Pikmin 2 collision format

The following describes the format of Pikmin 2's .col files which describe the collision of overworld levels and cave units. The information might be incorrect or incomplete.

The format has no header and directly starts off with data. The Y coordinate points upwards. All values are big endian. Size of data is in bytes.

Size of data	Description
0x4	unsigned integer describing how many vertices are defined
0xC*(vertex count)	3 32-bit floats describing the XYZ coordinates for each vertex
0x4	unsigned integer describing how many triangles are defined
0x4C*(triangle count)	for each triangle in the collision there is 76 bytes of data describing the vertices of the trangle, normals, tangents and more
0x18	unknown, maybe data about the level size
0x8	two 32 bit unsigned integers describing the width and length of a grid of triangle groups. Is not related to the actual size of the map.
0x8	unknown
remaining data	contains groups of triangles. Each group starts with one 32 bit unsigned integer describing the amount of triangles in the group, followed by that many 32 bit unsigned integers describing the index of each triangle (0-indexed). Amount of groups equals to the width of the grid multiplying

Triangle data

Size of data	Description
0xC	3 32 bit unsigned integers describing the (0-based) indices of the vertices v1, v2, v3 in this triangle
0xC	3 floats describing the normal vector of the triangle
0x4	float that affects collision in the direction of the normal, distance_normal
0xC	3 floats describing the tangent of the edge (v1, v2)
0x4	float that affects collision in the direction of the tangent of (v1,v2), distance_tan1
0xC	3 floats describing the tangent of the edge (v2, v3)
0x4	float that affects collision in the direction of the tangent of (v2,v3), distance_tan2
0xC	3 floats describing the tangent of the edge (v3, v1)
0x4	float that affects collision in the direction of the tangent of (v3, v1), distance_tan3

The values distance_normal, distance_tan1, distance_tan2, distance_tan3 can be calculated as follows:

distance_normal = normal_x*middle_x + normal_y*middle_y + normal_z*middle_z, where middle_x/y/z are the coordinates of the middle between vertices v1, v2, v3

distance_tan1 = tan1_x*v1_x + tan1_y*v1_y + tan1_z*v1_z, where tan1_x/y/z are the xyz components of the tangent of (v1,v2), and v1_x/y/z are the coordinates of the vertex v1

distance_tan2 = tan2_x*v2_x + tan2_y*v2_y + tan2_z*v2_z, similar to above but for tangent of (v2, v3)

distance_tan3 = tan3_x*v3_x + tan3_y*v3_y + tan3_z*v3_z, similar to above but for tangent of (v3, v1)