player_ragdoll.h

   1 #ifndef PLAYER_RAGDOLL_H
   2 #define PLAYER_RAGDOLL_H
   3
   4 #include "player.h"
   5
   6 static float k_ragdoll_floatyiness = 10.0f,
   7              k_ragdoll_floatydrag  = 1.0f;
   8
   9 /*
  10  * Setup ragdoll colliders
  11  */
  12 static void player_init_ragdoll( mdl_header *src )
  13 {
  14    struct player_model *mdl = &player.mdl;
  15
  16    if( !mdl->sk.collider_count )
  17    {
  18       mdl->ragdoll_count = 0;
  19       return;
  20    }
  21
  22    mdl->ragdoll = vg_alloc(sizeof(struct ragdoll_part)*mdl->sk.collider_count);
  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          struct ragdoll_part *rp = &mdl->ragdoll[ mdl->ragdoll_count ++ ];
  32          rp->bone_id = i;
  33
  34          v3f delta;
  35          v3_sub( bone->hitbox[1], bone->hitbox[0], delta );
  36          v3_muls( delta, 0.5f, delta );
  37
  38          v3_add( bone->hitbox[0], delta, rp->offset );
  39
  40          v3_copy( delta, rp->rb.bbx[1] );
  41          v3_muls( delta, -1.0f, rp->rb.bbx[0] );
  42
  43          q_identity( rp->rb.q );
  44          v3_add( bone->co, rp->offset, rp->rb.co );
  45          rp->rb.type = k_rb_shape_box;
  46          rp->rb.is_world = 0;
  47          rp->parent = 0xffffffff;
  48
  49          if( bone->parent )
  50          {
  51             for( u32 j=0; j<mdl->ragdoll_count; j++ )
  52             {
  53                if( mdl->ragdoll[ j ].bone_id == bone->parent )
  54                {
  55                   rp->parent = j;
  56                   break;
  57                }
  58             }
  59          }
  60
  61          /* TODO: refactor to use this style elswhere */
  62          struct mdl_node *pnode = mdl_node_from_id( src, bone->orig_node );
  63          struct classtype_bone *bone_inf = mdl_get_entdata( src, pnode );
  64
  65          rp->use_limits = bone_inf->use_limits;
  66          v3_copy( bone_inf->angle_limits[0], rp->limits[0] );
  67          v3_copy( bone_inf->angle_limits[1], rp->limits[1] );
  68
  69          rb_init( &rp->rb );
  70       }
  71    }
  72 }
  73
  74 /*
  75  * Make the player model copy the ragdoll
  76  */
  77 static void player_model_copy_ragdoll(void)
  78 {
  79    struct player_model *mdl = &player.mdl;
  80
  81    for( int i=0; i<mdl->ragdoll_count; i++ )
  82    {
  83       struct ragdoll_part *part = &mdl->ragdoll[i];
  84       m4x3f offset;
  85       m3x3_identity(offset);
  86       v3_negate( part->offset, offset[3] );
  87       m4x3_mul( part->rb.to_world, offset, mdl->sk.final_mtx[part->bone_id] );
  88    }
  89
  90    skeleton_apply_inverses( &mdl->sk );
  91 }
  92
  93 /*
  94  * Make the ragdoll copy the player model
  95  */
  96 static void player_ragdoll_copy_model( v3f v )
  97 {
  98    struct player_model *mdl = &player.mdl;
  99
 100    for( int i=0; i<mdl->ragdoll_count; i++ )
 101    {
 102       struct ragdoll_part *part = &mdl->ragdoll[i];
 103
 104       v3f pos, offset;
 105       u32 bone = part->bone_id;
 106
 107       m4x3_mulv( mdl->sk.final_mtx[bone], mdl->sk.bones[bone].co, pos );
 108       m3x3_mulv( mdl->sk.final_mtx[bone], part->offset, offset );
 109       v3_add( pos, offset, part->rb.co );
 110       m3x3_q( mdl->sk.final_mtx[bone], part->rb.q );
