#ifndef CHARACTER_H
#define CHARACTER_H
-#include "vg/vg.h"
+#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" };
+
+static void character_register(void)
+{
+ shader_character_register();
+}
+
+static void character_init(void)
+{
+ vg_tex2d_init( (vg_tex2d *[]){ &tex_pallet }, 1 );
+}
#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( wheels ) \
+ FN( wf ) \
+ FN( wb ) \
FN( board ) \
#define MAKE_ENUM(ENUM) k_chpart_##ENUM,
#define ADD_ONE(_) +1
#define PART_COUNT FOREACH_PART(ADD_ONE)
+
enum character_part
{
FOREACH_PART( MAKE_ENUM )
FOREACH_PART( MAKE_STRING )
};
-
struct character
{
glmesh mesh;
- submodel parts[ PART_COUNT ];
+ mdl_submesh parts[ PART_COUNT ];
+ v3f origins[ PART_COUNT ];
m4x3f matrices[ PART_COUNT ];
/* Auxillary information */
v3f offsets[ PART_COUNT ];
+ rigidbody ragdoll[ PART_COUNT ];
/*
* Controls
struct ik_basic ik_arm_l, ik_arm_r,
ik_leg_l, ik_leg_r,
ik_body;
+ v3f cam_pos;
v4f qhead;
float rhip, rcollar, /* twist of hip and collar controls,
these act in the local +y axis of the part */
+ rhead,
rfootl, rfootr,
rhandl, rhandr;
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,
enum character_part child )
{
- v3_sub( ch->parts[ child ].pivot, ch->parts[ parent ].pivot,
+ v3_sub( ch->origins[ child ], ch->origins[ parent ],
ch->offsets[ child ] );
}
char buf[64];
snprintf( buf, sizeof(buf)-1, "models/%s.mdl", name );
- model *src = vg_asset_read( buf );
+ mdl_header *src = mdl_load( buf );
if( !src )
- {
- vg_error( "Could not open 'models/%s.mdl'", name );
return 0;
- }
int error_count = 0;
for( int i=0; i<PART_COUNT; i++ )
{
snprintf( buf, sizeof(buf)-1, "%s_%s", name, character_part_strings[i] );
- submodel *sm = submodel_get( src, buf );
+ mdl_node *pnode = mdl_node_from_name( src, buf );
- if( !sm )
+ memset( &ch->parts[i], 0, sizeof(mdl_submesh) );
+ v3_zero( ch->origins[i] );
+
+ if( !pnode )
{
vg_warn( "Character file does not contain an '_%s' part.\n",
character_part_strings[i] );
error_count ++;
-
- memset( &ch->parts[i], 0, sizeof(submodel) );
+ continue;
+ }
+
+ mdl_submesh *sm = mdl_node_submesh( src, pnode, 0 );
+
+ if( !sm )
+ {
+ vg_warn( "Character file's '_%s' part has no mesh.\n",
+ character_part_strings[i] );
+ error_count ++;
continue;
}
ch->parts[i] = *sm;
+ v3_copy( pnode->co, ch->origins[i] );
}
- model_unpack( src, &ch->mesh );
+ mdl_unpack_glmesh( src, &ch->mesh );
if( !error_count )
vg_success( "Loaded character file '%s' with no errors\n", name );
character_offset( ch, k_chpart_body0, k_chpart_leg_r0 );
character_offset( ch, k_chpart_leg_r0, k_chpart_leg_r1 );
character_offset( ch, k_chpart_leg_r1, k_chpart_foot_r );
+
+ character_offset( ch, k_chpart_board, k_chpart_wb );
