X-Git-Url: https://harrygodden.com/git/?a=blobdiff_plain;f=player_ragdoll.h;h=3fd552471001449920d1fe49d589f5add73352d9;hb=a1056ed8198f0f5be0e0f341da8bd49aa6c47198;hp=28776c3d683e487a4410541235315208e168f5b9;hpb=da929c58442de91be106438ebf2f2daabf7f2430;p=carveJwlIkooP6JGAAIwe30JlM.git

diff --git a/player_ragdoll.h b/player_ragdoll.h
index 28776c3..3fd5524 100644
--- a/player_ragdoll.h
+++ b/player_ragdoll.h
@@ -1,113 +1,249 @@
 #ifndef PLAYER_RAGDOLL_H
 #define PLAYER_RAGDOLL_H
 
-#include "player.h"
+#define VG_GAME
+#include "vg/vg.h"
+#include "skeleton.h"
+#include "rigidbody.h"
+#include "player_model.h"
+#include "world.h"
+
+struct player_ragdoll
+{
+   struct ragdoll_part
+   {
+      u32 bone_id;
+      
+      /* Collider transform relative to bone */
+      m4x3f collider_mtx,
+            inv_collider_mtx;
+
+      u32 use_limits;
+      v3f limits[2];
+
+      rigidbody  rb;
+      u32 parent;
+      u32 colour;
+   }
+   parts[32];
+   u32 part_count;
+
+   rb_constr_pos  position_constraints[32];
+   u32            position_constraints_count;
+
+   rb_constr_swingtwist cone_constraints[32];
+   u32                  cone_constraints_count;
+
+   int shoes[2];
+};
+
+VG_STATIC void player_init_ragdoll_bone_collider( struct skeleton_bone *bone,
+                                                  struct ragdoll_part *rp )
+{
+   m4x3_identity( rp->collider_mtx );
+
+   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->rb.bbx[1] );
+      v3_muls( delta, -1.0f, rp->rb.bbx[0] );
+
+      q_identity( rp->rb.q );
+      rp->rb.type = k_rb_shape_box;
+      rp->colour = 0xffcccccc;
+   }
+   else if( bone->collider == k_bone_collider_capsule ){
+      v3f v0, v1, tx, ty;
+      v3_sub( bone->hitbox[1], bone->hitbox[0], v0 );
+
+      int major_axis = 0;
+      float largest = -1.0f;
+
+      for( int i=0; i<3; i ++ ){
+         if( fabsf( v0[i] ) > largest ){
+            largest = fabsf( v0[i] );
+            major_axis = i;
+         }
+      }
+      
+      v3_zero( v1 );
+      v1[ major_axis ] = 1.0f;
+      rb_tangent_basis( v1, tx, ty );
+      
+      float r = (fabsf(v3_dot(tx,v0)) + fabsf(v3_dot(ty,v0))) * 0.25f,
+            l = fabsf(v0[ major_axis ]);
+      
+      /* orientation */
+      v3_muls( tx, -1.0f, rp->collider_mtx[0] );
+      v3_muls( v1, -1.0f, rp->collider_mtx[1] );
+      v3_muls( ty, -1.0f, rp->collider_mtx[2] );
+      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->rb.type = k_rb_shape_capsule;
+      rp->rb.inf.capsule.height = l;
+      rp->rb.inf.capsule.radius = r;
+
+      rp->colour = 0xff000000 | (0xff << (major_axis*8));
+   }
+   else
+      vg_fatal_exit_loop( "Invalid bone collider type" );
 
-static float k_ragdoll_floatyiness = 20.0f,
-             k_ragdoll_floatydrag  = 1.0f;
+   m4x3_invert_affine( rp->collider_mtx, rp->inv_collider_mtx );
+
+   /* Position collider into rest */
+   m3x3_q( rp->collider_mtx, rp->rb.q );
+   v3_add( rp->collider_mtx[3], bone->co, rp->rb.co );
+   rp->rb.is_world = 0;
+   rb_init( &rp->rb );
+}
+
+/*
+ * Get parent index in the ragdoll
+ */
+VG_STATIC u32 ragdoll_bone_parent( struct player_ragdoll *rd,
+                                   struct player_avatar *av, u32 bone_id )
+{
+   for( u32 j=0; j<rd->part_count; j++ )
+      if( rd->parts[ j ].bone_id == bone_id )
+         return j;
+
+   vg_fatal_exit_loop( "Referenced parent bone does not have a rigidbody" );
+   return 0;
+}
 
