node->next == SS_NULL) {
            break;
        }
        node = &colCtx->polyNodes.tbl[node->next];
    }
    return false;
}

/**
 * Get first static poly intersecting sphere `center` `radius` within `lookup`
 * returns true if any poly intersects the sphere, else false
 * `outPoly` returns the first poly found that intersects
 */
s32 BgCheck_SphVsFirstStaticPoly(StaticLookup* lookup, u16 xpFlags, CollisionContext* colCtx, Vec3f* center, f32 radius,
                                 CollisionPoly** outPoly, u16 bciFlags) {
    if (lookup->floor.head != SS_NULL && !(bciFlags & BGCHECK_IGNORE_FLOOR) &&
        BgCheck_SphVsFirstStaticPolyList(&colCtx->polyNodes.tbl[lookup->floor.head], xpFlags, colCtx, center, radius,
                                         outPoly)) {
        return true;
    }

    if (lookup->wall.head != SS_NULL && !(bciFlags & BGCHECK_IGNORE_WALL) &&
        BgCheck_SphVsFirstStaticPolyList(&colCtx->polyNodes.tbl[lookup->wall.head], xpFlags, colCtx, center, radius,
                                         outPoly)) {
        return true;
    }

    if (lookup->ceiling.head != SS_NULL && !(bciFlags & BGCHECK_IGNORE_CEILING) &&
        BgCheck_SphVsFirstStaticPolyList(&colCtx->polyNodes.tbl[lookup->ceiling.head], xpFlags, colCtx, center, radius,
                                         outPoly)) {
        return true;
    }

    return false;
}

/**
 * Get StaticLookup from `pos`
 * Does not return NULL
 */
StaticLookup* BgCheck_GetNearestStaticLookup(CollisionContext* colCtx, StaticLookup* lookupTbl, Vec3f* pos) {
    Vec3i sector;
    s32 subdivAmountX;

    BgCheck_GetStaticLookupIndicesFromPos(colCtx, pos, &sector);
    subdivAmountX = colCtx->subdivAmount.x;
    return (sector.z * subdivAmountX) * colCtx->subdivAmount.y + lookupTbl + sector.x + sector.y * subdivAmountX;
}

/**
 * Get StaticLookup from `pos`
 * Returns NULL if just outside the mesh bounding box
 */
StaticLookup* BgCheck_GetStaticLookup(CollisionContext* colCtx, StaticLookup* lookupTbl, Vec3f* pos) {
    Vec3i sector;
    s32 subdivAmountX;

    if (!BgCheck_PosInStaticBoundingBox(colCtx, pos)) {
        return NULL;
    }
    BgCheck_GetStaticLookupIndicesFromPos(colCtx, pos, &sector);
    subdivAmountX = colCtx->subdivAmount.x;
    return (sector.z * subdivAmountX) * colCtx->subdivAmount.y + lookupTbl + sector.x + sector.y * subdivAmountX;
}

/**
 * Get StaticLookup subdivision indices from `pos`
 * `sector` returns the subdivision x,y,z indices containing or is nearest to `pos`
 */
void BgCheck_GetStaticLookupIndicesFromPos(CollisionContext* colCtx, Vec3f* pos, Vec3i* sector) {
    sector->x = (pos->x - colCtx->minBounds.x) * colCtx->subdivLengthInv.x;
    sector->y = (pos->y - colCtx->minBounds.y) * colCtx->subdivLengthInv.y;
    sector->z = (pos->z - colCtx->minBounds.z) * colCtx->subdivLengthInv.z;

    if (sector->x < 0) {
        sector->x = 0;
    } else if (sector->x >= colCtx->subdivAmount.x) {
        sector->x = colCtx->subdivAmount.x - 1;
    }

    if (sector->y < 0) {
        sector->y = 0;
    } else if (sector->y >= colCtx->subdivAmount.y) {
        sector->y = colCtx->subdivAmount.y - 1;
    }

    if (sector->z < 0) {
        sector->z = 0;
    } else if (sector->z >= colCtx->subdivAmount.z) {
        sector->z = colCtx->subdivAmount.z - 1;
    }
}

/**
 * Get negative bias subdivision indices
 * decrements indices if `pos` is within BGCHECK_SUBDIV_OVERLAP units of the negative subdivision boundary
 * `sx`, `sy`, `sz` returns the subdivision x, y, z indices
 */
void BgCheck_GetSubdivisionMinBounds(CollisionContext* colCtx, Vec3f* pos, s32* sx, s32* sy, s32* sz) {
    f32 dx = pos->x - colCtx->minBounds.x;
    f32 dy = pos->y - colCtx->minBounds.y;
    f32 dz = pos->z - colCtx->minBounds.z;

    *sx = dx * colCtx->subdivLengthInv.x;
    *sy = dy * colCtx->subdivLengthInv.y;
    *sz = dz * colCtx->subdivLengthInv.z;

    if (((s32)dx % (s32)colCtx->subdivLength.x < BGCHECK_SUBDIV_OVERLAP) && (*sx > 0)) {
        *sx -= 1;
    }

    if (((s32)dy % (s32)colCtx->subdivLength.y < BGCHECK_SUBDIV_OVERLAP) && (*sy > 0)) {
        *sy -= 1;
    }

    if (((s32)dz % (s32)colCtx->subdivLength.z < BGCHECK_SUBDIV_OVERLAP) && (*sz > 0)) {
        *sz -= 1;
    }
}

/**
 * Get positive bias subdivision indices
 * increments indicies if `pos` is within BGCHECK_SUBDIV_OVERLAP units of the postive subdivision boundary
 * `sx`, `sy`, `sz` returns the subdivision x, y, z indices
 */
void BgCheck_GetSubdivisionMaxBounds(CollisionContext* colCtx, Vec3f* pos, s32* sx, s32* sy, s32* sz) {
    f32 dx = pos->x - colCtx->minBounds.x;
    f32 dy = pos->y - colCtx->minBounds.y;
    f32 dz = pos->z - colCtx->minBounds.z;

    *sx = dx * colCtx->subdivLengthInv.x;
    *sy = dy * colCtx->subdivLengthInv.y;
    *sz = dz * colCtx->subdivLengthInv.z;

    if (((s32)colCtx->subdivLength.x - BGCHECK_SUBDIV_OVERLAP < (s32)dx % (s32)colCtx->subdivLength.x) &&
        (*sx < colCtx->subdivAmount.x - 1)) {
        *sx += 1;
    }

    if (((s32)colCtx->subdivLength.y - BGCHECK_SUBDIV_OVERLAP < (s32)dy % (s32)colCtx->subdivLength.y) &&
        (*sy < colCtx->subdivAmount.y - 1)) {
        *sy += 1;
    }

    if (((s32)colCtx->subdivLength.z - BGCHECK_SUBDIV_OVERLAP < (s32)dz % (s32)colCtx->subdivLength.z) &&
        (*sz < colCtx->subdivAmount.z - 1)) {
        *sz += 1;
    }
}

/**
 * Calculate the subdivision index bounding box for CollisionPoly `polyId`
 * `subdivMinX`, `subdivMinY`, `subdivMinZ` returns the minimum subdivision x, y, z indices
 * `subdivMaxX`, `subdivMaxY`, `subdivMaxZ` returns the maximum subdivision x, y, z indices
 */
void BgCheck_GetPolySubdivisionBounds(CollisionContext* colCtx, Vec3s* vtxList, CollisionPoly* polyList,
                                      s32* subdivMinX, s32* subdivMinY, s32* subdivMinZ, s32* subdivMaxX,
                                      s32* subdivMaxY, s32* subdivMaxZ, s16 polyId) {
    u16* vtxDataTemp;
    Vec3f minVtx;
    Vec3f maxVtx;

    f32 x;
    f32 y;
    f32 z;

    Vec3s* vtx;
    s16 vtxId = COLPOLY_VTX_INDEX(polyList[polyId].vtxData[0]);

    Math_Vec3s_ToVec3f(&maxVtx, &vtxList[vtxId]);
    Math_Vec3f_Copy(&minVtx, &maxVtx);

    for (vtxDataTemp = polyList[polyId].vtxData + 1; vtxDataTemp < polyList[polyId].vtxData + 3; vtxDataTemp++) {
        vtxId = COLPOLY_VTX_INDEX(*vtxDataTemp);
        vtx = &vtxList[vtxId];
        x = vtx->x;
        y = vtx->y;
        z = vtx->z;

        if (minVtx.x > x) {
            minVtx.x = x;
        } else if (maxVtx.x < x) {
            maxVtx.x = x;
        }

        if (minVtx.y > y) {
            minVtx.y = y;
        } else if (maxVtx.y < y) {
            maxVtx.y = y;
        }

        if (minVtx.z > z) {
            minVtx.z = z;
        } else if (maxVtx.z < z) {
            maxVtx.z = z;
        }
    }
    BgCheck_GetSubdivisionMinBounds(colCtx, &minVtx, subdivMinX, subdivMinY, subdivMinZ);
    BgCheck_GetSubdivisionMaxBounds(colCtx, &maxVtx, subdivMaxX, subdivMaxY, subdivMaxZ);
}

/**
 * Test if poly `polyList`[`polyId`] intersects cube `min` `max`
 * returns true if the poly intersects the cube, else false
 */
s32 BgCheck_PolyIntersectsSubdivision(Vec3f* min, Vec3f* max, CollisionPoly* polyList, Vec3s* vtxList, s16 polyId) {
    f32 intersect;
    Vec3f va2;
    Vec3f vb2;
    Vec3f vc2;
    CollisionPoly* poly;
    f32 nx;
    f32 ny;
    f32 nz;
    f32 dist;
    Vec3f va;
    Vec3f vb;
    Vec3f vc;
    s32 flags[3];

    flags[0] = flags[1] = 0;
    poly = &polyList[polyId];

    BgCheck_Vec3sToVec3f(&vtxList[COLPOLY_VTX_INDEX(poly->flags_vIA)], &va);
    flags[0] = Math3D_PointRelativeToCubeFaces(&va, min, max);
    if (flags[0] == 0) {
        return true;
    }

    BgCheck_Vec3sToVec3f(&vtxList[COLPOLY_VTX_INDEX(poly->flags_vIB)], &vb);
    flags[1] = Math3D_PointRelativeToCubeFaces(&vb, min, max);
    if (flags[1] == 0) {
        return true;
    }

    BgCheck_Vec3sToVec3f(&vtxList[poly->vIC], &vc);
    flags[2] = Math3D_PointRelativeToCubeFaces(&vc, min, max);
    if (flags[2] == 0) {
        return true;
    }

    if (flags[0] & flags[1] & flags[2]) {
        return false;
    }

    flags[0] |= Math3D_PointRelativeToCubeEdges(&va, min, max) << 8;
    flags[1] |= Math3D_PointRelativeToCubeEdges(&vb, min, max) << 8;
    flags[2] |= Math3D_PointRelativeToCubeEdges(&vc, min, max) << 8;
    if (flags[0] & flags[1] & flags[2]) {
        return false;
    }

    flags[0] |= Math3D_PointRelativeToCubeVertices(&va, min, max) << 0x18;
    flags[1] |= Math3D_PointRelativeToCubeVertices(&vb, min, max) << 0x18;
    flags[2] |= Math3D_PointRelativeToCubeVertices(&vc, min, max) << 0x18;
    if (flags[0] & flags[1] & flags[2]) {
        return false;
    }

    CollisionPoly_GetNormalF(poly, &nx, &ny, &nz);
    dist = poly->dist;

    if (Math3D_TriChkLineSegParaYIntersect(&va, &vb, &vc, nx, ny, nz, dist, min->z, min->x, &intersect, min->y,
                                           max->y) ||
        Math3D_TriChkLineSegParaYIntersect(&va, &vb, &vc, nx, ny, nz, dist, max->z, min->x, &intersect, min->y,
                                           max->y) ||
        Math3D_TriChkLineSegParaYIntersect(&va, &vb, &vc, nx, ny, nz, dist, min->z, max->x, &intersect, min->y,
                                           max->y) ||
        Math3D_TriChkLineSegParaYIntersect(&va, &vb, &vc, nx, ny, nz, dist, max->z, max->x, &intersect, min->y,
                                           max->y)) {
        return true;
    }
    if (Math3D_TriChkLineSegParaZIntersect(&va, &vb, &vc, nx, ny, nz, dist, min->x, min->y, &intersect, min->z,
                                           max->z) ||
        Math3D_TriChkLineSegParaZIntersect(&va, &vb, &vc, nx, ny, nz, dist, min->x, max->y, &intersect, min->z,
                                           max->z) ||
        Math3D_TriChkLineSegParaZIntersect(&va, &vb, &vc, nx, ny, nz, dist, max->x, min->y, &intersect, min->z,
                                           max->z) ||
        Math3D_TriChkLineSegParaZIntersect(&va, &vb, &vc, nx, ny, nz, dist, max->x, max->y, &intersect, min->z,
                                           max->z)) {
        return true;
    }
    if (Math3D_TriChkLineSegParaXIntersect(&va, &vb, &vc, nx, ny, nz, dist, min->y, min->z, &intersect, min->x,
                                           max->x) ||
        Math3D_TriChkLineSegParaXIntersect(&va, &vb, &vc, nx, ny, nz, dist, min->y, max->z, &intersect, min->x,
                                           max->x) ||
        Math3D_TriChkLineSegParaXIntersect(&va, &vb, &vc, nx, ny, nz, dist, max->y, min->z, &intersect, min->x,
                                           max->x) ||
        Math3D_TriChkLineSegParaXIntersect(&va, &vb, &vc, nx, ny, nz, dist, max->y, max->z, &intersect, min->x,
                                           max->x)) {
        return true;
    }

    BgCheck_Vec3sToVec3f(&vtxList[COLPOLY_VTX_INDEX(poly->flags_vIA)], &va2);
    BgCheck_Vec3sToVec3f(&vtxList[COLPOLY_VTX_INDEX(poly->flags_vIB)], &vb2);
    BgCheck_Vec3sToVec3f(&vtxList[poly->vIC], &vc2);
    if (Math3D_LineVsCube(min, max, &va2, &vb2) || Math3D_LineVsCube(min, max, &vb2, &vc2) ||
        Math3D_LineVsCube(min, max, &vc2, &va2)) {
        return true;
    }
    return false;
}

/**
 * Initialize StaticLookup Table
 * returns size of table, in bytes
 */
u32 BgCheck_InitializeStaticLookup(CollisionContext* colCtx, GlobalContext* globalCtx, StaticLookup* lookupTbl) {
    Vec3s* vtxList;
    CollisionPoly* polyList;
    s32 polyMax;
    s32 polyIdx;
    s32 sx;
    s32 sy;
    s32 sz;
    // subdivMin indices
    s32 sxMin;
    s32 syMin;
    s32 szMin;
    // subdivMax indices
    s32 sxMax;
    s32 syMax;
    s32 szMax;
    // subdiv min/max bounds for adding a poly
    Vec3f curSubdivMin;
    Vec3f curSubdivMax;
    CollisionHeader* colHeader = colCtx->colHeader;
    StaticLookup* spA4;
    StaticLookup* phi_fp;
    StaticLookup* phi_s0;
    s32 sp98;
    f32 subdivLengthX;
    f32 subdivLengthY;
    f32 subdivLengthZ;

    for (spA4 = lookupTbl;
         spA4 < (colCtx->subdivAmount.x * colCtx->subdivAmount.y * colCtx->subdivAmount.z + lookupTbl); spA4++) {
        spA4->floor.head = SS_NULL;
        spA4->wall.head = SS_NULL;
        spA4->ceiling.head = SS_NULL;
    }

    polyMax = colHeader->numPolygons;
    vtxList = colHeader->vtxList;
    polyList = colHeader->polyList;
    sp98 = colCtx->subdivAmount.x * colCtx->subdivAmount.y;
    subdivLengthX = colCtx->subdivLength.x + (2 * BGCHECK_SUBDIV_OVERLAP);
    subdivLengthY = colCtx->subdivLength.y + (2 * BGCHECK_SUBDIV_OVERLAP);
    subdivLengthZ = colCtx->subdivLength.z + (2 * BGCHECK_SUBDIV_OVERLAP);

    for (polyIdx = 0; polyIdx < polyMax; polyIdx++) {
        BgCheck_GetPolySubdivisionBounds(colCtx, vtxList, polyList, &sxMin, &syMin, &szMin, &sxMax, &syMax, &szMax,
                                         polyIdx);
        spA4 = szMin * sp98 + lookupTbl;
        curSubdivMin.z = (colCtx->subdivLength.z * szMin + colCtx->minBounds.z) - BGCHECK_SUBDIV_OVERLAP;
        curSubdivMax.z = curSubdivMin.z + subdivLengthZ;

        for (sz = szMin; sz < szMax + 1; sz++) {
            phi_fp = (colCtx->subdivAmount.x * syMin) + spA4;
            curSubdivMin.y = (colCtx->subdivLength.y * syMin + colCtx->minBounds.y) - BGCHECK_SUBDIV_OVERLAP;
            curSubdivMax.y = curSubdivMin.y + subdivLengthY;

            for (sy = syMin; sy < syMax + 1; sy++) {
                phi_s0 = sxMin + phi_fp;
                curSubdivMin.x = (colCtx->subdivLength.x * sxMin + colCtx->minBounds.x) - BGCHECK_SUBDIV_OVERLAP;
                curSubdivMax.x = curSubdivMin.x + subdivLengthX;

                for (sx = sxMin; sx < sxMax + 1; sx++) {
                    if (BgCheck_PolyIntersectsSubdivision(&curSubdivMin, &curSubdivMax, polyList, vtxList, polyIdx)) {
                        StaticLookup_AddPoly(phi_s0, colCtx, polyList, vtxList, polyIdx);
                    }
                    curSubdivMin.x += colCtx->subdivLength.x;
                    curSubdivMax.x += colCtx->subdivLength.x;
                    phi_s0++;
                }
                curSubdivMin.y += colCtx->subdivLength.y;
                curSubdivMax.y += colCtx->subdivLength.y;
                phi_fp += colCtx->subdivAmount.x;
            }
            curSubdivMin.z += colCtx->subdivLength.z;
            curSubdivMax.z += colCtx->subdivLength.z;
            spA4 += sp98;
        }
    }
    return colCtx->polyNodes.count * sizeof(SSNode);
}

/**
 * Is current scene a SPOT scene
 */
s32 BgCheck_IsSpotScene(GlobalContext* globalCtx) {
    static s16 spotScenes[] = {
        SCENE_SPOT00, SCENE_SPOT01, SCENE_SPOT02, SCENE_SPOT03, SCENE_SPOT04, SCENE_SPOT05, SCENE_SPOT06,
        SCENE_SPOT07, SCENE_SPOT08, SCENE_SPOT09, SCENE_SPOT10, SCENE_SPOT11, SCENE_SPOT12, SCENE_SPOT13,
        SCENE_SPOT15, SCENE_SPOT16, SCENE_SPOT17, SCENE_SPOT18, SCENE_SPOT20,
    };
    s16* i;

    for (i = spotScenes; i < spotScenes + ARRAY_COUNT(spotScenes); i++) {
        if (globalCtx->sceneNum == *i) {
            return true;
        }
    }
    return false;
}

typedef struct {
    s16 sceneId;
    u32 memSize;
} BgCheckSceneMemEntry;

