From: hgn Date: Mon, 6 Jun 2022 06:37:26 +0000 (+0100) Subject: new model loader X-Git-Url: https://harrygodden.com/git/?a=commitdiff_plain;ds=sidebyside;h=a1a05787ada52089f30c533fb26b745554c07512;p=carveJwlIkooP6JGAAIwe30JlM.git new model loader --- diff --git a/blender_export.py b/blender_export.py index 05f2b6f..e599ee7 100644 --- a/blender_export.py +++ b/blender_export.py @@ -20,6 +20,7 @@ class submodel(Structure): ("vertex_start",c_uint32), ("vertex_count",c_uint32), ("bbx",(c_float*3)*2), + ("pivot",c_float*3), ("sdf",sdf_primative), ("sdf_type",c_int32), ("name",c_char*32)] @@ -63,6 +64,10 @@ def write_model(name): sm.vertex_count = len(data.vertices) sm.indice_count = len(data.loop_triangles)*3 sm.sdf_type = 0 + sm.pivot[0] = obj.matrix_world.translation[0] + sm.pivot[1] = obj.matrix_world.translation[2] + sm.pivot[2] = -obj.matrix_world.translation[1] + for i in range(3): sm.bbx[0][i] = 999999 sm.bbx[1][i] = -999999 @@ -141,3 +146,6 @@ write_model( "free_dev" ) write_model( "char_dev" ) write_model( "skydome" ) write_model( "cement_r1" ) + +for col in bpy.data.collections["export"].children: + write_model( col.name ) diff --git a/character.h b/character.h new file mode 100644 index 0000000..27430b4 --- /dev/null +++ b/character.h @@ -0,0 +1,299 @@ +#ifndef CHARACTER_H +#define CHARACTER_H + +#include "vg/vg.h" +#include "model.h" +#include "ik.h" + +#define FOREACH_PART(FN) \ + 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( foot_l ) \ + FN( leg_r0 ) \ + FN( leg_r1 ) \ + FN( foot_r ) \ + FN( wheels ) \ + 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; + + submodel parts[ PART_COUNT ]; + m4x3f matrices[ PART_COUNT ]; + + /* Auxillary information */ + v3f offsets[ 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; + + v4f qhead; + float rhip, rcollar, /* twist of hip and collar controls, + these act in the local +y axis of the part */ + rfootl, rfootr, + rhandl, rhandr; + + v3f ground_normal; /* Feet will be aligned to this */ + m4x3f mroot; +}; + +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, + 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 ); + model *src = vg_asset_read( buf ); + + if( !src ) + { + vg_error( "Could not open 'models/%s.mdl'", name ); + return 0; + } + + int error_count = 0; + + for( int i=0; iparts[i], 0, sizeof(submodel) ); + continue; + } + + ch->parts[i] = *sm; + } + + model_unpack( 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 ); + + 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 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 ); + + /* 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] ); + + /* 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] ); + + m3x3_copy( mats[k_chpart_neck], mats[k_chpart_head] ); + m4x3_mulv( mats[k_chpart_neck], offs[k_chpart_head], mats[k_chpart_head][3]); + + for( int i=0; imroot, ch->matrices[i], ch->matrices[i] ); +} + +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->parts[ k_chpart_body0 ].pivot[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_wheels] ); +} + +static void character_draw( struct character *ch, int temp ) +{ + mesh_bind( &ch->mesh ); + + glEnable( GL_CULL_FACE ); + glCullFace( GL_BACK ); + + for( int i=0; imatrices[i] ); + submodel_draw( &ch->parts[i] ); + } +} + +#undef FOREACH_PART +#undef MAKE_ENUM +#undef MAKE_STRING +#undef ADD_ONE +#endif diff --git a/ik.h b/ik.h index 0bbe3b2..e02fd30 100644 --- a/ik.h +++ b/ik.h @@ -1,3 +1,6 @@ +#ifndef IK_H +#define IK_H + #include "vg/vg.h" /* @@ -22,13 +25,74 @@ struct ik_basic float l1, l2; }; -static void ik_basic( struct ik_basic *ik, m4x3f m1, m4x3f m2 ) +typedef enum ik_dir ik_dir; +enum ik_dir +{ + k_ikX, + k_iknX, + k_ikY, + k_iknY, + k_ikZ, + k_iknZ +}; + +static void ik_track_to( m4x3f m, v3f pos, v3f target, v3f axis, + ik_dir fwd, ik_dir up ) +{ + v3f dir, other; + v3_sub( target, pos, dir ); + v3_normalize( dir ); + v3_cross( dir, axis, other ); + + if( fwd == k_ikX && up == k_ikY ) + { + v3_copy( axis, m[0] ); + v3_copy( dir, m[1] ); + v3_copy( other, m[2] ); + } + + if( fwd == k_ikY && up == k_ikX ) + { + v3_negate( axis, m[2] ); + v3_copy( dir, m[1] ); + v3_negate( other,m[0] ); + } + + if( fwd == k_ikY && up == k_iknX ) + { + v3_negate( axis, m[2] ); + v3_negate( dir, m[1] ); + v3_copy( other,m[0] ); + } + + if( fwd == k_ikZ && up == k_ikY ) + { + v3_copy( axis, m[1] ); + v3_copy( dir, m[2] ); + v3_negate( other, m[0] ); + } + + if( fwd == k_iknZ && up == k_ikY ) + { + v3_negate( axis, m[1] ); + v3_negate( dir, m[2] ); + v3_negate( other, m[0] ); + } + + v3_copy( pos, m[3] ); +} + +static void ik_basic( struct ik_basic *ik, m4x3f m1, m4x3f m2, + enum ik_dir fwd, enum ik_dir up ) { /* Localize the system into 2d */ - v3f v0, v1, axis; + v3f local[3]; + float *v0 = local[0], + *v1 = local[1], + *axis = local[2]; - vg_line( ik->base, ik->pole, 0xffffff00 ); - vg_line( ik->end, ik->pole, 0xffffff00 ); + vg_line( ik->base, ik->pole, 0x6fffff00 ); + vg_line( ik->end, ik->pole, 0x6fffff00 ); v3_sub( ik->base, ik->pole, v0 ); v3_sub( ik->end, ik->pole, v1 ); @@ -39,9 +103,9 @@ static void ik_basic( struct ik_basic *ik, m4x3f m1, m4x3f m2 ) v3_cross( axis, v0, v1 ); v3f p0, p1, p2; - v3_muladds( ik->base, axis, 0.2f, p0 ); - v3_muladds( ik->base, v0, 0.2f, p1 ); - v3_muladds( ik->base, v1, 0.2f, p2 ); + v3_muladds( ik->base, axis, 0.05f, p0 ); + v3_muladds( ik->base, v0, 0.05f, p1 ); + v3_muladds( ik->base, v1, 0.05f, p2 ); vg_line( ik->base, p0, 0xffff0000 ); vg_line( ik->base, p1, 0xff00ff00 ); vg_line( ik->base, p2, 0xff0000ff ); @@ -69,9 +133,12 @@ static void ik_basic( struct ik_basic *ik, m4x3f m1, m4x3f m2 ) v3_muladds( world_knee, v1, knee[1], world_knee ); /* Create matrices */ - m4x3_lookat( m1, ik->base, world_knee, axis ); - m4x3_lookat( m2, world_knee, ik->end, axis ); + + ik_track_to( m1, ik->base, world_knee, axis, fwd, up ); + ik_track_to( m2, world_knee, ik->end, axis, fwd, up ); - vg_line( ik->base, world_knee, 0xff0000ff ); - vg_line( world_knee, ik->end, 0xff00ff40 ); + vg_line( ik->base, world_knee, 