4 /* TODO: -> Common.h */
11 #include "rigidbody.h"
12 #include "shaders/character.h"
14 #define FOREACH_PART(FN) \
37 #define MAKE_ENUM(ENUM) k_chpart_##ENUM,
38 #define MAKE_STRING(STR) #STR,
40 #define PART_COUNT FOREACH_PART(ADD_ONE)
44 FOREACH_PART( MAKE_ENUM
)
47 static const char *character_part_strings
[] =
49 FOREACH_PART( MAKE_STRING
)
56 submodel parts
[ PART_COUNT
];
57 m4x3f matrices
[ PART_COUNT
];
59 /* Auxillary information */
60 v3f offsets
[ PART_COUNT
];
61 rigidbody ragdoll
[ PART_COUNT
];
65 * note: - base nodes of IK structures will be filled automatically
66 * - all positions are in local space to the mroot
68 struct ik_basic ik_arm_l
, ik_arm_r
,
74 float rhip
, rcollar
, /* twist of hip and collar controls,
75 these act in the local +y axis of the part */
80 v3f ground_normal
; /* Feet will be aligned to this */
86 static void character_offset( struct character
*ch
, enum character_part parent
,
87 enum character_part child
)
89 v3_sub( ch
->parts
[ child
].pivot
, ch
->parts
[ parent
].pivot
,
90 ch
->offsets
[ child
] );
93 static int character_load( struct character
*ch
, const char *name
)
97 snprintf( buf
, sizeof(buf
)-1, "models/%s.mdl", name
);
98 model
*src
= vg_asset_read( buf
);
102 vg_error( "Could not open 'models/%s.mdl'", name
);
108 for( int i
=0; i
<PART_COUNT
; i
++ )
110 snprintf( buf
, sizeof(buf
)-1, "%s_%s", name
, character_part_strings
[i
] );
111 submodel
*sm
= submodel_get( src
, buf
);
115 vg_warn( "Character file does not contain an '_%s' part.\n",
116 character_part_strings
[i
] );
119 memset( &ch
->parts
[i
], 0, sizeof(submodel
) );
126 model_unpack( src
, &ch
->mesh
);
129 vg_success( "Loaded character file '%s' with no errors\n", name
);
131 /* Create the offsets */
132 character_offset( ch
, k_chpart_body0
, k_chpart_body1
);
133 character_offset( ch
, k_chpart_body1
, k_chpart_neck
);
134 character_offset( ch
, k_chpart_neck
, k_chpart_head
);
136 character_offset( ch
, k_chpart_body1
, k_chpart_arm_l0
);
137 character_offset( ch
, k_chpart_arm_l0
, k_chpart_arm_l1
);
138 character_offset( ch
, k_chpart_arm_l1
, k_chpart_hand_l
);
140 character_offset( ch
, k_chpart_body1
, k_chpart_arm_r0
);
141 character_offset( ch
, k_chpart_arm_r0
, k_chpart_arm_r1
);
142 character_offset( ch
, k_chpart_arm_r1
, k_chpart_hand_r
);
144 character_offset( ch
, k_chpart_body0
, k_chpart_leg_l0
);
145 character_offset( ch
, k_chpart_leg_l0
, k_chpart_leg_l1
);
146 character_offset( ch
, k_chpart_leg_l1
, k_chpart_foot_l
);
148 character_offset( ch
, k_chpart_body0
, k_chpart_leg_r0
);
149 character_offset( ch
, k_chpart_leg_r0
, k_chpart_leg_r1
);
150 character_offset( ch
, k_chpart_leg_r1
, k_chpart_foot_r
);
152 character_offset( ch
, k_chpart_board
, k_chpart_wb
);
153 character_offset( ch
, k_chpart_board
, k_chpart_wf
);
155 ch
->ik_arm_l
.l1
= v3_length( ch
->offsets
[ k_chpart_arm_l1
] );
156 ch
->ik_arm_l
.l2
= v3_length( ch
->offsets
[ k_chpart_hand_l
] );
157 ch
->ik_arm_r
.l1
= v3_length( ch
->offsets
[ k_chpart_arm_r1
] );
158 ch
->ik_arm_r
.l2
= v3_length( ch
->offsets
[ k_chpart_hand_r
] );
160 ch
->ik_leg_l
.l1
= v3_length( ch
->offsets
[ k_chpart_leg_l1
] );
161 ch
->ik_leg_l
.l2
= v3_length( ch
->offsets
[ k_chpart_foot_l
] );
162 ch
->ik_leg_r
.l1
= v3_length( ch
->offsets
[ k_chpart_leg_r1
] );
163 ch
->ik_leg_r
.l2
= v3_length( ch
->offsets
[ k_chpart_foot_r
] );
165 ch
->ik_body
.l1
