mirror of
https://github.com/AleziaKurdis/overte.git
synced 2025-04-10 02:32:27 +02:00
Added large model of head, and networking code.
This commit is contained in:
Philip Rosedale
parent
fe94473b6c
commit
98cb1d634e
13 changed files with 507 additions and 226 deletions
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.DS_Store
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@ -1,9 +1,7 @@
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//
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// SerialInterface.cpp
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// interface
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//
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// Created by Seiji Emery on 8/10/12.
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// Copyright (c) 2012 __MyCompanyName__. All rights reserved.
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// Used to read Arduino/Maple ADC data from an external device using a serial port (over USB)
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//
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#include "SerialInterface.h"
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@ -14,12 +12,22 @@
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#include <fcntl.h>
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#include <termios.h>
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char SERIAL_PORT_NAME[] = "/dev/tty.usbmodem411";
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int serial_fd;
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const int MAX_BUFFER = 100;
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char serial_buffer[MAX_BUFFER];
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int serial_buffer_pos = 0;
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// For accessing the serial port
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void init_port(int *fd, int baud)
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int init_port(int baud)
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{
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serial_fd = open(SERIAL_PORT_NAME, O_RDWR | O_NOCTTY | O_NDELAY);
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if (serial_fd == -1) return -1; // Failed to open port
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struct termios options;
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tcgetattr(*fd,&options);
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tcgetattr(serial_fd,&options);
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switch(baud)
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{
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case 9600: cfsetispeed(&options,B9600);
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@ -43,9 +51,60 @@ void init_port(int *fd, int baud)
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options.c_cflag &= ~CSTOPB;
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options.c_cflag &= ~CSIZE;
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options.c_cflag |= CS8;
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tcsetattr(*fd,TCSANOW,&options);
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tcsetattr(serial_fd,TCSANOW,&options);
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return 0; // Success!
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}
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int read_sensors(int first_measurement, float * avg_adc_channels, int * adc_channels)
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{
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int samples_read = 0;
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const float AVG_RATE = 0.001; // 0.00001;
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char bufchar[1];
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while (read(serial_fd, bufchar, 1) > 0)
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{
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serial_buffer[serial_buffer_pos] = bufchar[0];
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serial_buffer_pos++;
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// Have we reached end of a line of input?
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if ((bufchar[0] == '\n') || (serial_buffer_pos >= MAX_BUFFER))
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{
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samples_read++;
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// At end - Extract value from string to variables
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if (serial_buffer[0] != 'p')
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{
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sscanf(serial_buffer, "%d %d %d %d", &adc_channels[0],
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&adc_channels[1],
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&adc_channels[2],
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&adc_channels[3]);
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for (int i = 0; i < 4; i++)
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{
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if (!first_measurement)
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avg_adc_channels[i] = (1.f - AVG_RATE)*avg_adc_channels[i] +
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AVG_RATE*(float)adc_channels[i];
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else
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{
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avg_adc_channels[i] = (float)adc_channels[i];
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}
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}
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}
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// Clear rest of string for printing onscreen
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while(serial_buffer_pos++ < MAX_BUFFER) serial_buffer[serial_buffer_pos] = ' ';
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serial_buffer_pos = 0;
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}
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/*
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if (bufchar[0] == 'p')
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{
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gettimeofday(&end_ping, NULL);
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ping = diffclock(begin_ping,end_ping);
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display_ping = 1;
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}
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*/
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}
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return samples_read;
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}
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bool SerialInterface::enable () {
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if (!_enabled) {
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// Try to re-initialize the interface.
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@ -76,7 +135,7 @@ int SerialInterface::initInterface () {
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_enabled = false;
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return 1;
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} else {
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init_port(&_serial_fd, 115200);
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//init_port(&_serial_fd, 115200);
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}
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}
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return 0;
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@ -1,15 +1,13 @@
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//
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// SerialInterface.h
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// interface
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//
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// Created by Seiji Emery on 8/10/12.
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// Copyright (c) 2012 __MyCompanyName__. All rights reserved.
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//
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//
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#ifndef interface_SerialInterface_h
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#define interface_SerialInterface_h
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void init_port (int *fd, int baud);
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int init_port (int baud);
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int read_sensors(int first_measurement, float * avg_adc_channels, int * adc_channels);
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const int CHANNEL_COUNT = 4;
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2
field.h
2
field.h
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@ -9,7 +9,7 @@
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#ifndef interface_field_h
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#define interface_field_h
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#include <glm/glm.hpp>
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#include "glm/glm.hpp"
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// Field is a lattice of vectors uniformly distributed FIELD_ELEMENTS^(1/3) on side
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219
head.cpp
219
head.cpp
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@ -3,37 +3,216 @@
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// interface
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//
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// Created by Philip Rosedale on 9/11/12.
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// Copyright (c) 2012 __MyCompanyName__. All rights reserved.
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// Copyright (c) 2012 Physical, Inc.. All rights reserved.
