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]*0.3f
);
447 //v3_copy( (v3f){0.0f,dip,tilt}, tr[3] );
448 v3_copy( cog
, tr
[3] );
450 v3_muladd( pose
->b0
, tr
[3], (v3f
){0.85f
,1.0f
,1.0f
}, npose
.b0
);
451 //m4x3_mulv( tr, pose->b0, npose.b0 );
452 m4x3_mulv( tr
, pose
->b1
, npose
.b1
);
453 m4x3_mulv( tr
, pose
->p
, npose
.p
);
454 m4x3_mulv( tr
, pose
->pl
, npose
.pl
);
455 m4x3_mulv( tr
, pose
->pr
, npose
.pr
);
456 m4x3_mulv( tr
, pose
->hl
, npose
.hl
);
457 m4x3_mulv( tr
, pose
->hr
, npose
.hr
);
458 m4x3_mulv( tr
, pose
->apl
, npose
.apl
);
459 m4x3_mulv( tr
, pose
->apr
, npose
.apr
);
461 v3_copy( pose
->fr
, npose
.fr
);
462 v3_copy( pose
->fl
, npose
.fl
);
463 v3_copy( pose
->cam
, npose
.cam
);
465 character_pose_blend( ch
, &npose
, q
);
468 static void character_yaw_upper( struct character
*ch
, float yaw
)
473 q_axis_angle( q
, (v3f
){0.0f
,1.0f
,0.0f
}, yaw
);
476 m3x3_mulv( r
, ch
->ik_body
.pole
, ch
->ik_body
.pole
);
477 m3x3_mulv( r
, ch
->ik_body
.end
, ch
->ik_body
.end
);
480 static void zero_ik_basic( struct ik_basic
*ik
)
487 static void character_pose_reset( struct character
*ch
)
489 zero_ik_basic( &ch
->ik_body
);
490 zero_ik_basic( &ch
->ik_leg_l
);
491 zero_ik_basic( &ch
->ik_leg_r
);
492 zero_ik_basic( &ch
->ik_arm_l
);
493 zero_ik_basic( &ch
->ik_arm_r
);
494 v3_zero( ch
->cam_pos
);
497 static void character_testpose( struct character
*ch
, float t
)
500 float *hips
= ch
->ik_body
.base
,
501 *collar
= ch
->ik_body
.end
,
502 *pole
= ch
->ik_body
.pole
;
504 hips
[0] = cosf(t
*1.325f
)*0.25f
;
505 hips
[1] = (sinf(t
)*0.2f
+0.6f
) * ch
->origins
[ k_chpart_body0
][1];
509 collar
[1] = hips
[1] + (ch
->ik_body
.l1
+ch
->ik_body
.l2
)*(sinf(t
)*0.05f
+0.94f
);
510 collar
[2] = hips
[2] + cosf(t
*0.42f
)*0.01f
;
512 v3_add( hips
, collar
, pole
);
513 v3_muls( pole
, 0.5f
, pole
);
514 v3_add( pole
, (v3f
){ 1.0f
, 0.0f
, 0.0f
}, pole
);
517 float *footl
= ch
->ik_leg_l
.end
,
518 *footr
= ch
->ik_leg_r
.end
,
519 *polel
= ch
->ik_leg_l
.pole
,
520 *poler
= ch
->ik_leg_r
.pole
;
522 footl
[0] = sinf(t
*0.563f
);
528 footr
[2] = cosf(t
*0.672f
);
530 v3_add( hips
, footl
, polel
);
531 v3_muls( polel
, 0.4f
, polel
);
532 v3_add( polel
, (v3f
){ -1.0f
,0.0f
,0.0f
}, polel
);
534 v3_add( hips
, footr
, poler
);
535 v3_muls( poler
, 0.4f
, poler
);
536 v3_add( poler
, (v3f
){ -1.0f
,0.0f
,0.0f
}, poler
);
539 float *arml
= ch
->ik_arm_l
.end
,
540 *armr
= ch
->ik_arm_r
.end
;
541 polel
= ch
->ik_arm_l
.pole
;
542 poler
= ch
->ik_arm_r
.pole
;
544 v3_copy( (v3f
){ 0.0f
, 0.0f
, 1.0f
}, arml
);
545 v3_copy( (v3f
){ 0.0f
, 0.0f
,-1.0f
}, armr
