Merge pull request #13873 from sabrina-shanman/stt_parenting

Collision Pick Parenting

interface/src/avatar/MyAvatarHeadTransformNode.cpp

@@ -0,0 +1,23 @@
+//
+//  Created by Sabrina Shanman 8/14/2018
+//  Copyright 2018 High Fidelity, Inc.
+//
+//  Distributed under the Apache License, Version 2.0.
+//  See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
+//
+
+#include "MyAvatarHeadTransformNode.h"
+
+#include "DependencyManager.h"
+#include "AvatarManager.h"
+#include "MyAvatar.h"
+
+Transform MyAvatarHeadTransformNode::getTransform() {
+    auto myAvatar = DependencyManager::get<AvatarManager>()->getMyAvatar();
+
+    glm::vec3 pos = myAvatar->getHeadPosition();
+    glm::quat headOri = myAvatar->getHeadOrientation();
+    glm::quat ori = headOri * glm::angleAxis(-PI / 2.0f, Vectors::RIGHT);
+
+    return Transform(ori, glm::vec3(1.0f), pos);
+}

interface/src/avatar/MyAvatarHeadTransformNode.h

@@ -0,0 +1,19 @@
+//
+//  Created by Sabrina Shanman 8/14/2018
+//  Copyright 2018 High Fidelity, Inc.
+//
+//  Distributed under the Apache License, Version 2.0.
+//  See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
+//
+#ifndef hifi_MyAvatarHeadTransformNode_h
+#define hifi_MyAvatarHeadTransformNode_h
+
+#include "TransformNode.h"
+
+class MyAvatarHeadTransformNode : public TransformNode {
+public:
+    MyAvatarHeadTransformNode() { }
+    Transform getTransform() override;
+};
+
+#endif // hifi_MyAvatarHeadTransformNode_h

interface/src/raypick/CollisionPick.cpp

@@ -32,9 +32,6 @@ PickResultPointer CollisionPickResult::compareAndProcessNewResult(const PickResu
     }
 
     intersects = entityIntersections.size() || avatarIntersections.size();
-    if (newCollisionResult->loadState == LOAD_STATE_NOT_LOADED || loadState == LOAD_STATE_UNKNOWN) {
-        loadState = (LoadState)newCollisionResult->loadState;
-    }
 
     return std::make_shared<CollisionPickResult>(*this);
 }
@@ -80,23 +77,42 @@ QVariantMap CollisionPickResult::toVariantMap() const {
     }
 
     variantMap["intersectingObjects"] = qIntersectingObjects;
-    variantMap["loaded"] = (loadState == LOAD_STATE_LOADED);
     variantMap["collisionRegion"] = pickVariant;
 
     return variantMap;
 }
 
-bool CollisionPick::isShapeInfoReady() {
+bool CollisionPick::isLoaded() const {
+    return !_mathPick.shouldComputeShapeInfo() || (_cachedResource && _cachedResource->isLoaded());
+}
+
+bool CollisionPick::getShapeInfoReady() {
     if (_mathPick.shouldComputeShapeInfo()) {
         if (_cachedResource && _cachedResource->isLoaded()) {
             computeShapeInfo(_mathPick, *_mathPick.shapeInfo, _cachedResource);
-            return true;
+            _mathPick.loaded = true;
+        } else {
+            _mathPick.loaded = false;
         }
-
-        return false;
+    } else {
+        computeShapeInfoDimensionsOnly(_mathPick, *_mathPick.shapeInfo, _cachedResource);
+        _mathPick.loaded = true;
     }
 
-    return true;
+    return _mathPick.loaded;
+}
+
+void CollisionPick::computeShapeInfoDimensionsOnly(CollisionRegion& pick, ShapeInfo& shapeInfo, QSharedPointer<GeometryResource> resource) {
+    ShapeType type = shapeInfo.getType();
+    glm::vec3 dimensions = pick.transform.getScale();
+    QString modelURL = (resource ? resource->getURL().toString() : "");
+    if (type == SHAPE_TYPE_COMPOUND) {
+        shapeInfo.setParams(type, dimensions, modelURL);
+    } else if (type >= SHAPE_TYPE_SIMPLE_HULL && type <= SHAPE_TYPE_STATIC_MESH) {
+        shapeInfo.setParams(type, 0.5f * dimensions, modelURL);
+    } else {
+        shapeInfo.setParams(type, 0.5f * dimensions, modelURL);
+    }
 }
 
 void CollisionPick::computeShapeInfo(CollisionRegion& pick, ShapeInfo& shapeInfo, QSharedPointer<GeometryResource> resource) {
@@ -328,8 +344,25 @@ void CollisionPick::computeShapeInfo(CollisionRegion& pick, ShapeInfo& shapeInfo
     }
 }
 
+CollisionPick::CollisionPick(const PickFilter& filter, float maxDistance, bool enabled, CollisionRegion collisionRegion, PhysicsEnginePointer physicsEngine) :
+    Pick(filter, maxDistance, enabled),
+    _mathPick(collisionRegion),
+    _physicsEngine(physicsEngine) {
+    if (collisionRegion.shouldComputeShapeInfo()) {
+        _cachedResource = DependencyManager::get<ModelCache>()->getCollisionGeometryResource(collisionRegion.modelURL);
+    }
+    _mathPick.loaded = isLoaded();
+}
+
 CollisionRegion CollisionPick::getMathematicalPick() const {
-    return _mathPick;
+    CollisionRegion mathPick = _mathPick;
+    mathPick.loaded = isLoaded();
+    if (!parentTransform) {
+        return mathPick;
+    } else {
+        mathPick.transform = parentTransform->getTransform().worldTransform(mathPick.transform);
+        return mathPick;
+    }
 }
 
 void CollisionPick::filterIntersections(std::vector<ContactTestResult>& intersections) const {
@@ -356,31 +389,37 @@ void CollisionPick::filterIntersections(std::vector<ContactTestResult>& intersec
 }
 
 PickResultPointer CollisionPick::getEntityIntersection(const CollisionRegion& pick) {
-    if (!isShapeInfoReady()) {
+    if (!pick.loaded) {
         // Cannot compute result
-        return std::make_shared<CollisionPickResult>(pick.toVariantMap(), CollisionPickResult::LOAD_STATE_NOT_LOADED, std::vector<ContactTestResult>(), std::vector<ContactTestResult>());
+        return std::make_shared<CollisionPickResult>(pick.toVariantMap(), std::vector<ContactTestResult>(), std::vector<ContactTestResult>());
     }
+    getShapeInfoReady();
     
-    auto entityIntersections = _physicsEngine->contactTest(USER_COLLISION_MASK_ENTITIES, *pick.shapeInfo, pick.transform);
+    auto entityIntersections = _physicsEngine->contactTest(USER_COLLISION_MASK_ENTITIES, *pick.shapeInfo, pick.transform, USER_COLLISION_GROUP_DYNAMIC, pick.threshold);
     filterIntersections(entityIntersections);
-    return std::make_shared<CollisionPickResult>(pick, CollisionPickResult::LOAD_STATE_LOADED, entityIntersections, std::vector<ContactTestResult>());
+    return std::make_shared<CollisionPickResult>(pick, entityIntersections, std::vector<ContactTestResult>());
 }
 
