character.h

   1 #ifndef CHARACTER_H
   2 #define CHARACTER_H
   3
   4 #include "vg/vg.h"
   5 #include "model.h"
   6 #include "ik.h"
   7
   8 #define FOREACH_PART(FN) \
   9    FN( body0 ) \
  10    FN( body1 ) \
  11    FN( neck ) \
  12    FN( head ) \
  13    FN( arm_l0 ) \
  14    FN( arm_l1 ) \
  15    FN( hand_l ) \
  16    FN( arm_r0 ) \
  17    FN( arm_r1 ) \
  18    FN( hand_r ) \
  19    FN( leg_l0 ) \
  20    FN( leg_l1 ) \
  21    FN( foot_l ) \
  22    FN( leg_r0 ) \
  23    FN( leg_r1 ) \
  24    FN( foot_r ) \
  25    FN( wheels ) \
  26    FN( board ) \
  27
  28 #define MAKE_ENUM(ENUM) k_chpart_##ENUM,
  29 #define MAKE_STRING(STR) #STR,
  30 #define ADD_ONE(_) +1
  31 #define PART_COUNT FOREACH_PART(ADD_ONE)
  32
  33 enum character_part
  34 {
  35    FOREACH_PART( MAKE_ENUM )
  36 };
  37
  38 static const char *character_part_strings[] =
  39 {
  40    FOREACH_PART( MAKE_STRING )
  41 };
  42
  43
  44 struct character
  45 {
  46    glmesh mesh;
  47
  48    submodel parts[ PART_COUNT ];
  49    m4x3f matrices[ PART_COUNT ];
  50
  51    /* Auxillary information */
  52    v3f offsets[ PART_COUNT ];
  53
  54    /*
  55     * Controls
  56     *  note: - base nodes of IK structures will be filled automatically
  57     *        - all positions are in local space to the mroot
  58     */
  59    struct ik_basic ik_arm_l, ik_arm_r,
  60                    ik_leg_l, ik_leg_r,
  61                    ik_body;
  62
  63    v4f qhead;
  64    float rhip, rcollar, /* twist of hip and collar controls,
  65                            these act in the local +y axis of the part */
  66          rfootl, rfootr,
  67          rhandl, rhandr;
  68
  69    v3f ground_normal;   /* Feet will be aligned to this */
  70    m4x3f mroot;
  71 };
  72
  73 static void character_offset( struct character *ch, enum character_part parent,
  74       enum character_part child )
  75 {
  76    v3_sub( ch->parts[ child ].pivot, ch->parts[ parent ].pivot,
  77          ch->offsets[ child ] );
  78 }
  79
  80 static int character_load( struct character *ch, const char *name )
  81 {
  82    char buf[64];
  83
  84    snprintf( buf, sizeof(buf)-1, "models/%s.mdl", name );
  85    model *src = vg_asset_read( buf );
  86
  87    if( !src )
  88    {
  89       vg_error( "Could not open 'models/%s.mdl'", name );
  90       return 0;
  91    }
  92
  93    int error_count = 0;
  94
  95    for( int i=0; i<PART_COUNT; i++ )
  96    {
  97       snprintf( buf, sizeof(buf)-1, "%s_%s", name, character_part_strings[i] );
  98       submodel *sm = submodel_get( src, buf );
  99
 100       if( !sm )
 101       {
 102          vg_warn( "Character file does not contain an '_%s' part.\n",
 103                character_part_strings[i] );
 104          error_count ++;
 105
 106          memset( &ch->parts[i], 0, sizeof(submodel) );
 107          continue;
 108       }
 109
 110       ch->parts[i] = *sm;
 111    }
 112
 113    model_unpack( src, &ch->mesh );
 114
 115    if( !error_count )
 116       vg_success( "Loaded character file '%s' with no errors\n", name );
 117
 118    /* Create the offsets */
 119    character_offset( ch, k_chpart_body0, k_chpart_body1 );
 120    character_offset( ch, k_chpart_body1, k_chpart_neck );
 121    character_offset( ch, k_chpart_neck, k_chpart_head );
 122
 123    character_offset( ch, k_chpart_body1, k_chpart_arm_l0 );
