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added the conditional for leaving the base of support to pre physics update in MyAvatar.cpp

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This commit is contained in:
amantley 2018-06-21 17:23:03 -07:00
parent 8fc04776f9
commit 3027f8242c
1 changed files with 33 additions and 2 deletions
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35
interface/src/avatar/MyAvatar.cpp
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@ -3105,6 +3105,29 @@ glm::mat4 MyAvatar::deriveBodyUsingCgModel() const {
return worldToSensorMat * avatarToWorldMat * avatarHipsMat;
}
static bool isInsideLine(glm::vec3 a, glm::vec3 b, glm::vec3 c) {
return (((b.x - a.x)*(c.z - a.z) - (b.z - a.z)*(c.x - a.x)) > 0);
}
static bool withinBaseOfSupport(glm::vec3 position) {
float userScale = 1.0f;
const float DEFAULT_LATERAL = 1.10f;
const float DEFAULT_ANTERIOR = 1.04f;
const float DEFAULT_POSTERIOR = 1.06f;
glm::vec3 frontLeft(-DEFAULT_LATERAL, 0.0f, -DEFAULT_ANTERIOR);
glm::vec3 frontRight(DEFAULT_LATERAL, 0.0f, -DEFAULT_ANTERIOR);
glm::vec3 backLeft(-DEFAULT_LATERAL, 0.0f, DEFAULT_POSTERIOR);
glm::vec3 backRight(DEFAULT_LATERAL, 0.0f, DEFAULT_POSTERIOR);
bool withinFrontBase = isInsideLine(userScale * frontLeft, userScale * frontRight, position);
bool withinBackBase = isInsideLine(userScale * backRight, userScale * backLeft, position);
bool withinLateralBase = (isInsideLine(userScale * frontRight, userScale * backRight, position) &&
isInsideLine(userScale * backLeft, userScale * frontLeft, position));
return (withinFrontBase && withinBackBase && withinLateralBase);
}
float MyAvatar::getUserHeight() const {
return _userHeight.get();
}
@ -3327,13 +3350,21 @@ void MyAvatar::FollowHelper::prePhysicsUpdate(MyAvatar& myAvatar, const glm::mat
} else {
// this is where we put the code for the stepping.
// we do not have hmd lean enabled and we are looking for a step via our criteria.
qCDebug(interfaceapp) << "hmd lean is off";
if (!isActive(Rotation) && getForceActivateRotation()) {
activate(Rotation);
setForceActivateRotation(false);
}
glm::vec3 temp = myAvatar.getControllerPoseInAvatarFrame(controller::Action::HEAD).getTranslation();
qCDebug(interfaceapp) << temp;
qCDebug(interfaceapp) << "zero within base " << withinBaseOfSupport(glm::vec3(0.0f,0.0f,0.0f));
qCDebug(interfaceapp) << "10 meters within base " << withinBaseOfSupport(glm::vec3(1.0f, 0.0f, 0.0f));
qCDebug(interfaceapp) << "head within base " << withinBaseOfSupport(temp);
qCDebug(interfaceapp) << "force activate horizontal " << getForceActivateHorizontal();
qCDebug(interfaceapp) << "is active horizontal " << isActive(Horizontal);
if (!isActive(Horizontal) && (getForceActivateHorizontal() ||
!withinTheBaseOfSupport() {
!withinBaseOfSupport(temp))) {
qCDebug(interfaceapp) << "----------------------------------------over the base of support";
activate(Horizontal);
setForceActivateHorizontal(false);
}