player_ragdoll.h

   1 #ifndef PLAYER_RAGDOLL_H
   2 #define PLAYER_RAGDOLL_H
   3
   4 #define VG_GAME
   5 #include "vg/vg.h"
   6 #include "skeleton.h"
   7 #include "rigidbody.h"
   8 #include "player_model.h"
   9 #include "world.h"
  10 #include "audio.h"
  11
  12 struct player_ragdoll
  13 {
  14    struct ragdoll_part
  15    {
  16       u32 bone_id;
  17
  18       /* Collider transform relative to bone */
  19       m4x3f collider_mtx,
  20             inv_collider_mtx;
  21
  22       u32 use_limits;
  23       v3f limits[2];
  24
  25       rigidbody  rb;
  26       u32 parent;
  27       u32 colour;
  28    }
  29    parts[32];
  30    u32 part_count;
  31
  32    rb_constr_pos  position_constraints[32];
  33    u32            position_constraints_count;
  34
  35    rb_constr_swingtwist cone_constraints[32];
  36    u32                  cone_constraints_count;
  37
  38    int shoes[2];
  39 };
  40
  41 VG_STATIC void player_init_ragdoll_bone_collider( struct skeleton_bone *bone,
  42                                                   struct ragdoll_part *rp )
  43 {
  44    m4x3_identity( rp->collider_mtx );
  45
  46    if( bone->collider == k_bone_collider_box ){
  47       v3f delta;
  48       v3_sub( bone->hitbox[1], bone->hitbox[0], delta );
  49       v3_muls( delta, 0.5f, delta );
  50       v3_add( bone->hitbox[0], delta, rp->collider_mtx[3] );
  51
  52       v3_copy( delta, rp->rb.bbx[1] );
  53       v3_muls( delta, -1.0f, rp->rb.bbx[0] );
  54
  55       q_identity( rp->rb.q );
  56       rp->rb.type = k_rb_shape_box;
  57       rp->colour = 0xffcccccc;
  58    }
  59    else if( bone->collider == k_bone_collider_capsule ){
  60       v3f v0, v1, tx, ty;
  61       v3_sub( bone->hitbox[1], bone->hitbox[0], v0 );
  62
  63       int major_axis = 0;
  64       float largest = -1.0f;
  65
  66       for( int i=0; i<3; i ++ ){
  67          if( fabsf( v0[i] ) > largest ){
  68             largest = fabsf( v0[i] );
  69             major_axis = i;
  70          }
  71       }
  72
  73       v3_zero( v1 );
  74       v1[ major_axis ] = 1.0f;
  75       rb_tangent_basis( v1, tx, ty );
  76
  77       float r = (fabsf(v3_dot(tx,v0)) + fabsf(v3_dot(ty,v0))) * 0.25f,
  78             l = fabsf(v0[ major_axis ]);
  79
  80       /* orientation */
  81       v3_muls( tx, -1.0f, rp->collider_mtx[0] );
  82       v3_muls( v1, -1.0f, rp->collider_mtx[1] );
  83       v3_muls( ty, -1.0f, rp->collider_mtx[2] );
  84       v3_add( bone->hitbox[0], bone->hitbox[1], rp->collider_mtx[3] );
  85       v3_muls( rp->collider_mtx[3], 0.5f, rp->collider_mtx[3] );
  86
  87       rp->rb.type = k_rb_shape_capsule;
  88       rp->rb.inf.capsule.height = l;
  89       rp->rb.inf.capsule.radius = r;
  90
  91       rp->colour = 0xff000000 | (0xff << (major_axis*8));
  92    }
  93    else{
  94       vg_warn( "type: %u\n", bone->collider );
  95       vg_fatal_exit_loop( "Invalid bone collider type" );
  96    }
  97
  98    m4x3_invert_affine( rp->collider_mtx, rp->inv_collider_mtx );
  99
 100    /* Position collider into rest */
 101    m3x3_q( rp->collider_mtx, rp->rb.q );
 102    v3_add( rp->collider_mtx[3], bone->co, rp->rb.co );
 103    rp->rb.is_world = 0;
 104    rb_init( &rp->rb );
 105 }
 106
 107 /*
 108  * Get parent index in the ragdoll
 109  */
 110 VG_STATIC u32 ragdoll_bone_parent( struct player_ragdoll *rd,
 111                                    struct player_avatar *av, u32 bone_id )
 112 {
 113    for( u32 j=0; j<rd->part_count; j++ )
 114       if( rd->parts[ j ].bone_id == bone_id )
 115          return j;
 116
 117    vg_fatal_exit_loop( "Referenced parent bone does not have a rigidbody" );
 118    return 0;
 119 }
 120
 121 /*
 122  * Setup ragdoll colliders
 123  */
