#include "player.h"
-static float k_ragdoll_floatyiness = 40.0f,
- k_ragdoll_floatydrag = 1.0f;
+VG_STATIC float k_ragdoll_floatyiness = 20.0f,
+ k_ragdoll_floatydrag = 1.0f,
+ k_ragdoll_limit_scale = 1.0f;
+
+VG_STATIC int k_ragdoll_div = 1,
+ ragdoll_frame = 0,
+ k_ragdoll_debug_collider = 1,
+ k_ragdoll_debug_constraints = 0;
+
+VG_STATIC void player_init_ragdoll_bone_collider( struct skeleton_bone *bone,
+ struct ragdoll_part *rp )
+{
+ m4x3_identity( rp->collider_mtx );
+
+ if( bone->flags & k_bone_flag_collider_box )
+ {
+ v3f delta;
+ v3_sub( bone->hitbox[1], bone->hitbox[0], delta );
+ v3_muls( delta, 0.5f, delta );
+ v3_add( bone->hitbox[0], delta, rp->collider_mtx[3] );
+
+ v3_copy( delta, rp->rb.bbx[1] );
+ v3_muls( delta, -1.0f, rp->rb.bbx[0] );
+
+ q_identity( rp->rb.q );
+ rp->rb.type = k_rb_shape_box;
+ rp->colour = 0xffcccccc;
+ }
+ else if( bone->flags & k_bone_flag_collider_capsule )
+ {
+ v3f v0, v1, tx, ty;
+ v3_sub( bone->hitbox[1], bone->hitbox[0], v0 );
+
+ int major_axis = 0;
+ float largest = -1.0f;
+
+ for( int i=0; i<3; i ++ )
+ {
+ if( fabsf( v0[i] ) > largest )
+ {
+ largest = fabsf( v0[i] );
+ major_axis = i;
+ }
+ }
+
+ v3_zero( v1 );
+ v1[ major_axis ] = 1.0f;
+ rb_tangent_basis( v1, tx, ty );
+
+ float r = (fabsf(v3_dot(tx,v0)) + fabsf(v3_dot(ty,v0))) * 0.25f,
+ l = fabsf(v0[ major_axis ]);
+
+ /* orientation */
+ v3_muls( tx, -1.0f, rp->collider_mtx[0] );
+ v3_muls( v1, -1.0f, rp->collider_mtx[1] );
+ v3_muls( ty, -1.0f, rp->collider_mtx[2] );
+ v3_add( bone->hitbox[0], bone->hitbox[1], rp->collider_mtx[3] );
+ v3_muls( rp->collider_mtx[3], 0.5f, rp->collider_mtx[3] );
+
+ rp->rb.type = k_rb_shape_capsule;
+ rp->rb.inf.capsule.height = l;
+ rp->rb.inf.capsule.radius = r;
+
+ rp->colour = 0xff000000 | (0xff << (major_axis*8));
+ }
+ else
+ vg_fatal_exit_loop( "Invalid bone collider type" );
+
+ m4x3_invert_affine( rp->collider_mtx, rp->inv_collider_mtx );
+
+ /* Position collider into rest */
+ m3x3_q( rp->collider_mtx, rp->rb.q );
+ v3_add( rp->collider_mtx[3], bone->co, rp->rb.co );
+ rp->rb.is_world = 0;
+ rb_init( &rp->rb );
+}
+
+/*
+ * Get parent index in the ragdoll
+ */
+VG_STATIC u32 ragdoll_bone_parent( struct player_model *mdl, u32 bone_id )
+{
+ for( u32 j=0; j<mdl->ragdoll_count; j++ )
+ if( mdl->ragdoll[ j ].bone_id == bone_id )
+ return j;
+
+ vg_fatal_exit_loop( "Referenced parent bone does not have a rigidbody" );
+ return 0;
+}
/*
* Setup ragdoll colliders
*/
-static void player_init_ragdoll( mdl_header *src )
+VG_STATIC void player_init_ragdoll(void)
{
struct player_model *mdl = &player.mdl;
+ mdl_context *src = &mdl->meta;
if( !mdl->sk.collider_count )
{
return;
}
