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Controlling humanoid movement with one capsule-shaped physics body that other limbs (attempt to) follow

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Broken and WIP
This commit is contained in:
Regalis
2016-10-13 23:19:48 +03:00
parent e12fe29f80
commit 62c88be214
9 changed files with 306 additions and 195 deletions
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Subsurface/Source/Characters/Animation/HumanoidAnimController.cs
+193 -123
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@@ -44,10 +44,10 @@ namespace Barotrauma
{
get
{
return Crouching ? base.TorsoAngle+0.5f : base.TorsoAngle;
return Crouching ? base.TorsoAngle + 0.5f : base.TorsoAngle;
}
}
public HumanoidAnimController(Character character, XElement element)
: base(character, element)
{
@@ -64,80 +64,135 @@ namespace Barotrauma
if (character.IsDead) return;
if (Frozen) return;
Vector2 colliderPos = GetLimb(LimbType.Torso).SimPosition;
if (collider == null) return;
Vector2 colliderPos = GetColliderBottom();
//if (inWater) stairs = null;
if (onFloorTimer <= 0.0f && !SimplePhysicsEnabled)
//if (onFloorTimer <= 0.0f && !SimplePhysicsEnabled)
//{
// Vector2 rayStart = colliderPos; // at the bottom of the player sprite
// Vector2 rayEnd = rayStart - new Vector2(0.0f, TorsoPosition);
// if (stairs != null) rayEnd.Y -= 0.5f;
// //do a raytrace straight down from the torso to figure
// //out whether the ragdoll is standing on ground
// float closestFraction = 1;
// Structure closestStructure = null;
// GameMain.World.RayCast((fixture, point, normal, fraction) =>
// {
// switch (fixture.CollisionCategories)
// {
// case Physics.CollisionStairs:
// if (inWater && TargetMovement.Y < 0.5f) return -1;
// Structure structure = fixture.Body.UserData as Structure;
// if (stairs == null && structure != null)
// {
// if (LowestLimb.SimPosition.Y < structure.SimPosition.Y)
// {
// return -1;
// }
// else
// {
// stairs = structure;
// }
// }
// break;
// case Physics.CollisionPlatform:
// Structure platform = fixture.Body.UserData as Structure;
// if (IgnorePlatforms || LowestLimb.Position.Y < platform.Rect.Y) return -1;
// break;
// case Physics.CollisionWall:
// break;
// default:
// return -1;
// }
// onGround = true;
// if (fraction < closestFraction)
// {
// closestFraction = fraction;
// Structure structure = fixture.Body.UserData as Structure;
// if (structure != null) closestStructure = structure;
// }
// onFloorTimer = 0.05f;
// return closestFraction;
// }
// , rayStart, rayEnd);
// if (closestStructure != null && closestStructure.StairDirection != Direction.None)
// {
// stairs = closestStructure;
// }
// else
// {
// stairs = null;
// }
// if (closestFraction == 1) //raycast didn't hit anything
// {
// floorY = (currentHull == null) ? -1000.0f : ConvertUnits.ToSimUnits(currentHull.Rect.Y - currentHull.Rect.Height);
// }
// else
// {
// floorY = rayStart.Y + (rayEnd.Y - rayStart.Y) * closestFraction;
// }
//}
bool onStairs = stairs != null;
