#include "rigidbody.h"
#include "player_model.h"
#include "world.h"
+#include "audio.h"
-struct player_ragdoll
-{
- struct ragdoll_part
- {
+struct player_ragdoll{
+ struct ragdoll_part{
u32 bone_id;
/* Collider transform relative to bone */
u32 use_limits;
v3f limits[2];
- rigidbody rb;
+ rb_object obj;
u32 parent;
u32 colour;
}
int shoes[2];
};
+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_ragdoll_init(void)
+{
+ VG_VAR_F32( k_ragdoll_limit_scale );
+ VG_VAR_I32( k_ragdoll_div );
+ VG_VAR_I32( k_ragdoll_debug_collider );
+ VG_VAR_I32( k_ragdoll_debug_constraints );
+}
+
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 );
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] );
+ v3_copy( delta, rp->obj.rb.bbx[1] );
+ v3_muls( delta, -1.0f, rp->obj.rb.bbx[0] );
- q_identity( rp->rb.q );
- rp->rb.type = k_rb_shape_box;
+ q_identity( rp->obj.rb.q );
+ rp->obj.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;
}
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->obj.type = k_rb_shape_capsule;
+ rp->obj.inf.capsule.height = l;
+ rp->obj.inf.capsule.radius = r;
rp->colour = 0xff000000 | (0xff << (major_axis*8));
}
- else
+ else{
+ vg_warn( "type: %u\n", bone->collider );
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 );
+ m3x3_q( rp->collider_mtx, rp->obj.rb.q );
+ v3_add( rp->collider_mtx[3], bone->co, rp->obj.rb.co );
+ v3_zero( rp->obj.rb.v );
+ v3_zero( rp->obj.rb.w );
+ rb_init_object( &rp->obj );
}
/*
rd->position_constraints_count = 0;
rd->cone_constraints_count = 0;
- for( u32 i=0; i<av->sk.bone_count; i ++ )
- {
+ for( u32 i=1; 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( rd->part_count > vg_list_size(rd->parts) )
player_init_ragdoll_bone_collider( bone, rp );
- struct mdl_node *pnode = mdl_node_from_id( &av->meta, bone->orig_node );
- struct classtype_bone *inf = mdl_get_entdata( &av->meta, pnode );
-
/*
* Bones with collider and parent
*/
rp->parent = ragdoll_bone_parent( rd, av, bone->parent );
- /* Always assign a point-to-point constraint */
- struct rb_constr_pos *c =
- &rd->position_constraints[ rd->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 = &av->sk.bones[rp->bone_id];
- struct ragdoll_part *pp = &rd->parts[rp->parent];
- struct skeleton_bone *bp = &av->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->obj.rb;
+ c->rbb = &rp->obj.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 =
&rd->cone_constraints[ rd->cone_constraints_count ++ ];
- a->rba = &pp->rb;
- a->rbb = &rp->rb;
+
+ a->rba = &pp->obj.rb;
+ a->rbb = &rp->obj.rb;
a->conet = cosf( inf->conet )-0.0001f;
/* Store constraint in local space vectors */
VG_STATIC void copy_ragdoll_pose_to_avatar( struct player_ragdoll *rd,
struct player_avatar *av )
{
- for( int i=0; i<rd->part_count; 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,
+ m4x3_mul( part->obj.rb.to_world, part->inv_collider_mtx,
av->sk.final_mtx[part->bone_id] );
}
+ for( u32 i=1; i<av->sk.bone_count; i++ ){
+ struct skeleton_bone *sb = &av->sk.bones[i];
+
+ if( sb->parent && !sb->collider ){
+ v3f delta;
+ v3_sub( av->sk.bones[i].co, av->sk.bones[sb->parent].co, delta );
+
+ m4x3f posemtx;
+ m3x3_identity( posemtx );
+ v3_copy( delta, posemtx[3] );
+
+ /* final matrix */
+ m4x3_mul( av->sk.final_mtx[sb->parent], posemtx, av->sk.final_mtx[i] );
+ }
+ }
+
skeleton_apply_inverses( &av->sk );
}
struct player_ragdoll *rd,
v3f velocity )
{
- for( int i=0; i<rd->part_count; i++ )
- {
+ for( int i=0; i<rd->part_count; i++ ){
struct ragdoll_part *part = &rd->parts[i];
v3f pos, 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 );
+ v3_add( pos, offset, part->obj.rb.co );
m3x3f r;
m3x3_mul( av->sk.final_mtx[bone], part->collider_mtx, r );
- m3x3_q( r, part->rb.q );
+ m3x3_q( r, part->obj.rb.q );
- v3_copy( velocity, part->rb.v );
- v3_zero( part->rb.w );
+ v3_copy( velocity, part->obj.rb.v );
+ v3_zero( part->obj.rb.w );
- rb_update_transform( &part->rb );