 /*
  * Setup ragdoll colliders 
  */
-static void player_init_ragdoll( mdl_header *src )
+VG_STATIC void player_setup_ragdoll_from_avatar( struct player_ragdoll *rd,
+                                                 struct player_avatar *av )
 {
-   struct player_model *mdl = &player.mdl;
+   rd->part_count = 0;
 
-   if( !mdl->sk.collider_count )
-   {
-      mdl->ragdoll_count = 0;
+   if( !av->sk.collider_count )
       return;
-   }
 
-   mdl->ragdoll = vg_alloc(sizeof(struct ragdoll_part)*mdl->sk.collider_count);
-   mdl->ragdoll_count = 0;
+   rd->position_constraints_count = 0;
+   rd->cone_constraints_count = 0;
 
-   for( u32 i=0; i<mdl->sk.bone_count; i ++ )
-   {
-      struct skeleton_bone *bone = &mdl->sk.bones[i];
+   for( u32 i=0; i<av->sk.bone_count; i ++ ){
+      struct skeleton_bone *bone = &av->sk.bones[i];
+
+      /*
+       * Bones with colliders
+       */
+      if( !(bone->collider) )
+         continue;
+
+      if( rd->part_count > vg_list_size(rd->parts) )
+         vg_fatal_exit_loop( "Playermodel has too many colliders" );
+
+      struct ragdoll_part *rp = &rd->parts[ rd->part_count ++ ];
+      rp->bone_id = i;
+      rp->parent = 0xffffffff;
+
+      player_init_ragdoll_bone_collider( bone, rp );
       
-      if( bone->collider )
-      {
-         struct ragdoll_part *rp = &mdl->ragdoll[ mdl->ragdoll_count ++ ];
-         rp->bone_id = i;
-         
+      /*
+       * Bones with collider and parent
+       */
+      if( !bone->parent )
+         continue;
+
+      rp->parent = ragdoll_bone_parent( rd, av, bone->parent );
+      
+      
+      if( bone->orig_bone->flags & k_bone_flag_cone_constraint ){
+         struct rb_constr_pos *c = 
+            &rd->position_constraints[ rd->position_constraints_count ++ ];
+
+         struct skeleton_bone *bj = &av->sk.bones[rp->bone_id];
+         struct ragdoll_part  *pp = &rd->parts[rp->parent];
+         struct skeleton_bone *bp = &av->sk.bones[pp->bone_id];
+
+         /* Convention: rba -- parent, rbb -- child */
+         c->rba = &pp->rb;
+         c->rbb = &rp->rb;
+
          v3f delta;
-         v3_sub( bone->hitbox[1], bone->hitbox[0], delta );
-         v3_muls( delta, 0.5f, delta );
-
-         v3_add( bone->hitbox[0], delta, rp->offset );
-
-         v3_copy( delta, rp->rb.bbx[1] );
-         v3_muls( delta, -1.0f, rp->rb.bbx[0] );
-
-         q_identity( rp->rb.q );
-         v3_add( bone->co, rp->offset, rp->rb.co );
-         rp->rb.type = k_rb_shape_box;
-         rp->rb.is_world = 0;
-         rp->parent = 0xffffffff;
-
-         if( bone->parent )
-         {
-            for( u32 j=0; j<mdl->ragdoll_count; j++ )
-            {
-               if( mdl->ragdoll[ j ].bone_id == bone->parent )
-               {
-                  rp->parent = j;
-                  break;
-               }
-            }
-         }
+         v3_sub( bj->co, bp->co, delta );
+         m4x3_mulv( rp->inv_collider_mtx, (v3f){0.0f,0.0f,0.0f}, c->lcb );
+         m4x3_mulv( pp->inv_collider_mtx, delta, c->lca );
+
+
+         mdl_bone *inf = bone->orig_bone;
+
+         struct rb_constr_swingtwist *a = 
+            &rd->cone_constraints[ rd->cone_constraints_count ++ ];
+
+         a->rba = &pp->rb;
+         a->rbb = &rp->rb;
+         a->conet = cosf( inf->conet )-0.0001f;
          