stairs = null;
var contacts = collider.body.FarseerBody.ContactList;
while (contacts != null && contacts.Contact != null)
{
Vector2 rayStart = colliderPos; // at the bottom of the player sprite
Vector2 rayEnd = rayStart - new Vector2(0.0f, TorsoPosition);
if (stairs != null) rayEnd.Y -= 0.5f;
//do a raytrace straight down from the torso to figure
//out whether the ragdoll is standing on ground
float closestFraction = 1;
Structure closestStructure = null;
GameMain.World.RayCast((fixture, point, normal, fraction) =>
if (contacts.Contact.Enabled && contacts.Contact.IsTouching)
{
switch (fixture.CollisionCategories)
Vector2 normal;
FarseerPhysics.Common.FixedArray2<Vector2> points;
contacts.Contact.GetWorldManifold(out normal, out points);
switch (contacts.Contact.FixtureA.CollisionCategories)
{
case Physics.CollisionStairs:
if (inWater && TargetMovement.Y < 0.5f) return -1;
Structure structure = fixture.Body.UserData as Structure;
if (stairs == null && structure != null)
Structure structure = contacts.Contact.FixtureA.Body.UserData as Structure;
if (structure != null && onStairs)
{
if (LowestLimb.SimPosition.Y < structure.SimPosition.Y)
{
return -1;
}
else
{
stairs = structure;
}
stairs = structure;
}
break;
case Physics.CollisionPlatform:
Structure platform = fixture.Body.UserData as Structure;
if (IgnorePlatforms || LowestLimb.Position.Y < platform.Rect.Y) return -1;
break;
case Physics.CollisionWall:
break;
default:
return -1;
}
// case Physics.CollisionPlatform:
// Structure platform = contacts.Contact.FixtureA.Body.UserData as Structure;
// if (IgnorePlatforms || colliderBottom.Y < ConvertUnits.ToSimUnits(platform.Rect.Y - 15))
// {
// contacts = contacts.Next;
// continue;
// }
// break;
// case Physics.CollisionWall:
// break;
// default:
// contacts = contacts.Next;
// continue;
//}
onGround = true;
if (fraction < closestFraction)
if (points[0].Y < collider.SimPosition.Y)
{
closestFraction = fraction;
Structure structure = fixture.Body.UserData as Structure;
if (structure != null) closestStructure = structure;
floorY = Math.Max(floorY, points[0].Y);
onGround = true;
onFloorTimer = 0.1f;
}
onFloorTimer = 0.05f;
return closestFraction;
}
, rayStart, rayEnd);
if (closestStructure != null && closestStructure.StairDirection != Direction.None)
{
stairs = closestStructure;
}
else
{
stairs = null;
}
if (closestFraction == 1) //raycast didn't hit anything
{
floorY = (currentHull == null) ? -1000.0f : ConvertUnits.ToSimUnits(currentHull.Rect.Y - currentHull.Rect.Height);
}
else
{
floorY = rayStart.Y + (rayEnd.Y - rayStart.Y) * closestFraction;
}
}
contacts = contacts.Next;
}
//the ragdoll "stays on ground" for 50 millisecs after separation
if (onFloorTimer <= 0.0f)
@@ -152,7 +207,7 @@ namespace Barotrauma
{
onFloorTimer -= deltaTime;
}
//stun (= disable the animations) if the ragdoll receives a large enough impact
if (strongestImpact > 0.0f)
{
@@ -160,9 +215,10 @@ namespace Barotrauma
}
strongestImpact = 0.0f;
if (stunTimer > 0)
{
collider.Disabled = true;
stunTimer -= deltaTime;
