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add dynamic mode for scripted avatar motor

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This commit is contained in:
David Back 2018-02-22 17:20:36 -08:00
parent 10f99602bb
commit 902672f85e
3 changed files with 75 additions and 24 deletions
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92
interface/src/avatar/MyAvatar.cpp
View file

@ -79,6 +79,8 @@ float DEFAULT_SCRIPTED_MOTOR_TIMESCALE = 1.0e6f;
const int SCRIPTED_MOTOR_CAMERA_FRAME = 0;
const int SCRIPTED_MOTOR_AVATAR_FRAME = 1;
const int SCRIPTED_MOTOR_WORLD_FRAME = 2;
const int SCRIPTED_MOTOR_SIMPLE_MODE = 0;
const int SCRIPTED_MOTOR_DYNAMIC_MODE = 1;
const QString& DEFAULT_AVATAR_COLLISION_SOUND_URL = "https://hifi-public.s3.amazonaws.com/sounds/Collisions-otherorganic/Body_Hits_Impact.wav";
const float MyAvatar::ZOOM_MIN = 0.5f;
@ -92,6 +94,7 @@ MyAvatar::MyAvatar(QThread* thread) :
_pitchSpeed(PITCH_SPEED_DEFAULT),
_scriptedMotorTimescale(DEFAULT_SCRIPTED_MOTOR_TIMESCALE),
_scriptedMotorFrame(SCRIPTED_MOTOR_CAMERA_FRAME),
_scriptedMotorMode(SCRIPTED_MOTOR_SIMPLE_MODE),
_motionBehaviors(AVATAR_MOTION_DEFAULTS),
_characterController(this),
_eyeContactTarget(LEFT_EYE),
@ -1623,32 +1626,38 @@ controller::Pose MyAvatar::getControllerPoseInAvatarFrame(controller::Action act
void MyAvatar::updateMotors() {
_characterController.clearMotors();
glm::quat motorRotation;
glm::quat avatarOrientation = getWorldOrientation();
const float FLYING_MOTOR_TIMESCALE = 0.05f;
const float WALKING_MOTOR_TIMESCALE = 0.2f;
const float INVALID_MOTOR_TIMESCALE = 1.0e6f;
float horizontalMotorTimescale;
float verticalMotorTimescale;
if (_characterController.getState() == CharacterController::State::Hover ||
_characterController.computeCollisionGroup() == BULLET_COLLISION_GROUP_COLLISIONLESS) {
horizontalMotorTimescale = FLYING_MOTOR_TIMESCALE;
verticalMotorTimescale = FLYING_MOTOR_TIMESCALE;
}
else {
horizontalMotorTimescale = WALKING_MOTOR_TIMESCALE;
verticalMotorTimescale = INVALID_MOTOR_TIMESCALE;
}
if (_motionBehaviors & AVATAR_MOTION_ACTION_MOTOR_ENABLED) {
const float FLYING_MOTOR_TIMESCALE = 0.05f;
const float WALKING_MOTOR_TIMESCALE = 0.2f;
const float INVALID_MOTOR_TIMESCALE = 1.0e6f;
float horizontalMotorTimescale;
float verticalMotorTimescale;
if (_characterController.getState() == CharacterController::State::Hover ||
_characterController.computeCollisionGroup() == BULLET_COLLISION_GROUP_COLLISIONLESS) {
motorRotation = getMyHead()->getHeadOrientation();
horizontalMotorTimescale = FLYING_MOTOR_TIMESCALE;
verticalMotorTimescale = FLYING_MOTOR_TIMESCALE;
} else {
// non-hovering = walking: follow camera twist about vertical but not lift
// we decompose camera's rotation and store the twist part in motorRotation
// however, we need to perform the decomposition in the avatar-frame
// using the local UP axis and then transform back into world-frame
glm::quat orientation = getWorldOrientation();
glm::quat headOrientation = glm::inverse(orientation) * getMyHead()->getHeadOrientation(); // avatar-frame
glm::quat headOrientation = glm::inverse(avatarOrientation) * getMyHead()->getHeadOrientation(); // avatar-frame
glm::quat liftRotation;