= v3_length( ch
->offsets
[ k_chpart_body1
] );
166 ch
->ik_body
.l2
= v3_length( ch
->offsets
[ k_chpart_neck
] );
172 static void align_to_board( struct character
*ch
, enum character_part id
)
174 /* Calculate rotation between board and feet */
175 m4x3f
*mats
= ch
->matrices
;
177 v3f foot_pos
, foot_fwd
, foot_target
, board_norm
, board_origin
;
178 v3_copy( mats
[id
][3], foot_pos
);
179 m3x3_mulv( mats
[id
], (v3f
){1.0f
,0.0f
,0.0f
}, foot_fwd
);
180 v3_add( foot_fwd
, foot_pos
, foot_target
);
182 m3x3_mulv( mats
[k_chpart_board
], (v3f
){0.0f
,1.0f
,0.0f
}, board_norm
);
183 m4x3_mulv( mats
[k_chpart_board
], (v3f
){0.0f
,0.13f
,0.0f
}, board_origin
);
185 vg_line( foot_pos
, foot_target
, 0xff00ff00 );
188 v3_sub( board_origin
, foot_target
, v0
);
189 float t
= v3_dot( v0
, board_norm
) / board_norm
[1];
191 vg_line( foot_pos
, foot_target
, 0xff00ffff );
193 v3_sub( foot_target
, foot_pos
, foot_target
);
194 v3_normalize( foot_target
);
195 float ang
= acosf( v3_dot( foot_target
, foot_fwd
) );
197 v4f qcorrection
; m3x3f correction
;
198 q_axis_angle( qcorrection
, (v3f
){0.0f
,0.0f
,1.0f
}, -ang
);
199 q_m3x3( qcorrection
, correction
);
200 m3x3_mul( mats
[id
], correction
, mats
[id
] );
203 static void character_eval( struct character
*ch
)
205 m4x3f
*mats
= ch
->matrices
;
206 v3f
*offs
= ch
->offsets
;
208 ik_basic( &ch
->ik_body
, mats
[k_chpart_body0
], mats
[k_chpart_body1
],
213 /* TODO: Do this directly via m3x3 */
215 q_axis_angle( body_rotation
, (v3f
){0.0f
,1.0f
,0.0f
}, ch
->rhip
);
216 q_m3x3( body_rotation
, temp
);
217 m3x3_mul( mats
[k_chpart_body0
], temp
, mats
[k_chpart_body0
] );
219 q_axis_angle( body_rotation
, (v3f
){0.0f
,1.0f
,0.0f
}, ch
->rcollar
);
220 q_m3x3( body_rotation
, temp
);
221 m3x3_mul( mats
[k_chpart_body1
], temp
, mats
[k_chpart_body1
] );
224 m4x3_mulv( mats
[k_chpart_body0
], offs
[k_chpart_leg_l0
], ch
->ik_leg_l
.base
);
225 m4x3_mulv( mats
[k_chpart_body0
], offs
[k_chpart_leg_r0
], ch
->ik_leg_r
.base
);
226 m4x3_mulv( mats
[k_chpart_body1
], offs
[k_chpart_arm_l0
], ch
->ik_arm_l
.base
);
227 m4x3_mulv( mats
[k_chpart_body1
], offs
[k_chpart_arm_r0
], ch
->ik_arm_r
.base
);
229 /* IK for arms and legs */
230 ik_basic( &ch
->ik_arm_l
, mats
[k_chpart_arm_l0
], mats
[k_chpart_arm_l1
],
232 ik_basic( &ch
->ik_arm_r
, mats
[k_chpart_arm_r0
], mats
[k_chpart_arm_r1
],
234 ik_basic( &ch
->ik_leg_l
, mats
[k_chpart_leg_l0
], mats
[k_chpart_leg_l1
],
236 ik_basic( &ch
->ik_leg_r
, mats
[k_chpart_leg_r0
], mats
[k_chpart_leg_r1
],
240 m3x3_copy( mats
[k_chpart_arm_l1
], mats
[k_chpart_hand_l
] );
241 m3x3_copy( mats
[k_chpart_arm_r1
], mats
[k_chpart_hand_r
] );
242 m4x3_mulv( mats
[k_chpart_arm_l1
], offs
[k_chpart_hand_l
],
243 mats
[k_chpart_hand_l
][3] );
244 m4x3_mulv( mats
[k_chpart_arm_r1
], offs
[k_chpart_hand_r
],
245 mats
[k_chpart_hand_r
][3] );
248 m3x3_copy( mats
[k_chpart_body1
], mats
[k_chpart_neck
] );
249 m4x3_mulv( mats
[k_chpart_body1
], offs
[k_chpart_neck
],
250 mats
[k_chpart_neck
][3] );
253 q_axis_angle( qhead
, (v3f
){ 0.0f
,1.0f
,0.0f
}, ch
->rhead
);
254 q_m3x3( qhead
, mats
[k_chpart_head
] );
255 //m3x3_mul( mats[k_chpart_neck], mats[k_chpart_head], mats[k_chpart_head] );
256 m4x3_mulv( mats
[k_chpart_neck
], offs
[k_chpart_head
], mats
[k_chpart_head
][3]);
259 m3x3_copy( mats
[k_chpart_leg_l1
], mats
[k_chpart_foot_l
] );
260 m3x3_copy( mats
[k_chpart_leg_r1
], mats