+ character_offset( ch, k_chpart_board, k_chpart_wf );
ch->ik_arm_l.l1 = v3_length( ch->offsets[ k_chpart_arm_l1 ] );
ch->ik_arm_l.l2 = v3_length( ch->offsets[ k_chpart_hand_l ] );
return 1;
}
+static void align_to_board( struct character *ch, enum character_part id )
+{
+ /* Calculate rotation between board and feet */
+ m4x3f *mats = ch->matrices;
+
+ v3f foot_pos, foot_fwd, foot_target, board_norm, board_origin;
+ v3_copy( mats[id][3], foot_pos );
+ m3x3_mulv( mats[id], (v3f){1.0f,0.0f,0.0f}, foot_fwd );
+ v3_add( foot_fwd, foot_pos, foot_target );
+
+ m3x3_mulv( mats[k_chpart_board], (v3f){0.0f,1.0f,0.0f}, board_norm );
+ m4x3_mulv( mats[k_chpart_board], (v3f){0.0f,0.13f,0.0f}, board_origin );
+
+ vg_line( foot_pos, foot_target, 0xff00ff00 );
+
+ v3f v0;
+ v3_sub( board_origin, foot_target, v0 );
+ float t = v3_dot( v0, board_norm ) / board_norm[1];
+ foot_target[1] += t;
+ vg_line( foot_pos, foot_target, 0xff00ffff );
+
+ v3_sub( foot_target, foot_pos, foot_target );
+ v3_normalize( foot_target );
+ float ang = acosf( v3_dot( foot_target, foot_fwd ) );
+
+ v4f qcorrection; m3x3f correction;
+ q_axis_angle( qcorrection, (v3f){0.0f,0.0f,1.0f}, -ang );
+ q_m3x3( qcorrection, correction );
+ m3x3_mul( mats[id], correction, mats[id] );
+}
+
static void character_eval( struct character *ch )
{
m4x3f *mats = ch->matrices;
k_ikY, k_iknX );
ik_basic( &ch->ik_leg_r, mats[k_chpart_leg_r0], mats[k_chpart_leg_r1],
k_ikY, k_iknX );
-
- /* Feet */
- m3x3_copy( mats[k_chpart_leg_l1], mats[k_chpart_foot_l] );
- m3x3_copy( mats[k_chpart_leg_r1], mats[k_chpart_foot_r] );
- m4x3_mulv( mats[k_chpart_leg_l1], offs[k_chpart_foot_l],
- mats[k_chpart_foot_l][3] );
- m4x3_mulv( mats[k_chpart_leg_r1], offs[k_chpart_foot_r],
- mats[k_chpart_foot_r][3] );
/* Hands */
m3x3_copy( mats[k_chpart_arm_l1], mats[k_chpart_hand_l] );
m4x3_mulv( mats[k_chpart_body1], offs[k_chpart_neck],
mats[k_chpart_neck][3] );
- m3x3_copy( mats[k_chpart_neck], mats[k_chpart_head] );
+#if 1
+ v4f qhead;
+ q_axis_angle( qhead, (v3f){ 0.0f,1.0f,0.0f }, ch->rhead );
+ q_m3x3( qhead, mats[k_chpart_head] );
+ m4x3_mulv( mats[k_chpart_neck], offs[k_chpart_head], mats[k_chpart_head][3]);
+ m3x3_mul( mats[k_chpart_neck], mats[k_chpart_head], mats[k_chpart_head] );
+#else
m4x3_mulv( mats[k_chpart_neck], offs[k_chpart_head], mats[k_chpart_head][3]);
+ m3x3_copy( mats[k_chpart_neck], mats[k_chpart_head] );
+#endif
+ /* Feet */
+ m3x3_copy( mats[k_chpart_leg_l1], mats[k_chpart_foot_l] );
+ m3x3_copy( mats[k_chpart_leg_r1], mats[k_chpart_foot_r] );
+ m4x3_mulv( mats[k_chpart_leg_l1], offs[k_chpart_foot_l],
+ mats[k_chpart_foot_l][3] );
+ m4x3_mulv( mats[k_chpart_leg_r1], offs[k_chpart_foot_r],
+ mats[k_chpart_foot_r][3] );
+
