9 #include "shaders/character.h"
11 vg_tex2d tex_pallet
= { .path
= "textures/ch_gradient.qoi" };
13 static void character_register(void)
15 shader_character_register();
18 static void character_init(void)
20 vg_tex2d_init( (vg_tex2d
*[]){ &tex_pallet
}, 1 );
23 #define FOREACH_PART(FN) \
46 #define MAKE_ENUM(ENUM) k_chpart_##ENUM,
47 #define MAKE_STRING(STR) #STR,
49 #define PART_COUNT FOREACH_PART(ADD_ONE)
54 FOREACH_PART( MAKE_ENUM
)
57 static const char *character_part_strings
[] =
59 FOREACH_PART( MAKE_STRING
)
66 mdl_submesh parts
[ PART_COUNT
];
67 v3f origins
[ PART_COUNT
];
68 m4x3f matrices
[ PART_COUNT
];
70 /* Auxillary information */
71 v3f offsets
[ PART_COUNT
];
72 rigidbody ragdoll
[ PART_COUNT
];
76 * note: - base nodes of IK structures will be filled automatically
77 * - all positions are in local space to the mroot
79 struct ik_basic ik_arm_l
, ik_arm_r
,
85 float rhip
, rcollar
, /* twist of hip and collar controls,
86 these act in the local +y axis of the part */
91 v3f ground_normal
; /* Feet will be aligned to this */
97 static void character_offset( struct character
*ch
, enum character_part parent
,
98 enum character_part child
)
100 v3_sub( ch
->origins
[ child
], ch
->origins
[ parent
],
101 ch
->offsets
[ child
] );
104 static int character_load( struct character
*ch
, const char *name
)
108 snprintf( buf
, sizeof(buf
)-1, "models/%s.mdl", name
);
109 mdl_header
*src
= mdl_load( buf
);
116 for( int i
=0; i
<PART_COUNT
; i
++ )
118 snprintf( buf
, sizeof(buf
)-1, "%s_%s", name
, character_part_strings
[i
] );
119 mdl_node
*pnode
= mdl_node_from_name( src
, buf
);
121 memset( &ch
->parts
[i
], 0, sizeof(mdl_submesh
) );
122 v3_zero( ch
->origins
[i
] );
126 vg_warn( "Character file does not contain an '_%s' part.\n",
127 character_part_strings
[i
] );
132 mdl_submesh
*sm
= mdl_node_submesh( src
, pnode
, 0 );
136 vg_warn( "Character file's '_%s' part has no mesh.\n",
137 character_part_strings
[i
] );
143 v3_copy( pnode
->co
, ch
->origins
[i
] );
146 mdl_unpack_glmesh( src
, &ch
->mesh
);
149 vg_success( "Loaded character file '%s' with no errors\n", name
);
151 /* Create the offsets */
152 character_offset( ch
, k_chpart_body0
, k_chpart_body1
);
153 character_offset( ch
, k_chpart_body1
, k_chpart_neck
);
154 character_offset( ch
, k_chpart_neck
, k_chpart_head
);
156 character_offset( ch
, k_chpart_body1
, k_chpart_arm_l0
);
157 character_offset( ch
, k_chpart_arm_l0
, k_chpart_arm_l1
);
158 character_offset( ch
, k_chpart_arm_l1
, k_chpart_hand_l
);
160 character_offset( ch
, k_chpart_body1
, k_chpart_arm_r0
);
161 character_offset( ch
, k_chpart_arm_r0
, k_chpart_arm_r1
);
162 character_offset( ch
, k_chpart_arm_r1
, k_chpart_hand_r
);
164 character_offset( ch
, k_chpart_body0
, k_chpart_leg_l0
);
165 character_offset( ch
, k_chpart_leg_l0
, k_chpart_leg_l1
);
166 character_offset( ch
, k_chpart_leg_l1
, k_chpart_foot_l
);
168 character_offset( ch
, k_chpart_body0
, k_chpart_leg_r0
);
169 character_offset( ch
, k_chpart_leg_r0
, k_chpart_leg_r1
);
170 character_offset( ch
, k_chpart_leg_r1
, k_chpart_foot_r
);
172 character_offset( ch
, k_chpart_board
, k_chpart_wb
);
173 character_offset( ch
, k_chpart_board
, k_chpart_wf
);
175 ch
->ik_arm_l
.l1
= v3_length( ch
->offsets
[ k_chpart_arm_l1
] );
176 ch
->ik_arm_l
.l2
= v3_length( ch
->offsets
[ k_chpart_hand_l
] );
177 ch
->ik_arm_r
.l1
= v3_length( ch
->offsets
[ k_chpart_arm_r1
] );
178 ch
->ik_arm_r
.l2
= v3_length( ch
->offsets
[ k_chpart_hand_r
] );
180 ch
->ik_leg_l
.l1
= v3_length( ch
->offsets
[ k_chpart_leg_l1
] );
181 ch
->ik_leg_l
.l2
= v3_length( ch
->offsets
