player_ragdoll.h

   1 #ifndef PLAYER_RAGDOLL_H
   2 #define PLAYER_RAGDOLL_H
   3
   4 #include "player.h"
   5
   6 static float k_ragdoll_floatyiness = 40.0f,
   7              k_ragdoll_floatydrag  = 1.0f;
   8
   9 /*
  10  * Setup ragdoll colliders
  11  */
  12 static void player_init_ragdoll( mdl_header *src )
  13 {
  14    struct player_model *mdl = &player.mdl;
  15
  16    if( !mdl->sk.collider_count )
  17    {
  18       mdl->ragdoll_count = 0;
  19       return;
  20    }
  21
  22    mdl->ragdoll = vg_alloc(sizeof(struct ragdoll_part)*mdl->sk.collider_count);
  23    mdl->ragdoll_count = 0;
  24
  25    for( u32 i=0; i<mdl->sk.bone_count; i ++ )
  26    {
  27       struct skeleton_bone *bone = &mdl->sk.bones[i];
  28
  29       if( bone->collider )
  30       {
  31          struct ragdoll_part *rp = &mdl->ragdoll[ mdl->ragdoll_count ++ ];
  32          rp->bone_id = i;
  33
  34          v3f delta;
  35          v3_sub( bone->hitbox[1], bone->hitbox[0], delta );
  36          v3_muls( delta, 0.5f, delta );
  37
  38          v3_add( bone->hitbox[0], delta, rp->offset );
  39
  40          v3_copy( delta, rp->rb.bbx[1] );
  41          v3_muls( delta, -1.0f, rp->rb.bbx[0] );
  42
  43          q_identity( rp->rb.q );
  44          v3_add( bone->co, rp->offset, rp->rb.co );
  45          rp->rb.type = k_rb_shape_box;
  46          rp->rb.is_world = 0;
  47          rp->parent = 0xffffffff;
  48
  49          if( bone->parent )
  50          {
  51             for( u32 j=0; j<mdl->ragdoll_count; j++ )
  52             {
  53                if( mdl->ragdoll[ j ].bone_id == bone->parent )
  54                {
  55                   rp->parent = j;
  56                   break;
  57                }
  58             }
  59          }
  60
  61          struct mdl_node *pnode = mdl_node_from_id( src, bone->orig_node );
  62          struct classtype_bone *bone_inf = mdl_get_entdata( src, pnode );
  63
  64          rp->use_limits = bone_inf->use_limits;
  65          v3_copy( bone_inf->angle_limits[0], rp->limits[0] );
  66          v3_copy( bone_inf->angle_limits[1], rp->limits[1] );
  67
  68          rb_init( &rp->rb );
  69       }
  70    }
  71 }
  72
  73 /*
  74  * Make the player model copy the ragdoll
  75  */
  76 static void player_model_copy_ragdoll(void)
  77 {
  78    struct player_model *mdl = &player.mdl;
  79
  80    for( int i=0; i<mdl->ragdoll_count; i++ )
  81    {
  82       struct ragdoll_part *part = &mdl->ragdoll[i];
  83       m4x3f offset;
  84       m3x3_identity(offset);
  85       v3_negate( part->offset, offset[3] );
  86       m4x3_mul( part->rb.to_world, offset, mdl->sk.final_mtx[part->bone_id] );
  87    }
  88
  89    skeleton_apply_inverses( &mdl->sk );
  90 }
  91
  92 /*
  93  * Make the ragdoll copy the player model
  94  */
  95 static void player_ragdoll_copy_model( v3f v )
  96 {
  97    struct player_model *mdl = &player.mdl;
  98
  99    for( int i=0; i<mdl->ragdoll_count; i++ )
 100    {
 101       struct ragdoll_part *part = &mdl->ragdoll[i];
 102
 103       v3f pos, offset;
 104       u32 bone = part->bone_id;
 105
 106       m4x3_mulv( mdl->sk.final_mtx[bone], mdl->sk.bones[bone].co, pos );
 107       m3x3_mulv( mdl->sk.final_mtx[bone], part->offset, offset );
 108       v3_add( pos, offset, part->rb.co );
