1 #ifndef PLAYER_RAGDOLL_H
2 #define PLAYER_RAGDOLL_H
8 #include "player_model.h"
12 struct player_ragdoll
{
16 /* Collider transform relative to bone */
30 rb_constr_pos position_constraints
[32];
31 u32 position_constraints_count
;
33 rb_constr_swingtwist cone_constraints
[32];
34 u32 cone_constraints_count
;
39 VG_STATIC
float k_ragdoll_floatyiness
= 20.0f
,
40 k_ragdoll_floatydrag
= 1.0f
,
41 k_ragdoll_limit_scale
= 1.0f
;
43 VG_STATIC
int k_ragdoll_div
= 1,
45 k_ragdoll_debug_collider
= 1,
46 k_ragdoll_debug_constraints
= 0;
48 VG_STATIC
void player_ragdoll_init(void)
50 VG_VAR_F32( k_ragdoll_limit_scale
);
51 VG_VAR_I32( k_ragdoll_div
);
52 VG_VAR_I32( k_ragdoll_debug_collider
);
53 VG_VAR_I32( k_ragdoll_debug_constraints
);
56 VG_STATIC
void player_init_ragdoll_bone_collider( struct skeleton_bone
*bone
,
57 struct ragdoll_part
*rp
)
59 m4x3_identity( rp
->collider_mtx
);
61 if( bone
->collider
== k_bone_collider_box
){
63 v3_sub( bone
->hitbox
[1], bone
->hitbox
[0], delta
);
64 v3_muls( delta
, 0.5f
, delta
);
65 v3_add( bone
->hitbox
[0], delta
, rp
->collider_mtx
[3] );
67 v3_copy( delta
, rp
->obj
.rb
.bbx
[1] );
68 v3_muls( delta
, -1.0f
, rp
->obj
.rb
.bbx
[0] );
70 q_identity( rp
->obj
.rb
.q
);
71 rp
->obj
.type
= k_rb_shape_box
;
72 rp
->colour
= 0xffcccccc;
74 else if( bone
->collider
== k_bone_collider_capsule
){
76 v3_sub( bone
->hitbox
[1], bone
->hitbox
[0], v0
);
79 float largest
= -1.0f
;
81 for( int i
=0; i
<3; i
++ ){
82 if( fabsf( v0
[i
] ) > largest
){
83 largest
= fabsf( v0
[i
] );
89 v1
[ major_axis
] = 1.0f
;
90 rb_tangent_basis( v1
, tx
, ty
);
92 float r
= (fabsf(v3_dot(tx
,v0
)) + fabsf(v3_dot(ty
,v0
))) * 0.25f
,
93 l
= fabsf(v0
[ major_axis
]);
96 v3_muls( tx
, -1.0f
, rp
->collider_mtx
[0] );
97 v3_muls( v1
, -1.0f
, rp
->collider_mtx
[1] );
98 v3_muls( ty
, -1.0f
, rp
->collider_mtx
[2] );
99 v3_add( bone
->hitbox
[0], bone
->hitbox
[1], rp
->collider_mtx
[3] );
100 v3_muls( rp
->collider_mtx
[3], 0.5f
, rp
->collider_mtx
[3] );
102 rp
->obj
.type
= k_rb_shape_capsule
;
103 rp
->obj
.inf
.capsule
.height
= l
;
104 rp
->obj
.inf
.capsule
.radius
= r
;
106 rp
->colour
= 0xff000000 | (0xff << (major_axis
*8));
109 vg_warn( "type: %u\n", bone
->collider
);
110 vg_fatal_exit_loop( "Invalid bone collider type" );
113 m4x3_invert_affine( rp
->collider_mtx
, rp
->inv_collider_mtx
);
115 /* Position collider into rest */
116 m3x3_q( rp
->collider_mtx
, rp
->obj
.rb
.q
);
117 v3_add( rp
->collider_mtx
[3], bone
->co
, rp
->obj
.rb
.co
);
118 v3_zero( rp
->obj
.rb
.v
);
119 v3_zero( rp
->obj
.rb
.w
);
120 rb_init_object( &rp
->obj
);
124 * Get parent index in the ragdoll
126 VG_STATIC u32
ragdoll_bone_parent( struct player_ragdoll
