-#ifndef CHARACTER_H
-#define CHARACTER_H
-
-#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" };
-
-static void character_register(void)
-{
- shader_character_register();
-}
-
-static void character_init(void)
-{
- vg_tex2d_init( (vg_tex2d *[]){ &tex_pallet }, 1 );
-}
-
-#define FOREACH_PART(FN) \
- FN( foot_l ) \
- FN( foot_r ) \
- FN( sock_l ) \
- FN( sock_r ) \
- FN( body0 ) \
- FN( body1 ) \
- FN( neck ) \
- FN( head ) \
- FN( arm_l0 ) \
- FN( arm_l1 ) \
- FN( hand_l ) \
- FN( arm_r0 ) \
- FN( arm_r1 ) \
- FN( hand_r ) \
- FN( leg_l0 ) \
- FN( leg_l1 ) \
- FN( leg_r0 ) \
- FN( leg_r1 ) \
- FN( wf ) \
- FN( wb ) \
- FN( board ) \
-
-#define MAKE_ENUM(ENUM) k_chpart_##ENUM,
-#define MAKE_STRING(STR) #STR,
-#define ADD_ONE(_) +1
-#define PART_COUNT FOREACH_PART(ADD_ONE)
-
-
-enum character_part
-{
- FOREACH_PART( MAKE_ENUM )
-};
-
-static const char *character_part_strings[] =
-{
- FOREACH_PART( MAKE_STRING )
-};
-
-struct character
-{
- glmesh mesh;
-
- mdl_submesh parts[ PART_COUNT ];
- v3f origins[ PART_COUNT ];
- m4x3f matrices[ PART_COUNT ];
-
- /* Auxillary information */
- v3f offsets[ PART_COUNT ];
- rigidbody ragdoll[ PART_COUNT ];
-
- /*
- * Controls
- * note: - base nodes of IK structures will be filled automatically
- * - all positions are in local space to the mroot
- */
- struct ik_basic ik_arm_l, ik_arm_r,
- ik_leg_l, ik_leg_r,
- ik_body;
- v3f cam_pos;
-
- v4f qhead;
- float rhip, rcollar, /* twist of hip and collar controls,
- these act in the local +y axis of the part */
- rhead,
- rfootl, rfootr,
- rhandl, rhandr;
-
- v3f ground_normal; /* Feet will be aligned to this */
- m4x3f mroot;
-
- int shoes[2];
-};
-
-static void character_offset( struct character *ch, enum character_part parent,
- enum character_part child )
-{
- v3_sub( ch->origins[ child ], ch->origins[ parent ],
- ch->offsets[ child ] );
-}
-
-static int character_load( struct character *ch, const char *name )
-{
- char buf[64];
-
- snprintf( buf, sizeof(buf)-1, "models/%s.mdl", name );
- mdl_header *src = mdl_load( buf );
-
- if( !src )
- 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] );
- mdl_node *pnode = mdl_node_from_name( src, buf );
-
- 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 ++;
- 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] );
- }
-
- mdl_unpack_glmesh( src, &ch->mesh );
-
- if( !error_count )
- vg_success( "Loaded character file '%s' with no errors\n", name );
-
- /* Create the offsets */
- character_offset( ch, k_chpart_body0, k_chpart_body1 );
- character_offset( ch, k_chpart_body1, k_chpart_neck );
- character_offset( ch, k_chpart_neck, k_chpart_head );
-
- character_offset( ch, k_chpart_body1, k_chpart_arm_l0 );
- character_offset( ch, k_chpart_arm_l0, k_chpart_arm_l1 );
- character_offset( ch, k_chpart_arm_l1, k_chpart_hand_l );
-
- character_offset( ch, k_chpart_body1, k_chpart_arm_r0 );
- character_offset( ch, k_chpart_arm_r0, k_chpart_arm_r1 );
- character_offset( ch, k_chpart_arm_r1, k_chpart_hand_r );
-
- character_offset( ch, k_chpart_body0, k_chpart_leg_l0 );
- character_offset( ch, k_chpart_leg_l0, k_chpart_leg_l1 );