[ k_chpart_foot_l
] );
182 ch
->ik_leg_r
.l1
= v3_length( ch
->offsets
[ k_chpart_leg_r1
] );
183 ch
->ik_leg_r
.l2
= v3_length( ch
->offsets
[ k_chpart_foot_r
] );
185 ch
->ik_body
.l1
= v3_length( ch
->offsets
[ k_chpart_body1
] );
186 ch
->ik_body
.l2
= v3_length( ch
->offsets
[ k_chpart_neck
] );
192 static void align_to_board( struct character
*ch
, enum character_part id
)
194 /* Calculate rotation between board and feet */
195 m4x3f
*mats
= ch
->matrices
;
197 v3f foot_pos
, foot_fwd
, foot_target
, board_norm
, board_origin
;
198 v3_copy( mats
[id
][3], foot_pos
);
199 m3x3_mulv( mats
[id
], (v3f
){1.0f
,0.0f
,0.0f
}, foot_fwd
);
200 v3_add( foot_fwd
, foot_pos
, foot_target
);
202 m3x3_mulv( mats
[k_chpart_board
], (v3f
){0.0f
,1.0f
,0.0f
}, board_norm
);
203 m4x3_mulv( mats
[k_chpart_board
], (v3f
){0.0f
,0.13f
,0.0f
}, board_origin
);
205 vg_line( foot_pos
, foot_target
, 0xff00ff00 );
208 v3_sub( board_origin
, foot_target
, v0
);
209 float t
= v3_dot( v0
, board_norm
) / board_norm
[1];
211 vg_line( foot_pos
, foot_target
, 0xff00ffff );
213 v3_sub( foot_target
, foot_pos
, foot_target
);
214 v3_normalize( foot_target
);
215 float ang
= acosf( v3_dot( foot_target
, foot_fwd
) );
217 v4f qcorrection
; m3x3f correction
;
218 q_axis_angle( qcorrection
, (v3f
){0.0f
,0.0f
,1.0f
}, -ang
);
219 q_m3x3( qcorrection
, correction
);
220 m3x3_mul( mats
[id
], correction
, mats
[id
] );
223 static void character_eval( struct character
*ch
)
225 m4x3f
*mats
= ch
->matrices
;
226 v3f
*offs
= ch
->offsets
;
228 ik_basic( &ch
->ik_body
, mats
[k_chpart_body0
], mats
[k_chpart_body1
],
233 /* TODO: Do this directly via m3x3 */
235 q_axis_angle( body_rotation
, (v3f
){0.0f
,1.0f
,0.0f
}, ch
->rhip
);
236 q_m3x3( body_rotation
, temp
);
237 m3x3_mul( mats
[k_chpart_body0
], temp
, mats
[k_chpart_body0
] );
239 q_axis_angle( body_rotation
, (v3f
){0.0f
,1.0f
,0.0f
}, ch
->rcollar
);
240 q_m3x3( body_rotation
, temp
);
241 m3x3_mul( mats
[k_chpart_body1
], temp
, mats
[k_chpart_body1
] );
244 m4x3_mulv( mats
[k_chpart_body0
], offs
[k_chpart_leg_l0
], ch
->ik_leg_l
.base
);
245 m4x3_mulv( mats
[k_chpart_body0
], offs
[k_chpart_leg_r0
], ch
->ik_leg_r
.base
);
246 m4x3_mulv( mats
[k_chpart_body1
], offs
[k_chpart_arm_l0
], ch
->ik_arm_l
.base
);
247 m4x3_mulv( mats
[k_chpart_body1
], offs
[k_chpart_arm_r0
], ch
->ik_arm_r
.base
);
249 /* IK for arms and legs */
250 ik_basic( &ch
->ik_arm_l
, mats
[k_chpart_arm_l0
], mats
[k_chpart_arm_l1
],
252 ik_basic( &ch
->ik_arm_r
, mats
[k_chpart_arm_r0
], mats
[k_chpart_arm_r1
],
254 ik_basic( &ch
->ik_leg_l
, mats
[k_chpart_leg_l0
], mats
[k_chpart_leg_l1
],
256 ik_basic( &ch
->ik_leg_r
, mats
[k_chpart_leg_r0
], mats
[k_chpart_leg_r1
],
260 m3x3_copy( mats
[k_chpart_arm_l1
], mats
[k_chpart_hand_l
] );
261 m3x3_copy( mats
[k_chpart_arm_r1
], mats
[k_chpart_hand_r
] );
262 m4x3_mulv( mats
[k_chpart_arm_l1
], offs
[k_chpart_hand_l
],
263 mats
[k_chpart_hand_l
][3] );
264 m4x3_mulv( mats
[k_chpart_arm_r1
], offs
[k_chpart_hand_r
],
265 mats
[k_chpart_hand_r
][3] );
268 m3x3_copy( mats
[k_chpart_body1
], mats
[k_chpart_neck
] );
269 m4x3_mulv( mats
[k_chpart_body1
], offs
[k_chpart_neck
],
270 mats
[k_chpart_neck
][3] );
274 q_axis_angle( qhead
, (v3f
){ 0.0f
,1.0f
,0.0f
}, ch
->rhead
);
275 q_m3x3( qhead
, mats
[k_chpart_head
] );
276 m4x3_mulv( mats
[k_chpart_neck
], offs
[k_chpart_head
], mats
[k_chpart_head
][3]);
277 m3x3_mul( mats
[k_chpart_neck
], mats
[k_chpart_head
], mats
[k_chpart_head
] );
279 m4x3_mulv( mats
[k_chpart_neck
], offs
[k_chpart_head
], mats
[k_chpart_head
][3]);
280 m3x3_copy( mats
[k_chpart_neck
], mats
