X-Git-Url: https://harrygodden.com/git/?a=blobdiff_plain;f=character.h;fp=character.h;h=f161f7d210214fabe0e07befa0aec976518477c7;hb=fa76acdf613baf7991fbceecbdbd7138620647f8;hp=f5a9d676ab710686aa7cefcc9807607d1bbf2eb1;hpb=d2fa06a21b490b38352195005c3134683679f9c0;p=carveJwlIkooP6JGAAIwe30JlM.git diff --git a/character.h b/character.h index f5a9d67..f161f7d 100644 --- a/character.h +++ b/character.h @@ -54,6 +54,10 @@ SHADER_DEFINE( shader_player, ) #define FOREACH_PART(FN) \ + FN( foot_l ) \ + FN( foot_r ) \ + FN( sock_l ) \ + FN( sock_r ) \ FN( body0 ) \ FN( body1 ) \ FN( neck ) \ @@ -66,10 +70,8 @@ SHADER_DEFINE( shader_player, FN( hand_r ) \ FN( leg_l0 ) \ FN( leg_l1 ) \ - FN( foot_l ) \ FN( leg_r0 ) \ FN( leg_r1 ) \ - FN( foot_r ) \ FN( wf ) \ FN( wb ) \ FN( board ) \ @@ -119,6 +121,8 @@ struct character v3f ground_normal; /* Feet will be aligned to this */ m4x3f mroot; + + int shoes[2]; }; static void character_offset( struct character *ch, enum character_part parent, @@ -554,11 +558,27 @@ static void character_draw( struct character *ch, float temp ) mesh_bind( &ch->mesh ); - for( int i=0; imatrices[i] ); submodel_draw( &ch->parts[i] ); } + + for( int i=0; i<2; i++ ) + { + if( ch->shoes[i] ) + { + glUniformMatrix4x3fv( kuMdl, 1, GL_FALSE, (float *)ch->matrices[i] ); + submodel_draw( &ch->parts[i] ); + } + else + { + glUniformMatrix4x3fv( kuMdl, 1, GL_FALSE, (float *)ch->matrices[i+2] ); + submodel_draw( &ch->parts[i] ); + glUniformMatrix4x3fv( kuMdl, 1, GL_FALSE, (float *)ch->matrices[i] ); + submodel_draw( &ch->parts[i+2] ); + } + } } static void character_shader_register(void) @@ -591,10 +611,10 @@ struct rd_joint min, maj; }; -static const float k_human_major = 0.9f, - k_human_minor = 0.9f, - k_human_major_max = 1.4f, - k_human_minor_max = 0.4f; +static const float k_human_major = 0.5f, + k_human_minor = 0.5f, + k_human_major_max = 0.4f, + k_human_minor_max = 0.1f; #define HUMAN_VERTICAL_DEFAULT \ .min = { \ @@ -622,12 +642,15 @@ static const float k_human_major = 0.9f, .spring = k_human_minor, .ang = k_human_minor_max \ }, \ .maj = { \ - .va = {0.0f,0.0f,-1.0f}, .vb = {0.0f,0.0f,-1.0f}, \ + .va = {0.0f,0.0f,-1.0f}, .vb = {0.0f,0.0f,-1.0f}, \ .spring = k_human_major, .ang = k_human_major_max \ } static struct rd_joint rd_joints[] = { + { .ia = k_chpart_leg_l1, .ib = k_chpart_foot_l, HUMAN_VERTICAL_DEFAULT }, + { .ia = k_chpart_leg_r1, .ib = k_chpart_foot_r, HUMAN_VERTICAL_DEFAULT }, + { .ia = k_chpart_body0, .ib = k_chpart_body1, HUMAN_VERTICAL_DEFAULT }, { .ia = k_chpart_body1, .ib = k_chpart_neck, HUMAN_VERTICAL_DEFAULT }, { .ia = k_chpart_neck, .ib = k_chpart_head, HUMAN_VERTICAL_DEFAULT }, @@ -642,9 +665,10 @@ static struct rd_joint rd_joints[] = { .ia = k_chpart_body1, .ib = k_chpart_arm_r0, HUMAN_ARM_RIGHT }, { .ia = k_chpart_arm_r0, .ib = k_chpart_arm_r1, HUMAN_ARM_RIGHT }, - { .ia = k_chpart_arm_r1, .ib = k_chpart_hand_r, HUMAN_ARM_RIGHT }, + { .ia = k_chpart_arm_r1, .ib = k_chpart_hand_r, HUMAN_ARM_RIGHT } }; +/* Ragdoll should be in rest pose when calling this function */ static void character_init_ragdoll_joints( struct character *ch ) { for( int i=0; iragdoll[joint->ia].co, joint->lca ); v3_sub( hinge, ch->ragdoll[joint->ib].co, joint->lcb ); } + + for( int