[k_chpart_foot_r
] );
261 m4x3_mulv( mats
[k_chpart_leg_l1
], offs
[k_chpart_foot_l
],
262 mats
[k_chpart_foot_l
][3] );
263 m4x3_mulv( mats
[k_chpart_leg_r1
], offs
[k_chpart_foot_r
],
264 mats
[k_chpart_foot_r
][3] );
266 align_to_board( ch
, k_chpart_foot_l
);
267 align_to_board( ch
, k_chpart_foot_r
);
269 for( int i
=0; i
<PART_COUNT
; i
++ )
270 m4x3_mul( ch
->mroot
, ch
->matrices
[i
], ch
->matrices
[i
] );
273 #define B3D_CO( X, Y, Z ) (v3f){ X, Z, -Y }
275 typedef struct character_pose character_pose
;
276 struct character_pose
278 v3f b0
, b1
, p
, fr
, fl
, pl
, pr
, hl
, hr
, apl
, apr
, cam
;
281 static character_pose pose_aero
=
283 .b0
= {0.0721f
, 0.8167f
, 0.1365f
},
284 .b1
= {-0.0773f
, 1.1559f
, -0.1699f
},
285 .p
= {0.0421f
, 1.1430f
, 0.2803f
},
286 .fr
= {0.0535f
, 0.1312f
, -0.3647f
},
287 .fl
= {-0.0605f
, 0.1464f
, 0.2917f
},
288 .pl
= {-0.1704f
, 0.6889f
, -0.4017f
},
289 .pr
= {0.0672f
, 0.7598f
, -0.5963f
},
290 .hl
= {-0.2153f
, 0.7195f
, -0.1345f
},
291 .hr
= {0.1974f
, 0.7940f
, -0.3522f
},
292 .apl
= {-0.2008f
, 0.9546f
, 0.3687f
},
293 .apr
= {0.3133f
, 0.9299f
, 0.0181f
},
294 .cam
= {-0.3394f
, 1.2661f
, 0.2936f
}
297 static character_pose pose_slide
=
299 .b0
= {0.6732f
, 0.5565f
, -0.0000f
},
300 .b1
= {0.8116f
, 1.0547f
, 0.0613f
},
301 .p
= {1.0404f
, 0.7907f
, 0.0186f
},
302 .fr
= {-0.0030f
, 0.1366f
, -0.4461f
},
303 .fl
= {-0.0030f
, 0.1366f
, 0.3480f
},
304 .pl
= {-0.0887f
, 0.8229f
, 0.3826f
},
305 .pr
= {-0.0887f
, 0.8229f
, -0.4621f
},
306 .hl
= {0.7749f
, 0.5545f
, 0.5310f
},
307 .hr
= {0.5844f
, 1.2445f
, -0.5456f
},
308 .apl
= {1.0999f
, 0.5390f
, 0.2398f
},
309 .apr
= {0.9816f
, 0.9536f
, -0.5463f
},
310 .cam
= {0.9888f
, 1.4037f
, 0.6081f
}
313 static character_pose pose_slide1
=
315 .b0
= {-0.2385f
, 0.6403f
, 0.1368f
},
316 .b1
= {-0.5151f
, 1.1351f
, 0.1380f
},
317 .p
= {-0.1158f
, 1.2118f
, 0.3895f
},
318 .fr
= {-0.0030f
, 0.1323f
, -0.3190f
},
319 .fl
= {-0.0030f
, 0.1323f
, 0.5797f
},
320 .pl
= {-0.6568f
, 0.4305f
, 0.2069f
},
321 .pr
= {-0.6850f
, 0.2740f
, -0.2969f
},
322 .hl
= {-0.7029f
, 0.6132f
, 0.2972f
},
323 .hr
= {-0.2572f
, 1.0104f
, -0.4770f
},
324 .apl
= {-0.4808f
, 0.8480f
, 0.3731f
},
325 .apr
= {-0.0836f
, 1.0480f
, -0.1201f
},
326 .cam
= {-1.0508f
, 1.0769f
, 0.0528f
}
329 static character_pose pose_aero_reverse
=
331 .b0
= {0.0616f
, 0.8167f
, -0.1415f
},
332 .b1
= {0.0148f
, 1.1559f
, 0.1861f
},
333 .p
= {0.0558f
, 1.1430f
, -0.2779f
},
334 .fr
= {0.0535f
, 0.1312f
, -0.3647f
},
335 .fl
= {0.0730f
, 0.1464f
, 0.2917f
},
336 .pl
= {-0.2073f
, 0.6889f
, 0.3839f
},
337 .pr
= {-0.3584f
, 0.4069f
, 0.1032f
},
338 .hl
= {0.1567f
, 0.7195f
, 0.1997f
},
339 .hr
= {-0.3055f
, 0.7940f
, 0.2639f
},
340 .apl
= {0.3143f
, 0.9546f
, -0.2784f
},
341 .apr
= {-0.2885f
, 0.9299f
, -0.1236f
},
342 .cam
= {-0.3394f
, 1.2661f
, -0.2936f
}
345 static character_pose pose_stand
=
347 .b0
= {0.1877f
, 1.0663f
, 0.0063f
},
348 .b1
= {0.0499f
, 1.5564f
, -0.0584f
},
349 .p
= {0.5982f
, 1.2810f
, 0.0842f
},
350 .fr
= {0.0535f
, 0.1312f
, -0.3647f
},
351 .fl
= {0.0354f
, 0.1464f
, 0.2917f
},
352 .pl
= {-0.4325f
, 0.6889f
, 0.1823f
},
353 .pr
= {-0.4794f
, 0.7598f
, -0.3610f
},
354 .hl
= {0.0498f
, 1.0058f
, 0.2317f
},
355 .hr
= {0.0188f
, 0.9786f
, -0.2725f
},
356 .apl
= {0.2898f
, 1.3453f
, 0.2303f
},
357 .apr
= {0.5273f
, 1.2876f
, -0.1848f
},
358 .cam
= {-0.3477f
, 1.5884f
, -0.0019f
}