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//
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#include <iostream>
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#include "head.h"
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#include "util.h"
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float skinColor[] = {1.0, 0.84, 0.66};
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float browColor[] = {210.0/255.0, 105.0/255.0, 30.0/255.0};
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float mouthColor[] = {1, 0, 0};
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float BrowRollAngle[5] = {0, 15, 30, -30, -15};
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float BrowPitchAngle[3] = {-70, -60, -50};
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float eyeColor[3] = {1,1,1};
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float MouthWidthChoices[3] = {0.5, 0.77, 0.3};
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int randNoise = 0;
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float browWidth = 0.8;
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float browThickness = 0.16;
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const float DECAY = 0.1;
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Head::Head()
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{
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PupilSize = 0.10;
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interPupilDistance = 0.5;
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interBrowDistance = 0.75;
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NominalPupilSize = 0.10;
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EyebrowPitch[0] = EyebrowPitch[1] = BrowPitchAngle[0];
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EyebrowRoll[0] = 30;
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EyebrowRoll[1] = -30;
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MouthPitch = 0;
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MouthYaw = 0;
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MouthWidth = 1.0;
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MouthHeight = 0.2;
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EyeballPitch[0] = EyeballPitch[1] = 0;
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EyeballYaw[0] = EyeballYaw[1] = 0;
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PitchTarget = YawTarget = 0;
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NoiseEnvelope = 1.0;
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PupilConverge = 2.1;
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}
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void Head::reset()
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{
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Pitch = 0;
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Yaw = 0;
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}
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// Simulate the head over time
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void Head::simulate(float deltaTime)
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{
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if (!randNoise)
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{
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// Decay back toward center
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Pitch *= (1.f - DECAY*deltaTime);
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Yaw *= (1.f - DECAY*deltaTime);
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Roll *= (1.f - DECAY*deltaTime);
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}
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else {
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// Move toward new target
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Pitch += (PitchTarget - Pitch)*22*deltaTime; // (1.f - DECAY*deltaTime)*Pitch + ;
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Yaw += (YawTarget - Yaw)*22*deltaTime; // (1.f - DECAY*deltaTime);
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Roll *= (1.f - DECAY*deltaTime);
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}
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if (randNoise)
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{
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Pitch += (randFloat() - 0.5)*0.05*NoiseEnvelope;
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Yaw += (randFloat() - 0.5)*0.1*NoiseEnvelope;
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PupilSize += (randFloat() - 0.5)*0.001*NoiseEnvelope;
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if (randFloat() < 0.005) MouthWidth = MouthWidthChoices[rand()%3];
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//if (randFloat() < 0.005) Pitch = (randFloat() - 0.5)*45;
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//if (randFloat() < 0.005) Yaw = (randFloat() - 0.5)*45;
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//if (randFloat() < 0.001) Roll = (randFloat() - 0.5)*45;
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//if (randFloat() < 0.003) PupilSize = ((randFloat() - 0.5)*0.25+1)*NominalPupilSize;
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if (randFloat() < 0.01) EyeballPitch[0] = EyeballPitch[1] = (randFloat() - 0.5)*20;
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if (randFloat() < 0.01) EyeballYaw[0] = EyeballYaw[1] = (randFloat()- 0.5)*10;
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if ((randFloat() < 0.005) && (fabs(PitchTarget - Pitch) < 1.0) && (fabs(YawTarget - Yaw) < 1.0))
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{
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SetNewHeadTarget((randFloat()-0.5)*20.0, (randFloat()-0.5)*45.0);
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}
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if (0)
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{
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// Pick new target
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PitchTarget = (randFloat() - 0.5)*45;
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YawTarget = (randFloat() - 0.5)*22;
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}
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if (randFloat() < 0.01)
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{
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EyebrowPitch[0] = EyebrowPitch[1] = BrowPitchAngle[rand()%3];
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EyebrowRoll[0] = EyebrowRoll[1] = BrowRollAngle[rand()%5];
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EyebrowRoll[1]*=-1;
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}
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}
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}
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void Head::render()
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{
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glDisable(GL_DEPTH_TEST);
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glPushMatrix();
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glTranslatef(0.f, -4.f, -15.f);
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glRotatef(yaw/2.0, 0, 1, 0);
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glRotatef(pitch/2.0, 1, 0, 0);
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glScalef(0.5, 1.0, 1.1);
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glColor3f(1.0, 0.84, 0.66);
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glutSolidSphere(1.f, 15, 15); // Head
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int side = 0;
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glTranslatef(1.f, 0.f, 0.f);
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glEnable(GL_DEPTH_TEST);
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glPushMatrix();
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glScalef(0.5, 0.75, 1.0);
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glutSolidSphere(0.5f, 15, 15); // Ears
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glPopMatrix();
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glTranslatef(-2.f, 0.f, 0.f);
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glTranslatef(0.f, 0.f, -7.f);
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glRotatef(Yaw/2.0, 0, 1, 0);
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glRotatef(Pitch/2.0, 1, 0, 0);
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glRotatef(Roll/2.0, 0, 0, 1);
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// Overall scale of head
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glScalef(2.0, 2.0, 2.0);
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glColor3fv(skinColor);
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// Head
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glutSolidSphere(1, 15, 15);
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// Ears
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glPushMatrix();
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glScalef(0.5, 0.75, 1.0);
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glutSolidSphere(0.5f, 15, 15);
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glTranslatef(1, 0, 0);
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for(side = 0; side < 2; side++)
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{
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glPushMatrix();
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glScalef(0.5, 0.75, 1.0);
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glutSolidSphere(0.5, 15, 15);
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glPopMatrix();
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glTranslatef(-2, 0, 0);
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}
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glPopMatrix();
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glTranslatef(1.f, 1.f, 0.f);
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glScalef(2.5, 0.5, 2.2);
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glColor3f(0.5, 0.5, 0.5);
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glutSolidSphere(0.25f, 15, 15); // Beanie
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// Eyebrows
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glPushMatrix();
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glTranslatef(-interBrowDistance/2.0,0.4,0.45);
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for(side = 0; side < 2; side++)
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{
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glColor3fv(browColor);
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glPushMatrix();
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glTranslatef(0, 0.4, 0);
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glRotatef(EyebrowPitch[side]/2.0, 1, 0, 0);
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glRotatef(EyebrowRoll[side]/2.0, 0, 0, 1);
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glScalef(browWidth, browThickness, 1);
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glutSolidCube(0.5);
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glPopMatrix();
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glTranslatef(interBrowDistance, 0, 0);
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}