 PickResultPointer CollisionPick::getOverlayIntersection(const CollisionRegion& pick) {
-    return std::make_shared<CollisionPickResult>(pick.toVariantMap(), isShapeInfoReady() ? CollisionPickResult::LOAD_STATE_LOADED : CollisionPickResult::LOAD_STATE_NOT_LOADED, std::vector<ContactTestResult>(), std::vector<ContactTestResult>());
+    return std::make_shared<CollisionPickResult>(pick, std::vector<ContactTestResult>(), std::vector<ContactTestResult>());
 }
 
 PickResultPointer CollisionPick::getAvatarIntersection(const CollisionRegion& pick) {
-    if (!isShapeInfoReady()) {
+    if (!pick.loaded) {
         // Cannot compute result
-        return std::make_shared<CollisionPickResult>(pick.toVariantMap(), CollisionPickResult::LOAD_STATE_NOT_LOADED, std::vector<ContactTestResult>(), std::vector<ContactTestResult>());
+        return std::make_shared<CollisionPickResult>(pick, std::vector<ContactTestResult>(), std::vector<ContactTestResult>());
     }
+    getShapeInfoReady();
     
-    auto avatarIntersections = _physicsEngine->contactTest(USER_COLLISION_MASK_AVATARS, *pick.shapeInfo, pick.transform);
+    auto avatarIntersections = _physicsEngine->contactTest(USER_COLLISION_MASK_AVATARS, *pick.shapeInfo, pick.transform, USER_COLLISION_GROUP_DYNAMIC, pick.threshold);
     filterIntersections(avatarIntersections);
-    return std::make_shared<CollisionPickResult>(pick, CollisionPickResult::LOAD_STATE_LOADED, std::vector<ContactTestResult>(), avatarIntersections);
+    return std::make_shared<CollisionPickResult>(pick, std::vector<ContactTestResult>(), avatarIntersections);
 }
 
 PickResultPointer CollisionPick::getHUDIntersection(const CollisionRegion& pick) {
-    return std::make_shared<CollisionPickResult>(pick.toVariantMap(), isShapeInfoReady() ? CollisionPickResult::LOAD_STATE_LOADED : CollisionPickResult::LOAD_STATE_NOT_LOADED, std::vector<ContactTestResult>(), std::vector<ContactTestResult>());
+    return std::make_shared<CollisionPickResult>(pick.toVariantMap(), std::vector<ContactTestResult>(), std::vector<ContactTestResult>());
+}
+
+Transform CollisionPick::getResultTransform() const {
+    return Transform(getMathematicalPick().transform);
 }

interface/src/raypick/CollisionPick.h

@@ -11,35 +11,28 @@
 #include <PhysicsEngine.h>
 #include <model-networking/ModelCache.h>
 #include <RegisteredMetaTypes.h>
+#include <TransformNode.h>
 #include <Pick.h>
 
 class CollisionPickResult : public PickResult {
 public:
-    enum LoadState {
-        LOAD_STATE_UNKNOWN,
-        LOAD_STATE_NOT_LOADED,
-        LOAD_STATE_LOADED
-    };
-
     CollisionPickResult() {}
     CollisionPickResult(const QVariantMap& pickVariant) : PickResult(pickVariant) {}
 
-    CollisionPickResult(const CollisionRegion& searchRegion, LoadState loadState, const std::vector<ContactTestResult>& entityIntersections, const std::vector<ContactTestResult>& avatarIntersections) :
+    CollisionPickResult(const CollisionRegion& searchRegion, const std::vector<ContactTestResult>& entityIntersections, const std::vector<ContactTestResult>& avatarIntersections) :
         PickResult(searchRegion.toVariantMap()),
-        loadState(loadState),
         intersects(entityIntersections.size() || avatarIntersections.size()),
         entityIntersections(entityIntersections),
-        avatarIntersections(avatarIntersections) {
+        avatarIntersections(avatarIntersections)
+    {
     }
 
     CollisionPickResult(const CollisionPickResult& collisionPickResult) : PickResult(collisionPickResult.pickVariant) {
         avatarIntersections = collisionPickResult.avatarIntersections;
         entityIntersections = collisionPickResult.entityIntersections;
         intersects = collisionPickResult.intersects;
-        loadState = collisionPickResult.loadState;
     }
 
-    LoadState loadState { LOAD_STATE_UNKNOWN };
     bool intersects { false };
     std::vector<ContactTestResult> entityIntersections;
     std::vector<ContactTestResult> avatarIntersections;
@@ -54,28 +47,24 @@ public:
 
 class CollisionPick : public Pick<CollisionRegion> {
 public:
-    CollisionPick(const PickFilter& filter, float maxDistance, bool enabled, CollisionRegion collisionRegion, PhysicsEnginePointer physicsEngine) :
-        Pick(filter, maxDistance, enabled),
-        _mathPick(collisionRegion),
-        _physicsEngine(physicsEngine) {
-        if (collisionRegion.shouldComputeShapeInfo()) {
-            _cachedResource = DependencyManager::get<ModelCache>()->getCollisionGeometryResource(collisionRegion.modelURL);
-        }
-    }
+    CollisionPick(const PickFilter& filter, float maxDistance, bool enabled, CollisionRegion collisionRegion, PhysicsEnginePointer physicsEngine);
 
     CollisionRegion getMathematicalPick() const override;
     PickResultPointer getDefaultResult(const QVariantMap& pickVariant) const override {
-        return std::make_shared<CollisionPickResult>(pickVariant, CollisionPickResult::LOAD_STATE_UNKNOWN, std::vector<ContactTestResult>(), std::vector<ContactTestResult>());
+        return std::make_shared<CollisionPickResult>(pickVariant, std::vector<ContactTestResult>(), std::vector<ContactTestResult>());
     }
     PickResultPointer getEntityIntersection(const CollisionRegion& pick) override;
     PickResultPointer getOverlayIntersection(const CollisionRegion& pick) override;
     PickResultPointer getAvatarIntersection(const CollisionRegion& pick) override;
     PickResultPointer getHUDIntersection(const CollisionRegion& pick) override;
-
+    Transform getResultTransform() const override;
 protected:
-    // Returns true if pick.shapeInfo is valid. Otherwise, attempts to get the shapeInfo ready for use.
-    bool isShapeInfoReady();
+    // Returns true if the resource for _mathPick.shapeInfo is loaded or if a resource is not needed.
+    bool isLoaded() const;
+    // Returns true if _mathPick.shapeInfo is valid. Otherwise, attempts to get the _mathPick ready for use.
+    bool getShapeInfoReady();
     void computeShapeInfo(CollisionRegion& pick, ShapeInfo& shapeInfo, QSharedPointer<GeometryResource> resource);
+    void computeShapeInfoDimensionsOnly(CollisionRegion& pick, ShapeInfo& shapeInfo, QSharedPointer<GeometryResource> resource);
     void filterIntersections(std::vector<ContactTestResult>& intersections) const;
 