return;
}
@@ -179,11 +235,11 @@ namespace Barotrauma
Vector2 midPos = waist.SimPosition;
Matrix torsoTransform = Matrix.CreateRotationZ(waist.Rotation);
midPos += Vector2.Transform(new Vector2(-0.3f*Dir,-0.2f), torsoTransform);
midPos += Vector2.Transform(new Vector2(-0.3f * Dir, -0.2f), torsoTransform);
if (rightHand.pullJoint.Enabled) midPos = (midPos + rightHand.pullJoint.WorldAnchorB) / 2.0f;
@@ -199,16 +255,17 @@ namespace Barotrauma
else
{
if (Anim != Animation.UsingConstruction) ResetPullJoints();
if (Anim != Animation.UsingConstruction) ResetPullJoints();
}
if (SimplePhysicsEnabled)
{
UpdateStandingSimple();
return;
}
inWater = false;
switch (Anim)
{
@@ -224,12 +281,12 @@ namespace Barotrauma
default:
if (character.SelectedCharacter != null) DragCharacter(character.SelectedCharacter);
//0.5 second delay for switching between swimming and walking
//prevents rapid switches between swimming/walking if the water level is fluctuating around the minimum swimming depth
if (inWater)
{
inWaterTimer = Math.Max(inWaterTimer+deltaTime, 0.5f);
inWaterTimer = Math.Max(inWaterTimer + deltaTime, 0.5f);
if (inWaterTimer >= 1.0f) swimming = true;
}
else
@@ -268,19 +325,19 @@ namespace Barotrauma
//if you're allergic to magic numbers, stop reading now
Limb leftFoot = GetLimb(LimbType.LeftFoot);
Limb rightFoot = GetLimb(LimbType.RightFoot);
Limb head = GetLimb(LimbType.Head);
Limb torso = GetLimb(LimbType.Torso);
Limb leftFoot = GetLimb(LimbType.LeftFoot);
Limb rightFoot = GetLimb(LimbType.RightFoot);
Limb head = GetLimb(LimbType.Head);
Limb torso = GetLimb(LimbType.Torso);
Limb waist = GetLimb(LimbType.Waist);
Limb waist = GetLimb(LimbType.Waist);
Limb leftHand = GetLimb(LimbType.LeftHand);
Limb rightHand = GetLimb(LimbType.RightHand);
Limb leftHand = GetLimb(LimbType.LeftHand);
Limb rightHand = GetLimb(LimbType.RightHand);
Limb leftLeg = GetLimb(LimbType.LeftLeg);
Limb rightLeg = GetLimb(LimbType.RightLeg);
Limb leftLeg = GetLimb(LimbType.LeftLeg);
Limb rightLeg = GetLimb(LimbType.RightLeg);
float getUpSpeed = 0.3f;
float walkCycleSpeed = head.LinearVelocity.X * walkAnimSpeed;
if (stairs != null)
@@ -297,10 +354,10 @@ namespace Barotrauma
{
TargetMovement /= 1.0f;
walkCycleSpeed *= 1.5f;
}
}
}
Vector2 colliderPos = new Vector2(torso.SimPosition.X, floorY);
Vector2 colliderPos = GetColliderBottom();
if (Math.Abs(TargetMovement.X) > 1.0f)
{
@@ -313,24 +370,24 @@ namespace Barotrauma
float slowdownFactor = (float)limbsInWater / (float)Limbs.Count();
float maxSpeed = Math.Max(TargetMovement.Length() - slowdownFactor, 1.0f);
// if (character.SelectedCharacter!=null) maxSpeed = Math.Min(maxSpeed, 1.0f);
// if (character.SelectedCharacter!=null) maxSpeed = Math.Min(maxSpeed, 1.0f);
TargetMovement = Vector2.Normalize(TargetMovement) * maxSpeed;
}
float walkPosX = (float)Math.Cos(walkPos);
float walkPosY = (float)Math.Sin(walkPos);
float runningModifier = (float)Math.Max(Math.Min(Math.Abs(TargetMovement.X),3.0f) / 1.5f, 1.0);
float runningModifier = (float)Math.Max(Math.Min(Math.Abs(TargetMovement.X), 3.0f) / 1.5f, 1.0);