*rd
,
127 struct player_avatar
*av
, u32 bone_id
)
129 for( u32 j
=0; j
<rd
->part_count
; j
++ )
130 if( rd
->parts
[ j
].bone_id
== bone_id
)
133 vg_fatal_exit_loop( "Referenced parent bone does not have a rigidbody" );
138 * Setup ragdoll colliders
140 VG_STATIC
void player_setup_ragdoll_from_avatar( struct player_ragdoll
*rd
,
141 struct player_avatar
*av
)
145 if( !av
->sk
.collider_count
)
148 rd
->position_constraints_count
= 0;
149 rd
->cone_constraints_count
= 0;
151 for( u32 i
=1; i
<av
->sk
.bone_count
; i
++ ){
152 struct skeleton_bone
*bone
= &av
->sk
.bones
[i
];
155 * Bones with colliders
157 if( !(bone
->collider
) )
160 if( rd
->part_count
> vg_list_size(rd
->parts
) )
161 vg_fatal_exit_loop( "Playermodel has too many colliders" );
163 struct ragdoll_part
*rp
= &rd
->parts
[ rd
->part_count
++ ];
165 rp
->parent
= 0xffffffff;
167 player_init_ragdoll_bone_collider( bone
, rp
);
170 * Bones with collider and parent
175 rp
->parent
= ragdoll_bone_parent( rd
, av
, bone
->parent
);
178 if( bone
->orig_bone
->flags
& k_bone_flag_cone_constraint
){
179 struct rb_constr_pos
*c
=
180 &rd
->position_constraints
[ rd
->position_constraints_count
++ ];
182 struct skeleton_bone
*bj
= &av
->sk
.bones
[rp
->bone_id
];
183 struct ragdoll_part
*pp
= &rd
->parts
[rp
->parent
];
184 struct skeleton_bone
*bp
= &av
->sk
.bones
[pp
->bone_id
];
186 /* Convention: rba -- parent, rbb -- child */
187 c
->rba
= &pp
->obj
.rb
;
188 c
->rbb
= &rp
->obj
.rb
;
191 v3_sub( bj
->co
, bp
->co
, delta
);
192 m4x3_mulv( rp
->inv_collider_mtx
, (v3f
){0.0f
,0.0f
,0.0f
}, c
->lcb
);
193 m4x3_mulv( pp
->inv_collider_mtx
, delta
, c
->lca
);
196 mdl_bone
*inf
= bone
->orig_bone
;
198 struct rb_constr_swingtwist
*a
=
199 &rd
->cone_constraints
[ rd
->cone_constraints_count
++ ];
201 a
->rba
= &pp
->obj
.rb
;
202 a
->rbb
= &rp
->obj
.rb
;
203 a
->conet
= cosf( inf
->conet
)-0.0001f
;
205 /* Store constraint in local space vectors */
206 m3x3_mulv( c
->rba
->to_local
, inf
->conevx
, a
->conevx
);
207 m3x3_mulv( c
->rba
->to_local
, inf
->conevy
, a
->conevy
);
208 m3x3_mulv( c
->rbb
->to_local
, inf
->coneva
, a
->coneva
);
209 v3_copy( c
->lca
, a
->view_offset
);
211 v3_cross( inf
->coneva
, inf
->conevy
, a
->conevxb
);
212 m3x3_mulv( c
->rbb
->to_local
, a
->conevxb
, a
->conevxb
);
214 v3_normalize( a
->conevxb
);
215 v3_normalize( a
->conevx
);
216 v3_normalize( a
->conevy
);
217 v3_normalize( a
->coneva
);
219 a
->conevx
[3] = v3_length( inf
->conevx
);
220 a
->conevy
[3] = v3_length( inf
->conevy
);
228 * Make avatar copy the ragdoll
230 VG_STATIC
void copy_ragdoll_pose_to_avatar( struct player_ragdoll
*rd
,
231 struct player_avatar
*av
)
