player_ragdoll.h

   1 #ifndef PLAYER_RAGDOLL_H
   2 #define PLAYER_RAGDOLL_H
   3
   4 #include "player.h"
   5
   6 VG_STATIC float k_ragdoll_floatyiness = 20.0f,
   7              k_ragdoll_floatydrag  = 1.0f;
   8
   9 /*
  10  * Setup ragdoll colliders
  11  */
  12 VG_STATIC void player_init_ragdoll(void)
  13 {
  14    struct player_model *mdl = &player.mdl;
  15    mdl_context *src = &mdl->meta;
  16
  17    if( !mdl->sk.collider_count )
  18    {
  19       mdl->ragdoll_count = 0;
  20       return;
  21    }
  22
  23    mdl->ragdoll_count = 0;
  24
  25    for( u32 i=0; i<mdl->sk.bone_count; i ++ )
  26    {
  27       struct skeleton_bone *bone = &mdl->sk.bones[i];
  28
  29       if( bone->collider )
  30       {
  31          if( mdl->ragdoll_count > vg_list_size(player.mdl.ragdoll) )
  32             vg_fatal_exit_loop( "Playermodel has too many colliders" );
  33
  34          struct ragdoll_part *rp = &mdl->ragdoll[ mdl->ragdoll_count ++ ];
  35          rp->bone_id = i;
  36
  37          v3f delta;
  38          v3_sub( bone->hitbox[1], bone->hitbox[0], delta );
  39          v3_muls( delta, 0.5f, delta );
  40
  41          v3_add( bone->hitbox[0], delta, rp->offset );
  42
  43          v3_copy( delta, rp->rb.bbx[1] );
  44          v3_muls( delta, -1.0f, rp->rb.bbx[0] );
  45
  46          q_identity( rp->rb.q );
  47          v3_add( bone->co, rp->offset, rp->rb.co );
  48          rp->rb.type = k_rb_shape_box;
  49          rp->rb.is_world = 0;
  50          rp->parent = 0xffffffff;
  51
  52          if( bone->parent )
  53          {
  54             for( u32 j=0; j<mdl->ragdoll_count; j++ )
  55             {
  56                if( mdl->ragdoll[ j ].bone_id == bone->parent )
  57                {
  58                   rp->parent = j;
  59                   break;
  60                }
  61             }
  62          }
  63
  64          struct mdl_node *pnode = mdl_node_from_id( src, bone->orig_node );
  65          struct classtype_bone *bone_inf = mdl_get_entdata( src, pnode );
  66
  67          rp->use_limits = bone_inf->use_limits;
  68          v3_copy( bone_inf->angle_limits[0], rp->limits[0] );
  69          v3_copy( bone_inf->angle_limits[1], rp->limits[1] );
  70
  71          rb_init( &rp->rb );
  72       }
  73    }
  74 }
  75
  76 /*
  77  * Make the player model copy the ragdoll
  78  */
  79 VG_STATIC void player_model_copy_ragdoll(void)
  80 {
  81    struct player_model *mdl = &player.mdl;
  82
  83    for( int i=0; i<mdl->ragdoll_count; i++ )
  84    {
  85       struct ragdoll_part *part = &mdl->ragdoll[i];
  86       m4x3f offset;
  87       m3x3_identity(offset);
  88       v3_negate( part->offset, offset[3] );
  89       m4x3_mul( part->rb.to_world, offset, mdl->sk.final_mtx[part->bone_id] );
  90    }
  91
  92    skeleton_apply_inverses( &mdl->sk );
  93 }
  94
  95 /*
  96  * Make the ragdoll copy the player model
  97  */
  98 VG_STATIC void player_ragdoll_copy_model( v3f v )
  99 {
 100    struct player_model *mdl = &player.mdl;
 101
 102    for( int i=0; i<mdl->ragdoll_count; i++ )
 103    {
 104       struct ragdoll_part *part = &mdl->ragdoll[i];
 105
 106       v3f pos, offset;
 107       u32 bone = part->bone_id;
 108
 109       m4x3_mulv( mdl->sk.final_mtx[bone], mdl->sk.bones[bone].co, pos );
 110       m3x3_mulv( mdl->sk.final_mtx[bone], part->offset, offset );
