more physics shapes

[carveJwlIkooP6JGAAIwe30JlM.git] / character.h

diff --git a/character.h b/character.h
index 5ce456f24a1648493bd2056aa57156c4efac401b..3421d3a4df9117a648f5446182cf08811c3fa73a 100644 (file)
--- a/character.h
+++ b/character.h
@@ -441,11 +441,14 @@ void character_final_pose( struct character *ch, v3f cog,
          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] );
 
-   m4x3_mulv( tr, pose->b0, npose.b0 );
+   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 );
@@ -553,8 +556,7 @@ static void character_testpose( struct character *ch, float t )
    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 );
@@ -562,7 +564,7 @@ static void character_draw( struct character *ch, float temp )
    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 );
@@ -822,8 +824,7 @@ static void character_ragdoll_copypose( struct character *ch, v3f v )
       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 );
    }
@@ -881,11 +882,14 @@ static void character_debug_ragdoll( struct character *ch )
 
 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] );
 
+      /* TODO: Cars, piece-to-piece collision */
+#if 0
       u32 colliders[16];
       int len = bh_select( &world.bhcubes, ch->ragdoll[i].bbx_world, 
             colliders, 16 );
@@ -893,22 +897,25 @@ static void character_ragdoll_iter( struct character *ch )
       for( int j=0; j<len; j++ )
          rb_build_manifold_rb_static( &ch->ragdoll[i], 
                &world.temp_rbs[colliders[j]] );
+#endif
    }
 
+   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<5; 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];
@@ -956,7 +963,7 @@ static void character_ragdoll_iter( struct character *ch )
             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 );
          }
       }
    }