X-Git-Url: https://harrygodden.com/git/?a=blobdiff_plain;f=character.h;h=047b714df02f62db79b113299848d467abdc2691;hb=dfee9022b3513fddec36f7ea70867ee5961a44da;hp=762511ffa61af735b80e84c16fc6461db108febe;hpb=8dfd1063311df86f24fbad2e221ccc0734695e74;p=carveJwlIkooP6JGAAIwe30JlM.git diff --git a/character.h b/character.h index 762511f..047b714 100644 --- a/character.h +++ b/character.h @@ -1,57 +1,30 @@ #ifndef CHARACTER_H #define CHARACTER_H -#include "vg/vg.h" +#include "common.h" #include "model.h" +#include "scene.h" #include "ik.h" +#include "rigidbody.h" +#include "shaders/character.h" -SHADER_DEFINE( shader_player, - - /*Include*/ VERTEX_STANDARD_ATTRIBUTES - - "uniform mat4 uPv;" - "uniform mat4x3 uMdl;" - "uniform vec3 uOpacityLight;" - "" - "out vec4 aColour;" - "out vec2 aUv;" - "out vec3 aNorm;" - "out vec3 aCo;" - "out float aOpacity;" - "" - "void main()" - "{" - "vec3 world_pos = uMdl * vec4(a_co,1.0);" - "gl_Position = uPv * vec4(world_pos,1.0);" - - "aColour = a_colour;" - "aUv = a_uv;" - "aNorm = mat3(uMdl) * a_norm;" - "aCo = a_co;" - "aOpacity = 1.0-(gl_Position.y+0.5);" - "}", - /* Fragment */ - "out vec4 FragColor;" - "" - "uniform sampler2D uTexMain;" - "uniform vec4 uColour;" - "" - "in vec4 aColour;" - "in vec2 aUv;" - "in vec3 aNorm;" - "in vec3 aCo;" - "in float aOpacity;" - "" - "void main()" - "{" - "vec3 diffuse = texture( uTexMain, aUv ).rgb;" - "FragColor = vec4(pow(diffuse,vec3(1.0)),aOpacity);" - "}" - , - UNIFORMS({ "uTexMain", "uPv", "uMdl", "uOpacityLight" }) -) +vg_tex2d tex_pallet = { .path = "textures/ch_gradient.qoi" }; + +static void character_register(void) +{ + shader_character_register(); +} + +static void character_init(void) +{ + vg_tex2d_init( (vg_tex2d *[]){ &tex_pallet }, 1 ); +} #define FOREACH_PART(FN) \ + FN( foot_l ) \ + FN( foot_r ) \ + FN( sock_l ) \ + FN( sock_r ) \ FN( body0 ) \ FN( body1 ) \ FN( neck ) \ @@ -64,10 +37,8 @@ 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 ) \ @@ -77,6 +48,7 @@ SHADER_DEFINE( shader_player, #define ADD_ONE(_) +1 #define PART_COUNT FOREACH_PART(ADD_ONE) + enum character_part { FOREACH_PART( MAKE_ENUM ) @@ -87,7 +59,6 @@ static const char *character_part_strings[] = FOREACH_PART( MAKE_STRING ) }; - struct character { glmesh mesh; @@ -97,6 +68,7 @@ struct character /* Auxillary information */ v3f offsets[ PART_COUNT ]; + rigidbody ragdoll[ PART_COUNT ]; /* * Controls @@ -117,6 +89,8 @@ 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, @@ -205,6 +179,37 @@ static int character_load( struct character *ch, const char *name ) return 1; } +static void align_to_board( struct character *ch, enum character_part id ) +{ + /* Calculate rotation between board and feet */ + m4x3f *mats = ch->matrices; + + v3f foot_pos, foot_fwd, foot_target, board_norm, board_origin; + v3_copy( mats[id][3], foot_pos ); + m3x3_mulv( mats[id], (v3f){1.0f,0.0f,0.0f}, foot_fwd ); + v3_add( foot_fwd, foot_pos, foot_target ); + + m3x3_mulv( mats[k_chpart_board], (v3f){0.0f,1.0f,0.0f}, board_norm ); + m4x3_mulv( mats[k_chpart_board], (v3f){0.0f,0.13f,0.0f}, board_origin ); + + vg_line( foot_pos, foot_target, 0xff00ff00 ); + + v3f v0; + v3_sub( board_origin, foot_target, v0 ); + float t = v3_dot( v0, board_norm ) / board_norm[1]; + foot_target[1] += t; + vg_line( foot_pos, foot_target, 0xff00ffff ); + + v3_sub( foot_target, foot_pos, foot_target ); + v3_normalize( foot_target ); + float ang = acosf( v3_dot( foot_target, foot_fwd ) ); + + v4f qcorrection; m3x3f correction; + q_axis_angle( qcorrection, (v3f){0.0f,0.0f,1.0f}, -ang ); + q_m3x3( qcorrection, correction ); + m3x3_mul( mats[id], correction, mats[id] ); +} + static void character_eval( struct character *ch ) { m4x3f *mats = ch->matrices; @@ -240,14 +245,6 @@ static void character_eval( struct character *ch ) k_ikY, k_iknX ); ik_basic( &ch->ik_leg_r, mats[k_chpart_leg_r0], mats[k_chpart_leg_r1], k_ikY, k_iknX ); - - /* Feet */ - m3x3_copy( mats[k_chpart_leg_l1], mats[k_chpart_foot_l] ); - m3x3_copy( mats[k_chpart_leg_r1], mats[k_chpart_foot_r] ); - m4x3_mulv( mats[k_chpart_leg_l1], offs[k_chpart_foot_l], - mats[k_chpart_foot_l][3] ); - m4x3_mulv( mats[k_chpart_leg_r1], offs[k_chpart_foot_r], - mats[k_chpart_foot_r][3] ); /* Hands */ m3x3_copy( mats[k_chpart_arm_l1], mats[k_chpart_hand_l] ); @@ -268,18 +265,30 @@ static void character_eval( struct character *ch ) //m3x3_mul( mats[k_chpart_neck], mats[k_chpart_head], mats[k_chpart_head] ); m4x3_mulv( mats[k_chpart_neck], offs[k_chpart_head], mats[k_chpart_head][3]); + /* Feet */ + m3x3_copy( mats[k_chpart_leg_l1], mats[k_chpart_foot_l] ); + m3x3_copy( mats[k_chpart_leg_r1], mats[k_chpart_foot_r] ); + m4x3_mulv( mats[k_chpart_leg_l1], offs[k_chpart_foot_l], + mats[k_chpart_foot_l][3] ); + m4x3_mulv( mats[k_chpart_leg_r1], offs[k_chpart_foot_r], + mats[k_chpart_foot_r][3] ); + + align_to_board( ch, k_chpart_foot_l ); + align_to_board( ch, k_chpart_foot_r ); + for( int i=0; imroot, ch->matrices[i], ch->matrices[i] ); } #define B3D_CO( X, Y, Z ) (v3f){ X, Z, -Y } -struct character_rig_lower +typedef struct character_pose character_pose; +struct character_pose { v3f b0, b1, p, fr, fl, pl, pr, hl, hr, apl, apr, cam; }; -static struct character_rig_lower character_pose_aero = +static character_pose pose_aero = { .b0 = {0.0721f, 0.8167f, 0.1365f}, .b1 = {-0.0773f, 1.1559f, -0.1699f}, @@ -295,7 +304,7 @@ static struct character_rig_lower character_pose_aero = .cam = {-0.3394f, 1.2661f, 0.2936f} }; -static struct character_rig_lower character_pose_slide = +static character_pose pose_slide = { .b0 = {0.6732f, 0.5565f, -0.0000f}, .b1 = {0.8116f, 1.0547f, 0.0613f}, @@ -311,7 +320,7 @@ static struct character_rig_lower character_pose_slide = .cam = {0.9888f, 1.4037f, 0.6081f} }; -static struct character_rig_lower character_pose_slide1 = +static character_pose pose_slide1 = { .b0 = {-0.2385f, 0.6403f, 0.1368f}, .b1 = {-0.5151f, 1.1351f, 0.1380f}, @@ -327,7 +336,7 @@ static struct character_rig_lower character_pose_slide1 = .cam = {-1.0508f, 1.0769f, 0.0528f} }; -static struct character_rig_lower