i=0; iparts[i].pivot; + v3_sub( ch->ragdoll[i].co, pivot, ch->ragdoll[i].delta ); + } } static void character_init_ragdoll( struct character *ch ) @@ -751,10 +781,18 @@ static void character_init_ragdoll( struct character *ch ) rbs[k_chpart_foot_r].co[1] -= foot_dims[1] * 0.5f; rbs[k_chpart_foot_r].co[0] -= foot_dims[0] * 0.5f; - character_init_ragdoll_joints( ch ); + character_rd_box( ch, k_chpart_sock_l, foot_dims ); + character_rd_box( ch, k_chpart_sock_r, foot_dims ); + v3_copy( rbs[k_chpart_foot_l].co, rbs[k_chpart_sock_l].co ); + v3_copy( rbs[k_chpart_foot_r].co, rbs[k_chpart_sock_r].co ); + + box_copy( (boxf){{-0.2f,-0.2f,-0.7f},{0.2f,0.2f,0.7f}}, + rbs[k_chpart_board].bbx ); for( int i=0; iragdoll[i] ); + + character_init_ragdoll_joints( ch ); } static void character_ragdoll_go( struct character *ch, v3f pos ) @@ -766,16 +804,11 @@ static void character_ragdoll_go( struct character *ch, v3f pos ) static void character_ragdoll_copypose( struct character *ch, v3f v ) { - character_init_ragdoll(ch); - for( int i=0; iragdoll[i]; - v3_sub( rb->co, ch->parts[i].pivot, offset ); - - m4x3_mulv( ch->matrices[i], offset, rb->co ); + m4x3_mulv( ch->matrices[i], rb->delta, rb->co ); m3x3_q( ch->matrices[i], rb->q ); v3_copy( v, rb->v ); v3_zero( rb->I ); @@ -783,6 +816,33 @@ static void character_ragdoll_copypose( struct character *ch, v3f v ) rb_update_transform( rb ); } + + float vel = v3_length(v); + + ch->shoes[0] = 1; + ch->shoes[1] = 1; +} + +static void character_mimic_ragdoll( struct character *ch ) +{ + for( int i=0; iragdoll[i]; + v3f *mat = ch->matrices[i]; + + m3x3_copy( rb->to_world, mat ); + v3f inv_delta; + v3_negate( rb->delta, inv_delta ); + m4x3_mulv( rb->to_world, inv_delta, mat[3] ); + } + + /* Attach wheels to board */ + m3x3_copy( ch->matrices[k_chpart_board], ch->matrices[k_chpart_wb] ); + m3x3_copy( ch->matrices[k_chpart_board], ch->matrices[k_chpart_wf] ); + m4x3_mulv( ch->matrices[k_chpart_board], ch->offsets[k_chpart_wb], + ch->matrices[k_chpart_wb][3] ); + m4x3_mulv( ch->matrices[k_chpart_board], ch->offsets[k_chpart_wf], + ch->matrices[k_chpart_wf][3] ); } static void character_debug_ragdoll( struct character *ch ) @@ -815,6 +875,13 @@ static void character_ragdoll_iter( struct character *ch, scene *sc ) rb_build_manifold( &ch->ragdoll[i], sc ); } + v3f rv; + + float shoe_vel[2]; + for( int i=0; i<2; i++ ) + if( ch->shoes[i] ) + shoe_vel[i] = v3_length( ch->ragdoll[i].v ); + for( int i=0; i<20; i++ ) { float const k_springfactor = 1.0f/20.0f; @@ -839,8 +906,40 @@ static void character_ragdoll_iter( struct character *ch, scene *sc ) } } + for( int j=0; jragdoll[joint->ia], + *rbb = &ch->ragdoll[joint->ib]; + rb_angle_limit_force( rba, joint->min.va, rbb, joint->min.vb, + joint->min.ang ); + rb_angle_limit_force( rba, joint->maj.va, rbb, joint->maj.vb, + joint->maj.ang ); + } + for( int i=0; iragdoll[i] ); + + for( int i=0; i<2; i++ ) + { + if( ch->shoes[i] ) + { + float a = v3_length( ch->ragdoll[i].v ) - shoe_vel[i]; + + if( a > 2.0f ) + { + ch->shoes[i] = 0; + + rigidbody *src = &ch->ragdoll[k_chpart_foot_l]; + rigidbody *dst = &ch->ragdoll[k_chpart_sock_l]; + + v3_copy( src->co, dst->co ); + v3_copy( src->v, dst->v ); + v3_copy( src->q, dst->q ); + v3_copy( src->I, dst->I ); + } + } + } for( int i=0; iragdoll[i] );