metaforce/Runtime/Character/CRagDoll.cpp

320 lines
12 KiB
C++

#include "CRagDoll.hpp"
#include "Collision/CMetroidAreaCollider.hpp"
#include "Collision/CGameCollision.hpp"
#include "Collision/CMaterialFilter.hpp"
#include "Collision/CCollidableSphere.hpp"
#include "Collision/CCollisionInfo.hpp"
#include "CStateManager.hpp"
namespace urde {
void CRagDoll::CRagDollLengthConstraint::Update() {
zeus::CVector3f delta = x4_p2->x4_curPos - x0_p1->x4_curPos;
float magSq = delta.magSquared();
float lenSq = x8_length * x8_length;
bool doSolve = true;
switch (xc_ineqType) {
case 1: // Min
doSolve = magSq < lenSq;
break;
case 2: // Max
doSolve = magSq > lenSq;
break;
default:
break;
}
if (!doSolve)
return;
zeus::CVector3f solveVec = delta * (lenSq / (magSq + lenSq) - 0.5f);
x0_p1->x4_curPos -= solveVec;
x4_p2->x4_curPos += solveVec;
}
void CRagDoll::CRagDollJointConstraint::Update() {
// L_hip, R_shoulder, L_shoulder, L_hip, L_knee, L_ankle
zeus::CVector3f P4ToP5 = x10_p5->x4_curPos - xc_p4->x4_curPos; // L_hip->L_knee
zeus::CVector3f cross =
P4ToP5.cross((x8_p3->x4_curPos - x0_p1->x4_curPos).cross(x4_p2->x4_curPos - x0_p1->x4_curPos));
// L_hip->L_knee X (L_hip->L_shoulder X L_hip->R_shoulder)
if (cross.canBeNormalized()) {
zeus::CVector3f hipUp = cross.cross(P4ToP5).normalized();
float dot = (x14_p6->x4_curPos - x10_p5->x4_curPos).dot(hipUp);
if (dot > 0.f) {
zeus::CVector3f solveVec = 0.5f * dot * hipUp;
x14_p6->x4_curPos -= solveVec;
x10_p5->x4_curPos += solveVec;
}
}
}
void CRagDoll::CRagDollPlaneConstraint::Update() {
zeus::CVector3f P1ToP2 = (x4_p2->x4_curPos - x0_p1->x4_curPos).normalized();
float dot = P1ToP2.dot(xc_p4->x4_curPos - x8_p3->x4_curPos);
if (dot < 0.f) {
zeus::CVector3f solveVec = 0.5f * dot * P1ToP2;
xc_p4->x4_curPos -= solveVec;
x10_p5->x4_curPos += solveVec;
}
}
CRagDoll::CRagDoll(float normalGravity, float floatingGravity, float overTime, u32 flags)
: x44_normalGravity(normalGravity), x48_floatingGravity(floatingGravity), x50_overTimer(overTime) {
x68_27_continueSmallMovements = bool(flags & 0x1);
x68_28_noOverTimer = bool(flags & 0x2);
x68_29_noAiCollision = bool(flags & 0x4);
}
void CRagDoll::AccumulateForces(float dt, float waterTop) {
float fps = 1.f / dt;
x64_angTimer += dt;
if (x64_angTimer > 4.f)
x64_angTimer -= 4.f;
float targetZ = std::sin(zeus::degToRad(90.f) * x64_angTimer) * 0.1f + (waterTop - 0.2f);
zeus::CVector3f centerOfVolume;
float totalVolume = 0.f;
for (auto& particle : x4_particles) {
float volume = particle.x10_radius * particle.x10_radius * particle.x10_radius;
totalVolume += volume;
centerOfVolume += particle.x4_curPos * volume;
float fromTargetZ = particle.x4_curPos.z() - targetZ;
float verticalAcc = x48_floatingGravity;
float termVelCoefficient = 0.f;
if (std::fabs(fromTargetZ) < 0.5f) {
termVelCoefficient = 0.5f * fromTargetZ / 0.5f + 0.5f;
verticalAcc = x48_floatingGravity * -fromTargetZ / 0.5f;
} else if (fromTargetZ > 0.f) {
verticalAcc = x44_normalGravity;
termVelCoefficient = 1.f;
}
particle.x20_velocity.z() += verticalAcc;
zeus::CVector3f vel = (particle.x4_curPos - particle.x14_prevPos) * fps;
float velMag = vel.magnitude();
if (velMag > FLT_EPSILON) {
particle.x20_velocity -=
vel * (1.f / velMag) *
((velMag * velMag * 0.75f * (1.2f * termVelCoefficient + 1000.f * (1.f - termVelCoefficient))) /
(8000.f * particle.x10_radius));
}
}
zeus::CVector3f averageTorque;
centerOfVolume = centerOfVolume / totalVolume;
for (const auto& particle : x4_particles) {
float volume = particle.x10_radius * particle.x10_radius * particle.x10_radius;
averageTorque += (particle.x4_curPos - centerOfVolume).cross(particle.x4_curPos - particle.x14_prevPos) * volume;