- character_offset( ch, k_chpart_leg_l1, k_chpart_foot_l );
-
- character_offset( ch, k_chpart_body0, k_chpart_leg_r0 );
- character_offset( ch, k_chpart_leg_r0, k_chpart_leg_r1 );
- character_offset( ch, k_chpart_leg_r1, k_chpart_foot_r );
-
- character_offset( ch, k_chpart_board, k_chpart_wb );
- character_offset( ch, k_chpart_board, k_chpart_wf );
-
- ch->ik_arm_l.l1 = v3_length( ch->offsets[ k_chpart_arm_l1 ] );
- ch->ik_arm_l.l2 = v3_length( ch->offsets[ k_chpart_hand_l ] );
- ch->ik_arm_r.l1 = v3_length( ch->offsets[ k_chpart_arm_r1 ] );
- ch->ik_arm_r.l2 = v3_length( ch->offsets[ k_chpart_hand_r ] );
-
- ch->ik_leg_l.l1 = v3_length( ch->offsets[ k_chpart_leg_l1 ] );
- ch->ik_leg_l.l2 = v3_length( ch->offsets[ k_chpart_foot_l ] );
- ch->ik_leg_r.l1 = v3_length( ch->offsets[ k_chpart_leg_r1 ] );
- ch->ik_leg_r.l2 = v3_length( ch->offsets[ k_chpart_foot_r ] );
-
- ch->ik_body.l1 = v3_length( ch->offsets[ k_chpart_body1 ] );
- ch->ik_body.l2 = v3_length( ch->offsets[ k_chpart_neck ] );
-
- free( src );
- return 1;
-}
-
-static void align_to_board( struct character *ch, enum character_part id )
-{
- /* Calculate rotation between board and feet */
- m4x3f *mats = ch->matrices;
-
- v3f foot_pos, foot_fwd, foot_target, board_norm, board_origin;
- v3_copy( mats[id][3], foot_pos );
- m3x3_mulv( mats[id], (v3f){1.0f,0.0f,0.0f}, foot_fwd );
- v3_add( foot_fwd, foot_pos, foot_target );
-
- m3x3_mulv( mats[k_chpart_board], (v3f){0.0f,1.0f,0.0f}, board_norm );
- m4x3_mulv( mats[k_chpart_board], (v3f){0.0f,0.13f,0.0f}, board_origin );
-
- vg_line( foot_pos, foot_target, 0xff00ff00 );
-
- v3f v0;
- v3_sub( board_origin, foot_target, v0 );
- float t = v3_dot( v0, board_norm ) / board_norm[1];
- foot_target[1] += t;
- vg_line( foot_pos, foot_target, 0xff00ffff );
-
- v3_sub( foot_target, foot_pos, foot_target );
- v3_normalize( foot_target );
- float ang = acosf( v3_dot( foot_target, foot_fwd ) );
-
- v4f qcorrection; m3x3f correction;
- q_axis_angle( qcorrection, (v3f){0.0f,0.0f,1.0f}, -ang );
- q_m3x3( qcorrection, correction );
- m3x3_mul( mats[id], correction, mats[id] );
-}
-
-static void character_eval( struct character *ch )
-{
- m4x3f *mats = ch->matrices;
- v3f *offs = ch->offsets;
-
- ik_basic( &ch->ik_body, mats[k_chpart_body0], mats[k_chpart_body1],
- k_ikY, k_ikX );
-
- m3x3f temp;
- v4f body_rotation;
- /* TODO: Do this directly via m3x3 */
-
- q_axis_angle( body_rotation, (v3f){0.0f,1.0f,0.0f}, ch->rhip );
- q_m3x3( body_rotation, temp );
- m3x3_mul( mats[k_chpart_body0], temp, mats[k_chpart_body0] );
-
- q_axis_angle( body_rotation, (v3f){0.0f,1.0f,0.0f}, ch->rcollar );
- q_m3x3( body_rotation, temp );
- m3x3_mul( mats[k_chpart_body1], temp, mats[k_chpart_body1] );
-
- /* Setup aux */
- m4x3_mulv( mats[k_chpart_body0], offs[k_chpart_leg_l0], ch->ik_leg_l.base );
- m4x3_mulv( mats[k_chpart_body0], offs[k_chpart_leg_r0], ch->ik_leg_r.base );
- m4x3_mulv( mats[k_chpart_body1], offs[k_chpart_arm_l0], ch->ik_arm_l.base );
- m4x3_mulv( mats[k_chpart_body1], offs[k_chpart_arm_r0], ch->ik_arm_r.base );
-
- /* IK for arms and legs */