);
546 v3_copy( (v3f
){ 1.0f
, 1.0f
, 0.5f
}, polel
);
547 v3_copy( (v3f
){ 1.0f
, 1.0f
,-0.5f
}, poler
);
550 ch
->rhip
= sinf(t
*0.2f
);
551 ch
->rcollar
= sinf(t
*0.35325f
);
552 q_identity( ch
->qhead
);
554 m4x3_identity( ch
->matrices
[k_chpart_board
] );
555 m4x3_identity( ch
->matrices
[k_chpart_wb
] );
556 m4x3_identity( ch
->matrices
[k_chpart_wf
] );
559 static void character_draw( struct character
*ch
, float temp
, m4x3f camera
)
561 shader_character_use();
562 shader_character_uPv( vg_pv
);
564 vg_tex2d_bind( &tex_pallet
, 0 );
565 shader_character_uTexMain( 0 );
566 shader_character_uOpacity( temp
);
567 shader_character_uCamera( camera
[3] );
568 shader_link_standard_ub( _shader_character
.id
, 2 );
570 glEnable( GL_CULL_FACE
);
571 glCullFace( GL_BACK
);
573 mesh_bind( &ch
->mesh
);
575 for( int i
=4; i
<PART_COUNT
; i
++ )
578 if( i
== k_chpart_head
|| i
== k_chpart_neck
)
582 shader_character_uMdl( ch
->matrices
[i
] );
583 mdl_draw_submesh( &ch
->parts
[i
] );
586 for( int i
=0; i
<2; i
++ )
590 shader_character_uMdl( ch
->matrices
[i
] );
591 mdl_draw_submesh( &ch
->parts
[i
] );
595 shader_character_uMdl( ch
->matrices
[i
+2] );
596 mdl_draw_submesh( &ch
->parts
[i
] );
597 shader_character_uMdl( ch
->matrices
[i
] );
598 mdl_draw_submesh( &ch
->parts
[i
+2] );
607 static void character_rd_box( struct character
*ch
, enum character_part id
,
610 v3_muls( dims
, -0.5f
, ch
->ragdoll
[id
].bbx
[0] );
611 v3_muls( dims
, 0.5f
, ch
->ragdoll
[id
].bbx
[1] );
616 enum character_part ia
, ib
;
627 static const float k_human_major
= 0.5f
,
628 k_human_minor
= 0.5f
,
629 k_human_major_max
= 0.4f
,
630 k_human_minor_max
= 0.1f
;
632 #define HUMAN_VERTICAL_DEFAULT \
634 .va = {1.0f,0.0f,0.0f}, .vb = {1.0f,0.0f,0.0f}, \
635 .spring = k_human_minor, .ang = k_human_minor_max \
638 .va = {0.0f,1.0f,0.0f}, .vb = {0.0f,1.0f,0.0f}, \
639 .spring = k_human_major, .ang = k_human_major_max \
642 #define HUMAN_ARM_LEFT \
644 .va = {1.0f,0.0f,0.0f}, .vb = {1.0f,0.0f,0.0f}, \
645 .spring = k_human_minor, .ang = k_human_minor_max \
648 .va = {0.0f,0.0f,1.0f}, .vb = {0.0f,0.0f,1.0f}, \
649 .spring = k_human_major, .ang = k_human_major_max \
652 #define HUMAN_ARM_RIGHT \
654 .va = {1.0f,0.0f,0.0f}, .vb = {1.0f,0.0f,0.0f}, \
655 .spring = k_human_minor, .ang = k_human_minor_max \
658 .va = {0.0f,0.0f,-1.0f}, .vb = {0.0f,0.0f,-1.0f}, \
659 .spring = k_human_major, .ang = k_human_major_max \
662 static struct rd_joint rd_joints
[] =
664 { .ia
= k_chpart_leg_l1
, .ib
= k_chpart_foot_l
, HUMAN_VERTICAL_DEFAULT
},
665 { .ia
= k_chpart_leg_r1
, .ib
= k_chpart_foot_r
, HUMAN_VERTICAL_DEFAULT
},
