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ragdoll
[carveJwlIkooP6JGAAIwe30JlM.git] / character.h
1 #ifndef CHARACTER_H
2 #define CHARACTER_H
3
4 #include "vg/vg.h"
5 #include "model.h"
6 #include "scene.h"
7 #include "ik.h"
8 #include "rigidbody.h"
9
10 SHADER_DEFINE( shader_player,
11
12 /*Include*/ VERTEX_STANDARD_ATTRIBUTES
13
14 "uniform mat4 uPv;"
15 "uniform mat4x3 uMdl;"
16 "uniform float uOpacity;"
17 ""
18 "out vec4 aColour;"
19 "out vec2 aUv;"
20 "out vec3 aNorm;"
21 "out vec3 aCo;"
22 "out float aOpacity;"
23 ""
24 "void main()"
25 "{"
26 "vec3 world_pos = uMdl * vec4(a_co,1.0);"
27 "gl_Position = uPv * vec4(world_pos,1.0);"
28
29 "aColour = a_colour;"
30 "aUv = a_uv;"
31 "aNorm = mat3(uMdl) * a_norm;"
32 "aCo = a_co;"
33 "aOpacity = 1.0-(gl_Position.y+0.5)*uOpacity;"
34 "}",
35 /* Fragment */
36 "out vec4 FragColor;"
37 ""
38 "uniform sampler2D uTexMain;"
39 "uniform vec4 uColour;"
40 ""
41 "in vec4 aColour;"
42 "in vec2 aUv;"
43 "in vec3 aNorm;"
44 "in vec3 aCo;"
45 "in float aOpacity;"
46 ""
47 "void main()"
48 "{"
49 "vec3 diffuse = texture( uTexMain, aUv ).rgb;"
50 "FragColor = vec4(pow(diffuse,vec3(1.0)),aOpacity);"
51 "}"
52 ,
53 UNIFORMS({ "uTexMain", "uPv", "uMdl", "uOpacity" })
54 )
55
56 #define FOREACH_PART(FN) \
57 FN( body0 ) \
58 FN( body1 ) \
59 FN( neck ) \
60 FN( head ) \
61 FN( arm_l0 ) \
62 FN( arm_l1 ) \
63 FN( hand_l ) \
64 FN( arm_r0 ) \
65 FN( arm_r1 ) \
66 FN( hand_r ) \
67 FN( leg_l0 ) \
68 FN( leg_l1 ) \
69 FN( foot_l ) \
70 FN( leg_r0 ) \
71 FN( leg_r1 ) \
72 FN( foot_r ) \
73 FN( wf ) \
74 FN( wb ) \
75 FN( board ) \
76
77 #define MAKE_ENUM(ENUM) k_chpart_##ENUM,
78 #define MAKE_STRING(STR) #STR,
79 #define ADD_ONE(_) +1
80 #define PART_COUNT FOREACH_PART(ADD_ONE)
81
82 enum character_part
83 {
84 FOREACH_PART( MAKE_ENUM )
85 };
86
87 static const char *character_part_strings[] =
88 {
89 FOREACH_PART( MAKE_STRING )
90 };
91
92 struct character
93 {
94 glmesh mesh;
95
96 submodel parts[ PART_COUNT ];
97 m4x3f matrices[ PART_COUNT ];
98
99 /* Auxillary information */
100 v3f offsets[ PART_COUNT ];
101 rigidbody ragdoll[ PART_COUNT ];
102
103 /*
104 * Controls
105 * note: - base nodes of IK structures will be filled automatically
106 * - all positions are in local space to the mroot
107 */
108 struct ik_basic ik_arm_l, ik_arm_r,
109 ik_leg_l, ik_leg_r,
110 ik_body;
111 v3f cam_pos;
112
113 v4f qhead;
114 float rhip, rcollar, /* twist of hip and collar controls,
115 these act in the local +y axis of the part */
116 rhead,
117 rfootl, rfootr,
118 rhandl, rhandr;
119
120 v3f ground_normal; /* Feet will be aligned to this */
121 m4x3f mroot;
122 };
123
124 static void character_offset( struct character *ch, enum character_part parent,
125 enum character_part child )
126 {
127 v3_sub( ch->parts[ child ].pivot, ch->parts[ parent ].pivot,
128 ch->offsets[ child ] );
129 }
130
131 static int character_load( struct character *ch, const char *name )
132 {
133 char buf[64];
134
135 snprintf( buf, sizeof(buf)-1, "models/%s.mdl", name );
136 model *src = vg_asset_read( buf );
137
138 if( !src )
139 {
140 vg_error( "Could not open 'models/%s.mdl'", name );
141 return 0;
142 }
143
144 int error_count = 0;
145
146 for( int i=0; i<PART_COUNT; i++ )
147 {
148 snprintf( buf, sizeof(buf)-1, "%s_%s", name, character_part_strings[i] );
149 submodel *sm = submodel_get( src, buf );
150
151 if( !sm )
152 {
153 vg_warn( "Character file does not contain an '_%s' part.\n",