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glPopMatrix();
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// Mouth
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glPushMatrix();
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glTranslatef(0,-0.3,0.75);
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glColor3fv(mouthColor);
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glRotatef(MouthPitch, 1, 0, 0);
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glRotatef(MouthYaw, 0, 0, 1);
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glScalef(MouthWidth, MouthHeight, 1);
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glutSolidCube(0.5);
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glPopMatrix();
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glTranslatef(0, 1.0, 0);
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// Right Eye
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glTranslatef(-0.25,-0.5,0.7);
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glColor3fv(eyeColor);
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glutSolidSphere(0.25, 15, 15);
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// Right Pupil
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glPushMatrix();
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glRotatef(EyeballPitch[1], 1, 0, 0);
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glRotatef(EyeballYaw[1] + PupilConverge, 0, 1, 0);
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glTranslatef(0,0,.25);
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glColor3f(0,0,0);
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glutSolidSphere(PupilSize, 10, 10);
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glPopMatrix();
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// Left Eye
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glColor3fv(eyeColor);
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glTranslatef(interPupilDistance, 0, 0);
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glutSolidSphere(0.25f, 15, 15);
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// Left Pupil
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glPushMatrix();
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glRotatef(EyeballPitch[0], 1, 0, 0);
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glRotatef(EyeballYaw[0] - PupilConverge, 0, 1, 0);
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glTranslatef(0,0,.25);
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glColor3f(0,0,0);
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glutSolidSphere(PupilSize, 10, 10);
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glPopMatrix();
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glPopMatrix();
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}
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// Transmit data to agents requesting it
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int Head::transmit(char* data)
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{
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// Copy data for transmission to the buffer, return length of data
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sprintf(data, "%f6.2", Pitch);
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return strlen(data);
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}
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void Head::SetNewHeadTarget(float pitch, float yaw)
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{
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PitchTarget = pitch;
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YawTarget = yaw;
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}
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43
head.h
43
head.h
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@ -15,14 +15,45 @@
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#include <GLUT/glut.h>
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class Head {
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float pitch;
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float yaw;
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float roll;
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float Pitch;
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float Yaw;
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float Roll;
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float PitchRate;
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float YawRate;
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float RollRate;
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float EyeballPitch[2];
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float EyeballYaw[2];
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float EyebrowPitch[2];
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float EyebrowRoll[2];
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float interPupilDistance;
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float interBrowDistance;
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float NominalPupilSize;
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float PupilSize;
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float MouthPitch;
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float MouthYaw;
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float MouthWidth;
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float MouthHeight;
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float PitchTarget;
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float YawTarget;
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float NoiseEnvelope;
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float PupilConverge;
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public:
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void setPitch(float);
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Head(void);
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void reset();
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void setPitch(float p) {Pitch = p; }
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void setYaw(float y) {Yaw = y; }
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void addPitch(float p) {Pitch -= p; }
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void addYaw(float y){Yaw -= y; }
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void getPitch(float);
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void render();
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void update();
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void simulate(float);
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int transmit(char*);
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void receive(float);
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void SetNewHeadTarget(float, float);
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};
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#endif
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#endif
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@ -18,6 +18,7 @@
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B6BDAE4415F6BE53002A07DF /* particle.cpp in Sources */ = {isa = PBXBuildFile; fileRef = B6BDAE4315F6BE53002A07DF /* particle.cpp */; };
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D40BDFD513404BA300B0BE1F /* GLUT.framework in Frameworks */ = {isa = PBXBuildFile; fileRef = D40BDFD413404BA300B0BE1F /* GLUT.framework */; };
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D40BDFD713404BB300B0BE1F /* OpenGL.framework in Frameworks */ = {isa = PBXBuildFile; fileRef = D40BDFD613404BB300B0BE1F /* OpenGL.framework */; };
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D4B96D4915FF967C00CE6E8B /* head.cpp in Sources */ = {isa = PBXBuildFile; fileRef = D4B96D4815FF967C00CE6E8B /* head.cpp */; };
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D4EE3BBC15E45FFE00EE4C89 /* SerialInterface.cpp in Sources */ = {isa = PBXBuildFile; fileRef = D4EE3BBB15E45FFE00EE4C89 /* SerialInterface.cpp */; };
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D4EE3BBE15E7465700EE4C89 /* field.cpp in Sources */ = {isa = PBXBuildFile; fileRef = D4EE3BBD15E7465700EE4C89 /* field.cpp */; };
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D4EE3BC215E761B000EE4C89 /* util.cpp in Sources */ = {isa = PBXBuildFile; fileRef = D4EE3BC115E761B000EE4C89 /* util.cpp */; };
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@ -52,6 +53,8 @@
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C6859E8B029090EE04C91782 /* test_c_plus.1 */ = {isa = PBXFileReference; lastKnownFileType = text.man; path = test_c_plus.1; sourceTree = "<group>"; };
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||||
D40BDFD413404BA300B0BE1F /* GLUT.framework */ = {isa = PBXFileReference; lastKnownFileType = wrapper.framework; name = GLUT.framework; path = /System/Library/Frameworks/GLUT.framework; sourceTree = "<absolute>"; };
|
||||
D40BDFD613404BB300B0BE1F /* OpenGL.framework */ = {isa = PBXFileReference; lastKnownFileType = wrapper.framework; name = OpenGL.framework; path = /System/Library/Frameworks/OpenGL.framework; sourceTree = "<absolute>"; };
|
||||
D4B96D4715FF966200CE6E8B /* head.h */ = {isa = PBXFileReference; lastKnownFileType = sourcecode.c.h; path = head.h; sourceTree = "<group>"; };
|
||||
D4B96D4815FF967C00CE6E8B /* head.cpp */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.cpp.cpp; path = head.cpp; sourceTree = "<group>"; };
|
||||
D4EE3BBA15E45FFE00EE4C89 /* SerialInterface.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = SerialInterface.h; sourceTree = "<group>"; };
|
||||
D4EE3BBB15E45FFE00EE4C89 /* SerialInterface.cpp */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.cpp.cpp; path = SerialInterface.cpp; sourceTree = "<group>"; };
|
||||
D4EE3BBD15E7465700EE4C89 /* field.cpp */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.cpp.cpp; path = field.cpp; sourceTree = "<group>"; };
|
||||
|
|
@ -108,6 +111,8 @@
|
|||
D4EE3BC415EBD90C00EE4C89 /* network.h */,
|
||||
D4EE3BC515EBD93400EE4C89 /* network.cpp */,
|
||||
D4EE3BBD15E7465700EE4C89 /* field.cpp */,
|
||||
D4B96D4715FF966200CE6E8B /* head.h */,
|
||||
D4B96D4815FF967C00CE6E8B /* head.cpp */,
|
||||
D4EE3BBF15E7467600EE4C89 /* field.h */,
|
||||
D4EE3BBA15E45FFE00EE4C89 /* SerialInterface.h */,
|
||||
D4EE3BBB15E45FFE00EE4C89 /* SerialInterface.cpp */,
|
||||
|
|
@ -195,6 +200,7 @@
|
|||
D4EE3BC615EBD93600EE4C89 /* network.cpp in Sources */,
|
||||
B6BDADD415F4085B002A07DF /* audio.cpp in Sources */,
|
||||
B6BDAE4415F6BE53002A07DF /* particle.cpp in Sources */,
|
||||
D4B96D4915FF967C00CE6E8B /* head.cpp in Sources */,
|
||||
);
|
||||
runOnlyForDeploymentPostprocessing = 0;
|
||||
};
|
||||
|
|
@ -210,6 +216,7 @@
|
|||
GCC_DYNAMIC_NO_PIC = NO;
|
||||
GCC_MODEL_TUNING = G5;
|
||||
GCC_OPTIMIZATION_LEVEL = 0;
|
||||
"HEADER_SEARCH_PATHS[arch=*]" = /Users/philip/Desktop/automata/portaudio/include;
|
||||
INSTALL_PATH = /usr/local/bin;
|
||||
LIBRARY_SEARCH_PATHS = (
|
||||
"$(inherited)",
|
||||
|
|
@ -231,6 +238,7 @@
|
|||
ARCHS = "$(ARCHS_STANDARD_64_BIT)";
|
||||
DEBUG_INFORMATION_FORMAT = "dwarf-with-dsym";
|
||||
GCC_MODEL_TUNING = G5;
|
||||
"HEADER_SEARCH_PATHS[arch=*]" = /Users/philip/Desktop/automata/portaudio/include;
|
||||
INSTALL_PATH = /usr/local/bin;
|
||||
LIBRARY_SEARCH_PATHS = (
|
||||
"$(inherited)",
|
||||
|
|
|
|||
Binary file not shown.
