-#ifndef CHARACTER_H
+#ifndef CHARACTER_H
#define CHARACTER_H
#include "common.h"
#include "rigidbody.h"
#include "render.h"
#include "skeleton.h"
+#include "world.h"
+#include "skeleton_animator.h"
#include "shaders/viewchar.h"
vg_tex2d tex_characters = { .path = "textures/ch_gradient.qoi" };
*anim_highg,
*anim_slide,
*anim_air,
- *anim_push, *anim_push_reverse;
+ *anim_push, *anim_push_reverse,
+ *anim_ollie, *anim_ollie_reverse,
+ *anim_grabs, *anim_stop,
+ *anim_walk, *anim_run, *anim_idle;
u32 id_hip,
id_ik_hand_l,
v3f cam_pos;
+ struct ragdoll_part
+ {
+ u32 bone_id;
+ v3f offset;
+
+ u32 use_limits;
+ v3f limits[2];
+
+ rigidbody rb;
+ u32 parent;
+ }
+ *ragdoll;
+ u32 ragdoll_count;
+
int shoes[2];
};
if( !src )
return 0;
- int error_count = 0;
mdl_unpack_glmesh( src, &ch->mesh );
-
- if( !error_count )
- vg_success( "Loaded character file '%s' with no errors\n", name );
skeleton_setup( &ch->sk, src );
ch->anim_stand = skeleton_get_anim( &ch->sk, "pose_stand" );
ch->anim_air = skeleton_get_anim( &ch->sk, "pose_air" );
ch->anim_push = skeleton_get_anim( &ch->sk, "push" );
ch->anim_push_reverse = skeleton_get_anim( &ch->sk, "push_reverse" );
+ ch->anim_ollie = skeleton_get_anim( &ch->sk, "ollie" );
+ ch->anim_ollie_reverse = skeleton_get_anim( &ch->sk, "ollie_reverse" );
+ ch->anim_grabs = skeleton_get_anim( &ch->sk, "grabs" );
+ ch->anim_walk = skeleton_get_anim( &ch->sk, "walk" );
+ ch->anim_run = skeleton_get_anim( &ch->sk, "run" );
+ ch->anim_idle = skeleton_get_anim( &ch->sk, "idle_cycle" );
ch->id_hip = skeleton_bone_id( &ch->sk, "hips" );
ch->id_ik_hand_l = skeleton_bone_id( &ch->sk, "hand.IK.L" );
ch->id_ik_elbow_r = skeleton_bone_id( &ch->sk, "elbow.R" );
ch->id_head = skeleton_bone_id( &ch->sk, "head" );
+ /* setup ragdoll */
+
+ if( ch->sk.collider_count )
+ {
+ vg_info( "Alloc: %d\n", ch->sk.collider_count );
+ ch->ragdoll = malloc(sizeof(struct ragdoll_part) * ch->sk.collider_count);
+ ch->ragdoll_count = 0;
+
+ for( u32 i=0; i<ch->sk.bone_count; i ++ )
+ {
+ struct skeleton_bone *bone = &ch->sk.bones[i];
+
+ if( bone->collider )
+ {
+ struct ragdoll_part *rp = &ch->ragdoll[ ch->ragdoll_count ++ ];
+ rp->bone_id = i;
+
+ v3f delta;
+ v3_sub( bone->hitbox[1], bone->hitbox[0], delta );
+ v3_muls( delta, 0.5f, delta );
+
+ v3_add( bone->hitbox[0], delta, rp->offset );
+
+ v3_copy( delta, rp->rb.bbx[1] );
+ v3_muls( delta, -1.0f, rp->rb.bbx[0] );
+
+ q_identity( rp->rb.q );
+ v3_add( bone->co, rp->offset, rp->rb.co );
+ rp->rb.type = k_rb_shape_box;
+ rp->rb.is_world = 0;
+ rp->parent = 0xffffffff;
+
+ if( bone->parent )
+ {
+ for( u32 j=0; j<ch->ragdoll_count; j++ )
+ {
+ if( ch->ragdoll[ j ].bone_id == bone->parent )
+ {
+ rp->parent = j;
+ break;
+ }
+ }
+ }
+
+ /* TODO: refactor to use this style elswhere */
+ struct mdl_node *pnode = mdl_node_from_id( src, bone->orig_node );
+ struct classtype_bone *bone_inf = mdl_get_entdata( src, pnode );
+
+ rp->use_limits = bone_inf->use_limits;
+ v3_copy( bone_inf->angle_limits[0], rp->limits[0] );
+ v3_copy( bone_inf->angle_limits[1], rp->limits[1] );
+
+ rb_init( &rp->rb );
+ }
+ }
+ }
+
free( src );
return 1;
}
static void character_init_ragdoll_joints( struct character *ch ){}