Vector2 stepSize = new Vector2(
this.stepSize.X * walkPosX * runningModifier,
this.stepSize.Y * walkPosY * runningModifier * runningModifier);
if (Crouching) stepSize *= 0.5f;
float footMid = waist.SimPosition.X;// (leftFoot.SimPosition.X + rightFoot.SimPosition.X) / 2.0f;
movement = MathUtils.SmoothStep(movement, TargetMovement*walkSpeed, movementLerp);
float footMid = colliderPos.X;// (leftFoot.SimPosition.X + rightFoot.SimPosition.X) / 2.0f;
movement = MathUtils.SmoothStep(movement, TargetMovement * walkSpeed, movementLerp);
movement.Y = 0.0f;
for (int i = 0; i < 2; i++)
@@ -355,9 +412,9 @@ namespace Barotrauma
}
}
if (LowestLimb == null) return;
//if (LowestLimb == null) return;
if (!onGround || (LowestLimb.SimPosition.Y - floorY > 0.5f && stairs == null)) return;
if (onGround) collider.body.LinearVelocity = new Vector2(movement.X * 1.5f, collider.LinearVelocity.Y);
//float? ceilingY = null;
//if (Submarine.PickBody(head.SimPosition, head.SimPosition + Vector2.UnitY, null, Physics.CollisionWall)!=null)
@@ -366,7 +423,7 @@ namespace Barotrauma
// if (ceilingY - floorY < HeadPosition) Crouching = true;
//}
getUpSpeed = getUpSpeed * Math.Max(head.SimPosition.Y - colliderPos.Y, 0.5f);
torso.pullJoint.Enabled = true;
@@ -375,8 +432,6 @@ namespace Barotrauma
if (stairs != null)
{
if (LowestLimb.SimPosition.Y < stairs.SimPosition.Y) IgnorePlatforms = true;
torso.pullJoint.WorldAnchorB = new Vector2(
MathHelper.SmoothStep(torso.SimPosition.X, footMid + movement.X * 0.35f, getUpSpeed * 0.8f),
MathHelper.SmoothStep(torso.SimPosition.Y, colliderPos.Y + TorsoPosition - Math.Abs(walkPosX * 0.05f), getUpSpeed * 2.0f));
@@ -390,17 +445,31 @@ namespace Barotrauma
}
else
{
if (!onGround) movement = Vector2.Zero;
torso.pullJoint.WorldAnchorB =
MathUtils.SmoothStep(torso.SimPosition,
new Vector2(footMid + movement.X * 0.3f, colliderPos.Y + TorsoPosition), getUpSpeed);
head.pullJoint.WorldAnchorB =
MathUtils.SmoothStep(head.SimPosition,
new Vector2(footMid + movement.X * (Crouching && Math.Sign(movement.X)==Math.Sign(Dir) ? 1.0f : 0.3f), colliderPos.Y + HeadPosition), getUpSpeed*1.2f);
new Vector2(footMid + movement.X * (Crouching && Math.Sign(movement.X) == Math.Sign(Dir) ? 1.0f : 0.3f), colliderPos.Y + HeadPosition), getUpSpeed * 1.2f);
waist.pullJoint.WorldAnchorB = waist.SimPosition + movement * 0.1f;
}
if (!onGround)
{
Vector2 move = torso.pullJoint.WorldAnchorB - torso.SimPosition;
foreach (Limb limb in Limbs)
{
if (limb == collider) continue;
MoveLimb(limb, limb.SimPosition+move, 15.0f, true);
}
return;
}
//moving horizontally
if (TargetMovement.X != 0.0f)
@@ -462,7 +531,7 @@ namespace Barotrauma
HandIK(rightHand, torso.SimPosition + posAddition +
new Vector2(
-handPos.X,
(Math.Sign(walkPosX) == Math.Sign(Dir)) ? handPos.Y : lowerY), 0.7f*runningModifier);
(Math.Sign(walkPosX) == Math.Sign(Dir)) ? handPos.Y : lowerY), 0.7f * runningModifier);
}
if (!leftHand.Disabled)
@@ -507,7 +576,7 @@ namespace Barotrauma