|
|
@ -2,9 +2,21 @@
|
|||
<!DOCTYPE plist PUBLIC "-//Apple//DTD PLIST 1.0//EN" "http://www.apple.com/DTDs/PropertyList-1.0.dtd">
|
||||
<plist version="1.0">
|
||||
<dict>
|
||||
<key>BuildLocationStyle</key>
|
||||
<string>UseAppPreferences</string>
|
||||
<key>CustomBuildLocationType</key>
|
||||
<string>RelativeToDerivedData</string>
|
||||
<key>DerivedDataLocationStyle</key>
|
||||
<string>Default</string>
|
||||
<key>HasAskedToTakeAutomaticSnapshotBeforeSignificantChanges</key>
|
||||
<true/>
|
||||
<key>IssueFilterStyle</key>
|
||||
<string>ShowActiveSchemeOnly</string>
|
||||
<key>LiveSourceIssuesEnabled</key>
|
||||
<true/>
|
||||
<key>SnapshotAutomaticallyBeforeSignificantChanges</key>
|
||||
<true/>
|
||||
<key>SnapshotLocationStyle</key>
|
||||
<string>Default</string>
|
||||
</dict>
|
||||
</plist>
|
||||
|
|
|
|||
|
|
@ -2,4 +2,43 @@
|
|||
<Bucket
|
||||
type = "1"
|
||||
version = "1.0">
|
||||
<FileBreakpoints>
|
||||
<FileBreakpoint
|
||||
shouldBeEnabled = "No"
|
||||
ignoreCount = "0"
|
||||
continueAfterRunningActions = "No"
|
||||
filePath = "SerialInterface.h"
|
||||
timestampString = "371021342.553906"
|
||||
startingColumnNumber = "9223372036854775807"
|
||||
endingColumnNumber = "9223372036854775807"
|
||||
startingLineNumber = "9"
|
||||
endingLineNumber = "9">
|
||||
</FileBreakpoint>
|
||||
<FileBreakpoint
|
||||
shouldBeEnabled = "No"
|
||||
ignoreCount = "0"
|
||||
continueAfterRunningActions = "No"
|
||||
filePath = "main.cpp"
|
||||
timestampString = "371023726.882878"
|
||||
startingColumnNumber = "9223372036854775807"
|
||||
endingColumnNumber = "9223372036854775807"
|
||||
startingLineNumber = "309"
|
||||
endingLineNumber = "309"
|
||||
landmarkName = "init(void)"
|
||||
landmarkType = "7">
|
||||
</FileBreakpoint>
|
||||
<FileBreakpoint
|
||||
shouldBeEnabled = "No"
|
||||
ignoreCount = "0"
|
||||
continueAfterRunningActions = "No"
|
||||
filePath = "main.cpp"
|
||||
timestampString = "371023726.882878"
|
||||
startingColumnNumber = "9223372036854775807"
|
||||
endingColumnNumber = "9223372036854775807"
|
||||
startingLineNumber = "314"
|
||||
endingLineNumber = "314"
|
||||
landmarkName = "init(void)"
|
||||
landmarkType = "7">
|
||||
</FileBreakpoint>
|
||||
</FileBreakpoints>
|
||||
</Bucket>
|
||||
|
|
|
|||
324
main.cpp
324
main.cpp
|
|
@ -37,19 +37,14 @@
|
|||
#include "util.h"
|
||||
#include "network.h"
|
||||
#include "audio.h"
|
||||
#include "head.h"
|
||||
|
||||
//TGAImg Img;
|
||||
|
||||
using namespace std;
|
||||
|
||||
// Junk for talking to the Serial Port
|
||||
int serial_fd;
|
||||
const int MAX_BUFFER = 100;
|
||||
char serial_buffer[MAX_BUFFER];
|
||||
int serial_buffer_pos = 0;
|
||||
int serial_on = 0; // Are we using serial port for I/O
|
||||
int ping_test = 1;
|
||||
int display_ping = 0;
|
||||
int serial_on = 0; // Are we using serial port for I/O?