[k_chpart_head
] );
284 m3x3_copy( mats
[k_chpart_leg_l1
], mats
[k_chpart_foot_l
] );
285 m3x3_copy( mats
[k_chpart_leg_r1
], mats
[k_chpart_foot_r
] );
286 m4x3_mulv( mats
[k_chpart_leg_l1
], offs
[k_chpart_foot_l
],
287 mats
[k_chpart_foot_l
][3] );
288 m4x3_mulv( mats
[k_chpart_leg_r1
], offs
[k_chpart_foot_r
],
289 mats
[k_chpart_foot_r
][3] );
291 align_to_board( ch
, k_chpart_foot_l
);
292 align_to_board( ch
, k_chpart_foot_r
);
294 for( int i
=0; i
<PART_COUNT
; i
++ )
295 m4x3_mul( ch
->mroot
, ch
->matrices
[i
], ch
->matrices
[i
] );
298 #define B3D_CO( X, Y, Z ) (v3f){ X, Z, -Y }
300 typedef struct character_pose character_pose
;
301 struct character_pose
303 v3f b0
, b1
, p
, fr
, fl
, pl
, pr
, hl
, hr
, apl
, apr
, cam
;
306 static character_pose pose_aero
=
308 .b0
= {0.0721f
, 0.8167f
, 0.1365f
},
309 .b1
= {-0.0773f
, 1.1559f
, -0.1699f
},
310 .p
= {0.0421f
, 1.1430f
, 0.2803f
},
311 .fr
= {0.0535f
, 0.1312f
, -0.3647f
},
312 .fl
= {-0.0605f
, 0.1464f
, 0.2917f
},
313 .pl
= {-0.1704f
, 0.6889f
, -0.4017f
},
314 .pr
= {0.0672f
, 0.7598f
, -0.5963f
},
315 .hl
= {-0.2153f
, 0.7195f
, -0.1345f
},
316 .hr
= {0.1974f
, 0.7940f
, -0.3522f
},
317 .apl
= {-0.2008f
, 0.9546f
, 0.3687f
},
318 .apr
= {0.3133f
, 0.9299f
, 0.0181f
},
319 .cam
= {-0.3394f
, 1.2661f
, 0.2936f
}
322 static character_pose pose_slide
=
324 .b0
= {0.6732f
, 0.5565f
, -0.0000f
},
325 .b1
= {0.8116f
, 1.0547f
, 0.0613f
},
326 .p
= {1.0404f
, 0.7907f
, 0.0186f
},
327 .fr
= {-0.0030f
, 0.1366f
, -0.4461f
},
328 .fl
= {-0.0030f
, 0.1366f
, 0.3480f
},
329 .pl
= {-0.0887f
, 0.8229f
, 0.3826f
},
330 .pr
= {-0.0887f
, 0.8229f
, -0.4621f
},
331 .hl
= {0.7749f
, 0.5545f
, 0.5310f
},
332 .hr
= {0.5844f
, 1.2445f
, -0.5456f
},
333 .apl
= {1.0999f
, 0.5390f
, 0.2398f
},
334 .apr
= {0.9816f
, 0.9536f
, -0.5463f
},
335 .cam
= {0.9888f
, 1.4037f
, 0.6081f
}
338 static character_pose pose_slide1
=
340 .b0
= {-0.2385f
, 0.6403f
, 0.1368f
},
341 .b1
= {-0.5151f
, 1.1351f
, 0.1380f
},
342 .p
= {-0.1158f
, 1.2118f
, 0.3895f
},
343 .fr
= {-0.0030f
, 0.1323f
, -0.3190f
},
344 .fl
= {-0.0030f
, 0.1323f
, 0.5797f
},
345 .pl
= {-0.6568f
, 0.4305f
, 0.2069f
},
346 .pr
= {-0.6850f
, 0.2740f
, -0.2969f
},
347 .hl
= {-0.7029f
, 0.6132f
, 0.2972f
},
348 .hr
= {-0.2572f
, 1.0104f
, -0.4770f
},
349 .apl
= {-0.4808f
, 0.8480f
, 0.3731f
},
350 .apr
= {-0.0836f
, 1.0480f
, -0.1201f
},
351 .cam
= {-1.0508f
, 1.0769f
, 0.0528f
}
354 static character_pose pose_aero_reverse
=
356 .b0
= {0.0616f
, 0.8167f
, -0.1415f
},
357 .b1
= {0.0148f
, 1.1559f
, 0.1861f
},
358 .p
= {0.0558f
, 1.1430f
, -0.2779f
},
359 .fr
= {0.0535f
, 0.1312f
, -0.3647f
},
360 .fl
= {0.0730f
, 0.1464f
, 0.2917f
},
361 .pl
= {-0.2073f
, 0.6889f
, 0.3839f
},
362 .pr
= {-0.3584f
, 0.4069f
, 0.1032f
},
363 .hl
= {0.1567f
, 0.7195f
, 0.1997f
},
364 .hr
= {-0.3055f
, 0.7940f
, 0.2639f
},
365 .apl
= {0.3143f
, 0.9546f
, -0.2784f
},
366 .apr
= {-0.2885f
, 0.9299f
, -0.1236f
},
367 .cam
= {-0.3394f
, 1.2661f
, -0.2936f
}
370 static character_pose pose_stand
=
372 .b0
= {0.1877f
, 1.0663f
, 0.0063f
},
373 .b1
= {0.0499f
, 1.5564f
, -0.0584f
},
374 .p
= {0.5982f
, 1.2810f
, 0.0842f
},
375 .fr
= {0.0535f
, 0.1312f
, -0.3647f
},
376 .fl
= {0.0354f
, 0.1464f
, 0.2917f
},
377 .pl
= {-0.4325f
, 0.6889f
, 0.1823f
},
378 .pr
= {-0.4794f
, 0.7598f
, -0.3610f
},
379 .hl
= {0.0498f
, 1.0058f
, 0.2317f
},
380 .hr
= {0.0188f
, 0.9786f
, -0.2725f
},
381 .apl
= {0.2898f
, 1.3453f
, 0.2303f
},
382 .apr
= {0.5273f
, 1.2876f
, -0.1848f
},
383 .cam
= {-0.3477f
, 1.5884f
, -0.0019f
}
386 static character_pose pose_stand_reverse
=
388 .b0
= {0.1624f
, 1.0688f
, -0.0632f
},