/**
 * Get custom scene memSize
 */
s32 BgCheck_TryGetCustomMemsize(s32 sceneId, u32* memSize) {
    static BgCheckSceneMemEntry sceneMemList[] = {
        { SCENE_SPOT00, 0xB798 },     { SCENE_GANON_FINAL, 0x78C8 }, { SCENE_GANON_DEMO, 0x70C8 },
        { SCENE_JYASINBOSS, 0xACC8 }, { SCENE_KENJYANOMA, 0x70C8 },  { SCENE_JYASINZOU, 0x16CC8 },
        { SCENE_HIDAN, 0x198C8 },     { SCENE_GANON_BOSS, 0x84C8 },
    };
    s32 i;

    for (i = 0; i < ARRAY_COUNT(sceneMemList); i++) {
        if (sceneId == sceneMemList[i].sceneId) {
            *memSize = sceneMemList[i].memSize;
            return true;
        }
    }
    return false;
}

/**
 * Compute subdivLength for scene mesh lookup, for a single dimension
 */
void BgCheck_SetSubdivisionDimension(f32 min, s32 subdivAmount, f32* max, f32* subdivLength, f32* subdivLengthInv) {
    f32 length = (*max - min);

    *subdivLength = (s32)(length / subdivAmount) + 1;
    *subdivLength = CLAMP_MIN(*subdivLength, BGCHECK_SUBDIV_MIN);
    *subdivLengthInv = 1.0f / *subdivLength;

    *max = *subdivLength * subdivAmount + min;
}

typedef struct {
    s16 sceneId;
    Vec3s subdivAmount;
    s32 nodeListMax; // if -1, dynamically compute max nodes
} BgCheckSceneSubdivisionEntry;

/**
 * Allocate CollisionContext
 */
void BgCheck_Allocate(CollisionContext* colCtx, GlobalContext* globalCtx, CollisionHeader* colHeader) {
    static BgCheckSceneSubdivisionEntry sceneSubdivisionList[] = {
        { SCENE_HAKADAN, { 23, 7, 14 }, -1 },
        { SCENE_BMORI1, { 38, 1, 38 }, -1 },
    };
    u32 tblMax;
    u32 memSize;
    u32 lookupTblMemSize;
    SSNodeList* nodeList;
    s32 useCustomSubdivisions;
    u32 customMemSize;
    s32 customNodeListMax;
    s32 i;

    colCtx->colHeader = colHeader;
    customNodeListMax = -1;

    // "/*---------------- BGCheck Buffer Memory Size -------------*/\n"
    osSyncPrintf("/*---------------- BGCheck バッファーメモリサイズ -------------*/\n");

    if (YREG(15) == 0x10 || YREG(15) == 0x20 || YREG(15) == 0x30 || YREG(15) == 0x40) {
        if (globalCtx->sceneNum == SCENE_MALON_STABLE) {
            // "/* BGCheck LonLon Size %dbyte */\n"
            osSyncPrintf("/* BGCheck LonLonサイズ %dbyte */\n", 0x3520);
            colCtx->memSize = 0x3520;
        } else {
            // "/* BGCheck Mini Size %dbyte */\n"
            osSyncPrintf("/* BGCheck ミニサイズ %dbyte */\n", 0x4E20);
            colCtx->memSize = 0x4E20;
        }
        colCtx->dyna.polyNodesMax = 500;
        colCtx->dyna.polyListMax = 256;
        colCtx->dyna.vtxListMax = 256;
        colCtx->subdivAmount.x = 2;
        colCtx->subdivAmount.y = 2;
        colCtx->subdivAmount.z = 2;
    } else if (BgCheck_IsSpotScene(globalCtx) == true) {
        colCtx->memSize = 0xF000;
        // "/* BGCheck Spot Size %dbyte */\n"
        osSyncPrintf("/* BGCheck Spot用サイズ %dbyte */\n", 0xF000);
        colCtx->dyna.polyNodesMax = 1000;
        colCtx->dyna.polyListMax = 512;
        colCtx->dyna.vtxListMax = 512;
        colCtx->subdivAmount.x = 16;
        colCtx->subdivAmount.y = 4;
        colCtx->subdivAmount.z = 16;
    } else {
        if (BgCheck_TryGetCustomMemsize(globalCtx->sceneNum, &customMemSize)) {
            colCtx->memSize = customMemSize;
        } else {
            colCtx->memSize = 0x1CC00;
        }
        // "/* BGCheck Normal Size %dbyte  */\n"
        osSyncPrintf("/* BGCheck ノーマルサイズ %dbyte  */\n", colCtx->memSize);
        colCtx->dyna.polyNodesMax = 1000;
        colCtx->dyna.polyListMax = 512;
        colCtx->dyna.vtxListMax = 512;
        useCustomSubdivisions = false;

        for (i = 0; i < ARRAY_COUNT(sceneSubdivisionList); i++) {
            if (globalCtx->sceneNum == sceneSubdivisionList[i].sceneId) {
                colCtx->subdivAmount.x = sceneSubdivisionList[i].subdivAmount.x;
                colCtx->subdivAmount.y = sceneSubdivisionList[i].subdivAmount.y;
                colCtx->subdivAmount.z = sceneSubdivisionList[i].subdivAmount.z;
                useCustomSubdivisions = true;
                customNodeListMax = sceneSubdivisionList[i].nodeListMax;
            }
        }
        if (useCustomSubdivisions == false) {
            colCtx->subdivAmount.x = 16;
            colCtx->subdivAmount.y = 4;
            colCtx->subdivAmount.z = 16;
        }
    }
    colCtx->lookupTbl = THA_AllocEndAlign(
        &globalCtx->state.tha,
        colCtx->subdivAmount.x * sizeof(StaticLookup) * colCtx->subdivAmount.y * colCtx->subdivAmount.z, ~1);
    if (colCtx->lookupTbl == NULL) {
        LOG_HUNGUP_THREAD();
    }
    colCtx->minBounds.x = colCtx->colHeader->minBounds.x;
    colCtx->minBounds.y = colCtx->colHeader->minBounds.y;
    colCtx->minBounds.z = colCtx->colHeader->minBounds.z;
    colCtx->maxBounds.x = colCtx->colHeader->maxBounds.x;
    colCtx->maxBounds.y = colCtx->colHeader->maxBounds.y;
    colCtx->maxBounds.z = colCtx->colHeader->maxBounds.z;
    BgCheck_SetSubdivisionDimension(colCtx->minBounds.x, colCtx->subdivAmount.x, &colCtx->maxBounds.x,
                                    &colCtx->subdivLength.x, &colCtx->subdivLengthInv.x);
    BgCheck_SetSubdivisionDimension(colCtx->minBounds.y, colCtx->subdivAmount.y, &colCtx->maxBounds.y,
                                    &colCtx->subdivLength.y, &colCtx->subdivLengthInv.y);
    BgCheck_SetSubdivisionDimension(colCtx->minBounds.z, colCtx->subdivAmount.z, &colCtx->maxBounds.z,
                                    &colCtx->subdivLength.z, &colCtx->subdivLengthInv.z);

#ifdef _SOH64 // BGCheck needs more memory on 64 bits because it crashes on some areas
    colCtx->memSize *= 2;
#endif

    memSize = colCtx->subdivAmount.x * sizeof(StaticLookup) * colCtx->subdivAmount.y * colCtx->subdivAmount.z +
              colCtx->colHeader->numPolygons * sizeof(u8) + colCtx->dyna.polyNodesMax * sizeof(SSNode) +
              colCtx->dyna.polyListMax * sizeof(CollisionPoly) + colCtx->dyna.vtxListMax * sizeof(Vec3s) +
              sizeof(CollisionContext);
    if (customNodeListMax > 0) {
        // tblMax is set without checking if customNodeListMax will result in a memory overflow
        // this is a non-issue as long as sceneSubdivisionList.nodeListMax is -1
        tblMax = customNodeListMax;
    } else {
        if (colCtx->memSize < memSize) {
            LOG_HUNGUP_THREAD();
        }
        tblMax = (colCtx->memSize - memSize) / sizeof(SSNode);
    }

    SSNodeList_Initialize(&colCtx->polyNodes);
    SSNodeList_Alloc(globalCtx, &colCtx->polyNodes, tblMax, colCtx->colHeader->numPolygons);

    lookupTblMemSize = BgCheck_InitializeStaticLookup(colCtx, globalCtx, colCtx->lookupTbl);
    osSyncPrintf(VT_FGCOL(GREEN));
    osSyncPrintf("/*---結局 BG使用サイズ %dbyte---*/\n", memSize + lookupTblMemSize);
    osSyncPrintf(VT_RST);

    DynaPoly_Init(globalCtx, &colCtx->dyna);
    DynaPoly_Alloc(globalCtx, &colCtx->dyna);
}

/**
 * Get CollisionHeader
 * original name: T_BGCheck_getBGDataInfo
 */
CollisionHeader* BgCheck_GetCollisionHeader(CollisionContext* colCtx, s32 bgId) {
    if (bgId == BGCHECK_SCENE) {
        return colCtx->colHeader;
    }
    if (bgId < 0 || bgId > BG_ACTOR_MAX) {
        return NULL;
    }
    if (!(colCtx->dyna.bgActorFlags[bgId] & 1)) {
        osSyncPrintf(VT_COL(YELLOW, BLACK));
        osSyncPrintf("T_BGCheck_getBGDataInfo():そのbg_actor_indexは使われておりません。index=%d\n");
        osSyncPrintf(VT_RST);
        return NULL;
    }
    return colCtx->dyna.bgActors[bgId].colHeader;
}

/**
 * Test if pos is near collision boundaries
 */
s32 BgCheck_PosInStaticBoundingBox(CollisionContext* colCtx, Vec3f* pos) {
    if (pos->x < (colCtx->minBounds.x - BGCHECK_SUBDIV_OVERLAP) ||
        (colCtx->maxBounds.x + BGCHECK_SUBDIV_OVERLAP) < pos->x ||
        pos->y < (colCtx->minBounds.y - BGCHECK_SUBDIV_OVERLAP) ||
        (colCtx->maxBounds.y + BGCHECK_SUBDIV_OVERLAP) < pos->y ||
        pos->z < (colCtx->minBounds.z - BGCHECK_SUBDIV_OVERLAP) ||
        (colCtx->maxBounds.z + BGCHECK_SUBDIV_OVERLAP) < pos->z) {
        return false;
    }
    return true;
}

/**
 * Raycast Toward Floor
 * returns the yIntersect of the nearest poly found directly below `pos`, or BGCHECK_Y_MIN if no floor detected
 * returns the poly found in `outPoly`, and the bgId of the entity in `outBgId`
 */
f32 BgCheck_RaycastFloorImpl(GlobalContext* globalCtx, CollisionContext* colCtx, u16 xpFlags, CollisionPoly** outPoly,
                             s32* outBgId, Vec3f* pos, Actor* actor, u32 arg7, f32 chkDist) {

    f32 yIntersectDyna;
    s32* temp_a0;
    StaticLookup* lookupTbl;
    Vec3f checkPos;
    StaticLookup* lookup;
    DynaRaycast dynaRaycast;
    f32 yIntersect;

    *outBgId = BGCHECK_SCENE;
    *outPoly = NULL;
    lookupTbl = colCtx->lookupTbl;
    yIntersect = BGCHECK_Y_MIN;
    checkPos = *pos;

    while (true) {
        if (checkPos.y < colCtx->minBounds.y) {
            break;
        }
        if (BGCHECK_POS_ERROR_CHECK(&checkPos)) {
            if (actor != NULL) {
                osSyncPrintf("こいつ,pself_actor->name %d\n", actor->id);
            }
        }
        lookup = BgCheck_GetStaticLookup(colCtx, lookupTbl, &checkPos);
        if (lookup == NULL) {
            checkPos.y -= colCtx->subdivLength.y;
            continue;
        }
        yIntersect = BgCheck_RaycastFloorStatic(lookup, colCtx, xpFlags, outPoly, pos, arg7, chkDist, BGCHECK_Y_MIN);
        if (yIntersect > BGCHECK_Y_MIN) {
            break;
        }
        checkPos.y -= colCtx->subdivLength.y;
    }

    dynaRaycast.colCtx = colCtx;
    dynaRaycast.xpFlags = xpFlags;
    dynaRaycast.yIntersect = yIntersect;
    dynaRaycast.pos = pos;
    dynaRaycast.actor = actor;
    dynaRaycast.unk_20 = arg7;
    dynaRaycast.chkDist = chkDist;
    dynaRaycast.globalCtx = globalCtx;
    dynaRaycast.resultPoly = outPoly;
    dynaRaycast.bgId = outBgId;

    yIntersectDyna = BgCheck_RaycastFloorDyna(&dynaRaycast);

    if (yIntersect < yIntersectDyna) {
        yIntersect = yIntersectDyna;
    }

    if (yIntersect != BGCHECK_Y_MIN && func_80041EC8(colCtx, *outPoly, *outBgId)) {
        yIntersect -= 1.0f;
    }
    return yIntersect;
}

/**
 * Public raycast toward floor
 * returns yIntersect of the poly found, or BGCHECK_Y_MIN if no poly detected
 */
f32 BgCheck_CameraRaycastFloor1(CollisionContext* colCtx, CollisionPoly** outPoly, Vec3f* pos) {
    s32 bgId;

    return BgCheck_RaycastFloorImpl(NULL, colCtx, COLPOLY_IGNORE_CAMERA, outPoly, &bgId, pos, NULL, 0x1C, 1.0f);
}

/**
 * Public raycast toward floor
 * returns yIntersect of the poly found, or BGCHECK_Y_MIN if no poly detected
 */
f32 BgCheck_EntityRaycastFloor1(CollisionContext* colCtx, CollisionPoly** outPoly, Vec3f* pos) {
    s32 bgId;

    return BgCheck_RaycastFloorImpl(NULL, colCtx, COLPOLY_IGNORE_ENTITY, outPoly, &bgId, pos, NULL, 0x1C, 1.0f);
}

/**
 * Public raycast toward floor
 * returns yIntersect of the poly found, or BGCHECK_Y_MIN if no poly detected
 */
f32 BgCheck_EntityRaycastFloor2(GlobalContext* globalCtx, CollisionContext* colCtx, CollisionPoly** outPoly,
                                Vec3f* pos) {
    s32 bgId;

    return BgCheck_RaycastFloorImpl(globalCtx, colCtx, COLPOLY_IGNORE_ENTITY, outPoly, &bgId, pos, NULL, 0x1C, 1.0f);
}

/**
 * Public raycast toward floor
 * returns yIntersect of the poly found, or BGCHECK_Y_MIN if no poly detected
 */
f32 BgCheck_EntityRaycastFloor3(CollisionContext* colCtx, CollisionPoly** outPoly, s32* bgId, Vec3f* pos) {
    return BgCheck_RaycastFloorImpl(NULL, colCtx, COLPOLY_IGNORE_ENTITY, outPoly, bgId, pos, NULL, 0x1C, 1.0f);
}

/**
 * Public raycast toward floor
 * returns yIntersect of the poly found, or BGCHECK_Y_MIN if no poly detected
 */
f32 BgCheck_EntityRaycastFloor4(CollisionContext* colCtx, CollisionPoly** outPoly, s32* bgId, Actor* actor,
                                Vec3f* pos) {
    return BgCheck_RaycastFloorImpl(NULL, colCtx, COLPOLY_IGNORE_ENTITY, outPoly, bgId, pos, actor, 0x1C, 1.0f);
}

/**
 * Public raycast toward floor
 * returns yIntersect of the poly found, or BGCHECK_Y_MIN if no poly detected
 */
f32 BgCheck_EntityRaycastFloor5(GlobalContext* globalCtx, CollisionContext* colCtx, CollisionPoly** outPoly, s32* bgId,
                                Actor* actor, Vec3f* pos) {
    return BgCheck_RaycastFloorImpl(globalCtx, colCtx, COLPOLY_IGNORE_ENTITY, outPoly, bgId, pos, actor, 0x1C, 1.0f);
}

/**
 * Public raycast toward floor
 * returns yIntersect of the poly found, or BGCHECK_Y_MIN if no poly detected
 */
f32 BgCheck_EntityRaycastFloor6(CollisionContext* colCtx, CollisionPoly** outPoly, s32* bgId, Actor* actor, Vec3f* pos,
                                f32 chkDist) {
    return BgCheck_RaycastFloorImpl(NULL, colCtx, COLPOLY_IGNORE_ENTITY, outPoly, bgId, pos, actor, 0x1C, chkDist);
}

/**
 * Public raycast toward floor
 * returns yIntersect of the poly found, or BGCHECK_Y_MIN if no poly detected
 */
f32 BgCheck_EntityRaycastFloor7(CollisionContext* colCtx, CollisionPoly** outPoly, s32* bgId, Actor* actor,
                                Vec3f* pos) {
    return BgCheck_RaycastFloorImpl(NULL, colCtx, COLPOLY_IGNORE_ENTITY, outPoly, bgId, pos, actor, 0x06, 1.0f);
}

/**
 * Public raycast toward floor
 * returns yIntersect of the poly found, or BGCHECK_Y_MIN if no poly detected
 */
f32 BgCheck_AnyRaycastFloor1(CollisionContext* colCtx, CollisionPoly* outPoly, Vec3f* pos) {
    CollisionPoly* tempPoly;
    f32 result;
    s32 bgId;

    result = BgCheck_RaycastFloorImpl(NULL, colCtx, COLPOLY_IGNORE_NONE, &tempPoly, &bgId, pos, NULL, 0x1C, 1.0f);

    if (tempPoly != NULL) {
        *outPoly = *tempPoly;
    }
    return result;
}

/**
 * Public raycast toward floor
 * returns yIntersect of the poly found, or BGCHECK_Y_MIN if no poly detected
 */
f32 BgCheck_AnyRaycastFloor2(CollisionContext* colCtx, CollisionPoly* outPoly, s32* bgId, Vec3f* pos) {
    CollisionPoly* tempPoly;
    f32 result = BgCheck_RaycastFloorImpl(NULL, colCtx, COLPOLY_IGNORE_NONE, &tempPoly, bgId, pos, NULL, 0x1C, 1.0f);

    if (tempPoly != NULL) {
        *outPoly = *tempPoly;
    }
    return result;
}

/**
 * Public raycast toward floor
 * returns yIntersect of the poly found, or BGCHECK_Y_MIN if no poly detected
 */
f32 BgCheck_CameraRaycastFloor2(CollisionContext* colCtx, CollisionPoly** outPoly, s32* bgId, Vec3f* pos) {
    return BgCheck_RaycastFloorImpl(NULL, colCtx, COLPOLY_IGNORE_CAMERA, outPoly, bgId, pos, NULL, 0x06, 1.0f);
}

/**
 * Public raycast toward floor
 * returns yIntersect of the poly found, or BGCHECK_Y_MIN if no poly detected
 */
f32 BgCheck_EntityRaycastFloor8(CollisionContext* colCtx, CollisionPoly** outPoly, s32* bgId, Actor* actor,
                                Vec3f* pos) {
    return BgCheck_RaycastFloorImpl(NULL, colCtx, COLPOLY_IGNORE_ENTITY, outPoly, bgId, pos, actor, 0x02, 1.0f);
}

