X-Git-Url: https://harrygodden.com/git/?a=blobdiff_plain;f=player_ragdoll.c;h=6f9d430c56cefff23fe7ca69ed577f8e0597327b;hb=refs%2Fheads%2Fmaster;hp=e1231bcbd6956ba83e47b70d7697d1059bf15ebb;hpb=f0ba02684dbf4722afa2dcfd491d56921162182a;p=carveJwlIkooP6JGAAIwe30JlM.git

diff --git a/player_ragdoll.c b/player_ragdoll.c
index e1231bc..6f9d430 100644
--- a/player_ragdoll.c
+++ b/player_ragdoll.c
@@ -1,9 +1,27 @@
-#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 "player_dead.h"
 #include "audio.h"
 
+static float k_ragdoll_floatyiness = 20.0f,
+             k_ragdoll_floatydrag  = 1.0f,
+             k_ragdoll_limit_scale = 1.0f,
+             k_ragdoll_spring = 127.0f,
+             k_ragdoll_dampening = 15.0f,
+             k_ragdoll_correction = 0.5f,
+             k_ragdoll_angular_drag = 0.08f,
+             k_ragdoll_active_threshold = 5.0f;
+
+static int   k_ragdoll_div = 1,
+             ragdoll_frame = 0,
+             k_ragdoll_debug_collider = 1,
+             k_ragdoll_debug_constraints = 0;
+
 static int dev_ragdoll_saveload(int argc, const char *argv[]){
    if( argc != 2 ){
       vg_info( "Usage: ragdoll load/save filepath\n" );
@@ -39,7 +57,8 @@ static int dev_ragdoll_saveload(int argc, const char *argv[]){
    return 0;
 }
 
-static void player_ragdoll_init(void){
+void player_ragdoll_init(void)
+{
    VG_VAR_F32( k_ragdoll_active_threshold );
    VG_VAR_F32( k_ragdoll_angular_drag );
    VG_VAR_F32( k_ragdoll_correction );
@@ -52,23 +71,27 @@ static void player_ragdoll_init(void){
    vg_console_reg_cmd( "ragdoll", dev_ragdoll_saveload, NULL );
 }
 
-static void player_init_ragdoll_bone_collider( struct skeleton_bone *bone,
-                                                  struct ragdoll_part *rp )
+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 +111,9 @@ 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 +121,10 @@ 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 );
@@ -112,17 +134,18 @@ 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, 4.0f );
+   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 );
 }
 
 /*
  * Get parent index in the ragdoll
  */
-static u32 ragdoll_bone_parent( struct player_ragdoll *rd, u32 bone_id ){
+u32 ragdoll_bone_parent( struct player_ragdoll *rd, u32 bone_id )
+{
    for( u32 j=0; j<rd->part_count; j++ )
       if( rd->parts[ j ].bone_id == bone_id )
          return j;
@@ -134,8 +157,9 @@ static u32 ragdoll_bone_parent( struct player_ragdoll *rd, u32 bone_id ){
 /*
  * Setup ragdoll colliders from skeleton
  */
-static void setup_ragdoll_from_skeleton( struct skeleton *sk,
-                                         struct player_ragdoll *rd ){
+void setup_ragdoll_from_skeleton( struct skeleton *sk,
+                                  struct player_ragdoll *rd )
+{
    rd->part_count = 0;
 
    if( !sk->collider_count )
@@ -187,8 +211,8 @@ 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 +225,8 @@ 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 */
@@ -230,7 +254,8 @@ static void setup_ragdoll_from_skeleton( struct skeleton *sk,
 /*
  * Make avatar copy the ragdoll
  */
-static void copy_ragdoll_pose_to_localplayer( struct player_ragdoll *rd ){
+void copy_ragdoll_pose_to_localplayer( struct player_ragdoll *rd )
+{
    for( int i=0; i<rd->part_count; i++ ){
       struct ragdoll_part *part = &rd->parts[i];
 