667 { .ia
= k_chpart_body0
, .ib
= k_chpart_body1
, HUMAN_VERTICAL_DEFAULT
},
668 { .ia
= k_chpart_body1
, .ib
= k_chpart_neck
, HUMAN_VERTICAL_DEFAULT
},
669 { .ia
= k_chpart_neck
, .ib
= k_chpart_head
, HUMAN_VERTICAL_DEFAULT
},
670 { .ia
= k_chpart_body0
, .ib
= k_chpart_leg_l0
, HUMAN_VERTICAL_DEFAULT
},
671 { .ia
= k_chpart_leg_l0
, .ib
= k_chpart_leg_l1
, HUMAN_VERTICAL_DEFAULT
},
672 { .ia
= k_chpart_body0
, .ib
= k_chpart_leg_r0
, HUMAN_VERTICAL_DEFAULT
},
673 { .ia
= k_chpart_leg_r0
, .ib
= k_chpart_leg_r1
, HUMAN_VERTICAL_DEFAULT
},
675 { .ia
= k_chpart_body1
, .ib
= k_chpart_arm_l0
, HUMAN_ARM_LEFT
},
676 { .ia
= k_chpart_arm_l0
, .ib
= k_chpart_arm_l1
, HUMAN_ARM_LEFT
},
677 { .ia
= k_chpart_arm_l1
, .ib
= k_chpart_hand_l
, HUMAN_ARM_LEFT
},
679 { .ia
= k_chpart_body1
, .ib
= k_chpart_arm_r0
, HUMAN_ARM_RIGHT
},
680 { .ia
= k_chpart_arm_r0
, .ib
= k_chpart_arm_r1
, HUMAN_ARM_RIGHT
},
681 { .ia
= k_chpart_arm_r1
, .ib
= k_chpart_hand_r
, HUMAN_ARM_RIGHT
}
684 /* Ragdoll should be in rest pose when calling this function */
685 static void character_init_ragdoll_joints( struct character
*ch
)
687 for( int i
=0; i
<vg_list_size(rd_joints
); i
++ )
689 struct rd_joint
*joint
= &rd_joints
[i
];
691 float *hinge
= ch
->origins
[joint
->ib
];
692 v3_sub( hinge
, ch
->ragdoll
[joint
->ia
].co
, joint
->lca
);
693 v3_sub( hinge
, ch
->ragdoll
[joint
->ib
].co
, joint
->lcb
);
696 for( int i
=0; i
<PART_COUNT
; i
++ )
698 float *pivot
= ch
->origins
[i
];
699 v3_sub( ch
->ragdoll
[i
].co
, pivot
, ch
->ragdoll
[i
].delta
);
703 static void character_init_ragdoll( struct character
*ch
)
705 v3f
*offs
= ch
->offsets
;
706 rigidbody
*rbs
= ch
->ragdoll
;
709 float chest_width
= fabsf(offs
[k_chpart_arm_r0
][2])*2.0f
,
710 chest_depth
= chest_width
* 0.571f
,
711 chest_height
= offs
[k_chpart_neck
][1];
712 v3f chest_dims
= { chest_depth
, chest_height
, chest_width
};
713 character_rd_box( ch
, k_chpart_body1
, chest_dims
);
715 v3_copy( ch
->origins
[k_chpart_body1
], rbs
[k_chpart_body1
].co
);
716 rbs
[k_chpart_body1
].co
[1] += chest_height
*0.5f
;
719 v3f torso_dims
= { chest_depth
,
720 offs
[k_chpart_body1
][1]-offs
[k_chpart_leg_l0
][1],
722 v3_copy( ch
->origins
[k_chpart_body0
], rbs
[k_chpart_body0
].co
);
723 character_rd_box( ch
, k_chpart_body0
, torso_dims
);
726 v3f neck_dims
= { chest_depth
*0.5f
,
727 offs
[k_chpart_head
][1],
729 v3_copy( ch
->origins
[k_chpart_neck
], rbs
[k_chpart_neck
].co
);
730 rbs
[k_chpart_neck
].co
[1] += neck_dims
[1]*0.5f
;
731 character_rd_box( ch
, k_chpart_neck
, neck_dims
);
734 v3f head_dims
= { chest_width
*0.5f
, chest_width
*0.5f
, chest_width