static void character_init_ragdoll( struct character *ch ){}
static void character_ragdoll_go( struct character *ch, v3f pos ){}
-static void character_ragdoll_copypose( struct character *ch, v3f v ){}
-static void character_debug_ragdoll( struct character *ch ){}
-static void character_ragdoll_iter( struct character *ch ){}
+
+static void character_mimic_ragdoll( struct character *ch )
+{
+ for( int i=0; i<ch->ragdoll_count; i++ )
+ {
+ struct ragdoll_part *part = &ch->ragdoll[i];
+ m4x3f offset;
+ m3x3_identity(offset);
+ v3_negate( part->offset, offset[3] );
+ m4x3_mul( part->rb.to_world, offset, ch->sk.final_mtx[part->bone_id] );
+ }
+
+ skeleton_apply_inverses( &ch->sk );
+}
+
+static void character_ragdoll_copypose( struct character *ch, v3f v )
+{
+ for( int i=0; i<ch->ragdoll_count; i++ )
+ {
+ struct ragdoll_part *part = &ch->ragdoll[i];
+
+ v3f pos, offset;
+ u32 bone = part->bone_id;
+
+ m4x3_mulv( ch->sk.final_mtx[bone], ch->sk.bones[bone].co, pos );
+ m3x3_mulv( ch->sk.final_mtx[bone], part->offset, offset );
+ v3_add( pos, offset, part->rb.co );
+ m3x3_q( ch->sk.final_mtx[bone], part->rb.q );
+ v3_copy( v, part->rb.v );
+ v3_zero( part->rb.w );
+
+ rb_update_transform( &part->rb );
+ }
+}
+
+static void character_debug_ragdoll( struct character *ch )
+{
+ for( u32 i=0; i<ch->ragdoll_count; i ++ )
+ rb_debug( &ch->ragdoll[i].rb, 0xff00ff00 );
+}
+
+static void character_ragdoll_iter( struct character *ch )
+{
+ rb_solver_reset();
+
+ for( int i=0; i<ch->ragdoll_count; i ++ )
+ rb_collide( &ch->ragdoll[i].rb, &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].rb.v );
+
+ for( int j=0; j<ch->ragdoll_count; j++ )
+ {
+ struct ragdoll_part *pj = &ch->ragdoll[j];
+ struct skeleton_bone *bj = &ch->sk.bones[pj->bone_id];
+
+ if( pj->parent != 0xffffffff )
+ {
+ struct ragdoll_part *pp = &ch->ragdoll[pj->parent];
+ struct skeleton_bone *bp = &ch->sk.bones[pp->bone_id];
+
+ v3f lca, lcb;
+ v3_negate( pj->offset, lca );
+ v3_add( bp->co, pp->offset, lcb );
+ v3_sub( bj->co, lcb, lcb );
+
+ rb_debug_constraint_position( &pj->rb, lca, &pp->rb, lcb );
+
+ if( pj->use_limits )
+ {
+ rb_debug_constraint_limits( &pj->rb, &pp->rb, lca, pj->limits );
+ }
+ }
+ }
+
+ /* CONSTRAINTS */
+ for( int i=0; i<10; i++ )
+ {
+ rb_solve_contacts( rb_contact_buffer, rb_contact_count );
+
+ for( int j=0; j<ch->ragdoll_count; j++ )
+ {
+ struct ragdoll_part *pj = &ch->ragdoll[j];
+ struct skeleton_bone *bj = &ch->sk.bones[pj->bone_id];
+
+ if( pj->parent != 0xffffffff && pj->use_limits )
+ {
+ struct ragdoll_part *pp = &ch->ragdoll[pj->parent];
+ struct skeleton_bone *bp = &ch->sk.bones[pp->bone_id];
+
+ v3f lca, lcb;
+ v3_negate( pj->offset, lca );
+ v3_add( bp->co, pp->offset, lcb );
+ v3_sub( bj->co, lcb, lcb );
+
+ rb_constraint_position( &pj->rb, lca, &pp->rb, lcb );
+
+ rb_constraint_limits( &pj->rb, lca, &pp->rb, lcb, pj->limits );
+ }
+ }
+ }
+
+ /* INTEGRATION */
+ for( int i=0; i<ch->ragdoll_count; i++ )
+ rb_iter( &ch->ragdoll[i].rb );
+
+ /* SHOES */
+
+ for( int i=0; i<ch->ragdoll_count; i++ )
+ rb_update_transform( &ch->ragdoll[i].rb );
+}
#endif
projects / carveJwlIkooP6JGAAIwe30JlM.git / blobdiff