@@ -240,8 +265,8 @@ 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] );
@@ -274,8 +299,9 @@ static void copy_ragdoll_pose_to_localplayer( struct player_ragdoll *rd ){
 /*
  * Make the ragdoll copy the player model
  */
-static void copy_localplayer_to_ragdoll( struct player_ragdoll *rd, 
-                                         enum player_die_type type ){
+void copy_localplayer_to_ragdoll( struct player_ragdoll *rd, 
+                                  enum player_die_type type )
+{
    v3f centroid;
 
    v3f *bone_mtx = localplayer.final_mtx[localplayer.id_hip];
@@ -292,37 +318,38 @@ 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 );
    }
 }
 
 /*
  * Ragdoll physics step
  */
-static void player_ragdoll_iter( struct player_ragdoll *rd ){
+void player_ragdoll_iter( struct player_ragdoll *rd )
+{
    world_instance *world = world_current_instance();
 
    int run_sim = 0;
@@ -337,32 +364,36 @@ 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 +409,23 @@ 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;
@@ -402,12 +433,15 @@ static void player_ragdoll_iter( struct player_ragdoll *rd ){
       }
    }
 
-   if( world->water.enabled ){
-      for( int j=0; j<rd->part_count; j++ ){
+   if( localplayer.drowned )
+   {
+      for( int j=0; j<rd->part_count; j++ )
+      {
          struct ragdoll_part *pj = &rd->parts[j];
 
-         if( run_sim ){
-            rb_effect_simple_bouyency( &pj->obj.rb, world->water.plane,
+         if( run_sim )
+         {
+            rb_effect_simple_bouyency( &pj->rb, world->water.plane,
                                         k_ragdoll_floatyiness,
                                         k_ragdoll_floatydrag );
          }
@@ -429,7 +463,8 @@ static void player_ragdoll_iter( struct player_ragdoll *rd ){
       contact_velocities[i] = vn;
    }
 
-   rb_presolve_contacts( rb_contact_buffer, rb_contact_count );
+   rb_presolve_contacts( rb_contact_buffer, vg.time_fixed_delta, 
+                         rb_contact_count );
    rb_presolve_swingtwist_constraints( rd->cone_constraints,
                                        rd->cone_constraints_count );
 
@@ -437,8 +472,18 @@ 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 ){
@@ -474,19 +519,19 @@ static void player_ragdoll_iter( struct player_ragdoll *rd ){
                                          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 );
+         rb_update_matrices( &rd->parts[i].rb );
    }
 
    rb_ct *stress = NULL;
@@ -516,8 +561,6 @@ static void player_ragdoll_iter( struct player_ragdoll *rd ){
    if( run_sim && 
          (v3_length2(player_dead.v_lpf)>(k_ragdoll_active_threshold*
                                          k_ragdoll_active_threshold)) ){
-      assert( rd->cone_constraints_count == rd->position_constraints_count );
-
       mdl_keyframe anim[32];
       skeleton_sample_anim( &localplayer.skeleton, player_dead.anim_bail,
                             0.0f, anim );
@@ -560,14 +603,14 @@ static void player_ragdoll_iter( struct player_ragdoll *rd ){
 
          v3f torque;
          v3_muls( axis, F, torque );
-         v3_muladds( st->rbb->w, torque, k_rb_delta, st->rbb->w );
+         v3_muladds( st->rbb->w, torque, vg.time_fixed_delta, st->rbb->w );
 
          /* apply a adjustment to keep velocity at joint 0 */
 #if 0
          v3f wcb, vcb;
          m3x3_mulv( st->rbb->to_world, pc->lcb, wcb );
          v3_cross( torque, wcb, vcb );
-         v3_muladds( st->rbb->v, vcb, k_rb_delta, st->rbb->v );
+         v3_muladds( st->rbb->v, vcb, vg.time_fixed_delta, st->rbb->v );
 #endif
       }
    }
@@ -585,5 +628,3 @@ static void player_ragdoll_iter( struct player_ragdoll *rd ){
       audio_unlock();
    }
 }
-
-#endif /* PLAYER_RAGDOLL_C */