 111       v3_copy( v, part->rb.v );
 112       v3_zero( part->rb.w );
 113
 114       rb_update_transform( &part->rb );
 115    }
 116 }
 117
 118 /*
 119  * Draw rigidbody colliders for ragdoll
 120  */
 121 static void player_debug_ragdoll(void)
 122 {
 123    struct player_model *mdl = &player.mdl;
 124
 125    for( u32 i=0; i<mdl->ragdoll_count; i ++ )
 126       rb_debug( &mdl->ragdoll[i].rb, 0xff00ff00 );
 127 }
 128
 129 /*
 130  * Ragdoll physics step
 131  */
 132 static void player_ragdoll_iter(void)
 133 {
 134    struct player_model *mdl = &player.mdl;
 135    rb_solver_reset();
 136
 137    for( int i=0; i<mdl->ragdoll_count; i ++ )
 138       rb_collide( &mdl->ragdoll[i].rb, &world.rb_geo );
 139
 140    rb_presolve_contacts( rb_contact_buffer, rb_contact_count );
 141
 142    v3f rv;
 143
 144 #if 0
 145    float shoe_vel[2] = {0.0f,0.0f};
 146    for( int i=0; i<2; i++ )
 147       if( mdl->shoes[i] )
 148          shoe_vel[i] = v3_length( mdl->ragdoll[i].rb.v );
 149 #endif
 150
 151    for( int j=0; j<mdl->ragdoll_count; j++ )
 152    {
 153       struct ragdoll_part *pj = &mdl->ragdoll[j];
 154       struct skeleton_bone *bj = &mdl->sk.bones[pj->bone_id];
 155
 156       if( pj->parent != 0xffffffff )
 157       {
 158          struct ragdoll_part *pp = &mdl->ragdoll[pj->parent];
 159          struct skeleton_bone *bp = &mdl->sk.bones[pp->bone_id];
 160
 161          v3f lca, lcb;
 162          v3_negate( pj->offset, lca );
 163          v3_add( bp->co, pp->offset, lcb );
 164          v3_sub( bj->co, lcb, lcb );
 165
 166          rb_debug_constraint_position( &pj->rb, lca, &pp->rb, lcb );
 167
 168          if( pj->use_limits )
 169          {
 170             rb_debug_constraint_limits( &pj->rb, &pp->rb, lca, pj->limits );
 171          }
 172       }
 173
 174       v4f plane = {0.0f,1.0f,0.0f,0.0f};
 175       rb_effect_simple_bouyency( &pj->rb, plane, k_ragdoll_floatyiness,
 176                                                  k_ragdoll_floatydrag );
 177    }
 178
 179    /* CONSTRAINTS */
 180    for( int i=0; i<10; i++ )
 181    {
 182       rb_solve_contacts( rb_contact_buffer, rb_contact_count );
 183
 184       for( int j=0; j<mdl->ragdoll_count; j++ )
 185       {
 186          struct ragdoll_part *pj = &mdl->ragdoll[j];
 187          struct skeleton_bone *bj = &mdl->sk.bones[pj->bone_id];
 188
 189          if( (pj->parent != 0xffffffff) && pj->use_limits )
 190          {
 191             struct ragdoll_part *pp = &mdl->ragdoll[pj->parent];
 192             struct skeleton_bone *bp = &mdl->sk.bones[pp->bone_id];
 193
 194             v3f lca, lcb;
 195             v3_negate( pj->offset, lca );
 196             v3_add( bp->co, pp->offset, lcb );
 197             v3_sub( bj->co, lcb, lcb );
 198
 199             rb_constraint_position( &pj->rb, lca, &pp->rb, lcb );
 200
 201             rb_constraint_limits( &pj->rb, lca, &pp->rb, lcb, pj->limits );
 202          }
 203       }
 204    }
 205
 206    /* INTEGRATION */
 207    for( int i=0; i<mdl->ragdoll_count; i++ )
 208       rb_iter( &mdl->ragdoll[i].rb );
 209
 210    /* SHOES */
 211    for( int i=0; i<mdl->ragdoll_count; i++ )
 212       rb_update_transform( &mdl->ragdoll[i].rb );
 213 }
 214
 215 #endif /* PLAYER_RAGDOLL_H */