1 #ifndef PLAYER_RAGDOLL_C
2 #define PLAYER_RAGDOLL_C
7 static void player_ragdoll_init(void)
9 VG_VAR_F32( k_ragdoll_limit_scale
);
10 VG_VAR_I32( k_ragdoll_div
);
11 VG_VAR_I32( k_ragdoll_debug_collider
);
12 VG_VAR_I32( k_ragdoll_debug_constraints
);
15 static void player_init_ragdoll_bone_collider( struct skeleton_bone
*bone
,
16 struct ragdoll_part
*rp
)
18 m4x3_identity( rp
->collider_mtx
);
20 if( bone
->collider
== k_bone_collider_box
){
22 v3_sub( bone
->hitbox
[1], bone
->hitbox
[0], delta
);
23 v3_muls( delta
, 0.5f
, delta
);
24 v3_add( bone
->hitbox
[0], delta
, rp
->collider_mtx
[3] );
26 v3_copy( delta
, rp
->obj
.rb
.bbx
[1] );
27 v3_muls( delta
, -1.0f
, rp
->obj
.rb
.bbx
[0] );
29 q_identity( rp
->obj
.rb
.q
);
30 rp
->obj
.type
= k_rb_shape_box
;
31 rp
->colour
= 0xffcccccc;
33 else if( bone
->collider
== k_bone_collider_capsule
){
35 v3_sub( bone
->hitbox
[1], bone
->hitbox
[0], v0
);
38 float largest
= -1.0f
;
40 for( int i
=0; i
<3; i
++ ){
41 if( fabsf( v0
[i
] ) > largest
){
42 largest
= fabsf( v0
[i
] );
48 v1
[ major_axis
] = 1.0f
;
49 v3_tangent_basis( v1
, tx
, ty
);
51 float r
= (fabsf(v3_dot(tx
,v0
)) + fabsf(v3_dot(ty
,v0
))) * 0.25f
,
52 l
= fabsf(v0
[ major_axis
]);
55 v3_muls( tx
, -1.0f
, rp
->collider_mtx
[0] );
56 v3_muls( v1
, -1.0f
, rp
->collider_mtx
[1] );
57 v3_muls( ty
, -1.0f
, rp
->collider_mtx
[2] );
58 v3_add( bone
->hitbox
[0], bone
->hitbox
[1], rp
->collider_mtx
[3] );
59 v3_muls( rp
->collider_mtx
[3], 0.5f
, rp
->collider_mtx
[3] );
61 rp
->obj
.type
= k_rb_shape_capsule
;
62 rp
->obj
.inf
.capsule
.height
= l
;
63 rp
->obj
.inf
.capsule
.radius
= r
;
65 rp
->colour
= 0xff000000 | (0xff << (major_axis
*8));
68 vg_warn( "type: %u\n", bone
->collider
);
69 vg_fatal_error( "Invalid bone collider type" );
72 m4x3_invert_affine( rp
->collider_mtx
, rp
->inv_collider_mtx
);
74 /* Position collider into rest */
75 m3x3_q( rp
->collider_mtx
, rp
->obj
.rb
.q
);
76 v3_add( rp
->collider_mtx
[3], bone
->co
, rp
->obj
.rb
.co
);
77 v3_zero( rp
->obj
.rb
.v
);
78 v3_zero( rp
->obj
.rb
.w
);
79 rb_init_object( &rp
->obj
);
83 * Get parent index in the ragdoll
85 static u32
ragdoll_bone_parent( struct player_ragdoll
*rd
,
86 struct player_avatar
*av
, u32 bone_id
)
88 for( u32 j
=0; j
<rd
->part_count
; j
++ )
89 if( rd
->parts
[ j
].bone_id
== bone_id
)
92 vg_fatal_error( "Referenced parent bone does not have a rigidbody" );
97 * Setup ragdoll colliders
99 static void player_setup_ragdoll_from_avatar( struct player_ragdoll
*rd
,
100 struct player_avatar
*av
)
104 if( !av
->sk
.collider_count
)
107 rd
->position_constraints_count
= 0;
108 rd
->cone_constraints_count
= 0;
110 for( u32 i
=1; i
<av
->sk
.bone_count