     CollisionRegion _mathPick;

interface/src/raypick/LaserPointer.cpp

@@ -35,6 +35,37 @@ void LaserPointer::editRenderStatePath(const std::string& state, const QVariant&
     }
 }
 
+QVariantMap LaserPointer::toVariantMap() const {
+    QVariantMap qVariantMap;
+
+    QVariantMap qRenderStates;
+    for (auto iter = _renderStates.cbegin(); iter != _renderStates.cend(); iter++) {
+        auto renderState = iter->second;
+        QVariantMap qRenderState;
+        qRenderState["start"] = renderState->getStartID();
+        qRenderState["path"] = std::static_pointer_cast<RenderState>(renderState)->getPathID();
+        qRenderState["end"] = renderState->getEndID();
+        qRenderStates[iter->first.c_str()] = qRenderState;
+    }
+    qVariantMap["renderStates"] = qRenderStates;
+
+    QVariantMap qDefaultRenderStates;
+    for (auto iter = _defaultRenderStates.cbegin(); iter != _defaultRenderStates.cend(); iter++) {
+        float distance = iter->second.first;
+        auto defaultRenderState = iter->second.second;
+        QVariantMap qDefaultRenderState;
+
+        qDefaultRenderState["distance"] = distance;
+        qDefaultRenderState["start"] = defaultRenderState->getStartID();
+        qDefaultRenderState["path"] = std::static_pointer_cast<RenderState>(defaultRenderState)->getPathID();
+        qDefaultRenderState["end"] = defaultRenderState->getEndID();
+        qDefaultRenderStates[iter->first.c_str()] = qDefaultRenderState;
+    }
+    qVariantMap["defaultRenderStates"] = qDefaultRenderStates;
+
+    return qVariantMap;
+}
+
 glm::vec3 LaserPointer::getPickOrigin(const PickResultPointer& pickResult) const {
     auto rayPickResult = std::static_pointer_cast<RayPickResult>(pickResult);
     return (rayPickResult ? vec3FromVariant(rayPickResult->pickVariant["origin"]) : glm::vec3(0.0f));

interface/src/raypick/LaserPointer.h

@@ -42,6 +42,8 @@ public:
     LaserPointer(const QVariant& rayProps, const RenderStateMap& renderStates, const DefaultRenderStateMap& defaultRenderStates, bool hover, const PointerTriggers& triggers,
         bool faceAvatar, bool followNormal, float followNormalStrength, bool centerEndY, bool lockEnd, bool distanceScaleEnd, bool scaleWithAvatar, bool enabled);
 
+    QVariantMap toVariantMap() const override;
+
     static std::shared_ptr<StartEndRenderState> buildRenderState(const QVariantMap& propMap);
 
 protected:

interface/src/raypick/MouseTransformNode.cpp

@@ -0,0 +1,27 @@
+//
+//  Created by Sabrina Shanman 8/14/2018
+//  Copyright 2018 High Fidelity, Inc.
+//
+//  Distributed under the Apache License, Version 2.0.
+//  See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
+//
+
+#include "MouseTransformNode.h"
+
+#include "Application.h"
+#include "display-plugins/CompositorHelper.h"
+#include "RayPick.h"
+
+Transform MouseTransformNode::getTransform() {
+    QVariant position = qApp->getApplicationCompositor().getReticleInterface()->getPosition();
+    if (position.isValid()) {
+        Transform transform;
+        QVariantMap posMap = position.toMap();
+        PickRay pickRay = qApp->getCamera().computePickRay(posMap["x"].toFloat(), posMap["y"].toFloat());
+        transform.setTranslation(pickRay.origin);
+        transform.setRotation(rotationBetween(Vectors::UP, pickRay.direction));
+        return transform;
+    }
+
+    return Transform();
+}

interface/src/raypick/MouseTransformNode.h

@@ -0,0 +1,18 @@
+//
+//  Created by Sabrina Shanman 8/14/2018
+//  Copyright 2018 High Fidelity, Inc.
+//
+//  Distributed under the Apache License, Version 2.0.
+//  See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
+//
+#ifndef hifi_MouseTransformNode_h
+#define hifi_MouseTransformNode_h
+
+#include "TransformNode.h"
+
+class MouseTransformNode : public TransformNode {
+public:
+    Transform getTransform() override;
+};
+
+#endif // hifi_MouseTransformNode_h

interface/src/raypick/ParabolaPick.cpp

@@ -70,4 +70,16 @@ glm::vec3 ParabolaPick::getAcceleration() const {
         return scale * (DependencyManager::get<AvatarManager>()->getMyAvatar()->getWorldOrientation() * _accelerationAxis);
     }
     return scale * _accelerationAxis;
+}
+
+Transform ParabolaPick::getResultTransform() const {
+    PickResultPointer result = getPrevPickResult();
+    if (!result) {
+        return Transform();
+    }
+
+    auto parabolaResult = std::static_pointer_cast<ParabolaPickResult>(result);
+    Transform transform;
+    transform.setTranslation(parabolaResult->intersection);
+    return transform;
 }

interface/src/raypick/ParabolaPick.h

@@ -83,6 +83,7 @@ public:
     PickResultPointer getOverlayIntersection(const PickParabola& pick) override;
     PickResultPointer getAvatarIntersection(const PickParabola& pick) override;
     PickResultPointer getHUDIntersection(const PickParabola& pick) override;
+    Transform getResultTransform() const override;
 
 protected:
     float _speed;

interface/src/raypick/ParabolaPointer.cpp

@@ -60,6 +60,35 @@ void ParabolaPointer::editRenderStatePath(const std::string& state, const QVaria
     }
 }
 
+QVariantMap ParabolaPointer::toVariantMap() const {
+    QVariantMap qVariantMap;
+
+    QVariantMap qRenderStates;
+    for (auto iter = _renderStates.cbegin(); iter != _renderStates.cend(); iter++) {
+        auto renderState = iter->second;
+        QVariantMap qRenderState;
+        qRenderState["start"] = renderState->getStartID();
+        qRenderState["end"] = renderState->getEndID();
+        qRenderStates[iter->first.c_str()] = qRenderState;
+    }
+    qVariantMap["renderStates"] = qRenderStates;
+
+    QVariantMap qDefaultRenderStates;
+    for (auto iter = _defaultRenderStates.cbegin(); iter != _defaultRenderStates.cend(); iter++) {
+        float distance = iter->second.first;
+        auto defaultRenderState = iter->second.second;
+        QVariantMap qDefaultRenderState;
+
+        qDefaultRenderState["distance"] = distance;
+        qDefaultRenderState["start"] = defaultRenderState->getStartID();
+        qDefaultRenderState["end"] = defaultRenderState->getEndID();
+        qDefaultRenderStates[iter->first.c_str()] = qDefaultRenderState;
+    }
+    qVariantMap["defaultRenderStates"] = qDefaultRenderStates;
+
+    return qVariantMap;
+}
+
 glm::vec3 ParabolaPointer::getPickOrigin(const PickResultPointer& pickResult) const {
     auto parabolaPickResult = std::static_pointer_cast<ParabolaPickResult>(pickResult);
     return (parabolaPickResult ? vec3FromVariant(parabolaPickResult->pickVariant["origin"]) : glm::vec3(0.0f));

interface/src/raypick/ParabolaPointer.h

@@ -97,6 +97,8 @@ public:
     ParabolaPointer(const QVariant& rayProps, const RenderStateMap& renderStates, const DefaultRenderStateMap& defaultRenderStates, bool hover, const PointerTriggers& triggers,
         bool faceAvatar, bool followNormal, float followNormalStrength, bool centerEndY, bool lockEnd, bool distanceScaleEnd, bool scaleWithAvatar, bool enabled);
 