/**
 * Public raycast toward floor
 * returns yIntersect of the poly found, or BGCHECK_Y_MIN if no poly detected
 */
f32 BgCheck_EntityRaycastFloor9(CollisionContext* colCtx, CollisionPoly** outPoly, s32* bgId, Vec3f* pos) {
    return BgCheck_RaycastFloorImpl(NULL, colCtx, COLPOLY_IGNORE_ENTITY, outPoly, bgId, pos, NULL, 0x06, 1.0f);
}

/**
 * Tests if moving from `posPrev` to `posNext` will collide with a "wall"
 * `radius` is used to form a sphere for collision detection purposes
 * `checkHeight` is the positive height above posNext to perform certain checks
 * returns true if a collision is detected, else false
 * `outPoly` returns the closest poly detected, while `outBgId` returns the poly owner
 */
s32 BgCheck_CheckWallImpl(CollisionContext* colCtx, u16 xpFlags, Vec3f* posResult, Vec3f* posNext, Vec3f* posPrev,
                          f32 radius, CollisionPoly** outPoly, s32* outBgId, Actor* actor, f32 checkHeight, u8 argA) {
    StaticLookup* lookupTbl;
    f32 temp_f0;
    s32 result;
    CollisionPoly* poly;
    f32 dx, dy, dz; // change between posPrev to posNext
    Vec3f sphCenter;
    s32 dynaPolyCollision;
    Vec3f posIntersect;
    s32 bgId;
    f32 temp_f0_2;
    f32 f32temp;
    f32 nx2, nz2;
    Vec3f checkLineNext;
    Vec3f checkLinePrev;
    f32 n2XZDist;
    f32 n3XZDist;
    f32 nx3, nz3;
    s32 bccFlags;
    Vec3f posIntersect2;
    s32 bgId2;
    f32 nx, ny, nz; // unit normal of polygon

    if (CVar_GetS32("gNoClip", 0) != 0) {
        return false;
    }

    result = false;
    *outBgId = BGCHECK_SCENE;
    *outPoly = NULL;
    lookupTbl = colCtx->lookupTbl;
    *posResult = *posNext;
    dx = posNext->x - posPrev->x;
    dy = posNext->y - posPrev->y;
    dz = posNext->z - posPrev->z;

    if (BGCHECK_POS_ERROR_CHECK(posNext) == true ||
        BGCHECK_POS_ERROR_CHECK(posPrev) == true) {
        if (actor != NULL) {
            osSyncPrintf("こいつ,pself_actor->name %d\n", actor->id);
        }
    }

    // if there's movement on the xz plane, and argA flag is 0,
    if ((dx != 0.0f || dz != 0.0f) && (argA & 1) == 0) {
        if ((checkHeight + dy) < 5.0f) {
            //! @bug checkHeight is not applied to posPrev/posNext
            result = BgCheck_CheckLineImpl(colCtx, xpFlags, COLPOLY_IGNORE_NONE, posPrev, posNext, &posIntersect, &poly,
                                           &bgId, actor, 1.0f, BGCHECK_CHECK_ALL & ~BGCHECK_CHECK_CEILING);
            if (result) {
                ny = COLPOLY_GET_NORMAL(poly->normal.y);
                // if poly is floor, push result underneath the floor
                if (ny > 0.5f) {
                    posResult->x = posIntersect.x;
                    if (checkHeight > 1.0f) {
                        posResult->y = posIntersect.y - 1.0f;
                    } else {
                        posResult->y = posIntersect.y - checkHeight;
                    }
                    posResult->z = posIntersect.z;
                }
                // poly is wall
                else {
                    nx = COLPOLY_GET_NORMAL(poly->normal.x);
                    nz = COLPOLY_GET_NORMAL(poly->normal.z);
                    posResult->x = radius * nx + posIntersect.x;
                    posResult->y = radius * ny + posIntersect.y;
                    posResult->z = radius * nz + posIntersect.z;
                }
                *outPoly = poly;
                *outBgId = bgId;
            }
        } else {
            // if the radius is less than the distance travelled on the xz plane, also test for floor collisions
            bccFlags = SQ(radius) < (SQ(dx) + SQ(dz))
                           ? (BGCHECK_CHECK_ALL & ~BGCHECK_CHECK_CEILING)
                           : (BGCHECK_CHECK_ALL & ~BGCHECK_CHECK_FLOOR & ~BGCHECK_CHECK_CEILING);

            // perform a straight line test to see if a line at posNext.y + checkHeight from posPrev.xz to posNext.xz
            // passes through any wall and possibly floor polys
            checkLineNext = *posNext;
            checkLineNext.y += checkHeight;
            checkLinePrev = *posPrev;
            checkLinePrev.y = checkLineNext.y;
            result = BgCheck_CheckLineImpl(colCtx, xpFlags, COLPOLY_IGNORE_NONE, &checkLinePrev, &checkLineNext,
                                           &posIntersect, &poly, &bgId, actor, 1.0f, bccFlags);

            if (result) {
                nx2 = COLPOLY_GET_NORMAL(poly->normal.x);
                nz2 = COLPOLY_GET_NORMAL(poly->normal.z);
                n2XZDist = sqrtf(SQ(nx2) + SQ(nz2));

                // if poly is not a "flat" floor or "flat" ceiling
                if (!IS_ZERO(n2XZDist)) {
                    // normalize nx,nz and multiply each by the radius to go back to the other side of the wall
                    f32temp = 1.0f / n2XZDist;
                    temp_f0 = radius * f32temp;
                    posResult->x = temp_f0 * nx2 + posIntersect.x;
                    posResult->z = temp_f0 * nz2 + posIntersect.z;
                    *outPoly = poly;
                    *outBgId = bgId;
                    result = true;
                }
            }
        }
    }

    sphCenter = *posResult;
    dynaPolyCollision = false;
    sphCenter.y += checkHeight;
    // test if sphere (sphCenter, radius) collides with a dynamic wall, displacing the x/z coordinates
    if (BgCheck_SphVsDynaWall(colCtx, xpFlags, &posResult->x, &posResult->z, &sphCenter, radius, outPoly, outBgId,
                              actor)) {
        result = true;
        dynaPolyCollision = true;
        sphCenter = *posResult;
        sphCenter.y += checkHeight;
    }
    // test if sphere (sphCenter, radius) collides with a static wall, displacing the x/z coordinates
    if (BgCheck_PosInStaticBoundingBox(colCtx, posNext) == true &&
        // possible bug? if the sphere's radius is smaller than the distance to a subdivision boundary, some static
        // polys will be missed
        BgCheck_SphVsStaticWall(BgCheck_GetNearestStaticLookup(colCtx, lookupTbl, posResult), colCtx, xpFlags,
                                &posResult->x, &posResult->z, &sphCenter, radius, outPoly)) {
        *outBgId = BGCHECK_SCENE;
        result = true;
    }
    // if a collision with a dyna poly was detected
    if (dynaPolyCollision == true || *outBgId != BGCHECK_SCENE) {
        if (BgCheck_CheckLineImpl(colCtx, xpFlags, COLPOLY_IGNORE_NONE, posPrev, posResult, &posIntersect2, &poly,
                                  &bgId2, actor, 1.0f, BGCHECK_CHECK_ONE_FACE | BGCHECK_CHECK_WALL)) {
            nx3 = COLPOLY_GET_NORMAL(poly->normal.x);
            nz3 = COLPOLY_GET_NORMAL(poly->normal.z);
            n3XZDist = sqrtf(SQ(nx3) + SQ(nz3));

            // if poly is not a "flat" floor or "flat" ceiling
            if (!IS_ZERO(n3XZDist)) {
                // normalize nx,nz and multiply each by the radius to go back to the other side of the wall
                f32temp = 1.0f / n3XZDist;
                temp_f0_2 = radius * f32temp;
                posResult->x = temp_f0_2 * nx3 + posIntersect2.x;
                posResult->z = temp_f0_2 * nz3 + posIntersect2.z;
                *outPoly = poly;
                *outBgId = bgId2;
                result = true;
            }
        }
    }
    return result;
}

/**
 * Public. Tests if moving from `posPrev` to `posNext` will collide with a "wall"
 * `radius` is used to form a sphere for collision detection purposes
 * `checkHeight` is the positive height above posNext to perform certain checks
 * returns true if a collision is detected, else false
 * `outPoly` returns the closest poly detected
 */
s32 BgCheck_EntitySphVsWall1(CollisionContext* colCtx, Vec3f* posResult, Vec3f* posNext, Vec3f* posPrev, f32 radius,
                             CollisionPoly** outPoly, f32 checkHeight) {
    s32 bgId;

    return BgCheck_CheckWallImpl(colCtx, COLPOLY_IGNORE_ENTITY, posResult, posNext, posPrev, radius, outPoly, &bgId,
                                 NULL, checkHeight, 0);
}

/**
 * Public. Tests if moving from `posPrev` to `posNext` will collide with a "wall"
 * `radius` is used to form a sphere for collision detection purposes
 * `checkHeight` is the positive height above posNext to perform certain checks
 * returns true if a collision is detected, else false
 * `outPoly` returns the closest poly detected, while `outBgId` returns the poly owner
 */
s32 BgCheck_EntitySphVsWall2(CollisionContext* colCtx, Vec3f* posResult, Vec3f* posNext, Vec3f* posPrev, f32 radius,
                             CollisionPoly** outPoly, s32* outBgId, f32 checkHeight) {
    return BgCheck_CheckWallImpl(colCtx, COLPOLY_IGNORE_ENTITY, posResult, posNext, posPrev, radius, outPoly, outBgId,
                                 NULL, checkHeight, 0);
}

/**
 * Public. Tests if moving from `posPrev` to `posNext` will collide with a "wall"
 * `radius` is used to form a sphere for collision detection purposes
 * `checkHeight` is the positive height above posNext to perform certain checks
 * `actor` is the actor performing the check, allowing it to be skipped
 * returns true if a collision is detected, else false
 * `outPoly` returns the closest poly detected, while `outBgId` returns the poly owner
 */
s32 BgCheck_EntitySphVsWall3(CollisionContext* colCtx, Vec3f* posResult, Vec3f* posNext, Vec3f* posPrev, f32 radius,
                             CollisionPoly** outPoly, s32* outBgId, Actor* actor, f32 checkHeight) {
    return BgCheck_CheckWallImpl(colCtx, COLPOLY_IGNORE_ENTITY, posResult, posNext, posPrev, radius, outPoly, outBgId,
                                 actor, checkHeight, 0);
}

/***
 * Public. Tests if moving from `posPrev` to `posNext` will collide with a "wall"
 * Skips a check that occurs only when moving on the xz plane
 * `radius` is used to form a sphere for collision detection purposes
 * `checkHeight` is the positive height above posNext to perform certain checks
 * `actor` is the actor performing the check, allowing it to be skipped
 * returns true if a collision is detected, else false
 * `outPoly` returns the closest poly detected, while `outBgId` returns the poly owner
 */
s32 BgCheck_EntitySphVsWall4(CollisionContext* colCtx, Vec3f* posResult, Vec3f* posNext, Vec3f* posPrev, f32 radius,
                             CollisionPoly** outPoly, s32* outBgId, Actor* actor, f32 checkHeight) {
    return BgCheck_CheckWallImpl(colCtx, COLPOLY_IGNORE_ENTITY, posResult, posNext, posPrev, radius, outPoly, outBgId,
                                 actor, checkHeight, 1);
}

/***
 * Tests for collision with a ceiling poly
 * `checkHeight` should be a positive value
 * returns true if a collision occurs, else false
 * `outPoly` returns the poly collided with, while `outBgId` returns the owner of the poly
 * `outY` returns the y coordinate of pos needed to not collide with `outPoly`
 */
s32 BgCheck_CheckCeilingImpl(CollisionContext* colCtx, u16 xpFlags, f32* outY, Vec3f* pos, f32 checkHeight,
                             CollisionPoly** outPoly, s32* outBgId, Actor* actor) {
    StaticLookup* lookupTbl;
    StaticLookup* lookup;
    s32 result;
    Vec3f posTemp;
    f32 tempY;

    *outBgId = BGCHECK_SCENE;
    *outY = pos->y;
    if (BGCHECK_POS_ERROR_CHECK(pos) == true) {
        if (actor != NULL) {
            osSyncPrintf("こいつ,pself_actor->name %d\n", actor->id);
        }
    }
    lookupTbl = colCtx->lookupTbl;
    if (!BgCheck_PosInStaticBoundingBox(colCtx, pos)) {
        return false;
    }

    lookup = BgCheck_GetNearestStaticLookup(colCtx, lookupTbl, pos);
    result = BgCheck_CheckStaticCeiling(lookup, xpFlags, colCtx, outY, pos, checkHeight, outPoly);

    posTemp = *pos;
    posTemp.y = *outY;
    tempY = *outY;

    if (BgCheck_CheckDynaCeiling(colCtx, xpFlags, &tempY, &posTemp, checkHeight, outPoly, outBgId, actor)) {
        *outY = tempY;
        result = true;
    }
    return result;
}

/**
 * Tests for collision with any ceiling poly
 * `checkHeight` must be a positive value
 * returns true if a collision occurs, else false
 * `outY` returns the displaced y coordinate needed to not collide with the poly
 */
s32 BgCheck_AnyCheckCeiling(CollisionContext* colCtx, f32* outY, Vec3f* pos, f32 checkHeight) {
    CollisionPoly* poly;
    s32 bgId;

    return BgCheck_CheckCeilingImpl(colCtx, COLPOLY_IGNORE_NONE, outY, pos, checkHeight, &poly, &bgId, NULL);
}

/**
 * Tests for collision with any entity solid ceiling poly
 * `checkHeight` must be a positive value
 * returns true if a collision occurs, else false
 * `outY` returns the displaced y coordinate needed to not collide with the poly
 */
s32 BgCheck_EntityCheckCeiling(CollisionContext* colCtx, f32* outY, Vec3f* pos, f32 checkHeight,
                               CollisionPoly** outPoly, s32* outBgId, Actor* actor) {
    return BgCheck_CheckCeilingImpl(colCtx, COLPOLY_IGNORE_ENTITY, outY, pos, checkHeight, outPoly, outBgId, actor);
}

/**
 * Tests if a line from `posA` to `posB` intersects with a poly
 * returns true if it does, else false
 * `posB`? `posResult` returns the point of intersection
 * `outPoly` returns the pointer to the intersected poly, while `outBgId` returns the entity the poly belongs to
 */
s32 BgCheck_CheckLineImpl(CollisionContext* colCtx, u16 xpFlags1, u16 xpFlags2, Vec3f* posA, Vec3f* posB,
                          Vec3f* posResult, CollisionPoly** outPoly, s32* outBgId, Actor* actor, f32 chkDist,
                          u32 bccFlags) {
    StaticLookup* lookupTbl = colCtx->lookupTbl;
    StaticLookup* iLookup;
    s32 subdivMin[3];
    s32 subdivMax[3];
    s32 i;
    s32 result;
    f32 distSq;
    Vec3f posBTemp = *posB;
    Vec3f sectorMin;
    Vec3f sectorMax;
    s32 k;
    StaticLookup* lookup;
    s32 j;
    StaticLookup* jLookup;
    s32 temp_lo;

    *outBgId = BGCHECK_SCENE;
    if (BGCHECK_POS_ERROR_CHECK(posA) == true ||
        BGCHECK_POS_ERROR_CHECK(posB) == true) {
        if (actor != NULL) {
            osSyncPrintf("こいつ,pself_actor->name %d\n", actor->id);
        } else {
            osSyncPrintf("pself_actor == NULLで犯人不明\n");
        }
    }

    BgCheck_ResetPolyCheckTbl(&colCtx->polyNodes, colCtx->colHeader->numPolygons);
    BgCheck_GetStaticLookupIndicesFromPos(colCtx, posA, (Vec3i*)&subdivMin);
    BgCheck_GetStaticLookupIndicesFromPos(colCtx, &posBTemp, (Vec3i*)&subdivMax);
    *posResult = *posB;
    result = false;
    distSq = 1.0e38f;
    *outPoly = NULL;

    if (subdivMin[0] != subdivMax[0] || subdivMin[1] != subdivMax[1] || subdivMin[2] != subdivMax[2]) {
        for (i = 0; i < 3; i++) {
            if (subdivMax[i] < subdivMin[i]) {
                j = subdivMax[i];
                subdivMax[i] = subdivMin[i];
                subdivMin[i] = j;
            }
        }
        temp_lo = colCtx->subdivAmount.x * colCtx->subdivAmount.y;
        iLookup = lookupTbl + subdivMin[2] * temp_lo;
        sectorMin.z = subdivMin[2] * colCtx->subdivLength.z + colCtx->minBounds.z;
        sectorMax.z = colCtx->subdivLength.z + sectorMin.z;

        for (i = subdivMin[2]; i < subdivMax[2] + 1; i++) {
            jLookup = iLookup + subdivMin[1] * colCtx->subdivAmount.x;
            sectorMin.y = subdivMin[1] * colCtx->subdivLength.y + colCtx->minBounds.y;
            sectorMax.y = colCtx->subdivLength.y + sectorMin.y;

            for (j = subdivMin[1]; j < subdivMax[1] + 1; j++) {
                lookup = jLookup + subdivMin[0];
                sectorMin.x = subdivMin[0] * colCtx->subdivLength.x + colCtx->minBounds.x;
                sectorMax.x = colCtx->subdivLength.x + sectorMin.x;

                for (k = subdivMin[0]; k < subdivMax[0] + 1; k++) {
                    if (Math3D_LineVsCube(&sectorMin, &sectorMax, posA, &posBTemp) == true &&
                        BgCheck_CheckLineInSubdivision(lookup, colCtx, xpFlags1, xpFlags2, posA, &posBTemp, posResult,
                                                       outPoly, chkDist, &distSq, bccFlags)) {
                        result = true;
                    }

                    lookup++;
                    sectorMin.x += colCtx->subdivLength.x;
                    sectorMax.x += colCtx->subdivLength.x;
                }

                jLookup += colCtx->subdivAmount.x;
                sectorMin.y += colCtx->subdivLength.y;
                sectorMax.y += colCtx->subdivLength.y;
            }

            iLookup += temp_lo;
            sectorMin.z += colCtx->subdivLength.z;
            sectorMax.z += colCtx->subdivLength.z;
        }
    } else if (BgCheck_PosInStaticBoundingBox(colCtx, posA) == false) {
        return false;
    } else {
        result =
            BgCheck_CheckLineInSubdivision(BgCheck_GetNearestStaticLookup(colCtx, lookupTbl, posA), colCtx, xpFlags1,
                                           xpFlags2, posA, &posBTemp, posResult, outPoly, chkDist, &distSq, bccFlags);
        if (result == true) {
            distSq = Math3D_Vec3fDistSq(posResult, posA);
        }
    }
    if ((bccFlags & BGCHECK_CHECK_DYNA) &&
        BgCheck_CheckLineAgainstDyna(colCtx, xpFlags1, posA, &posBTemp, posResult, outPoly, &distSq, outBgId, actor,
                                     chkDist, bccFlags)) {
        result = true;
    }
    return result;
}

