stuff

Ragdoll.h

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+#ifndef RAGDOLL_CLASS
+#define RAGDOLL_CLASS
+
+#include <vector>
+
+#include <glm/glm.hpp>
+
+#include "t.h"
+
+class CharacterBody;
+class CollisionMesh;
+class Physics;
+class p;
+
+// Splits a character's rig into rigid bodies joined by ball joints.
+// Each part collides using the rig triangles skinned mostly to its bones.
+class Ragdoll {
+public:
+    struct Part {
+        t_package transform;     // scale is the part's bounding box, orientation starts at identity
+        p* body = nullptr;
+        CollisionMesh* mesh = nullptr;
+        glm::vec3 restPosition = glm::vec3(0.0f);
+    };
+
+    // rigMatrix is the model matrix the rig was being drawn with
+    Ragdoll(CharacterBody& characterBody, const glm::mat4& rigMatrix, Physics& physics);
+
+    // Call once a frame after the physics steps
+    void Update(float dt);
+
+    // Bone matrices in world space, draw the rig with an identity model matrix
+    std::vector<glm::mat4> GetBoneMatrices() const;
+
+    const std::vector<Part*>& GetParts() const { return parts; }
+
+private:
+    void Reset();
+
+    std::vector<Part*> parts;
+    std::vector<int> boneParts;           // part index of each bone
+    std::vector<glm::mat4> restBones;     // world space bone matrices at the moment of going limp
+    std::vector<glm::mat4> restInverses;  // inverse of each part's starting transform
+    int group = 0;
+    float settleTimer = 0.0f;
+};
+
+#endif