OctaCore/src/engine/ragdoll.hh
2020-07-30 03:15:44 +02:00

538 lines
15 KiB
C++

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, maxtrace;
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, undo;
float weight;
bool collided, stuck;
vert() : oldpos(0, 0, 0), pos(0, 0, 0), newpos(0, 0, 0), undo(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() ? nullptr : new matrix4x3[skel->joints.length()]),
reljoints(skel->reljoints.empty() ? nullptr : 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 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()
{
calctris();
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, tr = rot.trace();
if(tr >= r.maxtrace || !rot.calcangleaxis(tr, angle, axis)) continue;
angle = r.maxangle - 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)) continue;
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) continue;
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++;
}
}
}
VAR(ragdollconstrain, 1, 7, 100);
void ragdolldata::constrain()
{
loopi(ragdollconstrain)
{
constraindist();
loopvj(skel->verts)
{
vert &v = verts[j];
v.undo = v.pos;
if(v.weight)
{
v.pos = v.newpos.div(v.weight);
v.newpos = vec(0, 0, 0);
v.weight = 0;
}
}
constrainrot();
loopvj(skel->verts)
{
vert &v = verts[j];
if(v.weight)
{
v.pos = v.newpos.div(v.weight);
v.newpos = vec(0, 0, 0);
v.weight = 0;
}
if(v.pos != v.undo && collidevert(v.pos, vec(v.pos).sub(v.undo), skel->verts[j].radius))
{
vec dir = vec(v.pos).sub(v.oldpos);
float facing = dir.dot(collidewall);
if(facing < 0) v.oldpos = vec(v.undo).sub(dir.msub(collidewall, 2*facing));
v.pos = v.undo;
v.collided = true;
}
}
}
}
FVAR(ragdollbodyfric, 0, 0.95f, 1);
FVAR(ragdollbodyfricscale, 0, 2, 10);
FVAR(ragdollwaterfric, 0, 0.85f, 1);
FVAR(ragdollgroundfric, 0, 0.8f, 1);
FVAR(ragdollairfric, 0, 0.996f, 1);
FVAR(ragdollunstick, 0, 10, 1e3f);
VAR(ragdollexpireoffset, 0, 2500, 30000);
VAR(ragdollwaterexpireoffset, 0, 4000, 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();
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();
}
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.lerp(eye, 1-k);
}
void cleanragdoll(dynent *d)
{
DELETEP(d->ragdoll);
}