X-Git-Url: https://harrygodden.com/git/?a=blobdiff_plain;f=character.h;h=df05295611492ecb41cbafafd266bf9623830c50;hb=86dbcd5796ed674ca9433cce1ace8bef322cd121;hp=94b181e053343ab7ef0f960719aa0cf0ba527271;hpb=98ecdd9f0377f1563566fe4d3d3b8185a055ec4d;p=carveJwlIkooP6JGAAIwe30JlM.git

diff --git a/character.h b/character.h
index 94b181e..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 )
 {
@@ -886,33 +917,24 @@ static void character_ragdoll_iter( struct character *ch )
 
    for( int i=0; i<PART_COUNT; i++ )
    {
-      rb_build_manifold_terrain( &ch->ragdoll[i] );
-
-      /* TODO: Cars */
-#if 0
-      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]] );
-#endif
+      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 );
    
    /* This used to be 20 iterations */
-   for( int i=0; i<5; i++ )
+   for( int i=0; i<10; i++ )
    {
       float const k_springfactor = 1.0f/20.0f;
       
-      rb_solve_contacts();
+      rb_solve_contacts( rb_contact_buffer, rb_contact_count );
       
       for( int j=0; j<vg_list_size(rd_joints); j++ )
       {