; i
++ ){
111 struct skeleton_bone
*bone
= &av
->sk
.bones
[i
];
114 * Bones with colliders
116 if( !(bone
->collider
) )
119 if( rd
->part_count
> vg_list_size(rd
->parts
) )
120 vg_fatal_error( "Playermodel has too many colliders" );
122 struct ragdoll_part
*rp
= &rd
->parts
[ rd
->part_count
++ ];
124 rp
->parent
= 0xffffffff;
126 player_init_ragdoll_bone_collider( bone
, rp
);
129 * Bones with collider and parent
134 rp
->parent
= ragdoll_bone_parent( rd
, av
, bone
->parent
);
137 if( bone
->orig_bone
->flags
& k_bone_flag_cone_constraint
){
138 struct rb_constr_pos
*c
=
139 &rd
->position_constraints
[ rd
->position_constraints_count
++ ];
141 struct skeleton_bone
*bj
= &av
->sk
.bones
[rp
->bone_id
];
142 struct ragdoll_part
*pp
= &rd
->parts
[rp
->parent
];
143 struct skeleton_bone
*bp
= &av
->sk
.bones
[pp
->bone_id
];
145 /* Convention: rba -- parent, rbb -- child */
146 c
->rba
= &pp
->obj
.rb
;
147 c
->rbb
= &rp
->obj
.rb
;
150 v3_sub( bj
->co
, bp
->co
, delta
);
151 m4x3_mulv( rp
->inv_collider_mtx
, (v3f
){0.0f
,0.0f
,0.0f
}, c
->lcb
);
152 m4x3_mulv( pp
->inv_collider_mtx
, delta
, c
->lca
);
155 mdl_bone
*inf
= bone
->orig_bone
;
157 struct rb_constr_swingtwist
*a
=
158 &rd
->cone_constraints
[ rd
->cone_constraints_count
++ ];
160 a
->rba
= &pp
->obj
.rb
;
161 a
->rbb
= &rp
->obj
.rb
;
162 a
->conet
= cosf( inf
->conet
)-0.0001f
;
164 /* Store constraint in local space vectors */
165 m3x3_mulv( c
->rba
->to_local
, inf
->conevx
, a
->conevx
);
166 m3x3_mulv( c
->rba
->to_local
, inf
->conevy
, a
->conevy
);
167 m3x3_mulv( c
->rbb
->to_local
, inf
->coneva
, a
->coneva
);
168 v3_copy( c
->lca
, a
->view_offset
);
170 v3_cross( inf
->coneva
, inf
->conevy
, a
->conevxb
);
171 m3x3_mulv( c
->rbb
->to_local
, a
->conevxb
, a
->conevxb
);
173 v3_normalize( a
->conevxb
);
174 v3_normalize( a
->conevx
);
175 v3_normalize( a
->conevy
);
176 v3_normalize( a
->coneva
);
178 a
->conevx
[3] = v3_length( inf
->conevx
);
179 a
->conevy
[3] = v3_length( inf
->conevy
);
187 * Make avatar copy the ragdoll
189 static void copy_ragdoll_pose_to_avatar( struct player_ragdoll
*rd
,
190 struct player_avatar
*av
)
192 for( int i
=0; i
<rd
->part_count
; i
++ ){
193 struct ragdoll_part
*part
= &rd
->parts
[i
];
200 float substep
= vg
.time_fixed_extrapolate
;
201 v3_lerp( part
->prev_co
, part
->obj
.rb
.co
, substep
, co_int
);
202 q_nlerp( part
->prev_q
, part
->obj
.rb
.q
, substep
, q_int
);
204 q_m3x3( q_int
, mtx
);
205 v3_copy( co_int
, mtx
[3] );
207 m4x3_mul( mtx
, part
->inv_collider_mtx
,
208 localplayer
.final_mtx
[part
->bone_id
] );
211 for( u32 i
=1; i
<av
->sk
.bone_count
; i
++ ){
212 struct skeleton_bone
*sb
= &av
->sk
.bones
[i
];