233 for( int i
=0; i
<rd
->part_count
; i
++ ){
234 struct ragdoll_part
*part
= &rd
->parts
[i
];
236 m3x3_identity(offset
);
237 m4x3_mul( part
->obj
.rb
.to_world
, part
->inv_collider_mtx
,
238 av
->sk
.final_mtx
[part
->bone_id
] );
241 for( u32 i
=1; i
<av
->sk
.bone_count
; i
++ ){
242 struct skeleton_bone
*sb
= &av
->sk
.bones
[i
];
244 if( sb
->parent
&& !sb
->collider
){
246 v3_sub( av
->sk
.bones
[i
].co
, av
->sk
.bones
[sb
->parent
].co
, delta
);
249 m3x3_identity( posemtx
);
250 v3_copy( delta
, posemtx
[3] );
253 m4x3_mul( av
->sk
.final_mtx
[sb
->parent
], posemtx
, av
->sk
.final_mtx
[i
] );
257 skeleton_apply_inverses( &av
->sk
);
261 * Make the ragdoll copy the player model
263 VG_STATIC
void copy_avatar_pose_to_ragdoll( struct player_avatar
*av
,
264 struct player_ragdoll
*rd
,
267 for( int i
=0; i
<rd
->part_count
; i
++ ){
268 struct ragdoll_part
*part
= &rd
->parts
[i
];
271 u32 bone
= part
->bone_id
;
273 m4x3_mulv( av
->sk
.final_mtx
[bone
], av
->sk
.bones
[bone
].co
, pos
);
274 m3x3_mulv( av
->sk
.final_mtx
[bone
], part
->collider_mtx
[3], offset
);
275 v3_add( pos
, offset
, part
->obj
.rb
.co
);
278 m3x3_mul( av
->sk
.final_mtx
[bone
], part
->collider_mtx
, r
);
279 m3x3_q( r
, part
->obj
.rb
.q
);
281 v3_copy( velocity
, part
->obj
.rb
.v
);
282 v3_zero( part
->obj
.rb
.w
);
284 rb_update_transform( &part
->obj
.rb
);
289 * Draw rigidbody colliders for ragdoll
291 VG_STATIC
void player_debug_ragdoll(void)
296 * Ragdoll physics step
298 VG_STATIC
void player_ragdoll_iter( struct player_ragdoll
*rd
)
300 world_instance
*world
= get_active_world();
305 if( ragdoll_frame
>= k_ragdoll_div
){
312 float contact_velocities
[256];
314 for( int i
=0; i
<rd
->part_count
; i
++ ){
315 if( rb_global_has_space() ){
316 rb_ct
*buf
= rb_global_buffer();
320 if( rd
->parts
[i
].obj
.type
== k_rb_shape_capsule
){
321 l
= rb_capsule__scene( rd
->parts
[i
].obj
.rb
.to_world
,
322 &rd
->parts
[i
].obj
.inf
.capsule
,
323 NULL
, &world
->rb_geo
.inf
.scene
, buf
);
325 else if( rd
->parts
[i
].obj
.type
== k_rb_shape_box
){
326 l
= rb_box__scene( rd
->parts
[i
].obj
.rb
.to_world
,
327 rd
->parts
[i
].obj
.rb
.bbx
,
328 NULL
, &world
->rb_geo
.inf
.scene
, buf
);
332 for( int j
=0; j
<l
; j
++ ){
333 buf
[j
].rba
= &rd
->parts
[i
].obj
.rb
;
334 buf
[j
].rbb
= &world
->rb_geo
.rb
;
337 rb_contact_count
+= l
;
344 for( int i
=0; i
<rd
->part_count
-1; i
++ ){
345 for( int j
=i
+1; j
<rd
->part_count
; j
++ ){
346 if( rd
->parts
[j
].parent
!= i
){
347 if( !rb_global_has_space() )
350 if( rd
->parts
[j
].obj
.type
!= k_rb_shape_capsule
)
353 if( rd
->parts
[i
].obj
.type
!= k_rb_shape_capsule
)
356 rb_ct
*buf
= rb_global_buffer();
