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Merge pull request #244 from Ventrella/master

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moved Orientation class to shared folder
This commit is contained in:
ZappoMan 2013-05-08 12:51:26 -07:00
commit 0b873dddc8
4 changed files with 38 additions and 83 deletions
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104
interface/src/Avatar.cpp
View file

@ -22,7 +22,7 @@ using namespace std;
const bool BALLS_ON = false; const bool BALLS_ON = false;
const bool USING_AVATAR_GRAVITY = true; const bool USING_AVATAR_GRAVITY = true;
const float GRAVITY_SCALE = 6.0f; const float GRAVITY_SCALE = 10.0f;
const float BOUNCE = 0.3f; const float BOUNCE = 0.3f;
const float DECAY = 0.1; const float DECAY = 0.1;
const float THRUST_MAG = 1200.0; const float THRUST_MAG = 1200.0;
@ -36,13 +36,18 @@ const float MY_HAND_HOLDING_PULL = 0.2;
const float YOUR_HAND_HOLDING_PULL = 1.0; const float YOUR_HAND_HOLDING_PULL = 1.0;
const float BODY_SPRING_DEFAULT_TIGHTNESS = 1500.0f; const float BODY_SPRING_DEFAULT_TIGHTNESS = 1500.0f;
const float BODY_SPRING_FORCE = 300.0f; const float BODY_SPRING_FORCE = 300.0f;
const float BODY_SPRING_DECAY = 16.0f; const float BODY_SPRING_DECAY = 16.0f;
const float COLLISION_RADIUS_SCALAR = 1.8; const float COLLISION_RADIUS_SCALAR = 1.8;
const float COLLISION_BALL_FORCE = 1.0; const float COLLISION_BALL_FORCE = 1.0;
const float COLLISION_BODY_FORCE = 6.0; const float COLLISION_BODY_FORCE = 6.0;
const float COLLISION_BALL_FRICTION = 60.0; const float COLLISION_BALL_FRICTION = 60.0;
const float COLLISION_BODY_FRICTION = 0.5; const float COLLISION_BODY_FRICTION = 0.5;
const float HEAD_ROTATION_SCALE = 0.70;
const float HEAD_ROLL_SCALE = 0.40;
const float HEAD_MAX_PITCH = 45;
const float HEAD_MIN_PITCH = -45;
const float HEAD_MAX_YAW = 85;
const float HEAD_MIN_YAW = -85;
float skinColor [] = {1.0, 0.84, 0.66}; float skinColor [] = {1.0, 0.84, 0.66};
float lightBlue [] = {0.7, 0.8, 1.0}; float lightBlue [] = {0.7, 0.8, 1.0};
@ -136,7 +141,6 @@ Avatar::Avatar(bool isMine) {
_head.noise = 0; _head.noise = 0;
_head.returnSpringScale = 1.0; _head.returnSpringScale = 1.0;
_movedHandOffset = glm::vec3(0.0f, 0.0f, 0.0f); _movedHandOffset = glm::vec3(0.0f, 0.0f, 0.0f);
_usingBodySprings = true;
_renderYaw = 0.0; _renderYaw = 0.0;
_renderPitch = 0.0; _renderPitch = 0.0;
_sphere = NULL; _sphere = NULL;
@ -186,7 +190,6 @@ Avatar::Avatar(const Avatar &otherAvatar) {
_TEST_bigSphereRadius = otherAvatar._TEST_bigSphereRadius; _TEST_bigSphereRadius = otherAvatar._TEST_bigSphereRadius;
_TEST_bigSpherePosition = otherAvatar._TEST_bigSpherePosition; _TEST_bigSpherePosition = otherAvatar._TEST_bigSpherePosition;
_movedHandOffset = otherAvatar._movedHandOffset; _movedHandOffset = otherAvatar._movedHandOffset;
_usingBodySprings = otherAvatar._usingBodySprings;
_orientation.set(otherAvatar._orientation); _orientation.set(otherAvatar._orientation);