+ align_to_board( ch, k_chpart_foot_l );
+ align_to_board( ch, k_chpart_foot_r );
+
for( int i=0; i<PART_COUNT; i++ )
m4x3_mul( ch->mroot, ch->matrices[i], ch->matrices[i] );
}
+#define B3D_CO( X, Y, Z ) (v3f){ X, Z, -Y }
+
+typedef struct character_pose character_pose;
+struct character_pose
+{
+ v3f b0, b1, p, fr, fl, pl, pr, hl, hr, apl, apr, cam;
+};
+
+static character_pose pose_aero =
+{
+ .b0 = {0.0721f, 0.8167f, 0.1365f},
+ .b1 = {-0.0773f, 1.1559f, -0.1699f},
+ .p = {0.0421f, 1.1430f, 0.2803f},
+ .fr = {0.0535f, 0.1312f, -0.3647f},
+ .fl = {-0.0605f, 0.1464f, 0.2917f},
+ .pl = {-0.1704f, 0.6889f, -0.4017f},
+ .pr = {0.0672f, 0.7598f, -0.5963f},
+ .hl = {-0.2153f, 0.7195f, -0.1345f},
+ .hr = {0.1974f, 0.7940f, -0.3522f},
+ .apl = {-0.2008f, 0.9546f, 0.3687f},
+ .apr = {0.3133f, 0.9299f, 0.0181f},
+ .cam = {-0.3394f, 1.2661f, 0.2936f}
+};
+
+static character_pose pose_slide =
+{
+ .b0 = {0.6732f, 0.5565f, -0.0000f},
+ .b1 = {0.8116f, 1.0547f, 0.0613f},
+ .p = {1.0404f, 0.7907f, 0.0186f},
+ .fr = {-0.0030f, 0.1366f, -0.4461f},
+ .fl = {-0.0030f, 0.1366f, 0.3480f},
+ .pl = {-0.0887f, 0.8229f, 0.3826f},
+ .pr = {-0.0887f, 0.8229f, -0.4621f},
+ .hl = {0.7749f, 0.5545f, 0.5310f},
+ .hr = {0.5844f, 1.2445f, -0.5456f},
+ .apl = {1.0999f, 0.5390f, 0.2398f},
+ .apr = {0.9816f, 0.9536f, -0.5463f},
+ .cam = {0.9888f, 1.4037f, 0.6081f}
+};
+
+static character_pose pose_slide1 =
+{
+ .b0 = {-0.2385f, 0.6403f, 0.1368f},
+ .b1 = {-0.5151f, 1.1351f, 0.1380f},
+ .p = {-0.1158f, 1.2118f, 0.3895f},
+ .fr = {-0.0030f, 0.1323f, -0.3190f},
+ .fl = {-0.0030f, 0.1323f, 0.5797f},
+ .pl = {-0.6568f, 0.4305f, 0.2069f},
+ .pr = {-0.6850f, 0.2740f, -0.2969f},
+ .hl = {-0.7029f, 0.6132f, 0.2972f},
+ .hr = {-0.2572f, 1.0104f, -0.4770f},
+ .apl = {-0.4808f, 0.8480f, 0.3731f},
+ .apr = {-0.0836f, 1.0480f, -0.1201f},
+ .cam = {-1.0508f, 1.0769f, 0.0528f}
+};
+
+static character_pose pose_aero_reverse =
+{
+ .b0 = {0.0616f, 0.8167f, -0.1415f},
+ .b1 = {0.0148f, 1.1559f, 0.1861f},
+ .p = {0.0558f, 1.1430f, -0.2779f},
+ .fr = {0.0535f, 0.1312f, -0.3647f},
+ .fl = {0.0730f, 0.1464f, 0.2917f},
+ .pl = {-0.2073f, 0.6889f, 0.3839f},
+ .pr = {-0.3584f, 0.4069f, 0.1032f},
+ .hl = {0.1567f, 0.7195f, 0.1997f},
+ .hr = {-0.3055f, 0.7940f, 0.2639f},
+ .apl = {0.3143f, 0.9546f, -0.2784f},
+ .apr = {-0.2885f, 0.9299f, -0.1236f},
+ .cam = {-0.3394f, 1.2661f, -0.2936f}
+};
+
+static character_pose pose_stand =
+{
+ .b0 = {0.1877f, 1.0663f, 0.0063f},
+ .b1 = {0.0499f, 1.5564f, -0.0584f},
+ .p = {0.5982f, 1.2810f, 0.0842f},
+ .fr = {0.0535f, 0.1312f, -0.3647f},
+ .fl = {0.0354f, 0.1464f, 0.2917f},
+ .pl = {-0.4325f, 0.6889f, 0.1823f},
+ .pr = {-0.4794f, 0.7598f, -0.3610f},
+ .hl = {0.0498f, 1.0058f, 0.2317f},
