#ifndef PLAYER_RAGDOLL_H
#define PLAYER_RAGDOLL_H
-#include "player.h"
+#define VG_GAME
+#include "vg/vg.h"
+#include "skeleton.h"
+#include "rigidbody.h"
+#include "player_model.h"
+#include "world.h"
+
+struct player_ragdoll
+{
+ struct ragdoll_part
+ {
+ u32 bone_id;
+
+ /* Collider transform relative to bone */
+ m4x3f collider_mtx,
+ inv_collider_mtx;
+
+ u32 use_limits;
+ v3f limits[2];
-VG_STATIC float k_ragdoll_floatyiness = 20.0f,
- k_ragdoll_floatydrag = 1.0f,
- k_ragdoll_limit_scale = 1.0f;
+ rigidbody rb;
+ u32 parent;
+ u32 colour;
+ }
+ parts[32];
+ u32 part_count;
+
+ rb_constr_pos position_constraints[32];
+ u32 position_constraints_count;
-VG_STATIC int k_ragdoll_div = 1,
- ragdoll_frame = 0,
- k_ragdoll_debug_collider = 1,
- k_ragdoll_debug_constraints = 0;
+ rb_constr_swingtwist cone_constraints[32];
+ u32 cone_constraints_count;
+
+ int shoes[2];
+};
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 )
- {
+ if( bone->collider == k_bone_collider_box ){
v3f delta;
v3_sub( bone->hitbox[1], bone->hitbox[0], delta );
v3_muls( delta, 0.5f, delta );
rp->rb.type = k_rb_shape_box;
rp->colour = 0xffcccccc;
}
- else if( bone->flags & k_bone_flag_collider_capsule )
- {
+ else if( bone->collider == k_bone_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 )
- {
+ for( int i=0; i<3; i ++ ){
+ if( fabsf( v0[i] ) > largest ){
largest = fabsf( v0[i] );
major_axis = i;
}
/*
* Get parent index in the ragdoll
*/
-VG_STATIC u32 ragdoll_bone_parent( struct player_model *mdl, u32 bone_id )
+VG_STATIC u32 ragdoll_bone_parent( struct player_ragdoll *rd,
+ struct player_avatar *av, u32 bone_id )
{
- for( u32 j=0; j<mdl->ragdoll_count; j++ )
- if( mdl->ragdoll[ j ].bone_id == bone_id )
+ for( u32 j=0; j<rd->part_count; j++ )
+ if( rd->parts[ j ].bone_id == bone_id )
return j;
vg_fatal_exit_loop( "Referenced parent bone does not have a rigidbody" );
/*
* Setup ragdoll colliders
*/
-VG_STATIC void player_init_ragdoll(void)
+VG_STATIC void player_setup_ragdoll_from_avatar( struct player_ragdoll *rd,
+ struct player_avatar *av )
{
- struct player_model *mdl = &player.mdl;
- mdl_context *src = &mdl->meta;
+ rd->part_count = 0;
- if( !mdl->sk.collider_count )
- {
- mdl->ragdoll_count = 0;
+ if( !av->sk.collider_count )
return;
- }
- mdl->ragdoll_count = 0;
- mdl->position_constraints_count = 0;
- mdl->cone_constraints_count = 0;
+ rd->position_constraints_count = 0;
+ rd->cone_constraints_count = 0;
- for( u32 i=0; i<mdl->sk.bone_count; i ++ )
- {
- struct skeleton_bone *bone = &mdl->sk.bones[i];
+ for( u32 i=0; i<av->sk.bone_count; i ++ ){
+ struct skeleton_bone *bone = &av->sk.bones[i];
/*
* Bones with colliders
*/
- if( !(bone->flags & k_bone_flag_collider_any) )
+ if( !(bone->collider) )
continue;
- if( mdl->ragdoll_count > vg_list_size(player.mdl.ragdoll) )
+ if( rd->part_count > vg_list_size(rd->parts) )
vg_fatal_exit_loop( "Playermodel has too many colliders" );
- struct ragdoll_part *rp = &mdl->ragdoll[ mdl->ragdoll_count ++ ];
+ struct ragdoll_part *rp = &rd->parts[ rd->part_count ++ ];
rp->bone_id = i;
rp->parent = 0xffffffff;
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 );
+ rp->parent = ragdoll_bone_parent( rd, av, bone->parent );
+
- /* Always assign a point-to-point constraint */
- struct rb_constr_pos *c =
- &mdl->position_constraints[ mdl->position_constraints_count ++ ];
