#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" };
{
glmesh mesh;
- submodel parts[ PART_COUNT ];
+ mdl_submesh parts[ PART_COUNT ];
+ v3f origins[ PART_COUNT ];
m4x3f matrices[ PART_COUNT ];
/* Auxillary information */
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 );
m4x3_mulv( mats[k_chpart_body1], offs[k_chpart_neck],
mats[k_chpart_neck][3] );
+#if 1
v4f qhead;
q_axis_angle( qhead, (v3f){ 0.0f,1.0f,0.0f }, ch->rhead );
q_m3x3( qhead, mats[k_chpart_head] );
- //m3x3_mul( mats[k_chpart_neck], mats[k_chpart_head], 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] );
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) * 0.35f,
+ 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]*0.6f );
+ 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] );
+
+ 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 );
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 )
{
*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];
m4x3_identity( ch->matrices[k_chpart_wf] );
}
-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 );
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 );
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] );
- submodel_draw( &ch->parts[i] );
+ mdl_draw_submesh( &ch->parts[i] );
}
for( int i=0; i<2; i++ )
if( ch->shoes[i] )
{
shader_character_uMdl( ch->matrices[i] );
- submodel_draw( &ch->parts[i] );
+ mdl_draw_submesh( &ch->parts[i] );
}
else
{
shader_character_uMdl( ch->matrices[i+2] );
- submodel_draw( &ch->parts[i] );
+ mdl_draw_submesh( &ch->parts[i] );
shader_character_uMdl( ch->matrices[i] );
- submodel_draw( &ch->parts[i+2] );
+ mdl_draw_submesh( &ch->parts[i+2] );
}
}
}
{
struct rd_joint *joint = &rd_joints[i];
- float *hinge = ch->parts[joint->ib].pivot;
+ 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->parts[i].pivot;
+ float *pivot = ch->origins[i];
v3_sub( ch->ragdoll[i].co, pivot, ch->ragdoll[i].delta );
}
}
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 );
+ 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->parts[k_chpart_body0].pivot, rbs[k_chpart_body0].co );
+ 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->parts[k_chpart_neck].pivot, rbs[k_chpart_neck].co );
+ 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->parts[k_chpart_head].pivot, rbs[k_chpart_head].co );
+ 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 );
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 );
+ 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->parts[k_chpart_arm_l1].pivot, rbs[k_chpart_arm_l1].co );
+ 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->parts[k_chpart_hand_l].pivot, rbs[k_chpart_hand_l].co );
+ 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->parts[k_chpart_arm_r0].pivot, rbs[k_chpart_arm_r0].co );
+ 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->parts[k_chpart_arm_r1].pivot, rbs[k_chpart_arm_r1].co );
+ 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->parts[k_chpart_hand_r].pivot, rbs[k_chpart_hand_r].co );
+ 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 */
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 );
+ 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->parts[k_chpart_leg_l1].pivot, rbs[k_chpart_leg_l1].co );
+ 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->parts[k_chpart_foot_l].pivot, rbs[k_chpart_foot_l].co );
+ 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->parts[k_chpart_leg_r0].pivot, rbs[k_chpart_leg_r0].co );
+ 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->parts[k_chpart_leg_r1].pivot, rbs[k_chpart_leg_r1].co );
+ 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->parts[k_chpart_foot_r].pivot, rbs[k_chpart_foot_r].co );
+ 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;
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 );
}
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] );
-
- u32 colliders[16];
- int len = bh_select( &world.bhcubes, ch->ragdoll[i].bbx_world,
- colliders, 16 );
-
- for( int j=0; j<len; j++ )
- rb_build_manifold_rb_static( &ch->ragdoll[i],
- &world.temp_rbs[colliders[j]] );
+ rb_collide( &ch->ragdoll[i], &world.rb_geo );
}
+ 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<10; 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];
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 );
}
}
}
projects / carveJwlIkooP6JGAAIwe30JlM.git / blobdiff