|
||||
|
||||
timeval begin_ping, end_ping;
|
||||
timeval timer_start, timer_end;
|
||||
|
|
@ -71,16 +66,13 @@ double ping = 0;
|
|||
//clock_t begin_ping, end_ping;
|
||||
|
||||
|
||||
#define WIDTH 1000 // Width,Height of simulation area in cells
|
||||
#define HEIGHT 600
|
||||
#define WIDTH 1280 // Width,Height of simulation area in cells
|
||||
#define HEIGHT 800
|
||||
#define BOTTOM_MARGIN 0
|
||||
#define RIGHT_MARGIN 0
|
||||
#define TEXT_HEIGHT 14
|
||||
|
||||
|
||||
//#define NUM_TRIS 1000000
|
||||
//float tris[NUM_TRIS * 9];
|
||||
//float tri_colors[NUM_TRIS * 3];
|
||||
Head myHead; // The rendered head of oneself or others
|
||||
|
||||
// Test data for creating fields that affect particles
|
||||
// If the simulation 'world' is a box with 10M boundaries, the offset to a field cell is given by:
|
||||
|
|
@ -101,12 +93,13 @@ struct {
|
|||
float vel [NUM_TRIS * 3];
|
||||
glm::vec3 vel1[NUM_TRIS];
|
||||
glm::vec3 vel2[NUM_TRIS];
|
||||
int element[NUM_TRIS];
|
||||
}tris;
|
||||
|
||||
float twiddles[NUM_TRIS * 9];
|
||||
|
||||
float yaw =0.f;
|
||||
float pitch = 0.f;
|
||||
float yaw =0.f; // The yaw, pitch for the avatar head
|
||||
float pitch = 0.f; //
|
||||
float start_yaw = 90.0;
|
||||
float render_yaw = start_yaw;
|
||||
float render_pitch = 0.f;
|
||||
|
|
@ -127,9 +120,11 @@ int stats_on = 1; // Whether to show onscreen text overlay with stats
|
|||
int noise_on = 0; // Whether to fire randomly
|
||||
int step_on = 0;
|
||||
int display_levels = 1;
|
||||
int display_head = 1;
|
||||
int display_head = 0;
|
||||
int display_field = 0;
|
||||
int reset_sensors = 0;
|
||||
|
||||
int display_head_mouse = 1; // Display sample mouse pointer controlled by head movement
|
||||
int head_mouse_x, head_mouse_y;
|
||||
|
||||
int mouse_x, mouse_y; // Where is the mouse
|
||||
int mouse_pressed = 0; // true if mouse has been pressed (clear when finished)
|
||||
|
|
@ -173,56 +168,6 @@ double diffclock(timeval clock1,timeval clock2)
|
|||
return diffms;
|
||||
}
|
||||
|
||||
// Collect sensor data from serial port, return number of lines of I/O data read
|
||||
int read_sensors(int first_measurement)
|
||||
{
|
||||
int lines_read = 0;
|
||||
const float AVG_RATE = 0.00001;
|
||||
if (serial_on)
|
||||
{
|
||||
char bufchar[1];
|
||||
while (read(serial_fd, bufchar, 1) > 0)
|
||||
{
|
||||
serial_buffer[serial_buffer_pos] = bufchar[0];
|
||||
serial_buffer_pos++;
|
||||
// Have we reached end of a line of input?
|
||||
if ((bufchar[0] == '\n') || (serial_buffer_pos >= MAX_BUFFER))
|
||||
{
|
||||
lines_read++;
|
||||
// At end - Extract value from string to variables
|
||||
if (serial_buffer[0] != 'p')
|
||||
{
|
||||
samplecount++;
|
||||
sscanf(serial_buffer, "%d %d %d %d", &adc_channels[0],
|
||||
&adc_channels[1],
|
||||
&adc_channels[2],
|
||||
&adc_channels[3]);
|
||||
for (int i = 0; i < 4; i++)
|
||||
{
|
||||
if (!first_measurement)
|
||||
avg_adc_channels[i] = (1.f - AVG_RATE)*avg_adc_channels[i] +
|
||||
AVG_RATE*(float)adc_channels[i];
|
||||
else
|
||||
{
|
||||
avg_adc_channels[i] = (float)adc_channels[i];
|
||||
}
|
||||
}
|
||||
}
|
||||
// Clear rest of string for printing onscreen
|
||||
while(serial_buffer_pos++ < MAX_BUFFER) serial_buffer[serial_buffer_pos] = ' ';
|
||||
serial_buffer_pos = 0;
|
||||
}
|
||||
if (bufchar[0] == 'p')
|
||||
{
|
||||
gettimeofday(&end_ping, NULL);
|
||||
ping = diffclock(begin_ping,end_ping);
|
||||
display_ping = 1;
|
||||
}
|
||||
}
|
||||
}
|
||||
return lines_read;
|
||||
}
|
||||
|
||||
// Every second, check the frame rates and other stuff
|
||||
void Timer(int extra)
|
||||
{
|
||||
|
|
@ -240,14 +185,6 @@ void Timer(int extra)
|
|||
samplecount = 0;
|
||||
bytes_in = 0;
|
||||
|
||||
if (serial_on && ping_test)
|
||||
{
|
||||
char buf[] = "ping";
|
||||
write(serial_fd,buf,4);
|
||||
write(serial_fd, "\r", 1);
|
||||
gettimeofday(&begin_ping, NULL);
|
||||
display_ping = 2;
|
||||
}
|
||||
glutTimerFunc(1000,Timer,0);
|
||||
gettimeofday(&timer_start, NULL);
|
||||
}
|
||||
|
|
@ -258,16 +195,6 @@ void display_stats(void)
|
|||
glColor3f(1.0f, 1.0f, 1.0f);
|
||||
char legend[] = "/ - toggle this display, Q - exit, N - toggle noise, M - toggle map, T - test audio";
|
||||
output(10,15,legend);
