X-Git-Url: https://harrygodden.com/git/?a=blobdiff_plain;f=character.h;h=70c1727a8c68308002c34ad7cb9b57edfd47846d;hb=7bf2284094c18d0e7de1c8823264bdfa36bc7f2e;hp=27430b444b6eb343e8af6d305c5f780c6b9415b0;hpb=a1a05787ada52089f30c533fb26b745554c07512;p=carveJwlIkooP6JGAAIwe30JlM.git diff --git a/character.h b/character.h index 27430b4..70c1727 100644 --- a/character.h +++ b/character.h @@ -5,6 +5,52 @@ #include "model.h" #include "ik.h" +SHADER_DEFINE( shader_player, + + /*Include*/ VERTEX_STANDARD_ATTRIBUTES + + "uniform mat4 uPv;" + "uniform mat4x3 uMdl;" + "uniform float uOpacity;" + "" + "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)*uOpacity;" + "}", + /* 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", "uOpacity" }) +) + #define FOREACH_PART(FN) \ FN( body0 ) \ FN( body1 ) \ @@ -22,7 +68,8 @@ FN( leg_r0 ) \ FN( leg_r1 ) \ FN( foot_r ) \ - FN( wheels ) \ + FN( wf ) \ + FN( wb ) \ FN( board ) \ #define MAKE_ENUM(ENUM) k_chpart_##ENUM, @@ -59,10 +106,12 @@ struct character struct ik_basic ik_arm_l, ik_arm_r, ik_leg_l, ik_leg_r, ik_body; + v3f cam_pos; v4f qhead; float rhip, rcollar, /* twist of hip and collar controls, these act in the local +y axis of the part */ + rhead, rfootl, rfootr, rhandl, rhandr; @@ -135,6 +184,9 @@ static int character_load( struct character *ch, const char *name ) character_offset( ch, k_chpart_body0, k_chpart_leg_r0 ); character_offset( ch, k_chpart_leg_r0, k_chpart_leg_r1 ); character_offset( ch, k_chpart_leg_r1, k_chpart_foot_r ); + + character_offset( ch, k_chpart_board, k_chpart_wb ); + character_offset( ch, k_chpart_board, k_chpart_wf ); ch->ik_arm_l.l1 = v3_length( ch->offsets[ k_chpart_arm_l1 ] ); ch->ik_arm_l.l2 = v3_length( ch->offsets[ k_chpart_hand_l ] ); @@ -153,6 +205,37 @@ 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; @@ -188,14 +271,6 @@ 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] ); @@ -210,13 +285,195 @@ static void character_eval( struct character *ch ) m4x3_mulv( mats[k_chpart_body1], offs[k_chpart_neck], mats[k_chpart_neck][3] ); - m3x3_copy( mats[k_chpart_neck], mats[k_chpart_head] ); + v4f qhead; + q_axis_angle( qhead, (v3f){ 0.0f,1.0f,0.0f }, ch->rhead ); + q_m3x3( qhead, mats[k_chpart_head] ); + //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 } + +typedef struct character_pose character_pose; +struct character_pose +{ + v3f b0, b1, p, fr, fl, pl, pr, hl, hr, apl, apr, cam; +}; + +static character_pose pose_aero = +{ + .b0 = {0.0721f, 0.8167f, 0.1365f}, + .b1 = {-0.0773f, 1.1559f, -0.1699f}, + .p = {0.0421f, 1.1430f, 0.2803f}, + .fr = {0.0535f, 0.1312f, -0.3647f}, + .fl = {-0.0605f, 0.1464f, 0.2917f}, + .pl = {-0.1704f, 0.6889f, -0.4017f}, + .pr = {0.0672f, 0.7598f, -0.5963f}, + .hl = {-0.2153f, 0.7195f, -0.1345f}, + .hr = {0.1974f, 0.7940f, -0.3522f}, + .apl = {-0.2008f, 0.9546f, 0.3687f}, + .apr = {0.3133f, 