Merge branch 'master' of https://github.com/highfidelity/hifi

interface/src/avatar/Avatar.cpp

@@ -162,6 +162,7 @@ void Avatar::render(bool forceRenderHead) {
         // render body
         if (Menu::getInstance()->isOptionChecked(MenuOption::CollisionProxies)) {
             _skeletonModel.renderCollisionProxies(1.f);
+            //_head.getFaceModel().renderCollisionProxies(0.5f);
         }
 
         if (Menu::getInstance()->isOptionChecked(MenuOption::Avatars)) {
@@ -276,11 +277,14 @@ bool Avatar::findSphereCollisions(const glm::vec3& penetratorCenter, float penet
     bool didPenetrate = false;
     glm::vec3 skeletonPenetration;
     ModelCollisionInfo collisionInfo;
+    /* Temporarily disabling collisions against the skeleton because the collision proxies up
+     * near the neck are bad and prevent the hand from hitting the face.
     if (_skeletonModel.findSphereCollision(penetratorCenter, penetratorRadius, collisionInfo, 1.0f, skeletonSkipIndex)) {
         collisionInfo._model = &_skeletonModel;
         collisions.push_back(collisionInfo);
         didPenetrate = true; 
     }
+    */
     if (_head.getFaceModel().findSphereCollision(penetratorCenter, penetratorRadius, collisionInfo)) {
         collisionInfo._model = &(_head.getFaceModel());
         collisions.push_back(collisionInfo);
@@ -445,20 +449,34 @@ float Avatar::getHeight() const {
     return extents.maximum.y - extents.minimum.y;
 }
 
-bool Avatar::isPokeable(ModelCollisionInfo& collision) const {
+bool Avatar::collisionWouldMoveAvatar(ModelCollisionInfo& collision) const {
     // ATM only the Skeleton is pokeable
     // TODO: make poke affect head
+    if (!collision._model) {
+        return false;
+    }
     if (collision._model == &_skeletonModel && collision._jointIndex != -1) {
-        return _skeletonModel.isPokeable(collision);
+        // collision response of skeleton is temporarily disabled
+        return false;
+        //return _skeletonModel.collisionHitsMoveableJoint(collision);
+    }
+    if (collision._model == &(_head.getFaceModel())) {
+        return true;
     }
     return false;
 }
 
-bool Avatar::poke(ModelCollisionInfo& collision) {
+void Avatar::applyCollision(ModelCollisionInfo& collision) {
-    if (collision._model == &_skeletonModel && collision._jointIndex != -1) {
+    if (!collision._model) {
-        return _skeletonModel.poke(collision);
+        return;
     }
-    return false;
+    if (collision._model == &(_head.getFaceModel())) {
+        _head.applyCollision(collision);
+    }
+    // TODO: make skeleton respond to collisions
+    //if (collision._model == &_skeletonModel && collision._jointIndex != -1) {
+    //    _skeletonModel.applyCollision(collision);
+    //}
 }
 
 float Avatar::getPelvisFloatingHeight() const {

interface/src/avatar/Avatar.h

@@ -129,11 +129,10 @@ public:
     float getHeight() const;
 
     /// \return true if we expect the avatar would move as a result of the collision
-    bool isPokeable(ModelCollisionInfo& collision) const;
+    bool collisionWouldMoveAvatar(ModelCollisionInfo& collision) const;
 
     /// \param collision a data structure for storing info about collisions against Models
-    /// \return true if the collision affects the Avatar models
+    void applyCollision(ModelCollisionInfo& collision);
-    bool poke(ModelCollisionInfo& collision);
 
 public slots:
     void updateCollisionFlags();

interface/src/avatar/Hand.cpp

@@ -57,7 +57,6 @@ void Hand::simulate(float deltaTime, bool isMine) {
     
     if (isMine) {
         _buckyBalls.simulate(deltaTime);
-        updateCollisions();
     }
     
     calculateGeometry();
@@ -126,92 +125,105 @@ void Hand::simulate(float deltaTime, bool isMine) {
     }
 }
 