character_pose_aero_reverse = +static character_pose pose_aero_reverse = { .b0 = {0.0616f, 0.8167f, -0.1415f}, .b1 = {0.0148f, 1.1559f, 0.1861f}, @@ -343,7 +352,7 @@ static struct character_rig_lower character_pose_aero_reverse = .cam = {-0.3394f, 1.2661f, -0.2936f} }; -static struct character_rig_lower character_pose_stand = +static character_pose pose_stand = { .b0 = {0.1877f, 1.0663f, 0.0063f}, .b1 = {0.0499f, 1.5564f, -0.0584f}, @@ -359,7 +368,23 @@ static struct character_rig_lower character_pose_stand = .cam = {-0.3477f, 1.5884f, -0.0019f} }; -static struct character_rig_lower character_pose_fly = +static character_pose pose_stand_reverse = +{ + .b0 = {0.1624f, 1.0688f, -0.0632f}, + .b1 = {0.0499f, 1.5564f, -0.0013f}, + .p = {0.5423f, 1.2810f, -0.2368f}, + .fr = {0.0535f, 0.1312f, -0.3647f}, + .fl = {0.0354f, 0.1464f, 0.2917f}, + .pl = {-0.4325f, 0.6889f, 0.4591f}, + .pr = {-0.4794f, 0.7598f, -0.0842f}, + .hl = {0.0498f, 1.0058f, 0.2317f}, + .hr = {0.0188f, 0.9786f, -0.2725f}, + .apl = {0.2898f, 1.3453f, 0.0695f}, + .apr = {0.4715f, 1.2876f, -0.4982f}, + .cam = {-0.3477f, 1.5884f, -0.0730f} +}; + +static character_pose pose_fly = { .b0 = {0.2995f, 0.6819f, -0.1369f}, .b1 = {0.1618f, 1.1720f, -0.2016f}, @@ -375,8 +400,8 @@ static struct character_rig_lower character_pose_fly = .cam = {-0.2727f, 1.2606f, 0.3564f} }; -static void character_rig_lower_blend( struct character *ch, - struct character_rig_lower *pose, float q ) +static +void character_pose_blend( struct character *ch, character_pose *pose, float q ) { v3_muladds( ch->ik_body.base, pose->b0, q, ch->ik_body.base ); v3_muladds( ch->ik_body.end, pose->b1, q, ch->ik_body.end ); @@ -392,10 +417,11 @@ static void character_rig_lower_blend( struct character *ch, v3_muladds( ch->cam_pos, pose->cam, q, ch->cam_pos ); } -static void character_pose_with_tilt( struct character *ch, v3f cog, - struct character_rig_lower *pose, float q ) +static +void character_final_pose( struct character *ch, v3f cog, + character_pose *pose, float q ) { - struct character_rig_lower npose; + character_pose npose; float dip = vg_clampf(cog[1], -1.0f, 0.3f) * 0.35f, tilt = vg_clampf(cog[2], -1.0f, 1.0f) * 0.3f; @@ -418,7 +444,7 @@ static void character_pose_with_tilt( struct character *ch, v3f cog, v3_copy( pose->fl, npose.fl ); v3_copy( pose->cam, npose.cam ); - character_rig_lower_blend( ch, &npose, q ); + character_pose_blend( ch, &npose, q ); } static void zero_ik_basic( struct ik_basic *ik ) @@ -500,37 +526,408 @@ static void character_testpose( struct character *ch, float t ) m4x3_identity( ch->matrices[k_chpart_wf] ); } -static void character_draw( struct character *ch ) +static void character_draw( struct character *ch, float temp ) { - SHADER_USE(shader_player); - glUniformMatrix4fv( SHADER_UNIFORM( shader_player, "uPv" ), - 1, GL_FALSE, (float *)vg_pv ); - - glUniform1i( SHADER_UNIFORM( shader_player, "uTexMain" ), 0 ); - glUniform3fv( SHADER_UNIFORM( shader_player, "uOpacityLight" ), 