X-Git-Url: https://harrygodden.com/git/?a=blobdiff_plain;f=character.h;h=df05295611492ecb41cbafafd266bf9623830c50;hb=b0a4fb814d794157c55212191df200915ab99515;hp=047b714df02f62db79b113299848d467abdc2691;hpb=1656d58a7bd17df4a1edcc9677ade4dbafc82229;p=carveJwlIkooP6JGAAIwe30JlM.git

diff --git a/character.h b/character.h
index 047b714..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" };
@@ -63,7 +65,8 @@ struct character
 {
    glmesh mesh;
    
-   submodel parts[ PART_COUNT ];
+   mdl_submesh parts[ PART_COUNT ];
+   v3f origins[ PART_COUNT ];
    m4x3f matrices[ PART_COUNT ];
    
    /* Auxillary information */
@@ -96,7 +99,7 @@ struct character
 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 ] );
 }
 
@@ -105,35 +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; i<PART_COUNT; i++ )
    {
       snprintf( buf, sizeof(buf)-1, "%s_%s", name, character_part_strings[i] );
-      submodel *sm = submodel_get( src, buf );
+      mdl_node *pnode = mdl_node_from_name( src, buf );
 
-      if( !sm )
+      memset( &ch->parts[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 );
@@ -259,11 +271,16 @@ static void character_eval( struct character *ch )
    m4x3_mulv( mats[k_chpart_body1], offs[k_chpart_neck], 
          mats[k_chpart_neck][3] );
 
+#if 1
    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]);
+   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] );
@@ -417,18 +434,49 @@ 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 )
 {
    character_pose npose;
-   float dip = vg_clampf(cog[1], -1.0f, 0.3f) * 0.35f,
+   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]*0.6f );
+   q_axis_angle( rz, (v3f){0.0f,0.0f,1.0f}, -cog[0]*0.3f );
    q_m3x3( rz, tr );
-   v3_copy( (v3f){0.0f,dip,tilt}, tr[3] );
+   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 );
@@ -446,6 +494,19 @@ void character_final_pose( struct character *ch, v3f cog,
    
    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 )
 {
@@ -472,7 +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];
@@ -526,7 +587,7 @@ static void character_testpose( struct character *ch, float t )
    m4x3_identity( ch->matrices[k_chpart_wf] );
 }
 
-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 );
@@ -534,6 +595,8 @@ 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( camera[3] );
+   shader_link_standard_ub( _shader_character.id, 2 );
    
    glEnable( GL_CULL_FACE );
    glCullFace( GL_BACK );
@@ -542,8 +605,13 @@ static void character_draw( struct character *ch, float temp )
 
    for( int i=4; i<PART_COUNT; i++ )
    {
+#if 0
+      if( i == k_chpart_head || i == k_chpart_neck )
+         continue;
+#endif
+
       shader_character_uMdl( ch->matrices[i] );
-      submodel_draw( &ch->parts[i] );
+      mdl_draw_submesh( &ch->parts[i] );
    }
 
    for( int i=0; i<2; i++ )
@@ -551,14 +619,14 @@ static void character_draw( struct character *ch, float temp )
       if( ch->shoes[i] )
       {
          shader_character_uMdl( ch->matrices[i] );
-         submodel_draw( &ch->parts[i] );
+         mdl_draw_submesh( &ch->parts[i] );
       }
       else
       {
          shader_character_uMdl( ch->matrices[i+2] );
-         submodel_draw( &ch->parts[i] );
+         mdl_draw_submesh( &ch->parts[i] );
          shader_character_uMdl( ch->matrices[i] );
-         submodel_draw( &ch->parts[i+2] );
+         mdl_draw_submesh( &ch->parts[i+2] );
       }
    }
 }
@@ -651,14 +719,14 @@ static void character_init_ragdoll_joints( struct character *ch )
    {
       struct rd_joint *joint = &rd_joints[i];
       
-      float *hinge = ch->parts[joint->ib].pivot;
+      float *hinge = ch->origins[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; i<PART_COUNT; i++ )
    {
-      float *pivot = ch->parts[i].pivot;
+      float *pivot = ch->origins[i];
       v3_sub( ch->ragdoll[i].co, pivot, ch->ragdoll[i].delta );
    }
 }
@@ -675,27 +743,27 @@ static void character_init_ragdoll( struct character *ch )
    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 );
+   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->parts[k_chpart_body0].pivot, rbs[k_chpart_body0].co );
+   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->parts[k_chpart_neck].pivot, rbs[k_chpart_neck].co );
+   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->parts[k_chpart_head].pivot, rbs[k_chpart_head].co );
+   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 );
    
@@ -713,18 +781,18 @@ static void character_init_ragdoll( struct character *ch )
    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 );
+   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->parts[k_chpart_arm_l1].pivot, rbs[k_chpart_arm_l1].co );
+   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->parts[k_chpart_hand_l].pivot, rbs[k_chpart_hand_l].co );
+   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->parts[k_chpart_arm_r0].pivot, rbs[k_chpart_arm_r0].co );
+   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->parts[k_chpart_arm_r1].pivot, rbs[k_chpart_arm_r1].co );
+   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->parts[k_chpart_hand_r].pivot, rbs[k_chpart_hand_r].co );
+   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 */
@@ -741,19 +809,19 @@ static void character_init_ragdoll( struct character *ch )
    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 );
+   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->parts[k_chpart_leg_l1].pivot, rbs[k_chpart_leg_l1].co );
+   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->parts[k_chpart_foot_l].pivot, rbs[k_chpart_foot_l].co );
+   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->parts[k_chpart_leg_r0].pivot, rbs[k_chpart_leg_r0].co );
+   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->parts[k_chpart_leg_r1].pivot, rbs[k_chpart_leg_r1].co );
+   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->parts[k_chpart_foot_r].pivot, rbs[k_chpart_foot_r].co );
+   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;
 
@@ -787,8 +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 );
    }
@@ -846,34 +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];
@@ -921,7 +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 );
          }
       }
    }