154 character_part_strings[i] );
155 error_count ++;
156
157 memset( &ch->parts[i], 0, sizeof(submodel) );
158 continue;
159 }
160
161 ch->parts[i] = *sm;
162 }
163
164 model_unpack( src, &ch->mesh );
165
166 if( !error_count )
167 vg_success( "Loaded character file '%s' with no errors\n", name );
168
169 /* Create the offsets */
170 character_offset( ch, k_chpart_body0, k_chpart_body1 );
171 character_offset( ch, k_chpart_body1, k_chpart_neck );
172 character_offset( ch, k_chpart_neck, k_chpart_head );
173
174 character_offset( ch, k_chpart_body1, k_chpart_arm_l0 );
175 character_offset( ch, k_chpart_arm_l0, k_chpart_arm_l1 );
176 character_offset( ch, k_chpart_arm_l1, k_chpart_hand_l );
177
178 character_offset( ch, k_chpart_body1, k_chpart_arm_r0 );
179 character_offset( ch, k_chpart_arm_r0, k_chpart_arm_r1 );
180 character_offset( ch, k_chpart_arm_r1, k_chpart_hand_r );
181
182 character_offset( ch, k_chpart_body0, k_chpart_leg_l0 );
183 character_offset( ch, k_chpart_leg_l0, k_chpart_leg_l1 );
184 character_offset( ch, k_chpart_leg_l1, k_chpart_foot_l );
185
186 character_offset( ch, k_chpart_body0, k_chpart_leg_r0 );
187 character_offset( ch, k_chpart_leg_r0, k_chpart_leg_r1 );
188 character_offset( ch, k_chpart_leg_r1, k_chpart_foot_r );
189
190 character_offset( ch, k_chpart_board, k_chpart_wb );
191 character_offset( ch, k_chpart_board, k_chpart_wf );
192
193 ch->ik_arm_l.l1 = v3_length( ch->offsets[ k_chpart_arm_l1 ] );
194 ch->ik_arm_l.l2 = v3_length( ch->offsets[ k_chpart_hand_l ] );
195 ch->ik_arm_r.l1 = v3_length( ch->offsets[ k_chpart_arm_r1 ] );
196 ch->ik_arm_r.l2 = v3_length( ch->offsets[ k_chpart_hand_r ] );
197
198 ch->ik_leg_l.l1 = v3_length( ch->offsets[ k_chpart_leg_l1 ] );
199 ch->ik_leg_l.l2 = v3_length( ch->offsets[ k_chpart_foot_l ] );
200 ch->ik_leg_r.l1 = v3_length( ch->offsets[ k_chpart_leg_r1 ] );
201 ch->ik_leg_r.l2 = v3_length( ch->offsets[ k_chpart_foot_r ] );
202
203 ch->ik_body.l1 = v3_length( ch->offsets[ k_chpart_body1 ] );
204 ch->ik_body.l2 = v3_length( ch->offsets[ k_chpart_neck ] );
205
206 free( src );
207 return 1;
208 }
209
210 static void align_to_board( struct character *ch, enum character_part id )
211 {
212 /* Calculate rotation between board and feet */
213 m4x3f *mats = ch->matrices;
214
215 v3f foot_pos, foot_fwd, foot_target, board_norm, board_origin;
216 v3_copy( mats[id][3], foot_pos );
217 m3x3_mulv( mats[id], (v3f){1.0f,0.0f,0.0f}, foot_fwd );
218 v3_add( foot_fwd, foot_pos, foot_target );
219
220 m3x3_mulv( mats[k_chpart_board], (v3f){0.0f,1.0f,0.0f}, board_norm );
221 m4x3_mulv( mats[k_chpart_board], (v3f){0.0f,0.13f,0.0f}, board_origin );
222
223 vg_line( foot_pos, foot_target, 0xff00ff00 );
224
225 v3f v0;
226 v3_sub( board_origin, foot_target, v0 );
227 float t = v3_dot( v0, board_norm ) / board_norm[1];
228 foot_target[1] += t;
229 vg_line( foot_pos, foot_target, 0xff00ffff );
230
231 v3_sub( foot_target, foot_pos, foot_target );
232 v3_normalize( foot_target );
233 float ang = acosf( v3_dot( foot_target, foot_fwd ) );
234
235 v4f qcorrection; m3x3f correction;
236 q_axis_angle( qcorrection, (v3f){0.0f,0.0f,1.0f}, -ang );
237 q_m3x3( qcorrection, correction );
238 m3x3_mul( mats[id], correction, mats[id] );
239 }
240
241 static void character_eval( struct character *ch )
242 {
243 m4x3f *mats = ch->matrices;
244 v3f *offs = ch->offsets;
245
246 ik_basic( &ch->ik_body, mats[k_chpart_body0], mats[k_chpart_body1],
247 k_ikY, k_ikX );
248
249 m3x3f temp;