+    QVariantMap toVariantMap() const override;
+
     static std::shared_ptr<StartEndRenderState> buildRenderState(const QVariantMap& propMap);
 
 protected:

interface/src/raypick/PickScriptingInterface.cpp

@@ -23,6 +23,13 @@
 #include "MouseParabolaPick.h"
 #include "CollisionPick.h"
 
+#include "SpatialParentFinder.h"
+#include "NestableTransformNode.h"
+#include "PickTransformNode.h"
+#include "MouseTransformNode.h"
+#include "avatar/MyAvatarHeadTransformNode.h"
+#include "avatar/AvatarManager.h"
+
 #include <ScriptEngine.h>
 
 unsigned int PickScriptingInterface::createPick(const PickQuery::PickType type, const QVariant& properties) {
@@ -276,8 +283,10 @@ unsigned int PickScriptingInterface::createCollisionPick(const QVariant& propert
     }
 
     CollisionRegion collisionRegion(propMap);
+    auto collisionPick = std::make_shared<CollisionPick>(filter, maxDistance, enabled, collisionRegion, qApp->getPhysicsEngine());
+    collisionPick->parentTransform = createTransformNode(propMap);
 
-    return DependencyManager::get<PickManager>()->addPick(PickQuery::Collision, std::make_shared<CollisionPick>(filter, maxDistance, enabled, collisionRegion, qApp->getPhysicsEngine()));
+    return DependencyManager::get<PickManager>()->addPick(PickQuery::Collision, collisionPick);
 }
 
 void PickScriptingInterface::enablePick(unsigned int uid) {
@@ -351,3 +360,43 @@ unsigned int PickScriptingInterface::getPerFrameTimeBudget() const {
 void PickScriptingInterface::setPerFrameTimeBudget(unsigned int numUsecs) {
     DependencyManager::get<PickManager>()->setPerFrameTimeBudget(numUsecs);
 }
+
+std::shared_ptr<TransformNode> PickScriptingInterface::createTransformNode(const QVariantMap& propMap) {
+    if (propMap["parentID"].isValid()) {
+        QUuid parentUuid = propMap["parentID"].toUuid();
+        if (!parentUuid.isNull()) {
+            // Infer object type from parentID
+            // For now, assume a QUuuid is a SpatiallyNestable. This should change when picks are converted over to QUuids.
+            bool success;
+            std::weak_ptr<SpatiallyNestable> nestablePointer = DependencyManager::get<SpatialParentFinder>()->find(parentUuid, success, nullptr);
+            int parentJointIndex = 0;
+            if (propMap["parentJointIndex"].isValid()) {
+                parentJointIndex = propMap["parentJointIndex"].toInt();
+            }
+            auto sharedNestablePointer = nestablePointer.lock();
+            if (success && sharedNestablePointer) {
+                return std::make_shared<NestableTransformNode>(nestablePointer, parentJointIndex);
+            }
+        }
+
+        unsigned int pickID = propMap["parentID"].toUInt();
+        if (pickID != 0) {
+            return std::make_shared<PickTransformNode>(pickID);
+        }
+    }
+    
+    if (propMap["joint"].isValid()) {
+        QString joint = propMap["joint"].toString();
+        if (joint == "Mouse") {
+            return std::make_shared<MouseTransformNode>();
+        } else if (joint == "Avatar") {
+            return std::make_shared<MyAvatarHeadTransformNode>();
+        } else if (!joint.isNull()) {
+            auto myAvatar = DependencyManager::get<AvatarManager>()->getMyAvatar();
+            int jointIndex = myAvatar->getJointIndex(joint);
+            return std::make_shared<NestableTransformNode>(myAvatar, jointIndex);
+        }
+    }
+
+    return std::shared_ptr<TransformNode>();
+}

interface/src/raypick/PickScriptingInterface.h

@@ -152,9 +152,6 @@ public:
      * @property {CollisionRegion} collisionRegion The CollisionRegion that was used. Valid even if there was no intersection.
      */
 
-    // TODO: Add this to the CollisionPickResult jsdoc once model collision picks are working
-    //* @property {boolean} loaded If the CollisionRegion was successfully loaded (may be false if a model was used)
-
     /**jsdoc
     * Information about the Collision Pick's intersection with an object
     *
@@ -320,6 +317,9 @@ public slots:
      * @returns {number}
      */
     static constexpr unsigned int INTERSECTED_HUD() { return IntersectionType::HUD; }
+
+protected:
+    static std::shared_ptr<TransformNode> createTransformNode(const QVariantMap& propMap);
 };
 