389 .b1
= {0.0499f
, 1.5564f
, -0.0013f
},
390 .p
= {0.5423f
, 1.2810f
, -0.2368f
},
391 .fr
= {0.0535f
, 0.1312f
, -0.3647f
},
392 .fl
= {0.0354f
, 0.1464f
, 0.2917f
},
393 .pl
= {-0.4325f
, 0.6889f
, 0.4591f
},
394 .pr
= {-0.4794f
, 0.7598f
, -0.0842f
},
395 .hl
= {0.0498f
, 1.0058f
, 0.2317f
},
396 .hr
= {0.0188f
, 0.9786f
, -0.2725f
},
397 .apl
= {0.2898f
, 1.3453f
, 0.0695f
},
398 .apr
= {0.4715f
, 1.2876f
, -0.4982f
},
399 .cam
= {-0.3477f
, 1.5884f
, -0.0730f
}
402 static character_pose pose_fly
=
404 .b0
= {0.2995f
, 0.6819f
, -0.1369f
},
405 .b1
= {0.1618f
, 1.1720f
, -0.2016f
},
406 .p
= {0.7477f
, 0.9173f
, -0.1885f
},
407 .fr
= {0.0535f
, 0.1312f
, -0.3647f
},
408 .fl
= {0.0354f
, 0.1464f
, 0.2917f
},
409 .pl
= {-0.2930f
, 0.4849f
, 0.5307f
},
410 .pr
= {-0.4754f
, 0.4124f
, -0.4874f
},
411 .hl
= {0.2650f
, 1.1897f
, 0.4626f
},
412 .hr
= {0.2494f
, 1.2059f
, -0.7985f
},
413 .apl
= {0.5165f
, 1.0990f
, 0.1655f
},
414 .apr
= {0.6759f
, 1.0661f
, -0.6014f
},
415 .cam
= {-0.2727f
, 1.2606f
, 0.3564f
}
419 void character_pose_blend( struct character
*ch
, character_pose
*pose
, float q
)
421 v3_muladds( ch
->ik_body
.base
, pose
->b0
, q
, ch
->ik_body
.base
);
422 v3_muladds( ch
->ik_body
.end
, pose
->b1
, q
, ch
->ik_body
.end
);
423 v3_muladds( ch
->ik_body
.pole
, pose
->p
, q
, ch
->ik_body
.pole
);
424 v3_muladds( ch
->ik_leg_l
.end
, pose
->fl
, q
, ch
->ik_leg_l
.end
);
425 v3_muladds( ch
->ik_leg_l
.pole
, pose
->pl
, q
, ch
->ik_leg_l
.pole
);
426 v3_muladds( ch
->ik_leg_r
.end
, pose
->fr
, q
, ch
->ik_leg_r
.end
);
427 v3_muladds( ch
->ik_leg_r
.pole
, pose
->pr
, q
, ch
->ik_leg_r
.pole
);
428 v3_muladds( ch
->ik_arm_l
.pole
, pose
->apl
, q
, ch
->ik_arm_l
.pole
);
429 v3_muladds( ch
->ik_arm_r
.pole
, pose
->apr
, q
, ch
->ik_arm_r
.pole
);
430 v3_muladds( ch
->ik_arm_l
.end
, pose
->hl
, q
, ch
->ik_arm_l
.end
);
431 v3_muladds( ch
->ik_arm_r
.end
, pose
->hr
, q
, ch
->ik_arm_r
.end
);
432 v3_muladds( ch
->cam_pos
, pose
->cam
, q
, ch
->cam_pos
);
436 void character_final_pose( struct character
*ch
, v3f cog
,
437 character_pose
*pose
, float q
)
439 character_pose npose
;
440 float dip
= vg_clampf(cog
[1], -1.0f
, 0.3f
) * 0.5f
,
441 tilt
= vg_clampf(cog
[2], -1.0f
, 1.0f
) * 0.3f
;
444 q_axis_angle( rz
, (v3f
){0.0f
,0.0f
,1.0f
}, -cog
[0]*0.6f
);
446 v3_copy( (v3f
){0.0f
,dip
,tilt
}, tr
[3] );
448 m4x3_mulv( tr
, pose
->b0
, npose
.b0
);
449 m4x3_mulv( tr
, pose
->b1
, npose
.b1
);
450 m4x3_mulv( tr
, pose
->p
, npose
.p
);
451 m4x3_mulv( tr
, pose
->pl
, npose
.pl
);
452 m4x3_mulv( tr
, pose
->pr
, npose
.pr
);
453 m4x3_mulv( tr
, pose
->hl
, npose
.hl
);
454 m4x3_mulv( tr
, pose
->hr
, npose
.hr
);
455 m4x3_mulv( tr
, pose
->apl
, npose
.apl
);
456 m4x3_mulv( tr
, pose
->apr
, npose
.apr
);
458 v3_copy( pose
->fr
, npose
.fr
);
459 v3_copy( pose
->fl
, npose
.fl
);
460 v3_copy( pose
->cam
, npose
.cam
);
462 character_pose_blend( ch
, &npose
, q
);
465 static void character_yaw_upper( struct character
*ch
, float yaw
)
470 q_axis_angle( q
, (v3f
){0.0f
,1.0f
,0.0f
}, yaw
);
473 m3x3_mulv( r
, ch
->ik_body
.pole
, ch
->ik_body
.pole
);
474 m3x3_mulv( r
, ch
->ik_body
.end
, ch
->ik_body
.end
);
477 static void zero_ik_basic( struct ik_basic
*ik
)
484 static void character_pose_reset( struct character
*ch
)
486 zero_ik_basic( &ch
->ik_body
);
487 zero_ik_basic( &ch
->ik_leg_l
);
488 zero_ik_basic( &ch
->ik_leg_r
);
489 zero_ik_basic( &ch
->ik_arm_l
);
490 zero_ik_basic( &ch
->ik_arm_r
);
491 v3_zero( ch
->cam_pos
);
494 static void character_testpose( struct character
*ch
, float t
)
497 float *hips
= ch
->ik_body
.base
,
498 *collar