}
averageTorque = averageTorque * (fps / totalVolume);
if (averageTorque.canBeNormalized())
for (auto& particle : x4_particles)
particle.x20_velocity -= averageTorque.cross(particle.x4_curPos - centerOfVolume) * 25.f;
}
void CRagDoll::AddParticle(CSegId id, const zeus::CVector3f& prevPos, const zeus::CVector3f& curPos, float radius) {
x4_particles.emplace_back(id, curPos, radius, prevPos);
}
void CRagDoll::AddLengthConstraint(int i1, int i2) {
x14_lengthConstraints.emplace_back(&x4_particles[i1], &x4_particles[i2],
(x4_particles[i1].x4_curPos - x4_particles[i2].x4_curPos).magnitude(), 0);
}
void CRagDoll::AddMaxLengthConstraint(int i1, int i2, float length) {
x14_lengthConstraints.emplace_back(&x4_particles[i1], &x4_particles[i2], length, 2);
}
void CRagDoll::AddMinLengthConstraint(int i1, int i2, float length) {
x14_lengthConstraints.emplace_back(&x4_particles[i1], &x4_particles[i2], length, 1);
}
void CRagDoll::AddJointConstraint(int i1, int i2, int i3, int i4, int i5, int i6) {
x24_jointConstraints.emplace_back(&x4_particles[i1], &x4_particles[i2], &x4_particles[i3], &x4_particles[i4],
&x4_particles[i5], &x4_particles[i6]);
}
zeus::CQuaternion CRagDoll::BoneAlign(CHierarchyPoseBuilder& pb, const CCharLayoutInfo& charInfo, int i1, int i2,
const zeus::CQuaternion& q) {
zeus::CVector3f fromParent = charInfo.GetFromParentUnrotated(x4_particles[i2].x0_id);
zeus::CVector3f delta = x4_particles[i2].x4_curPos - x4_particles[i1].x4_curPos;
delta = q.inverse().transform(delta);
zeus::CQuaternion ret = zeus::CQuaternion::shortestRotationArc(fromParent, delta);
pb.GetTreeMap()[x4_particles[i1].x0_id].x4_rotation = ret;
return ret;
}
zeus::CAABox CRagDoll::CalculateRenderBounds() const {
zeus::CAABox aabb;
for (const auto& particle : x4_particles) {
aabb.accumulateBounds(
zeus::CAABox(particle.x4_curPos - particle.x10_radius, particle.x4_curPos + particle.x10_radius));
}
return aabb;
}
void CRagDoll::CheckStatic(float dt) {
x4c_impactCount = 0;
x54_impactVel = 0.f;
float halfDt = 0.5f * dt;
float halfDeltaUnitSq = halfDt * halfDt;
x58_averageVel = zeus::CVector3f::skZero;
bool movingSlowly = true;
for (auto& particle : x4_particles) {
zeus::CVector3f delta = particle.x4_curPos - particle.x14_prevPos;
x58_averageVel += delta;
if (delta.magSquared() > halfDeltaUnitSq)
movingSlowly = false;
if (particle.x3c_24_impactPending) {
x4c_impactCount += 1;
x54_impactVel = std::max(particle.x38_impactFrameVel, x54_impactVel);
}
}
if (!x4_particles.empty())
x58_averageVel = x58_averageVel * (1.f / (dt * x4_particles.size()));
x54_impactVel /= dt;
if (!x68_28_noOverTimer) {
x50_overTimer -= dt;
if (x50_overTimer <= 0.f)
x68_25_over = true;
}
if (movingSlowly && x68_24_prevMovingSlowly)
x68_25_over = true;
x68_24_prevMovingSlowly = movingSlowly;
}
void CRagDoll::ClearForces() {
for (auto& particle : x4_particles)
particle.x20_velocity = zeus::CVector3f::skZero;
}
void CRagDoll::SatisfyConstraints(CStateManager& mgr) {
for (auto& length : x14_lengthConstraints)
length.Update();
for (auto& joint : x24_jointConstraints)
joint.Update();
for (auto& plane : x34_planeConstraints)
plane.Update();
if (SatisfyWorldConstraints(mgr, 1))
SatisfyWorldConstraints(mgr, 2);
}
bool CRagDoll::SatisfyWorldConstraints(CStateManager& mgr, int pass) {
zeus::CAABox aabb;
for (const auto& particle : x4_particles) {
if (pass == 1 || particle.x3c_24_impactPending) {
aabb.accumulateBounds(particle.x14_prevPos - particle.x10_radius);
aabb.accumulateBounds(particle.x14_prevPos + particle.x10_radius);
aabb.accumulateBounds(particle.x4_curPos - particle.x10_radius);