-void Hand::updateCollisions() {
+void Hand::collideAgainstAvatar(Avatar* avatar, bool isMyHand) {
-    // use position to obtain the left and right palm indices
+    if (!avatar || avatar == _owningAvatar) {
-    int leftPalmIndex, rightPalmIndex;   
+        // don't collide with our own hands (that is done elsewhere)
-    getLeftRightPalmIndices(leftPalmIndex, rightPalmIndex);
+        return;
-    
+    }
-    ModelCollisionList collisions;
+    float scaledPalmRadius = PALM_COLLISION_RADIUS * _owningAvatar->getScale();
-    // check for collisions
     for (size_t i = 0; i < getNumPalms(); i++) {
         PalmData& palm = getPalms()[i];
         if (!palm.isActive()) {
             continue;
         }        
-        float scaledPalmRadius = PALM_COLLISION_RADIUS * _owningAvatar->getScale();
         glm::vec3 totalPenetration;
-        
+        ModelCollisionList collisions;
-        if (Menu::getInstance()->isOptionChecked(MenuOption::CollideWithAvatars)) {
+        if (isMyHand && Menu::getInstance()->isOptionChecked(MenuOption::PlaySlaps)) {
-            // check other avatars
+            //  Check for palm collisions
-            foreach (const AvatarSharedPointer& avatarPointer, Application::getInstance()->getAvatarManager().getAvatarHash()) {
+            glm::vec3 myPalmPosition = palm.getPosition();
-                Avatar* avatar = static_cast<Avatar*>(avatarPointer.data());
+            float palmCollisionDistance = 0.1f;
-                if (avatar == _owningAvatar) {
+            bool wasColliding = palm.getIsCollidingWithPalm();
-                    // don't collid with our own hands
+            palm.setIsCollidingWithPalm(false);
+            //  If 'Play Slaps' is enabled, look for palm-to-palm collisions and make sound
+            for (size_t j = 0; j < avatar->getHand().getNumPalms(); j++) {
+                PalmData& otherPalm = avatar->getHand().getPalms()[j];
+                if (!otherPalm.isActive()) {
                     continue;
                 }
-                if (Menu::getInstance()->isOptionChecked(MenuOption::PlaySlaps)) {
+                glm::vec3 otherPalmPosition = otherPalm.getPosition();
-                    //  Check for palm collisions
+                if (glm::length(otherPalmPosition - myPalmPosition) < palmCollisionDistance) {
-                    glm::vec3 myPalmPosition = palm.getPosition();
+                    palm.setIsCollidingWithPalm(true);
-                    float palmCollisionDistance = 0.1f;
+                    if (!wasColliding) {
-                    bool wasColliding = palm.getIsCollidingWithPalm();
+                        const float PALM_COLLIDE_VOLUME = 1.f;
-                    palm.setIsCollidingWithPalm(false);
+                        const float PALM_COLLIDE_FREQUENCY = 1000.f;
-                    //  If 'Play Slaps' is enabled, look for palm-to-palm collisions and make sound
+                        const float PALM_COLLIDE_DURATION_MAX = 0.75f;
-                    for (size_t j = 0; j < avatar->getHand().getNumPalms(); j++) {
+                        const float PALM_COLLIDE_DECAY_PER_SAMPLE = 0.01f;
-                        PalmData& otherPalm = avatar->getHand().getPalms()[j];
+                        Application::getInstance()->getAudio()->startDrumSound(PALM_COLLIDE_VOLUME,
-                        if (!otherPalm.isActive()) {
+                                                                            PALM_COLLIDE_FREQUENCY,
-                            continue;
+                                                                            PALM_COLLIDE_DURATION_MAX,
-                        }
+                                                                            PALM_COLLIDE_DECAY_PER_SAMPLE);
-                        glm::vec3 otherPalmPosition = otherPalm.getPosition();
+                        //  If the other person's palm is in motion, move mine downward to show I was hit
-                        if (glm::length(otherPalmPosition - myPalmPosition) < palmCollisionDistance) {
+                        const float MIN_VELOCITY_FOR_SLAP = 0.05f;
-                            palm.setIsCollidingWithPalm(true);
+                        if (glm::length(otherPalm.getVelocity()) > MIN_VELOCITY_FOR_SLAP) {
-                            if (!wasColliding) {
+                            // add slapback here
-                                const float PALM_COLLIDE_VOLUME = 1.f;
-                                const float PALM_COLLIDE_FREQUENCY = 1000.f;
-                                const float PALM_COLLIDE_DURATION_MAX = 0.75f;
-                                const float PALM_COLLIDE_DECAY_PER_SAMPLE = 0.01f;
-                                Application::getInstance()->getAudio()->startDrumSound(PALM_COLLIDE_VOLUME,
-                                                                                    PALM_COLLIDE_FREQUENCY,
-                                                                                    PALM_COLLIDE_DURATION_MAX,
-                                                                                    PALM_COLLIDE_DECAY_PER_SAMPLE);
-                                //  If the other person's palm is in motion, move mine downward to show I was hit
-                                const float MIN_VELOCITY_FOR_SLAP = 0.05f;
-                                if (glm::length(otherPalm.getVelocity()) > MIN_VELOCITY_FOR_SLAP) {
-                                    // add slapback here
-                                }
-                            }
-                        }
-                    }
-                }
-                if (avatar->findSphereCollisions(palm.getPosition(), scaledPalmRadius, collisions)) {
-                    for (int j = 0; j < collisions.size(); ++j) {
-                        // we don't resolve penetrations that would poke the other avatar
-                        if (!avatar->isPokeable(collisions[j])) {
-                            totalPenetration = addPenetrations(totalPenetration, collisions[j]._penetration);
                         }
                     }
                 }
             }
         }
-            
+        if (avatar->findSphereCollisions(palm.getPosition(), scaledPalmRadius, collisions)) {
-        if (Menu::getInstance()->isOptionChecked(MenuOption::HandsCollideWithSelf)) {
+            for (int j = 0; j < collisions.size(); ++j) {
-            // and the current avatar (ignoring everything below the parent of the parent of the last free joint)
+                if (isMyHand) {
-            collisions.clear();
+                    if (!avatar->collisionWouldMoveAvatar(collisions[j])) {
-            const Model& skeletonModel = _owningAvatar->getSkeletonModel();
+                        // we resolve the hand from collision when it belongs to MyAvatar AND the other Avatar is 
-            int skipIndex = skeletonModel.getParentJointIndex(skeletonModel.getParentJointIndex(
+                        // not expected to respond to the collision (hand hit unmovable part of their Avatar)
-                skeletonModel.getLastFreeJointIndex((i == leftPalmIndex) ? skeletonModel.getLeftHandJointIndex() :
+                        totalPenetration = addPenetrations(totalPenetration, collisions[j]._penetration);
-                    (i == rightPalmIndex) ? skeletonModel.getRightHandJointIndex() : -1)));
+                    }
-            if (_owningAvatar->findSphereCollisions(palm.getPosition(), scaledPalmRadius, collisions, skipIndex)) {
+                } else {
-                for (int j = 0; j < collisions.size(); ++j) {
+                    // when !isMyHand then avatar is MyAvatar and we apply the collision
-                    totalPenetration = addPenetrations(totalPenetration, collisions[j]._penetration);
+                    // which might not do anything (hand hit unmovable part of MyAvatar) however
+                    // we don't resolve the hand's penetration because we expect the remote 
+                    // simulation to do the right thing.
+                    avatar->applyCollision(collisions[j]);
                 }
             }
         }
-        
+        if (isMyHand) {
-        // un-penetrate
+            // resolve penetration
-        palm.addToPosition(-totalPenetration);
+            palm.addToPosition(-totalPenetration);
+        }
+    }
+}
 
