X-Git-Url: https://harrygodden.com/git/?a=blobdiff_plain;f=player_ragdoll.c;h=6dc171d0f28c73944b13254d43fe76f1634cfe9d;hb=refs%2Fheads%2Frigidbody;hp=e3345808923f0ed5e01fe15622dc2e24dc3b16c2;hpb=89b5a93c0fa9b72a14ce17c433127ef646ce338f;p=carveJwlIkooP6JGAAIwe30JlM.git

diff --git a/player_ragdoll.c b/player_ragdoll.c
index e334580..6dc171d 100644
--- a/player_ragdoll.c
+++ b/player_ragdoll.c
@@ -1,5 +1,8 @@
-#ifndef PLAYER_RAGDOLL_C
-#define PLAYER_RAGDOLL_C
+#pragma once
+#include "vg/vg_rigidbody.h"
+#include "vg/vg_rigidbody_collision.h"
+#include "vg/vg_rigidbody_constraints.h"
+#include "scene_rigidbody.h"
 
 #include "player.h"
 #include "audio.h"
@@ -55,20 +58,24 @@ static void player_ragdoll_init(void){
 static void player_init_ragdoll_bone_collider( struct skeleton_bone *bone,
                                                   struct ragdoll_part *rp )
 {
+   f32 k_density = 8.0f,
+       k_inertia_scale = 2.0f;
+
    m4x3_identity( rp->collider_mtx );
 
+   rp->type = bone->collider;
    if( bone->collider == k_bone_collider_box ){
       v3f delta;
       v3_sub( bone->hitbox[1], bone->hitbox[0], delta );
       v3_muls( delta, 0.5f, delta );
       v3_add( bone->hitbox[0], delta, rp->collider_mtx[3] );
 
-      v3_copy( delta, rp->obj.rb.bbx[1] );
-      v3_muls( delta, -1.0f, rp->obj.rb.bbx[0] );
+      v3_muls( delta, -1.0f, rp->inf.box[0] );
+      v3_copy( delta,        rp->inf.box[1] );
 
-      q_identity( rp->obj.rb.q );
-      rp->obj.type = k_rb_shape_box;
       rp->colour = 0xffcccccc;
+
+      rb_setbody_box( &rp->rb, rp->inf.box, k_density, k_inertia_scale );
    }
    else if( bone->collider == k_bone_collider_capsule ){
       v3f v0, v1, tx, ty;
@@ -88,9 +95,9 @@ static void player_init_ragdoll_bone_collider( struct skeleton_bone *bone,
       v1[ major_axis ] = 1.0f;
       v3_tangent_basis( v1, tx, ty );
       
-      float r = (fabsf(v3_dot(tx,v0)) + fabsf(v3_dot(ty,v0))) * 0.25f,
-            l = fabsf(v0[ major_axis ]);
-      
+      rp->inf.capsule.r = (fabsf(v3_dot(tx,v0)) + fabsf(v3_dot(ty,v0))) * 0.25f;
+      rp->inf.capsule.h = fabsf(v0[ major_axis ]);
+
       /* orientation */
       v3_muls( tx, -1.0f, rp->collider_mtx[0] );
       v3_muls( v1, -1.0f, rp->collider_mtx[1] );
@@ -98,11 +105,10 @@ static void player_init_ragdoll_bone_collider( struct skeleton_bone *bone,
       v3_add( bone->hitbox[0], bone->hitbox[1], rp->collider_mtx[3] );
       v3_muls( rp->collider_mtx[3], 0.5f, rp->collider_mtx[3] );
 
-      rp->obj.type = k_rb_shape_capsule;
-      rp->obj.inf.capsule.height = l;
-      rp->obj.inf.capsule.radius = r;
-
       rp->colour = 0xff000000 | (0xff << (major_axis*8));
+      
+      rb_setbody_capsule( &rp->rb, rp->inf.capsule.r, rp->inf.capsule.h, 
+                           k_density, k_inertia_scale );
    }
    else{
       vg_warn( "type: %u\n", bone->collider );
@@ -112,11 +118,11 @@ static void player_init_ragdoll_bone_collider( struct skeleton_bone *bone,
    m4x3_invert_affine( rp->collider_mtx, rp->inv_collider_mtx );
 