@ -276,20 +279,14 @@ void Avatar::UpdateGyros(float frametime, SerialInterface* serialInterface, glm:
} }
// Update avatar head position based on measured gyro rates // Update avatar head position based on measured gyro rates
const float HEAD_ROTATION_SCALE = 0.70;
const float HEAD_ROLL_SCALE = 0.40;
const float MAX_PITCH = 45;
const float MIN_PITCH = -45;
const float MAX_YAW = 85;
const float MIN_YAW = -85;
if ((_headPitch < MAX_PITCH) && (_headPitch > MIN_PITCH)) { if ((_headPitch < HEAD_MAX_PITCH) && (_headPitch > HEAD_MIN_PITCH)) {
addHeadPitch(measured_pitch_rate * -HEAD_ROTATION_SCALE * frametime); addHeadPitch(measured_pitch_rate * -HEAD_ROTATION_SCALE * frametime);
} }
addHeadRoll(measured_roll_rate * HEAD_ROLL_SCALE * frametime); addHeadRoll(measured_roll_rate * HEAD_ROLL_SCALE * frametime);
if ((_headYaw < MAX_YAW) && (_headYaw > MIN_YAW)) { if ((_headYaw < HEAD_MAX_YAW) && (_headYaw > HEAD_MIN_YAW)) {
addHeadYaw(_head.yawRate * HEAD_ROTATION_SCALE * frametime); addHeadYaw(_head.yawRate * HEAD_ROTATION_SCALE * frametime);
} }
} }
@ -299,7 +296,7 @@ float Avatar::getAbsoluteHeadYaw() const {
} }
void Avatar::addLean(float x, float z) { void Avatar::addLean(float x, float z) {
// Add Body lean as impulse //Add lean as impulse
_head.leanSideways += x; _head.leanSideways += x;
_head.leanForward += z; _head.leanForward += z;
} }
@ -641,12 +638,14 @@ void Avatar::updateCollisionWithSphere(glm::vec3 position, float radius, float d
} }
} }
/*
if (jointCollision) { if (jointCollision) {
if (!_usingBodySprings) { if (!_usingBodySprings) {
_usingBodySprings = true; _usingBodySprings = true;
initializeBodySprings(); initializeBodySprings();
} }
} }
*/
} }
} }
@ -747,18 +746,15 @@ void Avatar::setDisplayingHead(bool displayingHead) {
_displayingHead = displayingHead; _displayingHead = displayingHead;
} }
static TextRenderer* textRenderer() { static TextRenderer* textRenderer() {
static TextRenderer* renderer = new TextRenderer(SANS_FONT_FAMILY, 24); static TextRenderer* renderer = new TextRenderer(SANS_FONT_FAMILY, 24);
return renderer; return renderer;
} }
void Avatar::setGravity(glm::vec3 gravity) { void Avatar::setGravity(glm::vec3 gravity) {
_gravity = gravity; _gravity = gravity;
} }
void Avatar::render(bool lookingInMirror, glm::vec3 cameraPosition) { void Avatar::render(bool lookingInMirror, glm::vec3 cameraPosition) {
// render a simple round on the ground projected down from the avatar's position // render a simple round on the ground projected down from the avatar's position
@ -858,16 +854,9 @@ void Avatar::renderHead(bool lookingInMirror) {
glPushMatrix(); glPushMatrix();
if (_usingBodySprings) {
glTranslatef(_joint[ AVATAR_JOINT_HEAD_BASE ].springyPosition.x, glTranslatef(_joint[ AVATAR_JOINT_HEAD_BASE ].springyPosition.x,
_joint[ AVATAR_JOINT_HEAD_BASE ].springyPosition.y, _joint[ AVATAR_JOINT_HEAD_BASE ].springyPosition.y,
