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

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This commit is contained in:
Andrzej Kapolka 2014-03-26 18:30:06 -07:00
commit 7f3977578e
18 changed files with 272 additions and 178 deletions
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43
interface/src/avatar/Avatar.cpp
View file

@ -499,13 +499,19 @@ bool Avatar::findSphereCollisions(const glm::vec3& penetratorCenter, float penet
//return getHead()->getFaceModel().findSphereCollisions(penetratorCenter, penetratorRadius, collisions);
}
bool Avatar::findCollisions(const QVector<const Shape*>& shapes, CollisionList& collisions) {
void Avatar::updateShapePositions() {
_skeletonModel.updateShapePositions();
bool collided = _skeletonModel.findCollisions(shapes, collisions);
Model& headModel = getHead()->getFaceModel();
headModel.updateShapePositions();
collided = headModel.findCollisions(shapes, collisions);
}
bool Avatar::findCollisions(const QVector<const Shape*>& shapes, CollisionList& collisions) {
// TODO: Andrew to fix: also collide against _skeleton
//bool collided = _skeletonModel.findCollisions(shapes, collisions);
Model& headModel = getHead()->getFaceModel();
//collided = headModel.findCollisions(shapes, collisions) || collided;
bool collided = headModel.findCollisions(shapes, collisions);
return collided;
}
@ -752,17 +758,30 @@ bool Avatar::collisionWouldMoveAvatar(CollisionInfo& collision) const {
return false;
}
void Avatar::applyCollision(CollisionInfo& collision) {
if (!collision._data || collision._type != MODEL_COLLISION) {
return;
}
// TODO: make skeleton also respond to collisions
Model* model = static_cast<Model*>(collision._data);
if (model == &(getHead()->getFaceModel())) {
getHead()->applyCollision(collision);
void Avatar::applyCollision(const glm::vec3& contactPoint, const glm::vec3& penetration) {
// compute lean angles
glm::vec3 leverAxis = contactPoint - getPosition();
float leverLength = glm::length(leverAxis);
if (leverLength > EPSILON) {
glm::quat bodyRotation = getOrientation();
glm::vec3 xAxis = bodyRotation * glm::vec3(1.f, 0.f, 0.f);
glm::vec3 zAxis = bodyRotation * glm::vec3(0.f, 0.f, 1.f);
leverAxis = leverAxis / leverLength;
glm::vec3 effectivePenetration = penetration - glm::dot(penetration, leverAxis) * leverAxis;
// we use the small-angle approximation for sine below to compute the length of
// the opposite side of a narrow right triangle
float sideways = - glm::dot(effectivePenetration, xAxis) / leverLength;
float forward = glm::dot(effectivePenetration, zAxis) / leverLength;
getHead()->addLean(sideways, forward);
}
}
float Avatar::getBoundingRadius() const {
// TODO: also use head model when computing the avatar's bounding radius
return _skeletonModel.getBoundingRadius();
}
float Avatar::getPelvisFloatingHeight() const {
return -_skeletonModel.getBindExtents().minimum.y;
}

7
interface/src/avatar/Avatar.h
View file

@ -145,10 +145,11 @@ public:
/// \return true if we expect the avatar would move as a result of the collision
bool collisionWouldMoveAvatar(CollisionInfo& collision) const;
/// \param collision a data structure for storing info about collisions against Models
void applyCollision(CollisionInfo& collision);
void applyCollision(const glm::vec3& contactPoint, const glm::vec3& penetration);
float getBoundingRadius() const { return 0.5f * getSkeletonHeight(); }
/// \return bounding radius of avatar
virtual float getBoundingRadius() const;
void updateShapePositions();
public slots:
void updateCollisionFlags();

