#include "vg/vg.h"
#include "model.h"
+#include "scene.h"
#include "ik.h"
+#include "rigidbody.h"
SHADER_DEFINE( shader_player,
FOREACH_PART( MAKE_STRING )
};
-
struct character
{
glmesh mesh;
/* Auxillary information */
v3f offsets[ PART_COUNT ];
+ rigidbody ragdoll[ PART_COUNT ];
/*
* Controls
SHADER_INIT(shader_player);
}
+
+/*
+ * Ragdoll Stuff
+ */
+
+static void character_rd_box( struct character *ch, enum character_part id,
+ v3f dims )
+{
+ v3_muls( dims, -0.5f, ch->ragdoll[id].bbx[0] );
+ v3_muls( dims, 0.5f, ch->ragdoll[id].bbx[1] );
+}
+
+struct rd_joint
+{
+ enum character_part ia, ib;
+ v3f lca, lcb;
+
+ struct rd_joint_axis
+ {
+ v3f va, vb;
+ float spring, ang;
+ }
+ 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;
+
+#define HUMAN_VERTICAL_DEFAULT \
+.min = { \
+ .va = {1.0f,0.0f,0.0f}, .vb = {1.0f,0.0f,0.0f}, \
+ .spring = k_human_minor, .ang = k_human_minor_max \
+}, \
+.maj = { \
+ .va = {0.0f,1.0f,0.0f}, .vb = {0.0f,1.0f,0.0f}, \
+ .spring = k_human_major, .ang = k_human_major_max \
+}
+
+#define HUMAN_ARM_LEFT \
+.min = { \
+ .va = {1.0f,0.0f,0.0f}, .vb = {1.0f,0.0f,0.0f}, \
+ .spring = k_human_minor, .ang = k_human_minor_max \
+}, \
+.maj = { \
+ .va = {0.0f,0.0f,1.0f}, .vb = {0.0f,0.0f,1.0f}, \
+ .spring = k_human_major, .ang = k_human_major_max \
+}
+
+#define HUMAN_ARM_RIGHT \
+.min = { \
+ .va = {1.0f,0.0f,0.0f}, .vb = {1.0f,0.0f,0.0f}, \
+ .spring = k_human_minor, .ang = k_human_minor_max \
+}, \
+.maj = { \
+ .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_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_body0, .ib = k_chpart_leg_l0, HUMAN_VERTICAL_DEFAULT },
+ { .ia = k_chpart_leg_l0, .ib = k_chpart_leg_l1, HUMAN_VERTICAL_DEFAULT },
+ { .ia = k_chpart_body0, .ib = k_chpart_leg_r0, HUMAN_VERTICAL_DEFAULT },
+ { .ia = k_chpart_leg_r0, .ib = k_chpart_leg_r1, HUMAN_VERTICAL_DEFAULT },
+
+ { .ia = k_chpart_body1, .ib = k_chpart_arm_l0, HUMAN_ARM_LEFT },
+ { .ia = k_chpart_arm_l0, .ib = k_chpart_arm_l1, HUMAN_ARM_LEFT },
+ { .ia = k_chpart_arm_l1, .ib = k_chpart_hand_l, HUMAN_ARM_LEFT },
+
+ { .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 },
+};
+
+static void character_init_ragdoll_joints( struct character *ch )
+{
+ for( int i=0; i<vg_list_size(rd_joints); i++ )
+ {
+ struct rd_joint *joint = &rd_joints[i];
+
+ float *hinge = ch->parts[joint->ib].pivot;
+ v3_sub( hinge, ch->ragdoll[joint->ia].co, joint->lca );
+ v3_sub( hinge, ch->ragdoll[joint->ib].co, joint->lcb );
+ }
+}
+
+static void character_init_ragdoll( struct character *ch )
+{
+ v3f *offs = ch->offsets;
+ rigidbody *rbs = ch->ragdoll;
+
+ /* CHest */
+ float chest_width = fabsf(offs[k_chpart_arm_r0][2])*2.0f,
+ chest_depth = chest_width * 0.571f,
+ chest_height = offs[k_chpart_neck][1];
+ v3f chest_dims = { chest_depth, chest_height, chest_width };
+ character_rd_box( ch, k_chpart_body1, chest_dims );
+
+ v3_copy( ch->parts[k_chpart_body1].pivot, rbs[k_chpart_body1].co );
+ rbs[k_chpart_body1].co[1] += chest_height*0.5f;