- ik_basic( &ch->ik_arm_l, mats[k_chpart_arm_l0], mats[k_chpart_arm_l1],
- k_ikZ, k_ikY );
- ik_basic( &ch->ik_arm_r, mats[k_chpart_arm_r0], mats[k_chpart_arm_r1],
- k_iknZ, k_ikY );
- ik_basic( &ch->ik_leg_l, mats[k_chpart_leg_l0], mats[k_chpart_leg_l1],
- k_ikY, k_iknX );
- ik_basic( &ch->ik_leg_r, mats[k_chpart_leg_r0], mats[k_chpart_leg_r1],
- k_ikY, k_iknX );
-
- /* Hands */
- m3x3_copy( mats[k_chpart_arm_l1], mats[k_chpart_hand_l] );
- m3x3_copy( mats[k_chpart_arm_r1], mats[k_chpart_hand_r] );
- m4x3_mulv( mats[k_chpart_arm_l1], offs[k_chpart_hand_l],
- mats[k_chpart_hand_l][3] );
- m4x3_mulv( mats[k_chpart_arm_r1], offs[k_chpart_hand_r],
- mats[k_chpart_hand_r][3] );
-
- /* Neck / Head */
- m3x3_copy( mats[k_chpart_body1], mats[k_chpart_neck] );
- 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] );
- 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] );
- m3x3_copy( mats[k_chpart_leg_r1], mats[k_chpart_foot_r] );
- m4x3_mulv( mats[k_chpart_leg_l1], offs[k_chpart_foot_l],
- mats[k_chpart_foot_l][3] );
- m4x3_mulv( mats[k_chpart_leg_r1], offs[k_chpart_foot_r],
- mats[k_chpart_foot_r][3] );
-
- align_to_board( ch, k_chpart_foot_l );
- align_to_board( ch, k_chpart_foot_r );
-
- for( int i=0; i<PART_COUNT; i++ )
- m4x3_mul( ch->mroot, ch->matrices[i], ch->matrices[i] );
-}
-
-#define B3D_CO( X, Y, Z ) (v3f){ X, Z, -Y }
-
-typedef struct character_pose character_pose;
-struct character_pose
-{
- v3f b0, b1, p, fr, fl, pl, pr, hl, hr, apl, apr, cam;
-};
-
-static character_pose pose_aero =
-{
- .b0 = {0.0721f, 0.8167f, 0.1365f},
- .b1 = {-0.0773f, 1.1559f, -0.1699f},
- .p = {0.0421f, 1.1430f, 0.2803f},
- .fr = {0.0535f, 0.1312f, -0.3647f},
- .fl = {-0.0605f, 0.1464f, 0.2917f},
- .pl = {-0.1704f, 0.6889f, -0.4017f},
- .pr = {0.0672f, 0.7598f, -0.5963f},
- .hl = {-0.2153f, 0.7195f, -0.1345f},
- .hr = {0.1974f, 0.7940f, -0.3522f},
- .apl = {-0.2008f, 0.9546f, 0.3687f},
- .apr = {0.3133f, 0.9299f, 0.0181f},
- .cam = {-0.3394f, 1.2661f, 0.2936f}
-};
-
-static character_pose pose_slide =
-{
- .b0 = {0.6732f, 0.5565f, -0.0000f},
- .b1 = {0.8116f, 1.0547f, 0.0613f},
- .p = {1.0404f, 0.7907f, 0.0186f},
- .fr = {-0.0030f, 0.1366f, -0.4461f},
- .fl = {-0.0030f, 0.1366f, 0.3480f},
- .pl = {-0.0887f, 0.8229f, 0.3826f},
- .pr = {-0.0887f, 0.8229f, -0.4621f},
- .hl = {0.7749f, 0.5545f, 0.5310f},
- .hr = {0.5844f, 1.2445f, -0.5456f},
- .apl = {1.0999f, 0.5390f, 0.2398f},
- .apr = {0.9816f, 0.9536f, -0.5463f},
- .cam = {0.9888f, 1.4037f, 0.6081f}
-};
-
-static character_pose pose_slide1 =
-{
- .b0 = {-0.2385f, 0.6403f, 0.1368f},
- .b1 = {-0.5151f, 1.1351f, 0.1380f},
- .p = {-0.1158f, 1.2118f, 0.3895f},
- .fr = {-0.0030f, 0.1323f, -0.3190f},
- .fl = {-0.0030f, 0.1323f, 0.5797f},
- .pl = {-0.6568f, 0.4305f, 0.2069f},
- .pr = {-0.6850f, 0.2740f, -0.2969f},
- .hl = {-0.7029f, 0.6132f, 0.2972f},
- .hr = {-0.2572f, 1.0104f, -0.4770f},
- .apl = {-0.4808f, 0.8480f, 0.3731f},
- .apr = {-0.0836f, 1.0480f, -0.1201f},
- .cam = {-1.0508f, 1.0769f, 0.0528f}
-};
-
-static character_pose pose_aero_reverse =
-{
- .b0 = {0.0616f, 0.8167f, -0.1415f},
- .b1 = {0.0148f, 1.1559f, 0.1861f},