66
interface/src/avatar/Hand.cpp
View file

@ -9,6 +9,7 @@
#include <NodeList.h>
#include <GeometryUtil.h>
#include <StreamUtils.h>
#include "Application.h"
#include "Avatar.h"
@ -109,8 +110,6 @@ void Hand::collideAgainstAvatarOld(Avatar* avatar, bool isMyHand) {
for (int j = 0; j < handCollisions.size(); ++j) {
CollisionInfo* collision = handCollisions.getCollision(j);
if (isMyHand) {
// we resolve the hand from collision when it belongs to MyAvatar AND the other Avatar is
// not expected to respond to the collision (hand hit unmovable part of their Avatar)
totalPenetration = addPenetrations(totalPenetration, collision->_penetration);
}
}
@ -128,55 +127,37 @@ void Hand::collideAgainstAvatar(Avatar* avatar, bool isMyHand) {
return;
}
// 2 = NUM_HANDS
int palmIndices[2];
getLeftRightPalmIndices(*palmIndices, *(palmIndices + 1));
const SkeletonModel& skeletonModel = _owningAvatar->getSkeletonModel();
int jointIndices[2];
jointIndices[0] = skeletonModel.getLeftHandJointIndex();
jointIndices[1] = skeletonModel.getRightHandJointIndex();
palmIndices[1] = -1; // adebug temporarily disable right hand
jointIndices[1] = -1; // adebug temporarily disable right hand
for (size_t i = 0; i < 1; i++) {
int palmIndex = palmIndices[i];
for (size_t i = 0; i < 2; i++) {
int jointIndex = jointIndices[i];
if (palmIndex == -1 || jointIndex == -1) {
if (jointIndex < 0) {
continue;
}
PalmData& palm = _palms[palmIndex];
if (!palm.isActive()) {
continue;
}
if (isMyHand && Menu::getInstance()->isOptionChecked(MenuOption::PlaySlaps)) {
playSlaps(palm, avatar);
}
handCollisions.clear();
QVector<const Shape*> shapes;
skeletonModel.getHandShapes(jointIndex, shapes);
bool collided = isMyHand ? avatar->findCollisions(shapes, handCollisions) : avatar->findCollisions(shapes, handCollisions);
if (collided) {
//if (avatar->findCollisions(shapes, handCollisions)) {
glm::vec3 averagePenetration;
if (avatar->findCollisions(shapes, handCollisions)) {
glm::vec3 totalPenetration(0.f);
glm::vec3 averageContactPoint;
for (int j = 0; j < handCollisions.size(); ++j) {
CollisionInfo* collision = handCollisions.getCollision(j);
averagePenetration += collision->_penetration;
totalPenetration += collision->_penetration;
averageContactPoint += collision->_contactPoint;
}
averagePenetration /= float(handCollisions.size());
if (isMyHand) {
// our hand against other avatar
// for now we resolve it to test shapes/collisions
// TODO: only partially resolve this penetration
palm.addToPosition(-averagePenetration);
// TODO: resolve this penetration when we don't think the other avatar will yield
//palm.addToPenetration(averagePenetration);
} else {
// someone else's hand against MyAvatar
// TODO: submit collision info to MyAvatar which should lean accordingly
averageContactPoint /= float(handCollisions.size());
avatar->applyCollision(averageContactPoint, totalPenetration);
}
}
}
@ -192,7 +173,7 @@ void Hand::collideAgainstOurself() {
float scaledPalmRadius = PALM_COLLISION_RADIUS * _owningAvatar->getScale();
const Model& skeletonModel = _owningAvatar->getSkeletonModel();
for (size_t i = 0; i < getNumPalms(); i++) {
for (int i = 0; i < int(getNumPalms()); i++) {
PalmData& palm = getPalms()[i];
if (!palm.isActive()) {
continue;
@ -210,11 +191,18 @@ void Hand::collideAgainstOurself() {
totalPenetration = addPenetrations(totalPenetration, collision->_penetration);
}
// resolve penetration
palm.addToPosition(-totalPenetration);
palm.addToPenetration(totalPenetration);
}
}
}
void Hand::resolvePenetrations() {
for (size_t i = 0; i < getNumPalms(); ++i) {
PalmData& palm = getPalms()[i];
palm.resolvePenetrations();
}
}
void Hand::calculateGeometry() {
// generate finger tip balls....
_leapFingerTipBalls.clear();
@ -385,19 +373,3 @@ void Hand::renderLeapHands(bool isMine) {
glPopMatrix();
}
void Hand::setLeapHands(const std::vector<glm::vec3>& handPositions,
const std::vector<glm::vec3>& handNormals) {
for (size_t i = 0; i < getNumPalms(); ++i) {
PalmData& palm = getPalms()[i];
if (i < handPositions.size()) {
palm.setActive(true);
palm.setRawPosition(handPositions[i]);
palm.setRawNormal(handNormals[i]);
}
else {
palm.setActive(false);
}
}
}

7
interface/src/avatar/Hand.h
View file

@ -59,6 +59,8 @@ public:
void collideAgainstAvatar(Avatar* avatar, bool isMyHand);
void collideAgainstOurself();
void resolvePenetrations();
private:
// disallow copies of the Hand, copy of owning Avatar is disallowed too
Hand(const Hand&);
@ -71,10 +73,6 @@ private:
std::vector<HandBall> _leapFingerTipBalls;
std::vector<HandBall> _leapFingerRootBalls;
// private methods
void setLeapHands(const std::vector<glm::vec3>& handPositions,
const std::vector<glm::vec3>& handNormals);
void renderLeapHands(bool isMine);
void renderLeapFingerTrails();
@ -84,3 +82,4 @@ private:
};
#endif

28
interface/src/avatar/Head.cpp
View file

@ -212,34 +212,6 @@ float Head::getTweakedRoll() const {
return glm::clamp(_roll + _rollTweak, MIN_HEAD_ROLL, MAX_HEAD_ROLL);
}
void Head::applyCollision(CollisionInfo& collision) {
// 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(collision._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(collision._penetration, zAxis) / neckLength;
float sideways = - glm::dot(collision._penetration, xAxis) / neckLength;
addLean(sideways, forward);
}
}
}
}
void Head::renderLookatVectors(glm::vec3 leftEyePosition, glm::vec3 rightEyePosition, glm::vec3 lookatPosition) {
Application::getInstance()->getGlowEffect()->begin();