214 if( sb
->parent
&& !sb
->collider
){
216 v3_sub( av
->sk
.bones
[i
].co
, av
->sk
.bones
[sb
->parent
].co
, delta
);
219 m3x3_identity( posemtx
);
220 v3_copy( delta
, posemtx
[3] );
223 m4x3_mul( localplayer
.final_mtx
[sb
->parent
], posemtx
,
224 localplayer
.final_mtx
[i
] );
228 skeleton_apply_inverses( &av
->sk
, localplayer
.final_mtx
);
232 * Make the ragdoll copy the player model
234 static void copy_avatar_pose_to_ragdoll( struct player_avatar
*av
,
235 struct player_ragdoll
*rd
,
238 for( int i
=0; i
<rd
->part_count
; i
++ ){
239 struct ragdoll_part
*part
= &rd
->parts
[i
];
242 u32 bone
= part
->bone_id
;
244 m4x3_mulv( localplayer
.final_mtx
[bone
], av
->sk
.bones
[bone
].co
, pos
);
245 m3x3_mulv( localplayer
.final_mtx
[bone
], part
->collider_mtx
[3], offset
);
246 v3_add( pos
, offset
, part
->obj
.rb
.co
);
249 m3x3_mul( localplayer
.final_mtx
[bone
], part
->collider_mtx
, r
);
250 m3x3_q( r
, part
->obj
.rb
.q
);
252 v3_copy( velocity
, part
->obj
.rb
.v
);
253 v3_zero( part
->obj
.rb
.w
);
255 v3_copy( part
->obj
.rb
.co
, part
->prev_co
);
256 v4_copy( part
->obj
.rb
.q
, part
->prev_q
);
258 rb_update_transform( &part
->obj
.rb
);
263 * Draw rigidbody colliders for ragdoll
265 static void player_debug_ragdoll(void)
270 * Ragdoll physics step
272 static void player_ragdoll_iter( struct player_ragdoll
*rd
){
273 world_instance
*world
= world_current_instance();
278 if( ragdoll_frame
>= k_ragdoll_div
){
285 float contact_velocities
[256];
287 for( int i
=0; i
<rd
->part_count
; i
++ ){
288 v4_copy( rd
->parts
[i
].obj
.rb
.q
, rd
->parts
[i
].prev_q
);
289 v3_copy( rd
->parts
[i
].obj
.rb
.co
, rd
->parts
[i
].prev_co
);
291 if( rb_global_has_space() ){
292 rb_ct
*buf
= rb_global_buffer();
296 if( rd
->parts
[i
].obj
.type
== k_rb_shape_capsule
){
297 l
= rb_capsule__scene( rd
->parts
[i
].obj
.rb
.to_world
,
298 &rd
->parts
[i
].obj
.inf
.capsule
,
299 NULL
, &world
->rb_geo
.inf
.scene
, buf
,
300 k_material_flag_ghosts
);
302 else if( rd
->parts
[i
].obj
.type
== k_rb_shape_box
){
303 l
= rb_box__scene( rd
->parts
[i
].obj
.rb
.to_world
,
304 rd
->parts
[i
].obj
.rb
.bbx
,
305 NULL
, &world
->rb_geo
.inf
.scene
, buf
,
306 k_material_flag_ghosts
);
310 for( int j
=0; j
<l
; j
++ ){
311 buf
[j
].rba
= &rd
->parts
[i
].obj
.rb
;
312 buf
[j
].rbb
= &world
->rb_geo
.rb
;
315 rb_contact_count
+= l
;
322 for( int i
=0; i
<rd
->part_count
-1; i
++ ){
323 for( int j
=i
+1; j
<rd
->part_count
; j
++ ){
324 if( rd
->parts
[j
].parent
!= i
){
325 if( !rb_global_has_space() )
328 if( rd
->parts
[j
].obj
.type
!= k_rb_shape_capsule
)
331 if( rd
->parts
[i
].obj
.type
!= k_rb_shape_capsule
)
334 rb_ct
*buf
= rb_global_buffer();
336 int l
