X-Git-Url: https://harrygodden.com/git/?a=blobdiff_plain;f=character.h;h=df05295611492ecb41cbafafd266bf9623830c50;hb=86dbcd5796ed674ca9433cce1ace8bef322cd121;hp=39ee472ab436a5805e49f8694cd825af37215ee0;hpb=6d66c67945f84476d6ac75a0497007cc30bcf58c;p=carveJwlIkooP6JGAAIwe30JlM.git

diff --git a/character.h b/character.h
index 39ee472..df05295 100644
--- a/character.h
+++ b/character.h
@@ -4,8 +4,10 @@
 #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" };
@@ -432,6 +434,7 @@ void character_pose_blend( struct character *ch, character_pose *pose, float q )
    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 )
@@ -464,6 +467,34 @@ void character_final_pose( struct character *ch, v3f cog,
    
    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 )
 {
@@ -556,8 +587,7 @@ static void character_testpose( struct character *ch, float t )
    m4x3_identity( ch->matrices[k_chpart_wf] );
 }
 
-static float *player_cam_pos(void);
-static void character_draw( struct character *ch, float temp )
+static void character_draw( struct character *ch, float temp, m4x3f camera )
 {
    shader_character_use();
    shader_character_uPv( vg_pv );
@@ -565,7 +595,7 @@ static void character_draw( struct character *ch, float temp )
    vg_tex2d_bind( &tex_pallet, 0 );
    shader_character_uTexMain( 0 );
    shader_character_uOpacity( temp );
-   shader_character_uCamera( player_cam_pos() );
+   shader_character_uCamera( camera[3] );
    shader_link_standard_ub( _shader_character.id, 2 );
    
    glEnable( GL_CULL_FACE );
@@ -825,8 +855,7 @@ static void character_ragdoll_copypose( struct character *ch, v3f v )
       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; /* ? */
+      v3_zero( rb->w );
 
       rb_update_transform( rb );
    }
@@ -884,34 +913,29 @@ static void character_debug_ragdoll( struct character *ch )
 
 static void character_ragdoll_iter( struct character *ch )
 {
+   rb_solver_reset();
+
    for( int i=0; i<PART_COUNT; i++ )
    {
-      rb_manifold_reset( &ch->ragdoll[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; j<len; j++ )
-         rb_build_manifold_rb_static( &ch->ragdoll[i], 
-               &world.temp_rbs[colliders[j]] );
+      rb_collide( &ch->ragdoll[i], &world.rb_geo );
    }
 
+   rb_presolve_contacts( rb_contact_buffer, rb_contact_count );
+
    v3f rv;
 
-   float shoe_vel[2];
+   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 );
-
-   for( int i=0; i<20; i++ )
+   
+   /* This used to be 20 iterations */
+   for( int i=0; i<10; i++ )
    {
       float const k_springfactor = 1.0f/20.0f;
-
-      for( int j=0; j<PART_COUNT; j++ )
-         rb_constraint_manifold( &ch->ragdoll[j] );
-
+      
+      rb_solve_contacts( rb_contact_buffer, rb_contact_count );
+      
       for( int j=0; j<vg_list_size(rd_joints); j++ )
       {
          struct rd_joint *joint = &rd_joints[j];
@@ -959,7 +983,7 @@ static void character_ragdoll_iter( struct character *ch )
             v3_copy( src->co, dst->co );
             v3_copy( src->v, dst->v );
             v3_copy( src->q, dst->q );
-            v3_copy( src->I, dst->I );
+            v3_copy( src->w, dst->w );
          }
       }
    }