var leftArm = GetLimb(LimbType.LeftArm);
leftArm.body.SmoothRotate(0.0f, 20.0f);
}
}
}
}
@@ -521,17 +590,18 @@ namespace Barotrauma
movement = Vector2.Normalize(movement);
}
RefLimb.pullJoint.Enabled = true;
RefLimb.pullJoint.WorldAnchorB =
RefLimb.SimPosition + movement * 0.15f;
return;
//RefLimb.pullJoint.Enabled = true;
//RefLimb.pullJoint.WorldAnchorB =
// RefLimb.SimPosition + movement * 0.15f;
RefLimb.body.SmoothRotate(0.0f);
//RefLimb.body.SmoothRotate(0.0f);
foreach (Limb l in Limbs)
{
if (l == RefLimb) continue;
l.body.SetTransform(RefLimb.SimPosition, RefLimb.Rotation);
}
//foreach (Limb l in Limbs)
//{
// if (l == RefLimb) continue;
// l.body.SetTransform(RefLimb.SimPosition, RefLimb.Rotation);
//}
//new Vector2(movement.X, floorY + HeadPosition), 0.5f);
}
@@ -596,7 +666,7 @@ namespace Barotrauma
if (TargetMovement == Vector2.Zero) return;
movement = MathUtils.SmoothStep(movement, TargetMovement*swimSpeed, 0.3f);
movement = MathUtils.SmoothStep(movement, TargetMovement * swimSpeed, 0.3f);
//dont try to move upwards if head is already out of water
if (surfaceLimiter > 1.0f && TargetMovement.Y > 0.0f)
@@ -747,7 +817,7 @@ namespace Barotrauma
float stepHeight = ConvertUnits.ToSimUnits(30.0f);
if (currentHull==null && character.SelectedConstruction.Submarine!=null)
if (currentHull == null && character.SelectedConstruction.Submarine != null)
{
ladderSimPos += character.SelectedConstruction.Submarine.SimPosition;
}
@@ -759,7 +829,7 @@ namespace Barotrauma
MoveLimb(head, new Vector2(ladderSimPos.X - 0.27f * Dir, head.SimPosition.Y + 0.05f), 10.5f);
MoveLimb(torso, new Vector2(ladderSimPos.X - 0.27f * Dir, torso.SimPosition.Y), 10.5f);
MoveLimb(waist, new Vector2(ladderSimPos.X - 0.35f * Dir, waist.SimPosition.Y), 10.5f);
Vector2 handPos = new Vector2(
ladderSimPos.X,
@@ -807,12 +877,12 @@ namespace Barotrauma
float movementFactor = (handPos.Y / stepHeight) * (float)Math.PI;
movementFactor = 0.8f + (float)Math.Abs(Math.Sin(movementFactor));
Vector2 subSpeed = currentHull != null || character.SelectedConstruction.Submarine == null
Vector2 subSpeed = currentHull != null || character.SelectedConstruction.Submarine == null
? Vector2.Zero : character.SelectedConstruction.Submarine.Velocity;
Vector2 climbForce = new Vector2(0.0f, movement.Y + (inWater ? -0.05f : 0.6f)) * movementFactor;
if (climbForce.Y > 0.5f) climbForce.Y = Math.Max(climbForce.Y, 1.3f);
torso.body.ApplyForce((climbForce * 40.0f + subSpeed*50.0f) * torso.Mass);
torso.body.ApplyForce((climbForce * 40.0f + subSpeed * 50.0f) * torso.Mass);
head.body.SmoothRotate(0.0f);
if (!character.SelectedConstruction.Prefab.Triggers.Any())
@@ -862,15 +932,15 @@ namespace Barotrauma
targetMovement = new Vector2(diff.X, 0.0f);
TargetDir = headDiff.X > 0.0f ? Direction.Right : Direction.Left;
UpdateStanding();
Vector2 handPos = character.SelectedCharacter.AnimController.GetLimb(LimbType.Torso).SimPosition + Vector2.UnitY*0.2f;
Vector2 handPos = character.SelectedCharacter.AnimController.GetLimb(LimbType.Torso).SimPosition + Vector2.UnitY * 0.2f;