swingTwistDecomposition(headOrientation, Vectors::UNIT_Y, liftRotation, motorRotation);
motorRotation = orientation * motorRotation;
horizontalMotorTimescale = WALKING_MOTOR_TIMESCALE;
verticalMotorTimescale = INVALID_MOTOR_TIMESCALE;
motorRotation = avatarOrientation * motorRotation;
}
if (_isPushing || _isBraking || !_isBeingPushed) {
@ -1660,15 +1669,36 @@ void MyAvatar::updateMotors() {
}
}
if (_motionBehaviors & AVATAR_MOTION_SCRIPTED_MOTOR_ENABLED) {
if (_scriptedMotorFrame == SCRIPTED_MOTOR_CAMERA_FRAME) {
motorRotation = getMyHead()->getHeadOrientation() * glm::angleAxis(PI, Vectors::UNIT_Y);
} else if (_scriptedMotorFrame == SCRIPTED_MOTOR_AVATAR_FRAME) {
motorRotation = getWorldOrientation() * glm::angleAxis(PI, Vectors::UNIT_Y);
} else {
// world-frame
motorRotation = glm::quat();
if (_scriptedMotorMode == SCRIPTED_MOTOR_SIMPLE_MODE) {
if (_scriptedMotorFrame == SCRIPTED_MOTOR_CAMERA_FRAME) {
motorRotation = getMyHead()->getHeadOrientation() * glm::angleAxis(PI, Vectors::UNIT_Y);
}
else if (_scriptedMotorFrame == SCRIPTED_MOTOR_AVATAR_FRAME) {
motorRotation = avatarOrientation * glm::angleAxis(PI, Vectors::UNIT_Y);
}
else {
// world-frame
motorRotation = glm::quat();
}
_characterController.addMotor(_scriptedMotorVelocity, motorRotation, _scriptedMotorTimescale);
} else {
// dynamic mode
glm::vec3 avatarFrameVelocity;
if (_scriptedMotorFrame == SCRIPTED_MOTOR_CAMERA_FRAME) {
// convert camera frame velocity to avatar frame
glm::quat cameraOrientation = qApp->getCamera().getOrientation();
avatarFrameVelocity = glm::inverse(avatarOrientation) * cameraOrientation * _scriptedMotorVelocity;
} else if (_scriptedMotorFrame == SCRIPTED_MOTOR_WORLD_FRAME) {
// convert world frame velocity to avatar frame
avatarFrameVelocity = glm::inverse(avatarOrientation) * _scriptedMotorVelocity;
} else {
// avatar frame
avatarFrameVelocity = _scriptedMotorVelocity;
}
// dynamic mode for scripted motor uses avatar frame and piggybacks off of the default action motor's timescales
motorRotation = avatarOrientation * glm::angleAxis(PI, Vectors::UNIT_Y);
_characterController.addMotor(avatarFrameVelocity, motorRotation, horizontalMotorTimescale, verticalMotorTimescale);
}
_characterController.addMotor(_scriptedMotorVelocity, motorRotation, _scriptedMotorTimescale);
}
// legacy support for 'MyAvatar::applyThrust()', which has always been implemented as a
@ -1752,6 +1782,14 @@ QString MyAvatar::getScriptedMotorFrame() const {
return frame;
}
QString MyAvatar::getScriptedMotorMode() const {
QString mode = "simple";
if (_scriptedMotorMode == SCRIPTED_MOTOR_DYNAMIC_MODE) {
mode = "dynamic";
}
return mode;
}
void MyAvatar::setScriptedMotorVelocity(const glm::vec3& velocity) {
float MAX_SCRIPTED_MOTOR_SPEED = 500.0f;
_scriptedMotorVelocity = velocity;
@ -1778,6 +1816,14 @@ void MyAvatar::setScriptedMotorFrame(QString frame) {
}
}
void MyAvatar::setScriptedMotorMode(QString frame) {
if (frame.toLower() == "simple") {
_scriptedMotorMode = SCRIPTED_MOTOR_SIMPLE_MODE;
} else if (frame.toLower() == "dynamic") {
_scriptedMotorMode = SCRIPTED_MOTOR_DYNAMIC_MODE;
}
}
void MyAvatar::clearScriptableSettings() {
_scriptedMotorVelocity = Vectors::ZERO;
_scriptedMotorTimescale = DEFAULT_SCRIPTED_MOTOR_TIMESCALE;