    /* Position collider into rest */
-   m3x3_q( rp->collider_mtx, rp->obj.rb.q );
-   v3_add( rp->collider_mtx[3], bone->co, rp->obj.rb.co );
-   v3_zero( rp->obj.rb.v );
-   v3_zero( rp->obj.rb.w );
-   rb_init_object( &rp->obj );
+   m3x3_q( rp->collider_mtx, rp->rb.q );
+   v3_add( rp->collider_mtx[3], bone->co, rp->rb.co );
+   v3_zero( rp->rb.v );
+   v3_zero( rp->rb.w );
+   rb_update_matrices( &rp->rb );
 }
 
 /*
@@ -187,8 +193,8 @@ static void setup_ragdoll_from_skeleton( struct skeleton *sk,
          rd->constraint_associations[conid][1] = part_id;
 
          /* Convention: rba -- parent, rbb -- child */
-         c->rba = &pp->obj.rb;
-         c->rbb = &rp->obj.rb;
+         c->rba = &pp->rb;
+         c->rbb = &rp->rb;
 
          v3f delta;
          v3_sub( bj->co, bp->co, delta );
@@ -201,8 +207,8 @@ static void setup_ragdoll_from_skeleton( struct skeleton *sk,
          struct rb_constr_swingtwist *a = 
             &rd->cone_constraints[ rd->cone_constraints_count ++ ];
 
-         a->rba = &pp->obj.rb;
-         a->rbb = &rp->obj.rb;
+         a->rba = &pp->rb;
+         a->rbb = &rp->rb;
          a->conet = cosf( inf->conet )-0.0001f;
          
          /* Store constraint in local space vectors */
@@ -240,8 +246,8 @@ static void copy_ragdoll_pose_to_localplayer( struct player_ragdoll *rd ){
       v3f co_int;
 
       float substep = vg.time_fixed_extrapolate;
-      v3_lerp( part->prev_co, part->obj.rb.co, substep, co_int );
-      q_nlerp( part->prev_q, part->obj.rb.q, substep, q_int );
+      v3_lerp( part->prev_co, part->rb.co, substep, co_int );
+      q_nlerp( part->prev_q, part->rb.q, substep, q_int );
 
       q_m3x3( q_int, mtx );
       v3_copy( co_int, mtx[3] );
@@ -292,30 +298,30 @@ static void copy_localplayer_to_ragdoll( struct player_ragdoll *rd,
 
       m4x3_mulv( bone_mtx, localplayer.skeleton.bones[bone].co, pos );
       m3x3_mulv( bone_mtx, part->collider_mtx[3], offset );
-      v3_add( pos, offset, part->obj.rb.co );
+      v3_add( pos, offset, part->rb.co );
 
       m3x3f r;
       m3x3_mul( bone_mtx, part->collider_mtx, r );
-      m3x3_q( r, part->obj.rb.q );
+      m3x3_q( r, part->rb.q );
 
       v3f ra, v;
-      v3_sub( part->obj.rb.co, centroid, ra );
+      v3_sub( part->rb.co, centroid, ra );
       v3_cross( localplayer.rb.w, ra, v );
-      v3_add( localplayer.rb.v, v, part->obj.rb.v );
+      v3_add( localplayer.rb.v, v, part->rb.v );
 
       if( type == k_player_die_type_feet ){
          if( (bone == localplayer.id_foot_l) || 
              (bone == localplayer.id_foot_r) ){
-            v3_zero( part->obj.rb.v );
+            v3_zero( part->rb.v );
          }
       }
 
-      v3_copy( localplayer.rb.w, part->obj.rb.w );
+      v3_copy( localplayer.rb.w, part->rb.w );
 
-      v3_copy( part->obj.rb.co, part->prev_co );
-      v4_copy( part->obj.rb.q, part->prev_q );
+      v3_copy( part->rb.co, part->prev_co );
+      v4_copy( part->rb.q, part->prev_q );
       