- .p = {0.0558f, 1.1430f, -0.2779f},
- .fr = {0.0535f, 0.1312f, -0.3647f},
- .fl = {0.0730f, 0.1464f, 0.2917f},
- .pl = {-0.2073f, 0.6889f, 0.3839f},
- .pr = {-0.3584f, 0.4069f, 0.1032f},
- .hl = {0.1567f, 0.7195f, 0.1997f},
- .hr = {-0.3055f, 0.7940f, 0.2639f},
- .apl = {0.3143f, 0.9546f, -0.2784f},
- .apr = {-0.2885f, 0.9299f, -0.1236f},
- .cam = {-0.3394f, 1.2661f, -0.2936f}
-};
-
-static character_pose pose_stand =
-{
- .b0 = {0.1877f, 1.0663f, 0.0063f},
- .b1 = {0.0499f, 1.5564f, -0.0584f},
- .p = {0.5982f, 1.2810f, 0.0842f},
- .fr = {0.0535f, 0.1312f, -0.3647f},
- .fl = {0.0354f, 0.1464f, 0.2917f},
- .pl = {-0.4325f, 0.6889f, 0.1823f},
- .pr = {-0.4794f, 0.7598f, -0.3610f},
- .hl = {0.0498f, 1.0058f, 0.2317f},
- .hr = {0.0188f, 0.9786f, -0.2725f},
- .apl = {0.2898f, 1.3453f, 0.2303f},
- .apr = {0.5273f, 1.2876f, -0.1848f},
- .cam = {-0.3477f, 1.5884f, -0.0019f}
-};
-
-static character_pose pose_stand_reverse =
-{
- .b0 = {0.1624f, 1.0688f, -0.0632f},
- .b1 = {0.0499f, 1.5564f, -0.0013f},
- .p = {0.5423f, 1.2810f, -0.2368f},
- .fr = {0.0535f, 0.1312f, -0.3647f},
- .fl = {0.0354f, 0.1464f, 0.2917f},
- .pl = {-0.4325f, 0.6889f, 0.4591f},
- .pr = {-0.4794f, 0.7598f, -0.0842f},
- .hl = {0.0498f, 1.0058f, 0.2317f},
- .hr = {0.0188f, 0.9786f, -0.2725f},
- .apl = {0.2898f, 1.3453f, 0.0695f},
- .apr = {0.4715f, 1.2876f, -0.4982f},
- .cam = {-0.3477f, 1.5884f, -0.0730f}
-};
-
-static character_pose pose_fly =
-{
- .b0 = {0.2995f, 0.6819f, -0.1369f},
- .b1 = {0.1618f, 1.1720f, -0.2016f},
- .p = {0.7477f, 0.9173f, -0.1885f},
- .fr = {0.0535f, 0.1312f, -0.3647f},
- .fl = {0.0354f, 0.1464f, 0.2917f},
- .pl = {-0.2930f, 0.4849f, 0.5307f},
- .pr = {-0.4754f, 0.4124f, -0.4874f},
- .hl = {0.2650f, 1.1897f, 0.4626f},
- .hr = {0.2494f, 1.2059f, -0.7985f},
- .apl = {0.5165f, 1.0990f, 0.1655f},
- .apr = {0.6759f, 1.0661f, -0.6014f},
- .cam = {-0.2727f, 1.2606f, 0.3564f}
-};
-
-static
-void character_pose_blend( struct character *ch, character_pose *pose, float q )
-{
- v3_muladds( ch->ik_body.base, pose->b0, q, ch->ik_body.base );
- v3_muladds( ch->ik_body.end, pose->b1, q, ch->ik_body.end );
- v3_muladds( ch->ik_body.pole, pose->p, q, ch->ik_body.pole );
- v3_muladds( ch->ik_leg_l.end, pose->fl, q, ch->ik_leg_l.end );
- v3_muladds( ch->ik_leg_l.pole, pose->pl, q, ch->ik_leg_l.pole );
- v3_muladds( ch->ik_leg_r.end, pose->fr, q, ch->ik_leg_r.end );
- v3_muladds( ch->ik_leg_r.pole, pose->pr, q, ch->ik_leg_r.pole );
- v3_muladds( ch->ik_arm_l.pole, pose->apl, q, ch->ik_arm_l.pole );
- v3_muladds( ch->ik_arm_r.pole, pose->apr, q, ch->ik_arm_r.pole );
- v3_muladds( ch->ik_arm_l.end, pose->hl, q, ch->ik_arm_l.end );
- v3_muladds( ch->ik_arm_r.end, pose->hr, q, ch->ik_arm_r.end );
- 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) * 0.5f,
- 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]*0.3f );
- q_m3x3( rz, tr );
- 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 );
- 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 )
-{
- 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 )
-{
- v3_zero( ik->base );
- v3_zero( ik->end );