0.9299f, 0.0181f}, + .cam = {-0.3394f, 1.2661f, 0.2936f} +}; + +static character_pose pose_slide = +{ + .b0 = {0.6732f, 0.5565f, -0.0000f}, + .b1 = {0.8116f, 1.0547f, 0.0613f}, + .p = {1.0404f, 0.7907f, 0.0186f}, + .fr = {-0.0030f, 0.1366f, -0.4461f}, + .fl = {-0.0030f, 0.1366f, 0.3480f}, + .pl = {-0.0887f, 0.8229f, 0.3826f}, + .pr = {-0.0887f, 0.8229f, -0.4621f}, + .hl = {0.7749f, 0.5545f, 0.5310f}, + .hr = {0.5844f, 1.2445f, -0.5456f}, + .apl = {1.0999f, 0.5390f, 0.2398f}, + .apr = {0.9816f, 0.9536f, -0.5463f}, + .cam = {0.9888f, 1.4037f, 0.6081f} +}; + +static character_pose pose_slide1 = +{ + .b0 = {-0.2385f, 0.6403f, 0.1368f}, + .b1 = {-0.5151f, 1.1351f, 0.1380f}, + .p = {-0.1158f, 1.2118f, 0.3895f}, + .fr = {-0.0030f, 0.1323f, -0.3190f}, + .fl = {-0.0030f, 0.1323f, 0.5797f}, + .pl = {-0.6568f, 0.4305f, 0.2069f}, + .pr = {-0.6850f, 0.2740f, -0.2969f}, + .hl = {-0.7029f, 0.6132f, 0.2972f}, + .hr = {-0.2572f, 1.0104f, -0.4770f}, + .apl = {-0.4808f, 0.8480f, 0.3731f}, + .apr = {-0.0836f, 1.0480f, -0.1201f}, + .cam = {-1.0508f, 1.0769f, 0.0528f} +}; + +static character_pose pose_aero_reverse = +{ + .b0 = {0.0616f, 0.8167f, -0.1415f}, + .b1 = {0.0148f, 1.1559f, 0.1861f}, + .p = {0.0558f, 1.1430f, -0.2779f}, + .fr = {0.0535f, 0.1312f, -0.3647f}, + .fl = {0.0730f, 0.1464f, 0.2917f}, + .pl = {-0.2073f, 0.6889f, 0.3839f}, + .pr = {-0.3584f, 0.4069f, 0.1032f}, + .hl = {0.1567f, 0.7195f, 0.1997f}, + .hr = {-0.3055f, 0.7940f, 0.2639f}, + .apl = {0.3143f, 0.9546f, -0.2784f}, + .apr = {-0.2885f, 0.9299f, -0.1236f}, + .cam = {-0.3394f, 1.2661f, -0.2936f} +}; + +static character_pose pose_stand = +{ + .b0 = {0.1877f, 1.0663f, 0.0063f}, + .b1 = {0.0499f, 1.5564f, -0.0584f}, + .p = {0.5982f, 1.2810f, 0.0842f}, + .fr = {0.0535f, 0.1312f, -0.3647f}, + .fl = {0.0354f, 0.1464f, 0.2917f}, + .pl = {-0.4325f, 0.6889f, 0.1823f}, + .pr = {-0.4794f, 0.7598f, -0.3610f}, + .hl = {0.0498f, 1.0058f, 0.2317f}, + .hr = {0.0188f, 0.9786f, -0.2725f}, + .apl = {0.2898f, 1.3453f, 0.2303f}, + .apr = {0.5273f, 1.2876f, -0.1848f}, + .cam = {-0.3477f, 1.5884f, -0.0019f} +}; + +static character_pose pose_fly = +{ + .b0 = {0.2995f, 0.6819f, -0.1369f}, + .b1 = {0.1618f, 1.1720f, -0.2016f}, + .p = {0.7477f, 0.9173f, -0.1885f}, + .fr = {0.0535f, 0.1312f, -0.3647f}, + .fl = {0.0354f, 0.1464f, 0.2917f}, + .pl = {-0.2930f, 0.4849f, 0.5307f}, + .pr = {-0.4754f, 0.4124f, -0.4874f}, + .hl = {0.2650f, 1.1897f, 0.4626f}, + .hr = {0.2494f, 1.2059f, -0.7985f}, + .apl = {0.5165f, 1.0990f, 0.1655f}, + .apr = {0.6759f, 1.0661f, -0.6014f}, + .cam = {-0.2727f, 1.2606f, 0.3564f} +}; + +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 ); + v3_muladds( ch->ik_body.pole, pose->p, q, ch->ik_body.pole ); + v3_muladds( ch->ik_leg_l.end, pose->fl, q, ch->ik_leg_l.end ); + v3_muladds( ch->ik_leg_l.pole, pose->pl, q, ch->ik_leg_l.pole ); + v3_muladds( ch->ik_leg_r.end, pose->fr, q, ch->ik_leg_r.end ); + v3_muladds( ch->ik_leg_r.pole, pose->pr, q, ch->ik_leg_r.pole ); + v3_muladds( ch->ik_arm_l.pole, pose->apl, q, ch->ik_arm_l.pole ); + v3_muladds( ch->ik_arm_r.pole, pose->apr, q, ch->ik_arm_r.pole ); + v3_muladds( ch->ik_arm_l.end, pose->hl, q, ch->ik_arm_l.end ); + v3_muladds( ch->ik_arm_r.end, pose->hr, q, ch->ik_arm_r.end ); + v3_muladds( ch->cam_pos, pose->cam, q, ch->cam_pos ); +} + +static +void character_final_pose( struct character *ch, v3f cog, + character_pose *pose, float q ) +{ + 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; + + v4f rz; m4x3f tr; + q_axis_angle( rz, (v3f){0.0f,0.0f,1.0f}, -cog[0]*0.6f ); + q_m3x3( rz, tr ); + v3_copy( (v3f){0.0f,dip,tilt}, tr[3] ); + + m4x3_mulv( tr, pose->b0, npose.b0 ); + m4x3_mulv( tr, pose->b1, npose.b1 ); + m4x3_mulv( tr, pose->p, npose.p ); + m4x3_mulv( tr, pose->pl, npose.pl ); + m4x3_mulv( tr, pose->pr, npose.pr ); + m4x3_mulv( tr, pose->hl, npose.hl ); + m4x3_mulv( tr, pose->hr, npose.hr ); + m4x3_mulv( tr, pose->apl, npose.apl ); + m4x3_mulv( tr, pose->apr, npose.apr ); + + v3_copy( pose->fr, npose.fr ); + v3_copy( pose->fl, npose.fl ); + v3_copy( pose->cam, npose.cam ); + + character_pose_blend( ch, &npose, q ); +} + +static void zero_ik_basic( struct ik_basic *ik ) +{ + v3_zero( ik->base ); + v3_zero( ik->end ); + v3_zero( ik->pole ); +} + +static void character_pose_reset( struct character *ch ) +{ + zero_ik_basic( &ch->ik_body ); + zero_ik_basic( &ch->ik_leg_l ); + zero_ik_basic( &ch->ik_leg_r ); + zero_ik_basic( &ch->ik_arm_l ); + zero_ik_basic( &ch->ik_arm_r ); + v3_zero( ch->cam_pos ); +} + static void character_testpose( struct character *ch, float t ) { /* Body */ @@ -275,25 +532,36 @@ static void character_testpose( struct character *ch, float t ) q_identity( ch->qhead ); m4x3_identity( ch->matrices[k_chpart_board] ); - m4x3_identity( ch->matrices[k_chpart_wheels] ); + m4x3_identity( ch->matrices[k_chpart_wb] ); + m4x3_identity( ch->matrices[k_chpart_wf] ); } -static void character_draw( struct character *ch, int temp ) +static void character_draw( struct character *ch, float temp ) { - mesh_bind( &ch->mesh ); + SHADER_USE(shader_player); + glUniformMatrix4fv( SHADER_UNIFORM( shader_player, "uPv" ), + 1, GL_FALSE, (float *)vg_pv ); + + glUniform1i( SHADER_UNIFORM( shader_player, "uTexMain" ), 0 ); + glUniform1f( SHADER_UNIFORM( shader_player, "uOpacity" ), temp ); + GLint kuMdl = SHADER_UNIFORM( shader_player, "uMdl" ); + glEnable( GL_CULL_FACE ); glCullFace( GL_BACK ); + mesh_bind( &ch->mesh ); + for( int i=0; imatrices[i] ); + glUniformMatrix4x3fv( kuMdl, 1, GL_FALSE, (float *)ch->matrices[i] ); submodel_draw( &ch->parts[i] ); } } -#undef FOREACH_PART -#undef MAKE_ENUM -#undef MAKE_STRING -#undef ADD_ONE +static void character_shader_register(void) +{ + SHADER_INIT(shader_player); +} + #endif