 124    character_offset( ch, k_chpart_arm_l0, k_chpart_arm_l1 );
 125    character_offset( ch, k_chpart_arm_l1, k_chpart_hand_l );
 126
 127    character_offset( ch, k_chpart_body1, k_chpart_arm_r0 );
 128    character_offset( ch, k_chpart_arm_r0, k_chpart_arm_r1 );
 129    character_offset( ch, k_chpart_arm_r1, k_chpart_hand_r );
 130
 131    character_offset( ch, k_chpart_body0, k_chpart_leg_l0 );
 132    character_offset( ch, k_chpart_leg_l0, k_chpart_leg_l1 );
 133    character_offset( ch, k_chpart_leg_l1, k_chpart_foot_l );
 134
 135    character_offset( ch, k_chpart_body0, k_chpart_leg_r0 );
 136    character_offset( ch, k_chpart_leg_r0, k_chpart_leg_r1 );
 137    character_offset( ch, k_chpart_leg_r1, k_chpart_foot_r );
 138
 139    ch->ik_arm_l.l1 = v3_length( ch->offsets[ k_chpart_arm_l1 ] );
 140    ch->ik_arm_l.l2 = v3_length( ch->offsets[ k_chpart_hand_l ] );
 141    ch->ik_arm_r.l1 = v3_length( ch->offsets[ k_chpart_arm_r1 ] );
 142    ch->ik_arm_r.l2 = v3_length( ch->offsets[ k_chpart_hand_r ] );
 143
 144    ch->ik_leg_l.l1 = v3_length( ch->offsets[ k_chpart_leg_l1 ] );
 145    ch->ik_leg_l.l2 = v3_length( ch->offsets[ k_chpart_foot_l ] );
 146    ch->ik_leg_r.l1 = v3_length( ch->offsets[ k_chpart_leg_r1 ] );
 147    ch->ik_leg_r.l2 = v3_length( ch->offsets[ k_chpart_foot_r ] );
 148
 149    ch->ik_body.l1 = v3_length( ch->offsets[ k_chpart_body1 ] );
 150    ch->ik_body.l2 = v3_length( ch->offsets[ k_chpart_neck ] );
 151
 152    free( src );
 153    return 1;
 154 }
 155
 156 static void character_eval( struct character *ch )
 157 {
 158    m4x3f *mats = ch->matrices;
 159    v3f *offs = ch->offsets;
 160
 161    ik_basic( &ch->ik_body, mats[k_chpart_body0], mats[k_chpart_body1],
 162          k_ikY, k_ikX );
 163
 164    m3x3f temp;
 165    v4f body_rotation;
 166    /* TODO: Do this directly via m3x3 */
 167
 168    q_axis_angle( body_rotation, (v3f){0.0f,1.0f,0.0f}, ch->rhip );
 169    q_m3x3( body_rotation, temp );
 170    m3x3_mul( mats[k_chpart_body0], temp, mats[k_chpart_body0] );
 171
 172    q_axis_angle( body_rotation, (v3f){0.0f,1.0f,0.0f}, ch->rcollar );
 173    q_m3x3( body_rotation, temp );
 174    m3x3_mul( mats[k_chpart_body1], temp, mats[k_chpart_body1] );
 175
 176    /* Setup aux */
 177    m4x3_mulv( mats[k_chpart_body0], offs[k_chpart_leg_l0], ch->ik_leg_l.base );
 178    m4x3_mulv( mats[k_chpart_body0], offs[k_chpart_leg_r0], ch->ik_leg_r.base );
 179    m4x3_mulv( mats[k_chpart_body1], offs[k_chpart_arm_l0], ch->ik_arm_l.base );
 180    m4x3_mulv( mats[k_chpart_body1], offs[k_chpart_arm_r0], ch->ik_arm_r.base );
 181
 182    /* IK for arms and legs */
 183    ik_basic( &ch->ik_arm_l, mats[k_chpart_arm_l0], mats[k_chpart_arm_l1],
 184          k_ikZ, k_ikY );
 185    ik_basic( &ch->ik_arm_r, mats[k_chpart_arm_r0], mats[k_chpart_arm_r1],
 186          k_iknZ, k_ikY );
 187    ik_basic( &ch->ik_leg_l, mats[k_chpart_leg_l0], mats[k_chpart_leg_l1],
 188          k_ikY, k_iknX );
 189    ik_basic( &ch->ik_leg_r, mats[k_chpart_leg_r0], mats[k_chpart_leg_r1],
 190          k_ikY, k_iknX );
 191
 192    /* Feet */
 193    m3x3_copy( mats[k_chpart_leg_l1], mats[k_chpart_foot_l] );
 194    m3x3_copy( mats[k_chpart_leg_r1], mats[k_chpart_foot_r] );
 195    m4x3_mulv( mats[k_chpart_leg_l1], offs[k_chpart_foot_l],
 196          mats[k_chpart_foot_l][3] );