+
+ /* Torso */
+ v3f torso_dims = { chest_depth,
+ offs[k_chpart_body1][1]-offs[k_chpart_leg_l0][1],
+ chest_width*0.85f };
+ v3_copy( ch->parts[k_chpart_body0].pivot, rbs[k_chpart_body0].co );
+ character_rd_box( ch, k_chpart_body0, torso_dims );
+
+ /* Neck */
+ v3f neck_dims = { chest_depth*0.5f,
+ offs[k_chpart_head][1],
+ chest_depth*0.5f };
+ v3_copy( ch->parts[k_chpart_neck].pivot, rbs[k_chpart_neck].co );
+ rbs[k_chpart_neck].co[1] += neck_dims[1]*0.5f;
+ character_rd_box( ch, k_chpart_neck, neck_dims );
+
+ /* Head */
+ v3f head_dims = { chest_width*0.5f, chest_width*0.5f, chest_width*0.5f };
+ v3_copy( ch->parts[k_chpart_head].pivot, rbs[k_chpart_head].co );
+ rbs[k_chpart_head].co[1] += head_dims[1]*0.5f;
+ character_rd_box( ch, k_chpart_head, head_dims );
+
+ /* ARms */
+ v3f ua_dims = { 0.0f, 0.0f, fabsf(offs[k_chpart_arm_l1][2]) };
+ ua_dims[1] = 0.38f*ua_dims[2];
+ ua_dims[0] = 0.38f*ua_dims[2];
+ v3f la_dims = { ua_dims[0], ua_dims[1], fabsf(offs[k_chpart_hand_l][2]) };
+ v3f hand_dims = { ua_dims[1], ua_dims[1]*0.5f, ua_dims[1] };
+
+ character_rd_box( ch, k_chpart_arm_l0, ua_dims );
+ character_rd_box( ch, k_chpart_arm_r0, ua_dims );
+ character_rd_box( ch, k_chpart_arm_l1, la_dims );
+ character_rd_box( ch, k_chpart_arm_r1, la_dims );
+ character_rd_box( ch, k_chpart_hand_l, hand_dims );
+ character_rd_box( ch, k_chpart_hand_r, hand_dims );
+
+ v3_copy( ch->parts[k_chpart_arm_l0].pivot, rbs[k_chpart_arm_l0].co );
+ rbs[k_chpart_arm_l0].co[2] += ua_dims[2] * 0.5f;
+ v3_copy( ch->parts[k_chpart_arm_l1].pivot, rbs[k_chpart_arm_l1].co );
+ rbs[k_chpart_arm_l1].co[2] += la_dims[2] * 0.5f;
+ v3_copy( ch->parts[k_chpart_hand_l].pivot, rbs[k_chpart_hand_l].co );
+ rbs[k_chpart_hand_l].co[2] += hand_dims[2] * 0.5f;
+
+ v3_copy( ch->parts[k_chpart_arm_r0].pivot, rbs[k_chpart_arm_r0].co );
+ rbs[k_chpart_arm_r0].co[2] -= ua_dims[2] * 0.5f;
+ v3_copy( ch->parts[k_chpart_arm_r1].pivot, rbs[k_chpart_arm_r1].co );
+ rbs[k_chpart_arm_r1].co[2] -= la_dims[2] * 0.5f;
+ v3_copy( ch->parts[k_chpart_hand_r].pivot, rbs[k_chpart_hand_r].co );
+ rbs[k_chpart_hand_r].co[2] -= hand_dims[2] * 0.5f;
+
+ /* LEgs */
+ v3f ul_dims = { 0.0f, fabsf(offs[k_chpart_leg_l1][1]), 0.0f };
+ ul_dims[0] = 0.38f*ul_dims[1];
+ ul_dims[2] = 0.38f*ul_dims[1];
+ v3f ll_dims = { ul_dims[0], fabsf(offs[k_chpart_foot_l][1]), ul_dims[2] };
+ v3f foot_dims = { 2.0f*ul_dims[0], ul_dims[0], ul_dims[0] };
+
+ character_rd_box( ch, k_chpart_leg_l0, ul_dims );
+ character_rd_box( ch, k_chpart_leg_r0, ul_dims );
+ character_rd_box( ch, k_chpart_leg_l1, ll_dims );
+ character_rd_box( ch, k_chpart_leg_r1, ll_dims );
+ character_rd_box( ch, k_chpart_foot_l, foot_dims );
+ character_rd_box( ch, k_chpart_foot_r, foot_dims );
+
+ v3_copy( ch->parts[k_chpart_leg_l0].pivot, rbs[k_chpart_leg_l0].co );
+ rbs[k_chpart_leg_l0].co[1] -= ul_dims[1] * 0.5f;
+ v3_copy( ch->parts[k_chpart_leg_l1].pivot, rbs[k_chpart_leg_l1].co );