+ .hr = {0.0188f, 0.9786f, -0.2725f},
+ .apl = {0.2898f, 1.3453f, 0.2303f},
+ .apr = {0.5273f, 1.2876f, -0.1848f},
+ .cam = {-0.3477f, 1.5884f, -0.0019f}
+};
+
+static character_pose pose_stand_reverse =
+{
+ .b0 = {0.1624f, 1.0688f, -0.0632f},
+ .b1 = {0.0499f, 1.5564f, -0.0013f},
+ .p = {0.5423f, 1.2810f, -0.2368f},
+ .fr = {0.0535f, 0.1312f, -0.3647f},
+ .fl = {0.0354f, 0.1464f, 0.2917f},
+ .pl = {-0.4325f, 0.6889f, 0.4591f},
+ .pr = {-0.4794f, 0.7598f, -0.0842f},
+ .hl = {0.0498f, 1.0058f, 0.2317f},
+ .hr = {0.0188f, 0.9786f, -0.2725f},
+ .apl = {0.2898f, 1.3453f, 0.0695f},
+ .apr = {0.4715f, 1.2876f, -0.4982f},
+ .cam = {-0.3477f, 1.5884f, -0.0730f}
+};
+
+static character_pose pose_fly =
+{
+ .b0 = {0.2995f, 0.6819f, -0.1369f},
+ .b1 = {0.1618f, 1.1720f, -0.2016f},
+ .p = {0.7477f, 0.9173f, -0.1885f},
+ .fr = {0.0535f, 0.1312f, -0.3647f},
+ .fl = {0.0354f, 0.1464f, 0.2917f},
+ .pl = {-0.2930f, 0.4849f, 0.5307f},
+ .pr = {-0.4754f, 0.4124f, -0.4874f},
+ .hl = {0.2650f, 1.1897f, 0.4626f},
+ .hr = {0.2494f, 1.2059f, -0.7985f},
+ .apl = {0.5165f, 1.0990f, 0.1655f},
+ .apr = {0.6759f, 1.0661f, -0.6014f},
+ .cam = {-0.2727f, 1.2606f, 0.3564f}
+};
+
+static
+void character_pose_blend( struct character *ch, character_pose *pose, float q )
+{
+ v3_muladds( ch->ik_body.base, pose->b0, q, ch->ik_body.base );
+ v3_muladds( ch->ik_body.end, pose->b1, q, ch->ik_body.end );
+ v3_muladds( ch->ik_body.pole, pose->p, q, ch->ik_body.pole );
+ v3_muladds( ch->ik_leg_l.end, pose->fl, q, ch->ik_leg_l.end );
+ v3_muladds( ch->ik_leg_l.pole, pose->pl, q, ch->ik_leg_l.pole );
+ v3_muladds( ch->ik_leg_r.end, pose->fr, q, ch->ik_leg_r.end );
+ v3_muladds( ch->ik_leg_r.pole, pose->pr, q, ch->ik_leg_r.pole );
+ v3_muladds( ch->ik_arm_l.pole, pose->apl, q, ch->ik_arm_l.pole );
+ v3_muladds( ch->ik_arm_r.pole, pose->apr, q, ch->ik_arm_r.pole );
+ v3_muladds( ch->ik_arm_l.end, pose->hl, q, ch->ik_arm_l.end );
+ v3_muladds( ch->ik_arm_r.end, pose->hr, q, ch->ik_arm_r.end );
+ 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 )
+{
+ character_pose npose;
+ float dip = vg_clampf(cog[1], -1.0f, 0.3f) * 0.5f,
+ 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]*0.3f );
+ q_m3x3( rz, tr );
+ 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 );
+ 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 );
+}
+#endif
+
+static void character_yaw_upper( struct character *ch, float yaw )
+{
+ m3x3f r;
+ v4f q;
+
+ q_axis_angle( q, (v3f){0.0f,1.0f,0.0f}, yaw );
+ q_m3x3( q, r );
+
+ m3x3_mulv( r, ch->ik_body.pole, ch->ik_body.pole );
+ m3x3_mulv( r, ch->ik_body.end, ch->ik_body.end );
+}
+
+static void zero_ik_basic( struct ik_basic *ik )
+{
+ v3_zero( ik->base );
+ v3_zero( ik->end );