0xa00000ff ); + vg_line( world_knee, ik->end, 0xa000ff40 ); } + +#endif diff --git a/main.c b/main.c index c3e7510..fffa94b 100644 --- a/main.c +++ b/main.c @@ -8,6 +8,7 @@ vg_tex2d tex_sky = { .path = "textures/sky.qoi" }; vg_tex2d tex_gradients = { .path = "textures/gradients.qoi", .flags = VG_TEXTURE_CLAMP }; vg_tex2d tex_cement = { .path = "textures/cement512.qoi" }; +vg_tex2d tex_pallet = { .path = "textures/ch_gradient.qoi" }; vg_tex2d *texture_list[] = { @@ -15,7 +16,8 @@ vg_tex2d *texture_list[] = &tex_gradients, &tex_grid, &tex_sky, - &tex_cement + &tex_cement, + &tex_pallet }; /* Convars */ @@ -25,11 +27,13 @@ static int debugsdf = 0; static int sv_debugcam = 0; static int sv_phys = 0; static int thirdperson = 0; +static int clock_divider = 1; /* Components */ #include "road.h" #include "scene.h" #include "ik.h" +#include "character.h" int main( int argc, char *argv[] ) { @@ -57,9 +61,17 @@ static struct gplayer float grab; float pitch; + v3f land_target; + v3f land_target_log[12]; + int land_log_count; + m3x3f vr; + m4x3f to_world, to_local; + struct character mdl; + /* Opengl */ +#if 0 glmesh mesh; submodel legl, legu, @@ -79,6 +91,7 @@ static struct gplayer m4x3f mleg_l, mknee_l, mleg_r, mknee_r, mboard; m4x3f marm_l, melbow_l, marm_r, melbow_r, mbutt, mfoot_l, mfoot_r; +#endif v3f handl_target, handr_target, handl, handr; @@ -177,6 +190,14 @@ void vg_start(void) .persistent = 1 }); + vg_convar_push( (struct vg_convar){ + .name = "div", + .data = &clock_divider, + .data_type = k_convar_dtype_i32, + .opt_i32 = { .min=0, .max=1, .clamp=0 }, + .persistent = 1 + }); + vg_function_push( (struct vg_cmd){ .name = "reset", .function = reset_player @@ -184,34 +205,9 @@ void vg_start(void) v3f lightDir = { 0.1f, 0.8f, 0.2f }; v3_normalize( lightDir ); - - /* Unpack player */ - model *char_dev = vg_asset_read( "models/char_dev.mdl" ); - model_unpack( char_dev, &player.mesh ); - player.legl = *submodel_get( char_dev, "legl" ); - player.legu = *submodel_get( char_dev, "legu" ); - player.board = *submodel_get( char_dev, "skateboard" ); - player.torso = *submodel_get( char_dev, "torso" ); - player.wheels = *submodel_get( char_dev, "wheels" ); - player.foot = *submodel_get( char_dev, "foot" ); - - /* new model */ - player.leg_r0 = *submodel_get( char_dev, "leg_r0" ); - player.leg_r1 = *submodel_get( char_dev, "leg_r1" ); - player.foot_r = *submodel_get( char_dev, "foot_r" ); - player.leg_l0 = *submodel_get( char_dev, "leg_l0" ); - player.leg_l1 = *submodel_get( char_dev, "leg_l1" ); - player.foot_l = *submodel_get( char_dev, "foot_l" ); - player.arm_r0 = *submodel_get( char_dev, "arm_r0" ); - player.arm_r1 = *submodel_get( char_dev, "arm_r1" ); - player.hand_r = *submodel_get( char_dev, "hand_r" ); - player.arm_l0 = *submodel_get( char_dev, "arm_l0" ); - player.arm_l1 = *submodel_get( char_dev, "arm_l1" ); - player.hand_l = *submodel_get( char_dev, "hand_l" ); - player.body = *submodel_get( char_dev, "body" ); - player.head = *submodel_get( char_dev, "head" ); - free(char_dev); + character_load( &player.mdl, "ch_default" ); + /* temp */ model *cement_model = vg_asset_read("models/cement_r1.mdl" ); model_unpack( cement_model, &world.cement ); @@ -369,6 +365,107 @@ static void apply_gravity( v3f vel, float const timestep ) v3_muladds( vel, gravity, timestep, vel ); } +static void player_start_air(void) +{ + player.in_air = 1; + + float pstep = ktimestep*10.0f; + + float best_velocity_mod = 0.0f, + best_velocity_delta = -9999.9f; + + v3f targetn; + + v3f axis, vup; + m3x3_mulv( player.to_world, (v3f){0.0f,1.0f,0.0f}, vup ); + v3_cross( vup, player.v, axis ); + v3_normalize( axis ); + player.land_log_count = 0; + + m3x3_identity( player.vr ); + + for( int m=0;m<=5; m++ ) + { + float vmod = ((float)m / 5.0f)*0.15f; + + v3f pco, pco1, pv; + v3_copy( player.co, pco ); + v3_copy( player.v, pv ); + + /* + * Try different 'rotations' of the velocity to find the best possible + * landing normal. This conserves magnitude at the expense of slightly + * unrealistic results + */ + + m3x3f vr; + v4f vr_q; + + q_axis_angle( vr_q, axis, vmod ); + q_m3x3( vr_q, vr ); + + for( int i=0; i<50; i++ ) + { + v3_copy( pco, pco1 ); + apply_gravity( pv, pstep ); + + m3x3_mulv( vr, pv, pv ); + v3_muladds( pco, pv, pstep, pco ); + + vg_line( pco, pco1, i&0x1?0xff000000:0xffffffff ); + + v3f sh; + v3_copy( pco, sh ); + int hit = sample_scene_height( &world.geo, sh, targetn ); + + if( sh[1] >= pco[1] && hit ) + { + float land_delta = v3_dot( pv, targetn ); + + if( (land_delta < 0.0f) && (land_delta > best_velocity_delta) ) + { + best_velocity_delta = land_delta; + best_velocity_mod = vmod; + + v3_copy( sh, player.land_target ); + + q_axis_angle( vr_q, axis, vmod*0.1f ); + q_m3x3( vr_q, player.vr ); + } + v3_copy( sh, player.land_target_log[player.land_log_count ++] ); + break; + } + } + } + + //v3_rotate( player.v, best_velocity_mod, axis, player.v ); + + return; + v3_muls( player.v, best_velocity_mod, player.v ); +} + +static int sample_if_resistant( v3f pos ) +{ + v3f ground, norm; + v3_copy( pos, ground ); + + if( sample_scene_height( &world.geo, ground, norm ) ) + { + v3f angle; + v3_copy( player.v, angle ); + v3_normalize( angle ); + float resistance = v3_dot( norm, angle ); + + if( resistance < 0.25f ) + { + v3_copy( ground, pos ); + return 1; + } + } + + return 0; +} + static void player_physics_ground(void) { /* @@ -378,21 +475,23 @@ static void player_physics_ground(void) v3f contact_front, contact_back, fwd, fwd1, contact_norm, vup, vside, axis; - m3x3_mulv( player.to_world, (v3f){0.0f,0.0f,-1.0f}, fwd ); - m4x3_mulv( player.to_world, (v3f){ 0.15f,0.0f,-1.0f}, contact_norm ); - m4x3_mulv( player.to_world, (v3f){-0.15f,0.0f,-1.0f}, contact_front ); - m4x3_mulv( player.to_world, (v3f){ 0.00f,0.0f, 1.0f}, contact_back ); - m3x3_mulv( player.to_world, (v3f){0.0f,1.0f,0.0f}, vup ); - m3x3_mulv( player.to_world, (v3f){1.0f,0.0f,0.0f}, vside ); + m3x3_mulv( player.to_world, (v3f){ 0.0f, 0.0f,-1.0f}, fwd ); + m4x3_mulv( player.to_world, (v3f){ 