+ if( bone->orig_bone->flags & k_bone_flag_cone_constraint ){
+ struct rb_constr_pos *c =
+ &rd->position_constraints[ rd->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];
+ struct skeleton_bone *bj = &av->sk.bones[rp->bone_id];
+ struct ragdoll_part *pp = &rd->parts[rp->parent];
+ struct skeleton_bone *bp = &av->sk.bones[pp->bone_id];
- /* Convention: rba -- parent, rbb -- child */
- c->rba = &pp->rb;
- c->rbb = &rp->rb;
+ /* 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 );
+
+
+ mdl_bone *inf = bone->orig_bone;
- 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 ++ ];
+ &rd->cone_constraints[ rd->cone_constraints_count ++ ];
+
a->rba = &pp->rb;
a->rbb = &rp->rb;
a->conet = cosf( inf->conet )-0.0001f;
}
/*
- * Make the player model copy the ragdoll
+ * Make avatar copy the ragdoll
*/
-VG_STATIC void player_model_copy_ragdoll(void)
+VG_STATIC void copy_ragdoll_pose_to_avatar( struct player_ragdoll *rd,
+ struct player_avatar *av )
{
- struct player_model *mdl = &player.mdl;
-
- for( int i=0; i<mdl->ragdoll_count; i++ )
- {
- struct ragdoll_part *part = &mdl->ragdoll[i];
+ for( int i=0; i<rd->part_count; i++ ){
+ struct ragdoll_part *part = &rd->parts[i];
m4x3f offset;
m3x3_identity(offset);
m4x3_mul( part->rb.to_world, part->inv_collider_mtx,
- mdl->sk.final_mtx[part->bone_id] );
+ av->sk.final_mtx[part->bone_id] );
}
- skeleton_apply_inverses( &mdl->sk );
+ skeleton_apply_inverses( &av->sk );
}
/*
* Make the ragdoll copy the player model
*/
-VG_STATIC void player_ragdoll_copy_model( v3f v )
+VG_STATIC void copy_avatar_pose_to_ragdoll( struct player_avatar *av,
+ struct player_ragdoll *rd,
+ v3f velocity )
{
- struct player_model *mdl = &player.mdl;
-
- for( int i=0; i<mdl->ragdoll_count; i++ )
- {
- struct ragdoll_part *part = &mdl->ragdoll[i];
+ for( int i=0; i<rd->part_count; i++ ){
+ struct ragdoll_part *part = &rd->parts[i];
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->collider_mtx[3], offset );
+ m4x3_mulv( av->sk.final_mtx[bone], av->sk.bones[bone].co, pos );
+ m3x3_mulv( av->sk.final_mtx[bone], part->collider_mtx[3], offset );
v3_add( pos, offset, part->rb.co );
m3x3f r;
- m3x3_mul( mdl->sk.final_mtx[bone], part->collider_mtx, r );
+ m3x3_mul( av->sk.final_mtx[bone], part->collider_mtx, r );
m3x3_q( r, part->rb.q );
- v3_copy( v, part->rb.v );
+ v3_copy( velocity, part->rb.v );
v3_zero( part->rb.w );
rb_update_transform( &part->rb );
*/
VG_STATIC void player_debug_ragdoll(void)
{
- struct player_model *mdl = &player.mdl;
}
/*
* Ragdoll physics step
*/
-VG_STATIC void player_ragdoll_iter(void)
+VG_STATIC void player_ragdoll_iter( struct player_ragdoll *rd )
{
- struct player_model *mdl = &player.mdl;
+ world_instance *world = get_active_world();
int run_sim = 0;
ragdoll_frame ++;
- if( ragdoll_frame >= k_ragdoll_div )
- {
+ 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 );
+ for( int i=0; i<rd->part_count; i ++ ){
+ if( rb_global_has_space() ){
+ rb_ct *buf = rb_global_buffer();
+
+ int l;
+
+ if( rd->parts[i].rb.type == k_rb_shape_capsule ){
+ l = rb_capsule__scene( rd->parts[i].rb.to_world,
+ &rd->parts[i].rb.inf.capsule,
+ NULL, &world->rb_geo.inf.scene, buf );
+ }
+ else if( rd->parts[i].rb.type == k_rb_shape_box ){
+ l = rb_box__scene( rd->parts[i].rb.to_world,
+ rd->parts[i].rb.bbx,
+ NULL, &world->rb_geo.inf.scene, buf );
+ }
+ else continue;
+
