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-rw-r--r--src/engine/ragdoll.h424
1 files changed, 0 insertions, 424 deletions
diff --git a/src/engine/ragdoll.h b/src/engine/ragdoll.h
deleted file mode 100644
index 915076e..0000000
--- a/src/engine/ragdoll.h
+++ /dev/null
@@ -1,424 +0,0 @@
-struct ragdollskel {
- struct vert {
- vec pos;
- float radius, weight;
- };
- struct tri {
- int vert[3];
- bool shareverts(const tri &t) const {
- loopi(3) loopj(3) if(vert[i] == t.vert[j]) return true;
- return false;
- }
- };
- struct distlimit {
- int vert[2];
- float mindist, maxdist;
- };
- struct rotlimit {
- int tri[2];
- float maxangle;
- matrix3 middle;
- };
- struct rotfriction {
- int tri[2];
- matrix3 middle;
- };
- struct joint {
- int bone, tri, vert[3];
- float weight;
- matrix4x3 orient;
- };
- struct reljoint {
- int bone, parent;
- };
- bool loaded, animjoints;
- int eye;
- vector<vert> verts;
- vector<tri> tris;
- vector<distlimit> distlimits;
- vector<rotlimit> rotlimits;
- vector<rotfriction> rotfrictions;
- vector<joint> joints;
- vector<reljoint> reljoints;
- ragdollskel() : loaded(false), animjoints(false), eye(-1) {}
- void setupjoints() {
- loopv(verts) verts[i].weight = 0;
- loopv(joints) {
- joint &j = joints[i];
- j.weight = 0;
- vec pos(0, 0, 0);
- loopk(3) if(j.vert[k]>=0) {
- pos.add(verts[j.vert[k]].pos);
- j.weight++;
- verts[j.vert[k]].weight++;
- }
- if(j.weight) j.weight = 1/j.weight;
- pos.mul(j.weight);
- tri &t = tris[j.tri];
- matrix4x3 &m = j.orient;
- const vec &v1 = verts[t.vert[0]].pos,
- &v2 = verts[t.vert[1]].pos,
- &v3 = verts[t.vert[2]].pos;
- m.a = vec(v2).sub(v1).normalize();
- m.c.cross(m.a, vec(v3).sub(v1)).normalize();
- m.b.cross(m.c, m.a);
- m.d = pos;
- m.transpose();
- }
- loopv(verts) if(verts[i].weight) verts[i].weight = 1/verts[i].weight;
- reljoints.shrink(0);
- }
- void setuprotfrictions() {
- rotfrictions.shrink(0);
- loopv(tris) for(int j = i+1; j < tris.length(); j++) if(tris[i].shareverts(tris[j])) {
- rotfriction &r = rotfrictions.add();
- r.tri[0] = i;
- r.tri[1] = j;
- }
- }
- void setup() {
- setupjoints();
- setuprotfrictions();
- loaded = true;
- }
- void addreljoint(int bone, int parent) {
- reljoint &r = reljoints.add();
- r.bone = bone;
- r.parent = parent;
- }
-};
-
-struct ragdolldata {
- struct vert {
- vec oldpos, pos, newpos;
- float weight;
- bool collided, stuck;
- vert() : pos(0, 0, 0), newpos(0, 0, 0), weight(0), collided(false), stuck(true) {}
- };
- ragdollskel *skel;
- int millis, collidemillis, collisions, floating, lastmove, unsticks;
- vec offset, center;
- float radius, timestep, scale;
- vert *verts;
- matrix3 *tris;
- matrix4x3 *animjoints;
- dualquat *reljoints;
- ragdolldata(ragdollskel *skel, float scale = 1)
- : skel(skel),
- millis(lastmillis),
- collidemillis(0),
- collisions(0),
- floating(0),
- lastmove(lastmillis),
- unsticks(INT_MAX),
- radius(0),
- timestep(0),
- scale(scale),
- verts(new vert[skel->verts.length()]),
- tris(new matrix3[skel->tris.length()]),
- animjoints(!skel->animjoints || skel->joints.empty() ? NULL : new matrix4x3[skel->joints.length()]),
- reljoints(skel->reljoints.empty() ? NULL : new dualquat[skel->reljoints.length()]) {
- }
- ~ragdolldata() {