250 v4f body_rotation;
251 /* TODO: Do this directly via m3x3 */
252
253 q_axis_angle( body_rotation, (v3f){0.0f,1.0f,0.0f}, ch->rhip );
254 q_m3x3( body_rotation, temp );
255 m3x3_mul( mats[k_chpart_body0], temp, mats[k_chpart_body0] );
256
257 q_axis_angle( body_rotation, (v3f){0.0f,1.0f,0.0f}, ch->rcollar );
258 q_m3x3( body_rotation, temp );
259 m3x3_mul( mats[k_chpart_body1], temp, mats[k_chpart_body1] );
260
261 /* Setup aux */
262 m4x3_mulv( mats[k_chpart_body0], offs[k_chpart_leg_l0], ch->ik_leg_l.base );
263 m4x3_mulv( mats[k_chpart_body0], offs[k_chpart_leg_r0], ch->ik_leg_r.base );
264 m4x3_mulv( mats[k_chpart_body1], offs[k_chpart_arm_l0], ch->ik_arm_l.base );
265 m4x3_mulv( mats[k_chpart_body1], offs[k_chpart_arm_r0], ch->ik_arm_r.base );
266
267 /* IK for arms and legs */
268 ik_basic( &ch->ik_arm_l, mats[k_chpart_arm_l0], mats[k_chpart_arm_l1],
269 k_ikZ, k_ikY );
270 ik_basic( &ch->ik_arm_r, mats[k_chpart_arm_r0], mats[k_chpart_arm_r1],
271 k_iknZ, k_ikY );
272 ik_basic( &ch->ik_leg_l, mats[k_chpart_leg_l0], mats[k_chpart_leg_l1],
273 k_ikY, k_iknX );
274 ik_basic( &ch->ik_leg_r, mats[k_chpart_leg_r0], mats[k_chpart_leg_r1],
275 k_ikY, k_iknX );
276
277 /* Hands */
278 m3x3_copy( mats[k_chpart_arm_l1], mats[k_chpart_hand_l] );
279 m3x3_copy( mats[k_chpart_arm_r1], mats[k_chpart_hand_r] );
280 m4x3_mulv( mats[k_chpart_arm_l1], offs[k_chpart_hand_l],
281 mats[k_chpart_hand_l][3] );
282 m4x3_mulv( mats[k_chpart_arm_r1], offs[k_chpart_hand_r],
283 mats[k_chpart_hand_r][3] );
284
285 /* Neck / Head */
286 m3x3_copy( mats[k_chpart_body1], mats[k_chpart_neck] );
287 m4x3_mulv( mats[k_chpart_body1], offs[k_chpart_neck],
288 mats[k_chpart_neck][3] );
289
290 v4f qhead;
291 q_axis_angle( qhead, (v3f){ 0.0f,1.0f,0.0f }, ch->rhead );
292 q_m3x3( qhead, mats[k_chpart_head] );
293 //m3x3_mul( mats[k_chpart_neck], mats[k_chpart_head], mats[k_chpart_head] );
294 m4x3_mulv( mats[k_chpart_neck], offs[k_chpart_head], mats[k_chpart_head][3]);
295
296 /* Feet */
297 m3x3_copy( mats[k_chpart_leg_l1], mats[k_chpart_foot_l] );
298 m3x3_copy( mats[k_chpart_leg_r1], mats[k_chpart_foot_r] );
299 m4x3_mulv( mats[k_chpart_leg_l1], offs[k_chpart_foot_l],
300 mats[k_chpart_foot_l][3] );
301 m4x3_mulv( mats[k_chpart_leg_r1], offs[k_chpart_foot_r],
302 mats[k_chpart_foot_r][3] );
303
304 align_to_board( ch, k_chpart_foot_l );
305 align_to_board( ch, k_chpart_foot_r );
306
307 for( int i=0; i<PART_COUNT; i++ )
308 m4x3_mul( ch->mroot, ch->matrices[i], ch->matrices[i] );
309 }
310
311 #define B3D_CO( X, Y, Z ) (v3f){ X, Z, -Y }
312
313 typedef struct character_pose character_pose;
314 struct character_pose
315 {
316 v3f b0, b1, p, fr, fl, pl, pr, hl, hr, apl, apr, cam;
317 };
318
319 static character_pose pose_aero =
320 {
321 .b0 = {0.0721f, 0.8167f, 0.1365f},
322 .b1 = {-0.0773f, 1.1559f, -0.1699f},
323 .p = {0.0421f, 1.1430f, 0.2803f},
324 .fr = {0.0535f, 0.1312f, -0.3647f},
325 .fl = {-0.0605f, 0.1464f, 0.2917f},
326 .pl = {-0.1704f, 0.6889f, -0.4017f},
327 .pr = {0.0672f, 0.7598f, -0.5963f},
328 .hl = {-0.2153f, 0.7195f, -0.1345f},
329 .hr = {0.1974f, 0.7940f, -0.3522f},
330 .apl = {-0.2008f, 0.9546f, 0.3687f},
331 .apr = {0.3133f, 0.9299f, 0.0181f},
332 .cam = {-0.3394f, 1.2661f, 0.2936f}
333 };
334
335 static character_pose pose_slide =
336 {
337 .b0 = {0.6732f, 0.5565f, -0.0000f},
338 .b1 = {0.8116f, 1.0547f, 0.0613f},
339 .p = {1.0404f, 0.7907f, 0.0186f},
340 .fr = {-0.0030f, 0.1366f, -0.4461f},
341 .fl = {-0.0030f, 0.1366f, 0.3480f},