/**
 * Get bccFlags
 */
u32 BgCheck_GetBccFlags(s32 chkWall, s32 chkFloor, s32 chkCeil, s32 chkOneFace, s32 chkDyna) {
    u32 result = 0;

    if (chkWall) {
        result = BGCHECK_CHECK_WALL;
    }
    if (chkFloor) {
        result |= BGCHECK_CHECK_FLOOR;
    }
    if (chkCeil) {
        result |= BGCHECK_CHECK_CEILING;
    }
    if (chkOneFace) {
        result |= BGCHECK_CHECK_ONE_FACE;
    }
    if (chkDyna) {
        result |= BGCHECK_CHECK_DYNA;
    }
    return result;
}

/**
 * Public. Tests if a line from `posA` to `posB` intersects with a poly
 * returns true if it does, else false
 */
s32 BgCheck_CameraLineTest1(CollisionContext* colCtx, Vec3f* posA, Vec3f* posB, Vec3f* posResult,
                            CollisionPoly** outPoly, s32 chkWall, s32 chkFloor, s32 chkCeil, s32 chkOneFace,
                            s32* bgId) {
    return BgCheck_CheckLineImpl(colCtx, COLPOLY_IGNORE_CAMERA, COLPOLY_IGNORE_NONE, posA, posB, posResult, outPoly,
                                 bgId, NULL, 1.0f, BgCheck_GetBccFlags(chkWall, chkFloor, chkCeil, chkOneFace, true));
}

/**
 * Public. Tests if a line from `posA` to `posB` intersects with a poly
 * returns true if it does, else false
 */
s32 BgCheck_CameraLineTest2(CollisionContext* colCtx, Vec3f* posA, Vec3f* posB, Vec3f* posResult,
                            CollisionPoly** outPoly, s32 chkWall, s32 chkFloor, s32 chkCeil, s32 chkOneFace,
                            s32* bgId) {
    return BgCheck_CheckLineImpl(colCtx, COLPOLY_IGNORE_NONE, COLPOLY_IGNORE_CAMERA, posA, posB, posResult, outPoly,
                                 bgId, NULL, 1.0f, BgCheck_GetBccFlags(chkWall, chkFloor, chkCeil, chkOneFace, true));
}

/**
 * Public. Tests if a line from `posA` to `posB` intersects with a poly
 * returns true if it does, else false
 */
s32 BgCheck_EntityLineTest1(CollisionContext* colCtx, Vec3f* posA, Vec3f* posB, Vec3f* posResult,
                            CollisionPoly** outPoly, s32 chkWall, s32 chkFloor, s32 chkCeil, s32 chkOneFace,
                            s32* bgId) {
    return BgCheck_CheckLineImpl(colCtx, COLPOLY_IGNORE_ENTITY, COLPOLY_IGNORE_NONE, posA, posB, posResult, outPoly,
                                 bgId, NULL, 1.0f, BgCheck_GetBccFlags(chkWall, chkFloor, chkCeil, chkOneFace, true));
}

/**
 * Public. Tests if a line from `posA` to `posB` intersects with a poly
 * returns true if it does, else false
 */
s32 BgCheck_EntityLineTest2(CollisionContext* colCtx, Vec3f* posA, Vec3f* posB, Vec3f* posResult,
                            CollisionPoly** outPoly, s32 chkWall, s32 chkFloor, s32 chkCeil, s32 chkOneFace, s32* bgId,
                            Actor* actor) {
    return BgCheck_CheckLineImpl(colCtx, COLPOLY_IGNORE_ENTITY, COLPOLY_IGNORE_NONE, posA, posB, posResult, outPoly,
                                 bgId, actor, 1.0f, BgCheck_GetBccFlags(chkWall, chkFloor, chkCeil, chkOneFace, true));
}

/**
 * Public. Tests if a line from `posA` to `posB` intersects with a poly
 * returns true if it does, else false
 */
s32 BgCheck_EntityLineTest3(CollisionContext* colCtx, Vec3f* posA, Vec3f* posB, Vec3f* posResult,
                            CollisionPoly** outPoly, s32 chkWall, s32 chkFloor, s32 chkCeil, s32 chkOneFace, s32* bgId,
                            Actor* actor, f32 chkDist) {
    return BgCheck_CheckLineImpl(colCtx, COLPOLY_IGNORE_ENTITY, COLPOLY_IGNORE_NONE, posA, posB, posResult, outPoly,
                                 bgId, actor, chkDist,
                                 BgCheck_GetBccFlags(chkWall, chkFloor, chkCeil, chkOneFace, true));
}

/**
 * Public. Tests if a line from `posA` to `posB` intersects with a poly
 * returns true if it does, else false
 */
s32 BgCheck_ProjectileLineTest(CollisionContext* colCtx, Vec3f* posA, Vec3f* posB, Vec3f* posResult,
                               CollisionPoly** outPoly, s32 chkWall, s32 chkFloor, s32 chkCeil, s32 chkOneFace,
                               s32* bgId) {
    return BgCheck_CheckLineImpl(colCtx, COLPOLY_IGNORE_PROJECTILES, COLPOLY_IGNORE_NONE, posA, posB, posResult,
                                 outPoly, bgId, NULL, 1.0f,
                                 BgCheck_GetBccFlags(chkWall, chkFloor, chkCeil, chkOneFace, true));
}

/**
 * Public. Tests if a line from `posA` to `posB` intersects with a poly
 * returns true if it does, else false
 */
s32 BgCheck_AnyLineTest1(CollisionContext* colCtx, Vec3f* posA, Vec3f* posB, Vec3f* posResult, CollisionPoly** outPoly,
                         s32 chkOneFace) {
    return BgCheck_AnyLineTest2(colCtx, posA, posB, posResult, outPoly, true, true, true, chkOneFace);
}

/**
 * Public. Tests if a line from `posA` to `posB` intersects with a poly
 * returns true if it does, else false
 */
s32 BgCheck_AnyLineTest2(CollisionContext* colCtx, Vec3f* posA, Vec3f* posB, Vec3f* posResult, CollisionPoly** outPoly,
                         s32 chkWall, s32 chkFloor, s32 chkCeil, s32 chkOneFace) {
    s32 bgId;

    return BgCheck_CheckLineImpl(colCtx, COLPOLY_IGNORE_NONE, COLPOLY_IGNORE_NONE, posA, posB, posResult, outPoly,
                                 &bgId, NULL, 1.0f, BgCheck_GetBccFlags(chkWall, chkFloor, chkCeil, chkOneFace, true));
}

/**
 * Public. Tests if a line from `posA` to `posB` intersects with a poly
 * returns true if it does, else false
 */
s32 BgCheck_AnyLineTest3(CollisionContext* colCtx, Vec3f* posA, Vec3f* posB, Vec3f* posResult, CollisionPoly** outPoly,
                         s32 chkWall, s32 chkFloor, s32 chkCeil, s32 chkOneFace, s32* bgId) {
    return BgCheck_CheckLineImpl(colCtx, COLPOLY_IGNORE_NONE, COLPOLY_IGNORE_NONE, posA, posB, posResult, outPoly, bgId,
                                 NULL, 1.0f, BgCheck_GetBccFlags(chkWall, chkFloor, chkCeil, chkOneFace, true));
}

/**
 * Get first poly intersecting sphere `center` `radius`
 * ignores `actor` dyna poly
 * returns true if any poly intersects the sphere, else false
 * `outPoly` returns the pointer of the first poly found that intersects
 * `outBgId` returns the bgId of the entity that owns `outPoly`
 */
s32 BgCheck_SphVsFirstPolyImpl(CollisionContext* colCtx, u16 xpFlags, CollisionPoly** outPoly, s32* outBgId,
                               Vec3f* center, f32 radius, Actor* actor, u16 bciFlags) {
    StaticLookup* lookup;

    *outBgId = BGCHECK_SCENE;
    if (BGCHECK_POS_ERROR_CHECK(center) == true) {
        if (actor != NULL) {
            osSyncPrintf("こいつ,pself_actor->name %d\n", actor->id);
        }
    }

    lookup = BgCheck_GetStaticLookup(colCtx, colCtx->lookupTbl, center);
    if (lookup == NULL) {
        return false;
    } else if (BgCheck_SphVsFirstStaticPoly(lookup, xpFlags, colCtx, center, radius, outPoly, bciFlags) ||
               BgCheck_SphVsFirstDynaPoly(colCtx, xpFlags, outPoly, outBgId, center, radius, actor, bciFlags)) {
        return true;
    }
    return false;
}

/**
 * Public get first poly intersecting sphere `center` `radius`
 */
s32 BgCheck_SphVsFirstPoly(CollisionContext* colCtx, Vec3f* center, f32 radius) {
    CollisionPoly* poly;
    s32 bgId;

    return BgCheck_SphVsFirstPolyImpl(colCtx, COLPOLY_IGNORE_NONE, &poly, &bgId, center, radius, NULL,
                                      BGCHECK_IGNORE_NONE);
}

/**
 * Public get first wall poly intersecting sphere `center` `radius`
 */
s32 BgCheck_SphVsFirstWall(CollisionContext* colCtx, Vec3f* center, f32 radius) {
    CollisionPoly* poly;
    s32 bgId;

    return BgCheck_SphVsFirstPolyImpl(colCtx, COLPOLY_IGNORE_NONE, &poly, &bgId, center, radius, NULL,
                                      BGCHECK_IGNORE_FLOOR | BGCHECK_IGNORE_CEILING);
}

/**
 * Init SSNodeList
 */
void SSNodeList_Initialize(SSNodeList* this) {
    this->max = 0;
    this->count = 0;
    this->tbl = NULL;
    this->polyCheckTbl = NULL;
}

/**
 * Allocate SSNodeList
 * tblMax is the number of SSNode records to allocate
 * numPolys is the number of polygons defined within the CollisionHeader
 */
void SSNodeList_Alloc(GlobalContext* globalCtx, SSNodeList* this, s32 tblMax, s32 numPolys) {
    this->max = tblMax;
    this->count = 0;
    this->tbl = THA_AllocEndAlign(&globalCtx->state.tha, tblMax * sizeof(SSNode), -2);

    ASSERT(this->tbl != NULL);

    this->polyCheckTbl = GAMESTATE_ALLOC_MC(&globalCtx->state, numPolys);

    ASSERT(this->polyCheckTbl != NULL);
}

/**
 * Get next SSNodeList SSNode
 */
SSNode* SSNodeList_GetNextNode(SSNodeList* this) {
    SSNode* result = &this->tbl[this->count];

    this->count++;
    ASSERT(this->count < this->max);
    if (!(this->count < this->max)) {
        return NULL;
    }
    return result;
}

/**
 * Get next SSNodeList SSNode index
 */
u16 SSNodeList_GetNextNodeIdx(SSNodeList* this) {
    u16 new_index = this->count++;

    ASSERT(new_index < this->max);
    return new_index;
}

/**
 * Initialize ScaleRotPos
 */
void ScaleRotPos_Initialize(ScaleRotPos* srp) {
    srp->scale.x = srp->scale.y = srp->scale.z = 1.0f;
    srp->pos.x = srp->pos.y = srp->pos.z = 0.0f;
    srp->rot.x = srp->rot.y = srp->rot.z = 0;
}

/**
 * Set ScaleRotPos
 */
void ScaleRotPos_SetValue(ScaleRotPos* srp, Vec3f* scale, Vec3s* rot, Vec3f* pos) {
    srp->scale = *scale;
    srp->rot = *rot;
    srp->pos = *pos;
}

/**
 * ScaleRotPos equality test
 */
s32 ScaleRotPos_Equals(ScaleRotPos* a, ScaleRotPos* b) {
    if (a->scale.x != b->scale.x || a->scale.y != b->scale.y || a->scale.z != b->scale.z || a->rot.x != b->rot.x ||
        a->rot.y != b->rot.y || a->rot.z != b->rot.z || a->pos.x != b->pos.x || a->pos.y != b->pos.y ||
        a->pos.z != b->pos.z) {
        return false;
    }
    return true;
}

/**
 * Reset DynaLookup lists
 */
void DynaLookup_ResetLists(DynaLookup* dynaLookup) {
    SSList_SetNull(&dynaLookup->ceiling);
    SSList_SetNull(&dynaLookup->wall);
    SSList_SetNull(&dynaLookup->floor);
}

/**
 * Reset DynaLookup
 */
void DynaLookup_Reset(DynaLookup* dynaLookup) {
    dynaLookup->polyStartIndex = 0;
    DynaLookup_ResetLists(dynaLookup);
}

/**
 * Reset vtxStartIndex
 */
void DynaLookup_ResetVtxStartIndex(u16* vtxStartIndex) {
    *vtxStartIndex = 0;
}

/**
 * Initialize BgActor
 */
void BgActor_Initialize(GlobalContext* globalCtx, BgActor* bgActor) {
    bgActor->actor = NULL;
    bgActor->colHeader = NULL;
    ScaleRotPos_Initialize(&bgActor->prevTransform);
    ScaleRotPos_Initialize(&bgActor->curTransform);
    DynaLookup_Reset(&bgActor->dynaLookup);
    DynaLookup_ResetVtxStartIndex(&bgActor->vtxStartIndex);
    bgActor->boundingSphere.center.x = bgActor->boundingSphere.center.y = bgActor->boundingSphere.center.z = 0;
    bgActor->boundingSphere.radius = 0;
}

/**
 * setActor internal
 */
void BgActor_SetActor(BgActor* bgActor, Actor* actor, CollisionHeader* colHeader) {
    bgActor->actor = actor;
    bgActor->colHeader = colHeader;
    bgActor->prevTransform.scale = actor->scale;
    bgActor->prevTransform.rot = actor->shape.rot;
    bgActor->prevTransform.rot.x--;
    bgActor->prevTransform.pos = actor->world.pos;
    bgActor->curTransform.scale = actor->scale;
    bgActor->curTransform.rot = actor->shape.rot;
    bgActor->curTransform.pos = actor->world.pos;
}

/**
 * Test if the BgActor transform is the same
 */
s32 BgActor_IsTransformUnchanged(BgActor* bgActor) {
    return ScaleRotPos_Equals(&bgActor->prevTransform, &bgActor->curTransform);
}

/**
 * NULL polyList
 */
void DynaPoly_NullPolyList(CollisionPoly** polyList) {
    *polyList = NULL;
}

/**
 * Allocate dyna.polyList
 */
void DynaPoly_AllocPolyList(GlobalContext* globalCtx, CollisionPoly** polyList, s32 numPolys) {
    *polyList = THA_AllocEndAlign(&globalCtx->state.tha, numPolys * sizeof(CollisionPoly), -2);
    ASSERT(*polyList != NULL);
}

/**
 * NULL vtxList
 */
void DynaPoly_NullVtxList(Vec3s** vtxList) {
    *vtxList = NULL;
}

/**
 * Allocate dyna.vtxList
 */
void DynaPoly_AllocVtxList(GlobalContext* globalCtx, Vec3s** vtxList, s32 numVtx) {
    *vtxList = THA_AllocEndAlign(&globalCtx->state.tha, numVtx * sizeof(Vec3s), -2);
    ASSERT(*vtxList != NULL);
}

/**
 * Update BgActor's prevTransform
 */
void DynaPoly_SetBgActorPrevTransform(GlobalContext* globalCtx, BgActor* bgActor) {
    bgActor->prevTransform = bgActor->curTransform;
}

/**
 * Is BgActor Id
 */
s32 DynaPoly_IsBgIdBgActor(s32 bgId) {
    if (bgId < 0 || bgId >= BG_ACTOR_MAX) {
        return false;
    }
    return true;
}

/**
 * Init DynaCollisionContext
 */
void DynaPoly_Init(GlobalContext* globalCtx, DynaCollisionContext* dyna) {
    dyna->bitFlag = DYNAPOLY_INVALIDATE_LOOKUP;
    DynaPoly_NullPolyList(&dyna->polyList);
    DynaPoly_NullVtxList(&dyna->vtxList);
    DynaSSNodeList_Initialize(globalCtx, &dyna->polyNodes);
}

/**
 * Set DynaCollisionContext
 */
void DynaPoly_Alloc(GlobalContext* globalCtx, DynaCollisionContext* dyna) {
    s32 i;

    for (i = 0; i < BG_ACTOR_MAX; i++) {
        BgActor_Initialize(globalCtx, &dyna->bgActors[i]);
        dyna->bgActorFlags[i] = 0;
    }
    DynaPoly_NullPolyList(&dyna->polyList);
    DynaPoly_AllocPolyList(globalCtx, &dyna->polyList, dyna->polyListMax);

    DynaPoly_NullVtxList(&dyna->vtxList);
    DynaPoly_AllocVtxList(globalCtx, &dyna->vtxList, dyna->vtxListMax);

    DynaSSNodeList_Initialize(globalCtx, &dyna->polyNodes);
    DynaSSNodeList_Alloc(globalCtx, &dyna->polyNodes, dyna->polyNodesMax);
}

/**
 * Set BgActor
 * original name: DynaPolyInfo_setActor
 */
s32 DynaPoly_SetBgActor(GlobalContext* globalCtx, DynaCollisionContext* dyna, Actor* actor,
                        CollisionHeader* colHeader) {
    s32 bgId;
    s32 foundSlot = false;

    for (bgId = 0; bgId < BG_ACTOR_MAX; bgId++) {
        if (!(dyna->bgActorFlags[bgId] & 1)) {
            dyna->bgActorFlags[bgId] |= 1;
            foundSlot = true;
            break;
        }
    }

    if (foundSlot == false) {
        osSyncPrintf(VT_FGCOL(RED));
        osSyncPrintf("DynaPolyInfo_setActor():ダイナミックポリゴン 空きインデックスはありません\n");
        osSyncPrintf(VT_RST);
        return BG_ACTOR_MAX;
    }

    BgActor_SetActor(&dyna->bgActors[bgId], actor, colHeader);
    dyna->bitFlag |= DYNAPOLY_INVALIDATE_LOOKUP;

    dyna->bgActorFlags[bgId] &= ~2;
    osSyncPrintf(VT_FGCOL(GREEN));
    osSyncPrintf("DynaPolyInfo_setActor():index %d\n", bgId);
    osSyncPrintf(VT_RST);
    return bgId;
}

/**
 * Gets the actor assigned to `bgId`
 * possible orginal name: DynaPolyInfo_getActor
 */
DynaPolyActor* DynaPoly_GetActor(CollisionContext* colCtx, s32 bgId) {
    if (!DynaPoly_IsBgIdBgActor(bgId) || !(colCtx->dyna.bgActorFlags[bgId] & 1) ||
        colCtx->dyna.bgActorFlags[bgId] & 2) {
        return NULL;
    }
    return (DynaPolyActor*)colCtx->dyna.bgActors[bgId].actor;
}

void func_8003EBF8(GlobalContext* globalCtx, DynaCollisionContext* dyna, s32 bgId) {
    if (DynaPoly_IsBgIdBgActor(bgId)) {
        dyna->bgActorFlags[bgId] |= 4;
        dyna->bitFlag |= DYNAPOLY_INVALIDATE_LOOKUP;
    }
}

void func_8003EC50(GlobalContext* globalCtx, DynaCollisionContext* dyna, s32 bgId) {
    if (DynaPoly_IsBgIdBgActor(bgId)) {
        dyna->bgActorFlags[bgId] &= ~4;
        dyna->bitFlag |= DYNAPOLY_INVALIDATE_LOOKUP;
    }
}

void func_8003ECA8(GlobalContext* globalCtx, DynaCollisionContext* dyna, s32 bgId) {
    if (DynaPoly_IsBgIdBgActor(bgId)) {
        dyna->bgActorFlags[bgId] |= 8;
        dyna->bitFlag |= DYNAPOLY_INVALIDATE_LOOKUP;
    }
}

void func_8003ED00(GlobalContext* globalCtx, DynaCollisionContext* dyna, s32 bgId) {
    if (DynaPoly_IsBgIdBgActor(bgId)) {
        dyna->bgActorFlags[bgId] &= ~8;
        dyna->bitFlag |= DYNAPOLY_INVALIDATE_LOOKUP;
    }
}