- v3_zero( ik->pole );
-}
-
-static void character_pose_reset( struct character *ch )
-{
- zero_ik_basic( &ch->ik_body );
- zero_ik_basic( &ch->ik_leg_l );
- zero_ik_basic( &ch->ik_leg_r );
- zero_ik_basic( &ch->ik_arm_l );
- zero_ik_basic( &ch->ik_arm_r );
- v3_zero( ch->cam_pos );
-}
-
-static void character_testpose( struct character *ch, float t )
-{
- /* Body */
- float *hips = ch->ik_body.base,
- *collar = ch->ik_body.end,
- *pole = ch->ik_body.pole;
-
- hips[0] = cosf(t*1.325f)*0.25f;
- hips[1] = (sinf(t)*0.2f+0.6f) * ch->origins[ k_chpart_body0 ][1];
- hips[2] = 0.0f;
-
- collar[0] = hips[0];
- collar[1] = hips[1] + (ch->ik_body.l1+ch->ik_body.l2)*(sinf(t)*0.05f+0.94f);
- collar[2] = hips[2] + cosf(t*0.42f)*0.01f;
-
- v3_add( hips, collar, pole );
- v3_muls( pole, 0.5f, pole );
- v3_add( pole, (v3f){ 1.0f, 0.0f, 0.0f }, pole );
-
- /* Legs */
- float *footl = ch->ik_leg_l.end,
- *footr = ch->ik_leg_r.end,
- *polel = ch->ik_leg_l.pole,
- *poler = ch->ik_leg_r.pole;
-
- footl[0] = sinf(t*0.563f);
- footl[1] = 0.0f;
- footl[2] = 0.0f;
-
- footr[0] = 0.0f;
- footr[1] = 0.0f;
- footr[2] = cosf(t*0.672f);
-
- v3_add( hips, footl, polel );
- v3_muls( polel, 0.4f, polel );
- v3_add( polel, (v3f){ -1.0f,0.0f,0.0f }, polel );
-
- v3_add( hips, footr, poler );
- v3_muls( poler, 0.4f, poler );
- v3_add( poler, (v3f){ -1.0f,0.0f,0.0f }, poler );
-
- /* Arms */
- float *arml = ch->ik_arm_l.end,
- *armr = ch->ik_arm_r.end;
- polel = ch->ik_arm_l.pole;
- poler = ch->ik_arm_r.pole;
-
- v3_copy( (v3f){ 0.0f, 0.0f, 1.0f }, arml );
- v3_copy( (v3f){ 0.0f, 0.0f,-1.0f }, armr );
- v3_copy( (v3f){ 1.0f, 1.0f, 0.5f }, polel );
- v3_copy( (v3f){ 1.0f, 1.0f,-0.5f }, poler );
-
- /* Other */
- ch->rhip = sinf(t*0.2f);
- ch->rcollar = sinf(t*0.35325f);
- q_identity( ch->qhead );
-
- m4x3_identity( ch->matrices[k_chpart_board] );
- m4x3_identity( ch->matrices[k_chpart_wb] );
- m4x3_identity( ch->matrices[k_chpart_wf] );
-}
-
-static void character_draw( struct character *ch, float temp, m4x3f camera )
-{
- shader_character_use();
- shader_character_uPv( vg_pv );
-
- 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 );
-
- mesh_bind( &ch->mesh );
-
- 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] );
- mdl_draw_submesh( &ch->parts[i] );
- }
-
- for( int i=0; i<2; i++ )
- {
- if( ch->shoes[i] )
- {
- shader_character_uMdl( ch->matrices[i] );
- mdl_draw_submesh( &ch->parts[i] );
- }
- else
- {
- shader_character_uMdl( ch->matrices[i+2] );
- mdl_draw_submesh( &ch->parts[i] );
- shader_character_uMdl( ch->matrices[i] );
- mdl_draw_submesh( &ch->parts[i+2] );
- }
- }
-}
-
-/*
- * Ragdoll Stuff
- */
-
-static void character_rd_box( struct character *ch, enum character_part id,
- v3f dims )
-{
- v3_muls( dims, -0.5f, ch->ragdoll[id].bbx[0] );
- v3_muls( dims, 0.5f, ch->ragdoll[id].bbx[1] );
-}
-
-struct rd_joint
-{
- enum character_part ia, ib;
- v3f lca, lcb;
-
- struct rd_joint_axis
- {
- v3f va, vb;
- float spring, ang;
- }
- min, maj;
-};
-
-static const float k_human_major = 0.5f,
- k_human_minor = 0.5f,
- k_human_major_max = 0.4f,
- k_human_minor_max = 0.1f;
-