342 .pl = {-0.0887f, 0.8229f, 0.3826f},
343 .pr = {-0.0887f, 0.8229f, -0.4621f},
344 .hl = {0.7749f, 0.5545f, 0.5310f},
345 .hr = {0.5844f, 1.2445f, -0.5456f},
346 .apl = {1.0999f, 0.5390f, 0.2398f},
347 .apr = {0.9816f, 0.9536f, -0.5463f},
348 .cam = {0.9888f, 1.4037f, 0.6081f}
349 };
350
351 static character_pose pose_slide1 =
352 {
353 .b0 = {-0.2385f, 0.6403f, 0.1368f},
354 .b1 = {-0.5151f, 1.1351f, 0.1380f},
355 .p = {-0.1158f, 1.2118f, 0.3895f},
356 .fr = {-0.0030f, 0.1323f, -0.3190f},
357 .fl = {-0.0030f, 0.1323f, 0.5797f},
358 .pl = {-0.6568f, 0.4305f, 0.2069f},
359 .pr = {-0.6850f, 0.2740f, -0.2969f},
360 .hl = {-0.7029f, 0.6132f, 0.2972f},
361 .hr = {-0.2572f, 1.0104f, -0.4770f},
362 .apl = {-0.4808f, 0.8480f, 0.3731f},
363 .apr = {-0.0836f, 1.0480f, -0.1201f},
364 .cam = {-1.0508f, 1.0769f, 0.0528f}
365 };
366
367 static character_pose pose_aero_reverse =
368 {
369 .b0 = {0.0616f, 0.8167f, -0.1415f},
370 .b1 = {0.0148f, 1.1559f, 0.1861f},
371 .p = {0.0558f, 1.1430f, -0.2779f},
372 .fr = {0.0535f, 0.1312f, -0.3647f},
373 .fl = {0.0730f, 0.1464f, 0.2917f},
374 .pl = {-0.2073f, 0.6889f, 0.3839f},
375 .pr = {-0.3584f, 0.4069f, 0.1032f},
376 .hl = {0.1567f, 0.7195f, 0.1997f},
377 .hr = {-0.3055f, 0.7940f, 0.2639f},
378 .apl = {0.3143f, 0.9546f, -0.2784f},
379 .apr = {-0.2885f, 0.9299f, -0.1236f},
380 .cam = {-0.3394f, 1.2661f, -0.2936f}
381 };
382
383 static character_pose pose_stand =
384 {
385 .b0 = {0.1877f, 1.0663f, 0.0063f},
386 .b1 = {0.0499f, 1.5564f, -0.0584f},
387 .p = {0.5982f, 1.2810f, 0.0842f},
388 .fr = {0.0535f, 0.1312f, -0.3647f},
389 .fl = {0.0354f, 0.1464f, 0.2917f},
390 .pl = {-0.4325f, 0.6889f, 0.1823f},
391 .pr = {-0.4794f, 0.7598f, -0.3610f},
392 .hl = {0.0498f, 1.0058f, 0.2317f},
393 .hr = {0.0188f, 0.9786f, -0.2725f},
394 .apl = {0.2898f, 1.3453f, 0.2303f},
395 .apr = {0.5273f, 1.2876f, -0.1848f},
396 .cam = {-0.3477f, 1.5884f, -0.0019f}
397 };
398
399 static character_pose pose_fly =
400 {
401 .b0 = {0.2995f, 0.6819f, -0.1369f},
402 .b1 = {0.1618f, 1.1720f, -0.2016f},
403 .p = {0.7477f, 0.9173f, -0.1885f},
404 .fr = {0.0535f, 0.1312f, -0.3647f},
405 .fl = {0.0354f, 0.1464f, 0.2917f},
406 .pl = {-0.2930f, 0.4849f, 0.5307f},
407 .pr = {-0.4754f, 0.4124f, -0.4874f},
408 .hl = {0.2650f, 1.1897f, 0.4626f},
409 .hr = {0.2494f, 1.2059f, -0.7985f},
410 .apl = {0.5165f, 1.0990f, 0.1655f},
411 .apr = {0.6759f, 1.0661f, -0.6014f},
412 .cam = {-0.2727f, 1.2606f, 0.3564f}
413 };
414
415 static
416 void character_pose_blend( struct character *ch, character_pose *pose, float q )
417 {
418 v3_muladds( ch->ik_body.base, pose->b0, q, ch->ik_body.base );
419 v3_muladds( ch->ik_body.end, pose->b1, q, ch->ik_body.end );
420 v3_muladds( ch->ik_body.pole, pose->p, q, ch->ik_body.pole );
421 v3_muladds( ch->ik_leg_l.end, pose->fl, q, ch->ik_leg_l.end );
422 v3_muladds( ch->ik_leg_l.pole, pose->pl, q, ch->ik_leg_l.pole );
423 v3_muladds( ch->ik_leg_r.end, pose->fr, q, ch->ik_leg_r.end );
424 v3_muladds( ch->ik_leg_r.pole, pose->pr, q, ch->ik_leg_r.pole );
425 v3_muladds( ch->ik_arm_l.pole, pose->apl, q, ch->ik_arm_l.pole );
426 v3_muladds( ch->ik_arm_r.pole, pose->apr, q, ch->ik_arm_r.pole );
427 v3_muladds( ch->ik_arm_l.end, pose->hl, q, ch->ik_arm_l.end );
428 v3_muladds( ch->ik_arm_r.end, pose->hr, q, ch->ik_arm_r.end );
429 v3_muladds( ch->cam_pos, pose->cam, q, ch->cam_pos );
430 }
431
432 static
433 void character_final_pose( struct character *ch, v3f cog,
434 character_pose *pose, float q )