 #endif // hifi_PickScriptingInterface_h

interface/src/raypick/PointerScriptingInterface.cpp

@@ -76,16 +76,19 @@ unsigned int PointerScriptingInterface::createStylus(const QVariant& properties)
  * @property {number} distance The distance at which to render the end of this Ray Pointer, if one is defined.
  */
 /**jsdoc
- * A set of properties used to define the visual aspect of a Ray Pointer in the case that the Pointer is intersecting something.
+ * A set of properties which define the visual aspect of a Ray Pointer in the case that the Pointer is intersecting something.
  *
  * @typedef {object} Pointers.RayPointerRenderState
- * @property {string} name The name of this render state, used by {@link Pointers.setRenderState} and {@link Pointers.editRenderState}
- * @property {Overlays.OverlayProperties} [start] All of the properties you would normally pass to {@link Overlays.addOverlay}, plus the type (as a <code>type</code> field).
- * An overlay to represent the beginning of the Ray Pointer, if desired.
- * @property {Overlays.OverlayProperties} [path] All of the properties you would normally pass to {@link Overlays.addOverlay}, plus the type (as a <code>type</code> field), which <b>must</b> be <code>"line3d"</code>.
- * An overlay to represent the path of the Ray Pointer, if desired.
- * @property {Overlays.OverlayProperties} [end] All of the properties you would normally pass to {@link Overlays.addOverlay}, plus the type (as a <code>type</code> field).
- * An overlay to represent the end of the Ray Pointer, if desired.
+ * @property {string} name When using {@link Pointers.createPointer}, the name of this render state, used by {@link Pointers.setRenderState} and {@link Pointers.editRenderState}
+ * @property {Overlays.OverlayProperties|QUuid} [start] When using {@link Pointers.createPointer}, an optionally defined overlay to represent the beginning of the Ray Pointer,
+ * using the properties you would normally pass to {@link Overlays.addOverlay}, plus the type (as a <code>type</code> field).
+ * When returned from {@link Pointers.getPointerProperties}, the ID of the created overlay if it exists, or a null ID otherwise.
+ * @property {Overlays.OverlayProperties|QUuid} [path] When using {@link Pointers.createPointer}, an optionally defined overlay to represent the path of the Ray Pointer,
+ * using the properties you would normally pass to {@link Overlays.addOverlay}, plus the type (as a <code>type</code> field), which <b>must</b> be <code>"line3d"</code>.
+ * When returned from {@link Pointers.getPointerProperties}, the ID of the created overlay if it exists, or a null ID otherwise.
+ * @property {Overlays.OverlayProperties|QUuid} [end] When using {@link Pointers.createPointer}, an optionally defined overlay to represent the end of the Ray Pointer,
+ * using the properties you would normally pass to {@link Overlays.addOverlay}, plus the type (as a <code>type</code> field).
+ * When returned from {@link Pointers.getPointerProperties}, the ID of the created overlay if it exists, or a null ID otherwise.
  */
 /**jsdoc
  * A set of properties that can be passed to {@link Pointers.createPointer} to create a new Pointer. Contains the relevant {@link Picks.PickProperties} to define the underlying Pick.
@@ -99,8 +102,12 @@ unsigned int PointerScriptingInterface::createStylus(const QVariant& properties)
  * @property {number} [followNormalStrength=0.0] The strength of the interpolation between the real normal and the visual normal if followNormal is true. <code>0-1</code>.  If 0 or 1,
  * the normal will follow exactly.
  * @property {boolean} [enabled=false]
- * @property {Pointers.RayPointerRenderState[]} [renderStates] A list of different visual states to switch between.
- * @property {Pointers.DefaultRayPointerRenderState[]} [defaultRenderStates] A list of different visual states to use if there is no intersection.
+ * @property {Pointers.RayPointerRenderState[]|Object.<string, Pointers.RayPointerRenderState>} [renderStates] A collection of different visual states to switch between.
+ * When using {@link Pointers.createPointer}, a list of RayPointerRenderStates.
+ * When returned from {@link Pointers.getPointerProperties}, a map between render state names and RayPointRenderStates.
+ * @property {Pointers.DefaultRayPointerRenderState[]|Object.<string, Pointers.DefaultRayPointerRenderState>} [defaultRenderStates] A collection of different visual states to use if there is no intersection.
+ * When using {@link Pointers.createPointer}, a list of DefaultRayPointerRenderStates.
+ * When returned from {@link Pointers.getPointerProperties}, a map between render state names and DefaultRayPointRenderStates.
  * @property {boolean} [hover=false] If this Pointer should generate hover events.
  * @property {Pointers.Trigger[]} [triggers] A list of different triggers mechanisms that control this Pointer's click event generation.
  */
@@ -224,12 +231,15 @@ unsigned int PointerScriptingInterface::createLaserPointer(const QVariant& prope
 * A set of properties used to define the visual aspect of a Parabola Pointer in the case that the Pointer is intersecting something.
 *
 * @typedef {object} Pointers.ParabolaPointerRenderState
-* @property {string} name The name of this render state, used by {@link Pointers.setRenderState} and {@link Pointers.editRenderState}
-* @property {Overlays.OverlayProperties} [start] All of the properties you would normally pass to {@link Overlays.addOverlay}, plus the type (as a <code>type</code> field).
-* An overlay to represent the beginning of the Parabola Pointer, if desired.
-* @property {Pointers.ParabolaProperties} [path] The rendering properties of the parabolic path defined by the Parabola Pointer.
-* @property {Overlays.OverlayProperties} [end] All of the properties you would normally pass to {@link Overlays.addOverlay}, plus the type (as a <code>type</code> field).
-* An overlay to represent the end of the Parabola Pointer, if desired.
+* @property {string} name When using {@link Pointers.createPointer}, the name of this render state, used by {@link Pointers.setRenderState} and {@link Pointers.editRenderState}
+* @property {Overlays.OverlayProperties|QUuid} [start] When using {@link Pointers.createPointer}, an optionally defined overlay to represent the beginning of the Parabola Pointer,
+* using the properties you would normally pass to {@link Overlays.addOverlay}, plus the type (as a <code>type</code> field).
+* When returned from {@link Pointers.getPointerProperties}, the ID of the created overlay if it exists, or a null ID otherwise.
+* @property {Pointers.ParabolaProperties} [path]  When using {@link Pointers.createPointer}, the optionally defined rendering properties of the parabolic path defined by the Parabola Pointer.
+* Not defined in {@link Pointers.getPointerProperties}.
+* @property {Overlays.OverlayProperties|QUuid} [end] When using {@link Pointers.createPointer}, an optionally defined overlay to represent the end of the Parabola Pointer,
+* using the properties you would normally pass to {@link Overlays.addOverlay}, plus the type (as a <code>type</code> field).
+* When returned from {@link Pointers.getPointerProperties}, the ID of the created overlay if it exists, or a null ID otherwise.
 */
 /**jsdoc
 * A set of properties that can be passed to {@link Pointers.createPointer} to create a new Pointer. Contains the relevant {@link Picks.PickProperties} to define the underlying Pick.
@@ -243,8 +253,12 @@ unsigned int PointerScriptingInterface::createLaserPointer(const QVariant& prope
 * @property {number} [followNormalStrength=0.0] The strength of the interpolation between the real normal and the visual normal if followNormal is true. <code>0-1</code>.  If 0 or 1,
 * the normal will follow exactly.
 * @property {boolean} [enabled=false]
-* @property {Pointers.ParabolaPointerRenderState[]} [renderStates] A list of different visual states to switch between.
-* @property {Pointers.DefaultParabolaPointerRenderState[]} [defaultRenderStates] A list of different visual states to use if there is no intersection.
+* @property {Pointers.ParabolaPointerRenderState[]|Object.<string, Pointers.ParabolaPointerRenderState>} [renderStates] A collection of different visual states to switch between.
+* When using {@link Pointers.createPointer}, a list of ParabolaPointerRenderStates.
+* When returned from {@link Pointers.getPointerProperties}, a map between render state names and ParabolaPointerRenderStates.
+* @property {Pointers.DefaultParabolaPointerRenderState[]|Object.<string, Pointers.DefaultParabolaPointerRenderState>} [defaultRenderStates] A collection of different visual states to use if there is no intersection.
+* When using {@link Pointers.createPointer}, a list of DefaultParabolaPointerRenderStates.
+* When returned from {@link Pointers.getPointerProperties}, a map between render state names and DefaultParabolaPointerRenderStates.
 * @property {boolean} [hover=false] If this Pointer should generate hover events.
 * @property {Pointers.Trigger[]} [triggers] A list of different triggers mechanisms that control this Pointer's click event generation.
 */
@@ -375,4 +389,8 @@ QVariantMap PointerScriptingInterface::getPrevPickResult(unsigned int uid) const
         result = pickResult->toVariantMap();
     }
     return result;
+}
+
+QVariantMap PointerScriptingInterface::getPointerProperties(unsigned int uid) const {
+    return DependencyManager::get<PointerManager>()->getPointerProperties(uid);
 }

interface/src/raypick/PointerScriptingInterface.h

@@ -203,6 +203,14 @@ public:
      */
     Q_INVOKABLE bool isMouse(unsigned int uid) { return DependencyManager::get<PointerManager>()->isMouse(uid); }
 
