X-Git-Url: https://harrygodden.com/git/?a=blobdiff_plain;f=character.h;h=df05295611492ecb41cbafafd266bf9623830c50;hb=86dbcd5796ed674ca9433cce1ace8bef322cd121;hp=27430b444b6eb343e8af6d305c5f780c6b9415b0;hpb=a1a05787ada52089f30c533fb26b745554c07512;p=carveJwlIkooP6JGAAIwe30JlM.git diff --git a/character.h b/character.h index 27430b4..df05295 100644 --- a/character.h +++ b/character.h @@ -1,11 +1,32 @@ #ifndef CHARACTER_H #define CHARACTER_H -#include "vg/vg.h" +#include "common.h" #include "model.h" +#include "scene.h" +#include "world.h" #include "ik.h" +#include "rigidbody.h" +#include "render.h" +#include "shaders/character.h" + +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 ) \ @@ -18,11 +39,10 @@ FN( hand_r ) \ FN( leg_l0 ) \ FN( leg_l1 ) \ - FN( foot_l ) \ FN( leg_r0 ) \ FN( leg_r1 ) \ - FN( foot_r ) \ - FN( wheels ) \ + FN( wf ) \ + FN( wb ) \ FN( board ) \ #define MAKE_ENUM(ENUM) k_chpart_##ENUM, @@ -30,6 +50,7 @@ #define ADD_ONE(_) +1 #define PART_COUNT FOREACH_PART(ADD_ONE) + enum character_part { FOREACH_PART( MAKE_ENUM ) @@ -40,16 +61,17 @@ static const char *character_part_strings[] = FOREACH_PART( MAKE_STRING ) }; - struct character { glmesh mesh; - submodel parts[ PART_COUNT ]; + mdl_submesh parts[ PART_COUNT ]; + v3f origins[ PART_COUNT ]; m4x3f matrices[ PART_COUNT ]; /* Auxillary information */ v3f offsets[ PART_COUNT ]; + rigidbody ragdoll[ PART_COUNT ]; /* * Controls @@ -59,21 +81,25 @@ 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; 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, enum character_part child ) { - v3_sub( ch->parts[ child ].pivot, ch->parts[ parent ].pivot, + v3_sub( ch->origins[ child ], ch->origins[ parent ], ch->offsets[ child ] ); } @@ -82,35 +108,44 @@ static int character_load( struct character *ch, const char *name ) char buf[64]; snprintf( buf, sizeof(buf)-1, "models/%s.mdl", name ); - model *src = vg_asset_read( buf ); + mdl_header *src = mdl_load( buf ); if( !src ) - { - vg_error( "Could not open 'models/%s.mdl'", name ); return 0; - } int error_count = 0; for( int i=0; iparts[i], 0, sizeof(mdl_submesh) ); + v3_zero( ch->origins[i] ); + + if( !pnode ) { vg_warn( "Character file does not contain an '_%s' part.\n", character_part_strings[i] ); error_count ++; - - memset( &ch->parts[i], 0, sizeof(submodel) ); + continue; + } + + mdl_submesh *sm = mdl_node_submesh( src, pnode, 0 ); + + if( !sm ) + { + vg_warn( "Character file's '_%s' part has no mesh.\n", + character_part_strings[i] ); + error_count ++; continue; } ch->parts[i] = *sm; + v3_copy( pnode->co, ch->origins[i] ); } - model_unpack( src, &ch->mesh ); + mdl_unpack_glmesh( src, &ch->mesh ); if( !error_count ) vg_success( "Loaded character file '%s' with no errors\n", name ); @@ -135,6 +170,9 @@ 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 +191,37 @@ 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 +257,6 @@ 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 +271,260 @@ 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] ); +#if 1 + v4f qhead; + q_axis_angle( qhead, (v3f){ 0.0f,1.0f,0.0f }, ch->rhead ); + q_m3x3( qhead, mats[k_chpart_head] ); + m4x3_mulv( mats[k_chpart_neck], offs[k_chpart_head], mats[k_chpart_head][3]); + m3x3_mul( mats[k_chpart_neck], mats[k_chpart_head], mats[k_chpart_head] ); +#else m4x3_mulv( mats[k_chpart_neck], offs[k_chpart_head], mats[k_chpart_head][3]); + m3x3_copy( mats[k_chpart_neck], mats[k_chpart_head] ); +#endif + /* 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_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}, + .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 ); +} + +#if 1 +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) * 0.5f, + 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]*0.3f ); + q_m3x3( rz, tr ); + m3x3_identity( tr ); + //v3_copy( (v3f){0.0f,dip,tilt}, tr[3] ); + v3_copy( cog, tr[3] ); + + v3_muladd( pose->b0, tr[3], (v3f){0.85f,1.0f,1.0f}, npose.b0 ); + //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 ); +} +#else +static +void character_final_pose( struct character *ch, v4f rot, + character_pose *pose, float q ) +{ + character_pose npose; + + m4x3f tr; + q_m3x3( rot, tr ); + v3_zero( 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 ); +} +#endif + +static void character_yaw_upper( struct character *ch, float yaw ) +{ + m3x3f r; + v4f