435 {
436 character_pose npose;
437 float dip = vg_clampf(cog[1], -1.0f, 0.3f) * 0.35f,
438 tilt = vg_clampf(cog[2], -1.0f, 1.0f) * 0.3f;
439
440 v4f rz; m4x3f tr;
441 q_axis_angle( rz, (v3f){0.0f,0.0f,1.0f}, -cog[0]*0.6f );
442 q_m3x3( rz, tr );
443 v3_copy( (v3f){0.0f,dip,tilt}, tr[3] );
444
445 m4x3_mulv( tr, pose->b0, npose.b0 );
446 m4x3_mulv( tr, pose->b1, npose.b1 );
447 m4x3_mulv( tr, pose->p, npose.p );
448 m4x3_mulv( tr, pose->pl, npose.pl );
449 m4x3_mulv( tr, pose->pr, npose.pr );
450 m4x3_mulv( tr, pose->hl, npose.hl );
451 m4x3_mulv( tr, pose->hr, npose.hr );
452 m4x3_mulv( tr, pose->apl, npose.apl );
453 m4x3_mulv( tr, pose->apr, npose.apr );
454
455 v3_copy( pose->fr, npose.fr );
456 v3_copy( pose->fl, npose.fl );
457 v3_copy( pose->cam, npose.cam );
458
459 character_pose_blend( ch, &npose, q );
460 }
461
462 static void zero_ik_basic( struct ik_basic *ik )
463 {
464 v3_zero( ik->base );
465 v3_zero( ik->end );
466 v3_zero( ik->pole );
467 }
468
469 static void character_pose_reset( struct character *ch )
470 {
471 zero_ik_basic( &ch->ik_body );
472 zero_ik_basic( &ch->ik_leg_l );
473 zero_ik_basic( &ch->ik_leg_r );
474 zero_ik_basic( &ch->ik_arm_l );
475 zero_ik_basic( &ch->ik_arm_r );
476 v3_zero( ch->cam_pos );
477 }
478
479 static void character_testpose( struct character *ch, float t )
480 {
481 /* Body */
482 float *hips = ch->ik_body.base,
483 *collar = ch->ik_body.end,
484 *pole = ch->ik_body.pole;
485
486 hips[0] = cosf(t*1.325f)*0.25f;
487 hips[1] = (sinf(t)*0.2f+0.6f) * ch->parts[ k_chpart_body0 ].pivot[1];
488 hips[2] = 0.0f;
489
490 collar[0] = hips[0];
491 collar[1] = hips[1] + (ch->ik_body.l1+ch->ik_body.l2)*(sinf(t)*0.05f+0.94f);
492 collar[2] = hips[2] + cosf(t*0.42f)*0.01f;
493
494 v3_add( hips, collar, pole );
495 v3_muls( pole, 0.5f, pole );
496 v3_add( pole, (v3f){ 1.0f, 0.0f, 0.0f }, pole );
497
498 /* Legs */
499 float *footl = ch->ik_leg_l.end,
500 *footr = ch->ik_leg_r.end,
501 *polel = ch->ik_leg_l.pole,
502 *poler = ch->ik_leg_r.pole;
503
504 footl[0] = sinf(t*0.563f);
505 footl[1] = 0.0f;
506 footl[2] = 0.0f;
507
508 footr[0] = 0.0f;
509 footr[1] = 0.0f;
510 footr[2] = cosf(t*0.672f);
511
512 v3_add( hips, footl, polel );
513 v3_muls( polel, 0.4f, polel );
514 v3_add( polel, (v3f){ -1.0f,0.0f,0.0f }, polel );
515
516 v3_add( hips, footr, poler );
517 v3_muls( poler, 0.4f, poler );
518 v3_add( poler, (v3f){ -1.0f,0.0f,0.0f }, poler );
519
520 /* Arms */
521 float *arml = ch->ik_arm_l.end,
522 *armr = ch->ik_arm_r.end;
523 polel = ch->ik_arm_l.pole;
524 poler = ch->ik_arm_r.pole;
525
526 v3_copy( (v3f){ 0.0f, 0.0f, 1.0f }, arml );
527 v3_copy( (v3f){ 0.0f, 0.0f,-1.0f }, armr );
528 v3_copy( (v3f){ 1.0f, 1.0f, 0.5f }, polel );
529 v3_copy( (v3f){ 1.0f, 1.0f,-0.5f }, poler );
530
531 /* Other */
532 ch->rhip = sinf(t*0.2f);
533 ch->rcollar = sinf(t*0.35325f);
534 q_identity( ch->qhead );
535
536 m4x3_identity( ch->matrices[k_chpart_board] );
537 m4x3_identity( ch->matrices[k_chpart_wb] );
538 m4x3_identity( ch->matrices[k_chpart_wf] );
539 }
540
541 static void character_draw( struct character *ch, float temp )
542 {
543 SHADER_USE(shader_player);
544 glUniformMatrix4fv( SHADER_UNIFORM( shader_player, "uPv" ),
545 1, GL_FALSE, (float *)vg_pv );
546
547 glUniform1i( SHADER_UNIFORM( shader_player, "uTexMain" ), 0 );
548 glUniform1f( SHADER_UNIFORM( shader_player, "uOpacity" ), temp );
549
550 GLint kuMdl = SHADER_UNIFORM( shader_player, "uMdl" );
551
552 glEnable( GL_CULL_FACE );
