)
#define FOREACH_PART(FN) \
+ FN( foot_l ) \
+ FN( foot_r ) \
+ FN( sock_l ) \
+ FN( sock_r ) \
FN( body0 ) \
FN( body1 ) \
FN( neck ) \
FN( hand_r ) \
FN( leg_l0 ) \
FN( leg_l1 ) \
- FN( foot_l ) \
FN( leg_r0 ) \
FN( leg_r1 ) \
- FN( foot_r ) \
FN( wf ) \
FN( wb ) \
FN( board ) \
v3f ground_normal; /* Feet will be aligned to this */
m4x3f mroot;
+
+ int shoes[2];
};
static void character_offset( struct character *ch, enum character_part parent,
mesh_bind( &ch->mesh );
- for( int i=
0; i<PART_COUNT; i++ )
+ for( int i=
4; i<PART_COUNT; i++ )
{
glUniformMatrix4x3fv( kuMdl, 1, GL_FALSE, (float *)ch->matrices[i] );
submodel_draw( &ch->parts[i] );
}
+
+ for( int i=0; i<2; i++ )
+ {
+ if( ch->shoes[i] )
+ {
+ glUniformMatrix4x3fv( kuMdl, 1, GL_FALSE, (float *)ch->matrices[i] );
+ submodel_draw( &ch->parts[i] );
+ }
+ else
+ {
+ glUniformMatrix4x3fv( kuMdl, 1, GL_FALSE, (float *)ch->matrices[i+2] );
+ submodel_draw( &ch->parts[i] );
+ glUniformMatrix4x3fv( kuMdl, 1, GL_FALSE, (float *)ch->matrices[i] );
+ submodel_draw( &ch->parts[i+2] );
+ }
+ }
}
static void character_shader_register(void)
min, maj;
};
-static const float k_human_major = 0.9f,
- k_human_minor = 0.9f,
- k_human_major_max = 1.4f,
- k_human_minor_max = 0.4f;
+static const float k_human_major = 0.5f,
+ k_human_minor = 0.5f,
+ k_human_major_max = 0.4f,
+ k_human_minor_max = 0.1f;
#define HUMAN_VERTICAL_DEFAULT \
.min = { \
.spring = k_human_minor, .ang = k_human_minor_max \
}, \
.maj = { \
- .va = {0.0f,0.0f,-1.0f}, .vb = {0.0f,0.0f,-1.0f}, \
+ .va = {0.0f,0.0f,-1.0f}, .vb = {0.0f,0.0f,-1.0f}, \
.spring = k_human_major, .ang = k_human_major_max \
}
static struct rd_joint rd_joints[] =
{
+ { .ia = k_chpart_leg_l1, .ib = k_chpart_foot_l, HUMAN_VERTICAL_DEFAULT },
+ { .ia = k_chpart_leg_r1, .ib = k_chpart_foot_r, HUMAN_VERTICAL_DEFAULT },
+
{ .ia = k_chpart_body0, .ib = k_chpart_body1, HUMAN_VERTICAL_DEFAULT },
{ .ia = k_chpart_body1, .ib = k_chpart_neck, HUMAN_VERTICAL_DEFAULT },
{ .ia = k_chpart_neck, .ib = k_chpart_head, HUMAN_VERTICAL_DEFAULT },
{ .ia = k_chpart_body1, .ib = k_chpart_arm_r0, HUMAN_ARM_RIGHT },
{ .ia = k_chpart_arm_r0, .ib = k_chpart_arm_r1, HUMAN_ARM_RIGHT },
- { .ia = k_chpart_arm_r1, .ib = k_chpart_hand_r, HUMAN_ARM_RIGHT },
+ { .ia = k_chpart_arm_r1, .ib = k_chpart_hand_r, HUMAN_ARM_RIGHT }
};
+/* Ragdoll should be in rest pose when calling this function */
static void character_init_ragdoll_joints( struct character *ch )
{
for( int i=0; i<vg_list_size(rd_joints); i++ )
v3_sub( hinge, ch->ragdoll[joint->ia].co, joint->lca );
v3_sub( hinge, ch->ragdoll[joint->ib].co, joint->lcb );
}
+
+ for( int i=0; i<PART_COUNT; i++ )
+ {
+ float *pivot = ch->parts[i].pivot;
+ v3_sub( ch->ragdoll[i].co, pivot, ch->ragdoll[i].delta );
+ }
}
static void character_init_ragdoll( struct character *ch )
rbs[k_chpart_foot_r].co[1] -= foot_dims[1] * 0.5f;