_joint[ AVATAR_JOINT_HEAD_BASE ].springyPosition.z); _joint[ AVATAR_JOINT_HEAD_BASE ].springyPosition.z);
}
else {
glTranslatef(_joint[ AVATAR_JOINT_HEAD_BASE ].position.x,
_joint[ AVATAR_JOINT_HEAD_BASE ].position.y,
_joint[ AVATAR_JOINT_HEAD_BASE ].position.z);
}
glScalef glScalef
( (
@ -1032,7 +1021,7 @@ void Avatar::initializeSkeleton() {
for (int b=0; b<NUM_AVATAR_JOINTS; b++) { for (int b=0; b<NUM_AVATAR_JOINTS; b++) {
_joint[b].isCollidable = true; _joint[b].isCollidable = true;
_joint[b].parent = AVATAR_JOINT_NULL; _joint[b].parent = AVATAR_JOINT_NULL;
_joint[b].position = glm::vec3(0.0, 0.0, 0.0); _joint[b].position = glm::vec3(0.0, 0.0, 0.0);
_joint[b].defaultPosePosition = glm::vec3(0.0, 0.0, 0.0); _joint[b].defaultPosePosition = glm::vec3(0.0, 0.0, 0.0);
_joint[b].springyPosition = glm::vec3(0.0, 0.0, 0.0); _joint[b].springyPosition = glm::vec3(0.0, 0.0, 0.0);
_joint[b].springyVelocity = glm::vec3(0.0, 0.0, 0.0); _joint[b].springyVelocity = glm::vec3(0.0, 0.0, 0.0);
@ -1103,24 +1092,20 @@ void Avatar::initializeSkeleton() {
_joint[ AVATAR_JOINT_CHEST ].radius = 0.075; _joint[ AVATAR_JOINT_CHEST ].radius = 0.075;
_joint[ AVATAR_JOINT_NECK_BASE ].radius = 0.03; _joint[ AVATAR_JOINT_NECK_BASE ].radius = 0.03;
_joint[ AVATAR_JOINT_HEAD_BASE ].radius = 0.07; _joint[ AVATAR_JOINT_HEAD_BASE ].radius = 0.07;
_joint[ AVATAR_JOINT_LEFT_COLLAR ].radius = 0.029; _joint[ AVATAR_JOINT_LEFT_COLLAR ].radius = 0.029;
_joint[ AVATAR_JOINT_LEFT_SHOULDER ].radius = 0.023; _joint[ AVATAR_JOINT_LEFT_SHOULDER ].radius = 0.023;
_joint[ AVATAR_JOINT_LEFT_ELBOW ].radius = 0.017; _joint[ AVATAR_JOINT_LEFT_ELBOW ].radius = 0.017;
_joint[ AVATAR_JOINT_LEFT_WRIST ].radius = 0.017; _joint[ AVATAR_JOINT_LEFT_WRIST ].radius = 0.017;
_joint[ AVATAR_JOINT_LEFT_FINGERTIPS ].radius = 0.01; _joint[ AVATAR_JOINT_LEFT_FINGERTIPS ].radius = 0.01;
_joint[ AVATAR_JOINT_RIGHT_COLLAR ].radius = 0.029; _joint[ AVATAR_JOINT_RIGHT_COLLAR ].radius = 0.029;
_joint[ AVATAR_JOINT_RIGHT_SHOULDER ].radius = 0.023; _joint[ AVATAR_JOINT_RIGHT_SHOULDER ].radius = 0.023;
_joint[ AVATAR_JOINT_RIGHT_ELBOW ].radius = 0.015; _joint[ AVATAR_JOINT_RIGHT_ELBOW ].radius = 0.015;
_joint[ AVATAR_JOINT_RIGHT_WRIST ].radius = 0.015; _joint[ AVATAR_JOINT_RIGHT_WRIST ].radius = 0.015;
_joint[ AVATAR_JOINT_RIGHT_FINGERTIPS ].radius = 0.01; _joint[ AVATAR_JOINT_RIGHT_FINGERTIPS ].radius = 0.01;
_joint[ AVATAR_JOINT_LEFT_HIP ].radius = 0.03; _joint[ AVATAR_JOINT_LEFT_HIP ].radius = 0.03;
_joint[ AVATAR_JOINT_LEFT_KNEE ].radius = 0.02; _joint[ AVATAR_JOINT_LEFT_KNEE ].radius = 0.02;
_joint[ AVATAR_JOINT_LEFT_HEEL ].radius = 0.015; _joint[ AVATAR_JOINT_LEFT_HEEL ].radius = 0.015;
_joint[ AVATAR_JOINT_LEFT_TOES ].radius = 0.02; _joint[ AVATAR_JOINT_LEFT_TOES ].radius = 0.02;
_joint[ AVATAR_JOINT_RIGHT_HIP ].radius = 0.03; _joint[ AVATAR_JOINT_RIGHT_HIP ].radius = 0.03;
_joint[ AVATAR_JOINT_RIGHT_KNEE ].radius = 0.02; _joint[ AVATAR_JOINT_RIGHT_KNEE ].radius = 0.02;
