10 SHADER_DEFINE( shader_player
,
12 /*Include*/ VERTEX_STANDARD_ATTRIBUTES
15 "uniform mat4x3 uMdl;"
16 "uniform float uOpacity;"
26 "vec3 world_pos = uMdl * vec4(a_co,1.0);"
27 "gl_Position = uPv * vec4(world_pos,1.0);"
31 "aNorm = mat3(uMdl) * a_norm;"
33 "aOpacity = 1.0-(gl_Position.y+0.5)*uOpacity;"
38 "uniform sampler2D uTexMain;"
39 "uniform vec4 uColour;"
49 "vec3 diffuse = texture( uTexMain, aUv ).rgb;"
50 "FragColor = vec4(pow(diffuse,vec3(1.0)),aOpacity);"
53 UNIFORMS({ "uTexMain", "uPv", "uMdl", "uOpacity" })
56 #define FOREACH_PART(FN) \
79 #define MAKE_ENUM(ENUM) k_chpart_##ENUM,
80 #define MAKE_STRING(STR) #STR,
82 #define PART_COUNT FOREACH_PART(ADD_ONE)
86 FOREACH_PART( MAKE_ENUM
)
89 static const char *character_part_strings
[] =
91 FOREACH_PART( MAKE_STRING
)
98 submodel parts
[ PART_COUNT
];
99 m4x3f matrices
[ PART_COUNT
];
101 /* Auxillary information */
102 v3f offsets
[ PART_COUNT
];
103 rigidbody ragdoll
[ PART_COUNT
];
107 * note: - base nodes of IK structures will be filled automatically
108 * - all positions are in local space to the mroot
110 struct ik_basic ik_arm_l
, ik_arm_r
,
116 float rhip
, rcollar
, /* twist of hip and collar controls,
117 these act in the local +y axis of the part */
122 v3f ground_normal
; /* Feet will be aligned to this */
128 static void character_offset( struct character
*ch
, enum character_part parent
,
129 enum character_part child
)
131 v3_sub( ch
->parts
[ child
].pivot
, ch
->parts
[ parent
].pivot
,
132 ch
->offsets
[ child
] );
135 static int character_load( struct character
*ch
, const char *name
)
139 snprintf( buf
, sizeof(buf
)-1, "models/%s.mdl", name
);
140 model
*src
= vg_asset_read( buf
);
144 vg_error( "Could not open 'models/%s.mdl'", name
);
150 for( int i
=0; i
<PART_COUNT
; i
++ )
152 snprintf( buf
, sizeof(buf
)-1, "%s_%s", name
, character_part_strings
[i
] );
153 submodel
*sm
= submodel_get( src
, buf
);
157 vg_warn( "Character file does not contain an '_%s' part.\n",
158 character_part_strings
[i
] );
161 memset( &ch
->parts
[i
], 0, sizeof(submodel
) );
168 model_unpack( src
, &ch
->mesh
);
171 vg_success( "Loaded character file '%s' with no errors\n", name
);
173 /* Create the offsets */
174 character_offset( ch
, k_chpart_body0
, k_chpart_body1
);
175 character_offset( ch
, k_chpart_body1
, k_chpart_neck
);
176 character_offset( ch
, k_chpart_neck
, k_chpart_head
);
178 character_offset( ch
, k_chpart_body1
, k_chpart_arm_l0
);
179 character_offset( ch
, k_chpart_arm_l0
, k_chpart_arm_l1
);
180 character_offset( ch
, k_chpart_arm_l1
, k_chpart_hand_l
);
182 character_offset( ch
, k_chpart_body1
, k_chpart_arm_r0
);
183 character_offset( ch
, k_chpart_arm_r0
, k_chpart_arm_r1
);
184 character_offset( ch
, k_chpart_arm_r1
, k_chpart_hand_r
);
186 character_offset( ch
, k_chpart_body0
, k_chpart_leg_l0
);
187 character_offset( ch
, k_chpart_leg_l0
, k_chpart_leg_l1
);
188 character_offset( ch
, k_chpart_leg_l1
, k_chpart_foot_l
);
190 character_offset( ch
, k_chpart_body0
, k_chpart_leg_r0
);
191 character_offset( ch
, k_chpart_leg_r0
, k_chpart_leg_r1
);
192 character_offset( ch
, k_chpart_leg_r1
, k_chpart_foot_r
);
194 character_offset( ch
, k_chpart_board
, k_chpart_wb
);
195 character_offset( ch
, k_chpart_board
, k_chpart_wf
);
197 ch
->ik_arm_l
.l1
= v3_length( ch
->offsets
[ k_chpart_arm_l1
] );
198 ch
->ik_arm_l
.l2
= v3_length( ch
->offsets
[ k_chpart_hand_l
] );
199 ch
->ik_arm_r
.l1
= v3_length( ch
->offsets
[ k_chpart_arm_r1
] );
200 ch
->ik_arm_r
.l2
