#include "common.h"
#include "model.h"
#include "scene.h"
+#include "world.h"
#include "ik.h"
#include "rigidbody.h"
+#include "render.h"
#include "shaders/character.h"
vg_tex2d tex_pallet = { .path = "textures/ch_gradient.qoi" };
v3_muladds( ch->cam_pos, pose->cam, q, ch->cam_pos );
}
+#if 1
static
void character_final_pose( struct character *ch, v3f cog,
character_pose *pose, float q )
tilt = vg_clampf(cog[2], -1.0f, 1.0f) * 0.3f;
v4f rz; m4x3f tr;
- q_axis_angle( rz, (v3f){0.0f,0.0f,1.0f}, -cog[0]*0.6f );
+ q_axis_angle( rz, (v3f){0.0f,0.0f,1.0f}, -cog[0]*0.3f );
q_m3x3( rz, tr );
- v3_copy( (v3f){0.0f,dip,tilt}, tr[3] );
+ m3x3_identity( tr );
+ //v3_copy( (v3f){0.0f,dip,tilt}, tr[3] );
+ v3_copy( cog, tr[3] );
+
+ v3_muladd( pose->b0, tr[3], (v3f){0.85f,1.0f,1.0f}, npose.b0 );
+ //m4x3_mulv( tr, pose->b0, npose.b0 );
+ m4x3_mulv( tr, pose->b1, npose.b1 );
+ m4x3_mulv( tr, pose->p, npose.p );
+ m4x3_mulv( tr, pose->pl, npose.pl );
+ m4x3_mulv( tr, pose->pr, npose.pr );
+ m4x3_mulv( tr, pose->hl, npose.hl );
+ m4x3_mulv( tr, pose->hr, npose.hr );
+ m4x3_mulv( tr, pose->apl, npose.apl );
+ m4x3_mulv( tr, pose->apr, npose.apr );
+
+ v3_copy( pose->fr, npose.fr );
+ v3_copy( pose->fl, npose.fl );
+ v3_copy( pose->cam, npose.cam );
+
+ character_pose_blend( ch, &npose, q );
+}
+#else
+static
+void character_final_pose( struct character *ch, v4f rot,
+ character_pose *pose, float q )
+{
+ character_pose npose;
+
+ m4x3f tr;
+ q_m3x3( rot, tr );
+ v3_zero( tr[3] );
m4x3_mulv( tr, pose->b0, npose.b0 );
m4x3_mulv( tr, pose->b1, npose.b1 );
character_pose_blend( ch, &npose, q );
}
+#endif
static void character_yaw_upper( struct character *ch, float yaw )
{
m4x3_identity( ch->matrices[k_chpart_wf] );
}
-static float *player_cam_pos(void);
-static void character_draw( struct character *ch, float temp )
+static void character_draw( struct character *ch, float temp, m4x3f camera )
{
shader_character_use();
shader_character_uPv( vg_pv );
vg_tex2d_bind( &tex_pallet, 0 );
shader_character_uTexMain( 0 );
shader_character_uOpacity( temp );
- shader_character_uCamera( player_cam_pos() );
+ shader_character_uCamera( camera[3] );
shader_link_standard_ub( _shader_character.id, 2 );
glEnable( GL_CULL_FACE );
m4x3_mulv( ch->matrices[i], rb->delta, rb->co );
m3x3_q( ch->matrices[i], rb->q );
v3_copy( v, rb->v );
- v3_zero( rb->I );
- rb->manifold_count = 0; /* ? */
+ v3_zero( rb->w );
rb_update_transform( rb );
}
static void character_ragdoll_iter( struct character *ch )
{
+ rb_solver_reset();
+
for( int i=0; i<PART_COUNT; i++ )
{
- rb_manifold_reset( &ch->ragdoll[i] );
- rb_build_manifold_terrain( &ch->ragdoll[i] );
-
- u32 colliders[16];
- int len = bh_select( &world.bhcubes, ch->ragdoll[i].bbx_world,
- colliders, 16 );
-
- for( int j=0; j<len; j++ )
- rb_build_manifold_rb_static( &ch->ragdoll[i],
- &world.temp_rbs[colliders[j]] );
+ rb_collide( &ch->ragdoll[i], &world.rb_geo );
}
+ rb_presolve_contacts( rb_contact_buffer, rb_contact_count );
+
v3f rv;
- float shoe_vel[2];
+ float shoe_vel[2] = {0.0f,0.0f};
for( int i=0; i<2; i++ )
if( ch->shoes[i] )
shoe_vel[i] = v3_length( ch->ragdoll[i].v );
-
- for( int i=0; i<20; i++ )
+
+ /* This used to be 20 iterations */
+ for( int i=0; i<10; i++ )
{
float const k_springfactor = 1.0f/20.0f;
-
- for( int j=0; j<PART_COUNT; j++ )
- rb_constraint_manifold( &ch->ragdoll[j] );
-
+
+ rb_solve_contacts( rb_contact_buffer, rb_contact_count );
+
for( int j=0; j<vg_list_size(rd_joints); j++ )
{
struct rd_joint *joint = &rd_joints[j];
v3_copy( src->co, dst->co );
v3_copy( src->v, dst->v );
v3_copy( src->q, dst->q );
- v3_copy( src->I, dst->I );
+ v3_copy( src->w, dst->w );
}
}
}