q; + + q_axis_angle( q, (v3f){0.0f,1.0f,0.0f}, yaw ); + q_m3x3( q, r ); + + m3x3_mulv( r, ch->ik_body.pole, ch->ik_body.pole ); + m3x3_mulv( r, ch->ik_body.end, ch->ik_body.end ); +} + +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 */ @@ -225,7 +533,7 @@ static void character_testpose( struct character *ch, float t ) *pole = ch->ik_body.pole; hips[0] = cosf(t*1.325f)*0.25f; - hips[1] = (sinf(t)*0.2f+0.6f) * ch->parts[ k_chpart_body0 ].pivot[1]; + hips[1] = (sinf(t)*0.2f+0.6f) * ch->origins[ k_chpart_body0 ][1]; hips[2] = 0.0f; collar[0] = hips[0]; @@ -275,25 +583,413 @@ 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, m4x3f camera ) { - mesh_bind( &ch->mesh ); - + shader_character_use(); + shader_character_uPv( vg_pv ); + + vg_tex2d_bind( &tex_pallet, 0 ); + shader_character_uTexMain( 0 ); + shader_character_uOpacity( temp ); + shader_character_uCamera( camera[3] ); + shader_link_standard_ub( _shader_character.id, 2 ); + glEnable( GL_CULL_FACE ); glCullFace( GL_BACK ); + mesh_bind( &ch->mesh ); + + for( int i=4; imatrices[i] ); + mdl_draw_submesh( &ch->parts[i] ); + } + + for( int i=0; i<2; i++ ) + { + if( ch->shoes[i] ) + { + shader_character_uMdl( ch->matrices[i] ); + mdl_draw_submesh( &ch->parts[i] ); + } + else + { + shader_character_uMdl( ch->matrices[i+2] ); + mdl_draw_submesh( &ch->parts[i] ); + shader_character_uMdl( ch->matrices[i] ); + mdl_draw_submesh( &ch->parts[i+2] ); + } + } +} + +/* + * Ragdoll Stuff + */ + +static void character_rd_box( struct character *ch, enum character_part id, + v3f dims ) +{ + 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; iorigins[joint->ib]; + v3_sub( hinge, ch->ragdoll[joint->ia].co, joint->lca ); + v3_sub( hinge, ch->ragdoll[joint->ib].co, joint->lcb ); + } + + for( int i=0; iorigins[i]; + 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->origins[k_chpart_body1], 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->origins[k_chpart_body0], 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->origins[k_chpart_neck], 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->origins[k_chpart_head], 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->origins[k_chpart_arm_l0], rbs[k_chpart_arm_l0].co ); + rbs[k_chpart_arm_l0].co[2] += ua_dims[2] * 0.5f; + v3_copy( ch->origins[k_chpart_arm_l1], rbs[k_chpart_arm_l1].co ); + rbs[k_chpart_arm_l1].co[2] += la_dims[2] * 0.5f; + v3_copy( ch->origins[k_chpart_hand_l], rbs[k_chpart_hand_l].co ); + rbs[k_chpart_hand_l].co[2] += hand_dims[2] * 0.5f; + + v3_copy( ch->origins[k_chpart_arm_r0], rbs[k_chpart_arm_r0].co ); + rbs[k_chpart_arm_r0].co[2] -= ua_dims[2] * 0.5f; + v3_copy( ch->origins[k_chpart_arm_r1], rbs[k_chpart_arm_r1].co ); + rbs[k_chpart_arm_r1].co[2] -= la_dims[2] * 0.5f; + v3_copy( ch->origins[k_chpart_hand_r], 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->origins[k_chpart_leg_l0], rbs[k_chpart_leg_l0].co ); + rbs[k_chpart_leg_l0].co[1] -= ul_dims[1] * 0.5f; + v3_copy( ch->origins[k_chpart_leg_l1], rbs[k_chpart_leg_l1].co ); + rbs[k_chpart_leg_l1].co[1] -= ll_dims[1] * 0.5f; + v3_copy( ch->origins[k_chpart_foot_l], 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->origins[k_chpart_leg_r0], rbs[k_chpart_leg_r0].co ); + rbs[k_chpart_leg_r0].co[1] -= ul_dims[1] * 0.5f; + v3_copy( ch->origins[k_chpart_leg_r1], rbs[k_chpart_leg_r1].co ); + rbs[k_chpart_leg_r1].co[1] -= ll_dims[1] * 0.5f; + v3_copy( ch->origins[k_chpart_foot_r], 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->w ); + + 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; imatrices[i] ); - submodel_draw( &ch->parts[i] ); + rigidbody *rb = &ch->ragdoll[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 ) +{ + rb_solver_reset(); + + for( int i=0; iragdoll[i], &world.rb_geo ); + } + + rb_presolve_contacts( rb_contact_buffer, rb_contact_count ); + + v3f rv; + + float shoe_vel[2] = {0.0f,0.0f}; + for( int i=0; i<2; i++ ) + if( ch->shoes[i] ) + shoe_vel[i] = v3_length( ch->ragdoll[i].v ); + + /* This used to be 20 iterations */ + for( int i=0; i<10; i++ ) + { + float const k_springfactor = 1.0f/20.0f; + + rb_solve_contacts( rb_contact_buffer, rb_contact_count ); + + 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->w, dst->w ); + } + } + } + + for( int i=0; iragdoll[i] ); } -#undef FOREACH_PART -#undef MAKE_ENUM -#undef MAKE_STRING -#undef ADD_ONE #endif