- delete[] verts;
- delete[] tris;
- if(animjoints) delete[] animjoints;
- if(reljoints) delete[] reljoints;
- }
- void calcanimjoint(int i, const matrix4x3 &anim) {
- if(!animjoints) return;
- ragdollskel::joint &j = skel->joints[i];
- vec pos(0, 0, 0);
- loopk(3) if(j.vert[k]>=0) pos.add(verts[j.vert[k]].pos);
- pos.mul(j.weight);
- ragdollskel::tri &t = skel->tris[j.tri];
- matrix4x3 m;
- const vec &v1 = verts[t.vert[0]].pos,
- &v2 = verts[t.vert[1]].pos,
- &v3 = verts[t.vert[2]].pos;
- m.a = vec(v2).sub(v1).normalize();
- m.c.cross(m.a, vec(v3).sub(v1)).normalize();
- m.b.cross(m.c, m.a);
- m.d = pos;
- animjoints[i].transposemul(m, anim);
- }
- void calctris() {
- loopv(skel->tris) {
- ragdollskel::tri &t = skel->tris[i];
- matrix3 &m = tris[i];
- const vec &v1 = verts[t.vert[0]].pos,
- &v2 = verts[t.vert[1]].pos,
- &v3 = verts[t.vert[2]].pos;
- m.a = vec(v2).sub(v1).normalize();
- m.c.cross(m.a, vec(v3).sub(v1)).normalize();
- m.b.cross(m.c, m.a);
- }
- }
- void calcboundsphere() {
- center = vec(0, 0, 0);
- loopv(skel->verts) center.add(verts[i].pos);
- center.div(skel->verts.length());
- radius = 0;
- loopv(skel->verts) radius = max(radius, verts[i].pos.dist(center));
- }
- void init(dynent *d) {
- extern int ragdolltimestepmin;
- float ts = ragdolltimestepmin/1000.0f;
- loopv(skel->verts) (verts[i].oldpos = verts[i].pos).sub(vec(d->vel).add(d->falling).mul(ts));
- timestep = ts;
- calctris();
- calcboundsphere();
- offset = d->o;
- offset.sub(skel->eye >= 0 ? verts[skel->eye].pos : center);
- offset.z += (d->eyeheight + d->aboveeye)/2;
- }
- void move(dynent *pl, float ts);
- void updatepos();
- void constrain();
- void constraindist();
- void applyrotlimit(ragdollskel::tri &t1, ragdollskel::tri &t2, float angle, const vec &axis);
- void constrainrot();
- void calcrotfriction();
- void applyrotfriction(float ts);
- void tryunstick(float speed);
- static inline bool collidevert(const vec &pos, const vec &dir, float radius) {
- static struct vertent : physent {
- vertent() {
- type = ENT_BOUNCE;
- radius = xradius = yradius = eyeheight = aboveeye = 1;
- }
- } v;
- v.o = pos;
- if(v.radius != radius) v.radius = v.xradius = v.yradius = v.eyeheight = v.aboveeye = radius;
- return collide(&v, dir, 0, false);
- }
-};
-
-/*
- seed particle position = avg(modelview * base2anim * spherepos)
- mapped transform = invert(curtri) * origtrig
- parented transform = parent{invert(curtri) * origtrig} * (invert(parent{base2anim}) * base2anim)
-*/
-
-void ragdolldata::constraindist() {
- float invscale = 1.0f/scale;
- loopv(skel->distlimits) {
- ragdollskel::distlimit &d = skel->distlimits[i];
- vert &v1 = verts[d.vert[0]], &v2 = verts[d.vert[1]];
- vec dir = vec(v2.pos).sub(v1.pos);
- float dist = dir.magnitude()*invscale, cdist;
- if(dist < d.mindist) cdist = d.mindist;
- else if(dist > d.maxdist) cdist = d.maxdist;
- else continue;
- if(dist > 1e-4f) dir.mul(cdist*0.5f/dist);
- else dir = vec(0, 0, cdist*0.5f/invscale);
- vec center = vec(v1.pos).add(v2.pos).mul(0.5f);
- v1.newpos.add(vec(center).sub(dir));
- v1.weight++;
- v2.newpos.add(vec(center).add(dir));
- v2.weight++;
- }
-}
-
-inline void ragdolldata::applyrotlimit(ragdollskel::tri &t1, ragdollskel::tri &t2, float angle, const vec &axis) {