aabb.accumulateBounds(particle.x4_curPos + particle.x10_radius);
}
}
CAreaCollisionCache ccache(aabb);
CGameCollision::BuildAreaCollisionCache(mgr, ccache);
bool needs2ndPass = false;
TUniqueId bestId = kInvalidUniqueId;
CMaterialList include;
if (x68_29_noAiCollision)
include = CMaterialList(EMaterialTypes::Solid);
else
include = CMaterialList(EMaterialTypes::Solid, EMaterialTypes::AIBlock);
CMaterialList exclude;
if (x68_29_noAiCollision)
exclude = CMaterialList(EMaterialTypes::Character, EMaterialTypes::Player, EMaterialTypes::AIBlock,
EMaterialTypes::Occluder);
else
exclude = CMaterialList(EMaterialTypes::Character, EMaterialTypes::Player);
rstl::reserved_vector<TUniqueId, 1024> nearList;
CMaterialFilter filter = CMaterialFilter::MakeIncludeExclude(include, exclude);
mgr.BuildNearList(nearList, aabb, filter, nullptr);
for (auto& particle : x4_particles) {
if (pass == 1 || particle.x3c_24_impactPending) {
zeus::CVector3f delta = particle.x4_curPos - particle.x14_prevPos;
float deltaMag = delta.magnitude();
if (deltaMag > 0.0001f) {
delta = delta * (1.f / deltaMag);
double d = deltaMag;
CCollidableSphere sphere(zeus::CSphere(particle.x14_prevPos, particle.x10_radius), include);
CCollisionInfo info;
CGameCollision::DetectCollision_Cached_Moving(mgr, ccache, sphere, {}, filter, nearList, delta, bestId, info,
d);
if (info.IsValid()) {
needs2ndPass = true;
switch (pass) {
case 1: {
particle.x3c_24_impactPending = true;
float dot = delta.dot(info.GetNormalLeft());
particle.x2c_impactResponseDelta = -0.125f * dot * deltaMag * info.GetNormalLeft();
particle.x38_impactFrameVel = -dot * deltaMag;
particle.x4_curPos += float(0.0001f - (deltaMag - d) * dot) * info.GetNormalLeft();
break;
}
case 2:
particle.x4_curPos = float(d - 0.0001) * delta + particle.x14_prevPos;
break;
default:
break;
}
}
} else if (!x68_27_continueSmallMovements) {
particle.x4_curPos = particle.x14_prevPos;
}
}
}
return needs2ndPass;
}
void CRagDoll::SatisfyWorldConstraintsOnConstruction(CStateManager& mgr) {
for (auto& particle : x4_particles)
particle.x3c_24_impactPending = true;
SatisfyWorldConstraints(mgr, 2);
for (auto& particle : x4_particles)
particle.x14_prevPos = particle.x4_curPos;
}
void CRagDoll::Verlet(float dt) {
for (auto& particle : x4_particles) {
zeus::CVector3f oldPos = particle.x4_curPos;
particle.x4_curPos += (particle.x4_curPos - particle.x14_prevPos) * (particle.x3c_24_impactPending ? 0.9f : 1.f);
particle.x4_curPos += particle.x20_velocity * (dt * dt);
particle.x4_curPos += particle.x2c_impactResponseDelta;
particle.x14_prevPos = oldPos;
zeus::CVector3f deltaPos = particle.x4_curPos - particle.x14_prevPos;
if (deltaPos.magSquared() > 4.f)
particle.x4_curPos = deltaPos.normalized() * 2.f + particle.x14_prevPos;
particle.x3c_24_impactPending = false;
particle.x2c_impactResponseDelta = zeus::CVector3f::skZero;
}
}
void CRagDoll::PreRender(const zeus::CVector3f& v, CModelData& mData) {
// Empty
}
void CRagDoll::Update(CStateManager& mgr, float dt, float waterTop) {
if (!x68_25_over || x68_27_continueSmallMovements) {
AccumulateForces(dt, waterTop);
Verlet(dt);
SatisfyConstraints(mgr);
ClearForces();
CheckStatic(dt);
}
}
void CRagDoll::Prime(CStateManager& mgr, const zeus::CTransform& xf, CModelData& mData) {
zeus::CVector3f scale = mData.GetScale();
CAnimData* aData = mData.AnimationData();
aData->BuildPose();
for (auto& particle : x4_particles)
if (particle.x0_id != 0xff)
particle.x4_curPos = xf * aData->GetPose().GetOffset(particle.x0_id) * scale;
SatisfyWorldConstraints(mgr, 2);
for (auto& particle : x4_particles)
particle.x3c_24_impactPending = false;
x68_26_primed = true;
}
} // namespace urde