+ rb_update_transform( &part->obj.rb );
}
}
*/
VG_STATIC void player_ragdoll_iter( struct player_ragdoll *rd )
{
+ 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<rd->part_count; i ++ )
- rb_collide( &rd->parts[i].rb, &world.rb_geo );
+
+ float contact_velocities[256];
+
+ 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].obj.type == k_rb_shape_capsule ){
+ l = rb_capsule__scene( rd->parts[i].obj.rb.to_world,
+ &rd->parts[i].obj.inf.capsule,
+ NULL, &world->rb_geo.inf.scene, buf );
+ }
+ else if( rd->parts[i].obj.type == k_rb_shape_box ){
+ l = rb_box__scene( rd->parts[i].obj.rb.to_world,
+ rd->parts[i].obj.rb.bbx,
+ NULL, &world->rb_geo.inf.scene, buf );
+ }
+ else continue;
+
+ for( int j=0; j<l; j++ ){
+ buf[j].rba = &rd->parts[i].obj.rb;
+ buf[j].rbb = &world->rb_geo.rb;
+ }
+
+ rb_contact_count += l;
+ }
+ }
/*
- * COLLISION DETECTION
+ * self-collision
*/
- 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 )
- rb_collide( &rd->parts[i].rb, &rd->parts[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].obj.type != k_rb_shape_capsule )
+ continue;
+
+ if( rd->parts[i].obj.type != k_rb_shape_capsule )
+ continue;
+
+ rb_ct *buf = rb_global_buffer();
+
+ int l = rb_capsule__capsule( rd->parts[i].obj.rb.to_world,
+ &rd->parts[i].obj.inf.capsule,
+ rd->parts[j].obj.rb.to_world,
+ &rd->parts[j].obj.inf.capsule,
+ buf );
+
+ for( int k=0; k<l; k++ ){
+ buf[k].rba = &rd->parts[i].obj.rb;
+ buf[k].rbb = &rd->parts[j].obj.rb;
+ }
+
+ rb_contact_count += l;
+ }
}
}
- for( int j=0; j<rd->part_count; j++ )
- {
+ for( int j=0; j<rd->part_count; j++ ){
struct ragdoll_part *pj = &rd->parts[j];
- if( run_sim )
- {
+ 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 );
+ rb_effect_simple_bouyency( &pj->obj.rb, plane,
+ k_ragdoll_floatyiness,
+ k_ragdoll_floatydrag );
}
}
/*
* PRESOLVE
*/
+ for( u32 i=0; i<rb_contact_count; i++ ){
+ rb_ct *ct = &rb_contact_buffer[i];
+
+ v3f rv, ra, rb;
+ v3_sub( ct->co, ct->rba->co, ra );
+ v3_sub( ct->co, ct->rbb->co, rb );
+ rb_rcv( ct->rba, ct->rbb, ra, rb, rv );
+ float vn = v3_dot( rv, ct->n );
+
+ contact_velocities[i] = vn;
+ }
+
rb_presolve_contacts( rb_contact_buffer, rb_contact_count );
rb_presolve_swingtwist_constraints( rd->cone_constraints,
rd->cone_constraints_count );
/*
* DEBUG
*/
- if( k_ragdoll_debug_collider )
- {
+ if( k_ragdoll_debug_collider ){
for( u32 i=0; i<rd->part_count; i ++ )
- rb_debug( &rd->parts[i].rb, rd->parts[i].colour );
+ rb_object_debug( &rd->parts[i].obj, rd->parts[i].colour );
}
- if( k_ragdoll_debug_constraints )
- {
+ if( k_ragdoll_debug_constraints ){
rb_debug_position_constraints( rd->position_constraints,
rd->position_constraints_count );
/*
* 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( rd->cone_constraints,
rd->cone_constraints_count );
}
for( int i=0; i<rd->part_count; i++ )
- rb_iter( &rd->parts[i].rb );
+ rb_iter( &rd->parts[i].obj.rb );
for( int i=0; i<rd->part_count; i++ )
- rb_update_transform( &rd->parts[i].rb );
+ rb_update_transform( &rd->parts[i].obj.rb );
rb_correct_swingtwist_constraints( rd->cone_constraints,
rd->cone_constraints_count, 0.25f );
rd->position_constraints_count, 0.5f );
}
+ rb_ct *stress = NULL;
+ float max_stress = 1.0f;
+
+ for( u32 i=0; i<rb_contact_count; i++ ){
+ rb_ct *ct = &rb_contact_buffer[i];
+
+ v3f rv, ra, rb;
+ v3_sub( ct->co, ct->rba->co, ra );
+ v3_sub( ct->co, ct->rbb->co, rb );
+ rb_rcv( ct->rba, ct->rbb, ra, rb, rv );
+ float vn = v3_dot( rv, ct->n );
+
+ float s = fabsf(vn - contact_velocities[i]);
+ if( s > max_stress ){
+ stress = ct;
+ max_stress = s;
+ }
+ }
+
+ static u32 temp_filter = 0;
+
+ if( temp_filter ){
+ temp_filter --;
+ return;
+ }
+
+ if( stress ){
+ temp_filter = 20;
+ audio_lock();
+ audio_oneshot_3d( &audio_hits[rand()%5], stress->co, 20.0f, 1.0f );
+ audio_unlock();
+ }
}
#endif /* PLAYER_RAGDOLL_H */
projects / carveJwlIkooP6JGAAIwe30JlM.git / blobdiff