-      rb_update_transform( &part->obj.rb );
+      rb_update_matrices( &part->rb );
    }
 }
 
@@ -337,32 +343,36 @@ static void player_ragdoll_iter( struct player_ragdoll *rd ){
    
    float contact_velocities[256];
 
+   rigidbody _null = {0};
+   _null.inv_mass = 0.0f;
+   m3x3_zero( _null.iI );
+
    for( int i=0; i<rd->part_count; i ++ ){
-      v4_copy( rd->parts[i].obj.rb.q, rd->parts[i].prev_q );
-      v3_copy( rd->parts[i].obj.rb.co, rd->parts[i].prev_co );
+      v4_copy( rd->parts[i].rb.q, rd->parts[i].prev_q );
+      v3_copy( rd->parts[i].rb.co, rd->parts[i].prev_co );
 
       if( rb_global_has_space() ){
          rb_ct *buf = rb_global_buffer();
 
          int l;
          
-         if( rd->parts[i].obj.type == k_rb_shape_capsule ){
-            l = rb_capsule__scene( rd->parts[i].obj.rb.to_world,
-                                   &rd->parts[i].obj.inf.capsule,
-                                   NULL, &world->rb_geo.inf.scene, buf,
+         if( rd->parts[i].type == k_bone_collider_capsule ){
+            l = rb_capsule__scene( rd->parts[i].rb.to_world,
+                                   &rd->parts[i].inf.capsule,
+                                   NULL, world->geo_bh, buf,
                                    k_material_flag_ghosts );
          }
-         else if( rd->parts[i].obj.type == k_rb_shape_box ){
-            l = rb_box__scene( rd->parts[i].obj.rb.to_world,
-                               rd->parts[i].obj.rb.bbx,
-                               NULL, &world->rb_geo.inf.scene, buf,
+         else if( rd->parts[i].type == k_bone_collider_box ){
+            l = rb_box__scene( rd->parts[i].rb.to_world,
+                               rd->parts[i].inf.box,
+                               NULL, world->geo_bh, buf,
                                k_material_flag_ghosts );
          }
          else continue;
 
          for( int j=0; j<l; j++ ){
-            buf[j].rba = &rd->parts[i].obj.rb;
-            buf[j].rbb = &world->rb_geo.rb;
+            buf[j].rba = &rd->parts[i].rb;
+            buf[j].rbb = &_null;
          }
 
          rb_contact_count += l;
@@ -378,23 +388,23 @@ static void player_ragdoll_iter( struct player_ragdoll *rd ){
             if( !rb_global_has_space() )
                break;
 
-            if( rd->parts[j].obj.type != k_rb_shape_capsule )
+            if( rd->parts[j].type != k_bone_collider_capsule )
                continue;
 
-            if( rd->parts[i].obj.type != k_rb_shape_capsule )
+            if( rd->parts[i].type != k_bone_collider_capsule )
                continue;
 
             rb_ct *buf = rb_global_buffer();
 
-            int l = rb_capsule__capsule( rd->parts[i].obj.rb.to_world,
-                                         &rd->parts[i].obj.inf.capsule,
-                                         rd->parts[j].obj.rb.to_world,
-                                         &rd->parts[j].obj.inf.capsule,
+            int l = rb_capsule__capsule( rd->parts[i].rb.to_world,
+                                         &rd->parts[i].inf.capsule,
+                                         rd->parts[j].rb.to_world,
+                                         &rd->parts[j].inf.capsule,
                                          buf );
 
             for( int k=0; k<l; k++ ){
-               buf[k].rba = &rd->parts[i].obj.rb;
-               buf[k].rbb = &rd->parts[j].obj.rb;
+               buf[k].rba = &rd->parts[i].rb;
+               buf[k].rbb = &rd->parts[j].rb;
             }
 
             rb_contact_count += l;
@@ -407,7 +417,7 @@ static void player_ragdoll_iter( struct player_ragdoll *rd ){
          struct ragdoll_part *pj = &rd->parts[j];
 