-#define HUMAN_VERTICAL_DEFAULT \
-.min = { \
- .va = {1.0f,0.0f,0.0f}, .vb = {1.0f,0.0f,0.0f}, \
- .spring = k_human_minor, .ang = k_human_minor_max \
-}, \
-.maj = { \
- .va = {0.0f,1.0f,0.0f}, .vb = {0.0f,1.0f,0.0f}, \
- .spring = k_human_major, .ang = k_human_major_max \
-}
-
-#define HUMAN_ARM_LEFT \
-.min = { \
- .va = {1.0f,0.0f,0.0f}, .vb = {1.0f,0.0f,0.0f}, \
- .spring = k_human_minor, .ang = k_human_minor_max \
-}, \
-.maj = { \
- .va = {0.0f,0.0f,1.0f}, .vb = {0.0f,0.0f,1.0f}, \
- .spring = k_human_major, .ang = k_human_major_max \
-}
-
-#define HUMAN_ARM_RIGHT \
-.min = { \
- .va = {1.0f,0.0f,0.0f}, .vb = {1.0f,0.0f,0.0f}, \
- .spring = k_human_minor, .ang = k_human_minor_max \
-}, \
-.maj = { \
- .va = {0.0f,0.0f,-1.0f}, .vb = {0.0f,0.0f,-1.0f}, \
- .spring = k_human_major, .ang = k_human_major_max \
-}
-
-static struct rd_joint rd_joints[] =
-{
- { .ia = k_chpart_leg_l1, .ib = k_chpart_foot_l, HUMAN_VERTICAL_DEFAULT },
- { .ia = k_chpart_leg_r1, .ib = k_chpart_foot_r, HUMAN_VERTICAL_DEFAULT },
-
- { .ia = k_chpart_body0, .ib = k_chpart_body1, HUMAN_VERTICAL_DEFAULT },
- { .ia = k_chpart_body1, .ib = k_chpart_neck, HUMAN_VERTICAL_DEFAULT },
- { .ia = k_chpart_neck, .ib = k_chpart_head, HUMAN_VERTICAL_DEFAULT },
- { .ia = k_chpart_body0, .ib = k_chpart_leg_l0, HUMAN_VERTICAL_DEFAULT },
- { .ia = k_chpart_leg_l0, .ib = k_chpart_leg_l1, HUMAN_VERTICAL_DEFAULT },
- { .ia = k_chpart_body0, .ib = k_chpart_leg_r0, HUMAN_VERTICAL_DEFAULT },
- { .ia = k_chpart_leg_r0, .ib = k_chpart_leg_r1, HUMAN_VERTICAL_DEFAULT },
-
- { .ia = k_chpart_body1, .ib = k_chpart_arm_l0, HUMAN_ARM_LEFT },
- { .ia = k_chpart_arm_l0, .ib = k_chpart_arm_l1, HUMAN_ARM_LEFT },
- { .ia = k_chpart_arm_l1, .ib = k_chpart_hand_l, HUMAN_ARM_LEFT },
-
- { .ia = k_chpart_body1, .ib = k_chpart_arm_r0, HUMAN_ARM_RIGHT },
- { .ia = k_chpart_arm_r0, .ib = k_chpart_arm_r1, HUMAN_ARM_RIGHT },
- { .ia = k_chpart_arm_r1, .ib = k_chpart_hand_r, HUMAN_ARM_RIGHT }
-};
-
-/* Ragdoll should be in rest pose when calling this function */
-static void character_init_ragdoll_joints( struct character *ch )
-{
- for( int i=0; i<vg_list_size(rd_joints); i++ )
- {
- struct rd_joint *joint = &rd_joints[i];
-
- 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->origins[i];
- v3_sub( ch->ragdoll[i].co, pivot, ch->ragdoll[i].delta );
- }
-}
-
-static void character_init_ragdoll( struct character *ch )
-{
- v3f *offs = ch->offsets;
- rigidbody *rbs = ch->ragdoll;
-
- /* CHest */
- float chest_width = fabsf(offs[k_chpart_arm_r0][2])*2.0f,
- chest_depth = chest_width * 0.571f,
- chest_height = offs[k_chpart_neck][1];
- v3f chest_dims = { chest_depth, chest_height, chest_width };
- character_rd_box( ch, k_chpart_body1, chest_dims );
-
- 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->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->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->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 );
-
- /* ARms */
- v3f ua_dims = { 0.0f, 0.0f, fabsf(offs[k_chpart_arm_l1][2]) };
- ua_dims[1] = 0.38f*ua_dims[2];
- ua_dims[0] = 0.38f*ua_dims[2];