+ v3_zero( ik->pole );
+}
+
+static void character_pose_reset( struct character *ch )
+{
+ zero_ik_basic( &ch->ik_body );
+ zero_ik_basic( &ch->ik_leg_l );
+ zero_ik_basic( &ch->ik_leg_r );
+ zero_ik_basic( &ch->ik_arm_l );
+ zero_ik_basic( &ch->ik_arm_r );
+ v3_zero( ch->cam_pos );
+}
+
static void character_testpose( struct character *ch, float t )
{
/* Body */
*pole = ch->ik_body.pole;
hips[0] = cosf(t*1.325f)*0.25f;
- hips[1] = (sinf(t)*0.2f+0.6f) * ch->parts[ k_chpart_body0 ].pivot[1];
+ hips[1] = (sinf(t)*0.2f+0.6f) * ch->origins[ k_chpart_body0 ][1];
hips[2] = 0.0f;
collar[0] = hips[0];
q_identity( ch->qhead );
m4x3_identity( ch->matrices[k_chpart_board] );
- m4x3_identity( ch->matrices[k_chpart_wheels] );
+ m4x3_identity( ch->matrices[k_chpart_wb] );
+ m4x3_identity( ch->matrices[k_chpart_wf] );
}
-static void character_draw( struct character *ch, int temp )
+static void character_draw( struct character *ch, float temp, m4x3f camera )
{
- mesh_bind( &ch->mesh );
-
+ 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( camera[3] );
+ shader_link_standard_ub( _shader_character.id, 2 );
+
glEnable( GL_CULL_FACE );
glCullFace( GL_BACK );
+ mesh_bind( &ch->mesh );
+
+ for( int i=4; i<PART_COUNT; i++ )
+ {
+#if 0
+ if( i == k_chpart_head || i == k_chpart_neck )
+ continue;
+#endif
+
+ shader_character_uMdl( ch->matrices[i] );
+ mdl_draw_submesh( &ch->parts[i] );
+ }
+
+ for( int i=0; i<2; i++ )
+ {
+ if( ch->shoes[i] )
+ {
+ shader_character_uMdl( ch->matrices[i] );
+ mdl_draw_submesh( &ch->parts[i] );
+ }
+ else
+ {
+ shader_character_uMdl( ch->matrices[i+2] );
+ mdl_draw_submesh( &ch->parts[i] );
+ shader_character_uMdl( ch->matrices[i] );
+ mdl_draw_submesh( &ch->parts[i+2] );
+ }
+ }
+}
+
+/*
+ * 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 = 0.5f,
+ k_human_minor = 0.5f,
+ k_human_major_max = 0.4f,
+ k_human_minor_max = 0.1f;
+
+#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_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_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 }
+};
+
+/* 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++ )
+ {
+ struct rd_joint *joint = &rd_joints[i];
+
+ float *hinge = ch->origins[joint->ib];
+ 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->origins[i];
+ v3_sub( ch->ragdoll[i].co, pivot, ch->ragdoll[i].delta );
+ }
+}
+
+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->origins[k_chpart_body1], 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->origins[k_chpart_body0], 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->origins[k_chpart_neck], 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->origins[k_chpart_head], 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->origins[k_chpart_arm_l0], rbs[k_chpart_arm_l0].co );