-        // we recycle the collisions container, so we clear it for the next loop
+void Hand::collideAgainstOurself() {
+    if (!Menu::getInstance()->isOptionChecked(MenuOption::HandsCollideWithSelf)) {
+        return;
+    }
+
+    ModelCollisionList collisions;
+    int leftPalmIndex, rightPalmIndex;   
+    getLeftRightPalmIndices(leftPalmIndex, rightPalmIndex);
+    float scaledPalmRadius = PALM_COLLISION_RADIUS * _owningAvatar->getScale();
+    
+    for (size_t i = 0; i < getNumPalms(); i++) {
+        PalmData& palm = getPalms()[i];
+        if (!palm.isActive()) {
+            continue;
+        }        
+        glm::vec3 totalPenetration;
+        // and the current avatar (ignoring everything below the parent of the parent of the last free joint)
         collisions.clear();
+        const Model& skeletonModel = _owningAvatar->getSkeletonModel();
+        int skipIndex = skeletonModel.getParentJointIndex(skeletonModel.getParentJointIndex(
+            skeletonModel.getLastFreeJointIndex((i == leftPalmIndex) ? skeletonModel.getLeftHandJointIndex() :
+                (i == rightPalmIndex) ? skeletonModel.getRightHandJointIndex() : -1)));
+        if (_owningAvatar->findSphereCollisions(palm.getPosition(), scaledPalmRadius, collisions, skipIndex)) {
+            for (int j = 0; j < collisions.size(); ++j) {
+                totalPenetration = addPenetrations(totalPenetration, collisions[j]._penetration);
+            }
+        }
+        // resolve penetration
+        palm.addToPosition(-totalPenetration);
     }
 }
 