Grab(handPos, handPos);
float yPos = (float)Math.Sin(cprAnimState) * 0.1f;
cprAnimState += deltaTime*8.0f;
cprAnimState += deltaTime * 8.0f;
var head = GetLimb(LimbType.Head);
head.pullJoint.WorldAnchorB = new Vector2(targetHead.SimPosition.X, targetHead.SimPosition.Y + 0.6f + yPos);
@@ -880,7 +950,7 @@ namespace Barotrauma
//RefLimb.pullJoint.WorldAnchorB = new Vector2(targetHead.SimPosition.X - Math.Sign(headDiff.X) * 0.5f, targetHead.SimPosition.Y + 0.4f + yPos);
//head.pullJoint.Enabled = true;
//DragCharacter(character.SelectedCharacter, LimbType.Torso, LimbType.Head);
}
@@ -942,15 +1012,15 @@ namespace Barotrauma
//only grab with one hand when swimming
leftHand.Disabled = true;
if (!inWater) rightHand.Disabled = true;
for (int i = 0; i < 2; i++ )
{
LimbType type = i == 0 ? leftHandTarget: rightHandTarget;
Limb targetLimb = target.AnimController.GetLimb(type);
Limb pullLimb = GetLimb(i == 0 ? LimbType.LeftHand: LimbType.RightHand);
if (i==1 && inWater)
for (int i = 0; i < 2; i++)
{
LimbType type = i == 0 ? leftHandTarget : rightHandTarget;
Limb targetLimb = target.AnimController.GetLimb(type);
Limb pullLimb = GetLimb(i == 0 ? LimbType.LeftHand : LimbType.RightHand);
if (i == 1 && inWater)
{
targetLimb.pullJoint.Enabled = false;
}
@@ -977,7 +1047,7 @@ namespace Barotrauma
}
else if (target is AICharacter)
{
target.AnimController.TargetMovement = Vector2.Lerp(target.AnimController.TargetMovement, (character.SimPosition + Vector2.UnitX*Dir) - target.SimPosition, 0.5f);
target.AnimController.TargetMovement = Vector2.Lerp(target.AnimController.TargetMovement, (character.SimPosition + Vector2.UnitX * Dir) - target.SimPosition, 0.5f);
}
}
@@ -990,7 +1060,7 @@ namespace Barotrauma
pullLimb.Disabled = true;
pullLimb.pullJoint.Enabled = true;
pullLimb.pullJoint.WorldAnchorB = (i==0) ? rightHandPos : leftHandPos;
pullLimb.pullJoint.WorldAnchorB = (i == 0) ? rightHandPos : leftHandPos;
pullLimb.pullJoint.MaxForce = 500.0f;
}
@@ -1085,7 +1155,7 @@ namespace Barotrauma
item.body.ResetDynamics();
Vector2 currItemPos = (character.SelectedItems[0]==item) ?
Vector2 currItemPos = (character.SelectedItems[0] == item) ?
rightHand.pullJoint.WorldAnchorA - transformedHandlePos[0] :
leftHand.pullJoint.WorldAnchorA - transformedHandlePos[1];
item.SetTransform(currItemPos, itemAngle);
@@ -1136,7 +1206,7 @@ namespace Barotrauma
Vector2 targetMovement = character.GetTargetMovement();
Vector2 currPosition = prevPosition + targetMovement * timePassed/500.0f;
Vector2 currPosition = prevPosition + targetMovement * timePassed / 500.0f;
return currPosition;
}
@@ -1200,7 +1270,7 @@ namespace Barotrauma
Vector2 position = limb.SimPosition;
if ((limb.pullJoint==null || !limb.pullJoint.Enabled) && mirror)
if ((limb.pullJoint == null || !limb.pullJoint.Enabled) && mirror)
{
difference = limb.body.SimPosition - torso.SimPosition;
difference = Vector2.Transform(difference, torsoTransform);
@@ -1219,6 +1289,6 @@ namespace Barotrauma
limb.body.SetTransform(limb.body.SimPosition, angle);
}
}
}
}