= v3_length( ch
->offsets
[ k_chpart_hand_r
] );
202 ch
->ik_leg_l
.l1
= v3_length( ch
->offsets
[ k_chpart_leg_l1
] );
203 ch
->ik_leg_l
.l2
= v3_length( ch
->offsets
[ k_chpart_foot_l
] );
204 ch
->ik_leg_r
.l1
= v3_length( ch
->offsets
[ k_chpart_leg_r1
] );
205 ch
->ik_leg_r
.l2
= v3_length( ch
->offsets
[ k_chpart_foot_r
] );
207 ch
->ik_body
.l1
= v3_length( ch
->offsets
[ k_chpart_body1
] );
208 ch
->ik_body
.l2
= v3_length( ch
->offsets
[ k_chpart_neck
] );
214 static void align_to_board( struct character
*ch
, enum character_part id
)
216 /* Calculate rotation between board and feet */
217 m4x3f
*mats
= ch
->matrices
;
219 v3f foot_pos
, foot_fwd
, foot_target
, board_norm
, board_origin
;
220 v3_copy( mats
[id
][3], foot_pos
);
221 m3x3_mulv( mats
[id
], (v3f
){1.0f
,0.0f
,0.0f
}, foot_fwd
);
222 v3_add( foot_fwd
, foot_pos
, foot_target
);
224 m3x3_mulv( mats
[k_chpart_board
], (v3f
){0.0f
,1.0f
,0.0f
}, board_norm
);
225 m4x3_mulv( mats
[k_chpart_board
], (v3f
){0.0f
,0.13f
,0.0f
}, board_origin
);
227 vg_line( foot_pos
, foot_target
, 0xff00ff00 );
230 v3_sub( board_origin
, foot_target
, v0
);
231 float t
= v3_dot( v0
, board_norm
) / board_norm
[1];
233 vg_line( foot_pos
, foot_target
, 0xff00ffff );
235 v3_sub( foot_target
, foot_pos
, foot_target
);
236 v3_normalize( foot_target
);
237 float ang
= acosf( v3_dot( foot_target
, foot_fwd
) );
239 v4f qcorrection
; m3x3f correction
;
240 q_axis_angle( qcorrection
, (v3f
){0.0f
,0.0f
,1.0f
}, -ang
);
241 q_m3x3( qcorrection
, correction
);
242 m3x3_mul( mats
[id
], correction
, mats
[id
] );
245 static void character_eval( struct character
*ch
)
247 m4x3f
*mats
= ch
->matrices
;
248 v3f
*offs
= ch
->offsets
;
250 ik_basic( &ch
->ik_body
, mats
[k_chpart_body0
], mats
[k_chpart_body1
],
255 /* TODO: Do this directly via m3x3 */
257 q_axis_angle( body_rotation
, (v3f
){0.0f
,1.0f
,0.0f
}, ch
->rhip
);
258 q_m3x3( body_rotation
, temp
);
259 m3x3_mul( mats
[k_chpart_body0
], temp
, mats
[k_chpart_body0
] );
261 q_axis_angle( body_rotation
, (v3f
){0.0f
,1.0f
,0.0f
}, ch
->rcollar
);
262 q_m3x3( body_rotation
, temp
);
263 m3x3_mul( mats
[k_chpart_body1
], temp
, mats
[k_chpart_body1
] );
266 m4x3_mulv( mats
[k_chpart_body0
], offs
[k_chpart_leg_l0
], ch
->ik_leg_l
.base
);
267 m4x3_mulv( mats
[k_chpart_body0
], offs
[k_chpart_leg_r0
], ch
->ik_leg_r
.base
);
268 m4x3_mulv( mats
[k_chpart_body1
], offs
[k_chpart_arm_l0
], ch
->ik_arm_l
.base
);
269 m4x3_mulv( mats
[k_chpart_body1
], offs
[k_chpart_arm_r0
], ch
->ik_arm_r
.base
);
271 /* IK for arms and legs */
272 ik_basic( &ch
->ik_arm_l
, mats
[k_chpart_arm_l0
], mats
[k_chpart_arm_l1
],
274 ik_basic( &ch
->ik_arm_r
, mats
[k_chpart_arm_r0
], mats
[k_chpart_arm_r1
],
276 ik_basic( &ch
->ik_leg_l
, mats
[k_chpart_leg_l0
], mats
[k_chpart_leg_l1
],
278 ik_basic( &ch
->ik_leg_r
, mats
[k_chpart_leg_r0
], mats
[k_chpart_leg_r1
],
282 m3x3_copy( mats
[k_chpart_arm_l1
], mats
[k_chpart_hand_l
] );
283 m3x3_copy( mats
[k_chpart_arm_r1
], mats
[k_chpart_hand_r
] );
284 m4x3_mulv( mats
[k_chpart_arm_l1
], offs
[k_chpart_hand_l
],
285 mats
[k_chpart_hand_l
][3] );
286 m4x3_mulv( mats
[k_chpart_arm_r1
], offs
[k_chpart_hand_r
],
287 mats
[k_chpart_hand_r
][3] );
290 m3x3_copy( mats
[k_chpart_body1
], mats
[k_chpart_neck
] );
291 m4x3_mulv( mats
[k_chpart_body1
], offs
[k_chpart_neck
],
292 mats
[k_chpart_neck
][3] );
295 q_axis_angle( qhead
, (v3f
){ 0.0f
,1.0f
,0.0f
}, ch
->rhead
);
296 q_m3x3( qhead
, mats
[k_chpart_head
] );