interface/src/avatar/Hand.h

@@ -58,6 +58,9 @@ public:
     const glm::vec3& getLeapFingerTipBallPosition (int ball) const { return _leapFingerTipBalls [ball].position;}
     const glm::vec3& getLeapFingerRootBallPosition(int ball) const { return _leapFingerRootBalls[ball].position;}
     
+    void collideAgainstAvatar(Avatar* avatar, bool isMyHand);
+    void collideAgainstOurself();
+
 private:
     // disallow copies of the Hand, copy of owning Avatar is disallowed too
     Hand(const Hand&);
@@ -87,7 +90,6 @@ private:
     void renderLeapHands(bool isMine);
     void renderLeapFingerTrails();
     
-    void updateCollisions();
     void calculateGeometry();
     
     void handleVoxelCollision(PalmData* palm, const glm::vec3& fingerTipPosition, VoxelTreeElement* voxel, float deltaTime);

interface/src/avatar/Head.cpp

@@ -219,6 +219,34 @@ float Head::getTweakedRoll() const {
     return glm::clamp(_roll + _tweakedRoll, MIN_HEAD_ROLL, MAX_HEAD_ROLL);
 }
 
+void Head::applyCollision(ModelCollisionInfo& collisionInfo) {
+    // HACK: the collision proxies for the FaceModel are bad.  As a temporary workaround
+    // we collide against a hard coded collision proxy.
+    // TODO: get a better collision proxy here.
+    const float HEAD_RADIUS = 0.15f;
+    const glm::vec3 HEAD_CENTER = _position;
+
+    // collide the contactPoint against the collision proxy to obtain a new penetration
+    // NOTE: that penetration is in opposite direction (points the way out for the point, not the sphere)
+    glm::vec3 penetration;
+    if (findPointSpherePenetration(collisionInfo._contactPoint, HEAD_CENTER, HEAD_RADIUS, penetration)) {
+        // compute lean angles
+        Avatar* owningAvatar = static_cast<Avatar*>(_owningAvatar);
+        glm::quat bodyRotation = owningAvatar->getOrientation();
+        glm::vec3 neckPosition;
+        if (owningAvatar->getSkeletonModel().getNeckPosition(neckPosition)) {
+            glm::vec3 xAxis = bodyRotation * glm::vec3(1.f, 0.f, 0.f);
+            glm::vec3 zAxis = bodyRotation * glm::vec3(0.f, 0.f, 1.f);
+            float neckLength = glm::length(_position - neckPosition);
+            if (neckLength > 0.f) {
+                float forward = glm::dot(collisionInfo._penetration, zAxis) / neckLength;
+                float sideways = - glm::dot(collisionInfo._penetration, xAxis) / neckLength;
+                addLean(sideways, forward);
+            }
+        }
+    } 
+}
+
 void Head::renderLookatVectors(glm::vec3 leftEyePosition, glm::vec3 rightEyePosition, glm::vec3 lookatPosition) {
 