/**
 * original name: DynaPolyInfo_delReserve
 */
void DynaPoly_DeleteBgActor(GlobalContext* globalCtx, DynaCollisionContext* dyna, s32 bgId) {
    DynaPolyActor* actor;

    osSyncPrintf(VT_FGCOL(GREEN));
    osSyncPrintf("DynaPolyInfo_delReserve():index %d\n", bgId);
    osSyncPrintf(VT_RST);
    if (DynaPoly_IsBgIdBgActor(bgId) == false) {

        if (bgId == -1) {
            osSyncPrintf(VT_FGCOL(GREEN));
            // "The index that should have been deleted(? ) was(== -1), processing aborted."
            osSyncPrintf(
                "DynaPolyInfo_delReserve():削除されているはずの(?)\nインデックス(== -1)のため,処理を中止します。\n");
            osSyncPrintf(VT_RST);
            return;
        } else {
            osSyncPrintf(VT_FGCOL(RED));
            // "Unable to deallocate index / index unallocated, processing aborted."
            osSyncPrintf("DynaPolyInfo_delReserve():"
                         "確保していない／出来なかったインデックスの解放のため、処理を中止します。index == %d\n",
                         bgId);
            osSyncPrintf(VT_RST);
            return;
        }
    }
    actor = DynaPoly_GetActor(&globalCtx->colCtx, bgId);
    if (actor != NULL) {

        actor->bgId = BGACTOR_NEG_ONE;
        dyna->bgActors[bgId].actor = NULL;
        dyna->bgActorFlags[bgId] |= 2;
    }
}

void func_8003EE6C(GlobalContext* globalCtx, DynaCollisionContext* dyna) {
    dyna->bitFlag |= DYNAPOLY_INVALIDATE_LOOKUP;
}

/**
 * original name: DynaPolyInfo_expandSRT
 */
void DynaPoly_ExpandSRT(GlobalContext* globalCtx, DynaCollisionContext* dyna, s32 bgId, s32* vtxStartIndex,
                        s32* polyStartIndex) {
    MtxF mtx;
    Actor* actor;
    s32 pad;
    s32 pad2;
    f32 numVtxInverse;
    s32 i;
    Vec3f pos;
    Sphere16* sphere;
    Vec3s* dVtxList;
    Vec3s* point;
    Vec3f newCenterPoint;
    f32 newRadiusSq;
    CollisionHeader* pbgdata;
    Vec3f newVtx;
    Vec3f vtxA;
    Vec3f vtxB;
    Vec3f vtxC;
    Vec3f newNormal;

    pbgdata = dyna->bgActors[bgId].colHeader;
    sphere = &dyna->bgActors[bgId].boundingSphere;
    actor = dyna->bgActors[bgId].actor;
    dyna->bgActors[bgId].dynaLookup.polyStartIndex = *polyStartIndex;
    dyna->bgActors[bgId].vtxStartIndex = *vtxStartIndex;
    pos = actor->world.pos;
    pos.y += actor->shape.yOffset * actor->scale.y;

    ScaleRotPos_SetValue(&dyna->bgActors[bgId].curTransform, &actor->scale, &actor->shape.rot, &pos);

    if (dyna->bgActorFlags[bgId] & 4) {
        return;
    }

    if (!(dyna->polyListMax >= *polyStartIndex + pbgdata->numPolygons)) {
        osSyncPrintf(VT_FGCOL(RED));
        // "do not use if %d exceeds %d"
        osSyncPrintf("DynaPolyInfo_expandSRT():polygon over %dが%dを越えるとダメ\n",
                     *polyStartIndex + pbgdata->numPolygons, dyna->polyListMax);
    }

    if (!(dyna->vtxListMax >= *vtxStartIndex + pbgdata->numVertices)) {
        osSyncPrintf(VT_FGCOL(RED));
        // "do not use if %d exceeds %d"
        osSyncPrintf("DynaPolyInfo_expandSRT():vertex over %dが%dを越えるとダメ\n",
                     *vtxStartIndex + pbgdata->numVertices, dyna->vtxListMax);
    }

    ASSERT(dyna->polyListMax >= *polyStartIndex + pbgdata->numPolygons);
    ASSERT(dyna->vtxListMax >= *vtxStartIndex + pbgdata->numVertices);

    if (!(dyna->bitFlag & DYNAPOLY_INVALIDATE_LOOKUP) &&
        (BgActor_IsTransformUnchanged(&dyna->bgActors[bgId]) == true)) {
        s32 pi;
        for (pi = *polyStartIndex; pi < *polyStartIndex + pbgdata->numPolygons; pi++) {
            CollisionPoly* poly = &dyna->polyList[pi];
            s16 normalY = poly->normal.y;

            if (normalY > COLPOLY_SNORMAL(0.5f)) {
                s16 polyIndex = pi;
                DynaSSNodeList_SetSSListHead(&dyna->polyNodes, &dyna->bgActors[bgId].dynaLookup.floor, &polyIndex);
            } else if (normalY < COLPOLY_SNORMAL(-0.8f)) {
                if (!(dyna->bgActorFlags[bgId] & 8)) {
                    s16 polyIndex = pi;
                    DynaSSNodeList_SetSSListHead(&dyna->polyNodes, &dyna->bgActors[bgId].dynaLookup.ceiling,
                                                 &polyIndex);
                }
            } else {
                s16 polyIndex = pi;
                DynaSSNodeList_SetSSListHead(&dyna->polyNodes, &dyna->bgActors[bgId].dynaLookup.wall, &polyIndex);
            }
        }

        *polyStartIndex += pbgdata->numPolygons;
        *vtxStartIndex += pbgdata->numVertices;
    } else {
        SkinMatrix_SetTranslateRotateYXZScale(
            &mtx, dyna->bgActors[bgId].curTransform.scale.x, dyna->bgActors[bgId].curTransform.scale.y,
            dyna->bgActors[bgId].curTransform.scale.z, dyna->bgActors[bgId].curTransform.rot.x,
            dyna->bgActors[bgId].curTransform.rot.y, dyna->bgActors[bgId].curTransform.rot.z,
            dyna->bgActors[bgId].curTransform.pos.x, dyna->bgActors[bgId].curTransform.pos.y,
            dyna->bgActors[bgId].curTransform.pos.z);

        numVtxInverse = 1.0f / pbgdata->numVertices;
        newCenterPoint.x = newCenterPoint.y = newCenterPoint.z = 0.0f;
        for (i = 0; i < pbgdata->numVertices; i++) {
            Vec3f vtx;
            Vec3f vtxT; // Vtx after mtx transform
            Math_Vec3s_ToVec3f(&vtx, &pbgdata->vtxList[i]);
            SkinMatrix_Vec3fMtxFMultXYZ(&mtx, &vtx, &vtxT);
            BgCheck_Vec3fToVec3s(&dyna->vtxList[*vtxStartIndex + i], &vtxT);

            if (i == 0) {
                dyna->bgActors[bgId].minY = dyna->bgActors[bgId].maxY = vtxT.y;
            } else if (vtxT.y < dyna->bgActors[bgId].minY) {
                dyna->bgActors[bgId].minY = vtxT.y;
            } else if (dyna->bgActors[bgId].maxY < vtxT.y) {
                dyna->bgActors[bgId].maxY = vtxT.y;
            }
            newCenterPoint.x += vtxT.x;
            newCenterPoint.y += vtxT.y;
            newCenterPoint.z += vtxT.z;
        }

        newCenterPoint.x *= numVtxInverse;
        newCenterPoint.y *= numVtxInverse;
        newCenterPoint.z *= numVtxInverse;
        sphere->center.x = newCenterPoint.x;
        sphere->center.y = newCenterPoint.y;
        sphere->center.z = newCenterPoint.z;
        newRadiusSq = -100.0f;

        for (i = 0; i < pbgdata->numVertices; i++) {
            f32 radiusSq;

            newVtx.x = dyna->vtxList[*vtxStartIndex + i].x;
            newVtx.y = dyna->vtxList[*vtxStartIndex + i].y;
            newVtx.z = dyna->vtxList[*vtxStartIndex + i].z;
            radiusSq = Math3D_Vec3fDistSq(&newVtx, &newCenterPoint);
            if (newRadiusSq < radiusSq) {
                newRadiusSq = radiusSq;
            }
        }

        sphere->radius = sqrtf(newRadiusSq) * 1.1f;

        for (i = 0; i < pbgdata->numPolygons; i++) {
            CollisionPoly* newPoly = &dyna->polyList[*polyStartIndex + i];
            f32 newNormMagnitude;

            *newPoly = pbgdata->polyList[i];

            // Yeah, this is all kinds of fake, but my God, it matches.
            newPoly->flags_vIA =
                (COLPOLY_VTX_INDEX(newPoly->flags_vIA) + *vtxStartIndex) | ((*newPoly).flags_vIA & 0xE000);
            newPoly->flags_vIB =
                (COLPOLY_VTX_INDEX(newPoly->flags_vIB) + *vtxStartIndex) | ((*newPoly).flags_vIB & 0xE000);
            newPoly->vIC = *vtxStartIndex + newPoly->vIC;
            dVtxList = dyna->vtxList;
            vtxA.x = dVtxList[(uintptr_t)COLPOLY_VTX_INDEX(newPoly->flags_vIA)].x;
            vtxA.y = dVtxList[(uintptr_t)COLPOLY_VTX_INDEX(newPoly->flags_vIA)].y;
            vtxA.z = dVtxList[(uintptr_t)COLPOLY_VTX_INDEX(newPoly->flags_vIA)].z;
            vtxB.x = dVtxList[(uintptr_t)COLPOLY_VTX_INDEX(newPoly->flags_vIB)].x;
            vtxB.y = dVtxList[(uintptr_t)COLPOLY_VTX_INDEX(newPoly->flags_vIB)].y;
            vtxB.z = dVtxList[(uintptr_t)COLPOLY_VTX_INDEX(newPoly->flags_vIB)].z;
            vtxC.x = dVtxList[newPoly->vIC].x;
            vtxC.y = dVtxList[newPoly->vIC].y;
            vtxC.z = dVtxList[newPoly->vIC].z;
            Math3D_SurfaceNorm(&vtxA, &vtxB, &vtxC, &newNormal);
            newNormMagnitude = Math3D_Vec3fMagnitude(&newNormal);

            if (!IS_ZERO(newNormMagnitude)) {
                newNormal.x *= (1.0f / newNormMagnitude);
                newNormal.y *= (1.0f / newNormMagnitude);
                newNormal.z *= (1.0f / newNormMagnitude);
                newPoly->normal.x = COLPOLY_SNORMAL(newNormal.x);
                newPoly->normal.y = COLPOLY_SNORMAL(newNormal.y);
                newPoly->normal.z = COLPOLY_SNORMAL(newNormal.z);
            }

            newPoly->dist = -DOTXYZ(newNormal, dVtxList[(uintptr_t)COLPOLY_VTX_INDEX(newPoly->flags_vIA)]);
            if (newNormal.y > 0.5f) {
                s16 polyId = *polyStartIndex + i;
                DynaSSNodeList_SetSSListHead(&dyna->polyNodes, &dyna->bgActors[bgId].dynaLookup.floor, &polyId);
            } else if (newNormal.y < -0.8f) {
                s16 polyId = *polyStartIndex + i;
                DynaSSNodeList_SetSSListHead(&dyna->polyNodes, &dyna->bgActors[bgId].dynaLookup.ceiling, &polyId);
            } else {
                s16 polyId = *polyStartIndex + i;
                DynaSSNodeList_SetSSListHead(&dyna->polyNodes, &dyna->bgActors[bgId].dynaLookup.wall, &polyId);
            }
        }

        *polyStartIndex += pbgdata->numPolygons;
        *vtxStartIndex += pbgdata->numVertices;
    }
}

void func_8003F8EC(GlobalContext* globalCtx, DynaCollisionContext* dyna, Actor* actor) {
    DynaPolyActor* dynaActor;
    s32 i;

    for (i = 0; i < BG_ACTOR_MAX; i++) {
        if ((dyna->bgActorFlags[i] & 1)) {
            dynaActor = DynaPoly_GetActor(&globalCtx->colCtx, i);
            if (dynaActor != NULL && &dynaActor->actor == actor) {
                func_800434A0((DynaPolyActor*)actor);
                return;
            }
        }
    }
}

/**
 * DynaPolyInfo_setup
 */
void DynaPoly_Setup(GlobalContext* globalCtx, DynaCollisionContext* dyna) {
    DynaPolyActor* actor;
    s32 vtxStartIndex;
    s32 polyStartIndex;
    s32 i;

    DynaSSNodeList_ResetCount(&dyna->polyNodes);

    for (i = 0; i < BG_ACTOR_MAX; i++) {
        DynaLookup_ResetLists(&dyna->bgActors[i].dynaLookup);
    }

    for (i = 0; i < BG_ACTOR_MAX; i++) {
        if (dyna->bgActorFlags[i] & 2) {
            // Initialize BgActor
            osSyncPrintf(VT_FGCOL(GREEN));
            osSyncPrintf("DynaPolyInfo_setup():削除 index=%d\n", i);
            osSyncPrintf(VT_RST);

            dyna->bgActorFlags[i] = 0;
            BgActor_Initialize(globalCtx, &dyna->bgActors[i]);
            dyna->bitFlag |= DYNAPOLY_INVALIDATE_LOOKUP;
        }
        if (dyna->bgActors[i].actor != NULL && dyna->bgActors[i].actor->update == NULL) {
            // Delete BgActor
            osSyncPrintf(VT_FGCOL(GREEN));
            osSyncPrintf("DynaPolyInfo_setup():削除 index=%d\n", i);
            osSyncPrintf(VT_RST);
            actor = DynaPoly_GetActor(&globalCtx->colCtx, i);
            if (actor == NULL) {
                return;
            }
            actor->bgId = BGACTOR_NEG_ONE;
            dyna->bgActorFlags[i] = 0;

            BgActor_Initialize(globalCtx, &dyna->bgActors[i]);
            dyna->bitFlag |= DYNAPOLY_INVALIDATE_LOOKUP;
        }
    }
    vtxStartIndex = 0;
    polyStartIndex = 0;
    for (i = 0; i < BG_ACTOR_MAX; i++) {
        if (dyna->bgActorFlags[i] & 1) {
            DynaPoly_ExpandSRT(globalCtx, dyna, i, &vtxStartIndex, &polyStartIndex);
        }
    }
    dyna->bitFlag &= ~DYNAPOLY_INVALIDATE_LOOKUP;
}

/**
 * Update all BgActor's previous ScaleRotPos
 */
void DynaPoly_UpdateBgActorTransforms(GlobalContext* globalCtx, DynaCollisionContext* dyna) {
    s32 i;

    for (i = 0; i < BG_ACTOR_MAX; i++) {
        if (dyna->bgActorFlags[i] & 1) {
            DynaPoly_SetBgActorPrevTransform(globalCtx, &dyna->bgActors[i]);
        }
    }
}

#define DYNA_RAYCAST_FLOORS 1
#define DYNA_RAYCAST_WALLS 2
#define DYNA_RAYCAST_CEILINGS 4

/**
 * Perform dyna poly raycast toward floor on a list of floor, wall, or ceiling polys
 * `listType` specifies the poly list type (e.g. DYNA_RAYCAST_FLOORS)
 */
f32 BgCheck_RaycastFloorDynaList(DynaRaycast* dynaRaycast, u32 listType) {
    CollisionPoly* polyList;
    SSNode* curNode;
    f32 result;
    f32 yIntersect;
    s16 id;

    result = dynaRaycast->yIntersect;
    if (dynaRaycast->ssList->head == SS_NULL) {
        return result;
    }
    polyList = dynaRaycast->dyna->polyList;
    curNode = &dynaRaycast->dyna->polyNodes.tbl[dynaRaycast->ssList->head];

    while (true) {
        id = curNode->polyId;
        if (COLPOLY_VIA_FLAG_TEST(polyList[id].flags_vIA, dynaRaycast->xpFlags)) {
            if (curNode->next == SS_NULL) {
                break;
            } else {
                curNode = &dynaRaycast->dyna->polyNodes.tbl[curNode->next];
                continue;
            }
        }
        if ((listType & (DYNA_RAYCAST_WALLS | DYNA_RAYCAST_CEILINGS)) && (dynaRaycast->unk_20 & 0x10) &&
            COLPOLY_GET_NORMAL(polyList[id].normal.y) < 0.0f) {
            if (curNode->next == SS_NULL) {
                break;
            } else {
                curNode = &dynaRaycast->dyna->polyNodes.tbl[curNode->next];
                continue;
            }
        }
        if (CollisionPoly_CheckYIntersectApprox1(&polyList[id], dynaRaycast->dyna->vtxList, dynaRaycast->pos->x,
                                                 dynaRaycast->pos->z, &yIntersect, dynaRaycast->chkDist) == true &&
            yIntersect < dynaRaycast->pos->y && result < yIntersect) {
            result = yIntersect;
            *dynaRaycast->resultPoly = &dynaRaycast->dyna->polyList[id];
        }
        if (curNode->next == SS_NULL) {
            break;
        } else {
            curNode = &dynaRaycast->dyna->polyNodes.tbl[curNode->next];
            continue;
        }
    }
    return result;
}