 111       v3_add( pos, offset, part->rb.co );
 112       m3x3_q( mdl->sk.final_mtx[bone], part->rb.q );
 113       v3_copy( v, part->rb.v );
 114       v3_zero( part->rb.w );
 115
 116       rb_update_transform( &part->rb );
 117    }
 118 }
 119
 120 /*
 121  * Draw rigidbody colliders for ragdoll
 122  */
 123 VG_STATIC void player_debug_ragdoll(void)
 124 {
 125    struct player_model *mdl = &player.mdl;
 126
 127    for( u32 i=0; i<mdl->ragdoll_count; i ++ )
 128       rb_debug( &mdl->ragdoll[i].rb, 0xff00ff00 );
 129 }
 130
 131 /*
 132  * Ragdoll physics step
 133  */
 134 VG_STATIC void player_ragdoll_iter(void)
 135 {
 136    struct player_model *mdl = &player.mdl;
 137    rb_solver_reset();
 138
 139    for( int i=0; i<mdl->ragdoll_count; i ++ )
 140       rb_collide( &mdl->ragdoll[i].rb, &world.rb_geo );
 141
 142    rb_presolve_contacts( rb_contact_buffer, rb_contact_count );
 143
 144    v3f rv;
 145
 146 #if 0
 147    float shoe_vel[2] = {0.0f,0.0f};
 148    for( int i=0; i<2; i++ )
 149       if( mdl->shoes[i] )
 150          shoe_vel[i] = v3_length( mdl->ragdoll[i].rb.v );
 151 #endif
 152
 153    for( int j=0; j<mdl->ragdoll_count; j++ )
 154    {
 155       struct ragdoll_part *pj = &mdl->ragdoll[j];
 156       struct skeleton_bone *bj = &mdl->sk.bones[pj->bone_id];
 157
 158       if( pj->parent != 0xffffffff )
 159       {
 160          struct ragdoll_part *pp = &mdl->ragdoll[pj->parent];
 161          struct skeleton_bone *bp = &mdl->sk.bones[pp->bone_id];
 162
 163          v3f lca, lcb;
 164          v3_negate( pj->offset, lca );
 165          v3_add( bp->co, pp->offset, lcb );
 166          v3_sub( bj->co, lcb, lcb );
 167
 168          rb_debug_constraint_position( &pj->rb, lca, &pp->rb, lcb );
 169
 170          if( pj->use_limits )
 171          {
 172             rb_debug_constraint_limits( &pj->rb, &pp->rb, lca, pj->limits );
 173          }
 174       }
 175
 176       v4f plane = {0.0f,1.0f,0.0f,0.0f};
 177       rb_effect_simple_bouyency( &pj->rb, plane, k_ragdoll_floatyiness,
 178                                                  k_ragdoll_floatydrag );
 179    }
 180
 181    /* CONSTRAINTS */
 182    for( int i=0; i<10; i++ )
 183    {
 184       rb_solve_contacts( rb_contact_buffer, rb_contact_count );
 185
 186       for( int j=0; j<mdl->ragdoll_count; j++ )
 187       {
 188          struct ragdoll_part *pj = &mdl->ragdoll[j];
 189          struct skeleton_bone *bj = &mdl->sk.bones[pj->bone_id];
 190
 191          if( (pj->parent != 0xffffffff) && pj->use_limits )
 192          {
 193             struct ragdoll_part *pp = &mdl->ragdoll[pj->parent];
 194             struct skeleton_bone *bp = &mdl->sk.bones[pp->bone_id];
 195
 196             v3f lca, lcb;
 197             v3_negate( pj->offset, lca );
 198             v3_add( bp->co, pp->offset, lcb );
 199             v3_sub( bj->co, lcb, lcb );
 200
 201             rb_constraint_position( &pj->rb, lca, &pp->rb, lcb );
 202
 203             rb_constraint_limits( &pj->rb, lca, &pp->rb, lcb, pj->limits );
 204          }
 205       }
 206    }
 207
 208    /* INTEGRATION */
 209    for( int i=0; i<mdl->ragdoll_count; i++ )
 210       rb_iter( &mdl->ragdoll[i].rb );
 211
 212    /* SHOES */
 213    for( int i=0; i<mdl->ragdoll_count; i++ )
 214       rb_update_transform( &mdl->ragdoll[i].rb );
 215 }
 216
 217 #endif /* PLAYER_RAGDOLL_H */