297 //m3x3_mul( mats[k_chpart_neck], mats[k_chpart_head], mats[k_chpart_head] );
298 m4x3_mulv( mats
[k_chpart_neck
], offs
[k_chpart_head
], mats
[k_chpart_head
][3]);
301 m3x3_copy( mats
[k_chpart_leg_l1
], mats
[k_chpart_foot_l
] );
302 m3x3_copy( mats
[k_chpart_leg_r1
], mats
[k_chpart_foot_r
] );
303 m4x3_mulv( mats
[k_chpart_leg_l1
], offs
[k_chpart_foot_l
],
304 mats
[k_chpart_foot_l
][3] );
305 m4x3_mulv( mats
[k_chpart_leg_r1
], offs
[k_chpart_foot_r
],
306 mats
[k_chpart_foot_r
][3] );
308 align_to_board( ch
, k_chpart_foot_l
);
309 align_to_board( ch
, k_chpart_foot_r
);
311 for( int i
=0; i
<PART_COUNT
; i
++ )
312 m4x3_mul( ch
->mroot
, ch
->matrices
[i
], ch
->matrices
[i
] );
315 #define B3D_CO( X, Y, Z ) (v3f){ X, Z, -Y }
317 typedef struct character_pose character_pose
;
318 struct character_pose
320 v3f b0
, b1
, p
, fr
, fl
, pl
, pr
, hl
, hr
, apl
, apr
, cam
;
323 static character_pose pose_aero
=
325 .b0
= {0.0721f
, 0.8167f
, 0.1365f
},
326 .b1
= {-0.0773f
, 1.1559f
, -0.1699f
},
327 .p
= {0.0421f
, 1.1430f
, 0.2803f
},
328 .fr
= {0.0535f
, 0.1312f
, -0.3647f
},
329 .fl
= {-0.0605f
, 0.1464f
, 0.2917f
},
330 .pl
= {-0.1704f
, 0.6889f
, -0.4017f
},
331 .pr
= {0.0672f
, 0.7598f
, -0.5963f
},
332 .hl
= {-0.2153f
, 0.7195f
, -0.1345f
},
333 .hr
= {0.1974f
, 0.7940f
, -0.3522f
},
334 .apl
= {-0.2008f
, 0.9546f
, 0.3687f
},
335 .apr
= {0.3133f
, 0.9299f
, 0.0181f
},
336 .cam
= {-0.3394f
, 1.2661f
, 0.2936f
}
339 static character_pose pose_slide
=
341 .b0
= {0.6732f
, 0.5565f
, -0.0000f
},
342 .b1
= {0.8116f
, 1.0547f
, 0.0613f
},
343 .p
= {1.0404f
, 0.7907f
, 0.0186f
},
344 .fr
= {-0.0030f
, 0.1366f
, -0.4461f
},
345 .fl
= {-0.0030f
, 0.1366f
, 0.3480f
},
346 .pl
= {-0.0887f
, 0.8229f
, 0.3826f
},
347 .pr
= {-0.0887f
, 0.8229f
, -0.4621f
},
348 .hl
= {0.7749f
, 0.5545f
, 0.5310f
},
349 .hr
= {0.5844f
, 1.2445f
, -0.5456f
},
350 .apl
= {1.0999f
, 0.5390f
, 0.2398f
},
351 .apr
= {0.9816f
, 0.9536f
, -0.5463f
},
352 .cam
= {0.9888f
, 1.4037f
, 0.6081f
}
355 static character_pose pose_slide1
=
357 .b0
= {-0.2385f
, 0.6403f
, 0.1368f
},
358 .b1
= {-0.5151f
, 1.1351f
, 0.1380f
},
359 .p
= {-0.1158f
, 1.2118f
, 0.3895f
},
360 .fr
= {-0.0030f
, 0.1323f
, -0.3190f
},
361 .fl
= {-0.0030f
, 0.1323f
, 0.5797f
},
362 .pl
= {-0.6568f
, 0.4305f
, 0.2069f
},
363 .pr
= {-0.6850f
, 0.2740f
, -0.2969f
},
364 .hl
= {-0.7029f
, 0.6132f
, 0.2972f
},
365 .hr
= {-0.2572f
, 1.0104f
, -0.4770f
},
366 .apl
= {-0.4808f
, 0.8480f
, 0.3731f
},
367 .apr
= {-0.0836f
, 1.0480f
, -0.1201f
},
368 .cam
= {-1.0508f
, 1.0769f
, 0.0528f
}
371 static character_pose pose_aero_reverse
=
373 .b0
= {0.0616f
, 0.8167f
, -0.1415f
},
374 .b1
= {0.0148f
, 1.1559f
, 0.1861f
},
375 .p
= {0.0558f
, 1.1430f
, -0.2779f
},
376 .fr
= {0.0535f
, 0.1312f
, -0.3647f
},
377 .fl
= {0.0730f
, 0.1464f
, 0.2917f
},
378 .pl
= {-0.2073f
, 0.6889f
, 0.3839f
},
379 .pr
= {-0.3584f
, 0.4069f
, 0.1032f
},
380 .hl
= {0.1567f
, 0.7195f
, 0.1997f
},
381 .hr
= {-0.3055f
, 0.7940f
, 0.2639f
},
382 .apl
= {0.3143f
, 0.9546f
, -0.2784f
},
383 .apr
= {-0.2885f
, 0.9299f
, -0.1236f
},
384 .cam
= {-0.3394f
, 1.2661f
, -0.2936f
}
387 static character_pose pose_stand
=
389 .b0
= {0.1877f
, 1.0663f
, 0.0063f
},
390 .b1
= {0.0499f
, 1.5564f
, -0.0584f
},
391 .p
= {0.5982f
, 1.2810f
, 0.0842f
},
392 .fr
= {0.0535f
, 0.1312f
, -0.3647f
},
393 .fl
= {0.0354f
, 0.1464f
, 0.2917f
},
394 .pl
= {-0.4325f
, 0.6889f
, 0.1823f
},
395 .pr
= {-0.4794f
, 0.7598f
, -0.3610f
},
396 .hl
= {0.0498f
, 1.0058f
, 0.2317f
},
397 .hr
= {0.0188f
