💿🐜 Antkeeper source code
https://antkeeper.com
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140 lines
4.3 KiB
140 lines
4.3 KiB
/*
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* Copyright (C) 2023 Christopher J. Howard
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*
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* This file is part of Antkeeper source code.
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*
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* Antkeeper source code is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* Antkeeper source code is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with Antkeeper source code. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "game/systems/locomotion-system.hpp"
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#include "game/components/legged-locomotion-component.hpp"
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#include "game/components/winged-locomotion-component.hpp"
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#include "game/components/rigid-body-component.hpp"
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#include "game/components/scene-component.hpp"
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#include <engine/entity/id.hpp>
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#include <engine/animation/skeleton.hpp>
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#include <engine/debug/log.hpp>
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#include <algorithm>
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#include <execution>
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locomotion_system::locomotion_system(entity::registry& registry):
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updatable_system(registry)
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{}
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void locomotion_system::update(float t, float dt)
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{
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// Legged locomotion
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// auto legged_group = registry.group<legged_locomotion_component>(entt::get<rigid_body_component>);
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auto legged_group = registry.group<legged_locomotion_component>(entt::get<scene_component>);
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std::for_each
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(
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std::execution::par_unseq,
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legged_group.begin(),
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legged_group.end(),
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[&](auto entity_id)
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{
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const auto& locomotion = legged_group.get<legged_locomotion_component>(entity_id);
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if (!locomotion.moving)
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{
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return;
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}
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//auto& body = *(legged_group.get<rigid_body_component>(entity_id).body);
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// Apply locomotive force
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//body.apply_central_force(locomotion.force);
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// Animate legs
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if (locomotion.current_pose)
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{
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// Get gait phase
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float gait_phase = locomotion.gait->phase(t);
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// For each leg
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for (std::size_t i = 0; i < locomotion.tip_bones.size(); ++i)
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{
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// Get step phase
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float step_phase = locomotion.gait->steps[i].phase(gait_phase);
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// Determine leg pose
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const pose* pose_a;
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const pose* pose_b;
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float t;
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if (step_phase < 0.0f)
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{
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pose_b = locomotion.touchdown_pose;
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pose_a = locomotion.liftoff_pose;
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t = std::abs(step_phase);
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}
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else
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{
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if (step_phase < 0.5f)
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{
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pose_a = locomotion.liftoff_pose;
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pose_b = locomotion.midswing_pose;
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t = step_phase * 2.0f;
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}
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else
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{
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pose_a = locomotion.midswing_pose;
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pose_b = locomotion.touchdown_pose;
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t = (step_phase - 0.5f) * 2.0f;
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}
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}
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// Update leg bones
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bone_index_type bone_index = locomotion.tip_bones[i];
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for (std::uint8_t j = 0; j < locomotion.leg_bone_count; ++j)
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{
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if (j)
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{
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bone_index = locomotion.current_pose->get_skeleton()->get_bone_parent(bone_index);
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}
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const auto rotation_a = pose_a->get_relative_transform(bone_index).rotation;
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const auto rotation_b = pose_b->get_relative_transform(bone_index).rotation;
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auto transform = pose_a->get_relative_transform(bone_index);
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transform.rotation = math::nlerp(rotation_a, rotation_b, t);
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locomotion.current_pose->set_relative_transform(bone_index, transform);
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}
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// Update subset of pose containing the leg bones
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locomotion.current_pose->update(bone_index, locomotion.leg_bone_count);
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}
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}
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}
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);
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// Winged locomotion
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auto winged_group = registry.group<winged_locomotion_component>(entt::get<rigid_body_component>);
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std::for_each
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(
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std::execution::par_unseq,
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winged_group.begin(),
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winged_group.end(),
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[&](auto entity_id)
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{
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const auto& locomotion = winged_group.get<winged_locomotion_component>(entity_id);
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auto& body = *(winged_group.get<rigid_body_component>(entity_id).body);
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const math::fvec3 gravity{0.0f, 9.80665f * 10.0f, 0.0f};
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//const math::fvec3 gravity{0.0f, 0.0f, 0.0f};
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// Apply locomotive force
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body.apply_central_force(locomotion.force + gravity * body.get_mass());
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}
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);
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}
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