 109       m3x3_q( mdl->sk.final_mtx[bone], part->rb.q );
 110       v3_copy( v, part->rb.v );
 111       v3_zero( part->rb.w );
 112
 113       rb_update_transform( &part->rb );
 114    }
 115 }
 116
 117 /*
 118  * Draw rigidbody colliders for ragdoll
 119  */
 120 static void player_debug_ragdoll(void)
 121 {
 122    struct player_model *mdl = &player.mdl;
 123
 124    for( u32 i=0; i<mdl->ragdoll_count; i ++ )
 125       rb_debug( &mdl->ragdoll[i].rb, 0xff00ff00 );
 126 }
 127
 128 /*
 129  * Ragdoll physics step
 130  */
 131 static void player_ragdoll_iter(void)
 132 {
 133    struct player_model *mdl = &player.mdl;
 134    rb_solver_reset();
 135
 136    for( int i=0; i<mdl->ragdoll_count; i ++ )
 137       rb_collide( &mdl->ragdoll[i].rb, &world.rb_geo );
 138
 139    rb_presolve_contacts( rb_contact_buffer, rb_contact_count );
 140
 141    v3f rv;
 142
 143 #if 0
 144    float shoe_vel[2] = {0.0f,0.0f};
 145    for( int i=0; i<2; i++ )
 146       if( mdl->shoes[i] )
 147          shoe_vel[i] = v3_length( mdl->ragdoll[i].rb.v );
 148 #endif
 149
 150    for( int j=0; j<mdl->ragdoll_count; j++ )
 151    {
 152       struct ragdoll_part *pj = &mdl->ragdoll[j];
 153       struct skeleton_bone *bj = &mdl->sk.bones[pj->bone_id];
 154
 155       if( pj->parent != 0xffffffff )
 156       {
 157          struct ragdoll_part *pp = &mdl->ragdoll[pj->parent];
 158          struct skeleton_bone *bp = &mdl->sk.bones[pp->bone_id];
 159
 160          v3f lca, lcb;
 161          v3_negate( pj->offset, lca );
 162          v3_add( bp->co, pp->offset, lcb );
 163          v3_sub( bj->co, lcb, lcb );
 164
 165          rb_debug_constraint_position( &pj->rb, lca, &pp->rb, lcb );
 166
 167          if( pj->use_limits )
 168          {
 169             rb_debug_constraint_limits( &pj->rb, &pp->rb, lca, pj->limits );
 170          }
 171       }
 172
 173       v4f plane = {0.0f,1.0f,0.0f,0.0f};
 174       rb_effect_simple_bouyency( &pj->rb, plane, k_ragdoll_floatyiness,
 175                                                  k_ragdoll_floatydrag );
 176    }
 177
 178    /* CONSTRAINTS */
 179    for( int i=0; i<10; i++ )
 180    {
 181       rb_solve_contacts( rb_contact_buffer, rb_contact_count );
 182
 183       for( int j=0; j<mdl->ragdoll_count; j++ )
 184       {
 185          struct ragdoll_part *pj = &mdl->ragdoll[j];
 186          struct skeleton_bone *bj = &mdl->sk.bones[pj->bone_id];
 187
 188          if( (pj->parent != 0xffffffff) && pj->use_limits )
 189          {
 190             struct ragdoll_part *pp = &mdl->ragdoll[pj->parent];
 191             struct skeleton_bone *bp = &mdl->sk.bones[pp->bone_id];
 192
 193             v3f lca, lcb;
 194             v3_negate( pj->offset, lca );
 195             v3_add( bp->co, pp->offset, lcb );
 196             v3_sub( bj->co, lcb, lcb );
 197
 198             rb_constraint_position( &pj->rb, lca, &pp->rb, lcb );
 199
 200             rb_constraint_limits( &pj->rb, lca, &pp->rb, lcb, pj->limits );
 201          }
 202       }
 203    }
 204
 205    /* INTEGRATION */
 206    for( int i=0; i<mdl->ragdoll_count; i++ )
 207       rb_iter( &mdl->ragdoll[i].rb );
 208
 209    /* SHOES */
 210    for( int i=0; i<mdl->ragdoll_count; i++ )
 211       rb_update_transform( &mdl->ragdoll[i].rb );
 212 }
 213
 214 #endif /* PLAYER_RAGDOLL_H */