1, - ch->matrices[k_chpart_neck][3] ); + shader_character_use(); + shader_character_uPv( vg_pv ); - GLint kuMdl = SHADER_UNIFORM( shader_player, "uMdl" ); + vg_tex2d_bind( &tex_pallet, 0 ); + shader_character_uTexMain( 0 ); + shader_character_uOpacity( temp ); glEnable( GL_CULL_FACE ); glCullFace( GL_BACK ); mesh_bind( &ch->mesh ); - for( int i=0; imatrices[i] ); + shader_character_uMdl( ch->matrices[i] ); submodel_draw( &ch->parts[i] ); } + + for( int i=0; i<2; i++ ) + { + if( ch->shoes[i] ) + { + shader_character_uMdl( ch->matrices[i] ); + submodel_draw( &ch->parts[i] ); + } + else + { + shader_character_uMdl( ch->matrices[i+2] ); + submodel_draw( &ch->parts[i] ); + shader_character_uMdl( ch->matrices[i] ); + submodel_draw( &ch->parts[i+2] ); + } + } } -static void character_shader_register(void) +/* + * Ragdoll Stuff + */ + +static void character_rd_box( struct character *ch, enum character_part id, + v3f dims ) { - SHADER_INIT(shader_player); + v3_muls( dims, -0.5f, ch->ragdoll[id].bbx[0] ); + v3_muls( dims, 0.5f, ch->ragdoll[id].bbx[1] ); +} + +struct rd_joint +{ + enum character_part ia, ib; + v3f lca, lcb; + + struct rd_joint_axis + { + v3f va, vb; + float spring, ang; + } + min, maj; +}; + +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 = { \ + .va = {1.0f,0.0f,0.0f}, .vb = {1.0f,0.0f,0.0f}, \ + .spring = k_human_minor, .ang = k_human_minor_max \ +}, \ +.maj = { \ + .va = {0.0f,1.0f,0.0f}, .vb = {0.0f,1.0f,0.0f}, \ + .spring = k_human_major, .ang = k_human_major_max \ +} + +#define HUMAN_ARM_LEFT \ +.min = { \ + .va = {1.0f,0.0f,0.0f}, .vb = {1.0f,0.0f,0.0f}, \ + .spring = k_human_minor, .ang = k_human_minor_max \ +}, \ +.maj = { \ + .va = {0.0f,0.0f,1.0f}, .vb = {0.0f,0.0f,1.0f}, \ + .spring = k_human_major, .ang = k_human_major_max \ +} + +#define HUMAN_ARM_RIGHT \ +.min = { \ + .va = {1.0f,0.0f,0.0f}, .vb = {1.0f,0.0f,0.0f}, \ + .spring = k_human_minor, .ang = k_human_minor_max \ +}, \ +.maj = { \ + .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 }, + { .ia = k_chpart_body0, .ib = k_chpart_leg_l0, HUMAN_VERTICAL_DEFAULT }, + { .ia = k_chpart_leg_l0, .ib = k_chpart_leg_l1, HUMAN_VERTICAL_DEFAULT }, + { .ia = k_chpart_body0, .ib = k_chpart_leg_r0, HUMAN_VERTICAL_DEFAULT }, + { .ia = k_chpart_leg_r0, .ib = k_chpart_leg_r1, HUMAN_VERTICAL_DEFAULT }, + + { .ia = k_chpart_body1, .ib = k_chpart_arm_l0, HUMAN_ARM_LEFT }, + { .ia = k_chpart_arm_l0, .ib = k_chpart_arm_l1, HUMAN_ARM_LEFT }, + { .ia = k_chpart_arm_l1, .ib = k_chpart_hand_l, HUMAN_ARM_LEFT }, + + { .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 } +}; + +/* Ragdoll should be in rest pose when calling this function */ +static void character_init_ragdoll_joints( struct character *ch ) +{ + for( int i=0; iparts[joint->ib].pivot; + v3_sub( hinge, ch->ragdoll[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 ) +{ + v3f *offs = ch->offsets; + rigidbody *rbs = ch->ragdoll; + + /* CHest */ + float chest_width = fabsf(offs[k_chpart_arm_r0][2])*2.0f, + chest_depth = chest_width * 0.571f, + chest_height = offs[k_chpart_neck][1]; + v3f