- vert &v1a = verts[t1.vert[0]], &v1b = verts[t1.vert[1]], &v1c = verts[t1.vert[2]],
- &v2a = verts[t2.vert[0]], &v2b = verts[t2.vert[1]], &v2c = verts[t2.vert[2]];
- vec m1 = vec(v1a.pos).add(v1b.pos).add(v1c.pos).div(3),
- m2 = vec(v2a.pos).add(v2b.pos).add(v2c.pos).div(3),
- q1a, q1b, q1c, q2a, q2b, q2c;
- float w1 = q1a.cross(axis, vec(v1a.pos).sub(m1)).magnitude() +
- q1b.cross(axis, vec(v1b.pos).sub(m1)).magnitude() +
- q1c.cross(axis, vec(v1c.pos).sub(m1)).magnitude(),
- w2 = q2a.cross(axis, vec(v2a.pos).sub(m2)).magnitude() +
- q2b.cross(axis, vec(v2b.pos).sub(m2)).magnitude() +
- q2c.cross(axis, vec(v2c.pos).sub(m2)).magnitude();
- angle /= w1 + w2 + 1e-9f;
- float a1 = angle*w2, a2 = -angle*w1,
- s1 = sinf(a1), s2 = sinf(a2);
- vec c1 = vec(axis).mul(1 - cosf(a1)), c2 = vec(axis).mul(1 - cosf(a2));
- v1a.newpos.add(vec().cross(c1, q1a).madd(q1a, s1).add(v1a.pos));
- v1a.weight++;
- v1b.newpos.add(vec().cross(c1, q1b).madd(q1b, s1).add(v1b.pos));
- v1b.weight++;
- v1c.newpos.add(vec().cross(c1, q1c).madd(q1c, s1).add(v1c.pos));
- v1c.weight++;
- v2a.newpos.add(vec().cross(c2, q2a).madd(q2a, s2).add(v2a.pos));
- v2a.weight++;
- v2b.newpos.add(vec().cross(c2, q2b).madd(q2b, s2).add(v2b.pos));
- v2b.weight++;
- v2c.newpos.add(vec().cross(c2, q2c).madd(q2c, s2).add(v2c.pos));
- v2c.weight++;
-}
-
-void ragdolldata::constrainrot() {
- loopv(skel->rotlimits) {
- ragdollskel::rotlimit &r = skel->rotlimits[i];
- matrix3 rot;
- rot.mul(tris[r.tri[0]], r.middle);
- rot.multranspose(tris[r.tri[1]]);
- vec axis;
- float angle;
- if(!rot.calcangleaxis(angle, axis)) continue;
- angle = r.maxangle - fabs(angle);
- if(angle >= 0) continue;
- angle += 1e-3f;
- applyrotlimit(skel->tris[r.tri[0]], skel->tris[r.tri[1]], angle, axis);
- }
-}
-
-VAR(ragdolltimestepmin, 1, 5, 50);
-VAR(ragdolltimestepmax, 1, 10, 50);
-FVAR(ragdollrotfric, 0, 0.85f, 1);
-FVAR(ragdollrotfricstop, 0, 0.1f, 1);
-
-void ragdolldata::calcrotfriction() {
- loopv(skel->rotfrictions) {
- ragdollskel::rotfriction &r = skel->rotfrictions[i];
- r.middle.transposemul(tris[r.tri[0]], tris[r.tri[1]]);
- }
-}
-
-void ragdolldata::applyrotfriction(float ts) {
- calctris();
- float stopangle = 2*M_PI*ts*ragdollrotfricstop, rotfric = 1.0f - pow(ragdollrotfric, ts*1000.0f/ragdolltimestepmin);
- loopv(skel->rotfrictions) {
- ragdollskel::rotfriction &r = skel->rotfrictions[i];
- matrix3 rot;
- rot.mul(tris[r.tri[0]], r.middle);
- rot.multranspose(tris[r.tri[1]]);
- vec axis;
- float angle;
- if(rot.calcangleaxis(angle, axis)) {
- angle *= -(fabs(angle) >= stopangle ? rotfric : 1.0f);
- applyrotlimit(skel->tris[r.tri[0]], skel->tris[r.tri[1]], angle, axis);
- }
- }
- loopv(skel->verts) {
- vert &v = verts[i];
- if(v.weight) v.pos = v.newpos.div(v.weight);
- v.newpos = vec(0, 0, 0);
- v.weight = 0;
- }
-}
-
-void ragdolldata::tryunstick(float speed) {
- vec unstuck(0, 0, 0);
- int stuck = 0;
- loopv(skel->verts) {
- vert &v = verts[i];
- if(v.stuck) {
- if(collidevert(v.pos, vec(0, 0, 0), skel->verts[i].radius)) { stuck++; continue; }
- v.stuck = false;
- }
- unstuck.add(v.pos);
- }
- unsticks = 0;
- if(!stuck || stuck >= skel->verts.length()) return;
- unstuck.div(skel->verts.length() - stuck);
