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#include "KingSystem/Physics/Ragdoll/physRagdollController.h"
#include <Havok/Animation/Physics2012Bridge/Controller/RigidBody/hkaRagdollRigidBodyController.h>
#include <cmath>
#include <math/seadMathCalcCommon.h>
#include "KingSystem/Physics/Ragdoll/physRagdollControllerKeyList.h"
#include "KingSystem/Physics/Ragdoll/physRagdollInstance.h"
#include "KingSystem/Physics/System/physSystem.h"
#include "KingSystem/Utils/Debug.h"
#include "KingSystem/Utils/SafeDelete.h"
namespace ksys::phys {
static bool sForceDefaultWeights = false;
void RagdollController::forceDefaultWeights(bool force) {
sForceDefaultWeights = force;
}
RagdollController::RagdollController() = default;
RagdollController::~RagdollController() {
if (mRagdollRigidBodyCtrl)
util::safeDelete(mRagdollRigidBodyCtrl);
mConfiguredBoneWeights.freeBuffer();
mEffectiveBoneWeights.freeBuffer();
mMultipliers.freeBuffer();
}
bool RagdollController::init(const sead::SafeString& name, const sead::SafeString& system_key,
RagdollInstance* instance, sead::Heap* heap) {
mName = name;
mInstance = instance;
util::PrintDebugFmt("creating RagdollController for %s", mName.cstr());
mRagdollRigidBodyCtrl = new hkaRagdollRigidBodyController(instance->getHavokRagdollInstance());
const int num_bones = instance->getRigidBodies_().size();
mConfiguredBoneWeights.allocBufferAssert(num_bones, heap);
mEffectiveBoneWeights.allocBufferAssert(num_bones, heap);
mMultipliers.allocBufferAssert(num_bones, heap);
for (int i = 0; i < num_bones; ++i) {
mConfiguredBoneWeights[i] = 1.0f;
mEffectiveBoneWeights[i] = 1.0f;
mMultipliers[i] = 1.0f;
}
// Configure the controller.
mRagdollRigidBodyCtrl->setBoneWeights(mEffectiveBoneWeights.getBufferPtr());
if (System::instance()->getRagdollCtrlKeyList() != nullptr) {
auto* config =
System::instance()->getRagdollCtrlKeyList()->getControllerKeyByKey(system_key);
if (config != nullptr) {
const auto get_control_data = [this]() -> decltype(auto) {
return mRagdollRigidBodyCtrl->m_controlDataPalette[0];
};
get_control_data().m_hierarchyGain = *config->hierarchy_gain;
get_control_data().m_velocityDamping = *config->velocity_damping;
get_control_data().m_accelerationGain = *config->acceleration_gain;
get_control_data().m_velocityGain = *config->velocity_gain;
get_control_data().m_positionGain = *config->position_gain;
get_control_data().m_positionMaxLinearVelocity = *config->position_max_linear_velocity;
get_control_data().m_positionMaxAngularVelocity =
*config->position_max_angular_velocity;
get_control_data().m_snapGain = *config->snap_gain;
get_control_data().m_snapMaxLinearVelocity = *config->snap_max_linear_velocity;
get_control_data().m_snapMaxAngularVelocity = *config->snap_max_angular_velocity;
get_control_data().m_snapMaxLinearDistance = *config->snap_max_linear_distance;
get_control_data().m_snapMaxAngularDistance = *config->snap_max_angular_distance;
}
}
return true;
}
bool RagdollController::setBoneWeight(int index, float weight) {
if (sForceDefaultWeights)
return false;
if (index < 0 || index >= mConfiguredBoneWeights.size())
return false;
if (std::isnan(weight))
return false;
weight = sead::Mathf::abs(weight);
if (weight > sead::Mathf::maxNumber())
return false;
weight = sead::Mathf::clamp(weight, 0.0, 1.0);
mConfiguredBoneWeights[index] = weight;
recalculateEffectiveBoneWeight(index);
return true;
}
bool RagdollController::setBoneWeight(const sead::SafeString& rigid_name, float weight) {
int index = mInstance->getBoneIndexByName(rigid_name);
return setBoneWeight(index, weight);
}
void RagdollController::setFactor(float factor) {
if (sForceDefaultWeights)
return;
if (std::isnan(factor))
return;
if (sead::Mathf::abs(factor) > sead::Mathf::maxNumber())
return;
factor = sead::Mathf::clamp(factor, -1.0, 1.0);
if (mFactor != factor) {
// Change the factor and recalculate all effective bone weights.
mFactor = factor;
for (int i = 0, n = mConfiguredBoneWeights.size(); i < n; ++i) {
recalculateEffectiveBoneWeight(i);
}
}
}
// NON_MATCHING
void RagdollController::recalculateEffectiveBoneWeight(int index) {
const auto factor = [this] { return mFactor < 0 ? -mFactor : mFactor; };
if (mFactor == 0.0) {
mEffectiveBoneWeights[index] = mMultipliers[index] * mConfiguredBoneWeights[index];
} else if (mFactor < 0.0) {
mEffectiveBoneWeights[index] =
mMultipliers[index] *
(mConfiguredBoneWeights[index] + (0.0f - mConfiguredBoneWeights[index]) * factor());
} else {
mEffectiveBoneWeights[index] =
mMultipliers[index] *
(mConfiguredBoneWeights[index] + (1.0f - mConfiguredBoneWeights[index]) * factor());
}
}
void RagdollController::reset() {
reinitController();
mFactor = -1.0f;
setFactor(0.0f);
}
void RagdollController::reinitController() {
mRagdollRigidBodyCtrl->reinitialize();
}
void RagdollController::resetMultipliers() {
for (int i = 0, n = mMultipliers.size(); i < n; ++i) {
if (mMultipliers[i] == 1.0)
continue;
mMultipliers[i] = 1.0;
recalculateEffectiveBoneWeight(i);
}
}
} // namespace ksys::phys
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