|
||||
if (serial_on)
|
||||
{
|
||||
/*char stuff[50];
|
||||
if (bytes_read > 0)
|
||||
{
|
||||
sprintf(stuff, "bytes=%i", bytes_read);
|
||||
output(10,60,stuff);
|
||||
}*/
|
||||
//output(100,60,serial_buffer);
|
||||
}
|
||||
char mouse[50];
|
||||
sprintf(mouse, "mouse_x = %i, mouse_y = %i, pressed = %i, key = %i", mouse_x, mouse_y, mouse_pressed, last_key);
|
||||
output(10,35,mouse);
|
||||
|
|
@ -302,6 +229,9 @@ void init(void)
|
|||
|
||||
avg_adc_channels[0] = avg_adc_channels[1] = avg_adc_channels[2] = avg_adc_channels[3] = 0.f;
|
||||
|
||||
head_mouse_x = WIDTH/2;
|
||||
head_mouse_y = HEIGHT/2;
|
||||
|
||||
int i, j;
|
||||
|
||||
// Initialize Field values
|
||||
|
|
@ -326,13 +256,6 @@ void init(void)
|
|||
else if (r > 0.90) tri_scale = 0.1;
|
||||
else tri_scale = 0.05;
|
||||
|
||||
tris.colors[i*3] = randFloat();
|
||||
tris.colors[i*3+1] = randFloat();
|
||||
tris.colors[i*3+2] = randFloat();
|
||||
|
||||
tris.vel[i*3] = (randFloat() - 0.5)*VEL_SCALE;
|
||||
tris.vel[i*3+1] = (randFloat() - 0.5)*VEL_SCALE;
|
||||
tris.vel[i*3+2] = (randFloat() - 0.5)*VEL_SCALE;
|
||||
|
||||
glm::vec3 pos (randFloat() * WORLD_SIZE,
|
||||
randFloat() * WORLD_SIZE,
|
||||
|
|
@ -351,7 +274,26 @@ void init(void)
|
|||
tris.normals[i*3] = pos.x;
|
||||
tris.normals[i*3+1] = pos.y;
|
||||
tris.normals[i*3+2] = pos.z;
|
||||
|
||||
// Decide what kind of element this particle is to be, color accordingly
|
||||
if (randFloat() < 0.10)
|
||||
{
|
||||
// Fixed - blue
|
||||
tris.element[i] = 0;
|
||||
tris.colors[i*3] = 0.0; tris.colors[i*3+1] = 0.0; tris.colors[i*3+2] = 1.0;
|
||||
tris.vel[i*3] = tris.vel[i*3+1] = tris.vel[i*3+2] = 0.0;
|
||||
}
|
||||
else
|
||||
{
|
||||
// Moving - white
|
||||
tris.element[i] = 1;
|
||||
tris.colors[i*3] = 1.0; tris.colors[i*3+1] = 1.0; tris.colors[i*3+2] = 1.0;
|
||||
tris.vel[i*3] = (randFloat() - 0.5)*VEL_SCALE;
|
||||
tris.vel[i*3+1] = (randFloat() - 0.5)*VEL_SCALE;
|
||||
tris.vel[i*3+2] = (randFloat() - 0.5)*VEL_SCALE;
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
const float TWIDDLE_SCALE = 0.01;
|
||||
|
|
@ -364,11 +306,11 @@ void init(void)
|
|||
|
||||
// Call readsensors for a while to get stable initial values on sensors
|
||||
gettimeofday(&timer_start, NULL);
|
||||
read_sensors(1);
|
||||
read_sensors(1, &avg_adc_channels[0], &adc_channels[0]);
|
||||
int done = 0;
|
||||
while (!done)
|
||||
{
|
||||
read_sensors(0);
|
||||
read_sensors(0, &avg_adc_channels[0], &adc_channels[0]);
|
||||
gettimeofday(&timer_end, NULL);
|
||||
if (diffclock(timer_start,timer_end) > 1000) done = 1;
|
||||
}
|
||||
|
|
@ -378,7 +320,7 @@ void init(void)
|
|||
|
||||
void terminate () {
|
||||
// Close serial port
|
||||
close(serial_fd);
|
||||
//close(serial_fd);
|
||||
|
||||
Audio::terminate();
|
||||
exit(EXIT_SUCCESS);
|
||||
|
|
@ -397,51 +339,57 @@ void update_tris()
|
|||
|
||||
for (i = 0; i < NUM_TRIS; i++)
|
||||
{
|
||||
// Update position
|
||||
tris.vertices[i*9+0] += tris.vel[i*3];
|
||||
tris.vertices[i*9+3] += tris.vel[i*3];
|
||||
tris.vertices[i*9+6] += tris.vel[i*3];
|
||||
|
||||
tris.vertices[i*9+1] += tris.vel[i*3+1];
|
||||
tris.vertices[i*9+4] += tris.vel[i*3+1];
|
||||
tris.vertices[i*9+7] += tris.vel[i*3+1];
|
||||
|
||||
tris.vertices[i*9+2] += tris.vel[i*3+2];
|
||||
tris.vertices[i*9+5] += tris.vel[i*3+2];
|
||||
tris.vertices[i*9+8] += tris.vel[i*3+2];
|
||||
|
||||
if (0)
|
||||
if (tris.element[i] == 1) // If moving object, move and drag
|
||||
{
|
||||
dist_sqrd = tris.vertices[i*9+0]*tris.vertices[i*9+0] +
|
||||
tris.vertices[i*9+1]*tris.vertices[i*9+1] +
|
||||
tris.vertices[i*9+2]*tris.vertices[i*9+2];
|
||||
// Update position
|
||||
tris.vertices[i*9+0] += tris.vel[i*3];
|
||||
tris.vertices[i*9+3] += tris.vel[i*3];
|
||||
tris.vertices[i*9+6] += tris.vel[i*3];
|
||||
|
||||
if (dist_sqrd > 1.0)
|
||||
tris.vertices[i*9+1] += tris.vel[i*3+1];
|
||||
tris.vertices[i*9+4] += tris.vel[i*3+1];
|
||||
tris.vertices[i*9+7] += tris.vel[i*3+1];
|
||||
|
||||
tris.vertices[i*9+2] += tris.vel[i*3+2];
|
||||
tris.vertices[i*9+5] += tris.vel[i*3+2];
|
||||
tris.vertices[i*9+8] += tris.vel[i*3+2];
|
||||
|
||||
if (0)
|
||||
{
|
||||
glm::vec3 pos (tris.vertices[i*9+0],tris.vertices[i*9+1], tris.vertices[i*9+2]);