_joint[ AVATAR_JOINT_RIGHT_HEEL ].radius = 0.015; _joint[ AVATAR_JOINT_RIGHT_HEEL ].radius = 0.015;
@ -1132,19 +1117,16 @@ void Avatar::initializeSkeleton() {
_joint[ AVATAR_JOINT_CHEST ].springBodyTightness = BODY_SPRING_DEFAULT_TIGHTNESS * 0.5; _joint[ AVATAR_JOINT_CHEST ].springBodyTightness = BODY_SPRING_DEFAULT_TIGHTNESS * 0.5;
_joint[ AVATAR_JOINT_NECK_BASE ].springBodyTightness = BODY_SPRING_DEFAULT_TIGHTNESS * 0.4; _joint[ AVATAR_JOINT_NECK_BASE ].springBodyTightness = BODY_SPRING_DEFAULT_TIGHTNESS * 0.4;
_joint[ AVATAR_JOINT_HEAD_BASE ].springBodyTightness = BODY_SPRING_DEFAULT_TIGHTNESS * 0.3; _joint[ AVATAR_JOINT_HEAD_BASE ].springBodyTightness = BODY_SPRING_DEFAULT_TIGHTNESS * 0.3;
_joint[ AVATAR_JOINT_LEFT_COLLAR ].springBodyTightness = BODY_SPRING_DEFAULT_TIGHTNESS * 0.5; _joint[ AVATAR_JOINT_LEFT_COLLAR ].springBodyTightness = BODY_SPRING_DEFAULT_TIGHTNESS * 0.5;
_joint[ AVATAR_JOINT_LEFT_SHOULDER ].springBodyTightness = BODY_SPRING_DEFAULT_TIGHTNESS * 0.5; _joint[ AVATAR_JOINT_LEFT_SHOULDER ].springBodyTightness = BODY_SPRING_DEFAULT_TIGHTNESS * 0.5;
_joint[ AVATAR_JOINT_LEFT_ELBOW ].springBodyTightness = BODY_SPRING_DEFAULT_TIGHTNESS * 0.5; _joint[ AVATAR_JOINT_LEFT_ELBOW ].springBodyTightness = BODY_SPRING_DEFAULT_TIGHTNESS * 0.5;
_joint[ AVATAR_JOINT_LEFT_WRIST ].springBodyTightness = BODY_SPRING_DEFAULT_TIGHTNESS * 0.3; _joint[ AVATAR_JOINT_LEFT_WRIST ].springBodyTightness = BODY_SPRING_DEFAULT_TIGHTNESS * 0.3;
_joint[ AVATAR_JOINT_LEFT_FINGERTIPS ].springBodyTightness = BODY_SPRING_DEFAULT_TIGHTNESS * 0.3; _joint[ AVATAR_JOINT_LEFT_FINGERTIPS ].springBodyTightness = BODY_SPRING_DEFAULT_TIGHTNESS * 0.3;
_joint[ AVATAR_JOINT_RIGHT_COLLAR ].springBodyTightness = BODY_SPRING_DEFAULT_TIGHTNESS * 0.5; _joint[ AVATAR_JOINT_RIGHT_COLLAR ].springBodyTightness = BODY_SPRING_DEFAULT_TIGHTNESS * 0.5;
_joint[ AVATAR_JOINT_RIGHT_SHOULDER ].springBodyTightness = BODY_SPRING_DEFAULT_TIGHTNESS * 0.5; _joint[ AVATAR_JOINT_RIGHT_SHOULDER ].springBodyTightness = BODY_SPRING_DEFAULT_TIGHTNESS * 0.5;
_joint[ AVATAR_JOINT_RIGHT_ELBOW ].springBodyTightness = BODY_SPRING_DEFAULT_TIGHTNESS * 0.5; _joint[ AVATAR_JOINT_RIGHT_ELBOW ].springBodyTightness = BODY_SPRING_DEFAULT_TIGHTNESS * 0.5;
_joint[ AVATAR_JOINT_RIGHT_WRIST ].springBodyTightness = BODY_SPRING_DEFAULT_TIGHTNESS * 0.3; _joint[ AVATAR_JOINT_RIGHT_WRIST ].springBodyTightness = BODY_SPRING_DEFAULT_TIGHTNESS * 0.3;
_joint[ AVATAR_JOINT_RIGHT_FINGERTIPS ].springBodyTightness = BODY_SPRING_DEFAULT_TIGHTNESS * 0.3; _joint[ AVATAR_JOINT_RIGHT_FINGERTIPS ].springBodyTightness = BODY_SPRING_DEFAULT_TIGHTNESS * 0.3;
_joint[ AVATAR_JOINT_LEFT_HIP ].springBodyTightness = BODY_SPRING_DEFAULT_TIGHTNESS; _joint[ AVATAR_JOINT_LEFT_HIP ].springBodyTightness = BODY_SPRING_DEFAULT_TIGHTNESS;
_joint[ AVATAR_JOINT_LEFT_KNEE ].springBodyTightness = BODY_SPRING_DEFAULT_TIGHTNESS; _joint[ AVATAR_JOINT_LEFT_KNEE ].springBodyTightness = BODY_SPRING_DEFAULT_TIGHTNESS;