*0.5f
};
735 v3_copy( ch
->origins
[k_chpart_head
], rbs
[k_chpart_head
].co
);
736 rbs
[k_chpart_head
].co
[1] += head_dims
[1]*0.5f
;
737 character_rd_box( ch
, k_chpart_head
, head_dims
);
740 v3f ua_dims
= { 0.0f
, 0.0f
, fabsf(offs
[k_chpart_arm_l1
][2]) };
741 ua_dims
[1] = 0.38f
*ua_dims
[2];
742 ua_dims
[0] = 0.38f
*ua_dims
[2];
743 v3f la_dims
= { ua_dims
[0], ua_dims
[1], fabsf(offs
[k_chpart_hand_l
][2]) };
744 v3f hand_dims
= { ua_dims
[1], ua_dims
[1]*0.5f
, ua_dims
[1] };
746 character_rd_box( ch
, k_chpart_arm_l0
, ua_dims
);
747 character_rd_box( ch
, k_chpart_arm_r0
, ua_dims
);
748 character_rd_box( ch
, k_chpart_arm_l1
, la_dims
);
749 character_rd_box( ch
, k_chpart_arm_r1
, la_dims
);
750 character_rd_box( ch
, k_chpart_hand_l
, hand_dims
);
751 character_rd_box( ch
, k_chpart_hand_r
, hand_dims
);
753 v3_copy( ch
->origins
[k_chpart_arm_l0
], rbs
[k_chpart_arm_l0
].co
);
754 rbs
[k_chpart_arm_l0
].co
[2] += ua_dims
[2] * 0.5f
;
755 v3_copy( ch
->origins
[k_chpart_arm_l1
], rbs
[k_chpart_arm_l1
].co
);
756 rbs
[k_chpart_arm_l1
].co
[2] += la_dims
[2] * 0.5f
;
757 v3_copy( ch
->origins
[k_chpart_hand_l
], rbs
[k_chpart_hand_l
].co
);
758 rbs
[k_chpart_hand_l
].co
[2] += hand_dims
[2] * 0.5f
;
760 v3_copy( ch
->origins
[k_chpart_arm_r0
], rbs
[k_chpart_arm_r0
].co
);
761 rbs
[k_chpart_arm_r0
].co
[2] -= ua_dims
[2] * 0.5f
;
762 v3_copy( ch
->origins
[k_chpart_arm_r1
], rbs
[k_chpart_arm_r1
].co
);
763 rbs
[k_chpart_arm_r1
].co
[2] -= la_dims
[2] * 0.5f
;
764 v3_copy( ch
->origins
[k_chpart_hand_r
], rbs
[k_chpart_hand_r
].co
);
765 rbs
[k_chpart_hand_r
].co
[2] -= hand_dims
[2] * 0.5f
;
768 v3f ul_dims
= { 0.0f
, fabsf(offs
[k_chpart_leg_l1
][1]), 0.0f
};
769 ul_dims
[0] = 0.38f
*ul_dims
[1];
770 ul_dims
[2] = 0.38f
*ul_dims
[1];
771 v3f ll_dims
= { ul_dims
[0], fabsf(offs
[k_chpart_foot_l
][1]), ul_dims
[2] };
772 v3f foot_dims
= { 2.0f
*ul_dims
[0], ul_dims
[0], ul_dims
[0] };
774 character_rd_box( ch
, k_chpart_leg_l0
, ul_dims
);
775 character_rd_box( ch
, k_chpart_leg_r0
, ul_dims
);
776 character_rd_box( ch
, k_chpart_leg_l1
, ll_dims
);
777 character_rd_box( ch
, k_chpart_leg_r1
, ll_dims
);
778 character_rd_box( ch
, k_chpart_foot_l
, foot_dims
);
779 character_rd_box( ch
, k_chpart_foot_r
, foot_dims
);
781 v3_copy( ch
->origins
[k_chpart_leg_l0
], rbs
[k_chpart_leg_l0
].co
);
782 rbs
[k_chpart_leg_l0
].co
[1] -= ul_dims
[1] * 0.5f
;
783 v3_copy( ch
->origins
[k_chpart_leg_l1
], rbs
[k_chpart_leg_l1
].co
);
784 rbs
[k_chpart_leg_l1
].co
[1] -= ll_dims
[1] * 0.5f
;
785 v3_copy( ch
->origins
[k_chpart_foot_l
], rbs
[k_chpart_foot_l
].co
);
786 rbs