= ch
->ik_body
.end
,
499 *pole
= ch
->ik_body
.pole
;
501 hips
[0] = cosf(t
*1.325f
)*0.25f
;
502 hips
[1] = (sinf(t
)*0.2f
+0.6f
) * ch
->origins
[ k_chpart_body0
][1];
506 collar
[1] = hips
[1] + (ch
->ik_body
.l1
+ch
->ik_body
.l2
)*(sinf(t
)*0.05f
+0.94f
);
507 collar
[2] = hips
[2] + cosf(t
*0.42f
)*0.01f
;
509 v3_add( hips
, collar
, pole
);
510 v3_muls( pole
, 0.5f
, pole
);
511 v3_add( pole
, (v3f
){ 1.0f
, 0.0f
, 0.0f
}, pole
);
514 float *footl
= ch
->ik_leg_l
.end
,
515 *footr
= ch
->ik_leg_r
.end
,
516 *polel
= ch
->ik_leg_l
.pole
,
517 *poler
= ch
->ik_leg_r
.pole
;
519 footl
[0] = sinf(t
*0.563f
);
525 footr
[2] = cosf(t
*0.672f
);
527 v3_add( hips
, footl
, polel
);
528 v3_muls( polel
, 0.4f
, polel
);
529 v3_add( polel
, (v3f
){ -1.0f
,0.0f
,0.0f
}, polel
);
531 v3_add( hips
, footr
, poler
);
532 v3_muls( poler
, 0.4f
, poler
);
533 v3_add( poler
, (v3f
){ -1.0f
,0.0f
,0.0f
}, poler
);
536 float *arml
= ch
->ik_arm_l
.end
,
537 *armr
= ch
->ik_arm_r
.end
;
538 polel
= ch
->ik_arm_l
.pole
;
539 poler
= ch
->ik_arm_r
.pole
;
541 v3_copy( (v3f
){ 0.0f
, 0.0f
, 1.0f
}, arml
);
542 v3_copy( (v3f
){ 0.0f
, 0.0f
,-1.0f
}, armr
);
543 v3_copy( (v3f
){ 1.0f
, 1.0f
, 0.5f
}, polel
);
544 v3_copy( (v3f
){ 1.0f
, 1.0f
,-0.5f
}, poler
);
547 ch
->rhip
= sinf(t
*0.2f
);
548 ch
->rcollar
= sinf(t
*0.35325f
);
549 q_identity( ch
->qhead
);
551 m4x3_identity( ch
->matrices
[k_chpart_board
] );
552 m4x3_identity( ch
->matrices
[k_chpart_wb
] );
553 m4x3_identity( ch
->matrices
[k_chpart_wf
] );
556 static float *player_cam_pos(void);
557 static void character_draw( struct character
*ch
, float temp
)
559 shader_character_use();
560 shader_character_uPv( vg_pv
);
562 vg_tex2d_bind( &tex_pallet
, 0 );
563 shader_character_uTexMain( 0 );
564 shader_character_uOpacity( temp
);
565 shader_character_uCamera( player_cam_pos() );
566 shader_link_standard_ub( _shader_character
.id
, 2 );
568 glEnable( GL_CULL_FACE
);
569 glCullFace( GL_BACK
);
571 mesh_bind( &ch
->mesh
);
573 for( int i
=4; i
<PART_COUNT
; i
++ )
576 if( i
== k_chpart_head
|| i
== k_chpart_neck
)
580 shader_character_uMdl( ch
->matrices
[i
] );
581 mdl_draw_submesh( &ch
->parts
[i
] );
584 for( int i
=0; i
<2; i
++ )
588 shader_character_uMdl( ch
->matrices
[i
] );
589 mdl_draw_submesh( &ch
->parts
[i
] );
593 shader_character_uMdl( ch
->matrices
[i
+2] );
594 mdl_draw_submesh( &ch
->parts
[i
] );
595 shader_character_uMdl( ch
->matrices
[i
] );
596 mdl_draw_submesh( &ch
->parts
[i
+2] );
605 static void character_rd_box( struct character
*ch
, enum character_part id
,
608 v3_muls( dims
, -0.5f
, ch
->ragdoll
[id
].bbx
[0] );
609 v3_muls( dims
, 0.5f
, ch
->ragdoll
[id
].bbx
[1] );
614 enum character_part ia
, ib
;
625 static const float k_human_major
= 0.5f
,
626 k_human_minor
= 0.5f
,
627 k_human_major_max
= 0.4f
,
628 k_human_minor_max
= 0.1f
;
630 #define HUMAN_VERTICAL_DEFAULT \
632 .va = {1.0f,0.0f,0.0f}, .vb = {1.0f,0.0f,0.0f}, \
633 .spring = k_human_minor, .ang = k_human_minor_max \
636 .va = {0.0f,1.0f,0.0f}, .vb = {0.0f,1.0f,0.0f}, \
637 .spring = k_human_major, .ang = k_human_major_max \
640 #define HUMAN_ARM_LEFT \
642 .va = {1.0f,0.0f,0.0f}, .vb = {1.0f,0.0f,0.0f}, \
643 .spring = k_human_minor, .ang = k_human_minor_max \
646 .va = {0.0f,0.0f,1.0f}, .vb = {0.0f,0.0f,1.0f}, \
647 .spring = k_human_major, .ang = k_human_major_max \
650 #define HUMAN_ARM_RIGHT \
652 .va = {1.0f,0.0f,0.0f}, .vb = {1.0f,0.0f,0.0f}, \
653 .spring = k_human_minor, .ang = k_human_minor_max \
656 .va = {0.0f,0.0f,-1.0f}, .vb = {0.0f,0.0f,-1.0f}, \
657 .spring = k_human_major, .ang = k_human_major_max \