/**
 * Perform dyna poly raycast toward floor
 * returns the yIntersect of the poly found, or BGCHECK_Y_MIN if no poly is found
 */
f32 BgCheck_RaycastFloorDyna(DynaRaycast* dynaRaycast) {
    s32 i;
    f32 result;
    f32 intersect2;
    s32 i2;
    s32 pauseState;
    DynaPolyActor* dynaActor;
    s32 pad;
    Vec3f polyVtx[3];
    Vec3f polyNorm;
    u32 polyIndex;
    CollisionPoly* polyMin;
    MtxF srpMtx;
    f32 magnitude;
    Vec3s* vtxList;
    f32 polyDist;
    Vec3f vtx;
    f32 intersect;
    ScaleRotPos* curTransform;
    CollisionPoly* poly;

    result = BGCHECK_Y_MIN;
    *dynaRaycast->bgId = BGCHECK_SCENE;

    for (i = 0; i < BG_ACTOR_MAX; i++) {
        if (!(dynaRaycast->colCtx->dyna.bgActorFlags[i] & 1)) {
            continue;
        }

        if (dynaRaycast->actor == dynaRaycast->colCtx->dyna.bgActors[i].actor ||
            dynaRaycast->pos->y < dynaRaycast->colCtx->dyna.bgActors[i].minY ||
            Math3D_XZInSphere(&dynaRaycast->colCtx->dyna.bgActors[i].boundingSphere, dynaRaycast->pos->x,
                              dynaRaycast->pos->z) == false) {
            continue;
        }

        dynaRaycast->dyna = &dynaRaycast->colCtx->dyna;
        if (dynaRaycast->unk_20 & BGCHECK_IGNORE_FLOOR) {
            dynaRaycast->ssList = &dynaRaycast->colCtx->dyna.bgActors[i].dynaLookup.floor;
            intersect2 = BgCheck_RaycastFloorDynaList(dynaRaycast, DYNA_RAYCAST_FLOORS);

            if (dynaRaycast->yIntersect < intersect2) {

                dynaRaycast->yIntersect = intersect2;
                *dynaRaycast->bgId = i;
                result = intersect2;
            }
        }
        if ((dynaRaycast->unk_20 & BGCHECK_IGNORE_WALL) ||
            (*dynaRaycast->resultPoly == NULL && (dynaRaycast->unk_20 & 8))) {
            dynaRaycast->ssList = &dynaRaycast->colCtx->dyna.bgActors[i].dynaLookup.wall;
            intersect2 = BgCheck_RaycastFloorDynaList(dynaRaycast, DYNA_RAYCAST_WALLS);
            if (dynaRaycast->yIntersect < intersect2) {

                dynaRaycast->yIntersect = intersect2;
                *dynaRaycast->bgId = i;
                result = intersect2;
            }
        }

        if (dynaRaycast->unk_20 & BGCHECK_IGNORE_CEILING) {
            dynaRaycast->ssList = &dynaRaycast->colCtx->dyna.bgActors[i].dynaLookup.ceiling;
            intersect2 = BgCheck_RaycastFloorDynaList(dynaRaycast, DYNA_RAYCAST_CEILINGS);
            if (dynaRaycast->yIntersect < intersect2) {

                dynaRaycast->yIntersect = intersect2;
                *dynaRaycast->bgId = i;
                result = intersect2;
            }
        }
    }

    dynaActor = DynaPoly_GetActor(dynaRaycast->colCtx, *dynaRaycast->bgId);
    if ((result != BGCHECK_Y_MIN) && (dynaActor != NULL) && (dynaRaycast->globalCtx != NULL)) {
        pauseState = dynaRaycast->globalCtx->pauseCtx.state != 0;
        if (pauseState == 0) {
            pauseState = dynaRaycast->globalCtx->pauseCtx.debugState != 0;
        }
        if (!pauseState && (dynaRaycast->colCtx->dyna.bgActorFlags[*dynaRaycast->bgId] & 2)) {
            curTransform = &dynaRaycast->dyna->bgActors[*dynaRaycast->bgId].curTransform;
            polyMin =
                &dynaRaycast->dyna->polyList[dynaRaycast->dyna->bgActors[*dynaRaycast->bgId].dynaLookup.polyStartIndex];
            polyIndex = *dynaRaycast->resultPoly - polyMin;
            poly = &dynaRaycast->dyna->bgActors[*dynaRaycast->bgId].colHeader->polyList[polyIndex];

            SkinMatrix_SetTranslateRotateYXZScale(&srpMtx, curTransform->scale.x, curTransform->scale.y,
                                                  curTransform->scale.z, curTransform->rot.x, curTransform->rot.y,
                                                  curTransform->rot.z, curTransform->pos.x, curTransform->pos.y,
                                                  curTransform->pos.z);

            vtxList = dynaRaycast->dyna->bgActors[*dynaRaycast->bgId].colHeader->vtxList;

            for (i2 = 0; i2 < 3; i2++) {
                Math_Vec3s_ToVec3f(&vtx, &vtxList[COLPOLY_VTX_INDEX(poly->vtxData[i2])]);
                SkinMatrix_Vec3fMtxFMultXYZ(&srpMtx, &vtx, &polyVtx[i2]);
            }
            Math3D_SurfaceNorm(&polyVtx[0], &polyVtx[1], &polyVtx[2], &polyNorm);
            magnitude = Math3D_Vec3fMagnitude(&polyNorm);

            if (!IS_ZERO(magnitude)) {
                polyNorm.x *= 1.0f / magnitude;
                polyNorm.y *= 1.0f / magnitude;
                polyNorm.z *= 1.0f / magnitude;
                polyDist = -DOTXYZ(polyNorm, polyVtx[0]);
                if (Math3D_TriChkPointParaYIntersectInsideTri(&polyVtx[0], &polyVtx[1], &polyVtx[2], polyNorm.x,
                                                              polyNorm.y, polyNorm.z, polyDist, dynaRaycast->pos->z,
                                                              dynaRaycast->pos->x, &intersect, dynaRaycast->chkDist)) {
                    if (fabsf(intersect - result) < 1.0f) {

                        result = intersect;
                    }
                }
            }
        }
    }
    return result;
}

/**
 * Performs collision detection on a BgActor's wall polys on sphere `pos`, `radius`
 * returns true if a collision was detected
 * `outX` `outZ` return the displaced x,z coordinates
 * `outPoly` returns the pointer to the nearest poly collided with, or NULL
 * `outBgId` returns `bgId` if the poly SurfaceType's wall damage flag is not set, else ?
 */
s32 BgCheck_SphVsDynaWallInBgActor(CollisionContext* colCtx, u16 xpFlags, DynaCollisionContext* dyna, SSList* ssList,
                                   f32* outX, f32* outZ, CollisionPoly** outPoly, s32* outBgId, Vec3f* pos, f32 radius,
                                   s32 bgId) {
    f32 temp;
    f32 intersect;
    s32 result = false;
    CollisionPoly* poly;
    SSNode* curNode;
    f32 nx;
    f32 ny;
    f32 nz;
    Vec3f resultPos;
    s16 polyId;
    f32 zTemp;
    f32 xTemp;
    f32 normalXZ;
    f32 invNormalXZ;
    f32 planeDist;
    f32 temp_f18;
    f32 zIntersectDist;
    f32 xIntersectDist;
    f32 zMin;
    f32 zMax;
    f32 xMin;
    f32 xMax;

    if (ssList->head == SS_NULL) {
        return result;
    }

    resultPos = *pos;
    curNode = &dyna->polyNodes.tbl[ssList->head];

    while (true) {
        polyId = curNode->polyId;
        poly = &dyna->polyList[polyId];
        CollisionPoly_GetNormalF(poly, &nx, &ny, &nz);
        normalXZ = sqrtf(SQ(nx) + SQ(nz));
        ASSERT(!IS_ZERO(normalXZ));

        planeDist = Math3D_DistPlaneToPos(nx, ny, nz, poly->dist, &resultPos);
        if (radius < fabsf(planeDist) || COLPOLY_VIA_FLAG_TEST(poly->flags_vIA, xpFlags)) {
            if (curNode->next == SS_NULL) {
                break;
            } else {
                curNode = &dyna->polyNodes.tbl[curNode->next];
                continue;
            }
        }
        invNormalXZ = 1.0f / normalXZ;
        temp_f18 = fabsf(nz) * invNormalXZ;
        if (temp_f18 < 0.4f) {
            if (curNode->next == SS_NULL) {
                break;
            } else {
                curNode = &dyna->polyNodes.tbl[curNode->next];
                continue;
            }
        }

        // compute poly zMin/zMax
        zTemp = dyna->vtxList[COLPOLY_VTX_INDEX(poly->flags_vIA)].z;
        zMax = zMin = zTemp;

        zTemp = dyna->vtxList[COLPOLY_VTX_INDEX(poly->flags_vIB)].z;
        if (zTemp < zMin) {
            zMin = zTemp;
        } else if (zTemp > zMax) {
            zMax = zTemp;
        }

        zTemp = dyna->vtxList[poly->vIC].z;
        if (zTemp < zMin) {
            zMin = zTemp;
        } else if (zMax < zTemp) {
            zMax = zTemp;
        }

        zMin -= radius;
        zMax += radius;
        if (resultPos.z < zMin || zMax < resultPos.z) {
            if (curNode->next == SS_NULL) {
                break;
            } else {
                curNode = &dyna->polyNodes.tbl[curNode->next];
                continue;
            }
        }
        if (CollisionPoly_CheckZIntersectApprox(poly, dyna->vtxList, resultPos.x, pos->y, &intersect)) {
            if (fabsf(intersect - resultPos.z) <= radius / temp_f18) {
                if ((intersect - resultPos.z) * nz <= 4.0f) {
                    if (BgCheck_ComputeWallDisplacement(colCtx, poly, &resultPos.x, &resultPos.z, nx, ny, nz,
                                                        invNormalXZ, planeDist, radius, outPoly)) {
                        *outBgId = bgId;
                    }
                    result = true;
                }
            }
        }
        if (curNode->next == SS_NULL) {
            break;
        }
        curNode = &dyna->polyNodes.tbl[curNode->next];
    }

    curNode = &dyna->polyNodes.tbl[ssList->head];
    while (true) {
        polyId = curNode->polyId;
        poly = &dyna->polyList[polyId];
        CollisionPoly_GetNormalF(poly, &nx, &ny, &nz);
        normalXZ = sqrtf(SQ(nx) + SQ(nz));
        ASSERT(!IS_ZERO(normalXZ));

        planeDist = Math3D_DistPlaneToPos(nx, ny, nz, poly->dist, &resultPos);
        if (radius < fabsf(planeDist) || COLPOLY_VIA_FLAG_TEST(poly->flags_vIA, xpFlags)) {
            if (curNode->next == SS_NULL) {
                break;
            } else {
                curNode = &dyna->polyNodes.tbl[curNode->next];
                continue;
            }
        }

        invNormalXZ = 1.0f / normalXZ;
        temp_f18 = fabsf(nx) * invNormalXZ;
        if (temp_f18 < 0.4f) {
            if (curNode->next == SS_NULL) {
                break;
            } else {
                curNode = &dyna->polyNodes.tbl[curNode->next];
                continue;
            }
        }

        // compute poly xMin/xMax
        xTemp = dyna->vtxList[COLPOLY_VTX_INDEX(poly->flags_vIA)].x;
        xMax = xMin = xTemp;
        xTemp = dyna->vtxList[COLPOLY_VTX_INDEX(poly->flags_vIB)].x;

        if (xTemp < xMin) {
            xMin = xTemp;
        } else if (xMax < xTemp) {
            xMax = xTemp;
        }
        xTemp = dyna->vtxList[poly->vIC].x;
        if (xTemp < xMin) {
            xMin = xTemp;
        } else if (xMax < xTemp) {
            xMax = xTemp;
        }

        xMin -= radius;
        xMax += radius;
        if (resultPos.x < xMin || xMax < resultPos.x) {
            if (curNode->next == SS_NULL) {
                break;
            } else {
                curNode = &dyna->polyNodes.tbl[curNode->next];
                continue;
            }
        }

        if (CollisionPoly_CheckXIntersectApprox(poly, dyna->vtxList, pos->y, resultPos.z, &intersect)) {
            xIntersectDist = intersect - resultPos.x;
            if (fabsf(xIntersectDist) <= radius / temp_f18) {
                if (xIntersectDist * nx <= 4.0f) {
                    if (BgCheck_ComputeWallDisplacement(colCtx, poly, &resultPos.x, &resultPos.z, nx, ny, nz,
                                                        invNormalXZ, planeDist, radius, outPoly)) {
                        *outBgId = bgId;
                    }
                    result = true;
                }
            }
        }
        if (curNode->next == SS_NULL) {
            break;
        }
        curNode = &dyna->polyNodes.tbl[curNode->next];
    }
    *outX = resultPos.x;
    *outZ = resultPos.z;
    return result;
}

/**
 * Performs collision detection on all dyna poly walls using sphere `pos`, `radius`
 * returns true if a collision was detected
 * `outX` `outZ` return the displaced x,z coordinates
 * `outPoly` returns the pointer to the nearest poly collided with, or NULL
 * `outBgId` returns the index of the BgActor that owns `outPoly`
 * If `actor` is not NULL, an BgActor bound to that actor will be ignored
 */
s32 BgCheck_SphVsDynaWall(CollisionContext* colCtx, u16 xpFlags, f32* outX, f32* outZ, Vec3f* pos, f32 radius,
                          CollisionPoly** outPoly, s32* outBgId, Actor* actor) {
    Vec3f resultPos;
    s32 result;
    f32 r;
    f32 dz;
    f32 dx;
    BgActor* bgActor;
    s32 i;

    result = false;
    resultPos = *pos;

    for (i = 0; i < BG_ACTOR_MAX; i++) {
        if (!(colCtx->dyna.bgActorFlags[i] & 1)) {
            continue;
        }
        if ((colCtx->dyna.bgActors + i)->actor == actor) {
            continue;
        }
        bgActor = &colCtx->dyna.bgActors[i];

        if (bgActor->minY > resultPos.y || bgActor->maxY < resultPos.y) {
            continue;
        }

        bgActor->boundingSphere.radius += (s16)radius;

        r = bgActor->boundingSphere.radius;
        dx = bgActor->boundingSphere.center.x - resultPos.x;
        dz = bgActor->boundingSphere.center.z - resultPos.z;
        if (SQ(r) < (SQ(dx) + SQ(dz)) || (!Math3D_XYInSphere(&bgActor->boundingSphere, resultPos.x, resultPos.y) &&
                                          !Math3D_YZInSphere(&bgActor->boundingSphere, resultPos.y, resultPos.z))) {
            bgActor->boundingSphere.radius -= (s16)radius;
            continue;
        }
        bgActor->boundingSphere.radius -= (s16)radius;
        if (BgCheck_SphVsDynaWallInBgActor(colCtx, xpFlags, &colCtx->dyna,
                                           &(colCtx->dyna.bgActors + i)->dynaLookup.wall, outX, outZ, outPoly, outBgId,
                                           &resultPos, radius, i)) {
            resultPos.x = *outX;
            resultPos.z = *outZ;
            result = true;
        }
    }
    return result;
}

/**
 * Tests for collision with a dyna poly ceiling, starting at `ssList`
 * returns true if a collision occurs, else false
 * `outPoly` returns the poly collided with
 * `outY` returns the y coordinate needed to not collide with `outPoly`
 */
s32 BgCheck_CheckDynaCeilingList(CollisionContext* colCtx, u16 xpFlags, DynaCollisionContext* dyna, SSList* ssList,
                                 f32* outY, Vec3f* pos, f32 checkHeight, CollisionPoly** outPoly) {
    s16 polyId;
    SSNode* curNode;
    CollisionPoly* poly;
    Vec3f testPos;
    f32 ceilingY;
    f32 sign;
    f32 nx;
    f32 ny;
    f32 nz;
    s32 result = false;
    f32 intersectDist;
    u16 padding;

    if (ssList->head == SS_NULL) {
        return false;
    }
    curNode = &dyna->polyNodes.tbl[ssList->head];
    testPos = *pos;

    while (true) {
        polyId = curNode->polyId;
        poly = &dyna->polyList[polyId];
        if (COLPOLY_VIA_FLAG_TEST(poly->flags_vIA, xpFlags)) {
            if (curNode->next == SS_NULL) {
                break;
            } else {
                curNode = &dyna->polyNodes.tbl[curNode->next];
                continue;
            }
        }
        CollisionPoly_GetNormalF(poly, &nx, &ny, &nz);
        if (checkHeight < Math3D_UDistPlaneToPos(nx, ny, nz, poly->dist, &testPos)) {
            if (curNode->next == SS_NULL) {
                break;
            } else {
                curNode = &dyna->polyNodes.tbl[curNode->next];
                continue;
            }
        }
        if (CollisionPoly_CheckYIntersectApprox2(poly, dyna->vtxList, testPos.x, testPos.z, &ceilingY)) {
            intersectDist = ceilingY - testPos.y;
            if (testPos.y < ceilingY && intersectDist < checkHeight && intersectDist * ny <= 0.0f) {
                sign = (0.0f <= ny) ? 1.0f : -1.0f;
                testPos.y = (sign * checkHeight) + ceilingY;
                result = true;
                *outPoly = poly;
            }
        }
        if (curNode->next == SS_NULL) {
            break;
        } else {
            curNode = &dyna->polyNodes.tbl[curNode->next];
            continue;
        }
    }
    *outY = testPos.y;
    return result;
}

/**
 * Tests collision with a dyna poly ceiling
 * returns true if a collision occurs, else false
 * `outPoly` returns the poly collided with, while `outBgId` returns the id of the BgActor that owns the poly
 * `outY` returns the y coordinate needed to not collide with `outPoly`, or `pos`.y + `chkDist` if no collision occurs
 */
s32 BgCheck_CheckDynaCeiling(CollisionContext* colCtx, u16 xpFlags, f32* outY, Vec3f* pos, f32 chkDist,
                             CollisionPoly** outPoly, s32* outBgId, Actor* actor) {
    s32 i = 0;
    s32 result = false;
    f32 resultY;
    f32 tempY = chkDist + pos->y;
    BgActor* bgActor;
    CollisionPoly* poly;

    resultY = tempY;

    for (i = 0; i < BG_ACTOR_MAX; i++) {
        if (!(colCtx->dyna.bgActorFlags[i] & 1)) {
            continue;
        }
        if (actor == colCtx->dyna.bgActors[i].actor) {
            continue;
        }
        if (!Math3D_XZInSphere(&colCtx->dyna.bgActors[i].boundingSphere, pos->x, pos->z)) {
            continue;
        }
        if (BgCheck_CheckDynaCeilingList(colCtx, xpFlags, &colCtx->dyna, &colCtx->dyna.bgActors[i].dynaLookup.ceiling,
                                         &tempY, pos, chkDist, &poly) == true &&
            tempY < resultY) {

            resultY = tempY;
            *outPoly = poly;
            *outBgId = i;
            result = true;
        }
    }
    *outY = resultY;
    return result;
}

/**
 * Tests if DynaLineTest intersects with a poly
 * returns true if a poly was intersected, else false
 */
s32 BgCheck_CheckLineAgainstBgActorSSList(DynaLineTest* dynaLineTest) {
    f32 distSq;
    s32 result;
    CollisionPoly* curPoly;
    SSNode* curNode;
    Vec3f polyIntersect;
    s16 polyId;

    if (dynaLineTest->ssList->head == SS_NULL) {
        return false;
    }

    curNode = &dynaLineTest->dyna->polyNodes.tbl[dynaLineTest->ssList->head];
    result = false;

    while (true) {
        polyId = curNode->polyId;
        curPoly = &dynaLineTest->dyna->polyList[polyId];
        if (COLPOLY_VIA_FLAG_TEST(curPoly->flags_vIA, dynaLineTest->xpFlags)) {
            if (curNode->next == SS_NULL) {
                break;
            } else {
                curNode = &dynaLineTest->dyna->polyNodes.tbl[curNode->next];
            }
        } else {
            if (CollisionPoly_LineVsPoly(curPoly, dynaLineTest->dyna->vtxList, dynaLineTest->posA, dynaLineTest->posB,
                                         &polyIntersect, dynaLineTest->chkOneFace, dynaLineTest->chkDist)) {
                distSq = Math3D_Vec3fDistSq(dynaLineTest->posA, &polyIntersect);
                if (distSq < *dynaLineTest->distSq) {
                    *dynaLineTest->distSq = distSq;
                    *dynaLineTest->posResult = polyIntersect;
                    *dynaLineTest->posB = polyIntersect;
                    *dynaLineTest->resultPoly = curPoly;
                    result = true;
                }
            }
            if (curNode->next == SS_NULL) {
                break;
            } else {
                curNode = &dynaLineTest->dyna->polyNodes.tbl[curNode->next];
            }
        }
    }
    return result;
}