358 int l
= rb_capsule__capsule( rd
->parts
[i
].obj
.rb
.to_world
,
359 &rd
->parts
[i
].obj
.inf
.capsule
,
360 rd
->parts
[j
].obj
.rb
.to_world
,
361 &rd
->parts
[j
].obj
.inf
.capsule
,
364 for( int k
=0; k
<l
; k
++ ){
365 buf
[k
].rba
= &rd
->parts
[i
].obj
.rb
;
366 buf
[k
].rbb
= &rd
->parts
[j
].obj
.rb
;
369 rb_contact_count
+= l
;
374 for( int j
=0; j
<rd
->part_count
; j
++ ){
375 struct ragdoll_part
*pj
= &rd
->parts
[j
];
378 v4f plane
= {0.0f
,1.0f
,0.0f
,0.0f
};
379 rb_effect_simple_bouyency( &pj
->obj
.rb
, plane
,
380 k_ragdoll_floatyiness
,
381 k_ragdoll_floatydrag
);
388 for( u32 i
=0; i
<rb_contact_count
; i
++ ){
389 rb_ct
*ct
= &rb_contact_buffer
[i
];
392 v3_sub( ct
->co
, ct
->rba
->co
, ra
);
393 v3_sub( ct
->co
, ct
->rbb
->co
, rb
);
394 rb_rcv( ct
->rba
, ct
->rbb
, ra
, rb
, rv
);
395 float vn
= v3_dot( rv
, ct
->n
);
397 contact_velocities
[i
] = vn
;
400 rb_presolve_contacts( rb_contact_buffer
, rb_contact_count
);
401 rb_presolve_swingtwist_constraints( rd
->cone_constraints
,
402 rd
->cone_constraints_count
);
407 if( k_ragdoll_debug_collider
){
408 for( u32 i
=0; i
<rd
->part_count
; i
++ )
409 rb_object_debug( &rd
->parts
[i
].obj
, rd
->parts
[i
].colour
);
412 if( k_ragdoll_debug_constraints
){
413 rb_debug_position_constraints( rd
->position_constraints
,
414 rd
->position_constraints_count
);
416 rb_debug_swingtwist_constraints( rd
->cone_constraints
,
417 rd
->cone_constraints_count
);
424 for( int i
=0; i
<16; i
++ ){
425 rb_solve_contacts( rb_contact_buffer
, rb_contact_count
);
426 rb_solve_swingtwist_constraints( rd
->cone_constraints
,
427 rd
->cone_constraints_count
);
428 rb_solve_position_constraints( rd
->position_constraints
,
429 rd
->position_constraints_count
);
432 for( int i
=0; i
<rd
->part_count
; i
++ )
433 rb_iter( &rd
->parts
[i
].obj
.rb
);
435 for( int i
=0; i
<rd
->part_count
; i
++ )
436 rb_update_transform( &rd
->parts
[i
].obj
.rb
);
438 rb_correct_swingtwist_constraints( rd
->cone_constraints
,
439 rd
->cone_constraints_count
, 0.25f
);
441 rb_correct_position_constraints( rd
->position_constraints
,
442 rd
->position_constraints_count
, 0.5f
);
445 rb_ct
*stress
= NULL
;
446 float max_stress
= 1.0f
;
448 for( u32 i
=0; i
<rb_contact_count
; i
++ ){
449 rb_ct
*ct
= &rb_contact_buffer
[i
];
452 v3_sub( ct
->co
, ct
->rba
->co
, ra
);
453 v3_sub( ct
->co
, ct
->rbb
->co
, rb
);
454 rb_rcv( ct
->rba
, ct
->rbb
, ra
, rb
, rv
);
455 float vn
= v3_dot( rv
, ct
->n
);
457 float s
= fabsf(vn
- contact_velocities
[i
]);
458 if( s
> max_stress
){
464 static u32 temp_filter
= 0;
474 audio_oneshot_3d( &audio_hits
[rand()%5], stress
->co
, 20.0f
, 1.0f
);
479 #endif /* PLAYER_RAGDOLL_H */