553 glCullFace( GL_BACK );
554
555 mesh_bind( &ch->mesh );
556
557 for( int i=0; i<PART_COUNT; i++ )
558 {
559 glUniformMatrix4x3fv( kuMdl, 1, GL_FALSE, (float *)ch->matrices[i] );
560 submodel_draw( &ch->parts[i] );
561 }
562 }
563
564 static void character_shader_register(void)
565 {
566 SHADER_INIT(shader_player);
567 }
568
569
570 /*
571 * Ragdoll Stuff
572 */
573
574 static void character_rd_box( struct character *ch, enum character_part id,
575 v3f dims )
576 {
577 v3_muls( dims, -0.5f, ch->ragdoll[id].bbx[0] );
578 v3_muls( dims, 0.5f, ch->ragdoll[id].bbx[1] );
579 }
580
581 struct rd_joint
582 {
583 enum character_part ia, ib;
584 v3f lca, lcb;
585
586 struct rd_joint_axis
587 {
588 v3f va, vb;
589 float spring, ang;
590 }
591 min, maj;
592 };
593
594 static const float k_human_major = 0.9f,
595 k_human_minor = 0.9f,
596 k_human_major_max = 1.4f,
597 k_human_minor_max = 0.4f;
598
599 #define HUMAN_VERTICAL_DEFAULT \
600 .min = { \
601 .va = {1.0f,0.0f,0.0f}, .vb = {1.0f,0.0f,0.0f}, \
602 .spring = k_human_minor, .ang = k_human_minor_max \
603 }, \
604 .maj = { \
605 .va = {0.0f,1.0f,0.0f}, .vb = {0.0f,1.0f,0.0f}, \
606 .spring = k_human_major, .ang = k_human_major_max \
607 }
608
609 #define HUMAN_ARM_LEFT \
610 .min = { \
611 .va = {1.0f,0.0f,0.0f}, .vb = {1.0f,0.0f,0.0f}, \
612 .spring = k_human_minor, .ang = k_human_minor_max \
613 }, \
614 .maj = { \
615 .va = {0.0f,0.0f,1.0f}, .vb = {0.0f,0.0f,1.0f}, \
616 .spring = k_human_major, .ang = k_human_major_max \
617 }
618
619 #define HUMAN_ARM_RIGHT \
620 .min = { \
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 \
623 }, \
624 .maj = { \
625 .va = {0.0f,0.0f,-1.0f}, .vb = {0.0f,0.0f,-1.0f}, \
626 .spring = k_human_major, .ang = k_human_major_max \
627 }
628
629 static struct rd_joint rd_joints[] =
630 {
631 { .ia = k_chpart_body0, .ib = k_chpart_body1, HUMAN_VERTICAL_DEFAULT },
632 { .ia = k_chpart_body1, .ib = k_chpart_neck, HUMAN_VERTICAL_DEFAULT },
633 { .ia = k_chpart_neck, .ib = k_chpart_head, HUMAN_VERTICAL_DEFAULT },
634 { .ia = k_chpart_body0, .ib = k_chpart_leg_l0, HUMAN_VERTICAL_DEFAULT },
635 { .ia = k_chpart_leg_l0, .ib = k_chpart_leg_l1, HUMAN_VERTICAL_DEFAULT },
636 { .ia = k_chpart_body0, .ib = k_chpart_leg_r0, HUMAN_VERTICAL_DEFAULT },
637 { .ia = k_chpart_leg_r0, .ib = k_chpart_leg_r1, HUMAN_VERTICAL_DEFAULT },
638
639 { .ia = k_chpart_body1, .ib = k_chpart_arm_l0, HUMAN_ARM_LEFT },
640 { .ia = k_chpart_arm_l0, .ib = k_chpart_arm_l1, HUMAN_ARM_LEFT },
641 { .ia = k_chpart_arm_l1, .ib = k_chpart_hand_l, HUMAN_ARM_LEFT },
642
643 { .ia = k_chpart_body1, .ib = k_chpart_arm_r0, HUMAN_ARM_RIGHT },
644 { .ia = k_chpart_arm_r0, .ib = k_chpart_arm_r1, HUMAN_ARM_RIGHT },
645 { .ia = k_chpart_arm_r1, .ib = k_chpart_hand_r, HUMAN_ARM_RIGHT },
646 };
647
648 static void character_init_ragdoll_joints( struct character *ch )
649 {
650 for( int i=0; i<vg_list_size(rd_joints); i++ )
651 {
652 struct rd_joint *joint = &rd_joints[i];
653
654 float *hinge = ch->parts[joint->ib].pivot;
655 v3_sub( hinge, ch->ragdoll[joint->ia].co, joint->lca );
656 v3_sub( hinge, ch->ragdoll[joint->ib].co, joint->lcb );
657 }
658 }
659
660 static void character_init_ragdoll( struct character *ch )
661 {
662 v3f *offs = ch->offsets;
663 rigidbody *rbs = ch->ragdoll;
664
665 /* CHest */
666 float chest_width = fabsf(offs[k_chpart_arm_r0][2])*2.0f,
667 chest_depth = chest_width * 0.571f,
668 chest_height = offs[k_chpart_neck][1];