- v3f la_dims = { ua_dims[0], ua_dims[1], fabsf(offs[k_chpart_hand_l][2]) };
- v3f hand_dims = { ua_dims[1], ua_dims[1]*0.5f, ua_dims[1] };
-
- character_rd_box( ch, k_chpart_arm_l0, ua_dims );
- character_rd_box( ch, k_chpart_arm_r0, ua_dims );
- character_rd_box( ch, k_chpart_arm_l1, la_dims );
- character_rd_box( ch, k_chpart_arm_r1, la_dims );
- character_rd_box( ch, k_chpart_hand_l, hand_dims );
- character_rd_box( ch, k_chpart_hand_r, hand_dims );
-
- 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->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->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->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->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->origins[k_chpart_hand_r], rbs[k_chpart_hand_r].co );
- rbs[k_chpart_hand_r].co[2] -= hand_dims[2] * 0.5f;
-
- /* LEgs */
- v3f ul_dims = { 0.0f, fabsf(offs[k_chpart_leg_l1][1]), 0.0f };
- ul_dims[0] = 0.38f*ul_dims[1];
- ul_dims[2] = 0.38f*ul_dims[1];
- v3f ll_dims = { ul_dims[0], fabsf(offs[k_chpart_foot_l][1]), ul_dims[2] };
- v3f foot_dims = { 2.0f*ul_dims[0], ul_dims[0], ul_dims[0] };
-
- character_rd_box( ch, k_chpart_leg_l0, ul_dims );
- character_rd_box( ch, k_chpart_leg_r0, ul_dims );
- character_rd_box( ch, k_chpart_leg_l1, ll_dims );
- character_rd_box( ch, k_chpart_leg_r1, ll_dims );
- character_rd_box( ch, k_chpart_foot_l, foot_dims );
- character_rd_box( ch, k_chpart_foot_r, foot_dims );
-
- 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->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->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->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->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->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;
-
- character_rd_box( ch, k_chpart_sock_l, foot_dims );
- character_rd_box( ch, k_chpart_sock_r, foot_dims );
- v3_copy( rbs[k_chpart_foot_l].co, rbs[k_chpart_sock_l].co );
- v3_copy( rbs[k_chpart_foot_r].co, rbs[k_chpart_sock_r].co );
-
- box_copy( (boxf){{-0.2f,-0.2f,-0.7f},{0.2f,0.2f,0.7f}},
- rbs[k_chpart_board].bbx );
-
- for( int i=0; i<PART_COUNT; i++ )
- rb_init( &ch->ragdoll[i] );
-
- character_init_ragdoll_joints( ch );
-}
-
-static void character_ragdoll_go( struct character *ch, v3f pos )
-{
- character_init_ragdoll( ch );
- for( int i=0; i<PART_COUNT; i++ )
- v3_add( pos, ch->ragdoll[i].co, ch->ragdoll[i].co );
-}
-
-static void character_ragdoll_copypose( struct character *ch, v3f v )
-{
- for( int i=0; i<PART_COUNT; i++ )
- {
- rigidbody *rb = &ch->ragdoll[i];
-
- m4x3_mulv( ch->matrices[i], rb->delta, rb->co );
- m3x3_q( ch->matrices[i], rb->q );
- v3_copy( v, rb->v );
- v3_zero( rb->w );
-
- rb_update_transform( rb );
- }
-
- float vel = v3_length(v);
-
- ch->shoes[0] = 1;
- ch->shoes[1] = 1;
-}
-
-static void character_mimic_ragdoll( struct character *ch )
-{
- for( int i=0; i<PART_COUNT; i++ )
- {
- rigidbody *rb = &ch->ragdoll[i];
- v3f *mat = ch->matrices[i];
-
- m3x3_copy( rb->to_world, mat );
- v3f inv_delta;
- v3_negate( rb->delta, inv_delta );
- m4x3_mulv( rb->to_world, inv_delta, mat[3] );