     Application::getInstance()->getGlowEffect()->begin();

interface/src/avatar/Head.h

@@ -79,6 +79,8 @@ public:
     float getTweakedPitch() const;
     float getTweakedYaw() const;
     float getTweakedRoll() const;
+
+    void  applyCollision(ModelCollisionInfo& collisionInfo);
     
 private:
     // disallow copies of the Head, copy of owning Avatar is disallowed too

interface/src/avatar/MyAvatar.cpp

@@ -112,23 +112,7 @@ void MyAvatar::updateTransmitter(float deltaTime) {
 void MyAvatar::update(float deltaTime) {
     updateTransmitter(deltaTime);
 
-    // TODO: resurrect touch interactions between avatars
+    updateFromGyros(deltaTime);
-    //// rotate body yaw for yaw received from multitouch
-    //setOrientation(getOrientation() * glm::quat(glm::vec3(0, _yawFromTouch, 0)));
-    //_yawFromTouch = 0.f;
-    //
-    //// apply pitch from touch
-    //_head.setPitch(_head.getPitch() + _pitchFromTouch);
-    //_pitchFromTouch = 0.0f;
-    //
-    //float TOUCH_YAW_SCALE = -0.25f;
-    //float TOUCH_PITCH_SCALE = -12.5f;
-    //float FIXED_TOUCH_TIMESTEP = 0.016f;
-    //_yawFromTouch += ((_touchAvgX - _lastTouchAvgX) * TOUCH_YAW_SCALE * FIXED_TOUCH_TIMESTEP);
-    //_pitchFromTouch += ((_touchAvgY - _lastTouchAvgY) * TOUCH_PITCH_SCALE * FIXED_TOUCH_TIMESTEP);
-
-    // Update my avatar's state from gyros
-    updateFromGyros(Menu::getInstance()->isOptionChecked(MenuOption::TurnWithHead));
 
     // Update head mouse from faceshift if active
     Faceshift* faceshift = Application::getInstance()->getFaceshift();
@@ -329,6 +313,7 @@ void MyAvatar::simulate(float deltaTime) {
     _position += _velocity * deltaTime;
 
     // update avatar skeleton and simulate hand and head
+    _hand.collideAgainstOurself(); 
     _hand.simulate(deltaTime, true);
     _skeletonModel.simulate(deltaTime);
     _head.setBodyRotation(glm::vec3(_bodyPitch, _bodyYaw, _bodyRoll));
@@ -348,7 +333,7 @@ void MyAvatar::simulate(float deltaTime) {
 const float MAX_PITCH = 90.0f;
 
 //  Update avatar head rotation with sensor data
-void MyAvatar::updateFromGyros(bool turnWithHead) {
+void MyAvatar::updateFromGyros(float deltaTime) {
     Faceshift* faceshift = Application::getInstance()->getFaceshift();
     glm::vec3 estimatedPosition, estimatedRotation;
 
@@ -356,7 +341,7 @@ void MyAvatar::updateFromGyros(bool turnWithHead) {
         estimatedPosition = faceshift->getHeadTranslation();
         estimatedRotation = safeEulerAngles(faceshift->getHeadRotation());
         //  Rotate the body if the head is turned beyond the screen
-        if (turnWithHead) {
+        if (Menu::getInstance()->isOptionChecked(MenuOption::TurnWithHead)) {
             const float FACESHIFT_YAW_TURN_SENSITIVITY = 0.5f;
             const float FACESHIFT_MIN_YAW_TURN = 15.f;
             const float FACESHIFT_MAX_YAW_TURN = 50.f;
@@ -371,11 +356,12 @@ void MyAvatar::updateFromGyros(bool turnWithHead) {
         }
     } else {
         // restore rotation, lean to neutral positions
-        const float RESTORE_RATE = 0.05f;
+        const float RESTORE_PERIOD = 1.f;   // seconds
-        _head.setYaw(glm::mix(_head.getYaw(), 0.0f, RESTORE_RATE));
+        float restorePercentage = glm::clamp(deltaTime/RESTORE_PERIOD, 0.f, 1.f);
-        _head.setRoll(glm::mix(_head.getRoll(), 0.0f, RESTORE_RATE));
+        _head.setYaw(glm::mix(_head.getYaw(), 0.0f, restorePercentage));
-        _head.setLeanSideways(glm::mix(_head.getLeanSideways(), 0.0f, RESTORE_RATE));
+        _head.setRoll(glm::mix(_head.getRoll(), 0.0f, restorePercentage));
-        _head.setLeanForward(glm::mix(_head.getLeanForward(), 0.0f, RESTORE_RATE));
+        _head.setLeanSideways(glm::mix(_head.getLeanSideways(), 0.0f, restorePercentage));
+        _head.setLeanForward(glm::mix(_head.getLeanForward(), 0.0f, restorePercentage));
         return;
     }
 