-         struct mdl_node *pnode = mdl_node_from_id( src, bone->orig_node );
-         struct classtype_bone *bone_inf = mdl_get_entdata( src, pnode );
+         /* Store constraint in local space vectors */
+         m3x3_mulv( c->rba->to_local, inf->conevx, a->conevx );
+         m3x3_mulv( c->rba->to_local, inf->conevy, a->conevy );
+         m3x3_mulv( c->rbb->to_local, inf->coneva, a->coneva );
+         v3_copy( c->lca, a->view_offset );
+         
+         v3_cross( inf->coneva, inf->conevy, a->conevxb );
+         m3x3_mulv( c->rbb->to_local, a->conevxb, a->conevxb );
+
+         v3_normalize( a->conevxb );
+         v3_normalize( a->conevx );
+         v3_normalize( a->conevy );
+         v3_normalize( a->coneva );
 
-         rp->use_limits = bone_inf->use_limits;
-         v3_copy( bone_inf->angle_limits[0], rp->limits[0] );
-         v3_copy( bone_inf->angle_limits[1], rp->limits[1] );
+         a->conevx[3] = v3_length( inf->conevx );
+         a->conevy[3] = v3_length( inf->conevy );
 
-         rb_init( &rp->rb );
+         rp->use_limits = 1;
       }
    }
 }
 
 /*
- * Make the player model copy the ragdoll
+ * Make avatar copy the ragdoll
  */
-static void player_model_copy_ragdoll(void)
+VG_STATIC void copy_ragdoll_pose_to_avatar( struct player_ragdoll *rd,
+                                            struct player_avatar *av )
 {
-   struct player_model *mdl = &player.mdl;
-
-   for( int i=0; i<mdl->ragdoll_count; i++ )
-   {
-      struct ragdoll_part *part = &mdl->ragdoll[i];
+   for( int i=0; i<rd->part_count; i++ ){
+      struct ragdoll_part *part = &rd->parts[i];
       m4x3f offset;
       m3x3_identity(offset);
-      v3_negate( part->offset, offset[3] );
-      m4x3_mul( part->rb.to_world, offset, mdl->sk.final_mtx[part->bone_id] );
+      m4x3_mul( part->rb.to_world, part->inv_collider_mtx, 
+                  av->sk.final_mtx[part->bone_id] );
    }
 
-   skeleton_apply_inverses( &mdl->sk );
+   skeleton_apply_inverses( &av->sk );
 }
 
 /*
  * Make the ragdoll copy the player model
  */
-static void player_ragdoll_copy_model( v3f v )
+VG_STATIC void copy_avatar_pose_to_ragdoll( struct player_avatar *av,
+                                            struct player_ragdoll *rd,
+                                            v3f velocity )
 {
-   struct player_model *mdl = &player.mdl;
-
-   for( int i=0; i<mdl->ragdoll_count; i++ )
-   {
-      struct ragdoll_part *part = &mdl->ragdoll[i];
+   for( int i=0; i<rd->part_count; i++ ){
+      struct ragdoll_part *part = &rd->parts[i];
 
       v3f pos, offset;
       u32 bone = part->bone_id;
-      
-      m4x3_mulv( mdl->sk.final_mtx[bone], mdl->sk.bones[bone].co, pos );
-      m3x3_mulv( mdl->sk.final_mtx[bone], part->offset, offset );
+
+      m4x3_mulv( av->sk.final_mtx[bone], av->sk.bones[bone].co, pos );
+      m3x3_mulv( av->sk.final_mtx[bone], part->collider_mtx[3], offset );
       v3_add( pos, offset, part->rb.co );
-      m3x3_q( mdl->sk.final_mtx[bone], part->rb.q );
-      v3_copy( v, part->rb.v );
+
+      m3x3f r;
+      m3x3_mul( av->sk.final_mtx[bone], part->collider_mtx, r );
+      m3x3_q( r, part->rb.q );
+
+      v3_copy( velocity, part->rb.v );
       v3_zero( part->rb.w );
       
       rb_update_transform( &part->rb );
@@ -117,98 +253,144 @@ static void player_ragdoll_copy_model( v3f v )
 /*
  * Draw rigidbody colliders for ragdoll
  */
-static void player_debug_ragdoll(void)
+VG_STATIC void player_debug_ragdoll(void)
 {
-   struct player_model *mdl = &player.mdl;
-
-   for( u32 i=0; i<mdl->ragdoll_count; i ++ )
-      rb_debug( &mdl->ragdoll[i].rb, 0xff00ff00 );
 }
 