361 static character_pose pose_fly
=
363 .b0
= {0.2995f
, 0.6819f
, -0.1369f
},
364 .b1
= {0.1618f
, 1.1720f
, -0.2016f
},
365 .p
= {0.7477f
, 0.9173f
, -0.1885f
},
366 .fr
= {0.0535f
, 0.1312f
, -0.3647f
},
367 .fl
= {0.0354f
, 0.1464f
, 0.2917f
},
368 .pl
= {-0.2930f
, 0.4849f
, 0.5307f
},
369 .pr
= {-0.4754f
, 0.4124f
, -0.4874f
},
370 .hl
= {0.2650f
, 1.1897f
, 0.4626f
},
371 .hr
= {0.2494f
, 1.2059f
, -0.7985f
},
372 .apl
= {0.5165f
, 1.0990f
, 0.1655f
},
373 .apr
= {0.6759f
, 1.0661f
, -0.6014f
},
374 .cam
= {-0.2727f
, 1.2606f
, 0.3564f
}
378 void character_pose_blend( struct character
*ch
, character_pose
*pose
, float q
)
380 v3_muladds( ch
->ik_body
.base
, pose
->b0
, q
, ch
->ik_body
.base
);
381 v3_muladds( ch
->ik_body
.end
, pose
->b1
, q
, ch
->ik_body
.end
);
382 v3_muladds( ch
->ik_body
.pole
, pose
->p
, q
, ch
->ik_body
.pole
);
383 v3_muladds( ch
->ik_leg_l
.end
, pose
->fl
, q
, ch
->ik_leg_l
.end
);
384 v3_muladds( ch
->ik_leg_l
.pole
, pose
->pl
, q
, ch
->ik_leg_l
.pole
);
385 v3_muladds( ch
->ik_leg_r
.end
, pose
->fr
, q
, ch
->ik_leg_r
.end
);
386 v3_muladds( ch
->ik_leg_r
.pole
, pose
->pr
, q
, ch
->ik_leg_r
.pole
);
387 v3_muladds( ch
->ik_arm_l
.pole
, pose
->apl
, q
, ch
->ik_arm_l
.pole
);
388 v3_muladds( ch
->ik_arm_r
.pole
, pose
->apr
, q
, ch
->ik_arm_r
.pole
);
389 v3_muladds( ch
->ik_arm_l
.end
, pose
->hl
, q
, ch
->ik_arm_l
.end
);
390 v3_muladds( ch
->ik_arm_r
.end
, pose
->hr
, q
, ch
->ik_arm_r
.end
);
391 v3_muladds( ch
->cam_pos
, pose
->cam
, q
, ch
->cam_pos
);
395 void character_final_pose( struct character
*ch
, v3f cog
,
396 character_pose
*pose
, float q
)
398 character_pose npose
;
399 float dip
= vg_clampf(cog
[1], -1.0f
, 0.3f
) * 0.35f
,
400 tilt
= vg_clampf(cog
[2], -1.0f
, 1.0f
) * 0.3f
;
403 q_axis_angle( rz
, (v3f
){0.0f
,0.0f
,1.0f
}, -cog
[0]*0.6f
);
405 v3_copy( (v3f
){0.0f
,dip
,tilt
}, tr
[3] );
407 m4x3_mulv( tr
, pose
->b0
, npose
.b0
);
408 m4x3_mulv( tr
, pose
->b1
, npose
.b1
);
409 m4x3_mulv( tr
, pose
->p
, npose
.p
);
410 m4x3_mulv( tr
, pose
->pl
, npose
.pl
);
411 m4x3_mulv( tr
, pose
->pr
, npose
.pr
);
412 m4x3_mulv( tr
, pose
->hl
, npose
.hl
);
413 m4x3_mulv( tr
, pose
->hr
, npose
.hr
);
414 m4x3_mulv( tr
, pose
->apl
, npose
.apl
);
415 m4x3_mulv( tr
, pose
->apr
, npose
.apr
);
417 v3_copy( pose
->fr
, npose
.fr
);
418 v3_copy( pose
->fl
, npose
.fl
);
419 v3_copy( pose
->cam
, npose
.cam
);
421 character_pose_blend( ch
, &npose
, q
);
424 static void zero_ik_basic( struct ik_basic
*ik
)
431 static void character_pose_reset( struct character
*ch
)
433 zero_ik_basic( &ch
->ik_body
);
434 zero_ik_basic( &ch
->ik_leg_l
);
435 zero_ik_basic( &ch
->ik_leg_r
);
436 zero_ik_basic( &ch
->ik_arm_l
);
437 zero_ik_basic( &ch
->ik_arm_r
);
438 v3_zero( ch
->cam_pos
);
441 static void character_testpose( struct character
*ch
, float t
)
444 float *hips
= ch
->ik_body
.base
,
445 *collar
= ch
->ik_body
.end
,
446 *pole
= ch
->ik_body
.pole
;
448 hips
[0] = cosf(t
*1.325f
)*0.25f
;
449 hips
[1] = (sinf(t
)*0.2f
+0.6f
) * ch
->parts
[ k_chpart_body0
].pivot
[1];
453 collar
[1] = hips
[1] + (ch
->ik_body
.l1
+ch
->ik_body
.l2
)*(sinf(t
)*0.05f
+0.94f
);
454 collar
[2] = hips
[2] + cosf(t
*0.42f
)*0.01f
;
456 v3_add( hips
, collar
, pole
);
457 v3_muls( pole
, 0.5f
, pole
);
458 v3_add( pole
, (v3f
){ 1.0f
, 0.0f
, 0.0f
}, pole
);
461 float *footl
= ch
->ik_leg_l
.end
,
462 *footr
= ch
->ik_leg_r
.end