, 0.9786f
, -0.2725f
},
398 .apl
= {0.2898f
, 1.3453f
, 0.2303f
},
399 .apr
= {0.5273f
, 1.2876f
, -0.1848f
},
400 .cam
= {-0.3477f
, 1.5884f
, -0.0019f
}
403 static character_pose pose_fly
=
405 .b0
= {0.2995f
, 0.6819f
, -0.1369f
},
406 .b1
= {0.1618f
, 1.1720f
, -0.2016f
},
407 .p
= {0.7477f
, 0.9173f
, -0.1885f
},
408 .fr
= {0.0535f
, 0.1312f
, -0.3647f
},
409 .fl
= {0.0354f
, 0.1464f
, 0.2917f
},
410 .pl
= {-0.2930f
, 0.4849f
, 0.5307f
},
411 .pr
= {-0.4754f
, 0.4124f
, -0.4874f
},
412 .hl
= {0.2650f
, 1.1897f
, 0.4626f
},
413 .hr
= {0.2494f
, 1.2059f
, -0.7985f
},
414 .apl
= {0.5165f
, 1.0990f
, 0.1655f
},
415 .apr
= {0.6759f
, 1.0661f
, -0.6014f
},
416 .cam
= {-0.2727f
, 1.2606f
, 0.3564f
}
420 void character_pose_blend( struct character
*ch
, character_pose
*pose
, float q
)
422 v3_muladds( ch
->ik_body
.base
, pose
->b0
, q
, ch
->ik_body
.base
);
423 v3_muladds( ch
->ik_body
.end
, pose
->b1
, q
, ch
->ik_body
.end
);
424 v3_muladds( ch
->ik_body
.pole
, pose
->p
, q
, ch
->ik_body
.pole
);
425 v3_muladds( ch
->ik_leg_l
.end
, pose
->fl
, q
, ch
->ik_leg_l
.end
);
426 v3_muladds( ch
->ik_leg_l
.pole
, pose
->pl
, q
, ch
->ik_leg_l
.pole
);
427 v3_muladds( ch
->ik_leg_r
.end
, pose
->fr
, q
, ch
->ik_leg_r
.end
);
428 v3_muladds( ch
->ik_leg_r
.pole
, pose
->pr
, q
, ch
->ik_leg_r
.pole
);
429 v3_muladds( ch
->ik_arm_l
.pole
, pose
->apl
, q
, ch
->ik_arm_l
.pole
);
430 v3_muladds( ch
->ik_arm_r
.pole
, pose
->apr
, q
, ch
->ik_arm_r
.pole
);
431 v3_muladds( ch
->ik_arm_l
.end
, pose
->hl
, q
, ch
->ik_arm_l
.end
);
432 v3_muladds( ch
->ik_arm_r
.end
, pose
->hr
, q
, ch
->ik_arm_r
.end
);
433 v3_muladds( ch
->cam_pos
, pose
->cam
, q
, ch
->cam_pos
);
437 void character_final_pose( struct character
*ch
, v3f cog
,
438 character_pose
*pose
, float q
)
440 character_pose npose
;
441 float dip
= vg_clampf(cog
[1], -1.0f
, 0.3f
) * 0.35f
,
442 tilt
= vg_clampf(cog
[2], -1.0f
, 1.0f
) * 0.3f
;
445 q_axis_angle( rz
, (v3f
){0.0f
,0.0f
,1.0f
}, -cog
[0]*0.6f
);
447 v3_copy( (v3f
){0.0f
,dip
,tilt
}, tr
[3] );
449 m4x3_mulv( tr
, pose
->b0
, npose
.b0
);
450 m4x3_mulv( tr
, pose
->b1
, npose
.b1
);
451 m4x3_mulv( tr
, pose
->p
, npose
.p
);
452 m4x3_mulv( tr
, pose
->pl
, npose
.pl
);
453 m4x3_mulv( tr
, pose
->pr
, npose
.pr
);
454 m4x3_mulv( tr
, pose
->hl
, npose
.hl
);
455 m4x3_mulv( tr
, pose
->hr
, npose
.hr
);
456 m4x3_mulv( tr
, pose
->apl
, npose
.apl
);
457 m4x3_mulv( tr
, pose
->apr
, npose
.apr
);
459 v3_copy( pose
->fr
, npose
.fr
);
460 v3_copy( pose
->fl
, npose
.fl
);
461 v3_copy( pose
->cam
, npose
.cam
);
463 character_pose_blend( ch
, &npose
, q
);
466 static void zero_ik_basic( struct ik_basic
*ik
)
473 static void character_pose_reset( struct character
*ch
)
475 zero_ik_basic( &ch
->ik_body
);
476 zero_ik_basic( &ch
->ik_leg_l
);
477 zero_ik_basic( &ch
->ik_leg_r
);
478 zero_ik_basic( &ch
->ik_arm_l
);
479 zero_ik_basic( &ch
->ik_arm_r
);
480 v3_zero( ch
->cam_pos
);
483 static void character_testpose( struct character
*ch
, float t
)
486 float *hips
= ch
->ik_body
.base
,
487 *collar
= ch
->ik_body
.end
,
488 *pole
= ch
->ik_body
.pole
;
490 hips
[0] = cosf(t
*1.325f
)*0.25f
;
491 hips
[1] = (sinf(t
)*0.2f
+0.6f
) * ch
->parts
[ k_chpart_body0
].pivot
[1];
495 collar
[1] = hips
[1] + (ch
->ik_body
.l1
+ch
->ik_body
.l2
)*(sinf(t
)*0.05f
+0.94f
);
496 collar
[2] = hips
[2] + cosf(t
*0.42f
)*0.01f
;
498 v3_add( hips
, collar
, pole
);
499 v3_muls( pole
, 0.5f
, pole
);
500 v3_add( pole
, (v3f
){ 1.0f
, 0.0f
, 0.0f
}, pole
);