 197    m4x3_mulv( mats[k_chpart_leg_r1], offs[k_chpart_foot_r],
 198          mats[k_chpart_foot_r][3] );
 199
 200    /* Hands */
 201    m3x3_copy( mats[k_chpart_arm_l1], mats[k_chpart_hand_l] );
 202    m3x3_copy( mats[k_chpart_arm_r1], mats[k_chpart_hand_r] );
 203    m4x3_mulv( mats[k_chpart_arm_l1], offs[k_chpart_hand_l],
 204          mats[k_chpart_hand_l][3] );
 205    m4x3_mulv( mats[k_chpart_arm_r1], offs[k_chpart_hand_r],
 206          mats[k_chpart_hand_r][3] );
 207
 208    /* Neck / Head */
 209    m3x3_copy( mats[k_chpart_body1], mats[k_chpart_neck] );
 210    m4x3_mulv( mats[k_chpart_body1], offs[k_chpart_neck],
 211          mats[k_chpart_neck][3] );
 212
 213    m3x3_copy( mats[k_chpart_neck], mats[k_chpart_head] );
 214    m4x3_mulv( mats[k_chpart_neck], offs[k_chpart_head], mats[k_chpart_head][3]);
 215
 216    for( int i=0; i<PART_COUNT; i++ )
 217       m4x3_mul( ch->mroot, ch->matrices[i], ch->matrices[i] );
 218 }
 219
 220 static void character_testpose( struct character *ch, float t )
 221 {
 222    /* Body */
 223    float *hips = ch->ik_body.base,
 224          *collar = ch->ik_body.end,
 225          *pole = ch->ik_body.pole;
 226
 227    hips[0] = cosf(t*1.325f)*0.25f;
 228    hips[1] = (sinf(t)*0.2f+0.6f) * ch->parts[ k_chpart_body0 ].pivot[1];
 229    hips[2] = 0.0f;
 230
 231    collar[0] = hips[0];
 232    collar[1] = hips[1] + (ch->ik_body.l1+ch->ik_body.l2)*(sinf(t)*0.05f+0.94f);
 233    collar[2] = hips[2] + cosf(t*0.42f)*0.01f;
 234
 235    v3_add( hips, collar, pole );
 236    v3_muls( pole, 0.5f, pole );
 237    v3_add( pole, (v3f){ 1.0f, 0.0f, 0.0f }, pole );
 238
 239    /* Legs */
 240    float *footl = ch->ik_leg_l.end,
 241          *footr = ch->ik_leg_r.end,
 242          *polel = ch->ik_leg_l.pole,
 243          *poler = ch->ik_leg_r.pole;
 244
 245    footl[0] = sinf(t*0.563f);
 246    footl[1] = 0.0f;
 247    footl[2] = 0.0f;
 248
 249    footr[0] = 0.0f;
 250    footr[1] = 0.0f;
 251    footr[2] = cosf(t*0.672f);
 252
 253    v3_add( hips, footl, polel );
 254    v3_muls( polel, 0.4f, polel );
 255    v3_add( polel, (v3f){ -1.0f,0.0f,0.0f }, polel );
 256
 257    v3_add( hips, footr, poler );
 258    v3_muls( poler, 0.4f, poler );
 259    v3_add( poler, (v3f){ -1.0f,0.0f,0.0f }, poler );
 260
 261    /* Arms */
 262    float *arml = ch->ik_arm_l.end,
 263          *armr = ch->ik_arm_r.end;
 264    polel = ch->ik_arm_l.pole;
 265    poler = ch->ik_arm_r.pole;
 266
 267    v3_copy( (v3f){ 0.0f, 0.0f, 1.0f }, arml );
 268    v3_copy( (v3f){ 0.0f, 0.0f,-1.0f }, armr );
 269    v3_copy( (v3f){ 1.0f, 1.0f, 0.5f }, polel );
 270    v3_copy( (v3f){ 1.0f, 1.0f,-0.5f }, poler );
 271
 272    /* Other */
 273    ch->rhip = sinf(t*0.2f);
 274    ch->rcollar = sinf(t*0.35325f);
 275    q_identity( ch->qhead );
 276
 277    m4x3_identity( ch->matrices[k_chpart_board] );
 278    m4x3_identity( ch->matrices[k_chpart_wheels] );
 279 }
 280
 281 static void character_draw( struct character *ch, int temp )
 282 {
 283    mesh_bind( &ch->mesh );
 284
 285    glEnable( GL_CULL_FACE );
 286    glCullFace( GL_BACK );
 287
 288    for( int i=0; i<PART_COUNT; i++ )
 289    {
 290       glUniformMatrix4x3fv( temp, 1, GL_FALSE, (float *)ch->matrices[i] );
 291       submodel_draw( &ch->parts[i] );
 292    }
 293 }
 294
 295 #undef FOREACH_PART
 296 #undef MAKE_ENUM
 297 #undef MAKE_STRING
 298 #undef ADD_ONE
 299 #endif