+    /**jsdoc
+     * Returns information about an existing Pointer
+     * @function Pointers.getPointerState
+     * @param {number} uid The ID of the Pointer, as returned by {@link Pointers.createPointer}.
+     * @returns {Pointers.LaserPointerProperties|Pointers.StylusPointerProperties|Pointers.ParabolaPointerProperties} The information about the Pointer.
+     * Currently only includes renderStates and defaultRenderStates with associated overlay IDs.
+     */
+    Q_INVOKABLE QVariantMap getPointerProperties(unsigned int uid) const;
 };
 
 #endif // hifi_PointerScriptingInterface_h

interface/src/raypick/RayPick.cpp

@@ -53,6 +53,18 @@ PickResultPointer RayPick::getHUDIntersection(const PickRay& pick) {
     return std::make_shared<RayPickResult>(IntersectionType::HUD, QUuid(), glm::distance(pick.origin, hudRes), hudRes, pick);
 }
 
+Transform RayPick::getResultTransform() const {
+    PickResultPointer result = getPrevPickResult();
+    if (!result) {
+        return Transform();
+    }
+
+    auto rayResult = std::static_pointer_cast<RayPickResult>(result);
+    Transform transform;
+    transform.setTranslation(rayResult->intersection);
+    return transform;
+}
+
 glm::vec3 RayPick::intersectRayWithXYPlane(const glm::vec3& origin, const glm::vec3& direction, const glm::vec3& point, const glm::quat& rotation, const glm::vec3& registration) {
     // TODO: take into account registration
     glm::vec3 n = rotation * Vectors::FRONT;

interface/src/raypick/RayPick.h

@@ -77,6 +77,7 @@ public:
     PickResultPointer getOverlayIntersection(const PickRay& pick) override;
     PickResultPointer getAvatarIntersection(const PickRay& pick) override;
     PickResultPointer getHUDIntersection(const PickRay& pick) override;
+    Transform getResultTransform() const override;
 
     // These are helper functions for projecting and intersecting rays
     static glm::vec3 intersectRayWithEntityXYPlane(const QUuid& entityID, const glm::vec3& origin, const glm::vec3& direction);

interface/src/raypick/StylusPick.cpp

@@ -225,4 +225,16 @@ PickResultPointer StylusPick::getAvatarIntersection(const StylusTip& pick) {
 
 PickResultPointer StylusPick::getHUDIntersection(const StylusTip& pick) {
     return std::make_shared<StylusPickResult>(pick.toVariantMap());
+}
+
+Transform StylusPick::getResultTransform() const {
+    PickResultPointer result = getPrevPickResult();
+    if (!result) {
+        return Transform();
+    }
+
+    auto stylusResult = std::static_pointer_cast<StylusPickResult>(result);
+    Transform transform;
+    transform.setTranslation(stylusResult->intersection);
+    return transform;
 }

interface/src/raypick/StylusPick.h

@@ -66,6 +66,7 @@ public:
     PickResultPointer getOverlayIntersection(const StylusTip& pick) override;
     PickResultPointer getAvatarIntersection(const StylusTip& pick) override;
     PickResultPointer getHUDIntersection(const StylusTip& pick) override;
+    Transform getResultTransform() const override;
 
     bool isLeftHand() const override { return _side == Side::Left; }
     bool isRightHand() const override { return _side == Side::Right; }

interface/src/raypick/StylusPointer.cpp

@@ -207,6 +207,10 @@ void StylusPointer::setRenderState(const std::string& state) {
     }
 }
 
+QVariantMap StylusPointer::toVariantMap() const {
+    return QVariantMap();
+}
+
 glm::vec3 StylusPointer::findIntersection(const PickedObject& pickedObject, const glm::vec3& origin, const glm::vec3& direction) {
     switch (pickedObject.type) {
         case ENTITY:

interface/src/raypick/StylusPointer.h

@@ -33,6 +33,8 @@ public:
     void setRenderState(const std::string& state) override;
     void editRenderState(const std::string& state, const QVariant& startProps, const QVariant& pathProps, const QVariant& endProps) override {}
 
+    QVariantMap toVariantMap() const override;
+
     static OverlayID buildStylusOverlay(const QVariantMap& properties);
 
 protected:

libraries/physics/src/PhysicsEngine.cpp

@@ -898,11 +898,12 @@ void PhysicsEngine::setShowBulletConstraintLimits(bool value) {
 }
 
 struct AllContactsCallback : public btCollisionWorld::ContactResultCallback {
-    AllContactsCallback(int32_t mask, int32_t group, const ShapeInfo& shapeInfo, const Transform& transform, btCollisionObject* myAvatarCollisionObject) :
+    AllContactsCallback(int32_t mask, int32_t group, const ShapeInfo& shapeInfo, const Transform& transform, btCollisionObject* myAvatarCollisionObject, float threshold) :
         btCollisionWorld::ContactResultCallback(),
         collisionObject(),
         contacts(),
-        myAvatarCollisionObject(myAvatarCollisionObject) {
+        myAvatarCollisionObject(myAvatarCollisionObject),
+        threshold(threshold) {
         const btCollisionShape* collisionShape = ObjectMotionState::getShapeManager()->getShape(shapeInfo);
 
         collisionObject.setCollisionShape(const_cast<btCollisionShape*>(collisionShape));
@@ -924,8 +925,13 @@ struct AllContactsCallback : public btCollisionWorld::ContactResultCallback {
     btCollisionObject collisionObject;
     std::vector<ContactTestResult> contacts;
     btCollisionObject* myAvatarCollisionObject;
+    btScalar threshold;
 
     btScalar addSingleResult(btManifoldPoint& cp, const btCollisionObjectWrapper* colObj0, int partId0, int index0, const btCollisionObjectWrapper* colObj1, int partId1, int index1) override {
+        if (cp.m_distance1 > -threshold) {
+            return 0;
+        }
+
         const btCollisionObject* otherBody;
         btVector3 penetrationPoint;
         btVector3 otherPenetrationPoint;
@@ -968,14 +974,14 @@ protected:
     }
 };
 
-std::vector<ContactTestResult> PhysicsEngine::contactTest(uint16_t mask, const ShapeInfo& regionShapeInfo, const Transform& regionTransform, uint16_t group) const {
+std::vector<ContactTestResult> PhysicsEngine::contactTest(uint16_t mask, const ShapeInfo& regionShapeInfo, const Transform& regionTransform, uint16_t group, float threshold) const {
     // TODO: Give MyAvatar a motion state so we don't have to do this
     btCollisionObject* myAvatarCollisionObject = nullptr;
     if ((mask & USER_COLLISION_GROUP_MY_AVATAR) && _myAvatarController) {
         myAvatarCollisionObject = _myAvatarController->getCollisionObject();
     }
 