@@ -854,7 +840,6 @@ void MyAvatar::updateCollisionWithEnvironment(float deltaTime, float radius) {
     }
 }
 
-
 void MyAvatar::updateCollisionWithVoxels(float deltaTime, float radius) {
     const float VOXEL_ELASTICITY = 0.4f;
     const float VOXEL_DAMPING = 0.0f;
@@ -1003,6 +988,12 @@ void MyAvatar::updateCollisionWithAvatars(float deltaTime) {
                 // move the avatar out by half the penetration
                 setPosition(_position - 0.5f * penetration);
             }
+
+            // collide our hands against them
+            _hand.collideAgainstAvatar(avatar, true);
+
+            // collide their hands against us
+            avatar->getHand().collideAgainstAvatar(this, false);
         }
     }
 }

interface/src/avatar/MyAvatar.h

@@ -34,7 +34,7 @@ public:
     void reset();
     void update(float deltaTime);
     void simulate(float deltaTime);
-    void updateFromGyros(bool turnWithHead);
+    void updateFromGyros(float deltaTime);
     void updateTransmitter(float deltaTime);
 
     void render(bool forceRenderHead);

interface/src/avatar/SkeletonModel.cpp

@@ -36,23 +36,24 @@ void SkeletonModel::simulate(float deltaTime) {
     HandData& hand = _owningAvatar->getHand();
     hand.getLeftRightPalmIndices(leftPalmIndex, rightPalmIndex);
 
-    const float HAND_RESTORATION_RATE = 0.25f;
+    const float HAND_RESTORATION_PERIOD = 1.f;  // seconds
+    float handRestorePercent = glm::clamp(deltaTime / HAND_RESTORATION_PERIOD, 0.f, 1.f);
 
     const FBXGeometry& geometry = _geometry->getFBXGeometry();
     if (leftPalmIndex == -1) {
         // no Leap data; set hands from mouse
         if (_owningAvatar->getHandState() == HAND_STATE_NULL) {
-            restoreRightHandPosition(HAND_RESTORATION_RATE);
+            restoreRightHandPosition(handRestorePercent);
         } else {
             applyHandPosition(geometry.rightHandJointIndex, _owningAvatar->getHandPosition());
         }
-        restoreLeftHandPosition(HAND_RESTORATION_RATE);
+        restoreLeftHandPosition(handRestorePercent);
 
     } else if (leftPalmIndex == rightPalmIndex) {
         // right hand only
         applyPalmData(geometry.rightHandJointIndex, geometry.rightFingerJointIndices, geometry.rightFingertipJointIndices,
             hand.getPalms()[leftPalmIndex]);
-        restoreLeftHandPosition(HAND_RESTORATION_RATE);
+        restoreLeftHandPosition(handRestorePercent);
 
     } else {
         applyPalmData(geometry.leftHandJointIndex, geometry.leftFingerJointIndices, geometry.leftFingertipJointIndices,

interface/src/renderer/Model.cpp

@@ -488,7 +488,10 @@ bool Model::findSphereCollision(const glm::vec3& penetratorCenter, float penetra
         if (findSphereCapsuleConePenetration(relativeCenter, penetratorRadius, start, end,
                 startRadius, endRadius, bonePenetration)) {
             totalPenetration = addPenetrations(totalPenetration, bonePenetration);
-            // TODO: Andrew to try to keep the joint furthest toward the root
+            // BUG: we currently overwrite the jointIndex with the last one found
+            // which can cause incorrect collisions when colliding against more than
+            // one joint.
+            // TODO: fix this.
             jointIndex = i;
         }
         outerContinue: ;
@@ -733,7 +736,7 @@ void Model::renderCollisionProxies(float alpha) {
     glPopMatrix();
 }
 