- mdl->ragdoll = vg_alloc(sizeof(struct ragdoll_part)*mdl->sk.collider_count);
mdl->ragdoll_count = 0;
+ mdl->position_constraints_count = 0;
+ mdl->cone_constraints_count = 0;
for( u32 i=0; i<mdl->sk.bone_count; i ++ )
{
struct skeleton_bone *bone = &mdl->sk.bones[i];
-
- if( bone->collider )
- {
- struct ragdoll_part *rp = &mdl->ragdoll[ mdl->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 );
+ /*
+ * Bones with colliders
+ */
+ if( !(bone->flags & k_bone_flag_collider_any) )
+ continue;
- v3_copy( delta, rp->rb.bbx[1] );
- v3_muls( delta, -1.0f, rp->rb.bbx[0] );
+ if( mdl->ragdoll_count > vg_list_size(player.mdl.ragdoll) )
+ vg_fatal_exit_loop( "Playermodel has too many colliders" );
- 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;
+ struct ragdoll_part *rp = &mdl->ragdoll[ mdl->ragdoll_count ++ ];
+ rp->bone_id = i;
+ rp->parent = 0xffffffff;
- if( bone->parent )
- {
- for( u32 j=0; j<mdl->ragdoll_count; j++ )
- {
- if( mdl->ragdoll[ j ].bone_id == bone->parent )
- {
- rp->parent = j;
- break;
- }
- }
- }
+ player_init_ragdoll_bone_collider( bone, rp );
+
+ struct mdl_node *pnode = mdl_node_from_id( src, bone->orig_node );
+ struct classtype_bone *inf = mdl_get_entdata( src, pnode );
+
+ /*
+ * Bones with collider and parent
+ */
+ if( !bone->parent )
+ continue;
+
+ rp->parent = ragdoll_bone_parent( mdl, bone->parent );
+
+ /* Always assign a point-to-point constraint */
+ struct rb_constr_pos *c =
+ &mdl->position_constraints[ mdl->position_constraints_count ++ ];
+
+ struct skeleton_bone *bj = &mdl->sk.bones[rp->bone_id];
+ struct ragdoll_part *pp = &mdl->ragdoll[rp->parent];
+ struct skeleton_bone *bp = &mdl->sk.bones[pp->bone_id];
+
+ /* Convention: rba -- parent, rbb -- child */
+ c->rba = &pp->rb;
+ c->rbb = &rp->rb;
+
+ v3f delta;
+ v3_sub( bj->co, bp->co, delta );
+ m4x3_mulv( rp->inv_collider_mtx, (v3f){0.0f,0.0f,0.0f}, c->lcb );
+ m4x3_mulv( pp->inv_collider_mtx, delta, c->lca );
+
+ if( inf->flags & k_bone_flag_cone_constraint )
+ {
+ struct rb_constr_swingtwist *a =
+ &mdl->cone_constraints[ mdl->cone_constraints_count ++ ];
+ a->rba = &pp->rb;
+ a->rbb = &rp->rb;
+ a->conet = cosf( inf->conet )-0.0001f;
- struct mdl_node *pnode = mdl_node_from_id( src, bone->orig_node );
- struct classtype_bone *bone_inf = mdl_get_entdata( src, pnode );
+ /* Store constraint in local space vectors */
+ m3x3_mulv( c->rba->to_local, inf->conevx, a->conevx );
+ m3x3_mulv( c->rba->to_local, inf->conevy, a->conevy );
+ m3x3_mulv( c->rbb->to_local, inf->coneva, a->coneva );
+ v3_copy( c->lca, a->view_offset );
+
+ v3_cross( inf->coneva, inf->conevy, a->conevxb );
+ m3x3_mulv( c->rbb->to_local, a->conevxb, a->conevxb );
+
+ v3_normalize( a->conevxb );
+ v3_normalize( a->conevx );