669 v3f chest_dims = { chest_depth, chest_height, chest_width };
670 character_rd_box( ch, k_chpart_body1, chest_dims );
671
672 v3_copy( ch->parts[k_chpart_body1].pivot, rbs[k_chpart_body1].co );
673 rbs[k_chpart_body1].co[1] += chest_height*0.5f;
674
675 /* Torso */
676 v3f torso_dims = { chest_depth,
677 offs[k_chpart_body1][1]-offs[k_chpart_leg_l0][1],
678 chest_width*0.85f };
679 v3_copy( ch->parts[k_chpart_body0].pivot, rbs[k_chpart_body0].co );
680 character_rd_box( ch, k_chpart_body0, torso_dims );
681
682 /* Neck */
683 v3f neck_dims = { chest_depth*0.5f,
684 offs[k_chpart_head][1],
685 chest_depth*0.5f };
686 v3_copy( ch->parts[k_chpart_neck].pivot, rbs[k_chpart_neck].co );
687 rbs[k_chpart_neck].co[1] += neck_dims[1]*0.5f;
688 character_rd_box( ch, k_chpart_neck, neck_dims );
689
690 /* Head */
691 v3f head_dims = { chest_width*0.5f, chest_width*0.5f, chest_width*0.5f };
692 v3_copy( ch->parts[k_chpart_head].pivot, rbs[k_chpart_head].co );
693 rbs[k_chpart_head].co[1] += head_dims[1]*0.5f;
694 character_rd_box( ch, k_chpart_head, head_dims );
695
696 /* ARms */
697 v3f ua_dims = { 0.0f, 0.0f, fabsf(offs[k_chpart_arm_l1][2]) };
698 ua_dims[1] = 0.38f*ua_dims[2];
699 ua_dims[0] = 0.38f*ua_dims[2];
700 v3f la_dims = { ua_dims[0], ua_dims[1], fabsf(offs[k_chpart_hand_l][2]) };
701 v3f hand_dims = { ua_dims[1], ua_dims[1]*0.5f, ua_dims[1] };
702
703 character_rd_box( ch, k_chpart_arm_l0, ua_dims );
704 character_rd_box( ch, k_chpart_arm_r0, ua_dims );
705 character_rd_box( ch, k_chpart_arm_l1, la_dims );
706 character_rd_box( ch, k_chpart_arm_r1, la_dims );
707 character_rd_box( ch, k_chpart_hand_l, hand_dims );
708 character_rd_box( ch, k_chpart_hand_r, hand_dims );
709
710 v3_copy( ch->parts[k_chpart_arm_l0].pivot, rbs[k_chpart_arm_l0].co );
711 rbs[k_chpart_arm_l0].co[2] += ua_dims[2] * 0.5f;
712 v3_copy( ch->parts[k_chpart_arm_l1].pivot, rbs[k_chpart_arm_l1].co );
713 rbs[k_chpart_arm_l1].co[2] += la_dims[2] * 0.5f;
714 v3_copy( ch->parts[k_chpart_hand_l].pivot, rbs[k_chpart_hand_l].co );
715 rbs[k_chpart_hand_l].co[2] += hand_dims[2] * 0.5f;
716
717 v3_copy( ch->parts[k_chpart_arm_r0].pivot, rbs[k_chpart_arm_r0].co );
718 rbs[k_chpart_arm_r0].co[2] -= ua_dims[2] * 0.5f;
719 v3_copy( ch->parts[k_chpart_arm_r1].pivot, rbs[k_chpart_arm_r1].co );
720 rbs[k_chpart_arm_r1].co[2] -= la_dims[2] * 0.5f;
721 v3_copy( ch->parts[k_chpart_hand_r].pivot, rbs[k_chpart_hand_r].co );
722 rbs[k_chpart_hand_r].co[2] -= hand_dims[2] * 0.5f;
723
724 /* LEgs */
725 v3f ul_dims = { 0.0f, fabsf(offs[k_chpart_leg_l1][1]), 0.0f };
726 ul_dims[0] = 0.38f*ul_dims[1];
727 ul_dims[2] = 0.38f*ul_dims[1];
728 v3f ll_dims = { ul_dims[0], fabsf(offs[k_chpart_foot_l][1]), ul_dims[2] };
729 v3f foot_dims = { 2.0f*ul_dims[0], ul_dims[0], ul_dims[0] };
730
731 character_rd_box( ch, k_chpart_leg_l0, ul_dims );
732 character_rd_box( ch, k_chpart_leg_r0, ul_dims );
733 character_rd_box( ch, k_chpart_leg_l1, ll_dims );
734 character_rd_box( ch, k_chpart_leg_r1, ll_dims );
735 character_rd_box( ch, k_chpart_foot_l, foot_dims );
736 character_rd_box( ch, k_chpart_foot_r, foot_dims );
737
738 v3_copy( ch->parts[k_chpart_leg_l0].pivot, rbs[k_chpart_leg_l0].co );
739 rbs[k_chpart_leg_l0].co[1] -= ul_dims[1] * 0.5f;
740 v3_copy( ch->parts[k_chpart_leg_l1].pivot, rbs[k_chpart_leg_l1].co );
741 rbs[k_chpart_leg_l1].co[1] -= ll_dims[1] * 0.5f;
742 v3_copy( ch->parts[k_chpart_foot_l].pivot, rbs[k_chpart_foot_l].co );
743 rbs[k_chpart_foot_l].co[1] -= foot_dims[1] * 0.5f;