-    auto contactCallback = AllContactsCallback((int32_t)mask, (int32_t)group, regionShapeInfo, regionTransform, myAvatarCollisionObject);
+    auto contactCallback = AllContactsCallback((int32_t)mask, (int32_t)group, regionShapeInfo, regionTransform, myAvatarCollisionObject, threshold);
     _dynamicsWorld->contactTest(&contactCallback.collisionObject, contactCallback);
 
     return contactCallback.contacts;

libraries/physics/src/PhysicsEngine.h

@@ -142,7 +142,7 @@ public:
 
     // Function for getting colliding objects in the world of specified type
     // See PhysicsCollisionGroups.h for mask flags.
-    std::vector<ContactTestResult> contactTest(uint16_t mask, const ShapeInfo& regionShapeInfo, const Transform& regionTransform, uint16_t group = USER_COLLISION_GROUP_DYNAMIC) const;
+    std::vector<ContactTestResult> contactTest(uint16_t mask, const ShapeInfo& regionShapeInfo, const Transform& regionTransform, uint16_t group = USER_COLLISION_GROUP_DYNAMIC, float threshold = 0.0f) const;
 
 private:
     QList<EntityDynamicPointer> removeDynamicsForBody(btRigidBody* body);

libraries/pointers/src/Pick.h

@@ -17,6 +17,7 @@
 #include <QVariant>
 
 #include <shared/ReadWriteLockable.h>
+#include <TransformNode.h>
 
 enum IntersectionType {
     NONE = 0,
@@ -213,6 +214,10 @@ public:
     virtual bool isRightHand() const { return false; }
     virtual bool isMouse() const { return false; }
 
+    virtual Transform getResultTransform() const = 0;
+
+    std::shared_ptr<TransformNode> parentTransform;
+
 private:
     PickFilter _filter;
     const float _maxDistance;

libraries/pointers/src/PickCacheOptimizer.h

@@ -57,8 +57,8 @@ bool PickCacheOptimizer<T>::checkAndCompareCachedResults(T& pick, PickCache& cac
 }
 
 template<typename T>
-void PickCacheOptimizer<T>::cacheResult(const bool intersects, const PickResultPointer& resTemp, const PickCacheKey& key, PickResultPointer& res, T& mathPick, PickCache& cache, const std::shared_ptr<Pick<T>> pick) {
-    if (intersects) {
+void PickCacheOptimizer<T>::cacheResult(const bool needToCompareResults, const PickResultPointer& resTemp, const PickCacheKey& key, PickResultPointer& res, T& mathPick, PickCache& cache, const std::shared_ptr<Pick<T>> pick) {
+    if (needToCompareResults) {
         cache[mathPick][key] = resTemp;
         res = res->compareAndProcessNewResult(resTemp);
     } else {

libraries/pointers/src/PickManager.cpp

@@ -90,6 +90,14 @@ void PickManager::setIncludeItems(unsigned int uid, const QVector<QUuid>& includ
     }
 }
 
+Transform PickManager::getResultTransform(unsigned int uid) const {
+    auto pick = findPick(uid);
+    if (pick) {
+        return pick->getResultTransform();
+    }
+    return Transform();
+}
+
 void PickManager::update() {
     uint64_t expiry = usecTimestampNow() + _perFrameTimeBudget;
     std::unordered_map<PickQuery::PickType, std::unordered_map<unsigned int, std::shared_ptr<PickQuery>>> cachedPicks;

libraries/pointers/src/PickManager.h

@@ -43,6 +43,8 @@ public:
     void setIgnoreItems(unsigned int uid, const QVector<QUuid>& ignore) const;
     void setIncludeItems(unsigned int uid, const QVector<QUuid>& include) const;
 
+    Transform getResultTransform(unsigned int uid) const;
+
     bool isLeftHand(unsigned int uid);
     bool isRightHand(unsigned int uid);
     bool isMouse(unsigned int uid);

libraries/pointers/src/PickTransformNode.cpp

@@ -0,0 +1,26 @@
+//
+//  Created by Sabrina Shanman 8/22/2018
+//  Copyright 2018 High Fidelity, Inc.
+//
+//  Distributed under the Apache License, Version 2.0.
+//  See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
+//
+
+#include "PickTransformNode.h"
+
+#include "DependencyManager.h"
+#include "PickManager.h"
+
+PickTransformNode::PickTransformNode(unsigned int uid) :
+    _uid(uid)
+{
+}
+
+Transform PickTransformNode::getTransform() {
+    auto pickManager = DependencyManager::get<PickManager>();
+    if (!pickManager) {
+        return Transform();
+    }
+
+    return pickManager->getResultTransform(_uid);
+}

libraries/pointers/src/PickTransformNode.h

@@ -0,0 +1,23 @@
+//
+//  Created by Sabrina Shanman 8/22/2018
+//  Copyright 2018 High Fidelity, Inc.
+//
+//  Distributed under the Apache License, Version 2.0.
+//  See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
+//
+#ifndef hifi_PickTransformNode_h
+#define hifi_PickTransformNode_h
+
+#include "TransformNode.h"
+
+// TODO: Remove this class when Picks are converted to SpatiallyNestables
+class PickTransformNode : public TransformNode {
+public:
+    PickTransformNode(unsigned int uid);
+    Transform getTransform() override;
+
+protected:
+    unsigned int _uid;
+};
+
+#endif // hifi_PickTransformNode_h

libraries/pointers/src/Pointer.h

@@ -50,6 +50,8 @@ public:
     virtual void setRenderState(const std::string& state) = 0;
     virtual void editRenderState(const std::string& state, const QVariant& startProps, const QVariant& pathProps, const QVariant& endProps) = 0;
     
+    virtual QVariantMap toVariantMap() const = 0;
+
     virtual void setPrecisionPicking(bool precisionPicking);
     virtual void setIgnoreItems(const QVector<QUuid>& ignoreItems) const;
     virtual void setIncludeItems(const QVector<QUuid>& includeItems) const;

libraries/pointers/src/PointerManager.cpp

@@ -77,6 +77,15 @@ PickResultPointer PointerManager::getPrevPickResult(unsigned int uid) const {
     return result;
 }
 