503 float *footl
= ch
->ik_leg_l
.end
,
504 *footr
= ch
->ik_leg_r
.end
,
505 *polel
= ch
->ik_leg_l
.pole
,
506 *poler
= ch
->ik_leg_r
.pole
;
508 footl
[0] = sinf(t
*0.563f
);
514 footr
[2] = cosf(t
*0.672f
);
516 v3_add( hips
, footl
, polel
);
517 v3_muls( polel
, 0.4f
, polel
);
518 v3_add( polel
, (v3f
){ -1.0f
,0.0f
,0.0f
}, polel
);
520 v3_add( hips
, footr
, poler
);
521 v3_muls( poler
, 0.4f
, poler
);
522 v3_add( poler
, (v3f
){ -1.0f
,0.0f
,0.0f
}, poler
);
525 float *arml
= ch
->ik_arm_l
.end
,
526 *armr
= ch
->ik_arm_r
.end
;
527 polel
= ch
->ik_arm_l
.pole
;
528 poler
= ch
->ik_arm_r
.pole
;
530 v3_copy( (v3f
){ 0.0f
, 0.0f
, 1.0f
}, arml
);
531 v3_copy( (v3f
){ 0.0f
, 0.0f
,-1.0f
}, armr
);
532 v3_copy( (v3f
){ 1.0f
, 1.0f
, 0.5f
}, polel
);
533 v3_copy( (v3f
){ 1.0f
, 1.0f
,-0.5f
}, poler
);
536 ch
->rhip
= sinf(t
*0.2f
);
537 ch
->rcollar
= sinf(t
*0.35325f
);
538 q_identity( ch
->qhead
);
540 m4x3_identity( ch
->matrices
[k_chpart_board
] );
541 m4x3_identity( ch
->matrices
[k_chpart_wb
] );
542 m4x3_identity( ch
->matrices
[k_chpart_wf
] );
545 static void character_draw( struct character
*ch
, float temp
)
547 SHADER_USE(shader_player
);
548 glUniformMatrix4fv( SHADER_UNIFORM( shader_player
, "uPv" ),
549 1, GL_FALSE
, (float *)vg_pv
);
551 glUniform1i( SHADER_UNIFORM( shader_player
, "uTexMain" ), 0 );
552 glUniform1f( SHADER_UNIFORM( shader_player
, "uOpacity" ), temp
);
554 GLint kuMdl
= SHADER_UNIFORM( shader_player
, "uMdl" );
556 glEnable( GL_CULL_FACE
);
557 glCullFace( GL_BACK
);
559 mesh_bind( &ch
->mesh
);
561 for( int i
=4; i
<PART_COUNT
; i
++ )
563 glUniformMatrix4x3fv( kuMdl
, 1, GL_FALSE
, (float *)ch
->matrices
[i
] );
564 submodel_draw( &ch
->parts
[i
] );
567 for( int i
=0; i
<2; i
++ )
571 glUniformMatrix4x3fv( kuMdl
, 1, GL_FALSE
, (float *)ch
->matrices
[i
] );
572 submodel_draw( &ch
->parts
[i
] );
576 glUniformMatrix4x3fv( kuMdl
, 1, GL_FALSE
, (float *)ch
->matrices
[i
+2] );
577 submodel_draw( &ch
->parts
[i
] );
578 glUniformMatrix4x3fv( kuMdl
, 1, GL_FALSE
, (float *)ch
->matrices
[i
] );
579 submodel_draw( &ch
->parts
[i
+2] );
584 static void character_shader_register(void)
586 SHADER_INIT(shader_player
);
594 static void character_rd_box( struct character
*ch
, enum character_part id
,
597 v3_muls( dims
, -0.5f
, ch
->ragdoll
[id
].bbx
[0] );
598 v3_muls( dims
, 0.5f
, ch
->ragdoll
[id
].bbx
[1] );
603 enum character_part ia
, ib
;
614 static const float k_human_major
= 0.5f
,
615 k_human_minor
= 0.5f
,
616 k_human_major_max
= 0.4f
,
617 k_human_minor_max
= 0.1f
;
619 #define HUMAN_VERTICAL_DEFAULT \
621 .va = {1.0f,0.0f,0.0f}, .vb = {1.0f,0.0f,0.0f}, \
622 .spring = k_human_minor, .ang = k_human_minor_max \
625 .va = {0.0f,1.0f,0.0f}, .vb = {0.0f,1.0f,0.0f}, \
626 .spring = k_human_major, .ang = k_human_major_max \
629 #define HUMAN_ARM_LEFT \
631 .va = {1.0f,0.0f,0.0f}, .vb = {1.0f,0.0f,0.0f}, \
632 .spring = k_human_minor, .ang = k_human_minor_max \
635 .va = {0.0f,0.0f,1.0f}, .vb = {0.0f,0.0f,1.0f}, \
636 .spring = k_human_major, .ang = k_human_major_max \
639 #define HUMAN_ARM_RIGHT \
641 .va = {1.0f,0.0f,0.0f}, .vb = {1.0f,0.0f,0.0f}, \
642 .spring = k_human_minor, .ang = k_human_minor_max \
645 .va = {0.0f,0.0f,-1.0f}, .vb = {0.0f,0.0f,-1.0f}, \
646 .spring = k_human_major, .ang = k_human_major_max \
649 static struct rd_joint rd_joints
[] =
651 { .ia
= k_chpart_leg_l1
, .ib
= k_chpart_foot_l
, HUMAN_VERTICAL_DEFAULT
},
652 { .ia
= k_chpart_leg_r1
, .ib
= k_chpart_foot_r
, HUMAN_VERTICAL_DEFAULT