0.15f,0.0f,-0.6f}, contact_norm ); + m4x3_mulv( player.to_world, (v3f){-0.15f,0.0f,-0.6f}, contact_front ); + m4x3_mulv( player.to_world, (v3f){ 0.00f,0.0f, 0.6f}, contact_back ); + m3x3_mulv( player.to_world, (v3f){ 0.0f, 1.0f, 0.0f}, vup ); + m3x3_mulv( player.to_world, (v3f){ 1.0f, 0.0f, 0.0f}, vside ); + + v3f cn0, cn1, cn2; - int all_contacting = - sample_scene_height( &world.geo, contact_front, NULL ) && - sample_scene_height( &world.geo, contact_back, NULL ) && - sample_scene_height( &world.geo, contact_norm, NULL ); + int contact_count = + sample_if_resistant( contact_front ) + + sample_if_resistant( contact_back ) + + sample_if_resistant( contact_norm ); - if( !all_contacting ) + if( contact_count < 3 ) { - player.in_air = 1; + player_start_air(); return; } @@ -421,7 +520,7 @@ static void player_physics_ground(void) if( resistance >= 0.0f ) { - player.in_air = 1; + player_start_air(); return; } else @@ -477,8 +576,30 @@ static void player_physics_ground(void) player.iY -= vg_signf(steer)*powf(steer,2.0f) * 1.5f * ktimestep; } +static void draw_cross(v3f pos,u32 colour) +{ + v3f p0, p1; + v3_add( (v3f){ 1.0f,0.0f,0.0f}, pos, p0 ); + v3_add( (v3f){-1.0f,0.0f,0.0f}, pos, p1 ); + vg_line( p0, p1, colour ); + v3_add( (v3f){0.0f, 1.0f,0.0f}, pos, p0 ); + v3_add( (v3f){0.0f,-1.0f,0.0f}, pos, p1 ); + vg_line( p0, p1, colour ); + v3_add( (v3f){0.0f,0.0f, 1.0f}, pos, p0 ); + v3_add( (v3f){0.0f,0.0f,-1.0f}, pos, p1 ); + vg_line( p0, p1, colour ); +} + static void player_physics_air(void) { + /* Debug prediciton */ + + m3x3_mulv( player.vr, player.v, player.v ); + for( int i=0; i= clock_divider ) + clock = 0; + else + return; + /* temp */ if( freecam ) { @@ -549,7 +680,7 @@ static void player_update(void) if( vg_get_axis("grabl")>0.0f) reset_player(0,NULL); - if( vg_get_button( "forward" ) ) + if( vg_get_button( "push" ) ) { v3f dir = { 0.0f, 0.0f, -1.0f }; @@ -663,7 +794,7 @@ static void player_animate(void) float grabt = vg_get_axis( "grabr" )*0.5f+0.5f; player.grab = vg_lerpf( player.grab, grabt, 0.04f ); - float kheight = 1.8f, + float kheight = 2.0f, kleg = 0.6f; v3f head; @@ -680,8 +811,6 @@ static void player_animate(void) v3_muladds( head, offset, 0.7f, head ); head[1] = vg_clampf( head[1], 0.3f, kheight ); - m4x3_mulv( player.to_world, head, head ); - v3_copy( head, player.view ); /* New board transformation */ @@ -695,14 +824,12 @@ static void player_animate(void) q_axis_angle( rz, (v3f){ 0.0f, 0.0f, 1.0f }, player.board_xy[0] ); q_axis_angle( rx, (v3f){ 1.0f, 0.0f, 0.0f }, player.board_xy[1] ); q_mul( rx, rz, board_rotation ); - - q_m3x3( board_rotation, player.mboard ); - m3x3_mulv( player.mboard, (v3f){ 0.0f, -0.5f, 0.0f }, board_location ); + + v3f *mboard = player.mdl.matrices[k_chpart_board];// player.mboard; + q_m3x3( board_rotation, mboard ); + m3x3_mulv( mboard, (v3f){ 0.0f, -0.5f, 0.0f }, board_location ); v3_add( (v3f){0.0f,0.5f,0.0f}, board_location, board_location ); - - m3x3_mul( player.to_world, player.mboard, player.mboard ); - m4x3_mulv( player.to_world, board_location, player.mboard[3] ); - + v3_copy( board_location, mboard[3] ); /* In the air, the dude should grab with the side thats highest, * while also sliding the same foot downwards a bit */ @@ -717,6 +844,7 @@ static void player_animate(void) player.handr_target[0] = 0.0f; player.handr_target[1] = 0.0f; player.handr_target[2] = -0.6f; + if( 1||player.in_air ) { float tuck = player.board_xy[1], @@ -728,10 +856,8 @@ static void player_animate(void) if( player.grab > 0.1f ) { - m4x3_mulv( player.mboard, (v3f){0.1f,0.14f,0.6f}, + m4x3_mulv( mboard, (v3f){0.1f,0.14f,0.6f}, player.handl_target ); - m4x3_mulv( player.to_local, - player.handl_target, player.handl_target ); } } else @@ -740,10 +866,8 @@ static void player_animate(void) if( player.grab > 0.1f ) { - m4x3_mulv( player.mboard, (v3f){0.1f,0.14f,-0.6f}, + m4x3_mulv( mboard, (v3f){0.1f,0.14f,-0.6f}, player.handr_target ); - m4x3_mulv( player.to_local, - player.handr_target, player.handr_target ); } } } @@ -751,67 +875,48 @@ static void player_animate(void) { } - m3x3_copy( player.mboard, player.mfoot_l ); - m4x3_mulv( player.mboard, (v3f){ 0.0f,0.16f,foot_l }, player.mfoot_l[3] ); - - m3x3_copy( player.mboard, player.mfoot_r ); - m4x3_mulv( player.mboard, (v3f){ 0.0f,0.16f,foot_r }, player.mfoot_r[3] ); - - float const kleg_upper = 0.53f, - kleg_lower = 0.5f, - karm_ratio = 0.75f, - karm_upper = kleg_upper*karm_ratio, - karm_lower = kleg_lower*karm_ratio; - - /* Create IK targets */ - struct ik_basic ik_leg_l = { .l1 = kleg_upper, .l2 = kleg_lower }, - ik_leg_r = { .l1 = kleg_upper, .l2 = kleg_lower }, - ik_arm_l = { .l1 = karm_upper, .l2 = karm_lower }, - ik_arm_r = { .l1 = karm_upper, .l2 = karm_lower }; - - v3f butt, fwd; - v4f hip_rotation; - - /* create hip rotation */ - q_axis_angle( hip_rotation, (v3f){0.0f,1.0f,0.0f}, sinf(vg_time) ); - q_m3x3( hip_rotation, player.mbutt ); - m3x3_mul( player.to_world, player.mbutt, player.mbutt ); + v3f fwd; /* offset */ - m3x3_mulv( player.to_world, (v3f){ 0.2f,-0.55f,0.0f}, butt ); - v3_add( butt, player.view, butt ); - v3_copy( butt, player.mbutt[3] ); + float *hips = player.mdl.ik_body.base, + *collar = player.mdl.ik_body.end, + *pole = player.mdl.ik_body.pole; - m4x3_mulv( player.mbutt, (v3f){0.0f,0.0f,-0.1f}, ik_leg_r.base ); - m4x3_mulv( player.mbutt, (v3f){0.0f,0.0f, 0.1f}, ik_leg_l.base ); + v3_add( hips, collar, pole ); + v3_muls( pole, 0.5f, pole ); + v3_add( pole, (v3f){ 1.0f, 0.0f, 0.0f }, pole ); - m4x3_mulv( player.mboard, (v3f){ 0.0f,0.16f, foot_r }, ik_leg_r.end ); - m4x3_mulv( player.mboard, (v3f){ 0.0f,0.16f, foot_l }, ik_leg_l.end ); - m4x3_mulv( player.mboard, (v3f){ -0.6f,0.50f,-0.40f }, ik_leg_r.pole ); - m4x3_mulv( player.mboard, (v3f){ -0.6f,0.50f, 0.35f }, ik_leg_l.pole ); + v3_copy( player.view, collar ); + v3_add( (v3f){ 0.2f,-0.45f,0.0f}, collar, hips ); + + player.mdl.rhip = sinf(vg_time); + player.mdl.rcollar = sinf(vg_time)*0.5f; + + struct ik_basic *ik_leg_l = &player.mdl.ik_leg_l, + *ik_leg_r = &player.mdl.ik_leg_r, + *ik_arm_l = &player.mdl.ik_arm_l, + *ik_arm_r = &player.mdl.ik_arm_r; + + m4x3_mulv( mboard, (v3f){ 0.0f,0.16f, foot_r }, ik_leg_r->end ); + m4x3_mulv( mboard, (v3f){ 0.0f,0.16f, foot_l }, ik_leg_l->end ); - /* Compute IK */ - ik_basic( &ik_leg_r, player.mleg_r, player.mknee_r ); - ik_basic( &ik_leg_l, player.mleg_l, player.mknee_l ); + m4x3f tomp; + m4x3_identity(tomp); + m4x3_mulv( tomp, (v3f){ -0.4f,0.50f,-0.50f }, ik_leg_r->pole ); + m4x3_mulv( tomp, (v3f){ -0.4f,0.50f,-0.3f }, ik_leg_l->pole ); /* Arms */ v3f hl, hr, neckl = {0.0f, 0.5f, 0.2f}, neckr = {0.0f, 0.5f,-0.2f}; - m4x3_mulv( player.mbutt, neckl, ik_arm_l.base ); - m4x3_mulv( player.mbutt, neckr, ik_arm_r.base ); - v3_lerp( player.handl, player.handl_target, 0.1f, player.handl ); v3_lerp( player.handr, player.handr_target, 0.1f, player.handr ); - m4x3_mulv( player.to_world, player.handl, ik_arm_l.end ); - m4x3_mulv( player.to_world, player.handr, ik_arm_r.end ); - m4x3_mulv( player.to_world, (v3f){ 0.6f,0.7f, 0.4f }, ik_arm_l.pole ); - m4x3_mulv( player.to_world, (v3f){ 0.6f,0.7f,-0.35f }, ik_arm_r.pole ); + v3_copy( player.handl, ik_arm_l->end ); + v3_copy( player.handr, ik_arm_r->end ); + v3_copy( (v3f){ 0.6f,0.7f, 0.4f }, ik_arm_l->pole ); + v3_copy( (v3f){ 0.6f,0.7f,-0.35f }, ik_arm_r->pole ); - ik_basic( &ik_arm_l, player.marm_l, player.melbow_l ); - ik_basic( &ik_arm_r, player.marm_r, player.melbow_r ); - if( thirdperson ) { v3f nv; @@ -819,28 +924,25 @@ static void player_animate(void) v3_normalize( nv ); v3_muladds( player.view, nv, -3.0f, player.view ); } + + v3f camoffs = {-0.3f,0.0f,0.3f}; + v3_add( player.view, camoffs, player.view ); + + m4x3_copy( mboard, player.mdl.matrices[k_chpart_wheels] ); } static void draw_player(void) { - mesh_bind( &player.mesh ); - /* Draw */ - vg_tex2d_bind( &tex_grid, 0 ); - scene_tree_sway = 0.0f; - - mesh_bind( &player.mesh ); - m4x4f mat; - SHADER_USE(shader_standard_lit); glUniformMatrix4fv( SHADER_UNIFORM( shader_standard_lit, "uPv" ), 1, GL_FALSE, (float *)vg_pv ); glUniform1i( SHADER_UNIFORM( shader_standard_lit, "uTexMain" ), 0 ); - vg_tex2d_bind( &tex_grid, 0 ); GLint kuMdl = SHADER_UNIFORM( shader_standard_lit, "uMdl" ); +#if 0 float kscale = 0.7f; glUniform4f( SHADER_UNIFORM(shader_standard_lit,"uColour"), 0.35f*kscale,0.35f*kscale,0.35f*kscale,1.0f ); @@ -856,6 +958,8 @@ static void draw_player(void) glBlendFunc(GL_SRC_ALPHA, GL_ONE); glBlendEquation(GL_FUNC_ADD); glDisable( GL_DEPTH_TEST ); +#endif +#if 0 glUniform4f( SHADER_UNIFORM(shader_standard_lit,"uColour"), 0.2f*kscale,0.8f*kscale,0.4f*kscale,0.14f ); @@ -899,6 +1003,14 @@ static void draw_player(void) glDisable(GL_BLEND); glEnable( GL_DEPTH_TEST ); +#endif + + vg_tex2d_bind( &tex_pallet, 0 ); + //m4x3_identity( player.mdl.mroot ); + //character_testpose( &player.mdl, vg_time ); + m4x3_copy( player.to_world, player.mdl.mroot ); + character_eval( &player.mdl ); + character_draw( &player.mdl, kuMdl ); } void vg_render(void) @@ -911,20 +1023,20 @@ void