660 static struct rd_joint rd_joints
[] =
662 { .ia
= k_chpart_leg_l1
, .ib
= k_chpart_foot_l
, HUMAN_VERTICAL_DEFAULT
},
663 { .ia
= k_chpart_leg_r1
, .ib
= k_chpart_foot_r
, HUMAN_VERTICAL_DEFAULT
},
665 { .ia
= k_chpart_body0
, .ib
= k_chpart_body1
, HUMAN_VERTICAL_DEFAULT
},
666 { .ia
= k_chpart_body1
, .ib
= k_chpart_neck
, HUMAN_VERTICAL_DEFAULT
},
667 { .ia
= k_chpart_neck
, .ib
= k_chpart_head
, HUMAN_VERTICAL_DEFAULT
},
668 { .ia
= k_chpart_body0
, .ib
= k_chpart_leg_l0
, HUMAN_VERTICAL_DEFAULT
},
669 { .ia
= k_chpart_leg_l0
, .ib
= k_chpart_leg_l1
, HUMAN_VERTICAL_DEFAULT
},
670 { .ia
= k_chpart_body0
, .ib
= k_chpart_leg_r0
, HUMAN_VERTICAL_DEFAULT
},
671 { .ia
= k_chpart_leg_r0
, .ib
= k_chpart_leg_r1
, HUMAN_VERTICAL_DEFAULT
},
673 { .ia
= k_chpart_body1
, .ib
= k_chpart_arm_l0
, HUMAN_ARM_LEFT
},
674 { .ia
= k_chpart_arm_l0
, .ib
= k_chpart_arm_l1
, HUMAN_ARM_LEFT
},
675 { .ia
= k_chpart_arm_l1
, .ib
= k_chpart_hand_l
, HUMAN_ARM_LEFT
},
677 { .ia
= k_chpart_body1
, .ib
= k_chpart_arm_r0
, HUMAN_ARM_RIGHT
},
678 { .ia
= k_chpart_arm_r0
, .ib
= k_chpart_arm_r1
, HUMAN_ARM_RIGHT
},
679 { .ia
= k_chpart_arm_r1
, .ib
= k_chpart_hand_r
, HUMAN_ARM_RIGHT
}
682 /* Ragdoll should be in rest pose when calling this function */
683 static void character_init_ragdoll_joints( struct character
*ch
)
685 for( int i
=0; i
<vg_list_size(rd_joints
); i
++ )
687 struct rd_joint
*joint
= &rd_joints
[i
];
689 float *hinge
= ch
->origins
[joint
->ib
];
690 v3_sub( hinge
, ch
->ragdoll
[joint
->ia
].co
, joint
->lca
);
691 v3_sub( hinge
, ch
->ragdoll
[joint
->ib
].co
, joint
->lcb
);
694 for( int i
=0; i
<PART_COUNT
; i
++ )
696 float *pivot
= ch
->origins
[i
];
697 v3_sub( ch
->ragdoll
[i
].co
, pivot
, ch
->ragdoll
[i
].delta
);
701 static void character_init_ragdoll( struct character
*ch
)
703 v3f
*offs
= ch
->offsets
;
704 rigidbody
*rbs
= ch
->ragdoll
;
707 float chest_width
= fabsf(offs
[k_chpart_arm_r0
][2])*2.0f
,
708 chest_depth
= chest_width
* 0.571f
,
709 chest_height
= offs
[k_chpart_neck
][1];
710 v3f chest_dims
= { chest_depth
, chest_height
, chest_width
};
711 character_rd_box( ch
, k_chpart_body1
, chest_dims
);
713 v3_copy( ch
->origins
[k_chpart_body1
], rbs
[k_chpart_body1
].co
);
714 rbs
[k_chpart_body1
].co
[1] += chest_height
*0.5f
;
717 v3f torso_dims
= { chest_depth
,
718 offs
[k_chpart_body1
][1]-offs
[k_chpart_leg_l0
][1],
720 v3_copy( ch
->origins
[k_chpart_body0
], rbs
[k_chpart_body0
].co
);
721 character_rd_box( ch
, k_chpart_body0
, torso_dims
);
724 v3f neck_dims
= { chest_depth
*0.5f
,
725 offs
[k_chpart_head
][1],
727 v3_copy( ch
->origins
[k_chpart_neck
], rbs
[k_chpart_neck
].co
);
728 rbs
[k_chpart_neck
].co
[1] += neck_dims
[1]*0.5f
;
729 character_rd_box( ch
, k_chpart_neck
, neck_dims
);
732 v3f head_dims
= { chest_width
*0.5f
, chest_width
*0.5f
, chest_width
*0.5f
};
733 v3_copy( ch
->origins
[k_chpart_head
], rbs
[k_chpart_head
].co
);
734 rbs
[k_chpart_head
].co
[1] += head_dims
[1]*0.5f
;
735 character_rd_box( ch
, k_chpart_head
, head_dims
);
738 v3f ua_dims
= { 0.0f
, 0.0f
, fabsf(offs
[k_chpart_arm_l1
][2]) };
739 ua_dims
[1] = 0.38f
*ua_dims
[2];
740 ua_dims
[0] = 0.38f
*ua_dims
[2];
741 v3f la_dims
= { ua_dims
[0], ua_dims
[1], fabsf(offs
[k_chpart_hand_l
][2]) };
742 v3f hand_dims
= { ua_dims
[1], ua_dims
[1]*0.5f
, ua_dims
[1] };
744 character_rd_box( ch
, k_chpart_arm_l0
, ua_dims
);
745 character_rd_box( ch
, k_chpart_arm_r0
, ua_dims
);
746 character_rd_box( ch
, k_chpart_arm_l1
, la_dims
);
747 character_rd_box( ch
, k_chpart_arm_r1
, la_dims
);
748 character_rd_box( ch
, k_chpart_hand_l
, hand_dims
);