/**
 * Tests if line `posA` `posB` intersects with a dyna poly within BgActor `bgId`
 * `distSq` is the maximum squared distance to check for a collision
 * returns true if an intersection occurred, else false
 * `posB`? and `posResult` return the point of intersection
 * `outPoly` returns the poly intersected
 * `distSq` returns the squared distance of the intersection
 */
s32 BgCheck_CheckLineAgainstBgActor(CollisionContext* colCtx, u16 xpFlags, Vec3f* posA, Vec3f* posB, Vec3f* posResult,
                                    CollisionPoly** outPoly, f32* distSq, s32 bgId, f32 chkDist, s32 bccFlags) {
    s32 result = false;
    DynaLineTest dynaLineTest;

    dynaLineTest.colCtx = colCtx;
    dynaLineTest.xpFlags = xpFlags;
    dynaLineTest.dyna = &colCtx->dyna;
    dynaLineTest.posA = posA;
    dynaLineTest.posB = posB;
    dynaLineTest.posResult = posResult;
    dynaLineTest.resultPoly = outPoly;
    dynaLineTest.chkOneFace = (bccFlags & BGCHECK_CHECK_ONE_FACE) != 0;
    dynaLineTest.distSq = distSq;
    dynaLineTest.chkDist = chkDist;

    dynaLineTest.ssList = &colCtx->dyna.bgActors[bgId].dynaLookup.wall;
    if (bccFlags & BGCHECK_CHECK_WALL) {
        if (BgCheck_CheckLineAgainstBgActorSSList(&dynaLineTest)) {
            result = true;
        }
    }
    dynaLineTest.ssList = &colCtx->dyna.bgActors[bgId].dynaLookup.floor;
    if (bccFlags & BGCHECK_CHECK_FLOOR) {
        if (BgCheck_CheckLineAgainstBgActorSSList(&dynaLineTest)) {
            result = true;
        }
    }
    dynaLineTest.ssList = &colCtx->dyna.bgActors[bgId].dynaLookup.ceiling;
    if (bccFlags & BGCHECK_CHECK_CEILING) {
        if (BgCheck_CheckLineAgainstBgActorSSList(&dynaLineTest)) {
            result = true;
        }
    }
    return result;
}

/**
 * Tests if line from `posA` to `posB` passes through a dyna poly.
 * returns true if so, otherwise false
 * `outPoly` returns the pointer of the poly intersected.
 * `outBgId` returns the BgActor index of the poly
 */
s32 BgCheck_CheckLineAgainstDyna(CollisionContext* colCtx, u16 xpFlags, Vec3f* posA, Vec3f* posB, Vec3f* posResult,
                                 CollisionPoly** outPoly, f32* distSq, s32* outBgId, Actor* actor, f32 chkDist,
                                 s32 bccFlags) {
    s32 pad;
    s32 i;
    s32 result = false;
    Linef line;
    f32 ay;
    f32 by;

    for (i = 0; i < BG_ACTOR_MAX; i++) {
        if (colCtx->dyna.bgActorFlags[i] & 1) {
            if (actor != colCtx->dyna.bgActors[i].actor) {
                ay = posA->y;
                by = posB->y;
                if (!(ay < colCtx->dyna.bgActors[i].minY) || !(by < colCtx->dyna.bgActors[i].minY)) {
                    if (!(colCtx->dyna.bgActors[i].maxY < ay) || !(colCtx->dyna.bgActors[i].maxY < by)) {
                        line.a = *posA;
                        line.b = *posB;
                        if (Math3D_LineVsSph(&colCtx->dyna.bgActors[i].boundingSphere, &line) != 0) {
                            if (BgCheck_CheckLineAgainstBgActor(colCtx, xpFlags, posA, posB, posResult, outPoly, distSq,
                                                                i, chkDist, bccFlags) == true) {
                                *outBgId = i;
                                result = true;
                            }
                        }
                    }
                }
            }
        }
    }
    return result;
}

/**
 * Get first dyna poly intersecting sphere `center` `radius` from list `ssList`
 * returns true if any poly intersects the sphere, else returns false
 * `outPoly` returns the pointer of the first poly found that intersects
 */
s32 BgCheck_SphVsFirstDynaPolyList(CollisionContext* colCtx, u16 xpFlags, CollisionPoly** outPoly, Vec3f* center,
                                   f32 radius, SSList* ssList) {
    CollisionPoly* curPoly;
    DynaCollisionContext* dyna;
    SSNode* curNode;
    s32 curPolyId;

    if (ssList->head == SS_NULL) {
        return false;
    }
    dyna = &colCtx->dyna;
    curNode = &dyna->polyNodes.tbl[ssList->head];
    while (true) {
        curPolyId = curNode->polyId;
        curPoly = &dyna->polyList[curPolyId];
        if (COLPOLY_VIA_FLAG_TEST(curPoly->flags_vIA, xpFlags)) {
            if (curNode->next == SS_NULL) {
                break;
            } else {
                curNode = &dyna->polyNodes.tbl[curNode->next];
                continue;
            }
        }
        if (CollisionPoly_SphVsPoly(curPoly, dyna->vtxList, center, radius)) {
            *outPoly = curPoly;
            return true;
        }
        if (curNode->next == SS_NULL) {
            break;
        } else {
            curNode = &dyna->polyNodes.tbl[curNode->next];
            continue;
        }
    }
    return false;
}

/**
 * Get first dyna poly intersecting sphere `center` `radius` from BgActor `bgId`
 * returns true if any poly intersects the sphere, else false
 * `outPoly` returns the pointer of the first poly found that intersects
 */
s32 BgCheck_SphVsFirstDynaPolyInBgActor(CollisionContext* colCtx, u16 xpFlags, CollisionPoly** outPoly, Vec3f* center,
                                        f32 radius, s32 bgId, u16 bciFlags) {
    if ((bciFlags & BGCHECK_IGNORE_CEILING) == 0) {
        if (BgCheck_SphVsFirstDynaPolyList(colCtx, xpFlags, outPoly, center, radius,
                                           &colCtx->dyna.bgActors[bgId].dynaLookup.ceiling)) {
            return true;
        }
    }
    if ((bciFlags & BGCHECK_IGNORE_WALL) == 0) {
        if (BgCheck_SphVsFirstDynaPolyList(colCtx, xpFlags, outPoly, center, radius,
                                           &colCtx->dyna.bgActors[bgId].dynaLookup.wall)) {
            return true;
        }
    }
    if ((bciFlags & BGCHECK_IGNORE_FLOOR) == 0) {
        if (BgCheck_SphVsFirstDynaPolyList(colCtx, xpFlags, outPoly, center, radius,
                                           &colCtx->dyna.bgActors[bgId].dynaLookup.floor)) {
            return true;
        }
    }
    return false;
}

/**
 * Gets first dyna poly intersecting sphere `center` `radius`
 * returns true if poly detected, else false
 * `outPoly` returns the first intersecting poly, while `outBgId` returns the BgActor index of that poly
 */
s32 BgCheck_SphVsFirstDynaPoly(CollisionContext* colCtx, u16 xpFlags, CollisionPoly** outPoly, s32* outBgId,
                               Vec3f* center, f32 radius, Actor* actor, u16 bciFlags) {
    s32 i = 0;
    Sphere16 testSphere;

    for (i = 0; i < BG_ACTOR_MAX; i++) {
        if (!(colCtx->dyna.bgActorFlags[i] & 1)) {
            continue;
        }
        if (colCtx->dyna.bgActors[i].actor == actor) {
            continue;
        }
        testSphere.center.x = center->x;
        testSphere.center.y = center->y;
        testSphere.center.z = center->z;
        testSphere.radius = radius;
        if (!Math3D_SphVsSph(&testSphere, &colCtx->dyna.bgActors[i].boundingSphere)) {
            continue;
        }
        if (BgCheck_SphVsFirstDynaPolyInBgActor(colCtx, xpFlags, outPoly, center, radius, i, bciFlags)) {
            return true;
        }
    }
    return false;
}

/**
 * SEGMENTED_TO_VIRTUAL CollisionHeader members
 */
void CollisionHeader_SegmentedToVirtual(CollisionHeader* colHeader) {
    if (ResourceMgr_OTRSigCheck(colHeader))
        colHeader = ResourceMgr_LoadColByName(colHeader);

    colHeader->vtxList = SEGMENTED_TO_VIRTUAL(colHeader->vtxList);
    colHeader->polyList = SEGMENTED_TO_VIRTUAL(colHeader->polyList);
    colHeader->surfaceTypeList = SEGMENTED_TO_VIRTUAL(colHeader->surfaceTypeList);
    colHeader->cameraDataList = SEGMENTED_TO_VIRTUAL(colHeader->cameraDataList);
    colHeader->waterBoxes = SEGMENTED_TO_VIRTUAL(colHeader->waterBoxes);
}

/**
 * Convert CollisionHeader Segmented to Virtual addressing
 */
void CollisionHeader_GetVirtual(void* colHeader, CollisionHeader** dest)
{
    if (ResourceMgr_OTRSigCheck(colHeader))
        colHeader = ResourceMgr_LoadColByName(colHeader);

    *dest = SEGMENTED_TO_VIRTUAL(colHeader);
    CollisionHeader_SegmentedToVirtual(*dest);
}

/**
 * SEGMENT_TO_VIRTUAL all active BgActor CollisionHeaders
 */
void func_800418D0(CollisionContext* colCtx, GlobalContext* globalCtx) {
    DynaCollisionContext* dyna = &colCtx->dyna;
    s32 i;
    u16 flag;

    for (i = 0; i < BG_ACTOR_MAX; i++) {
        flag = dyna->bgActorFlags[i];
        if ((flag & 1) && !(flag & 2)) {
            Actor_SetObjectDependency(globalCtx, dyna->bgActors[i].actor);
            CollisionHeader_SegmentedToVirtual(dyna->bgActors[i].colHeader);
        }
    }
}

/**
 * Reset SSNodeList polyCheckTbl
 */
void BgCheck_ResetPolyCheckTbl(SSNodeList* nodeList, s32 numPolys) {
    u8* t;

    for (t = nodeList->polyCheckTbl; t < nodeList->polyCheckTbl + numPolys; t++) {
        *t = 0;
    }
}

/**
 * Get SurfaceType property set
 */
u32 SurfaceType_GetData(CollisionContext* colCtx, CollisionPoly* poly, s32 bgId, s32 dataIdx) {
    CollisionHeader* colHeader;
    SurfaceType* surfaceTypes;

    colHeader = BgCheck_GetCollisionHeader(colCtx, bgId);
    if (colHeader == NULL || poly == NULL) {
        return 0;
    }
    surfaceTypes = colHeader->surfaceTypeList;
    if (surfaceTypes == PHYSICAL_TO_VIRTUAL(gSegments[0])) {
        return 0;
    }
    return surfaceTypes[poly->type].data[dataIdx];
}

/**
 * SurfaceType return CamData Index
 */
u32 SurfaceType_GetCamDataIndex(CollisionContext* colCtx, CollisionPoly* poly, s32 bgId) {

    return SurfaceType_GetData(colCtx, poly, bgId, 0) & 0xFF;
}

/**
 * CamData return cameraSType
 */
u16 func_80041A4C(CollisionContext* colCtx, u32 camId, s32 bgId) {
    u16 result;
    CollisionHeader* colHeader;
    CamData* camData;

    colHeader = BgCheck_GetCollisionHeader(colCtx, bgId);
    if (colHeader == NULL) {
        return 0;
    }
    camData = colHeader->cameraDataList;
    result = camData[camId].cameraSType;
    return result;
}

/**
 * SurfaceType return cameraSType
 */
u16 SurfaceType_GetCameraSType(CollisionContext* colCtx, CollisionPoly* poly, s32 bgId) {
    CollisionHeader* colHeader = BgCheck_GetCollisionHeader(colCtx, bgId);
    CamData* camData;
    SurfaceType* surfaceTypes;

    if (colHeader == NULL) {
        return 0;
    }
    camData = colHeader->cameraDataList;
    if (camData == PHYSICAL_TO_VIRTUAL(gSegments[0])) {
        return 0;
    }
    surfaceTypes = colHeader->surfaceTypeList;
    if (surfaceTypes == PHYSICAL_TO_VIRTUAL(gSegments[0])) {
        return 0;
    }
    return func_80041A4C(colCtx, SurfaceType_GetCamDataIndex(colCtx, poly, bgId), bgId);
}

/**
 * CamData Get number of cameras
 */
u16 func_80041B24(CollisionContext* colCtx, u32 camId, s32 bgId) {
    CollisionHeader* colHeader = BgCheck_GetCollisionHeader(colCtx, bgId);
    CamData* camData;

    if (colHeader == NULL) {
        return 0;
    }

    camData = colHeader->cameraDataList;
    if (camData == PHYSICAL_TO_VIRTUAL(gSegments[0])) {
        return 0;
    }
    return camData[camId].numCameras;
}

/**
 * SurfaceType Get number of cameras
 */
u16 SurfaceType_GetNumCameras(CollisionContext* colCtx, CollisionPoly* poly, s32 bgId) {
    CollisionHeader* colHeader = BgCheck_GetCollisionHeader(colCtx, bgId);
    CamData* camData;
    SurfaceType* surfaceTypes;

    if (colHeader == NULL) {
        return 0;
    }
    camData = colHeader->cameraDataList;
    if (camData == PHYSICAL_TO_VIRTUAL(gSegments[0])) {
        return 0;
    }
    surfaceTypes = colHeader->surfaceTypeList;
    if (surfaceTypes == PHYSICAL_TO_VIRTUAL(gSegments[0])) {
        return 0;
    }
    return func_80041B24(colCtx, SurfaceType_GetCamDataIndex(colCtx, poly, bgId), bgId);
}

/**
 * CamData Get camPosData
 */
Vec3s* func_80041C10(CollisionContext* colCtx, s32 camId, s32 bgId) {
    CollisionHeader* colHeader = BgCheck_GetCollisionHeader(colCtx, bgId);
    CamData* cameraDataList;

    if (colHeader == NULL) {
        return NULL;
    }
    cameraDataList = colHeader->cameraDataList;
    if (cameraDataList == PHYSICAL_TO_VIRTUAL(gSegments[0])) {
        return NULL;
    }
    return (Vec3s*)SEGMENTED_TO_VIRTUAL(cameraDataList[camId].camPosData);
}

/**
 * SurfaceType Get camPosData
 */
Vec3s* SurfaceType_GetCamPosData(CollisionContext* colCtx, CollisionPoly* poly, s32 bgId) {
    CollisionHeader* colHeader = BgCheck_GetCollisionHeader(colCtx, bgId);
    CamData* camData;
    SurfaceType* surfaceTypes;

    if (colHeader == NULL) {
        return NULL;
    }
    camData = colHeader->cameraDataList;
    if (camData == PHYSICAL_TO_VIRTUAL(gSegments[0])) {
        return NULL;
    }
    surfaceTypes = colHeader->surfaceTypeList;
    if (surfaceTypes == PHYSICAL_TO_VIRTUAL(gSegments[0])) {
        return NULL;
    }
    return func_80041C10(colCtx, SurfaceType_GetCamDataIndex(colCtx, poly, bgId), bgId);
}

/**
 * SurfaceType Get Scene Exit Index
 */
u32 SurfaceType_GetSceneExitIndex(CollisionContext* colCtx, CollisionPoly* poly, s32 bgId) {
    return SurfaceType_GetData(colCtx, poly, bgId, 0) >> 8 & 0x1F;
}

/**
 * SurfaceType Get ? Property (& 0x0003 E000)
 */
u32 func_80041D4C(CollisionContext* colCtx, CollisionPoly* poly, s32 bgId) {
    return SurfaceType_GetData(colCtx, poly, bgId, 0) >> 13 & 0x1F;
}

/**
 * SurfaceType Get ? Property (& 0x001C 0000)
 */
u32 func_80041D70(CollisionContext* colCtx, CollisionPoly* poly, s32 bgId) {
    return SurfaceType_GetData(colCtx, poly, bgId, 0) >> 18 & 7;
}

/**
 * SurfaceType Get Wall Property (Internal)
 */
u32 func_80041D94(CollisionContext* colCtx, CollisionPoly* poly, s32 bgId) {
    return SurfaceType_GetData(colCtx, poly, bgId, 0) >> 21 & 0x1F;
}

/**
 * SurfaceType Get Wall Flags
 */
s32 func_80041DB8(CollisionContext* colCtx, CollisionPoly* poly, s32 bgId) {
    if (CVar_GetS32("gClimbEverything", 0) != 0) {
        return (1 << 3) | D_80119D90[func_80041D94(colCtx, poly, bgId)];
    } else {
        return D_80119D90[func_80041D94(colCtx, poly, bgId)];
    }
}

/**
 * SurfaceType Is Wall Flag (1 << 0) Set
 */
s32 func_80041DE4(CollisionContext* colCtx, CollisionPoly* poly, s32 bgId) {
    return (func_80041DB8(colCtx, poly, bgId) & 1) ? true : false;
}

/**
 * SurfaceType Is Wall Flag (1 << 1) Set
 */
s32 func_80041E18(CollisionContext* colCtx, CollisionPoly* poly, s32 bgId) {
    return (func_80041DB8(colCtx, poly, bgId) & 2) ? true : false;
}

/**
 * SurfaceType Is Wall Flag (1 << 2) Set
 */
s32 func_80041E4C(CollisionContext* colCtx, CollisionPoly* poly, s32 bgId) {
    return (func_80041DB8(colCtx, poly, bgId) & 4) ? true : false;
}

/**
 * unused
 */
s32 func_80041E80(CollisionContext* colCtx, CollisionPoly* poly, s32 bgId) {
    return SurfaceType_GetData(colCtx, poly, bgId, 0) >> 26 & 0xF;
}

/**
 * SurfaceType Get Floor Property
 */
u32 func_80041EA4(CollisionContext* colCtx, CollisionPoly* poly, s32 bgId) {
    return SurfaceType_GetData(colCtx, poly, bgId, 0) >> 26 & 0xF;
}

/**
 * SurfaceType Is Floor Minus 1
 */
u32 func_80041EC8(CollisionContext* colCtx, CollisionPoly* poly, s32 bgId) {
    return SurfaceType_GetData(colCtx, poly, bgId, 0) >> 30 & 1;
}

/**
 * SurfaceType Is Horse Blocked
 */
u32 SurfaceType_IsHorseBlocked(CollisionContext* colCtx, CollisionPoly* poly, s32 bgId) {
    return SurfaceType_GetData(colCtx, poly, bgId, 0) >> 31 & 1;
}

u32 func_80041F10(CollisionContext* colCtx, CollisionPoly* poly, s32 bgId) {
    return SurfaceType_GetData(colCtx, poly, bgId, 1) & 0xF;
}

/**
 * SurfaceType Get Poly Sfx
 */
u16 SurfaceType_GetSfx(CollisionContext* colCtx, CollisionPoly* poly, s32 bgId) {
    s32 id = func_80041F10(colCtx, poly, bgId);

    if (id < 0 || id > 13) {
        return NA_SE_PL_WALK_GROUND - SFX_FLAG;
    }
    return D_80119E10[id];
}