chest_dims = { chest_depth, chest_height, chest_width }; + character_rd_box( ch, k_chpart_body1, chest_dims ); + + v3_copy( ch->parts[k_chpart_body1].pivot, rbs[k_chpart_body1].co ); + rbs[k_chpart_body1].co[1] += chest_height*0.5f; + + /* Torso */ + v3f torso_dims = { chest_depth, + offs[k_chpart_body1][1]-offs[k_chpart_leg_l0][1], + chest_width*0.85f }; + v3_copy( ch->parts[k_chpart_body0].pivot, rbs[k_chpart_body0].co ); + character_rd_box( ch, k_chpart_body0, torso_dims ); + + /* Neck */ + v3f neck_dims = { chest_depth*0.5f, + offs[k_chpart_head][1], + chest_depth*0.5f }; + v3_copy( ch->parts[k_chpart_neck].pivot, rbs[k_chpart_neck].co ); + rbs[k_chpart_neck].co[1] += neck_dims[1]*0.5f; + character_rd_box( ch, k_chpart_neck, neck_dims ); + + /* Head */ + v3f head_dims = { chest_width*0.5f, chest_width*0.5f, chest_width*0.5f }; + v3_copy( ch->parts[k_chpart_head].pivot, rbs[k_chpart_head].co ); + rbs[k_chpart_head].co[1] += head_dims[1]*0.5f; + character_rd_box( ch, k_chpart_head, head_dims ); + + /* ARms */ + v3f ua_dims = { 0.0f, 0.0f, fabsf(offs[k_chpart_arm_l1][2]) }; + ua_dims[1] = 0.38f*ua_dims[2]; + ua_dims[0] = 0.38f*ua_dims[2]; + v3f la_dims = { ua_dims[0], ua_dims[1], fabsf(offs[k_chpart_hand_l][2]) }; + v3f hand_dims = { ua_dims[1], ua_dims[1]*0.5f, ua_dims[1] }; + + character_rd_box( ch, k_chpart_arm_l0, ua_dims ); + character_rd_box( ch, k_chpart_arm_r0, ua_dims ); + character_rd_box( ch, k_chpart_arm_l1, la_dims ); + character_rd_box( ch, k_chpart_arm_r1, la_dims ); + character_rd_box( ch, k_chpart_hand_l, hand_dims ); + character_rd_box( ch, k_chpart_hand_r, hand_dims ); + + v3_copy( ch->parts[k_chpart_arm_l0].pivot, rbs[k_chpart_arm_l0].co ); + rbs[k_chpart_arm_l0].co[2] += ua_dims[2] * 0.5f; + v3_copy( ch->parts[k_chpart_arm_l1].pivot, rbs[k_chpart_arm_l1].co ); + rbs[k_chpart_arm_l1].co[2] += la_dims[2] * 0.5f; + v3_copy( ch->parts[k_chpart_hand_l].pivot, rbs[k_chpart_hand_l].co ); + rbs[k_chpart_hand_l].co[2] += hand_dims[2] * 0.5f; + + v3_copy( ch->parts[k_chpart_arm_r0].pivot, rbs[k_chpart_arm_r0].co ); + rbs[k_chpart_arm_r0].co[2] -= ua_dims[2] * 0.5f; + v3_copy( ch->parts[k_chpart_arm_r1].pivot, rbs[k_chpart_arm_r1].co ); + rbs[k_chpart_arm_r1].co[2] -= la_dims[2] * 0.5f; + v3_copy( ch->parts[k_chpart_hand_r].pivot, rbs[k_chpart_hand_r].co ); + rbs[k_chpart_hand_r].co[2] -= hand_dims[2] * 0.5f; + + /* LEgs */ + v3f ul_dims = { 0.0f, fabsf(offs[k_chpart_leg_l1][1]), 0.0f }; + ul_dims[0] = 0.38f*ul_dims[1]; + ul_dims[2] = 0.38f*ul_dims[1]; + v3f ll_dims = { ul_dims[0], fabsf(offs[k_chpart_foot_l][1]), ul_dims[2] }; + v3f foot_dims = { 2.0f*ul_dims[0], ul_dims[0], ul_dims[0] }; + + character_rd_box( ch, k_chpart_leg_l0, ul_dims ); + character_rd_box( ch, k_chpart_leg_r0, ul_dims ); + character_rd_box( ch, k_chpart_leg_l1, ll_dims ); + character_rd_box( ch, k_chpart_leg_r1, ll_dims ); + character_rd_box( ch, k_chpart_foot_l, foot_dims ); + character_rd_box( ch, k_chpart_foot_r, foot_dims ); + + v3_copy( ch->parts[k_chpart_leg_l0].pivot, rbs[k_chpart_leg_l0].co ); + rbs[k_chpart_leg_l0].co[1] -= ul_dims[1] * 0.5f; + v3_copy( ch->parts[k_chpart_leg_l1].pivot, rbs[k_chpart_leg_l1].co ); + rbs[k_chpart_leg_l1].co[1] -= ll_dims[1] * 0.5f; + v3_copy( ch->parts[k_chpart_foot_l].pivot, rbs[k_chpart_foot_l].co ); + rbs[k_chpart_foot_l].co[1] -= foot_dims[1] * 0.5f; + rbs[k_chpart_foot_l].co[0] -= foot_dims[0] * 0.5f; + + v3_copy( ch->parts[k_chpart_leg_r0].pivot, rbs[k_chpart_leg_r0].co ); + rbs[k_chpart_leg_r0].co[1] -= ul_dims[1] * 0.5f; + v3_copy( ch->parts[k_chpart_leg_r1].pivot, rbs[k_chpart_leg_r1].co ); + rbs[k_chpart_leg_r1].co[1] -= ll_dims[1] * 0.5f; + v3_copy( ch->parts[k_chpart_foot_r].pivot, rbs[k_chpart_foot_r].co ); + 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_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 ) +{ + character_init_ragdoll( ch ); + for( int i=0; iragdoll[i].co, ch->ragdoll[i].co ); +} + +static void character_ragdoll_copypose( struct character *ch, v3f v ) +{ + for( int i=0; iragdoll[i]; + + 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 ); + rb->manifold_count = 0; /* ? */ + + 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 ) +{ + rb_debug( &ch->ragdoll[k_chpart_body0], 0xffffffff ); + rb_debug( &ch->ragdoll[k_chpart_body1], 0xffffffff ); + rb_debug( &ch->ragdoll[k_chpart_neck], 0xff00ff00 ); + rb_debug( &ch->ragdoll[k_chpart_head], 0xff00ff00 ); + + rb_debug( &ch->ragdoll[k_chpart_arm_l0], 0xffffa500 ); + rb_debug( &ch->ragdoll[k_chpart_arm_l1], 0xffffa500 ); + rb_debug( &ch->ragdoll[k_chpart_hand_l], 0xffffa500 ); + + rb_debug( &ch->ragdoll[k_chpart_arm_r0], 0xff00a5ff ); + rb_debug( &ch->ragdoll[k_chpart_arm_r1], 0xff00a5ff ); + rb_debug( &ch->ragdoll[k_chpart_hand_r], 0xff00a5ff ); + + rb_debug( &ch->ragdoll[k_chpart_leg_l0], 0xffffa500 ); + rb_debug( &ch->ragdoll[k_chpart_leg_l1], 0xffffa500 ); + rb_debug( &ch->ragdoll[k_chpart_foot_l], 0xffffa500 ); + rb_debug( &ch->ragdoll[k_chpart_leg_r0], 0xff00a5ff ); + rb_debug( &ch->ragdoll[k_chpart_leg_r1], 0xff00a5ff ); + rb_debug( &ch->ragdoll[k_chpart_foot_r], 0xff00a5ff ); +} + +static void character_ragdoll_iter( struct character *ch ) +{ + for( int i=0; iragdoll[i] ); + rb_build_manifold_terrain( &ch->ragdoll[i] ); + + u32 colliders[16]; + int len = bh_select( &world.bhcubes, ch->ragdoll[i].bbx_world, + colliders, 16 ); + + for( int j=0; jragdoll[i], + &world.temp_rbs[colliders[j]] ); + } + + 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; + + for( int j=0; jragdoll[j] ); + + for( int j=0; jragdoll[joint->ia], + *rbb = &ch->ragdoll[joint->ib]; + + rb_constraint_position( rba, joint->lca, rbb, joint->lcb ); + rb_constraint_angle( rba, joint->maj.va, rbb, joint->maj.vb, + joint->maj.ang, + joint->maj.spring * k_springfactor ); + + rb_constraint_angle( rba, joint->min.va, rbb, joint->min.vb, + joint->min.ang, + joint->min.spring * k_springfactor ); + } + } + + 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] ); } -#undef FOREACH_PART -#undef MAKE_ENUM -#undef MAKE_STRING -#undef ADD_ONE #endif