,
463 *polel
= ch
->ik_leg_l
.pole
,
464 *poler
= ch
->ik_leg_r
.pole
;
466 footl
[0] = sinf(t
*0.563f
);
472 footr
[2] = cosf(t
*0.672f
);
474 v3_add( hips
, footl
, polel
);
475 v3_muls( polel
, 0.4f
, polel
);
476 v3_add( polel
, (v3f
){ -1.0f
,0.0f
,0.0f
}, polel
);
478 v3_add( hips
, footr
, poler
);
479 v3_muls( poler
, 0.4f
, poler
);
480 v3_add( poler
, (v3f
){ -1.0f
,0.0f
,0.0f
}, poler
);
483 float *arml
= ch
->ik_arm_l
.end
,
484 *armr
= ch
->ik_arm_r
.end
;
485 polel
= ch
->ik_arm_l
.pole
;
486 poler
= ch
->ik_arm_r
.pole
;
488 v3_copy( (v3f
){ 0.0f
, 0.0f
, 1.0f
}, arml
);
489 v3_copy( (v3f
){ 0.0f
, 0.0f
,-1.0f
}, armr
);
490 v3_copy( (v3f
){ 1.0f
, 1.0f
, 0.5f
}, polel
);
491 v3_copy( (v3f
){ 1.0f
, 1.0f
,-0.5f
}, poler
);
494 ch
->rhip
= sinf(t
*0.2f
);
495 ch
->rcollar
= sinf(t
*0.35325f
);
496 q_identity( ch
->qhead
);
498 m4x3_identity( ch
->matrices
[k_chpart_board
] );
499 m4x3_identity( ch
->matrices
[k_chpart_wb
] );
500 m4x3_identity( ch
->matrices
[k_chpart_wf
] );
503 static void character_draw( struct character
*ch
, float temp
)
505 shader_character_use();
507 shader_character_uPv( vg_pv
);
508 shader_character_uTexMain( 0 );
509 shader_character_uOpacity( temp
);
511 glEnable( GL_CULL_FACE
);
512 glCullFace( GL_BACK
);
514 mesh_bind( &ch
->mesh
);
516 for( int i
=4; i
<PART_COUNT
; i
++ )
518 shader_character_uMdl( ch
->matrices
[i
] );
519 submodel_draw( &ch
->parts
[i
] );
522 for( int i
=0; i
<2; i
++ )
526 shader_character_uMdl( ch
->matrices
[i
] );
527 submodel_draw( &ch
->parts
[i
] );
531 shader_character_uMdl( ch
->matrices
[i
+2] );
532 submodel_draw( &ch
->parts
[i
] );
533 shader_character_uMdl( ch
->matrices
[i
] );
534 submodel_draw( &ch
->parts
[i
+2] );
539 static void character_register(void)
541 shader_character_register();
549 static void character_rd_box( struct character
*ch
, enum character_part id
,
552 v3_muls( dims
, -0.5f
, ch
->ragdoll
[id
].bbx
[0] );
553 v3_muls( dims
, 0.5f
, ch
->ragdoll
[id
].bbx
[1] );
558 enum character_part ia
, ib
;
569 static const float k_human_major
= 0.5f
,
570 k_human_minor
= 0.5f
,
571 k_human_major_max
= 0.4f
,
572 k_human_minor_max
= 0.1f
;
574 #define HUMAN_VERTICAL_DEFAULT \
576 .va = {1.0f,0.0f,0.0f}, .vb = {1.0f,0.0f,0.0f}, \
577 .spring = k_human_minor, .ang = k_human_minor_max \
580 .va = {0.0f,1.0f,0.0f}, .vb = {0.0f,1.0f,0.0f}, \
581 .spring = k_human_major, .ang = k_human_major_max \
584 #define HUMAN_ARM_LEFT \
586 .va = {1.0f,0.0f,0.0f}, .vb = {1.0f,0.0f,0.0f}, \
587 .spring = k_human_minor, .ang = k_human_minor_max \
590 .va = {0.0f,0.0f,1.0f}, .vb = {0.0f,0.0f,1.0f}, \
591 .spring = k_human_major, .ang = k_human_major_max \
594 #define HUMAN_ARM_RIGHT \
596 .va = {1.0f,0.0f,0.0f}, .vb = {1.0f,0.0f,0.0f}, \
597 .spring = k_human_minor, .ang = k_human_minor_max \
600 .va = {0.0f,0.0f,-1.0f}, .vb = {0.0f,0.0f,-1.0f}, \
601 .spring = k_human_major, .ang = k_human_major_max \
604 static struct rd_joint rd_joints
[] =
606 { .ia
= k_chpart_leg_l1
, .ib
= k_chpart_foot_l
, HUMAN_VERTICAL_DEFAULT
},
607 { .ia
= k_chpart_leg_r1
, .ib
= k_chpart_foot_r
, HUMAN_VERTICAL_DEFAULT
},
609 { .ia
= k_chpart_body0
, .ib
= k_chpart_body1
, HUMAN_VERTICAL_DEFAULT
},
610 { .ia
= k_chpart_body1
, .ib
= k_chpart_neck
, HUMAN_VERTICAL_DEFAULT
},
611 { .ia
= k_chpart_neck
, .ib
= k_chpart_head
, HUMAN_VERTICAL_DEFAULT
},
612 { .ia
= k_chpart_body0
, .ib
= k_chpart_leg_l0