+QVariantMap PointerManager::getPointerProperties(unsigned int uid) const {
+    auto pointer = find(uid);
+    if (pointer) {
+        return pointer->toVariantMap();
+    } else {
+        return QVariantMap();
+    }
+}
+
 void PointerManager::update() {
     auto cachedPointers = resultWithReadLock<std::unordered_map<unsigned int, std::shared_ptr<Pointer>>>([&] {
         return _pointers;

libraries/pointers/src/PointerManager.h

@@ -30,6 +30,7 @@ public:
     void setRenderState(unsigned int uid, const std::string& renderState) const;
     void editRenderState(unsigned int uid, const std::string& state, const QVariant& startProps, const QVariant& pathProps, const QVariant& endProps) const;
     PickResultPointer getPrevPickResult(unsigned int uid) const;
+    QVariantMap getPointerProperties(unsigned int uid) const;
 
     void setPrecisionPicking(unsigned int uid, bool precisionPicking) const;
     void setIgnoreItems(unsigned int uid, const QVector<QUuid>& ignoreEntities) const;

libraries/shared/src/NestableTransformNode.cpp

@@ -0,0 +1,31 @@
+//
+//  Created by Sabrina Shanman 8/14/2018
+//  Copyright 2018 High Fidelity, Inc.
+//
+//  Distributed under the Apache License, Version 2.0.
+//  See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
+//
+
+#include "NestableTransformNode.h"
+
+NestableTransformNode::NestableTransformNode(SpatiallyNestableWeakPointer spatiallyNestable, int jointIndex) :
+    _spatiallyNestable(spatiallyNestable),
+    _jointIndex(jointIndex)
+{
+}
+
+Transform NestableTransformNode::getTransform() {
+    auto nestable = _spatiallyNestable.lock();
+    if (!nestable) {
+        return Transform();
+    }
+
+    bool success;
+    Transform jointWorldTransform = nestable->getTransform(_jointIndex, success);
+
+    if (success) {
+        return jointWorldTransform;
+    } else {
+        return Transform();
+    }
+}

libraries/shared/src/NestableTransformNode.h

@@ -0,0 +1,25 @@
+//
+//  Created by Sabrina Shanman 8/14/2018
+//  Copyright 2018 High Fidelity, Inc.
+//
+//  Distributed under the Apache License, Version 2.0.
+//  See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
+//
+#ifndef hifi_NestableTransformNode_h
+#define hifi_NestableTransformNode_h
+
+#include "TransformNode.h"
+
+#include "SpatiallyNestable.h"
+
+class NestableTransformNode : public TransformNode {
+public:
+    NestableTransformNode(SpatiallyNestableWeakPointer spatiallyNestable, int jointIndex);
+    Transform getTransform() override;
+
+protected:
+    SpatiallyNestableWeakPointer _spatiallyNestable;
+    int _jointIndex;
+};
+
+#endif // hifi_NestableTransformNode_h

libraries/shared/src/RegisteredMetaTypes.h

@@ -253,18 +253,36 @@ public:
     }
 };
 
-/**jsdoc
-* A CollisionPick defines a volume for checking collisions in the physics simulation.
+// TODO: Add "loaded" to CollisionRegion jsdoc once model collision picks are supported.
 
-* @typedef {object} CollisionPick
+/**jsdoc
+* A CollisionRegion defines a volume for checking collisions in the physics simulation.
+
+* @typedef {object} CollisionRegion
 * @property {Shape} shape - The information about the collision region's size and shape.
-* @property {Vec3} position - The position of the collision region.
-* @property {Quat} orientation - The orientation of the collision region.
+* @property {Vec3} position - The position of the collision region, relative to a parent if defined.
+* @property {Quat} orientation - The orientation of the collision region, relative to a parent if defined.
+* @property {float} threshold - The approximate minimum penetration depth for a test object to be considered in contact with the collision region.
+* @property {Uuid} parentID - The ID of the parent, either an avatar, an entity, or an overlay.
+* @property {number} parentJointIndex - The joint of the parent to parent to, for example, the joints on the model of an avatar. (default = 0, no joint)
+* @property {string} joint - If "Mouse," parents the pick to the mouse. If "Avatar," parents the pick to MyAvatar's head. Otherwise, parents to the joint of the given name on MyAvatar.
 */
 class CollisionRegion : public MathPick {
 public:
     CollisionRegion() { }
+
+    CollisionRegion(const CollisionRegion& collisionRegion) :
+        loaded(collisionRegion.loaded),
+        modelURL(collisionRegion.modelURL),
+        shapeInfo(std::make_shared<ShapeInfo>()),
+        transform(collisionRegion.transform),
+        threshold(collisionRegion.threshold)
+    {
+        shapeInfo->setParams(collisionRegion.shapeInfo->getType(), collisionRegion.shapeInfo->getHalfExtents(), collisionRegion.modelURL.toString());
+    }
+
     CollisionRegion(const QVariantMap& pickVariant) {
+        // "loaded" is not deserialized here because there is no way to know if the shape is actually loaded
         if (pickVariant["shape"].isValid()) {
             auto shape = pickVariant["shape"].toMap();
             if (!shape.empty()) {
@@ -287,6 +305,10 @@ public:
             }
         }
 
+        if (pickVariant["threshold"].isValid()) {
+            threshold = glm::max(0.0f, pickVariant["threshold"].toFloat());
+        }
+
         if (pickVariant["position"].isValid()) {
             transform.setTranslation(vec3FromVariant(pickVariant["position"]));
         }
@@ -304,6 +326,9 @@ public:
         shape["dimensions"] = vec3toVariant(transform.getScale());
 
         collisionRegion["shape"] = shape;
+        collisionRegion["loaded"] = loaded;
+
+        collisionRegion["threshold"] = threshold;
 
         collisionRegion["position"] = vec3toVariant(transform.getTranslation());
         collisionRegion["orientation"] = quatToVariant(transform.getRotation());
@@ -312,13 +337,16 @@ public:
     }
 
     operator bool() const override {
-        return !(glm::any(glm::isnan(transform.getTranslation())) ||
+        return !std::isnan(threshold) &&
+            !(glm::any(glm::isnan(transform.getTranslation())) ||
             glm::any(glm::isnan(transform.getRotation())) ||
             shapeInfo->getType() == SHAPE_TYPE_NONE);
     }
 
     bool operator==(const CollisionRegion& other) const {
-        return glm::all(glm::equal(transform.getTranslation(), other.transform.getTranslation())) &&
+        return loaded == other.loaded &&
+            threshold == other.threshold &&
+            glm::all(glm::equal(transform.getTranslation(), other.transform.getTranslation())) &&
             glm::all(glm::equal(transform.getRotation(), other.transform.getRotation())) &&
             glm::all(glm::equal(transform.getScale(), other.transform.getScale())) &&
             shapeInfo->getType() == other.shapeInfo->getType() &&
@@ -337,11 +365,13 @@ public:
     }
 
     // We can't load the model here because it would create a circular dependency, so we delegate that responsibility to the owning CollisionPick
+    bool loaded { false };
     QUrl modelURL;
 
     // We can't compute the shapeInfo here without loading the model first, so we delegate that responsibility to the owning CollisionPick
     std::shared_ptr<ShapeInfo> shapeInfo = std::make_shared<ShapeInfo>();
     Transform transform;
+    float threshold;
 };
 
 namespace std {

libraries/shared/src/TransformNode.h

@@ -0,0 +1,18 @@
+//
+//  Created by Sabrina Shanman 8/14/2018
+//  Copyright 2018 High Fidelity, Inc.
+//
+//  Distributed under the Apache License, Version 2.0.
+//  See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
+//
+#ifndef hifi_TransformNode_h
+#define hifi_TransformNode_h
+
+#include "Transform.h"
+
+class TransformNode {
+public:
+    virtual Transform getTransform() = 0;
+};
+
+#endif // hifi_TransformNode_h