+ rbs[k_chpart_leg_l1].co[1] -= ll_dims[1] * 0.5f;
+ v3_copy( ch->parts[k_chpart_foot_l].pivot, rbs[k_chpart_foot_l].co );
+ rbs[k_chpart_foot_l].co[1] -= foot_dims[1] * 0.5f;
+ rbs[k_chpart_foot_l].co[0] -= foot_dims[0] * 0.5f;
+
+ v3_copy( ch->parts[k_chpart_leg_r0].pivot, rbs[k_chpart_leg_r0].co );
+ rbs[k_chpart_leg_r0].co[1] -= ul_dims[1] * 0.5f;
+ v3_copy( ch->parts[k_chpart_leg_r1].pivot, rbs[k_chpart_leg_r1].co );
+ rbs[k_chpart_leg_r1].co[1] -= ll_dims[1] * 0.5f;
+ v3_copy( ch->parts[k_chpart_foot_r].pivot, rbs[k_chpart_foot_r].co );
+ 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 );
+
+ for( int i=0; i<PART_COUNT; i++ )
+ rb_init( &ch->ragdoll[i] );
+}
+
+static void character_ragdoll_go( struct character *ch, v3f pos )
+{
+ character_init_ragdoll( ch );
+ for( int i=0; i<PART_COUNT; i++ )
+ v3_add( pos, ch->ragdoll[i].co, ch->ragdoll[i].co );
+}
+
+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 );
+ m3x3_q( ch->matrices[i], rb->q );
+ v3_copy( v, rb->v );
+ v3_zero( rb->I );
+ rb->manifold_count = 0; /* ? */
+
+ rb_update_transform( rb );
+ }
+}
+
+static void character_debug_ragdoll( struct character *ch )
+{
+ rb_debug( &ch->ragdoll[k_chpart_body0], 0xffffffff );
+ rb_debug( &ch->ragdoll[k_chpart_body1], 0xffffffff );
+ rb_debug( &ch->ragdoll[k_chpart_neck], 0xff00ff00 );
+ rb_debug( &ch->ragdoll[k_chpart_head], 0xff00ff00 );
+
+ rb_debug( &ch->ragdoll[k_chpart_arm_l0], 0xffffa500 );
+ rb_debug( &ch->ragdoll[k_chpart_arm_l1], 0xffffa500 );
+ rb_debug( &ch->ragdoll[k_chpart_hand_l], 0xffffa500 );
+
+ rb_debug( &ch->ragdoll[k_chpart_arm_r0], 0xff00a5ff );
+ rb_debug( &ch->ragdoll[k_chpart_arm_r1], 0xff00a5ff );
+ rb_debug( &ch->ragdoll[k_chpart_hand_r], 0xff00a5ff );
+
+ rb_debug( &ch->ragdoll[k_chpart_leg_l0], 0xffffa500 );
+ rb_debug( &ch->ragdoll[k_chpart_leg_l1], 0xffffa500 );
+ rb_debug( &ch->ragdoll[k_chpart_foot_l], 0xffffa500 );
+ rb_debug( &ch->ragdoll[k_chpart_leg_r0], 0xff00a5ff );
+ rb_debug( &ch->ragdoll[k_chpart_leg_r1], 0xff00a5ff );
+ rb_debug( &ch->ragdoll[k_chpart_foot_r], 0xff00a5ff );
+}
+
+static void character_ragdoll_iter( struct character *ch, scene *sc )
+{
+ for( int i=0; i<PART_COUNT; i++ )
+ {
+ rb_build_manifold( &ch->ragdoll[i], sc );
+ }
+
+ for( int i=0; i<20; i++ )
+ {
+ float const k_springfactor = 1.0f/20.0f;
+
+ for( int j=0; j<PART_COUNT; j++ )
+ rb_constraint_manifold( &ch->ragdoll[j] );
+
+ 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_constraint_position( rba, joint->lca, rbb, joint->lcb );
+ rb_constraint_angle( rba, joint->maj.va, rbb, joint->maj.vb,
+ joint->maj.ang,
+ joint->maj.spring * k_springfactor );
+
+ rb_constraint_angle( rba, joint->min.va, rbb, joint->min.vb,
+ joint->min.ang,
+ joint->min.spring * k_springfactor );
+ }
+ }
+
+ for( int i=0; i<PART_COUNT; i++ )
+ rb_iter( &ch->ragdoll[i] );
+
+ for( int i=0; i<PART_COUNT; i++ )
+ rb_update_transform( &ch->ragdoll[i] );
+}
+
#endif
projects / carveJwlIkooP6JGAAIwe30JlM.git / blobdiff