 /*
  * Ragdoll physics step
  */
-static void player_ragdoll_iter(void)
+VG_STATIC void player_ragdoll_iter( struct player_ragdoll *rd )
 {
-   struct player_model *mdl = &player.mdl;
+   world_instance *world = get_active_world();
+
+   int run_sim = 0;
+   ragdoll_frame ++;
+
+   if( ragdoll_frame >= k_ragdoll_div ){
+      ragdoll_frame = 0;
+      run_sim = 1;
+   }
+
    rb_solver_reset();
+   for( int i=0; i<rd->part_count; i ++ ){
+      if( rb_global_has_space() ){
+         rb_ct *buf = rb_global_buffer();
+
+         int l;
+         
+         if( rd->parts[i].rb.type == k_rb_shape_capsule ){
+            l = rb_capsule__scene( rd->parts[i].rb.to_world,
+                                   &rd->parts[i].rb.inf.capsule,
+                                   NULL, &world->rb_geo.inf.scene, buf );
+         }
+         else if( rd->parts[i].rb.type == k_rb_shape_box ){
+            l = rb_box__scene( rd->parts[i].rb.to_world,
+                               rd->parts[i].rb.bbx,
+                               NULL, &world->rb_geo.inf.scene, buf );
+         }
+         else continue;
 
-   for( int i=0; i<mdl->ragdoll_count; i ++ )
-      rb_collide( &mdl->ragdoll[i].rb, &world.rb_geo );
+         for( int j=0; j<l; j++ ){
+            buf[j].rba = &rd->parts[i].rb;
+            buf[j].rbb = &world->rb_geo;
+         }
 
-   rb_presolve_contacts( rb_contact_buffer, rb_contact_count );
+         rb_contact_count += l;
+      }
+   }
 
-   v3f rv;
+   /* 
+    * self-collision
+    */
+   for( int i=0; i<rd->part_count-1; i ++ ){
+      for( int j=i+1; j<rd->part_count; j ++ ){
+         if( rd->parts[j].parent != i ){
+            if( !rb_global_has_space() )
+               break;
 
-#if 0
-   float shoe_vel[2] = {0.0f,0.0f};
-   for( int i=0; i<2; i++ )
-      if( mdl->shoes[i] )
-         shoe_vel[i] = v3_length( mdl->ragdoll[i].rb.v );
-#endif
-   
-   for( int j=0; j<mdl->ragdoll_count; j++ )
-   {
-      struct ragdoll_part *pj = &mdl->ragdoll[j];
-      struct skeleton_bone *bj = &mdl->sk.bones[pj->bone_id];
+            if( rd->parts[j].rb.type != k_rb_shape_capsule )
+               continue;
 
-      if( pj->parent != 0xffffffff )
-      {
-         struct ragdoll_part *pp = &mdl->ragdoll[pj->parent];
-         struct skeleton_bone *bp = &mdl->sk.bones[pp->bone_id];
+            if( rd->parts[i].rb.type != k_rb_shape_capsule )
+               continue;
 
-         v3f lca, lcb;
-         v3_negate( pj->offset, lca );
-         v3_add( bp->co, pp->offset, lcb );
-         v3_sub( bj->co, lcb, lcb );
+            rb_ct *buf = rb_global_buffer();
 
-         rb_debug_constraint_position( &pj->rb, lca, &pp->rb, lcb );
+            int l = rb_capsule__capsule( rd->parts[i].rb.to_world,
+                                         &rd->parts[i].rb.inf.capsule,
+                                         rd->parts[j].rb.to_world,
+                                         &rd->parts[j].rb.inf.capsule,
+                                         buf );
 