rbs[k_chpart_foot_r].co[0] -= foot_dims[0] * 0.5f;
- character_init_ragdoll_joints( ch );
+ character_rd_box( ch, k_chpart_sock_l, foot_dims );
+ character_rd_box( ch, k_chpart_sock_r, foot_dims );
+ v3_copy( rbs[k_chpart_foot_l].co, rbs[k_chpart_sock_l].co );
+ v3_copy( rbs[k_chpart_foot_r].co, rbs[k_chpart_sock_r].co );
+
+ box_copy( (boxf){{-0.2f,-0.2f,-0.7f},{0.2f,0.2f,0.7f}},
+ rbs[k_chpart_board].bbx );
for( int i=0; i<PART_COUNT; i++ )
rb_init( &ch->ragdoll[i] );
+
+ character_init_ragdoll_joints( ch );
}
static void character_ragdoll_go( struct character *ch, v3f pos )
static void character_ragdoll_copypose( struct character *ch, v3f v )
{
- character_init_ragdoll(ch);
-
for( int i=0; i<PART_COUNT; i++ )
{
- v3f offset;
rigidbody *rb = &ch->ragdoll[i];
- v3_sub( rb->co, ch->parts[i].pivot, offset );
-
- m4x3_mulv( ch->matrices[i], offset, rb->co );
+ 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_update_transform( rb );
}
+
+ float vel = v3_length(v);
+
+ ch->shoes[0] = 1;
+ ch->shoes[1] = 1;
+}
+
+static void character_mimic_ragdoll( struct character *ch )
+{
+ for( int i=0; i<PART_COUNT; i++ )
+ {
+ rigidbody *rb = &ch->ragdoll[i];
+ v3f *mat = ch->matrices[i];
+
+ m3x3_copy( rb->to_world, mat );
+ v3f inv_delta;
+ v3_negate( rb->delta, inv_delta );
+ m4x3_mulv( rb->to_world, inv_delta, mat[3] );
+ }
+
+ /* Attach wheels to board */
+ m3x3_copy( ch->matrices[k_chpart_board], ch->matrices[k_chpart_wb] );
+ m3x3_copy( ch->matrices[k_chpart_board], ch->matrices[k_chpart_wf] );
+ m4x3_mulv( ch->matrices[k_chpart_board], ch->offsets[k_chpart_wb],
+ ch->matrices[k_chpart_wb][3] );
+ m4x3_mulv( ch->matrices[k_chpart_board], ch->offsets[k_chpart_wf],
+ ch->matrices[k_chpart_wf][3] );
}
static void character_debug_ragdoll( struct character *ch )
rb_build_manifold( &ch->ragdoll[i], sc );
}
+ v3f rv;
+
+ float shoe_vel[2];
+ 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++ )
{
float const k_springfactor = 1.0f/20.0f;
}
}
+ for( int j=0; j<vg_list_size(rd_joints); j++ )
+ {
+ struct rd_joint *joint = &rd_joints[j];
+ rigidbody *rba = &ch->ragdoll[joint->ia],
+ *rbb = &ch->ragdoll[joint->ib];
+ rb_angle_limit_force( rba, joint->min.va, rbb, joint->min.vb,
+ joint->min.ang );
+ rb_angle_limit_force( rba, joint->maj.va, rbb, joint->maj.vb,
+ joint->maj.ang );
+ }
+
for( int i=0; i<PART_COUNT; i++ )
rb_iter( &ch->ragdoll[i] );
+
+ for( int i=0; i<2; i++ )
+ {
+ if( ch->shoes[i] )
+ {
+ float a = v3_length( ch->ragdoll[i].v ) - shoe_vel[i];
+
+ if( a > 2.0f )
+ {
+ ch->shoes[i] = 0;
+
+ rigidbody *src = &ch->ragdoll[k_chpart_foot_l];
+ rigidbody *dst = &ch->ragdoll[k_chpart_sock_l];
+
+ v3_copy( src->co, dst->co );
+ v3_copy( src->v, dst->v );
+ v3_copy( src->q, dst->q );
+ v3_copy( src->I, dst->I );
+ }
+ }
+ }
for( int i=0; i<PART_COUNT; i++ )
rb_update_transform( &ch->ragdoll[i] );
projects / carveJwlIkooP6JGAAIwe30JlM.git / blobdiff