- loopv(skel->verts) {
- vert &v = verts[i];
- if(v.stuck) {
- v.pos.add(vec(unstuck).sub(v.pos).rescale(speed));
- unsticks++;
- }
- }
-}
-
-void ragdolldata::updatepos() {
- loopv(skel->verts) {
- vert &v = verts[i];
- if(v.weight) {
- v.newpos.div(v.weight);
- if(!collidevert(v.newpos, vec(v.newpos).sub(v.pos), skel->verts[i].radius)) v.pos = v.newpos;
- else {
- vec dir = vec(v.newpos).sub(v.oldpos);
- if(dir.dot(collidewall) < 0) v.oldpos = vec(v.pos).sub(dir.reflect(collidewall));
- v.collided = true;
- }
- }
- v.newpos = vec(0, 0, 0);
- v.weight = 0;
- }
-}
-
-VAR(ragdollconstrain, 1, 5, 100);
-
-void ragdolldata::constrain() {
- loopi(ragdollconstrain) {
- constraindist();
- updatepos();
- calctris();
- constrainrot();
- updatepos();
- }
-}
-
-FVAR(ragdollbodyfric, 0, 0.95f, 1);
-FVAR(ragdollbodyfricscale, 0, 2, 10);
-FVAR(ragdollgroundfric, 0, 0.8f, 1);
-FVAR(ragdollairfric, 0, 0.996f, 1);
-FVAR(ragdollunstick, 0, 10, 1e3f);
-VAR(ragdollexpireoffset, 0, 1500, 30000);
-
-void ragdolldata::move(dynent *pl, float ts) {
- extern const float GRAVITY;
- if(collidemillis && lastmillis > collidemillis) return;
- pl->inwater = MAT_AIR;
- calcrotfriction();
- float tsfric = timestep ? ts/timestep : 1,
- airfric = ragdollairfric + min((ragdollbodyfricscale*collisions)/skel->verts.length(), 1.0f)*(ragdollbodyfric - ragdollairfric);
- collisions = 0;
- loopv(skel->verts) {
- vert &v = verts[i];
- vec dpos = vec(v.pos).sub(v.oldpos);
- dpos.z -= GRAVITY*ts*ts;
- dpos.mul(pow(1.0f * (v.collided ? ragdollgroundfric : airfric), ts*1000.0f/ragdolltimestepmin)*tsfric);
- v.oldpos = v.pos;
- v.pos.add(dpos);
- }
- applyrotfriction(ts);
- loopv(skel->verts) {
- vert &v = verts[i];
- if(v.pos.z < 0) { v.pos.z = 0; v.oldpos = v.pos; collisions++; }
- vec dir = vec(v.pos).sub(v.oldpos);
- v.collided = collidevert(v.pos, dir, skel->verts[i].radius);
- if(v.collided) {
- v.pos = v.oldpos;
- v.oldpos.sub(dir.reflect(collidewall));
- collisions++;
- }
- }
- if(unsticks && ragdollunstick) tryunstick(ts*ragdollunstick);
- timestep = ts;
- if(collisions) {
- floating = 0;
- if(!collidemillis) collidemillis = lastmillis + ragdollexpireoffset;
- }
- else if(++floating > 1 && lastmillis < collidemillis) collidemillis = 0;
- constrain();
- calctris();
- calcboundsphere();
-}
-
-FVAR(ragdolleyesmooth, 0, 0.5f, 1);
-VAR(ragdolleyesmoothmillis, 1, 250, 10000);
-
-void moveragdoll(dynent *d) {
- if(!curtime || !d->ragdoll) return;
- if(!d->ragdoll->collidemillis || lastmillis < d->ragdoll->collidemillis) {
- int lastmove = d->ragdoll->lastmove;
- while(d->ragdoll->lastmove + (lastmove == d->ragdoll->lastmove ? ragdolltimestepmin : ragdolltimestepmax) <= lastmillis) {
- int timestep = min(ragdolltimestepmax, lastmillis - d->ragdoll->lastmove);
- d->ragdoll->move(d, timestep/1000.0f);
- d->ragdoll->lastmove += timestep;
- }
- }
- vec eye = d->ragdoll->skel->eye >= 0 ? d->ragdoll->verts[d->ragdoll->skel->eye].pos : d->ragdoll->center;
- eye.add(d->ragdoll->offset);
- float k = pow(ragdolleyesmooth, float(curtime)/ragdolleyesmoothmillis);
- d->o.mul(k).add(eye.mul(1-k));
-}
-
-void cleanragdoll(dynent *d) {
- DELETEP(d->ragdoll);
-}
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