749 character_rd_box( ch
, k_chpart_hand_r
, hand_dims
);
751 v3_copy( ch
->origins
[k_chpart_arm_l0
], rbs
[k_chpart_arm_l0
].co
);
752 rbs
[k_chpart_arm_l0
].co
[2] += ua_dims
[2] * 0.5f
;
753 v3_copy( ch
->origins
[k_chpart_arm_l1
], rbs
[k_chpart_arm_l1
].co
);
754 rbs
[k_chpart_arm_l1
].co
[2] += la_dims
[2] * 0.5f
;
755 v3_copy( ch
->origins
[k_chpart_hand_l
], rbs
[k_chpart_hand_l
].co
);
756 rbs
[k_chpart_hand_l
].co
[2] += hand_dims
[2] * 0.5f
;
758 v3_copy( ch
->origins
[k_chpart_arm_r0
], rbs
[k_chpart_arm_r0
].co
);
759 rbs
[k_chpart_arm_r0
].co
[2] -= ua_dims
[2] * 0.5f
;
760 v3_copy( ch
->origins
[k_chpart_arm_r1
], rbs
[k_chpart_arm_r1
].co
);
761 rbs
[k_chpart_arm_r1
].co
[2] -= la_dims
[2] * 0.5f
;
762 v3_copy( ch
->origins
[k_chpart_hand_r
], rbs
[k_chpart_hand_r
].co
);
763 rbs
[k_chpart_hand_r
].co
[2] -= hand_dims
[2] * 0.5f
;
766 v3f ul_dims
= { 0.0f
, fabsf(offs
[k_chpart_leg_l1
][1]), 0.0f
};
767 ul_dims
[0] = 0.38f
*ul_dims
[1];
768 ul_dims
[2] = 0.38f
*ul_dims
[1];
769 v3f ll_dims
= { ul_dims
[0], fabsf(offs
[k_chpart_foot_l
][1]), ul_dims
[2] };
770 v3f foot_dims
= { 2.0f
*ul_dims
[0], ul_dims
[0], ul_dims
[0] };
772 character_rd_box( ch
, k_chpart_leg_l0
, ul_dims
);
773 character_rd_box( ch
, k_chpart_leg_r0
, ul_dims
);
774 character_rd_box( ch
, k_chpart_leg_l1
, ll_dims
);
775 character_rd_box( ch
, k_chpart_leg_r1
, ll_dims
);
776 character_rd_box( ch
, k_chpart_foot_l
, foot_dims
);
777 character_rd_box( ch
, k_chpart_foot_r
, foot_dims
);
779 v3_copy( ch
->origins
[k_chpart_leg_l0
], rbs
[k_chpart_leg_l0
].co
);
780 rbs
[k_chpart_leg_l0
].co
[1] -= ul_dims
[1] * 0.5f
;
781 v3_copy( ch
->origins
[k_chpart_leg_l1
], rbs
[k_chpart_leg_l1
].co
);
782 rbs
[k_chpart_leg_l1
].co
[1] -= ll_dims
[1] * 0.5f
;
783 v3_copy( ch
->origins
[k_chpart_foot_l
], rbs
[k_chpart_foot_l
].co
);
784 rbs
[k_chpart_foot_l
].co
[1] -= foot_dims
[1] * 0.5f
;
785 rbs
[k_chpart_foot_l
].co
[0] -= foot_dims
[0] * 0.5f
;
787 v3_copy( ch
->origins
[k_chpart_leg_r0
], rbs
[k_chpart_leg_r0
].co
);
788 rbs
[k_chpart_leg_r0
].co
[1] -= ul_dims
[1] * 0.5f
;
789 v3_copy( ch
->origins
[k_chpart_leg_r1
], rbs
[k_chpart_leg_r1
].co
);
790 rbs
[k_chpart_leg_r1
].co
[1] -= ll_dims
[1] * 0.5f
;
791 v3_copy( ch
->origins
[k_chpart_foot_r
], rbs
[k_chpart_foot_r
].co
);
792 rbs
[k_chpart_foot_r
].co
[1] -= foot_dims
[1] * 0.5f
;
793 rbs
[k_chpart_foot_r
].co
[0] -= foot_dims
[0] * 0.5f
;
795 character_rd_box( ch
, k_chpart_sock_l
, foot_dims
);
796 character_rd_box( ch
, k_chpart_sock_r
, foot_dims
);
797 v3_copy( rbs
[k_chpart_foot_l
].co
, rbs
[k_chpart_sock_l
].co
);
798 v3_copy( rbs
[k_chpart_foot_r
].co
, rbs
[k_chpart_sock_r
].co
);
800 box_copy( (boxf
){{-0.2f
,-0.2f
,-0.7f
},{0.2f
,0.2f
,0.7f
}},
801 rbs
[k_chpart_board
].bbx
);
803 for( int i
=0; i
<PART_COUNT
; i
++ )
804 rb_init( &ch
->ragdoll
[i
] );
806 character_init_ragdoll_joints( ch
);
809 static void character_ragdoll_go( struct character
*ch
, v3f pos
)
811 character_init_ragdoll( ch
);
812 for( int i
=0; i
<PART_COUNT
; i
++ )
813 v3_add( pos
, ch
->ragdoll
[i
].co
, ch
->ragdoll
[i
].co
);
816 static void character_ragdoll_copypose( struct character
*ch
, v3f v
)
818 for( int i
=0; i
<PART_COUNT
; i
++ )
820 rigidbody
*rb
= &ch
->ragdoll
[i
];
822 m4x3_mulv( ch
->matrices
[i
], rb
->delta
, rb
->co
);
823 m3x3_q( ch
->matrices
[i
], rb
->q
);
826 rb
->manifold_count
= 0; /* ? */
828 rb_update_transform( rb
);
831 float vel
= v3_length(v
);
837 static void character_mimic_ragdoll( struct character
*ch
)
839 for( int i
=0; i
<PART_COUNT
; i
++ )
841 rigidbody
*rb
= &ch
->ragdoll
[i
];
842 v3f
*mat
= ch
->matrices