 124 VG_STATIC void player_setup_ragdoll_from_avatar( struct player_ragdoll *rd,
 125                                                  struct player_avatar *av )
 126 {
 127    rd->part_count = 0;
 128
 129    if( !av->sk.collider_count )
 130       return;
 131
 132    rd->position_constraints_count = 0;
 133    rd->cone_constraints_count = 0;
 134
 135    for( u32 i=1; i<av->sk.bone_count; i ++ ){
 136       struct skeleton_bone *bone = &av->sk.bones[i];
 137
 138       /*
 139        * Bones with colliders
 140        */
 141       if( !(bone->collider) )
 142          continue;
 143
 144       if( rd->part_count > vg_list_size(rd->parts) )
 145          vg_fatal_exit_loop( "Playermodel has too many colliders" );
 146
 147       struct ragdoll_part *rp = &rd->parts[ rd->part_count ++ ];
 148       rp->bone_id = i;
 149       rp->parent = 0xffffffff;
 150
 151       player_init_ragdoll_bone_collider( bone, rp );
 152
 153       /*
 154        * Bones with collider and parent
 155        */
 156       if( !bone->parent )
 157          continue;
 158
 159       rp->parent = ragdoll_bone_parent( rd, av, bone->parent );
 160
 161
 162       if( bone->orig_bone->flags & k_bone_flag_cone_constraint ){
 163          struct rb_constr_pos *c =
 164             &rd->position_constraints[ rd->position_constraints_count ++ ];
 165
 166          struct skeleton_bone *bj = &av->sk.bones[rp->bone_id];
 167          struct ragdoll_part  *pp = &rd->parts[rp->parent];
 168          struct skeleton_bone *bp = &av->sk.bones[pp->bone_id];
 169
 170          /* Convention: rba -- parent, rbb -- child */
 171          c->rba = &pp->rb;
 172          c->rbb = &rp->rb;
 173
 174          v3f delta;
 175          v3_sub( bj->co, bp->co, delta );
 176          m4x3_mulv( rp->inv_collider_mtx, (v3f){0.0f,0.0f,0.0f}, c->lcb );
 177          m4x3_mulv( pp->inv_collider_mtx, delta, c->lca );
 178
 179
 180          mdl_bone *inf = bone->orig_bone;
 181
 182          struct rb_constr_swingtwist *a =
 183             &rd->cone_constraints[ rd->cone_constraints_count ++ ];
 184
 185          a->rba = &pp->rb;
 186          a->rbb = &rp->rb;
 187          a->conet = cosf( inf->conet )-0.0001f;
 188
 189          /* Store constraint in local space vectors */
 190          m3x3_mulv( c->rba->to_local, inf->conevx, a->conevx );
 191          m3x3_mulv( c->rba->to_local, inf->conevy, a->conevy );
 192          m3x3_mulv( c->rbb->to_local, inf->coneva, a->coneva );
 193          v3_copy( c->lca, a->view_offset );
 194
 195          v3_cross( inf->coneva, inf->conevy, a->conevxb );
 196          m3x3_mulv( c->rbb->to_local, a->conevxb, a->conevxb );
 197
 198          v3_normalize( a->conevxb );
 199          v3_normalize( a->conevx );
 200          v3_normalize( a->conevy );
 201          v3_normalize( a->coneva );
 202
 203          a->conevx[3] = v3_length( inf->conevx );
 204          a->conevy[3] = v3_length( inf->conevy );
 205
 206          rp->use_limits = 1;
 207       }
 208    }
 209 }
 210
 211 /*
 212  * Make avatar copy the ragdoll
 213  */
 214 VG_STATIC void copy_ragdoll_pose_to_avatar( struct player_ragdoll *rd,
 215                                             struct player_avatar *av )
 216 {
 217    for( int i=0; i<rd->part_count; i++ ){
 218       struct ragdoll_part *part = &rd->parts[i];
 219       m4x3f offset;
 220       m3x3_identity(offset);
 221       m4x3_mul( part->rb.to_world, part->inv_collider_mtx,
 222                   av->sk.final_mtx[part->bone_id] );
 223    }
 224
 225    for( u32 i=1; i<av->sk.bone_count; i++ ){
 226       struct skeleton_bone *sb = &av->sk.bones[i];
 227
 228       if( sb->parent && !sb->collider ){
 229          v3f delta;
 230          v3_sub( av->sk.bones[i].co, av->sk.bones[sb->parent].co, delta );