+ for( int j=0; j<l; j++ ){
+ buf[j].rba = &rd->parts[i].rb;
+ buf[j].rbb = &world->rb_geo;
+ }
+
+ rb_contact_count += l;
+ }
+ }
/*
- * COLLISION DETECTION
+ * self-collision
*/
- 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 );
+ for( int i=0; i<rd->part_count-1; i ++ ){
+ for( int j=i+1; j<rd->part_count; j ++ ){
+ if( rd->parts[j].parent != i ){
+ if( !rb_global_has_space() )
+ break;
+
+ if( rd->parts[j].rb.type != k_rb_shape_capsule )
+ continue;
+
+ if( rd->parts[i].rb.type != k_rb_shape_capsule )
+ continue;
+
+ rb_ct *buf = rb_global_buffer();
+
+ int l = rb_capsule__capsule( rd->parts[i].rb.to_world,
+ &rd->parts[i].rb.inf.capsule,
+ rd->parts[j].rb.to_world,
+ &rd->parts[j].rb.inf.capsule,
+ buf );
+
+ for( int k=0; k<l; k++ ){
+ buf[k].rba = &rd->parts[i].rb;
+ buf[k].rbb = &rd->parts[j].rb;
+ }
+
+ rb_contact_count += l;
+ }
+ }
+ }
+
+ for( int j=0; j<rd->part_count; j++ ){
+ struct ragdoll_part *pj = &rd->parts[j];
+
+ if( run_sim ){
+ v4f plane = {0.0f,1.0f,0.0f,0.0f};
+ rb_effect_simple_bouyency( &pj->rb, plane, k_ragdoll_floatyiness,
+ k_ragdoll_floatydrag );
}
}
* PRESOLVE
*/
rb_presolve_contacts( rb_contact_buffer, rb_contact_count );
- rb_presolve_swingtwist_constraints( mdl->cone_constraints,
- mdl->cone_constraints_count );
+ rb_presolve_swingtwist_constraints( rd->cone_constraints,
+ rd->cone_constraints_count );
/*
* 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_collider ){
+ for( u32 i=0; i<rd->part_count; i ++ )
+ rb_debug( &rd->parts[i].rb, rd->parts[i].colour );
}
- if( k_ragdoll_debug_constraints )
- {
- rb_debug_position_constraints( mdl->position_constraints,
- mdl->position_constraints_count );
+ if( k_ragdoll_debug_constraints ){
+ rb_debug_position_constraints( rd->position_constraints,
+ rd->position_constraints_count );
- rb_debug_swingtwist_constraints( mdl->cone_constraints,
- mdl->cone_constraints_count );
+ rb_debug_swingtwist_constraints( rd->cone_constraints,
+ rd->cone_constraints_count );
}
-#if 0
- 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( run_sim )
- {
- v4f plane = {0.0f,1.0f,0.0f,0.0f};
- rb_effect_simple_bouyency( &pj->rb, plane, k_ragdoll_floatyiness,
- k_ragdoll_floatydrag );
- }
- }
-#endif
-
/*
* SOLVE CONSTRAINTS
*/
- if( run_sim )
- {
- for( int i=0; i<25; i++ )
- {
+ if( run_sim ){
+ for( int i=0; i<16; i++ ){
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 );
+ rb_solve_swingtwist_constraints( rd->cone_constraints,
+ rd->cone_constraints_count );
+ rb_solve_position_constraints( rd->position_constraints,
+ rd->position_constraints_count );
}
- for( int i=0; i<mdl->ragdoll_count; i++ )
- rb_iter( &mdl->ragdoll[i].rb );
+ for( int i=0; i<rd->part_count; i++ )
+ rb_iter( &rd->parts[i].rb );
- for( int i=0; i<mdl->ragdoll_count; i++ )
- rb_update_transform( &mdl->ragdoll[i].rb );
+ for( int i=0; i<rd->part_count; i++ )
+ rb_update_transform( &rd->parts[i].rb );
- rb_correct_swingtwist_constraints( mdl->cone_constraints,
- mdl->cone_constraints_count, 0.25f );
+ rb_correct_swingtwist_constraints( rd->cone_constraints,
+ rd->cone_constraints_count, 0.25f );
- rb_correct_position_constraints( mdl->position_constraints,
- mdl->position_constraints_count, 0.5f );
+ rb_correct_position_constraints( rd->position_constraints,
+ rd->position_constraints_count, 0.5f );
}
}
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