, HUMAN_VERTICAL_DEFAULT
},
613 { .ia
= k_chpart_leg_l0
, .ib
= k_chpart_leg_l1
, HUMAN_VERTICAL_DEFAULT
},
614 { .ia
= k_chpart_body0
, .ib
= k_chpart_leg_r0
, HUMAN_VERTICAL_DEFAULT
},
615 { .ia
= k_chpart_leg_r0
, .ib
= k_chpart_leg_r1
, HUMAN_VERTICAL_DEFAULT
},
617 { .ia
= k_chpart_body1
, .ib
= k_chpart_arm_l0
, HUMAN_ARM_LEFT
},
618 { .ia
= k_chpart_arm_l0
, .ib
= k_chpart_arm_l1
, HUMAN_ARM_LEFT
},
619 { .ia
= k_chpart_arm_l1
, .ib
= k_chpart_hand_l
, HUMAN_ARM_LEFT
},
621 { .ia
= k_chpart_body1
, .ib
= k_chpart_arm_r0
, HUMAN_ARM_RIGHT
},
622 { .ia
= k_chpart_arm_r0
, .ib
= k_chpart_arm_r1
, HUMAN_ARM_RIGHT
},
623 { .ia
= k_chpart_arm_r1
, .ib
= k_chpart_hand_r
, HUMAN_ARM_RIGHT
}
626 /* Ragdoll should be in rest pose when calling this function */
627 static void character_init_ragdoll_joints( struct character
*ch
)
629 for( int i
=0; i
<vg_list_size(rd_joints
); i
++ )
631 struct rd_joint
*joint
= &rd_joints
[i
];
633 float *hinge
= ch
->parts
[joint
->ib
].pivot
;
634 v3_sub( hinge
, ch
->ragdoll
[joint
->ia
].co
, joint
->lca
);
635 v3_sub( hinge
, ch
->ragdoll
[joint
->ib
].co
, joint
->lcb
);
638 for( int i
=0; i
<PART_COUNT
; i
++ )
640 float *pivot
= ch
->parts
[i
].pivot
;
641 v3_sub( ch
->ragdoll
[i
].co
, pivot
, ch
->ragdoll
[i
].delta
);
645 static void character_init_ragdoll( struct character
*ch
)
647 v3f
*offs
= ch
->offsets
;
648 rigidbody
*rbs
= ch
->ragdoll
;
651 float chest_width
= fabsf(offs
[k_chpart_arm_r0
][2])*2.0f
,
652 chest_depth
= chest_width
* 0.571f
,
653 chest_height
= offs
[k_chpart_neck
][1];
654 v3f chest_dims
= { chest_depth
, chest_height
, chest_width
};
655 character_rd_box( ch
, k_chpart_body1
, chest_dims
);
657 v3_copy( ch
->parts
[k_chpart_body1
].pivot
, rbs
[k_chpart_body1
].co
);
658 rbs
[k_chpart_body1
].co
[1] += chest_height
*0.5f
;
661 v3f torso_dims
= { chest_depth
,
662 offs
[k_chpart_body1
][1]-offs
[k_chpart_leg_l0
][1],
664 v3_copy( ch
->parts
[k_chpart_body0
].pivot
, rbs
[k_chpart_body0
].co
);
665 character_rd_box( ch
, k_chpart_body0
, torso_dims
);
668 v3f neck_dims
= { chest_depth
*0.5f
,
669 offs
[k_chpart_head
][1],
671 v3_copy( ch
->parts
[k_chpart_neck
].pivot
, rbs
[k_chpart_neck
].co
);
672 rbs
[k_chpart_neck
].co
[1] += neck_dims
[1]*0.5f
;
673 character_rd_box( ch
, k_chpart_neck
, neck_dims
);
676 v3f head_dims
= { chest_width
*0.5f
, chest_width
*0.5f
, chest_width
*0.5f
};
677 v3_copy( ch
->parts
[k_chpart_head
].pivot
, rbs
[k_chpart_head
].co
);
678 rbs
[k_chpart_head
].co
[1] += head_dims
[1]*0.5f
;
679 character_rd_box( ch
, k_chpart_head
, head_dims
);
682 v3f ua_dims
= { 0.0f
, 0.0f
, fabsf(offs
[k_chpart_arm_l1
][2]) };
683 ua_dims
[1] = 0.38f
*ua_dims
[2];
684 ua_dims
[0] = 0.38f
*ua_dims
[2];
685 v3f la_dims
= { ua_dims
[0], ua_dims
[1], fabsf(offs
[k_chpart_hand_l
][2]) };
686 v3f hand_dims
= { ua_dims
[1], ua_dims
[1]*0.5f
, ua_dims
[1] };
688 character_rd_box( ch
, k_chpart_arm_l0
, ua_dims
);
689 character_rd_box( ch
, k_chpart_arm_r0
, ua_dims
);
690 character_rd_box( ch
, k_chpart_arm_l1
, la_dims
);
691 character_rd_box( ch
, k_chpart_arm_r1
, la_dims
);
692 character_rd_box( ch
, k_chpart_hand_l
, hand_dims
);
693 character_rd_box( ch
, k_chpart_hand_r
, hand_dims
);
695 v3_copy( ch
->parts
[k_chpart_arm_l0
].pivot
, rbs
[k_chpart_arm_l0
].co
);
696 rbs
[k_chpart_arm_l0
].co
[2] += ua_dims
[2] * 0.5f
;
697 v3_copy( ch
->parts
[k_chpart_arm_l1
].pivot
, rbs