= rb_capsule__capsule( rd
->parts
[i
].obj
.rb
.to_world
,
337 &rd
->parts
[i
].obj
.inf
.capsule
,
338 rd
->parts
[j
].obj
.rb
.to_world
,
339 &rd
->parts
[j
].obj
.inf
.capsule
,
342 for( int k
=0; k
<l
; k
++ ){
343 buf
[k
].rba
= &rd
->parts
[i
].obj
.rb
;
344 buf
[k
].rbb
= &rd
->parts
[j
].obj
.rb
;
347 rb_contact_count
+= l
;
352 if( world
->water
.enabled
){
353 for( int j
=0; j
<rd
->part_count
; j
++ ){
354 struct ragdoll_part
*pj
= &rd
->parts
[j
];
357 rb_effect_simple_bouyency( &pj
->obj
.rb
, world
->water
.plane
,
358 k_ragdoll_floatyiness
,
359 k_ragdoll_floatydrag
);
367 for( u32 i
=0; i
<rb_contact_count
; i
++ ){
368 rb_ct
*ct
= &rb_contact_buffer
[i
];
371 v3_sub( ct
->co
, ct
->rba
->co
, ra
);
372 v3_sub( ct
->co
, ct
->rbb
->co
, rb
);
373 rb_rcv( ct
->rba
, ct
->rbb
, ra
, rb
, rv
);
374 float vn
= v3_dot( rv
, ct
->n
);
376 contact_velocities
[i
] = vn
;
379 rb_presolve_contacts( rb_contact_buffer
, rb_contact_count
);
380 rb_presolve_swingtwist_constraints( rd
->cone_constraints
,
381 rd
->cone_constraints_count
);
386 if( k_ragdoll_debug_collider
){
387 for( u32 i
=0; i
<rd
->part_count
; i
++ )
388 rb_object_debug( &rd
->parts
[i
].obj
, rd
->parts
[i
].colour
);
391 if( k_ragdoll_debug_constraints
){
392 rb_debug_position_constraints( rd
->position_constraints
,
393 rd
->position_constraints_count
);
395 rb_debug_swingtwist_constraints( rd
->cone_constraints
,
396 rd
->cone_constraints_count
);
403 for( int i
=0; i
<16; i
++ ){
404 rb_solve_contacts( rb_contact_buffer
, rb_contact_count
);
405 rb_solve_swingtwist_constraints( rd
->cone_constraints
,
406 rd
->cone_constraints_count
);
407 rb_solve_position_constraints( rd
->position_constraints
,
408 rd
->position_constraints_count
);
411 for( int i
=0; i
<rd
->part_count
; i
++ )
412 rb_iter( &rd
->parts
[i
].obj
.rb
);
414 for( int i
=0; i
<rd
->part_count
; i
++ )
415 rb_update_transform( &rd
->parts
[i
].obj
.rb
);
417 rb_correct_swingtwist_constraints( rd
->cone_constraints
,
418 rd
->cone_constraints_count
, 0.25f
);
420 rb_correct_position_constraints( rd
->position_constraints
,
421 rd
->position_constraints_count
, 0.5f
);
424 rb_ct
*stress
= NULL
;
425 float max_stress
= 1.0f
;
427 for( u32 i
=0; i
<rb_contact_count
; i
++ ){
428 rb_ct
*ct
= &rb_contact_buffer
[i
];
431 v3_sub( ct
->co
, ct
->rba
->co
, ra
);
432 v3_sub( ct
->co
, ct
->rbb
->co
, rb
);
433 rb_rcv( ct
->rba
, ct
->rbb
, ra
, rb
, rv
);
434 float vn
= v3_dot( rv
, ct
->n
);
436 float s
= fabsf(vn
- contact_velocities
[i
]);
437 if( s
> max_stress
){
443 static u32 temp_filter
= 0;
453 audio_oneshot_3d( &audio_hits
[vg_randu32()%5], stress
->co
, 20.0f
, 1.0f
);
458 #endif /* PLAYER_RAGDOLL_C */