+ v3_normalize( a->conevy );
+ v3_normalize( a->coneva );
- 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] );
+ a->conevx[3] = v3_length( inf->conevx );
+ a->conevy[3] = v3_length( inf->conevy );
- rb_init( &rp->rb );
+ rp->use_limits = 1;
}
}
}
/*
* Make the player model copy the ragdoll
*/
-static void player_model_copy_ragdoll(void)
+VG_STATIC void player_model_copy_ragdoll(void)
{
struct player_model *mdl = &player.mdl;
struct ragdoll_part *part = &mdl->ragdoll[i];
m4x3f offset;
m3x3_identity(offset);
- v3_negate( part->offset, offset[3] );
- m4x3_mul( part->rb.to_world, offset, mdl->sk.final_mtx[part->bone_id] );
+ m4x3_mul( part->rb.to_world, part->inv_collider_mtx,
+ mdl->sk.final_mtx[part->bone_id] );
}
skeleton_apply_inverses( &mdl->sk );
/*
* Make the ragdoll copy the player model
*/
-static void player_ragdoll_copy_model( v3f v )
+VG_STATIC void player_ragdoll_copy_model( v3f v )
{
struct player_model *mdl = &player.mdl;
v3f pos, offset;
u32 bone = part->bone_id;
-
+
m4x3_mulv( mdl->sk.final_mtx[bone], mdl->sk.bones[bone].co, pos );
- m3x3_mulv( mdl->sk.final_mtx[bone], part->offset, offset );
+ m3x3_mulv( mdl->sk.final_mtx[bone], part->collider_mtx[3], offset );
v3_add( pos, offset, part->rb.co );
- m3x3_q( mdl->sk.final_mtx[bone], part->rb.q );
+
+ m3x3f r;
+ m3x3_mul( mdl->sk.final_mtx[bone], part->collider_mtx, r );
+ m3x3_q( r, part->rb.q );
+
v3_copy( v, part->rb.v );
v3_zero( part->rb.w );
/*
* Draw rigidbody colliders for ragdoll
*/
-static void player_debug_ragdoll(void)
+VG_STATIC void player_debug_ragdoll(void)
{
struct player_model *mdl = &player.mdl;
-
- for( u32 i=0; i<mdl->ragdoll_count; i ++ )
- rb_debug( &mdl->ragdoll[i].rb, 0xff00ff00 );
}
/*
* Ragdoll physics step
*/
-static void player_ragdoll_iter(void)
+VG_STATIC void player_ragdoll_iter(void)
{
struct player_model *mdl = &player.mdl;
- rb_solver_reset();
+ int run_sim = 0;
+ ragdoll_frame ++;
+
+ if( ragdoll_frame >= k_ragdoll_div )
+ {
+ ragdoll_frame = 0;
+ run_sim = 1;
+ }
+
+ rb_solver_reset();
for( int i=0; i<mdl->ragdoll_count; i ++ )
rb_collide( &mdl->ragdoll[i].rb, &world.rb_geo );
+ /*
+ * COLLISION DETECTION
+ */
+ for( int i=0; i<mdl->ragdoll_count-1; i ++ )
+ {
+ for( int j=i+1; j<mdl->ragdoll_count; j ++ )
+ {
+ if( mdl->ragdoll[j].parent != i )
+ rb_collide( &mdl->ragdoll[i].rb, &mdl->ragdoll[j].rb );
+ }
+ }
+
+ /*
+ * PRESOLVE
+ */
rb_presolve_contacts( rb_contact_buffer, rb_contact_count );
+ rb_presolve_swingtwist_constraints( mdl->cone_constraints,
+ mdl->cone_constraints_count );
- v3f rv;
+ /*
+ * DEBUG
+ */
+ if( k_ragdoll_debug_collider )
+ {
+ for( u32 i=0; i<mdl->ragdoll_count; i ++ )
+ rb_debug( &mdl->ragdoll[i].rb, mdl->ragdoll[i].colour );