_joint[ AVATAR_JOINT_LEFT_HEEL ].springBodyTightness = BODY_SPRING_DEFAULT_TIGHTNESS; _joint[ AVATAR_JOINT_LEFT_HEEL ].springBodyTightness = BODY_SPRING_DEFAULT_TIGHTNESS;
@ -1258,7 +1240,7 @@ void Avatar::updateBodySprings(float deltaTime) {
float length = glm::length(springVector); float length = glm::length(springVector);
if (length > 0.0f) { if (length > 0.0f) { // to avoid divide by zero
glm::vec3 springDirection = springVector / length; glm::vec3 springDirection = springVector / length;
float force = (length - _joint[b].length) * BODY_SPRING_FORCE * deltaTime; float force = (length - _joint[b].length) * BODY_SPRING_FORCE * deltaTime;
@ -1342,56 +1324,30 @@ void Avatar::renderBody() {
if (b != AVATAR_JOINT_HEAD_BASE) { // the head is rendered as a special case in "renderHead" if (b != AVATAR_JOINT_HEAD_BASE) { // the head is rendered as a special case in "renderHead"
//render bone orientation //show direction vectors of the bone orientation
//renderOrientationDirections(_joint[b].springyPosition, _joint[b].orientation, _joint[b].radius * 2.0); //renderOrientationDirections(_joint[b].springyPosition, _joint[b].orientation, _joint[b].radius * 2.0);
if (_usingBodySprings) { glColor3fv(skinColor);
glColor3fv(skinColor); glPushMatrix();
glPushMatrix(); glTranslatef(_joint[b].springyPosition.x, _joint[b].springyPosition.y, _joint[b].springyPosition.z);
glTranslatef(_joint[b].springyPosition.x, _joint[b].springyPosition.y, _joint[b].springyPosition.z); glutSolidSphere(_joint[b].radius, 20.0f, 20.0f);
glutSolidSphere(_joint[b].radius, 20.0f, 20.0f); glPopMatrix();
glPopMatrix();
}
else {
glColor3fv(skinColor);
glPushMatrix();
glTranslatef(_joint[b].position.x, _joint[b].position.y, _joint[b].position.z);
glutSolidSphere(_joint[b].radius, 20.0f, 20.0f);
glPopMatrix();
}
} }
} }
// Render lines connecting the joint positions // Render lines connecting the joint positions
if (_usingBodySprings) { glColor3f(0.4f, 0.5f, 0.6f);
glColor3f(0.4f, 0.5f, 0.6f); glLineWidth(3.0);
glLineWidth(3.0);
for (int b = 1; b < NUM_AVATAR_JOINTS; b++) {
for (int b = 1; b < NUM_AVATAR_JOINTS; b++) { if (_joint[b].parent != AVATAR_JOINT_NULL)
if (_joint[b].parent != AVATAR_JOINT_NULL) if (b != AVATAR_JOINT_HEAD_TOP) {
if (b != AVATAR_JOINT_HEAD_TOP) { glBegin(GL_LINE_STRIP);
glBegin(GL_LINE_STRIP); glVertex3fv(&_joint[ _joint[ b ].parent ].springyPosition.x);
glVertex3fv(&_joint[ _joint[ b ].parent ].springyPosition.x); glVertex3fv(&_joint[ b ].springyPosition.x);
glVertex3fv(&_joint[ b ].springyPosition.x); glEnd();
glEnd();
}
} }
} }
/*
else {
glColor3fv(skinColor);
glLineWidth(3.0);
for (int b = 1; b < NUM_AVATAR_JOINTS; b++) {
if (_joint[b].parent != AVATAR_JOINT_NULL) {
glBegin(GL_LINE_STRIP);
glVertex3fv(&_joint[ _joint[ b ].parent ].position.x);
glVertex3fv(&_joint[ b ].position.x);
glEnd();
}
}
}
*/
} }