vg_render(void) glClear( GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT ); v3f pos_inv; - v3_negate( player.view, pos_inv ); + m4x3_mulv( player.to_world, player.view, pos_inv ); + v3_negate( pos_inv, pos_inv ); float speed = v3_length( player.v ); v3f shake = { vg_randf()-0.5f, vg_randf()-0.5f, vg_randf()-0.5f }; v3_muls( shake, speed*0.01f, shake ); - static v2f look_lerped = {0.0f,0.0f}; - v2_lerp( look_lerped, player.look_dir, 0.03f, look_lerped ); - m4x3_identity( world_matrix ); m4x3_rotate_x( world_matrix, - freecam? look_lerped[1]: 0.6f+shake[1]*0.04f+look_lerped[1] ); + freecam? + player.look_dir[1]: + 0.6f+shake[1]*0.04f+player.look_dir[1] ); - m4x3_rotate_y( world_matrix, look_lerped[0]+shake[0]*0.02f ); + m4x3_rotate_y( world_matrix, player.look_dir[0]+shake[0]*0.02f ); m4x3_translate( world_matrix, pos_inv ); m4x4f world_4x4; @@ -958,7 +1070,7 @@ void vg_render(void) SHADER_USE(shader_unlit); m4x3f temp2; m4x3_identity(temp2); - //m4x4_translate( temp2, player.co ); + m4x3_translate( temp2, player.co ); glUniformMatrix4x3fv( SHADER_UNIFORM( shader_unlit, "uMdl" ), 1, GL_FALSE, (float *)temp2 ); glUniformMatrix4fv( SHADER_UNIFORM( shader_unlit, "uPv" ), diff --git a/model.h b/model.h index 2aaf483..a1bf8ec 100644 --- a/model.h +++ b/model.h @@ -1,3 +1,6 @@ +#ifndef MODEL_H +#define MODEL_H + #include "vg/vg.h" typedef struct model model; @@ -36,6 +39,7 @@ struct submodel vertex_count; boxf bbx; + v3f pivot; sdf_primative sdf; enum esdf_type @@ -183,3 +187,5 @@ static void model_unpack( model *model, glmesh *mesh ) mesh_upload( mesh, model_vertex_base( model ), model->vertex_count, model_indice_base( model ), model->indice_count ); } + +#endif diff --git a/scene.h b/scene.h index 63ae145..4a0c120 100644 --- a/scene.h +++ b/scene.h @@ -269,8 +269,12 @@ SHADER_DEFINE( shader_standard_lit, "" "void main()" "{" - "vec3 diffuse = texture( uTexMain, aUv ).rgb;" + "float light1 = max(0.0,dot(-vec3(0.5,-0.8,0.25), aNorm));" + "float light2 = max(0.0,dot(-vec3(-0.8,0.5,-0.25), aNorm));" + "vec3 diffuse = texture( uTexMain, aUv +vec2(0.0,light1)*0.1 ).rgb;" + +#if 0 "float light1 = max(0.0,dot(-vec3(0.5,-0.8,0.25), aNorm));" "float light2 = max(0.0,dot(-vec3(-0.8,0.5,-0.25), aNorm));" "diffuse += vec3(0.2,0.2,0.2 ) + " @@ -279,6 +283,8 @@ SHADER_DEFINE( shader_standard_lit, "FragColor = vec4((diffuse*uColour.rgb)," "aColour.a*uColour.a);" +#endif + "FragColor = vec4(diffuse,1.0);" "}" , UNIFORMS({ "uColour","uTexMain","uPv","uMdl" }) diff --git a/textures/ch_gradient.png b/textures/ch_gradient.png new file mode 100644 index 0000000..0ae8520 Binary files /dev/null and b/textures/ch_gradient.png differ diff --git a/vg_config.h b/vg_config.h index c1e7512..fc153ed 100644 --- a/vg_config.h +++ b/vg_config.h @@ -13,6 +13,7 @@ static struct button_binding vg_button_binds[] = { .name = "down", .bind = GLFW_KEY_F }, { .name = "yawl", .bind = GLFW_KEY_Q }, { .name = "yawr", .bind = GLFW_KEY_E }, + { .name = "push", .controller = GLFW_GAMEPAD_BUTTON_B } }; static struct axis_binding vg_axis_binds[] =