[i
];
844 m3x3_copy( rb
->to_world
, mat
);
846 v3_negate( rb
->delta
, inv_delta
);
847 m4x3_mulv( rb
->to_world
, inv_delta
, mat
[3] );
850 /* Attach wheels to board */
851 m3x3_copy( ch
->matrices
[k_chpart_board
], ch
->matrices
[k_chpart_wb
] );
852 m3x3_copy( ch
->matrices
[k_chpart_board
], ch
->matrices
[k_chpart_wf
] );
853 m4x3_mulv( ch
->matrices
[k_chpart_board
], ch
->offsets
[k_chpart_wb
],
854 ch
->matrices
[k_chpart_wb
][3] );
855 m4x3_mulv( ch
->matrices
[k_chpart_board
], ch
->offsets
[k_chpart_wf
],
856 ch
->matrices
[k_chpart_wf
][3] );
859 static void character_debug_ragdoll( struct character
*ch
)
861 rb_debug( &ch
->ragdoll
[k_chpart_body0
], 0xffffffff );
862 rb_debug( &ch
->ragdoll
[k_chpart_body1
], 0xffffffff );
863 rb_debug( &ch
->ragdoll
[k_chpart_neck
], 0xff00ff00 );
864 rb_debug( &ch
->ragdoll
[k_chpart_head
], 0xff00ff00 );
866 rb_debug( &ch
->ragdoll
[k_chpart_arm_l0
], 0xffffa500 );
867 rb_debug( &ch
->ragdoll
[k_chpart_arm_l1
], 0xffffa500 );
868 rb_debug( &ch
->ragdoll
[k_chpart_hand_l
], 0xffffa500 );
870 rb_debug( &ch
->ragdoll
[k_chpart_arm_r0
], 0xff00a5ff );
871 rb_debug( &ch
->ragdoll
[k_chpart_arm_r1
], 0xff00a5ff );
872 rb_debug( &ch
->ragdoll
[k_chpart_hand_r
], 0xff00a5ff );
874 rb_debug( &ch
->ragdoll
[k_chpart_leg_l0
], 0xffffa500 );
875 rb_debug( &ch
->ragdoll
[k_chpart_leg_l1
], 0xffffa500 );
876 rb_debug( &ch
->ragdoll
[k_chpart_foot_l
], 0xffffa500 );
877 rb_debug( &ch
->ragdoll
[k_chpart_leg_r0
], 0xff00a5ff );
878 rb_debug( &ch
->ragdoll
[k_chpart_leg_r1
], 0xff00a5ff );
879 rb_debug( &ch
->ragdoll
[k_chpart_foot_r
], 0xff00a5ff );
882 static void character_ragdoll_iter( struct character
*ch
)
884 for( int i
=0; i
<PART_COUNT
; i
++ )
886 rb_manifold_reset( &ch
->ragdoll
[i
] );
887 rb_build_manifold_terrain( &ch
->ragdoll
[i
] );
890 int len
= bh_select( &world
.bhcubes
, ch
->ragdoll
[i
].bbx_world
,
893 for( int j
=0; j
<len
; j
++ )
894 rb_build_manifold_rb_static( &ch
->ragdoll
[i
],
895 &world
.temp_rbs
[colliders
[j
]] );
901 for( int i
=0; i
<2; i
++ )
903 shoe_vel
[i
] = v3_length( ch
->ragdoll
[i
].v
);
905 for( int i
=0; i
<20; i
++ )
907 float const k_springfactor
= 1.0f
/20.0f
;
909 for( int j
=0; j
<PART_COUNT
; j
++ )
910 rb_constraint_manifold( &ch
->ragdoll
[j
] );
912 for( int j
=0; j
<vg_list_size(rd_joints
); j
++ )
914 struct rd_joint
*joint
= &rd_joints
[j
];
915 rigidbody
*rba
= &ch
->ragdoll
[joint
->ia
],
916 *rbb
= &ch
->ragdoll
[joint
->ib
];
918 rb_constraint_position( rba
, joint
->lca
, rbb
, joint
->lcb
);
919 rb_constraint_angle( rba
, joint
->maj
.va
, rbb
, joint
->maj
.vb
,
921 joint
->maj
.spring
* k_springfactor
);
923 rb_constraint_angle( rba
, joint
->min
.va
, rbb
, joint
->min
.vb
,
925 joint
->min
.spring
* k_springfactor
);
929 for( int j
=0; j
<vg_list_size(rd_joints
); j
++ )
931 struct rd_joint
*joint
= &rd_joints
[j
];
932 rigidbody
*rba
= &ch
->ragdoll
[joint
->ia
],
933 *rbb
= &ch
->ragdoll
[joint
->ib
];
934 rb_angle_limit_force( rba
, joint
->min
.va
, rbb
, joint
->min
.vb
,
936 rb_angle_limit_force( rba
, joint
->maj
.va
, rbb
, joint
->maj
.vb
,
940 for( int i
=0; i
<PART_COUNT
; i
++ )
941 rb_iter( &ch
->ragdoll
[i
] );
943 for( int i
=0; i
<2; i
++ )
947 float a
= v3_length( ch
->ragdoll
[i
].v
) - shoe_vel
[i
];
953 rigidbody
*src
= &ch
->ragdoll
[k_chpart_foot_l
];
954 rigidbody
*dst
= &ch
->ragdoll
[k_chpart_sock_l
];
956 v3_copy( src
->co
, dst
->co
);
957 v3_copy( src
->v
, dst
->v
);
958 v3_copy( src
->q
, dst
->q
);
959 v3_copy( src
->I
, dst
->I
);
964 for( int i
=0; i
<PART_COUNT
; i
++ )
965 rb_update_transform( &ch
->ragdoll
[i
] );