|
||||
glm::normalize(pos);
|
||||
pos*=-1/dist_sqrd*0.0001;
|
||||
|
||||
tris.vel[i*3] += pos.x;
|
||||
tris.vel[i*3+1] += pos.y;
|
||||
tris.vel[i*3+2] += pos.z;
|
||||
dist_sqrd = tris.vertices[i*9+0]*tris.vertices[i*9+0] +
|
||||
tris.vertices[i*9+1]*tris.vertices[i*9+1] +
|
||||
tris.vertices[i*9+2]*tris.vertices[i*9+2];
|
||||
|
||||
if (dist_sqrd > 1.0)
|
||||
{
|
||||
glm::vec3 pos (tris.vertices[i*9+0],tris.vertices[i*9+1], tris.vertices[i*9+2]);
|
||||
glm::normalize(pos);
|
||||
pos*=-1/dist_sqrd*0.0001;
|
||||
|
||||
tris.vel[i*3] += pos.x;
|
||||
tris.vel[i*3+1] += pos.y;
|
||||
tris.vel[i*3+2] += pos.z;
|
||||
}
|
||||
}
|
||||
|
||||
// Add a little gravity
|
||||
const float GRAVITY = 0.0001;
|
||||
tris.vel[i*3+1] -= GRAVITY;
|
||||
|
||||
// Drag: Decay velocity
|
||||
tris.vel[i*3] *= 0.99;
|
||||
tris.vel[i*3+1] *= 0.99;
|
||||
tris.vel[i*3+2] *= 0.99;
|
||||
}
|
||||
|
||||
// Add a little gravity
|
||||
const float GRAVITY = 0.0001;
|
||||
tris.vel[i*3+1] -= GRAVITY;
|
||||
|
||||
// Drag: Decay velocity
|
||||
tris.vel[i*3] *= 0.99;
|
||||
tris.vel[i*3+1] *= 0.99;
|
||||
tris.vel[i*3+2] *= 0.99;
|
||||
|
||||
// Read and add velocity from field
|
||||
field_value(field_val, &tris.vertices[i*9]);
|
||||
tris.vel[i*3] += field_val[0];
|
||||
tris.vel[i*3+1] += field_val[1];
|
||||
tris.vel[i*3+2] += field_val[2];
|
||||
if (tris.element[i] == 1)
|
||||
{
|
||||
// Read and add velocity from field
|
||||
field_value(field_val, &tris.vertices[i*9]);
|
||||
tris.vel[i*3] += field_val[0];
|
||||
tris.vel[i*3+1] += field_val[1];
|
||||
tris.vel[i*3+2] += field_val[2];
|
||||
}
|
||||
|
||||
// bounce at edge of world
|
||||
// X-Direction
|
||||
|
|
@ -463,6 +411,22 @@ void update_tris()
|
|||
}
|
||||
}
|
||||
|
||||
void reset_sensors()
|
||||
{
|
||||
render_yaw = start_yaw;
|
||||
yaw = render_yaw_rate = 0;
|
||||
pitch = render_pitch = render_pitch_rate = 0;
|
||||
lateral_vel = 0;
|
||||
location[0] = start_location[0];
|
||||
location[1] = start_location[1];
|
||||
location[2] = start_location[2];
|
||||
fwd_vel = 0.0;
|
||||
head_mouse_x = WIDTH/2;
|
||||
head_mouse_y = HEIGHT/2;
|
||||
myHead.reset();
|
||||
read_sensors(1, &avg_adc_channels[0], &adc_channels[0]);
|
||||
}
|
||||
|
||||
void update_pos(float frametime)
|
||||
// Using serial data, update avatar/render position and angles
|
||||
{
|
||||
|
|
@ -472,13 +436,27 @@ void update_pos(float frametime)
|
|||
float measured_fwd_accel = avg_adc_channels[3] - adc_channels[3];
|
||||
|
||||
// Update avatar head position based on measured gyro rates
|
||||
yaw += measured_yaw_rate * 1.20 * frametime;
|
||||
pitch += measured_pitch_rate * -1.0 * frametime;
|
||||
myHead.addYaw(measured_yaw_rate * 1.20 * frametime);
|
||||
myHead.addPitch(measured_pitch_rate * -1.0 * frametime);
|
||||
// Decay avatar head back toward zero
|
||||
pitch *= (1.f - 5.0*frametime);
|
||||
yaw *= (1.f - 7.0*frametime);
|
||||
//pitch *= (1.f - 5.0*frametime);
|
||||
//yaw *= (1.f - 7.0*frametime);
|
||||
|
||||
// Update head_mouse model
|
||||
const float MIN_MOUSE_RATE = 30.0;
|
||||
const float MOUSE_SENSITIVITY = 0.1;
|
||||
if (powf(measured_yaw_rate*measured_yaw_rate +
|
||||
measured_pitch_rate*measured_pitch_rate, 0.5) > MIN_MOUSE_RATE)
|
||||
{
|
||||
head_mouse_x -= measured_yaw_rate*MOUSE_SENSITIVITY;
|
||||
head_mouse_y += measured_pitch_rate*MOUSE_SENSITIVITY*(float)HEIGHT/(float)WIDTH;
|
||||
}
|
||||
head_mouse_x = max(head_mouse_x, 0);
|
||||
head_mouse_x = min(head_mouse_x, WIDTH);
|
||||
head_mouse_y = max(head_mouse_y, 0);
|
||||
head_mouse_y = min(head_mouse_y, HEIGHT);
|
||||
|
||||
|
||||
// Update render direction (pitch/yaw) based on measured gyro rates
|
||||
const int MIN_YAW_RATE = 300;
|
||||
const float YAW_SENSITIVITY = 0.03;
|
||||
|
|
@ -551,21 +529,6 @@ void update_pos(float frametime)
|
|||
// Slide location sideways
|
||||
location[0] += fwd_vec[2]*-lateral_vel;
|
||||
location[2] += fwd_vec[0]*lateral_vel;
|
||||
|
||||
if (reset_sensors)
|
||||
{
|
||||
render_yaw = start_yaw;
|
||||
yaw = render_yaw_rate = 0;
|
||||
pitch = render_pitch = render_pitch_rate = 0;
|
||||
lateral_vel = 0;
|
||||
location[0] = start_location[0];
|
||||
location[1] = start_location[1];
|