[k_chpart_arm_l1
].co
);
698 rbs
[k_chpart_arm_l1
].co
[2] += la_dims
[2] * 0.5f
;
699 v3_copy( ch
->parts
[k_chpart_hand_l
].pivot
, rbs
[k_chpart_hand_l
].co
);
700 rbs
[k_chpart_hand_l
].co
[2] += hand_dims
[2] * 0.5f
;
702 v3_copy( ch
->parts
[k_chpart_arm_r0
].pivot
, rbs
[k_chpart_arm_r0
].co
);
703 rbs
[k_chpart_arm_r0
].co
[2] -= ua_dims
[2] * 0.5f
;
704 v3_copy( ch
->parts
[k_chpart_arm_r1
].pivot
, rbs
[k_chpart_arm_r1
].co
);
705 rbs
[k_chpart_arm_r1
].co
[2] -= la_dims
[2] * 0.5f
;
706 v3_copy( ch
->parts
[k_chpart_hand_r
].pivot
, rbs
[k_chpart_hand_r
].co
);
707 rbs
[k_chpart_hand_r
].co
[2] -= hand_dims
[2] * 0.5f
;
710 v3f ul_dims
= { 0.0f
, fabsf(offs
[k_chpart_leg_l1
][1]), 0.0f
};
711 ul_dims
[0] = 0.38f
*ul_dims
[1];
712 ul_dims
[2] = 0.38f
*ul_dims
[1];
713 v3f ll_dims
= { ul_dims
[0], fabsf(offs
[k_chpart_foot_l
][1]), ul_dims
[2] };
714 v3f foot_dims
= { 2.0f
*ul_dims
[0], ul_dims
[0], ul_dims
[0] };
716 character_rd_box( ch
, k_chpart_leg_l0
, ul_dims
);
717 character_rd_box( ch
, k_chpart_leg_r0
, ul_dims
);
718 character_rd_box( ch
, k_chpart_leg_l1
, ll_dims
);
719 character_rd_box( ch
, k_chpart_leg_r1
, ll_dims
);
720 character_rd_box( ch
, k_chpart_foot_l
, foot_dims
);
721 character_rd_box( ch
, k_chpart_foot_r
, foot_dims
);
723 v3_copy( ch
->parts
[k_chpart_leg_l0
].pivot
, rbs
[k_chpart_leg_l0
].co
);
724 rbs
[k_chpart_leg_l0
].co
[1] -= ul_dims
[1] * 0.5f
;
725 v3_copy( ch
->parts
[k_chpart_leg_l1
].pivot
, rbs
[k_chpart_leg_l1
].co
);
726 rbs
[k_chpart_leg_l1
].co
[1] -= ll_dims
[1] * 0.5f
;
727 v3_copy( ch
->parts
[k_chpart_foot_l
].pivot
, rbs
[k_chpart_foot_l
].co
);
728 rbs
[k_chpart_foot_l
].co
[1] -= foot_dims
[1] * 0.5f
;
729 rbs
[k_chpart_foot_l
].co
[0] -= foot_dims
[0] * 0.5f
;
731 v3_copy( ch
->parts
[k_chpart_leg_r0
].pivot
, rbs
[k_chpart_leg_r0
].co
);
732 rbs
[k_chpart_leg_r0
].co
[1] -= ul_dims
[1] * 0.5f
;
733 v3_copy( ch
->parts
[k_chpart_leg_r1
].pivot
, rbs
[k_chpart_leg_r1
].co
);
734 rbs
[k_chpart_leg_r1
].co
[1] -= ll_dims
[1] * 0.5f
;
735 v3_copy( ch
->parts
[k_chpart_foot_r
].pivot
, rbs
[k_chpart_foot_r
].co
);
736 rbs
[k_chpart_foot_r
].co
[1] -= foot_dims
[1] * 0.5f
;
737 rbs
[k_chpart_foot_r
].co
[0] -= foot_dims
[0] * 0.5f
;
739 character_rd_box( ch
, k_chpart_sock_l
, foot_dims
);
740 character_rd_box( ch
, k_chpart_sock_r
, foot_dims
);
741 v3_copy( rbs
[k_chpart_foot_l
].co
, rbs
[k_chpart_sock_l
].co
);
742 v3_copy( rbs
[k_chpart_foot_r
].co
, rbs
[k_chpart_sock_r
].co
);
744 box_copy( (boxf
){{-0.2f
,-0.2f
,-0.7f
},{0.2f
,0.2f
,0.7f
}},
745 rbs
[k_chpart_board
].bbx
);
747 for( int i
=0; i
<PART_COUNT
; i
++ )
748 rb_init( &ch
->ragdoll
[i
] );
750 character_init_ragdoll_joints( ch
);
753 static void character_ragdoll_go( struct character
*ch
, v3f pos
)
755 character_init_ragdoll( ch
);
756 for( int i
=0; i
<PART_COUNT
; i
++ )
757 v3_add( pos
, ch
->ragdoll
[i
].co
, ch
->ragdoll
[i
].co
);
760 static void character_ragdoll_copypose( struct character
*ch
, v3f v
)
762 for( int i
=0; i
<PART_COUNT
; i
++ )
764 rigidbody
*rb
= &ch
->ragdoll
[i
];
766 m4x3_mulv( ch
->matrices
[i
], rb
->delta
, rb
->co
);
767 m3x3_q( ch
->matrices
[i
], rb
->q
);
770 rb
->manifold_count
= 0; /* ? */
772 rb_update_transform( rb
);
775 float vel
= v3_length(v
);
781 static void character_mimic_ragdoll( struct character
*ch
)
783 for( int i
=0; i
<PART_COUNT
; i
++ )
785 rigidbody
*rb
= &ch
->ragdoll
[i