          if( run_sim ){
-            rb_effect_simple_bouyency( &pj->obj.rb, world->water.plane,
+            rb_effect_simple_bouyency( &pj->rb, world->water.plane,
                                         k_ragdoll_floatyiness,
                                         k_ragdoll_floatydrag );
          }
@@ -437,8 +447,18 @@ static void player_ragdoll_iter( struct player_ragdoll *rd ){
     * DEBUG
     */
    if( k_ragdoll_debug_collider ){
-      for( u32 i=0; i<rd->part_count; i ++ )
-         rb_object_debug( &rd->parts[i].obj, rd->parts[i].colour );
+      for( u32 i=0; i<rd->part_count; i ++ ){
+         struct ragdoll_part *rp = &rd->parts[i];
+
+         if( rp->type == k_bone_collider_capsule ){
+            vg_line_capsule( rp->rb.to_world, 
+                             rp->inf.capsule.r, rp->inf.capsule.h, rp->colour );
+         }
+         else if( rp->type == k_bone_collider_box ){
+            vg_line_boxf_transformed( rp->rb.to_world, 
+                                      rp->inf.box, rp->colour );
+         }
+      }
    }
 
    if( k_ragdoll_debug_constraints ){
@@ -453,38 +473,40 @@ static void player_ragdoll_iter( struct player_ragdoll *rd ){
     * SOLVE CONSTRAINTS  & Integrate
     */
    if( run_sim ){
-      for( int i=0; i<12; i++ ){
-         rb_solve_contacts( rb_contact_buffer, rb_contact_count );
-         rb_solve_swingtwist_constraints( rd->cone_constraints, 
-                                          rd->cone_constraints_count );
+      /* the solver is not very quickly converging so... */
+      for( int i=0; i<40; i++ ){
+         if( i<20 ){
+            rb_solve_contacts( rb_contact_buffer, rb_contact_count );
+            rb_solve_swingtwist_constraints( rd->cone_constraints, 
+                                             rd->cone_constraints_count );
+            rb_postsolve_swingtwist_constraints( rd->cone_constraints, 
+                                                 rd->cone_constraints_count );
+         }
          rb_solve_position_constraints( rd->position_constraints, 
                                         rd->position_constraints_count );
       }
 
+      rb_correct_position_constraints( rd->position_constraints,
+                                       rd->position_constraints_count, 
+                                       k_ragdoll_correction * 0.5f );
+      rb_correct_swingtwist_constraints( rd->cone_constraints, 
+                                         rd->cone_constraints_count,
+                                         k_ragdoll_correction * 0.25f );
+
       for( int i=0; i<rd->part_count; i++ ){
-         rb_iter( &rd->parts[i].obj.rb );
+         rb_iter( &rd->parts[i].rb );
 
          v3f w;
-         v3_copy( rd->parts[i].obj.rb.w, w );
+         v3_copy( rd->parts[i].rb.w, w );
          if( v3_length2( w ) > 0.00001f ){
             v3_normalize( w );
-            v3_muladds( rd->parts[i].obj.rb.w, w, -k_ragdoll_angular_drag,
-                        rd->parts[i].obj.rb.w );
+            v3_muladds( rd->parts[i].rb.w, w, -k_ragdoll_angular_drag,
+                        rd->parts[i].rb.w );
          }
       }
 
       for( int i=0; i<rd->part_count; i++ )
-         rb_update_transform( &rd->parts[i].obj.rb );
-
-      for( int i=0; i<5; i ++ ){
-         rb_correct_swingtwist_constraints( rd->cone_constraints, 
-                                            rd->cone_constraints_count,
-                                            k_ragdoll_correction * 0.25f );
-
-         rb_correct_position_constraints( rd->position_constraints,
-                                          rd->position_constraints_count, 
-                                          k_ragdoll_correction * 0.5f );
-      }
+         rb_update_matrices( &rd->parts[i].rb );
    }
 
    rb_ct *stress = NULL;
@@ -583,5 +605,3 @@ static void player_ragdoll_iter( struct player_ragdoll *rd ){
       audio_unlock();
    }
 }
-
-#endif /* PLAYER_RAGDOLL_C */