[k_chpart_foot_l
].co
[1] -= foot_dims
[1] * 0.5f
;
787 rbs
[k_chpart_foot_l
].co
[0] -= foot_dims
[0] * 0.5f
;
789 v3_copy( ch
->origins
[k_chpart_leg_r0
], rbs
[k_chpart_leg_r0
].co
);
790 rbs
[k_chpart_leg_r0
].co
[1] -= ul_dims
[1] * 0.5f
;
791 v3_copy( ch
->origins
[k_chpart_leg_r1
], rbs
[k_chpart_leg_r1
].co
);
792 rbs
[k_chpart_leg_r1
].co
[1] -= ll_dims
[1] * 0.5f
;
793 v3_copy( ch
->origins
[k_chpart_foot_r
], rbs
[k_chpart_foot_r
].co
);
794 rbs
[k_chpart_foot_r
].co
[1] -= foot_dims
[1] * 0.5f
;
795 rbs
[k_chpart_foot_r
].co
[0] -= foot_dims
[0] * 0.5f
;
797 character_rd_box( ch
, k_chpart_sock_l
, foot_dims
);
798 character_rd_box( ch
, k_chpart_sock_r
, foot_dims
);
799 v3_copy( rbs
[k_chpart_foot_l
].co
, rbs
[k_chpart_sock_l
].co
);
800 v3_copy( rbs
[k_chpart_foot_r
].co
, rbs
[k_chpart_sock_r
].co
);
802 box_copy( (boxf
){{-0.2f
,-0.2f
,-0.7f
},{0.2f
,0.2f
,0.7f
}},
803 rbs
[k_chpart_board
].bbx
);
805 for( int i
=0; i
<PART_COUNT
; i
++ )
806 rb_init( &ch
->ragdoll
[i
] );
808 character_init_ragdoll_joints( ch
);
811 static void character_ragdoll_go( struct character
*ch
, v3f pos
)
813 character_init_ragdoll( ch
);
814 for( int i
=0; i
<PART_COUNT
; i
++ )
815 v3_add( pos
, ch
->ragdoll
[i
].co
, ch
->ragdoll
[i
].co
);
818 static void character_ragdoll_copypose( struct character
*ch
, v3f v
)
820 for( int i
=0; i
<PART_COUNT
; i
++ )
822 rigidbody
*rb
= &ch
->ragdoll
[i
];
824 m4x3_mulv( ch
->matrices
[i
], rb
->delta
, rb
->co
);
825 m3x3_q( ch
->matrices
[i
], rb
->q
);
829 rb_update_transform( rb
);
832 float vel
= v3_length(v
);
838 static void character_mimic_ragdoll( struct character
*ch
)
840 for( int i
=0; i
<PART_COUNT
; i
++ )
842 rigidbody
*rb
= &ch
->ragdoll
[i
];
843 v3f
*mat
= ch
->matrices
[i
];
845 m3x3_copy( rb
->to_world
, mat
);
847 v3_negate( rb
->delta
, inv_delta
);
848 m4x3_mulv( rb
->to_world
, inv_delta
, mat
[3] );
851 /* Attach wheels to board */
852 m3x3_copy( ch
->matrices
[k_chpart_board
], ch
->matrices
[k_chpart_wb
] );
853 m3x3_copy( ch
->matrices
[k_chpart_board
], ch
->matrices
[k_chpart_wf
] );
854 m4x3_mulv( ch
->matrices
[k_chpart_board
], ch
->offsets
[k_chpart_wb
],
855 ch
->matrices
[k_chpart_wb
][3] );
856 m4x3_mulv( ch
->matrices
[k_chpart_board
], ch
->offsets
[k_chpart_wf
],
857 ch
->matrices
[k_chpart_wf
][3] );
860 static void character_debug_ragdoll( struct character
*ch
)
862 rb_debug( &ch
->ragdoll
[k_chpart_body0
], 0xffffffff );
863 rb_debug( &ch
->ragdoll
[k_chpart_body1
], 0xffffffff );
864 rb_debug( &ch
->ragdoll
[k_chpart_neck
], 0xff00ff00 );
865 rb_debug( &ch
->ragdoll
[k_chpart_head
], 0xff00ff00 );
867 rb_debug( &ch