- }
-
- /* Attach wheels to board */
- m3x3_copy( ch->matrices[k_chpart_board], ch->matrices[k_chpart_wb] );
- m3x3_copy( ch->matrices[k_chpart_board], ch->matrices[k_chpart_wf] );
- m4x3_mulv( ch->matrices[k_chpart_board], ch->offsets[k_chpart_wb],
- ch->matrices[k_chpart_wb][3] );
- m4x3_mulv( ch->matrices[k_chpart_board], ch->offsets[k_chpart_wf],
- ch->matrices[k_chpart_wf][3] );
-}
-
-static void character_debug_ragdoll( struct character *ch )
-{
- rb_debug( &ch->ragdoll[k_chpart_body0], 0xffffffff );
- rb_debug( &ch->ragdoll[k_chpart_body1], 0xffffffff );
- rb_debug( &ch->ragdoll[k_chpart_neck], 0xff00ff00 );
- rb_debug( &ch->ragdoll[k_chpart_head], 0xff00ff00 );
-
- rb_debug( &ch->ragdoll[k_chpart_arm_l0], 0xffffa500 );
- rb_debug( &ch->ragdoll[k_chpart_arm_l1], 0xffffa500 );
- rb_debug( &ch->ragdoll[k_chpart_hand_l], 0xffffa500 );
-
- rb_debug( &ch->ragdoll[k_chpart_arm_r0], 0xff00a5ff );
- rb_debug( &ch->ragdoll[k_chpart_arm_r1], 0xff00a5ff );
- rb_debug( &ch->ragdoll[k_chpart_hand_r], 0xff00a5ff );
-
- rb_debug( &ch->ragdoll[k_chpart_leg_l0], 0xffffa500 );
- rb_debug( &ch->ragdoll[k_chpart_leg_l1], 0xffffa500 );
- rb_debug( &ch->ragdoll[k_chpart_foot_l], 0xffffa500 );
- rb_debug( &ch->ragdoll[k_chpart_leg_r0], 0xff00a5ff );
- rb_debug( &ch->ragdoll[k_chpart_leg_r1], 0xff00a5ff );
- rb_debug( &ch->ragdoll[k_chpart_foot_r], 0xff00a5ff );
-}
-
-static void character_ragdoll_iter( struct character *ch )
-{
- rb_solver_reset();
-
- for( int i=0; i<PART_COUNT; i++ )
- {
- rb_collide( &ch->ragdoll[i], &world.rb_geo );
- }
-
- rb_presolve_contacts( rb_contact_buffer, rb_contact_count );
-
- v3f rv;
-
- 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<10; i++ )
- {
- float const k_springfactor = 1.0f/20.0f;
-
- 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];
- rigidbody *rba = &ch->ragdoll[joint->ia],
- *rbb = &ch->ragdoll[joint->ib];
-
- rb_constraint_position( rba, joint->lca, rbb, joint->lcb );
- rb_constraint_angle( rba, joint->maj.va, rbb, joint->maj.vb,
- joint->maj.ang,
- joint->maj.spring * k_springfactor );
-
- rb_constraint_angle( rba, joint->min.va, rbb, joint->min.vb,
- joint->min.ang,
- joint->min.spring * k_springfactor );
- }
- }
-
- for( int j=0; j<vg_list_size(rd_joints); j++ )
- {
- struct rd_joint *joint = &rd_joints[j];
- rigidbody *rba = &ch->ragdoll[joint->ia],
- *rbb = &ch->ragdoll[joint->ib];
- rb_angle_limit_force( rba, joint->min.va, rbb, joint->min.vb,
- joint->min.ang );
- rb_angle_limit_force( rba, joint->maj.va, rbb, joint->maj.vb,
- joint->maj.ang );
- }
-
- for( int i=0; i<PART_COUNT; i++ )
- rb_iter( &ch->ragdoll[i] );
-
- for( int i=0; i<2; i++ )
- {
- if( ch->shoes[i] )
- {
- float a = v3_length( ch->ragdoll[i].v ) - shoe_vel[i];
-
- if( a > 2.0f )
- {
- ch->shoes[i] = 0;
-
- rigidbody *src = &ch->ragdoll[k_chpart_foot_l];
- rigidbody *dst = &ch->ragdoll[k_chpart_sock_l];
-
- v3_copy( src->co, dst->co );
- v3_copy( src->v, dst->v );
- v3_copy( src->q, dst->q );
- v3_copy( src->w, dst->w );
- }
- }
- }
-
- for( int i=0; i<PART_COUNT; i++ )
- rb_update_transform( &ch->ragdoll[i] );
-}
-
-#endif