 231
 232          m4x3f posemtx;
 233          m3x3_identity( posemtx );
 234          v3_copy( delta, posemtx[3] );
 235
 236          /* final matrix */
 237          m4x3_mul( av->sk.final_mtx[sb->parent], posemtx, av->sk.final_mtx[i] );
 238       }
 239    }
 240
 241    skeleton_apply_inverses( &av->sk );
 242 }
 243
 244 /*
 245  * Make the ragdoll copy the player model
 246  */
 247 VG_STATIC void copy_avatar_pose_to_ragdoll( struct player_avatar *av,
 248                                             struct player_ragdoll *rd,
 249                                             v3f velocity )
 250 {
 251    for( int i=0; i<rd->part_count; i++ ){
 252       struct ragdoll_part *part = &rd->parts[i];
 253
 254       v3f pos, offset;
 255       u32 bone = part->bone_id;
 256
 257       m4x3_mulv( av->sk.final_mtx[bone], av->sk.bones[bone].co, pos );
 258       m3x3_mulv( av->sk.final_mtx[bone], part->collider_mtx[3], offset );
 259       v3_add( pos, offset, part->rb.co );
 260
 261       m3x3f r;
 262       m3x3_mul( av->sk.final_mtx[bone], part->collider_mtx, r );
 263       m3x3_q( r, part->rb.q );
 264
 265       v3_copy( velocity, part->rb.v );
 266       v3_zero( part->rb.w );
 267
 268       rb_update_transform( &part->rb );
 269    }
 270 }
 271
 272 /*
 273  * Draw rigidbody colliders for ragdoll
 274  */
 275 VG_STATIC void player_debug_ragdoll(void)
 276 {
 277 }
 278
 279 /*
 280  * Ragdoll physics step
 281  */
 282 VG_STATIC void player_ragdoll_iter( struct player_ragdoll *rd )
 283 {
 284    world_instance *world = get_active_world();
 285
 286    int run_sim = 0;
 287    ragdoll_frame ++;
 288
 289    if( ragdoll_frame >= k_ragdoll_div ){
 290       ragdoll_frame = 0;
 291       run_sim = 1;
 292    }
 293
 294    rb_solver_reset();
 295
 296    float contact_velocities[256];
 297
 298    for( int i=0; i<rd->part_count; i ++ ){
 299       if( rb_global_has_space() ){
 300          rb_ct *buf = rb_global_buffer();
 301
 302          int l;
 303
 304          if( rd->parts[i].rb.type == k_rb_shape_capsule ){
 305             l = rb_capsule__scene( rd->parts[i].rb.to_world,
 306                                    &rd->parts[i].rb.inf.capsule,
 307                                    NULL, &world->rb_geo.inf.scene, buf );
 308          }
 309          else if( rd->parts[i].rb.type == k_rb_shape_box ){
 310             l = rb_box__scene( rd->parts[i].rb.to_world,
 311                                rd->parts[i].rb.bbx,
 312                                NULL, &world->rb_geo.inf.scene, buf );
 313          }
 314          else continue;
 315
 316          for( int j=0; j<l; j++ ){
 317             buf[j].rba = &rd->parts[i].rb;
 318             buf[j].rbb = &world->rb_geo;
 319          }
 320
 321          rb_contact_count += l;
 322       }
 323    }
 324
 325    /*
 326     * self-collision
 327     */
 328    for( int i=0; i<rd->part_count-1; i ++ ){
 329       for( int j=i+1; j<rd->part_count; j ++ ){
 330          if( rd->parts[j].parent != i ){
 331             if( !rb_global_has_space() )
 332                break;
 333
 334             if( rd->parts[j].rb.type != k_rb_shape_capsule )
 335                continue;
 336
 337             if( rd->parts[i].rb.type != k_rb_shape_capsule )
 338                continue;
 339
 340             rb_ct *buf = rb_global_buffer();
 341
 342             int l = rb_capsule__capsule( rd->parts[i].rb.to_world,
 343                                          &rd->parts[i].rb.inf.capsule,
 344                                          rd->parts[j].rb.to_world,
 345                                          &rd->parts[j].rb.inf.capsule,
 346                                          buf );
 347