->ragdoll
[k_chpart_arm_l0
], 0xffffa500 );
868 rb_debug( &ch
->ragdoll
[k_chpart_arm_l1
], 0xffffa500 );
869 rb_debug( &ch
->ragdoll
[k_chpart_hand_l
], 0xffffa500 );
871 rb_debug( &ch
->ragdoll
[k_chpart_arm_r0
], 0xff00a5ff );
872 rb_debug( &ch
->ragdoll
[k_chpart_arm_r1
], 0xff00a5ff );
873 rb_debug( &ch
->ragdoll
[k_chpart_hand_r
], 0xff00a5ff );
875 rb_debug( &ch
->ragdoll
[k_chpart_leg_l0
], 0xffffa500 );
876 rb_debug( &ch
->ragdoll
[k_chpart_leg_l1
], 0xffffa500 );
877 rb_debug( &ch
->ragdoll
[k_chpart_foot_l
], 0xffffa500 );
878 rb_debug( &ch
->ragdoll
[k_chpart_leg_r0
], 0xff00a5ff );
879 rb_debug( &ch
->ragdoll
[k_chpart_leg_r1
], 0xff00a5ff );
880 rb_debug( &ch
->ragdoll
[k_chpart_foot_r
], 0xff00a5ff );
883 static void character_ragdoll_iter( struct character
*ch
)
887 for( int i
=0; i
<PART_COUNT
; i
++ )
889 rb_build_manifold_terrain( &ch
->ragdoll
[i
] );
894 int len
= bh_select( &world
.bhcubes
, ch
->ragdoll
[i
].bbx_world
,
897 for( int j
=0; j
<len
; j
++ )
898 rb_build_manifold_rb_static( &ch
->ragdoll
[i
],
899 &world
.temp_rbs
[colliders
[j
]] );
906 for( int i
=0; i
<2; i
++ )
908 shoe_vel
[i
] = v3_length( ch
->ragdoll
[i
].v
);
910 /* This used to be 20 iterations */
911 for( int i
=0; i
<5; i
++ )
913 float const k_springfactor
= 1.0f
/20.0f
;
917 for( int j
=0; j
<vg_list_size(rd_joints
); j
++ )
919 struct rd_joint
*joint
= &rd_joints
[j
];
920 rigidbody
*rba
= &ch
->ragdoll
[joint
->ia
],
921 *rbb
= &ch
->ragdoll
[joint
->ib
];
923 rb_constraint_position( rba
, joint
->lca
, rbb
, joint
->lcb
);
924 rb_constraint_angle( rba
, joint
->maj
.va
, rbb
, joint
->maj
.vb
,
926 joint
->maj
.spring
* k_springfactor
);
928 rb_constraint_angle( rba
, joint
->min
.va
, rbb
, joint
->min
.vb
,
930 joint
->min
.spring
* k_springfactor
);
934 for( int j
=0; j
<vg_list_size(rd_joints
); j
++ )
936 struct rd_joint
*joint
= &rd_joints
[j
];
937 rigidbody
*rba
= &ch
->ragdoll
[joint
->ia
],
938 *rbb
= &ch
->ragdoll
[joint
->ib
];
939 rb_angle_limit_force( rba
, joint
->min
.va
, rbb
, joint
->min
.vb
,
941 rb_angle_limit_force( rba
, joint
->maj
.va
, rbb
, joint
->maj
.vb
,
945 for( int i
=0; i
<PART_COUNT
; i
++ )
946 rb_iter( &ch
->ragdoll
[i
] );
948 for( int i
=0; i
<2; i
++ )
952 float a
= v3_length( ch
->ragdoll
[i
].v
) - shoe_vel
[i
];
958 rigidbody
*src
= &ch
->ragdoll
[k_chpart_foot_l
];
959 rigidbody
*dst
= &ch
->ragdoll
[k_chpart_sock_l
];
961 v3_copy( src
->co
, dst
->co
);
962 v3_copy( src
->v
, dst
->v
);
963 v3_copy( src
->q
, dst
->q
);
964 v3_copy( src
->w
, dst
->w
);
969 for( int i
=0; i
<PART_COUNT
; i
++ )
970 rb_update_transform( &ch
->ragdoll
[i
] );