+ }
+
+ if( k_ragdoll_debug_constraints )
+ {
+ rb_debug_position_constraints( mdl->position_constraints,
+ mdl->position_constraints_count );
+
+ rb_debug_swingtwist_constraints( mdl->cone_constraints,
+ mdl->cone_constraints_count );
+ }
#if 0
- float shoe_vel[2] = {0.0f,0.0f};
- for( int i=0; i<2; i++ )
- if( mdl->shoes[i] )
- shoe_vel[i] = v3_length( mdl->ragdoll[i].rb.v );
-#endif
-
for( int j=0; j<mdl->ragdoll_count; j++ )
{
struct ragdoll_part *pj = &mdl->ragdoll[j];
struct skeleton_bone *bj = &mdl->sk.bones[pj->bone_id];
- if( pj->parent != 0xffffffff )
+ if( run_sim )
{
- struct ragdoll_part *pp = &mdl->ragdoll[pj->parent];
- struct skeleton_bone *bp = &mdl->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 );
- }
+ v4f plane = {0.0f,1.0f,0.0f,0.0f};
+ rb_effect_simple_bouyency( &pj->rb, plane, k_ragdoll_floatyiness,
+ k_ragdoll_floatydrag );
}
-
- v4f plane = {0.0f,1.0f,0.0f,0.0f};
- rb_effect_simple_bouyency( &pj->rb, plane, k_ragdoll_floatyiness,
- k_ragdoll_floatydrag );
}
+#endif
- /* CONSTRAINTS */
- for( int i=0; i<10; i++ )
+ /*
+ * SOLVE CONSTRAINTS
+ */
+ if( run_sim )
{
- rb_solve_contacts( rb_contact_buffer, rb_contact_count );
-
- for( int j=0; j<mdl->ragdoll_count; j++ )
+ for( int i=0; i<25; i++ )
{
- struct ragdoll_part *pj = &mdl->ragdoll[j];
- struct skeleton_bone *bj = &mdl->sk.bones[pj->bone_id];
+ rb_solve_contacts( rb_contact_buffer, rb_contact_count );
+ rb_solve_swingtwist_constraints( mdl->cone_constraints,
+ mdl->cone_constraints_count );
+ rb_solve_position_constraints( mdl->position_constraints,
+ mdl->position_constraints_count );
+ }
- if( (pj->parent != 0xffffffff) && pj->use_limits )
- {
- struct ragdoll_part *pp = &mdl->ragdoll[pj->parent];
- struct skeleton_bone *bp = &mdl->sk.bones[pp->bone_id];
+ for( int i=0; i<mdl->ragdoll_count; i++ )
+ rb_iter( &mdl->ragdoll[i].rb );
- v3f lca, lcb;
- v3_negate( pj->offset, lca );
- v3_add( bp->co, pp->offset, lcb );
- v3_sub( bj->co, lcb, lcb );
+ for( int i=0; i<mdl->ragdoll_count; i++ )
+ rb_update_transform( &mdl->ragdoll[i].rb );
- rb_constraint_position( &pj->rb, lca, &pp->rb, lcb );
+ rb_correct_swingtwist_constraints( mdl->cone_constraints,
+ mdl->cone_constraints_count, 0.25f );
- rb_constraint_limits( &pj->rb, lca, &pp->rb, lcb, pj->limits );
- }
- }
+ rb_correct_position_constraints( mdl->position_constraints,
+ mdl->position_constraints_count, 0.5f );
}
- /* INTEGRATION */
- for( int i=0; i<mdl->ragdoll_count; i++ )
- rb_iter( &mdl->ragdoll[i].rb );
-
- /* SHOES */
- for( int i=0; i<mdl->ragdoll_count; i++ )
- rb_update_transform( &mdl->ragdoll[i].rb );
}
#endif /* PLAYER_RAGDOLL_H */
projects / carveJwlIkooP6JGAAIwe30JlM.git / blobdiff