summaryrefslogtreecommitdiff
path: root/src/engine/ragdoll.h
diff options
context:
space:
mode:
Diffstat (limited to 'src/engine/ragdoll.h')
-rw-r--r--src/engine/ragdoll.h916
1 files changed, 458 insertions, 458 deletions
diff --git a/src/engine/ragdoll.h b/src/engine/ragdoll.h
index 2704abd..cf68c01 100644
--- a/src/engine/ragdoll.h
+++ b/src/engine/ragdoll.h
@@ -1,331 +1,331 @@
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 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);
- }
+ 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)
+ 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++;
- }
+ 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++;
+ 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);
- }
+ 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);
@@ -335,103 +335,103 @@ 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]]);
- }
+ 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;
- }
+ 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++;
- }
- }
+ 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;
- }
+ 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();
- }
+ loopi(ragdollconstrain)
+ {
+ constraindist();
+ updatepos();
+
+ calctris();
+ constrainrot();
+ updatepos();
+ }
}
FVAR(ragdollbodyfric, 0, 0.95f, 1);
@@ -445,62 +445,62 @@ VAR(ragdollwaterexpireoffset, 0, 3000, 30000);
void ragdolldata::move(dynent *pl, float ts)
{
- extern const float GRAVITY;
- if(collidemillis && lastmillis > collidemillis) return;
-
- int material = lookupmaterial(vec(center.x, center.y, center.z + radius/2));
- bool water = isliquid(material&MATF_VOLUME);
- if(!pl->inwater && water) game::physicstrigger(pl, true, 0, -1, material&MATF_VOLUME);
- else if(pl->inwater && !water)
- {
- material = lookupmaterial(center);
- water = isliquid(material&MATF_VOLUME);
- if(!water) game::physicstrigger(pl, true, 0, 1, pl->inwater);
- }
- pl->inwater = water ? material&MATF_VOLUME : MAT_AIR;
-
- calcrotfriction();
+ extern const float GRAVITY;
+ if(collidemillis && lastmillis > collidemillis) return;
+
+ int material = lookupmaterial(vec(center.x, center.y, center.z + radius/2));
+ bool water = isliquid(material&MATF_VOLUME);
+ if(!pl->inwater && water) game::physicstrigger(pl, true, 0, -1, material&MATF_VOLUME);
+ else if(pl->inwater && !water)
+ {
+ material = lookupmaterial(center);
+ water = isliquid(material&MATF_VOLUME);
+ if(!water) game::physicstrigger(pl, true, 0, 1, pl->inwater);
+ }
+ pl->inwater = water ? material&MATF_VOLUME : 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;
- if(water) dpos.z += 0.25f*sinf(detrnd(size_t(this)+i, 360)*RAD + lastmillis/10000.0f*M_PI)*ts;
- dpos.mul(pow((water ? ragdollwaterfric : 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 + (water ? ragdollwaterexpireoffset : ragdollexpireoffset);
- }
- else if(++floating > 1 && lastmillis < collidemillis) collidemillis = 0;
-
- constrain();
- calctris();
- calcboundsphere();
+ collisions = 0;
+ loopv(skel->verts)
+ {
+ vert &v = verts[i];
+ vec dpos = vec(v.pos).sub(v.oldpos);
+ dpos.z -= GRAVITY*ts*ts;
+ if(water) dpos.z += 0.25f*sinf(detrnd(size_t(this)+i, 360)*RAD + lastmillis/10000.0f*M_PI)*ts;
+ dpos.mul(pow((water ? ragdollwaterfric : 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 + (water ? ragdollwaterexpireoffset : ragdollexpireoffset);
+ }
+ else if(++floating > 1 && lastmillis < collidemillis) collidemillis = 0;
+
+ constrain();
+ calctris();
+ calcboundsphere();
}
FVAR(ragdolleyesmooth, 0, 0.5f, 1);
@@ -508,26 +508,26 @@ 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));
+ 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);
+ DELETEP(d->ragdoll);
}
generated by cgit v1.2.3 (git 2.46.0) at 2026-02-21 06:26:54 +0000