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Turn and drive the HMD with linear velocity

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This commit is contained in:
Anthony J. Thibault 2016-09-15 17:08:36 -07:00
parent d94d721fda
commit c7caf9fe06
2 changed files with 118 additions and 60 deletions
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61
interface/src/avatar/MyAvatar.cpp
View file

@ -1300,6 +1300,11 @@ void MyAvatar::updateMotors() {
}
const float DEFAULT_MOTOR_TIMESCALE = 0.2f;
const float INVALID_MOTOR_TIMESCALE = 1.0e6f;
if (!qApp->isHMDMode()) {
// OUTOFBODY_HACK: add default zero velocity motor to the characterController
_characterController.addMotor(glm::vec3(), motorRotation, DEFAULT_MOTOR_TIMESCALE, INVALID_MOTOR_TIMESCALE);
} else {
if (_isPushing || _isBraking || !_isBeingPushed) {
_characterController.addMotor(_actionMotorVelocity, motorRotation, DEFAULT_MOTOR_TIMESCALE, INVALID_MOTOR_TIMESCALE);
} else {
@ -1308,6 +1313,7 @@ void MyAvatar::updateMotors() {
_characterController.addMotor(_actionMotorVelocity, motorRotation, INVALID_MOTOR_TIMESCALE);
}
}
}
if (_motionBehaviors & AVATAR_MOTION_SCRIPTED_MOTOR_ENABLED) {
if (_scriptedMotorFrame == SCRIPTED_MOTOR_CAMERA_FRAME) {
motorRotation = getHead()->getCameraOrientation() * glm::angleAxis(PI, Vectors::UNIT_Y);
@ -1692,11 +1698,20 @@ void MyAvatar::updateOrientation(float deltaTime) {
// update body orientation by movement inputs
setOrientation(getOrientation() * glm::quat(glm::radians(glm::vec3(0.0f, totalBodyYaw, 0.0f))));
glm::quat deltaRotation = glm::quat(glm::radians(glm::vec3(0.0f, totalBodyYaw, 0.0f)));
setOrientation(getOrientation() * deltaRotation);
getHead()->setBasePitch(getHead()->getBasePitch() + _driveKeys[PITCH] * _pitchSpeed * deltaTime);
if (qApp->isHMDMode()) {
// rotate the sensorToWorldMatrix about the HMD!
glm::vec3 hmdOffset = extractTranslation(getHMDSensorMatrix());
_sensorToWorldMatrix = (_sensorToWorldMatrix *
createMatFromQuatAndPos(glm::quat(), hmdOffset) *
createMatFromQuatAndPos(deltaRotation, glm::vec3()) *
createMatFromQuatAndPos(glm::quat(), -hmdOffset));
glm::quat orientation = glm::quat_cast(getSensorToWorldMatrix()) * getHMDSensorOrientation();
glm::quat bodyOrientation = getWorldBodyOrientation();
glm::quat localOrientation = glm::inverse(bodyOrientation) * orientation;
@ -1713,6 +1728,33 @@ void MyAvatar::updateOrientation(float deltaTime) {
}
void MyAvatar::updateActionMotor(float deltaTime) {
if (qApp->isHMDMode()) {
// actions are constant velocity, for your comfort
// OUTOFBODY_HACK TODO: what about flying?!?!
// compute action input
glm::vec3 front = (_driveKeys[TRANSLATE_Z]) * IDENTITY_FRONT;
glm::vec3 right = (_driveKeys[TRANSLATE_X]) * IDENTITY_RIGHT;
glm::vec3 direction = front + right;
_isPushing = false;
_isBeingPushed = false;
_wasPushing = _isPushing;
float directionLength = glm::length(direction);
_isPushing = directionLength > EPSILON;
// normalize direction
if (_isPushing) {
direction /= directionLength;
} else {
direction = Vectors::ZERO;
}
_actionMotorVelocity = MAX_WALKING_SPEED * direction;
} else {
bool thrustIsPushing = (glm::length2(_thrust) > EPSILON);
bool scriptedMotorIsPushing = (_motionBehaviors & AVATAR_MOTION_SCRIPTED_MOTOR_ENABLED)
&& _scriptedMotorTimescale < MAX_CHARACTER_MOTOR_TIMESCALE;
@ -1773,6 +1815,7 @@ void MyAvatar::updateActionMotor(float deltaTime) {
// we're interacting with a floor --> simple horizontal speed and exponential decay
_actionMotorVelocity = MAX_WALKING_SPEED * direction;
}
}
float boomChange = _driveKeys[ZOOM];
_boomLength += 2.0f * _boomLength * boomChange + boomChange * boomChange;
@ -1799,9 +1842,23 @@ void MyAvatar::updatePosition(float deltaTime) {
measureMotionDerivatives(deltaTime);
_moving = speed2 > MOVING_SPEED_THRESHOLD_SQUARED;
} else {
// physics physics simulation updated elsewhere
float speed2 = glm::length2(velocity);
_moving = speed2 > MOVING_SPEED_THRESHOLD_SQUARED;
// OUTOFBODY_HACK, apply _actionMotorVelocity directly to the sensorToWorld matrix!
glm::quat motorRotation;
glm::quat liftRotation;
swingTwistDecomposition(glmExtractRotation(_sensorToWorldMatrix * getHMDSensorMatrix()), _worldUpDirection, liftRotation, motorRotation);
if (qApp->isHMDMode()) {
float speed2 = glm::length2(_actionMotorVelocity);
if (speed2 > MIN_AVATAR_SPEED_SQUARED) {
glm::vec3 worldVelocity = motorRotation * _actionMotorVelocity;
// update sensor to world position ourselves
glm::vec3 position = extractTranslation(_sensorToWorldMatrix) + deltaTime * worldVelocity;
_sensorToWorldMatrix[3] = glm::vec4(position, 1);
}
}
}
// capture the head rotation, in sensor space, when the user first indicates they would like to move/fly.

5
libraries/physics/src/CharacterController.cpp
View file

@ -222,9 +222,10 @@ void CharacterController::playerStep(btCollisionWorld* dynaWorld, btScalar dt) {
_rigidBody->setLinearVelocity(velocity + _parentVelocity);
if (_following) {
// OUTOFBODY_HACK -- these consts were copied from elsewhere, and then tuned
const float NORMAL_WALKING_SPEED = 0.5f;
const float NORMAL_WALKING_SPEED = 1.5f; // actual walk speed is 2.5 m/sec
const float FOLLOW_TIME = 0.8f;
const float FOLLOW_ROTATION_THRESHOLD = cosf(PI / 6.0f);
const float FOLLOW_FACTOR = 0.5f;
const float MAX_ANGULAR_SPEED = FOLLOW_ROTATION_THRESHOLD / FOLLOW_TIME;
@ -232,7 +233,7 @@ void CharacterController::playerStep(btCollisionWorld* dynaWorld, btScalar dt) {
btVector3 startPos = bodyTransform.getOrigin();
btVector3 deltaPos = _followDesiredBodyTransform.getOrigin() - startPos;
btVector3 vel = deltaPos * (0.5f / dt);
btVector3 vel = deltaPos * (FOLLOW_FACTOR / dt);
btScalar speed = vel.length();
if (speed > NORMAL_WALKING_SPEED) {
vel *= NORMAL_WALKING_SPEED / speed;