||||
location[2] = start_location[2];
|
||||
fwd_vel = 0.0;
|
||||
reset_sensors = 0;
|
||||
read_sensors(1);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
void display(void)
|
||||
|
|
@ -649,36 +612,12 @@ void display(void)
|
|||
// Display floating head in front of viewer
|
||||
if (display_head)
|
||||
{
|
||||
glDisable(GL_DEPTH_TEST);
|
||||
glPushMatrix();
|
||||
glTranslatef(0.f, -4.f, -15.f);
|
||||
glRotatef(yaw/2.0, 0, 1, 0);
|
||||
glRotatef(pitch/2.0, 1, 0, 0);
|
||||
glScalef(0.5, 1.0, 1.1);
|
||||
glColor3f(1.0, 0.84, 0.66);
|
||||
glutSolidSphere(1.f, 15, 15); // Head
|
||||
|
||||
glTranslatef(1.f, 0.f, 0.f);
|
||||
glPushMatrix();
|
||||
glScalef(0.5, 0.75, 1.0);
|
||||
glutSolidSphere(0.5f, 15, 15); // Ears
|
||||
glPopMatrix();
|
||||
glTranslatef(-2.f, 0.f, 0.f);
|
||||
glPushMatrix();
|
||||
glScalef(0.5, 0.75, 1.0);
|
||||
glutSolidSphere(0.5f, 15, 15);
|
||||
glPopMatrix();
|
||||
glTranslatef(1.f, 1.f, 0.f);
|
||||
glScalef(2.5, 0.5, 2.2);
|
||||
glColor3f(0.5, 0.5, 0.5);
|
||||
glutSolidSphere(0.25f, 15, 15); // Beanie
|
||||
glPopMatrix();
|
||||
myHead.render();
|
||||
}
|
||||
|
||||
glEnd();
|
||||
glPopMatrix();
|
||||
|
||||
|
||||
// Render 2D overlay: I/O level bar graphs and text
|
||||
|
||||
glMatrixMode(GL_PROJECTION);
|
||||
|
|
@ -697,6 +636,16 @@ void display(void)
|
|||
glVertex2f(target_x, target_y);
|
||||
glEnd();
|
||||
}
|
||||
if (display_head_mouse)
|
||||
{
|
||||
glPointSize(20.f);
|
||||
glColor4f(1.0, 1.0, 0.0, 0.8);
|
||||
glEnable(GL_POINT_SMOOTH);
|
||||
glBegin(GL_POINTS);
|
||||
glVertex2f(head_mouse_x, head_mouse_y);
|
||||
glEnd();
|
||||
}
|
||||
/*
|
||||
if (display_ping)
|
||||
{
|
||||
// Draw a green dot to indicate receipt of ping signal
|
||||
|
|
@ -710,6 +659,7 @@ void display(void)
|
|||
glEnd();
|
||||
display_ping = 0;
|
||||
}
|
||||
*/
|
||||
if (display_levels)
|
||||
{
|
||||
glColor4f(1.f, 1.f, 1.f, 1.f);
|
||||
|
|
@ -751,7 +701,7 @@ void key(unsigned char k, int x, int y)
|
|||
if (k == 'c') location[1] += WORLD_SIZE/100.0;
|
||||
if (k == 'w') fwd_vel += 0.05;
|
||||
if (k == 's') fwd_vel -= 0.05;
|
||||
if (k == ' ') reset_sensors = 1;
|
||||
if (k == ' ') reset_sensors();
|
||||
if (k == 'a') render_yaw_rate -= 0.25;
|
||||
if (k == 'd') render_yaw_rate += 0.25;
|
||||
if (k == 'p')
|
||||
|
|
@ -764,6 +714,10 @@ void key(unsigned char k, int x, int y)
|
|||
if (k == 't') {
|
||||
Audio::writeTone(0, 400, 1.0f, 0.5f);
|
||||
}
|
||||
if (k == '1')
|
||||
{
|
||||
myHead.SetNewHeadTarget((randFloat()-0.5)*20.0, (randFloat()-0.5)*20.0);
|
||||
}
|
||||
}
|
||||
|
||||
void read_network()
|
||||
|
|
@ -786,9 +740,10 @@ void idle(void)
|
|||
{
|
||||
if (!step_on) glutPostRedisplay();
|
||||
read_network();
|
||||
read_sensors(0);
|
||||
samplecount += read_sensors(0, &avg_adc_channels[0], &adc_channels[0]);
|
||||
update_pos(1.f/FPS);
|
||||
update_tris();
|
||||
myHead.simulate(1.f/FPS);
|
||||
if (SLEEP)
|
||||
{
|
||||
usleep(SLEEP);
|
||||
|
|
@ -868,15 +823,14 @@ int main(int argc, char** argv)
|
|||
// Try to setup the serial port I/O
|
||||
if (serial_on)
|
||||
{
|
||||
serial_fd = open("/dev/tty.usbmodem411", O_RDWR | O_NOCTTY | O_NDELAY); // List usbSerial devices using Terminal ls /dev/tty.*
|
||||
//serial_fd = open(SERIAL_PORT_NAME, O_RDWR | O_NOCTTY | O_NDELAY);
|
||||
// List usbSerial devices using Terminal ls /dev/tty.*
|
||||
|
||||
|
||||
if(serial_fd == -1) { // Check for port errors
|
||||
cout << serial_fd;
|
||||
if(init_port(115200) == -1) { // Check for port errors
|
||||
perror("Unable to open serial port\n");
|
||||
return (0);
|
||||
}
|
||||
else init_port(&serial_fd, 115200);
|
||||
}
|
||||
}
|
||||
|
||||
glutInit(&argc, argv);
|
||||
|
|
|
|||
|
|
@ -10,6 +10,7 @@
|
|||
|
||||
void ParticleSystem::simulate (float deltaTime) {
|
||||
for (unsigned int i = 0; i < particleCount; ++i) {
|
||||
|
||||
// Move particles
|
||||
particles[i].position += particles[i].velocity * deltaTime;
|
||||
|
||||
|
|
|
|||
|
|
@ -9,7 +9,7 @@
|
|||
#ifndef interface_particle_h
|
||||
#define interface_particle_h
|
||||
|
||||
#include <glm/glm.hpp>
|
||||
#include "glm/glm.hpp"
|
||||
|
||||
class ParticleSystem {
|
||||
public:
|
||||
|
|
|
|||
Loading…
Reference in a new issue