/**
 * SurfaceType get terrain slope surface
 */
u32 SurfaceType_GetSlope(CollisionContext* colCtx, CollisionPoly* poly, s32 bgId) {
    return SurfaceType_GetData(colCtx, poly, bgId, 1) >> 4 & 3;
}

/**
 * SurfaceType get surface lighting setting
 */
u32 SurfaceType_GetLightSettingIndex(CollisionContext* colCtx, CollisionPoly* poly, s32 bgId) {
    return SurfaceType_GetData(colCtx, poly, bgId, 1) >> 6 & 0x1F;
}

/**
 * SurfaceType get echo
 */
u32 SurfaceType_GetEcho(CollisionContext* colCtx, CollisionPoly* poly, s32 bgId) {
    return SurfaceType_GetData(colCtx, poly, bgId, 1) >> 11 & 0x3F;
}

/**
 * SurfaceType Is Hookshot Surface
 */
u32 SurfaceType_IsHookshotSurface(CollisionContext* colCtx, CollisionPoly* poly, s32 bgId) {
    return SurfaceType_GetData(colCtx, poly, bgId, 1) >> 17 & 1;
}

/**
 * CollisionPoly is ignored by entities
 * Returns true if poly is ignored by entities, else false
 */
s32 SurfaceType_IsIgnoredByEntities(CollisionContext* colCtx, CollisionPoly* poly, s32 bgId) {
    u32 flags;

    if (BgCheck_GetCollisionHeader(colCtx, bgId) == NULL) {
        return true;
    }
    flags = poly->flags_vIA & 0x4000;
    return !!flags;
}

/**
 * CollisionPoly is ignored by projectiles
 * Returns true if poly is ignored by projectiles, else false
 */
s32 SurfaceType_IsIgnoredByProjectiles(CollisionContext* colCtx, CollisionPoly* poly, s32 bgId) {
    u32 flags;

    if (BgCheck_GetCollisionHeader(colCtx, bgId) == NULL) {
        return true;
    }
    flags = poly->flags_vIA & 0x8000;
    return !!flags;
}

/**
 * CollisionPoly is conveyor enabled
 * Returns true if `poly` is a conveyor surface, else false
 */
s32 SurfaceType_IsConveyor(CollisionContext* colCtx, CollisionPoly* poly, s32 bgId) {
    u32 flags;

    if (BgCheck_GetCollisionHeader(colCtx, bgId) == NULL) {
        return true;
    }
    flags = poly->flags_vIB & 0x2000;
    return !!flags;
}

/**
 * SurfaceType Get Conveyor Surface Speed
 */
u32 SurfaceType_GetConveyorSpeed(CollisionContext* colCtx, CollisionPoly* poly, s32 bgId) {
    return SurfaceType_GetData(colCtx, poly, bgId, 1) >> 18 & 7;
}

/**
 * SurfaceType Get Conveyor Direction
 * returns a value between 0-63, representing 360 / 64 degrees of rotation
 */
u32 SurfaceType_GetConveyorDirection(CollisionContext* colCtx, CollisionPoly* poly, s32 bgId) {
    return SurfaceType_GetData(colCtx, poly, bgId, 1) >> 21 & 0x3F;
}

/**
 * SurfaceType is Wall Damage
 */
u32 SurfaceType_IsWallDamage(CollisionContext* colCtx, CollisionPoly* poly, s32 bgId) {
    return (SurfaceType_GetData(colCtx, poly, bgId, 1) & 0x8000000) ? 1 : 0;
}

/**
 * Zora's Domain WaterBox in King Zora's Room
 */
WaterBox zdWaterBox = { -348, 877, -1746, 553, 780, 0x2104 };

/**
 * WaterBox's effective bounding box
 */
f32 zdWaterBoxMinX = -348.0f;
f32 zdWaterBoxMinY = 777.0f;
f32 zdWaterBoxMinZ = -1746.0f;
f32 zdWaterBoxMaxX = 205.0f;
f32 zdWaterBoxMaxY = 977.0f;
f32 zdWaterBoxMaxZ = -967.0f;

/**
 * Public. Get the water surface at point (`x`, `ySurface`, `z`). `ySurface` doubles as position y input
 * returns true if point is within the xz boundaries of an active water box, else false
 * `ySurface` returns the water box's surface, while `outWaterBox` returns a pointer to the WaterBox
 */
s32 WaterBox_GetSurface1(GlobalContext* globalCtx, CollisionContext* colCtx, f32 x, f32 z, f32* ySurface,
                         WaterBox** outWaterBox) {
    if (globalCtx->sceneNum == SCENE_SPOT07) {
        if (zdWaterBoxMinX < x && x < zdWaterBoxMaxX && zdWaterBoxMinY < *ySurface && *ySurface < zdWaterBoxMaxY &&
            zdWaterBoxMinZ < z && z < zdWaterBoxMaxZ) {
            *outWaterBox = &zdWaterBox;
            *ySurface = zdWaterBox.ySurface;
            return true;
        }
    }
    return WaterBox_GetSurfaceImpl(globalCtx, colCtx, x, z, ySurface, outWaterBox);
}

/**
 * Internal. Get the water surface at point (`x`, `ySurface`, `z`). `ySurface` doubles as position y input
 * returns true if point is within the xz boundaries of an active water box, else false
 * `ySurface` returns the water box's surface, while `outWaterBox` returns a pointer to the WaterBox
 */
s32 WaterBox_GetSurfaceImpl(GlobalContext* globalCtx, CollisionContext* colCtx, f32 x, f32 z, f32* ySurface,
                            WaterBox** outWaterBox) {
    CollisionHeader* colHeader = colCtx->colHeader;
    u32 room;
    WaterBox* curWaterBox;

    if (colHeader->numWaterBoxes == 0 || colHeader->waterBoxes == PHYSICAL_TO_VIRTUAL(gSegments[0])) {
        return false;
    }

    for (curWaterBox = colHeader->waterBoxes; curWaterBox < colHeader->waterBoxes + colHeader->numWaterBoxes;
         curWaterBox++) {
        room = (curWaterBox->properties >> 13) & 0x3F;
        if (room == (u32)globalCtx->roomCtx.curRoom.num || room == 0x3F) {
            if ((curWaterBox->properties & 0x80000) == 0) {
                if (curWaterBox->xMin < x && x < curWaterBox->xMin + curWaterBox->xLength) {
                    if (curWaterBox->zMin < z && z < curWaterBox->zMin + curWaterBox->zLength) {
                        *outWaterBox = curWaterBox;
                        *ySurface = curWaterBox->ySurface;
                        return true;
                    }
                }
            }
        }
    }
    return false;
}

/**
 * Gets the first active WaterBox at `pos` where WaterBox.properties & 0x80000 == 0
 * `surfaceChkDist` is the absolute y distance from the water surface to check
 * returns the index of the waterbox found, or -1 if no waterbox is found
 * `outWaterBox` returns the pointer to the waterbox found, or NULL if none is found
 */
s32 WaterBox_GetSurface2(GlobalContext* globalCtx, CollisionContext* colCtx, Vec3f* pos, f32 surfaceChkDist,
                         WaterBox** outWaterBox) {
    CollisionHeader* colHeader = colCtx->colHeader;
    s32 room;
    s32 i;
    WaterBox* waterBox;
    WaterBox* waterBoxList = colHeader->waterBoxes; // unused, needed for matching

    if (colHeader->numWaterBoxes == 0 || colHeader->waterBoxes == PHYSICAL_TO_VIRTUAL(gSegments[0])) {
        *outWaterBox = NULL;
        return -1;
    }

    for (i = 0; i < colHeader->numWaterBoxes; i++) {
        waterBox = &colHeader->waterBoxes[i];

        room = WATERBOX_ROOM(waterBox->properties);
        if (!(room == globalCtx->roomCtx.curRoom.num || room == 0x3F)) {
            continue;
        }
        if ((waterBox->properties & 0x80000)) {
            continue;
        }
        if (!(waterBox->xMin < pos->x && pos->x < waterBox->xMin + waterBox->xLength)) {
            continue;
        }
        if (!(waterBox->zMin < pos->z && pos->z < waterBox->zMin + waterBox->zLength)) {
            continue;
        }
        if (pos->y - surfaceChkDist < waterBox->ySurface && waterBox->ySurface < pos->y + surfaceChkDist) {
            *outWaterBox = waterBox;
            return i;
        }
    }

    *outWaterBox = NULL;
    return -1;
}

/**
 * WaterBox get CamData index
 */
u32 WaterBox_GetCamDataIndex(CollisionContext* colCtx, WaterBox* waterBox) {
    u32 prop = waterBox->properties >> 0;

    return prop & 0xFF;
}

/**
 * WaterBox get CamData cameraSType
 */
u16 WaterBox_GetCameraSType(CollisionContext* colCtx, WaterBox* waterBox) {
    s32 camId = WaterBox_GetCamDataIndex(colCtx, waterBox);
    CamData* camData = colCtx->colHeader->cameraDataList;

    if (camData == PHYSICAL_TO_VIRTUAL(gSegments[0])) {
        return 0;
    }

    return colCtx->colHeader->cameraDataList[camId].cameraSType;
}

/**
 * WaterBox get lighting settings
 */
u32 WaterBox_GetLightSettingIndex(CollisionContext* colCtx, WaterBox* waterBox) {
    u32 prop = waterBox->properties >> 8;

    return prop & 0x1F;
}

/**
 * Get the water surface at point (`x`, `ySurface`, `z`). `ySurface` doubles as position y input
 * same as WaterBox_GetSurfaceImpl, but tests if WaterBox properties & 0x80000 != 0
 * returns true if point is within the xz boundaries of an active water box, else false
 * `ySurface` returns the water box's surface, while `outWaterBox` returns a pointer to the WaterBox
 */
s32 func_800425B0(GlobalContext* globalCtx, CollisionContext* colCtx, f32 x, f32 z, f32* ySurface,
                  WaterBox** outWaterBox) {
    CollisionHeader* colHeader = colCtx->colHeader;
    u32 room;
    WaterBox* curWaterBox;

    if (colHeader->numWaterBoxes == 0 || colHeader->waterBoxes == PHYSICAL_TO_VIRTUAL(gSegments[0])) {
        return false;
    }

    for (curWaterBox = colHeader->waterBoxes; curWaterBox < colHeader->waterBoxes + colHeader->numWaterBoxes;
         curWaterBox++) {
        room = (curWaterBox->properties >> 0xD) & 0x3F;
        if ((room == (u32)globalCtx->roomCtx.curRoom.num) || (room == 0x3F)) {
            if ((curWaterBox->properties & 0x80000) != 0) {
                if (curWaterBox->xMin < x && x < (curWaterBox->xMin + curWaterBox->xLength)) {
                    if (curWaterBox->zMin < z && z < (curWaterBox->zMin + curWaterBox->zLength)) {
                        *outWaterBox = curWaterBox;
                        *ySurface = curWaterBox->ySurface;
                        return true;
                    }
                }
            }
        }
    }
    return false;
}

/**
 * Gets the `closestPoint` to `point` on the line formed from the intesection of planes `polyA` and `polyB`
 * returns true if the `closestPoint` exists, else returns false
 */
s32 func_80042708(CollisionPoly* polyA, CollisionPoly* polyB, Vec3f* point, Vec3f* closestPoint) {
    f32 n1X;
    f32 n1Y;
    f32 n1Z;
    f32 n2X;
    f32 n2Y;
    f32 n2Z;

    CollisionPoly_GetNormalF(polyA, &n1X, &n1Y, &n1Z);
    CollisionPoly_GetNormalF(polyB, &n2X, &n2Y, &n2Z);
    return Math3D_PlaneVsPlaneVsLineClosestPoint(n1X, n1Y, n1Z, polyA->dist, n2X, n2Y, n2Z, polyB->dist, point,
                                                 closestPoint);
}

/**
 * Get the `closestPoint` to line (`pointA`, `pointB`) formed from the intersection of planes `polyA` and `polyB`
 * returns true if the `closestPoint` exists, else returns false
 */
s32 func_800427B4(CollisionPoly* polyA, CollisionPoly* polyB, Vec3f* pointA, Vec3f* pointB, Vec3f* closestPoint) {
    f32 n1X;
    f32 n1Y;
    f32 n1Z;
    f32 n2X;
    f32 n2Y;
    f32 n2Z;
    s32 result;

    CollisionPoly_GetNormalF(polyA, &n1X, &n1Y, &n1Z);
    CollisionPoly_GetNormalF(polyB, &n2X, &n2Y, &n2Z);
    result = Math3D_PlaneVsLineSegClosestPoint(n1X, n1Y, n1Z, polyA->dist, n2X, n2Y, n2Z, polyB->dist, pointA, pointB,
                                               closestPoint);
    return result;
}

/**
 * Draw a list of dyna polys, specified by `ssList`
 */
void BgCheck_DrawDynaPolyList(GlobalContext* globalCtx, CollisionContext* colCtx, DynaCollisionContext* dyna,
                              SSList* ssList, u8 r, u8 g, u8 b) {
    s16 curPolyId;
    CollisionPoly* poly;
    SSNode* curNode;
    Vec3f vA;
    Vec3f vB;
    Vec3f vC;
    f32 nx;
    f32 ny;
    f32 nz;

    if (ssList->head != SS_NULL) {
        curNode = &dyna->polyNodes.tbl[ssList->head];
        while (true) {
            curPolyId = curNode->polyId;
            poly = &dyna->polyList[curPolyId];
            BgCheck_Vec3sToVec3f(COLPOLY_VTX_INDEX(poly->flags_vIA) + dyna->vtxList, &vA);
            BgCheck_Vec3sToVec3f(COLPOLY_VTX_INDEX(poly->flags_vIB) + dyna->vtxList, &vB);
            BgCheck_Vec3sToVec3f((s32)(poly->vIC) + dyna->vtxList, &vC);
            if (AREG(26)) {
                nx = COLPOLY_GET_NORMAL(poly->normal.x);
                ny = COLPOLY_GET_NORMAL(poly->normal.y);
                nz = COLPOLY_GET_NORMAL(poly->normal.z);
                vA.x += AREG(26) * nx;
                vA.y += AREG(26) * ny;
                vA.z += AREG(26) * nz;
                vB.x += AREG(26) * nx;
                vB.y += AREG(26) * ny;
                vB.z += AREG(26) * nz;
                vC.x += AREG(26) * nx;
                vC.y += AREG(26) * ny;
                vC.z += AREG(26) * nz;
            }
            Collider_DrawPoly(globalCtx->state.gfxCtx, &vA, &vB, &vC, r, g, b);
            if (curNode->next == SS_NULL) {
                break;
            }
            curNode = &dyna->polyNodes.tbl[curNode->next];
        }
    }
}

/**
 * Draw a BgActor's dyna polys
 * `bgId` is the BgActor index that should be drawn
 */
void BgCheck_DrawBgActor(GlobalContext* globalCtx, CollisionContext* colCtx, s32 bgId) {
    if (AREG(21)) {
        BgCheck_DrawDynaPolyList(globalCtx, colCtx, &colCtx->dyna, &colCtx->dyna.bgActors[bgId].dynaLookup.ceiling, 255,
                                 0, 0);
    }
    if (AREG(22)) {
        BgCheck_DrawDynaPolyList(globalCtx, colCtx, &colCtx->dyna, &colCtx->dyna.bgActors[bgId].dynaLookup.wall, 0, 255,
                                 0);
    }
    if (AREG(23)) {
        BgCheck_DrawDynaPolyList(globalCtx, colCtx, &colCtx->dyna, &colCtx->dyna.bgActors[bgId].dynaLookup.floor, 0, 0,
                                 255);
    }
}

/**
 * Draw all dyna polys
 */
void BgCheck_DrawDynaCollision(GlobalContext* globalCtx, CollisionContext* colCtx) {
    s32 bgId;

    for (bgId = 0; bgId < BG_ACTOR_MAX; bgId++) {

        if (!(colCtx->dyna.bgActorFlags[bgId] & 1)) {
            continue;
        }
        BgCheck_DrawBgActor(globalCtx, colCtx, bgId);
    }
}

/**
 * Draw a static poly
 */
void BgCheck_DrawStaticPoly(GlobalContext* globalCtx, CollisionContext* colCtx, CollisionPoly* poly, u8 r, u8 g, u8 b) {
    Vec3f vA;
    Vec3f vB;
    Vec3f vC;
    f32 nx;
    f32 ny;
    f32 nz;

    BgCheck_Vec3sToVec3f(COLPOLY_VTX_INDEX(poly->flags_vIA) + colCtx->colHeader->vtxList, &vA);
    BgCheck_Vec3sToVec3f(COLPOLY_VTX_INDEX(poly->flags_vIB) + colCtx->colHeader->vtxList, &vB);
    BgCheck_Vec3sToVec3f(poly->vIC + colCtx->colHeader->vtxList, &vC);
    if (AREG(26) != 0) {
        nx = COLPOLY_GET_NORMAL(poly->normal.x);
        ny = COLPOLY_GET_NORMAL(poly->normal.y);
        nz = COLPOLY_GET_NORMAL(poly->normal.z);
        vA.x += AREG(26) * nx;
        vA.y += AREG(26) * ny;
        vA.z += AREG(26) * nz;
        vB.x += AREG(26) * nx;
        vB.y += AREG(26) * ny;
        vB.z += AREG(26) * nz;
        vC.x += AREG(26) * nx;
        vC.y += AREG(26) * ny;
        vC.z += AREG(26) * nz;
    }
    Collider_DrawPoly(globalCtx->state.gfxCtx, &vA, &vB, &vC, r, g, b);
}

/**
 * Draw a list of static polys, specified by `ssList`
 */
void BgCheck_DrawStaticPolyList(GlobalContext* globalCtx, CollisionContext* colCtx, SSList* ssList, u8 r, u8 g, u8 b) {
    SSNode* curNode;
    CollisionPoly* polyList = colCtx->colHeader->polyList;
    s16 curPolyId;

    if (ssList->head != SS_NULL) {
        curNode = &colCtx->polyNodes.tbl[ssList->head];
        while (true) {
            curPolyId = curNode->polyId;
            BgCheck_DrawStaticPoly(globalCtx, colCtx, &polyList[curPolyId], r, g, b);
            if (curNode->next == SS_NULL) {
                break;
            }
            curNode = &colCtx->polyNodes.tbl[curNode->next];
        }
    }
}

/**
 * Draw scene collision
 */
void BgCheck_DrawStaticCollision(GlobalContext* globalCtx, CollisionContext* colCtx) {
    Player* player = GET_PLAYER(globalCtx);
    StaticLookup* lookup = BgCheck_GetNearestStaticLookup(colCtx, colCtx->lookupTbl, &player->actor.world.pos);

    if (AREG(23) != 0) {
        BgCheck_DrawStaticPolyList(globalCtx, colCtx, &lookup->floor, 0, 0, 255);
    }
    if (AREG(22) != 0) {
        BgCheck_DrawStaticPolyList(globalCtx, colCtx, &lookup->wall, 0, 255, 0);
    }
    if (AREG(21) != 0) {
        BgCheck_DrawStaticPolyList(globalCtx, colCtx, &lookup->ceiling, 255, 0, 0);
    }
}