5
interface/src/avatar/MyAvatar.h
View file

@ -69,6 +69,7 @@ class MyAvatar : public Avatar {
* @property motorTimescale {float} Specifies how quickly the avatar should accelerate to meet the motorVelocity,
* smaller values will result in higher acceleration.
* @property motorReferenceFrame {string} Reference frame of the motorVelocity, must be one of the following: "avatar", "camera", "world"
* @property motorMode {string} Type of scripted motor behavior, "simple" = unmodified legacy behavior and "dynamic" = same as default motor
* @property collisionSoundURL {string} Specifies the sound to play when the avatar experiences a collision.
* You can provide a mono or stereo 16-bit WAV file running at either 24 Khz or 48 Khz.
* The latter is downsampled by the audio mixer, so all audio effectively plays back at a 24 Khz sample rate.
@ -124,6 +125,7 @@ class MyAvatar : public Avatar {
Q_PROPERTY(glm::vec3 motorVelocity READ getScriptedMotorVelocity WRITE setScriptedMotorVelocity)
Q_PROPERTY(float motorTimescale READ getScriptedMotorTimescale WRITE setScriptedMotorTimescale)
Q_PROPERTY(QString motorReferenceFrame READ getScriptedMotorFrame WRITE setScriptedMotorFrame)
Q_PROPERTY(QString motorMode READ getScriptedMotorMode WRITE setScriptedMotorMode)
Q_PROPERTY(QString collisionSoundURL READ getCollisionSoundURL WRITE setCollisionSoundURL)
Q_PROPERTY(AudioListenerMode audioListenerMode READ getAudioListenerMode WRITE setAudioListenerMode)
Q_PROPERTY(glm::vec3 customListenPosition READ getCustomListenPosition WRITE setCustomListenPosition)
@ -662,9 +664,11 @@ private:
glm::vec3 getScriptedMotorVelocity() const { return _scriptedMotorVelocity; }
float getScriptedMotorTimescale() const { return _scriptedMotorTimescale; }
QString getScriptedMotorFrame() const;
QString getScriptedMotorMode() const;
void setScriptedMotorVelocity(const glm::vec3& velocity);
void setScriptedMotorTimescale(float timescale);
void setScriptedMotorFrame(QString frame);
void setScriptedMotorMode(QString frame);
virtual void attach(const QString& modelURL, const QString& jointName = QString(),
const glm::vec3& translation = glm::vec3(), const glm::quat& rotation = glm::quat(),
float scale = 1.0f, bool isSoft = false,
@ -706,6 +710,7 @@ private:
glm::vec3 _scriptedMotorVelocity; // target local-frame velocity of avatar (analog script)
float _scriptedMotorTimescale; // timescale for avatar to achieve its target velocity
int _scriptedMotorFrame;
int _scriptedMotorMode;
quint32 _motionBehaviors;
QString _collisionSoundURL;

2
libraries/gl/src/gl/Context.cpp
View file

@ -147,7 +147,7 @@ static void debugMessageCallback(GLenum source, GLenum type, GLuint id, GLenum s
}
// FIXME For high severity errors, force a sync to the log, since we might crash
// before the log file was flushed otherwise. Performance hit here
qCDebug(glLogging) << "OpenGL: " << message;
//qCDebug(glLogging) << "OpenGL: " << message;
}
static void setupPixelFormatSimple(HDC hdc) {