-bool Model::isPokeable(ModelCollisionInfo& collision) const {
+bool Model::collisionHitsMoveableJoint(ModelCollisionInfo& collision) const {
     // the joint is pokable by a collision if it exists and is free to move
     const FBXJoint& joint = _geometry->getFBXGeometry().joints[collision._jointIndex];
     if (joint.parentIndex == -1 || _jointStates.isEmpty()) {
@@ -745,7 +748,7 @@ bool Model::isPokeable(ModelCollisionInfo& collision) const {
     return !freeLineage.isEmpty();
 }
 
-bool Model::poke(ModelCollisionInfo& collision) {
+void Model::applyCollision(ModelCollisionInfo& collision) {
     // This needs work.  At the moment it can wiggle joints that are free to move (such as arms)
     // but unmovable joints (such as torso) cannot be influenced at all.
     glm::vec3 jointPosition(0.f);
@@ -769,11 +772,10 @@ bool Model::poke(ModelCollisionInfo& collision) {
                 getJointPosition(jointIndex, end);
                 glm::vec3 newEnd = start + glm::angleAxis(glm::degrees(angle), axis) * (end - start);
                 // try to move it
-                return setJointPosition(jointIndex, newEnd, -1, true);
+                setJointPosition(jointIndex, newEnd, -1, true);
             }
         }
     }
-    return false;
 }
 
 void Model::deleteGeometry() {

interface/src/renderer/Model.h

@@ -167,12 +167,12 @@ public:
     
     void renderCollisionProxies(float alpha);
 
-    /// \return true if the collision would move the model
+    /// \return true if the collision is against a moveable joint
-    bool isPokeable(ModelCollisionInfo& collision) const;
+    bool collisionHitsMoveableJoint(ModelCollisionInfo& collision) const;
 
     /// \param collisionInfo info about the collision
-    /// \return true if collision affects the Model
+    /// Use the collisionInfo to affect the model
-    bool poke(ModelCollisionInfo& collisionInfo);
+    void  applyCollision(ModelCollisionInfo& collisionInfo);
 
 protected:
 

libraries/avatars/src/AvatarHashMap.cpp

@@ -2,7 +2,7 @@
 //  AvatarHashMap.cpp
 //  hifi
 //
-//  Created by Stephen AndrewMeadows on 1/28/2014.
+//  Created by AndrewMeadows on 1/28/2014.
 //  Copyright (c) 2014 HighFidelity, Inc. All rights reserved.
 //
 

libraries/avatars/src/HeadData.cpp

@@ -45,10 +45,3 @@ void HeadData::addLean(float sideways, float forwards) {
     _leanForward  += forwards;
 }
 
-bool HeadData::findSpherePenetration(const glm::vec3& penetratorCenter, float penetratorRadius, glm::vec3& penetration) const {
-    // we would like to update this to determine collisions/penetrations with the Avatar's head sphere...
-    // but right now it does not appear as if the HeadData has a position and radius.
-    // this is a placeholder for now.
-    return false;
-}
-

libraries/avatars/src/HeadData.h

@@ -58,13 +58,6 @@ public:
     void setLookAtPosition(const glm::vec3& lookAtPosition) { _lookAtPosition = lookAtPosition; }
     
     friend class AvatarData;
-
-    /// Checks for penetration between the described sphere and the hand.
-    /// \param penetratorCenter the center of the penetration test sphere
-    /// \param penetratorRadius the radius of the penetration test sphere
-    /// \param penetration[out] the vector in which to store the penetration
-    /// \return whether or not the sphere penetrated
-    bool findSpherePenetration(const glm::vec3& penetratorCenter, float penetratorRadius, glm::vec3& penetration) const;
     
 protected:
     float _yaw;