void Avatar::SetNewHeadTarget(float pitch, float yaw) { void Avatar::SetNewHeadTarget(float pitch, float yaw) {

11
interface/src/Avatar.h
View file

@ -142,10 +142,6 @@ public:
private: private:
// Do you want head to try to return to center (depends on interface detected)
void setHeadReturnToCenter(bool r) { _returnHeadToCenter = r; };
const bool getHeadReturnToCenter() const { return _returnHeadToCenter; };
struct AvatarJoint struct AvatarJoint
{ {
AvatarJointID parent; // which joint is this joint connected to? AvatarJointID parent; // which joint is this joint connected to?
@ -213,7 +209,6 @@ private:
float _bodyPitchDelta; float _bodyPitchDelta;
float _bodyYawDelta; float _bodyYawDelta;
float _bodyRollDelta; float _bodyRollDelta;
bool _usingBodySprings;
glm::vec3 _movedHandOffset; glm::vec3 _movedHandOffset;
glm::quat _rotation; // the rotation of the avatar body as a whole expressed as a quaternion glm::quat _rotation; // the rotation of the avatar body as a whole expressed as a quaternion
AvatarJoint _joint[ NUM_AVATAR_JOINTS ]; AvatarJoint _joint[ NUM_AVATAR_JOINTS ];
@ -240,7 +235,7 @@ private:
AvatarTouch _avatarTouch; AvatarTouch _avatarTouch;
bool _displayingHead; // should be false if in first-person view bool _displayingHead; // should be false if in first-person view
bool _returnHeadToCenter; bool _returnHeadToCenter;
float _distanceToNearestAvatar; // How close is the nearest avatar? float _distanceToNearestAvatar; // How close is the nearest avatar?
glm::vec3 _gravity; glm::vec3 _gravity;
// private methods... // private methods...
@ -257,6 +252,10 @@ private:
void applyCollisionWithOtherAvatar( Avatar * other, float deltaTime ); void applyCollisionWithOtherAvatar( Avatar * other, float deltaTime );
void setHeadFromGyros(glm::vec3 * eulerAngles, glm::vec3 * angularVelocity, float deltaTime, float smoothingTime); void setHeadFromGyros(glm::vec3 * eulerAngles, glm::vec3 * angularVelocity, float deltaTime, float smoothingTime);
void setHeadSpringScale(float s) { _head.returnSpringScale = s; } void setHeadSpringScale(float s) { _head.returnSpringScale = s; }
// Do you want head to try to return to center (depends on interface detected)
void setHeadReturnToCenter(bool r) { _returnHeadToCenter = r; };
const bool getHeadReturnToCenter() const { return _returnHeadToCenter; };
}; };
#endif #endif

6
libraries/avatars/src/Orientation.cpp → libraries/shared/src/Orientation.cpp
View file

@ -6,10 +6,10 @@
//----------------------------------------------------------- //-----------------------------------------------------------
#include "Orientation.h" #include "Orientation.h"
#include <SharedUtil.h> #include "SharedUtil.h"
#include "avatars_Log.h" //#include "avatars_Log.h"
using avatars_lib::printLog; //using avatars_lib::printLog;
static const bool USING_QUATERNIONS = true; static const bool USING_QUATERNIONS = true;

0
libraries/avatars/src/Orientation.h → libraries/shared/src/Orientation.h
View file