- }
-
- m3x3_copy( player.mboard, player.mfoot_l );
- m4x3_mulv( player.mboard, (v3f){ 0.0f,0.16f,foot_l }, player.mfoot_l[3] );
-
- m3x3_copy( player.mboard, player.mfoot_r );
- m4x3_mulv( player.mboard, (v3f){ 0.0f,0.16f,foot_r }, player.mfoot_r[3] );
-
- float const kleg_upper = 0.53f,
- kleg_lower = 0.5f,
- karm_ratio = 0.75f,
- karm_upper = kleg_upper*karm_ratio,
- karm_lower = kleg_lower*karm_ratio;
-
- /* Create IK targets */
- struct ik_basic ik_leg_l = { .l1 = kleg_upper, .l2 = kleg_lower },
- ik_leg_r = { .l1 = kleg_upper, .l2 = kleg_lower },
- ik_arm_l = { .l1 = karm_upper, .l2 = karm_lower },
- ik_arm_r = { .l1 = karm_upper, .l2 = karm_lower };
-
- v3f butt, fwd;
- v4f hip_rotation;
-
- /* create hip rotation */
- q_axis_angle( hip_rotation, (v3f){0.0f,1.0f,0.0f}, sinf(vg_time) );
- q_m3x3( hip_rotation, player.mbutt );
- m3x3_mul( player.to_world, player.mbutt, player.mbutt );
-
- /* offset */
- m3x3_mulv( player.to_world, (v3f){ 0.2f,-0.55f,0.0f}, butt );
- v3_add( butt, player.view, butt );
- v3_copy( butt, player.mbutt[3] );
-
- m4x3_mulv( player.mbutt, (v3f){0.0f,0.0f,-0.1f}, ik_leg_r.base );
- m4x3_mulv( player.mbutt, (v3f){0.0f,0.0f, 0.1f}, ik_leg_l.base );
-
- m4x3_mulv( player.mboard, (v3f){ 0.0f,0.16f, foot_r }, ik_leg_r.end );
- m4x3_mulv( player.mboard, (v3f){ 0.0f,0.16f, foot_l }, ik_leg_l.end );
- m4x3_mulv( player.mboard, (v3f){ -0.6f,0.50f,-0.40f }, ik_leg_r.pole );
- m4x3_mulv( player.mboard, (v3f){ -0.6f,0.50f, 0.35f }, ik_leg_l.pole );
-
- /* Compute IK */
- ik_basic( &ik_leg_r, player.mleg_r, player.mknee_r );
- ik_basic( &ik_leg_l, player.mleg_l, player.mknee_l );
-
- /* Arms */
- v3f hl, hr, neckl = {0.0f, 0.5f, 0.2f},
- neckr = {0.0f, 0.5f,-0.2f};
-
- m4x3_mulv( player.mbutt, neckl, ik_arm_l.base );
- m4x3_mulv( player.mbutt, neckr, ik_arm_r.base );
-
- v3_lerp( player.handl, player.handl_target, 0.1f, player.handl );
- v3_lerp( player.handr, player.handr_target, 0.1f, player.handr );
-
- m4x3_mulv( player.to_world, player.handl, ik_arm_l.end );
- m4x3_mulv( player.to_world, player.handr, ik_arm_r.end );
- m4x3_mulv( player.to_world, (v3f){ 0.6f,0.7f, 0.4f }, ik_arm_l.pole );
- m4x3_mulv( player.to_world, (v3f){ 0.6f,0.7f,-0.35f }, ik_arm_r.pole );
-
- ik_basic( &ik_arm_l, player.marm_l, player.melbow_l );
- ik_basic( &ik_arm_r, player.marm_r, player.melbow_r );
-
- if( thirdperson )
- {
- v3f nv;
- v3_copy( player.v, nv );
- v3_normalize( nv );
- v3_muladds( player.view, nv, -3.0f, player.view );