-         if( pj->use_limits )
-         {
-            rb_debug_constraint_limits( &pj->rb, &pp->rb, lca, pj->limits );
+            for( int k=0; k<l; k++ ){
+               buf[k].rba = &rd->parts[i].rb;
+               buf[k].rbb = &rd->parts[j].rb;
+            }
+
+            rb_contact_count += l;
          }
       }
-
-      v4f plane = {0.0f,1.0f,0.0f,0.0f};
-      rb_effect_simple_bouyency( &pj->rb, plane, k_ragdoll_floatyiness,
-                                                 k_ragdoll_floatydrag );
    }
 
-   /* CONSTRAINTS */
-   for( int i=0; i<10; i++ )
-   {
-      rb_solve_contacts( rb_contact_buffer, rb_contact_count );
+   for( int j=0; j<rd->part_count; j++ ){
+      struct ragdoll_part *pj = &rd->parts[j];
 
-      for( int j=0; j<mdl->ragdoll_count; j++ )
-      {
-         struct ragdoll_part *pj = &mdl->ragdoll[j];
-         struct skeleton_bone *bj = &mdl->sk.bones[pj->bone_id];
+      if( run_sim ){
+         v4f plane = {0.0f,1.0f,0.0f,0.0f};
+         rb_effect_simple_bouyency( &pj->rb, plane, k_ragdoll_floatyiness,
+                                                    k_ragdoll_floatydrag );
+      }
+   }
 
-         if( (pj->parent != 0xffffffff) && pj->use_limits )
-         {
-            struct ragdoll_part *pp = &mdl->ragdoll[pj->parent];
-            struct skeleton_bone *bp = &mdl->sk.bones[pp->bone_id];
+   /*
+    * PRESOLVE
+    */
+   rb_presolve_contacts( rb_contact_buffer, rb_contact_count );
+   rb_presolve_swingtwist_constraints( rd->cone_constraints,
+                                       rd->cone_constraints_count );
+
+   /* 
+    * DEBUG
+    */
+   if( k_ragdoll_debug_collider ){
+      for( u32 i=0; i<rd->part_count; i ++ )
+         rb_debug( &rd->parts[i].rb, rd->parts[i].colour );
+   }
 
-            v3f lca, lcb;
-            v3_negate( pj->offset, lca );
-            v3_add( bp->co, pp->offset, lcb );
-            v3_sub( bj->co, lcb, lcb );
+   if( k_ragdoll_debug_constraints ){
+      rb_debug_position_constraints( rd->position_constraints, 
+                                     rd->position_constraints_count );
 
-            rb_constraint_position( &pj->rb, lca, &pp->rb, lcb );
+      rb_debug_swingtwist_constraints( rd->cone_constraints,
+                                       rd->cone_constraints_count );
+   }
 
-            rb_constraint_limits( &pj->rb, lca, &pp->rb, lcb, pj->limits );
-         }
+   /*
+    * SOLVE CONSTRAINTS 
+    */
+   if( run_sim ){
+      for( int i=0; i<16; i++ ){
+         rb_solve_contacts( rb_contact_buffer, rb_contact_count );
+         rb_solve_swingtwist_constraints( rd->cone_constraints, 
+                                          rd->cone_constraints_count );
+         rb_solve_position_constraints( rd->position_constraints, 
+                                        rd->position_constraints_count );
       }
+
+      for( int i=0; i<rd->part_count; i++ )
+         rb_iter( &rd->parts[i].rb );
+
+      for( int i=0; i<rd->part_count; i++ )
+         rb_update_transform( &rd->parts[i].rb );
+
+      rb_correct_swingtwist_constraints( rd->cone_constraints, 
+                                         rd->cone_constraints_count, 0.25f );
+
+      rb_correct_position_constraints( rd->position_constraints,
+                                       rd->position_constraints_count, 0.5f );
    }
 
-   /* INTEGRATION */
-   for( int i=0; i<mdl->ragdoll_count; i++ )
-      rb_iter( &mdl->ragdoll[i].rb );
-   
-   /* SHOES */
-   for( int i=0; i<mdl->ragdoll_count; i++ )
-      rb_update_transform( &mdl->ragdoll[i].rb );
 }
 
 #endif /* PLAYER_RAGDOLL_H */