angle limit constraint

[carveJwlIkooP6JGAAIwe30JlM.git] / player_model.h

diff --git a/player_model.h b/player_model.h
index 542c7b2f3a4efad3457cacdc07ec6307ff6eff7c..a067b033d2a9c290aba32db78f83665ba7972f8c 100644 (file)
--- a/player_model.h
+++ b/player_model.h
@@ -46,7 +46,12 @@ struct character
    {
       u32 bone_id;
       v3f offset;
-      rigidbody rb;
+
+      u32 use_limits;
+      v3f limits[2];
+
+      rigidbody  rb;
+      u32 parent;
    }
    *ragdoll;
    u32 ragdoll_count;
@@ -112,6 +117,27 @@ static int character_load( struct character *ch, const char *name )
             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 );
          }
@@ -169,10 +195,58 @@ static void character_ragdoll_iter( struct character *ch )
       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<5; i++ )
+   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 )
+         {
+            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 );
+
+            if( pj->use_limits )
+            {
+               rb_constraint_limits( &pj->rb, lca, &pp->rb, lcb, pj->limits );
+            }
+         }
+      }
    }
 
    /* INTEGRATION */