 348             for( int k=0; k<l; k++ ){
 349                buf[k].rba = &rd->parts[i].rb;
 350                buf[k].rbb = &rd->parts[j].rb;
 351             }
 352
 353             rb_contact_count += l;
 354          }
 355       }
 356    }
 357
 358    for( int j=0; j<rd->part_count; j++ ){
 359       struct ragdoll_part *pj = &rd->parts[j];
 360
 361       if( run_sim ){
 362          v4f plane = {0.0f,1.0f,0.0f,0.0f};
 363          rb_effect_simple_bouyency( &pj->rb, plane, k_ragdoll_floatyiness,
 364                                                     k_ragdoll_floatydrag );
 365       }
 366    }
 367
 368    /*
 369     * PRESOLVE
 370     */
 371    for( u32 i=0; i<rb_contact_count; i++ ){
 372       rb_ct *ct = &rb_contact_buffer[i];
 373
 374       v3f rv, ra, rb;
 375       v3_sub( ct->co, ct->rba->co, ra );
 376       v3_sub( ct->co, ct->rbb->co, rb );
 377       rb_rcv( ct->rba, ct->rbb, ra, rb, rv );
 378       float     vn = v3_dot( rv, ct->n );
 379
 380       contact_velocities[i] = vn;
 381    }
 382
 383    rb_presolve_contacts( rb_contact_buffer, rb_contact_count );
 384    rb_presolve_swingtwist_constraints( rd->cone_constraints,
 385                                        rd->cone_constraints_count );
 386
 387    /*
 388     * DEBUG
 389     */
 390    if( k_ragdoll_debug_collider ){
 391       for( u32 i=0; i<rd->part_count; i ++ )
 392          rb_debug( &rd->parts[i].rb, rd->parts[i].colour );
 393    }
 394
 395    if( k_ragdoll_debug_constraints ){
 396       rb_debug_position_constraints( rd->position_constraints,
 397                                      rd->position_constraints_count );
 398
 399       rb_debug_swingtwist_constraints( rd->cone_constraints,
 400                                        rd->cone_constraints_count );
 401    }
 402
 403    /*
 404     * SOLVE CONSTRAINTS
 405     */
 406    if( run_sim ){
 407       for( int i=0; i<16; i++ ){
 408          rb_solve_contacts( rb_contact_buffer, rb_contact_count );
 409          rb_solve_swingtwist_constraints( rd->cone_constraints,
 410                                           rd->cone_constraints_count );
 411          rb_solve_position_constraints( rd->position_constraints,
 412                                         rd->position_constraints_count );
 413       }
 414
 415       for( int i=0; i<rd->part_count; i++ )
 416          rb_iter( &rd->parts[i].rb );
 417
 418       for( int i=0; i<rd->part_count; i++ )
 419          rb_update_transform( &rd->parts[i].rb );
 420
 421       rb_correct_swingtwist_constraints( rd->cone_constraints,
 422                                          rd->cone_constraints_count, 0.25f );
 423
 424       rb_correct_position_constraints( rd->position_constraints,
 425                                        rd->position_constraints_count, 0.5f );
 426    }
 427
 428    rb_ct *stress = NULL;
 429    float max_stress = 1.0f;
 430
 431    for( u32 i=0; i<rb_contact_count; i++ ){
 432       rb_ct *ct = &rb_contact_buffer[i];
 433
 434       v3f rv, ra, rb;
 435       v3_sub( ct->co, ct->rba->co, ra );
 436       v3_sub( ct->co, ct->rbb->co, rb );
 437       rb_rcv( ct->rba, ct->rbb, ra, rb, rv );
 438       float     vn = v3_dot( rv, ct->n );
 439
 440       float s = fabsf(vn - contact_velocities[i]);
 441       if( s > max_stress ){
 442          stress = ct;
 443          max_stress = s;
 444       }
 445    }
 446
 447    static u32 temp_filter = 0;
 448
 449    if( temp_filter ){
 450       temp_filter --;
 451       return;
 452    }
 453
 454    if( stress ){
 455       temp_filter = 20;
 456       audio_lock();
 457       audio_oneshot_3d( &audio_hits[rand()%5], stress->co, 20.0f, 1.0f );
 458       audio_unlock();
 459    }
 460 }
 461
 462 #endif /* PLAYER_RAGDOLL_H */