744 rbs[k_chpart_foot_l].co[0] -= foot_dims[0] * 0.5f;
745
746 v3_copy( ch->parts[k_chpart_leg_r0].pivot, rbs[k_chpart_leg_r0].co );
747 rbs[k_chpart_leg_r0].co[1] -= ul_dims[1] * 0.5f;
748 v3_copy( ch->parts[k_chpart_leg_r1].pivot, rbs[k_chpart_leg_r1].co );
749 rbs[k_chpart_leg_r1].co[1] -= ll_dims[1] * 0.5f;
750 v3_copy( ch->parts[k_chpart_foot_r].pivot, rbs[k_chpart_foot_r].co );
751 rbs[k_chpart_foot_r].co[1] -= foot_dims[1] * 0.5f;
752 rbs[k_chpart_foot_r].co[0] -= foot_dims[0] * 0.5f;
753
754 character_init_ragdoll_joints( ch );
755
756 for( int i=0; i<PART_COUNT; i++ )
757 rb_init( &ch->ragdoll[i] );
758 }
759
760 static void character_ragdoll_go( struct character *ch, v3f pos )
761 {
762 character_init_ragdoll( ch );
763 for( int i=0; i<PART_COUNT; i++ )
764 v3_add( pos, ch->ragdoll[i].co, ch->ragdoll[i].co );
765 }
766
767 static void character_ragdoll_copypose( struct character *ch, v3f v )
768 {
769 character_init_ragdoll(ch);
770
771 for( int i=0; i<PART_COUNT; i++ )
772 {
773 v3f offset;
774 rigidbody *rb = &ch->ragdoll[i];
775
776 v3_sub( rb->co, ch->parts[i].pivot, offset );
777
778 m4x3_mulv( ch->matrices[i], offset, rb->co );
779 m3x3_q( ch->matrices[i], rb->q );
780 v3_copy( v, rb->v );
781 v3_zero( rb->I );
782 rb->manifold_count = 0; /* ? */
783
784 rb_update_transform( rb );
785 }
786 }
787
788 static void character_debug_ragdoll( struct character *ch )
789 {
790 rb_debug( &ch->ragdoll[k_chpart_body0], 0xffffffff );
791 rb_debug( &ch->ragdoll[k_chpart_body1], 0xffffffff );
792 rb_debug( &ch->ragdoll[k_chpart_neck], 0xff00ff00 );
793 rb_debug( &ch->ragdoll[k_chpart_head], 0xff00ff00 );
794
795 rb_debug( &ch->ragdoll[k_chpart_arm_l0], 0xffffa500 );
796 rb_debug( &ch->ragdoll[k_chpart_arm_l1], 0xffffa500 );
797 rb_debug( &ch->ragdoll[k_chpart_hand_l], 0xffffa500 );
798
799 rb_debug( &ch->ragdoll[k_chpart_arm_r0], 0xff00a5ff );
800 rb_debug( &ch->ragdoll[k_chpart_arm_r1], 0xff00a5ff );
801 rb_debug( &ch->ragdoll[k_chpart_hand_r], 0xff00a5ff );
802
803 rb_debug( &ch->ragdoll[k_chpart_leg_l0], 0xffffa500 );
804 rb_debug( &ch->ragdoll[k_chpart_leg_l1], 0xffffa500 );
805 rb_debug( &ch->ragdoll[k_chpart_foot_l], 0xffffa500 );
806 rb_debug( &ch->ragdoll[k_chpart_leg_r0], 0xff00a5ff );
807 rb_debug( &ch->ragdoll[k_chpart_leg_r1], 0xff00a5ff );
808 rb_debug( &ch->ragdoll[k_chpart_foot_r], 0xff00a5ff );
809 }
810
811 static void character_ragdoll_iter( struct character *ch, scene *sc )
812 {
813 for( int i=0; i<PART_COUNT; i++ )
814 {
815 rb_build_manifold( &ch->ragdoll[i], sc );
816 }
817
818 for( int i=0; i<20; i++ )
819 {
820 float const k_springfactor = 1.0f/20.0f;
821
822 for( int j=0; j<PART_COUNT; j++ )
823 rb_constraint_manifold( &ch->ragdoll[j] );
824
825 for( int j=0; j<vg_list_size(rd_joints); j++ )
826 {
827 struct rd_joint *joint = &rd_joints[j];
828 rigidbody *rba = &ch->ragdoll[joint->ia],
829 *rbb = &ch->ragdoll[joint->ib];
830
831 rb_constraint_position( rba, joint->lca, rbb, joint->lcb );
832 rb_constraint_angle( rba, joint->maj.va, rbb, joint->maj.vb,
833 joint->maj.ang,
834 joint->maj.spring * k_springfactor );
835
836 rb_constraint_angle( rba, joint->min.va, rbb, joint->min.vb,
837 joint->min.ang,
838 joint->min.spring * k_springfactor );
839 }
840 }
841
842 for( int i=0; i<PART_COUNT; i++ )
843 rb_iter( &ch->ragdoll[i] );
844
845 for( int i=0; i<PART_COUNT; i++ )
846 rb_update_transform( &ch->ragdoll[i] );
847 }
848
849 #endif
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