+ rbs[k_chpart_arm_l0].co[2] += ua_dims[2] * 0.5f;
+ v3_copy( ch->origins[k_chpart_arm_l1], rbs[k_chpart_arm_l1].co );
+ rbs[k_chpart_arm_l1].co[2] += la_dims[2] * 0.5f;
+ v3_copy( ch->origins[k_chpart_hand_l], rbs[k_chpart_hand_l].co );
+ rbs[k_chpart_hand_l].co[2] += hand_dims[2] * 0.5f;
+
+ v3_copy( ch->origins[k_chpart_arm_r0], rbs[k_chpart_arm_r0].co );
+ rbs[k_chpart_arm_r0].co[2] -= ua_dims[2] * 0.5f;
+ v3_copy( ch->origins[k_chpart_arm_r1], rbs[k_chpart_arm_r1].co );
+ rbs[k_chpart_arm_r1].co[2] -= la_dims[2] * 0.5f;
+ v3_copy( ch->origins[k_chpart_hand_r], 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->origins[k_chpart_leg_l0], rbs[k_chpart_leg_l0].co );
+ rbs[k_chpart_leg_l0].co[1] -= ul_dims[1] * 0.5f;
+ v3_copy( ch->origins[k_chpart_leg_l1], rbs[k_chpart_leg_l1].co );
+ rbs[k_chpart_leg_l1].co[1] -= ll_dims[1] * 0.5f;
+ v3_copy( ch->origins[k_chpart_foot_l], 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->origins[k_chpart_leg_r0], rbs[k_chpart_leg_r0].co );
+ rbs[k_chpart_leg_r0].co[1] -= ul_dims[1] * 0.5f;
+ v3_copy( ch->origins[k_chpart_leg_r1], rbs[k_chpart_leg_r1].co );
+ rbs[k_chpart_leg_r1].co[1] -= ll_dims[1] * 0.5f;
+ v3_copy( ch->origins[k_chpart_foot_r], 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_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 )
+{
+ 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 )
+{
+ for( int i=0; i<PART_COUNT; i++ )
+ {
+ rigidbody *rb = &ch->ragdoll[i];
+
+ m4x3_mulv( ch->matrices[i], rb->delta, rb->co );
+ m3x3_q( ch->matrices[i], rb->q );
+ v3_copy( v, rb->v );
+ v3_zero( rb->w );
+
+ 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++ )
{
- glUniformMatrix4x3fv( temp, 1, GL_FALSE, (float *)ch->matrices[i] );
- submodel_draw( &ch->parts[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_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 )
+{
+ rb_solver_reset();
+
+ for( int i=0; i<PART_COUNT; i++ )
+ {
+ rb_collide( &ch->ragdoll[i], &world.rb_geo );
+ }
+
+ rb_presolve_contacts( rb_contact_buffer, rb_contact_count );
+
+ v3f rv;
+
+ 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 );
+
+ /* This used to be 20 iterations */
+ for( int i=0; i<10; i++ )
+ {
+ float const k_springfactor = 1.0f/20.0f;
+
+ 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];
+ 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 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->w, dst->w );
+ }
+ }
+ }
+
+ for( int i=0; i<PART_COUNT; i++ )
+ rb_update_transform( &ch->ragdoll[i] );
}
-#undef FOREACH_PART
-#undef MAKE_ENUM
-#undef MAKE_STRING
-#undef ADD_ONE
#endif
projects / carveJwlIkooP6JGAAIwe30JlM.git / blobdiff