},
654 { .ia
= k_chpart_body0
, .ib
= k_chpart_body1
, HUMAN_VERTICAL_DEFAULT
},
655 { .ia
= k_chpart_body1
, .ib
= k_chpart_neck
, HUMAN_VERTICAL_DEFAULT
},
656 { .ia
= k_chpart_neck
, .ib
= k_chpart_head
, HUMAN_VERTICAL_DEFAULT
},
657 { .ia
= k_chpart_body0
, .ib
= k_chpart_leg_l0
, HUMAN_VERTICAL_DEFAULT
},
658 { .ia
= k_chpart_leg_l0
, .ib
= k_chpart_leg_l1
, HUMAN_VERTICAL_DEFAULT
},
659 { .ia
= k_chpart_body0
, .ib
= k_chpart_leg_r0
, HUMAN_VERTICAL_DEFAULT
},
660 { .ia
= k_chpart_leg_r0
, .ib
= k_chpart_leg_r1
, HUMAN_VERTICAL_DEFAULT
},
662 { .ia
= k_chpart_body1
, .ib
= k_chpart_arm_l0
, HUMAN_ARM_LEFT
},
663 { .ia
= k_chpart_arm_l0
, .ib
= k_chpart_arm_l1
, HUMAN_ARM_LEFT
},
664 { .ia
= k_chpart_arm_l1
, .ib
= k_chpart_hand_l
, HUMAN_ARM_LEFT
},
666 { .ia
= k_chpart_body1
, .ib
= k_chpart_arm_r0
, HUMAN_ARM_RIGHT
},
667 { .ia
= k_chpart_arm_r0
, .ib
= k_chpart_arm_r1
, HUMAN_ARM_RIGHT
},
668 { .ia
= k_chpart_arm_r1
, .ib
= k_chpart_hand_r
, HUMAN_ARM_RIGHT
}
671 /* Ragdoll should be in rest pose when calling this function */
672 static void character_init_ragdoll_joints( struct character
*ch
)
674 for( int i
=0; i
<vg_list_size(rd_joints
); i
++ )
676 struct rd_joint
*joint
= &rd_joints
[i
];
678 float *hinge
= ch
->parts
[joint
->ib
].pivot
;
679 v3_sub( hinge
, ch
->ragdoll
[joint
->ia
].co
, joint
->lca
);
680 v3_sub( hinge
, ch
->ragdoll
[joint
->ib
].co
, joint
->lcb
);
683 for( int i
=0; i
<PART_COUNT
; i
++ )
685 float *pivot
= ch
->parts
[i
].pivot
;
686 v3_sub( ch
->ragdoll
[i
].co
, pivot
, ch
->ragdoll
[i
].delta
);
690 static void character_init_ragdoll( struct character
*ch
)
692 v3f
*offs
= ch
->offsets
;
693 rigidbody
*rbs
= ch
->ragdoll
;
696 float chest_width
= fabsf(offs
[k_chpart_arm_r0
][2])*2.0f
,
697 chest_depth
= chest_width
* 0.571f
,
698 chest_height
= offs
[k_chpart_neck
][1];
699 v3f chest_dims
= { chest_depth
, chest_height
, chest_width
};
700 character_rd_box( ch
, k_chpart_body1
, chest_dims
);
702 v3_copy( ch
->parts
[k_chpart_body1
].pivot
, rbs
[k_chpart_body1
].co
);
703 rbs
[k_chpart_body1
].co
[1] += chest_height
*0.5f
;
706 v3f torso_dims
= { chest_depth
,
707 offs
[k_chpart_body1
][1]-offs
[k_chpart_leg_l0
][1],
709 v3_copy( ch
->parts
[k_chpart_body0
].pivot
, rbs
[k_chpart_body0
].co
);
710 character_rd_box( ch
, k_chpart_body0
, torso_dims
);
713 v3f neck_dims
= { chest_depth
*0.5f
,
714 offs
[k_chpart_head
][1],
716 v3_copy( ch
->parts
[k_chpart_neck
].pivot
, rbs
[k_chpart_neck
].co
);
717 rbs
[k_chpart_neck
].co
[1] += neck_dims
[1]*0.5f
;
718 character_rd_box( ch
, k_chpart_neck
, neck_dims
);
721 v3f head_dims
= { chest_width
*0.5f
, chest_width
*0.5f
, chest_width
*0.5f
};
722 v3_copy( ch
->parts
[k_chpart_head
].pivot
, rbs
[k_chpart_head
].co
);
723 rbs
[k_chpart_head
].co
[1] += head_dims
[1]*0.5f
;
724 character_rd_box( ch
, k_chpart_head
, head_dims
);
727 v3f ua_dims
= { 0.0f
, 0.0f
, fabsf(offs
[k_chpart_arm_l1
][2]) };
728 ua_dims
[1] = 0.38f
*ua_dims
[2];
729 ua_dims
[0] = 0.38f
*ua_dims
[2];
730 v3f la_dims
= { ua_dims
[0], ua_dims
[1], fabsf(offs
[k_chpart_hand_l
][2]) };
731 v3f hand_dims
= { ua_dims
[1], ua_dims
[1]*0.5f
, ua_dims
[1] };
733 character_rd_box( ch
, k_chpart_arm_l0
, ua_dims
);
734 character_rd_box( ch
, k_chpart_arm_r0
, ua_dims
);
735 character_rd_box( ch
, k_chpart_arm_l1
, la_dims
);
736 character_rd_box( ch
, k_chpart_arm_r1
, la_dims
);
737 character_rd_box( ch
, k_chpart_hand_l
, hand_dims
);
738 character_rd_box( ch
, k_chpart_hand_r
, hand_dims
);