];
786 v3f
*mat
= ch
->matrices
[i
];
788 m3x3_copy( rb
->to_world
, mat
);
790 v3_negate( rb
->delta
, inv_delta
);
791 m4x3_mulv( rb
->to_world
, inv_delta
, mat
[3] );
794 /* Attach wheels to board */
795 m3x3_copy( ch
->matrices
[k_chpart_board
], ch
->matrices
[k_chpart_wb
] );
796 m3x3_copy( ch
->matrices
[k_chpart_board
], ch
->matrices
[k_chpart_wf
] );
797 m4x3_mulv( ch
->matrices
[k_chpart_board
], ch
->offsets
[k_chpart_wb
],
798 ch
->matrices
[k_chpart_wb
][3] );
799 m4x3_mulv( ch
->matrices
[k_chpart_board
], ch
->offsets
[k_chpart_wf
],
800 ch
->matrices
[k_chpart_wf
][3] );
803 static void character_debug_ragdoll( struct character
*ch
)
805 rb_debug( &ch
->ragdoll
[k_chpart_body0
], 0xffffffff );
806 rb_debug( &ch
->ragdoll
[k_chpart_body1
], 0xffffffff );
807 rb_debug( &ch
->ragdoll
[k_chpart_neck
], 0xff00ff00 );
808 rb_debug( &ch
->ragdoll
[k_chpart_head
], 0xff00ff00 );
810 rb_debug( &ch
->ragdoll
[k_chpart_arm_l0
], 0xffffa500 );
811 rb_debug( &ch
->ragdoll
[k_chpart_arm_l1
], 0xffffa500 );
812 rb_debug( &ch
->ragdoll
[k_chpart_hand_l
], 0xffffa500 );
814 rb_debug( &ch
->ragdoll
[k_chpart_arm_r0
], 0xff00a5ff );
815 rb_debug( &ch
->ragdoll
[k_chpart_arm_r1
], 0xff00a5ff );
816 rb_debug( &ch
->ragdoll
[k_chpart_hand_r
], 0xff00a5ff );
818 rb_debug( &ch
->ragdoll
[k_chpart_leg_l0
], 0xffffa500 );
819 rb_debug( &ch
->ragdoll
[k_chpart_leg_l1
], 0xffffa500 );
820 rb_debug( &ch
->ragdoll
[k_chpart_foot_l
], 0xffffa500 );
821 rb_debug( &ch
->ragdoll
[k_chpart_leg_r0
], 0xff00a5ff );
822 rb_debug( &ch
->ragdoll
[k_chpart_leg_r1
], 0xff00a5ff );
823 rb_debug( &ch
->ragdoll
[k_chpart_foot_r
], 0xff00a5ff );
826 static void character_ragdoll_iter( struct character
*ch
, scene
*sc
)
828 for( int i
=0; i
<PART_COUNT
; i
++ )
830 rb_build_manifold( &ch
->ragdoll
[i
], sc
);
836 for( int i
=0; i
<2; i
++ )
838 shoe_vel
[i
] = v3_length( ch
->ragdoll
[i
].v
);
840 for( int i
=0; i
<20; i
++ )
842 float const k_springfactor
= 1.0f
/20.0f
;
844 for( int j
=0; j
<PART_COUNT
; j
++ )
845 rb_constraint_manifold( &ch
->ragdoll
[j
] );
847 for( int j
=0; j
<vg_list_size(rd_joints
); j
++ )
849 struct rd_joint
*joint
= &rd_joints
[j
];
850 rigidbody
*rba
= &ch
->ragdoll
[joint
->ia
],
851 *rbb
= &ch
->ragdoll
[joint
->ib
];
853 rb_constraint_position( rba
, joint
->lca
, rbb
, joint
->lcb
);
854 rb_constraint_angle( rba
, joint
->maj
.va
, rbb
, joint
->maj
.vb
,
856 joint
->maj
.spring
* k_springfactor
);
858 rb_constraint_angle( rba
, joint
->min
.va
, rbb
, joint
->min
.vb
,
860 joint
->min
.spring
* k_springfactor
);
864 for( int j
=0; j
<vg_list_size(rd_joints
); j
++ )
866 struct rd_joint
*joint
= &rd_joints
[j
];
867 rigidbody
*rba
= &ch
->ragdoll
[joint
->ia
],
868 *rbb
= &ch
->ragdoll
[joint
->ib
];
869 rb_angle_limit_force( rba
, joint
->min
.va
, rbb
, joint
->min
.vb
,
871 rb_angle_limit_force( rba
, joint
->maj
.va
, rbb
, joint
->maj
.vb
,
875 for( int i
=0; i
<PART_COUNT
; i
++ )
876 rb_iter( &ch
->ragdoll
[i
] );
878 for( int i
=0; i
<2; i
++ )
882 float a
= v3_length( ch
->ragdoll
[i
].v
) - shoe_vel
[i
];
888 rigidbody
*src
= &ch
->ragdoll
[k_chpart_foot_l
];
889 rigidbody
*dst
= &ch
->ragdoll
[k_chpart_sock_l
];
891 v3_copy( src
->co
, dst
->co
);
892 v3_copy( src
->v
, dst
->v
);
893 v3_copy( src
->q
, dst
->q
);
894 v3_copy( src
->I
, dst
->I
);
899 for( int i
=0; i
<PART_COUNT
; i
++ )
900 rb_update_transform( &ch
->ragdoll
[i
] );