740 v3_copy( ch
->parts
[k_chpart_arm_l0
].pivot
, rbs
[k_chpart_arm_l0
].co
);
741 rbs
[k_chpart_arm_l0
].co
[2] += ua_dims
[2] * 0.5f
;
742 v3_copy( ch
->parts
[k_chpart_arm_l1
].pivot
, rbs
[k_chpart_arm_l1
].co
);
743 rbs
[k_chpart_arm_l1
].co
[2] += la_dims
[2] * 0.5f
;
744 v3_copy( ch
->parts
[k_chpart_hand_l
].pivot
, rbs
[k_chpart_hand_l
].co
);
745 rbs
[k_chpart_hand_l
].co
[2] += hand_dims
[2] * 0.5f
;
747 v3_copy( ch
->parts
[k_chpart_arm_r0
].pivot
, rbs
[k_chpart_arm_r0
].co
);
748 rbs
[k_chpart_arm_r0
].co
[2] -= ua_dims
[2] * 0.5f
;
749 v3_copy( ch
->parts
[k_chpart_arm_r1
].pivot
, rbs
[k_chpart_arm_r1
].co
);
750 rbs
[k_chpart_arm_r1
].co
[2] -= la_dims
[2] * 0.5f
;
751 v3_copy( ch
->parts
[k_chpart_hand_r
].pivot
, rbs
[k_chpart_hand_r
].co
);
752 rbs
[k_chpart_hand_r
].co
[2] -= hand_dims
[2] * 0.5f
;
755 v3f ul_dims
= { 0.0f
, fabsf(offs
[k_chpart_leg_l1
][1]), 0.0f
};
756 ul_dims
[0] = 0.38f
*ul_dims
[1];
757 ul_dims
[2] = 0.38f
*ul_dims
[1];
758 v3f ll_dims
= { ul_dims
[0], fabsf(offs
[k_chpart_foot_l
][1]), ul_dims
[2] };
759 v3f foot_dims
= { 2.0f
*ul_dims
[0], ul_dims
[0], ul_dims
[0] };
761 character_rd_box( ch
, k_chpart_leg_l0
, ul_dims
);
762 character_rd_box( ch
, k_chpart_leg_r0
, ul_dims
);
763 character_rd_box( ch
, k_chpart_leg_l1
, ll_dims
);
764 character_rd_box( ch
, k_chpart_leg_r1
, ll_dims
);
765 character_rd_box( ch
, k_chpart_foot_l
, foot_dims
);
766 character_rd_box( ch
, k_chpart_foot_r
, foot_dims
);
768 v3_copy( ch
->parts
[k_chpart_leg_l0
].pivot
, rbs
[k_chpart_leg_l0
].co
);
769 rbs
[k_chpart_leg_l0
].co
[1] -= ul_dims
[1] * 0.5f
;
770 v3_copy( ch
->parts
[k_chpart_leg_l1
].pivot
, rbs
[k_chpart_leg_l1
].co
);
771 rbs
[k_chpart_leg_l1
].co
[1] -= ll_dims
[1] * 0.5f
;
772 v3_copy( ch
->parts
[k_chpart_foot_l
].pivot
, rbs
[k_chpart_foot_l
].co
);
773 rbs
[k_chpart_foot_l
].co
[1] -= foot_dims
[1] * 0.5f
;
774 rbs
[k_chpart_foot_l
].co
[0] -= foot_dims
[0] * 0.5f
;
776 v3_copy( ch
->parts
[k_chpart_leg_r0
].pivot
, rbs
[k_chpart_leg_r0
].co
);
777 rbs
[k_chpart_leg_r0
].co
[1] -= ul_dims
[1] * 0.5f
;
778 v3_copy( ch
->parts
[k_chpart_leg_r1
].pivot
, rbs
[k_chpart_leg_r1
].co
);
779 rbs
[k_chpart_leg_r1
].co
[1] -= ll_dims
[1] * 0.5f
;
780 v3_copy( ch
->parts
[k_chpart_foot_r
].pivot
, rbs
[k_chpart_foot_r
].co
);
781 rbs
[k_chpart_foot_r
].co
[1] -= foot_dims
[1] * 0.5f
;
782 rbs
[k_chpart_foot_r
].co
[0] -= foot_dims
[0] * 0.5f
;
784 character_rd_box( ch
, k_chpart_sock_l
, foot_dims
);
785 character_rd_box( ch
, k_chpart_sock_r
, foot_dims
);
786 v3_copy( rbs
[k_chpart_foot_l
].co
, rbs
[k_chpart_sock_l
].co
);
787 v3_copy( rbs
[k_chpart_foot_r
].co
, rbs
[k_chpart_sock_r
].co
);
789 box_copy( (boxf
){{-0.2f
,-0.2f
,-0.7f
},{0.2f
,0.2f
,0.7f
}},
790 rbs
[k_chpart_board
].bbx
);
792 for( int i
=0; i
<PART_COUNT
; i
++ )
793 rb_init( &ch
->ragdoll
[i
] );
795 character_init_ragdoll_joints( ch
);
798 static void character_ragdoll_go( struct character
*ch
, v3f pos
)
800 character_init_ragdoll( ch
);
801 for( int i
=0; i
<PART_COUNT
; i
++ )
802 v3_add( pos
, ch
->ragdoll
[i
].co
, ch
->ragdoll
[i
].co
);
805 static void character_ragdoll_copypose( struct character
*ch
, v3f v
)
807 for( int i
=0; i
<PART_COUNT
; i
++ )
809 rigidbody
*rb
= &ch
->ragdoll
[i
];
811 m4x3_mulv( ch
->matrices
[i
], rb
->delta
, rb
->co
);
812 m3x3_q( ch
->matrices
[i
], rb
->q
);
815 rb
->manifold_count
= 0; /* ? */
817 rb_update_transform( rb
);
820 float vel
= v3_length(v
);
826 static void character_mimic_ragdoll( struct character
*ch
)
828 for( int i
=0; i
<PART_COUNT
; i
++ )
830 rigidbody
*rb
= &ch
->ragdoll
[i
];
831 v3f
*mat
= ch
->matrices
[i
];
833 m3x3_copy( rb
->to_world
, mat
);
835 v3_negate( rb
->delta
, inv_delta
);
836 m4x3_mulv( rb
->to_world
, inv_delta
, mat
[3] );
839 /* Attach wheels to board */
840 m3x3_copy( ch
->matrices
[k_chpart_board
], ch
->matrices
[k_chpart_wb
] );
841 m3x3_copy( ch
->matrices
[k_chpart_board
], ch
->matrices
[k_chpart_wf
] );
842 m4x3_mulv( ch
->matrices
[k_chpart_board
], ch
->offsets
[k_chpart_wb
],
843 ch
->matrices
[k_chpart_wb
][3] );
844 m4x3_mulv( ch
->matrices
[k_chpart_board
], ch
->offsets
[k_chpart_wf
],
845 ch
->matrices
[k_chpart_wf
][3] );
848 static void character_debug_ragdoll( struct character
*ch
)
850 rb_debug( &ch
->ragdoll
[k_chpart_body0
], 0xffffffff );
851 rb_debug( &ch
->ragdoll
[k_chpart_body1
], 0xffffffff );
852 rb_debug( &ch
->ragdoll
[k_chpart_neck
], 0xff00ff00 );
853 rb_debug( &ch
->ragdoll
[k_chpart_head
], 0xff00ff00 );
855 rb_debug( &ch
->ragdoll
[k_chpart_arm_l0
], 0xffffa500 );
856 rb_debug( &ch
->ragdoll
[k_chpart_arm_l1
], 0xffffa500 );
857 rb_debug( &ch
->ragdoll
[k_chpart_hand_l
], 0xffffa500 );
859 rb_debug( &ch
->ragdoll
[k_chpart_arm_r0
], 0xff00a5ff );
860 rb_debug( &ch
->ragdoll
[k_chpart_arm_r1
], 0xff00a5ff );
861 rb_debug( &ch
->ragdoll
[k_chpart_hand_r
], 0xff00a5ff );
863 rb_debug( &ch
->ragdoll
[k_chpart_leg_l0
], 0xffffa500 );
864 rb_debug( &ch
->ragdoll
[k_chpart_leg_l1
], 0xffffa500 );
865 rb_debug( &ch
->ragdoll
[k_chpart_foot_l
], 0xffffa500 );
866 rb_debug( &ch
->ragdoll
[k_chpart_leg_r0
], 0xff00a5ff );
867 rb_debug( &ch
->ragdoll
[k_chpart_leg_r1
], 0xff00a5ff );
868 rb_debug( &ch
->ragdoll
[k_chpart_foot_r
], 0xff00a5ff );
871 static void character_ragdoll_iter( struct character
*ch
, scene
*sc
)
873 for( int i
=0; i
<PART_COUNT
; i
++ )
875 rb_build_manifold( &ch
->ragdoll
[i
], sc
);
881 for( int i
=0; i
<2; i
++ )
883 shoe_vel
[i
] = v3_length( ch
->ragdoll
[i
].v
);
885 for( int i
=0; i
<20; i
++ )
887 float const k_springfactor
= 1.0f
/20.0f
;
889 for( int j
=0; j
<PART_COUNT
; j
++ )
890 rb_constraint_manifold( &ch
->ragdoll
[j
] );
892 for( int j
=0; j
<vg_list_size(rd_joints
); j
++ )
894 struct rd_joint
*joint
= &rd_joints
[j
];
895 rigidbody
*rba
= &ch
->ragdoll
[joint
->ia
],
896 *rbb
= &ch
->ragdoll
[joint
->ib
];
898 rb_constraint_position( rba
, joint
->lca
, rbb
, joint
->lcb
);
899 rb_constraint_angle( rba
, joint
->maj
.va
, rbb
, joint
->maj
.vb
,
901 joint
->maj
.spring
* k_springfactor
);
903 rb_constraint_angle( rba
, joint
->min
.va
, rbb
, joint
->min
.vb
,
905 joint
->min
.spring
* k_springfactor
);
909 for( int j
=0; j
<vg_list_size(rd_joints
); j
++ )
911 struct rd_joint
*joint
= &rd_joints
[j
];
912 rigidbody
*rba
= &ch
->ragdoll
[joint
->ia
],
913 *rbb
= &ch
->ragdoll
[joint
->ib
];
914 rb_angle_limit_force( rba
, joint
->min
.va
, rbb
, joint
->min
.vb
,
916 rb_angle_limit_force( rba
, joint
->maj
.va
, rbb
, joint
->maj
.vb
,
920 for( int i
=0; i
<PART_COUNT
; i
++ )
921 rb_iter( &ch
->ragdoll
[i
] );
923 for( int i
=0; i
<2; i
++ )
927 float a
= v3_length( ch
->ragdoll
[i
].v
) - shoe_vel
[i
];
933 rigidbody
*src
= &ch
->ragdoll
[k_chpart_foot_l
];
934 rigidbody
*dst
= &ch
->ragdoll
[k_chpart_sock_l
];
936 v3_copy( src
->co
, dst
->co
);
937 v3_copy( src
->v
, dst
->v
);
938 v3_copy( src
->q
, dst
->q
);
939 v3_copy( src
->I
, dst
->I
);
944 for( int i
=0; i
<PART_COUNT
; i
++ )
945 rb_update_transform( &ch
->ragdoll
[i
] );