2
interface/src/avatar/Head.h
View file

@ -82,8 +82,6 @@ public:
virtual float getTweakedPitch() const;
virtual float getTweakedYaw() const;
virtual float getTweakedRoll() const;
void applyCollision(CollisionInfo& collisionInfo);
private:
// disallow copies of the Head, copy of owning Avatar is disallowed too

71
interface/src/avatar/MyAvatar.cpp
View file

@ -177,26 +177,6 @@ void MyAvatar::simulate(float deltaTime) {
_velocity += _scale * _gravity * (GRAVITY_EARTH * deltaTime);
}
if (_collisionFlags != 0) {
Camera* myCamera = Application::getInstance()->getCamera();
float radius = getSkeletonHeight() * COLLISION_RADIUS_SCALE;
if (myCamera->getMode() == CAMERA_MODE_FIRST_PERSON && !OculusManager::isConnected()) {
radius = myCamera->getAspectRatio() * (myCamera->getNearClip() / cosf(0.5f * RADIANS_PER_DEGREE * myCamera->getFieldOfView()));
radius *= COLLISION_RADIUS_SCALAR;
}
if (_collisionFlags & COLLISION_GROUP_ENVIRONMENT) {
updateCollisionWithEnvironment(deltaTime, radius);
}
if (_collisionFlags & COLLISION_GROUP_VOXELS) {
updateCollisionWithVoxels(deltaTime, radius);
}
if (_collisionFlags & COLLISION_GROUP_AVATARS) {
updateCollisionWithAvatars(deltaTime);
}
}
// add thrust to velocity
_velocity += _thrust * deltaTime;
@ -320,7 +300,28 @@ void MyAvatar::simulate(float deltaTime) {
// Zero thrust out now that we've added it to velocity in this frame
_thrust = glm::vec3(0, 0, 0);
// now that we're done stepping the avatar forward in time, compute new collisions
if (_collisionFlags != 0) {
Camera* myCamera = Application::getInstance()->getCamera();
float radius = getSkeletonHeight() * COLLISION_RADIUS_SCALE;
if (myCamera->getMode() == CAMERA_MODE_FIRST_PERSON && !OculusManager::isConnected()) {
radius = myCamera->getAspectRatio() * (myCamera->getNearClip() / cos(myCamera->getFieldOfView() / 2.f));
radius *= COLLISION_RADIUS_SCALAR;
}
if (_collisionFlags & COLLISION_GROUP_ENVIRONMENT) {
updateCollisionWithEnvironment(deltaTime, radius);
}
if (_collisionFlags & COLLISION_GROUP_VOXELS) {
updateCollisionWithVoxels(deltaTime, radius);
}
if (_collisionFlags & COLLISION_GROUP_AVATARS) {
updateCollisionWithAvatars(deltaTime);
}
}
// consider updating our billboard
maybeUpdateBillboard();
}
@ -361,7 +362,7 @@ void MyAvatar::updateFromGyros(float deltaTime) {
}
} else {
// restore rotation, lean to neutral positions
const float RESTORE_PERIOD = 1.f; // seconds
const float RESTORE_PERIOD = 0.25f; // seconds
float restorePercentage = glm::clamp(deltaTime/RESTORE_PERIOD, 0.f, 1.f);
head->setPitchTweak(glm::mix(head->getPitchTweak(), 0.0f, restorePercentage));
head->setYawTweak(glm::mix(head->getYawTweak(), 0.0f, restorePercentage));
@ -881,35 +882,31 @@ void MyAvatar::updateCollisionWithAvatars(float deltaTime) {
// no need to compute a bunch of stuff if we have one or fewer avatars
return;
}
updateShapePositions();
float myBoundingRadius = getBoundingRadius();
/* TODO: Andrew to fix Avatar-Avatar body collisions
// HACK: body-body collision uses two coaxial capsules with axes parallel to y-axis
// TODO: make the collision work without assuming avatar orientation
Extents myStaticExtents = _skeletonModel.getStaticExtents();
glm::vec3 staticScale = myStaticExtents.maximum - myStaticExtents.minimum;
float myCapsuleRadius = 0.25f * (staticScale.x + staticScale.z);
float myCapsuleHeight = staticScale.y;
*/
// TODO: these local variables are not used in the live code, only in the
// commented-outTODO code below.
//Extents myStaticExtents = _skeletonModel.getStaticExtents();
//glm::vec3 staticScale = myStaticExtents.maximum - myStaticExtents.minimum;
//float myCapsuleRadius = 0.25f * (staticScale.x + staticScale.z);
//float myCapsuleHeight = staticScale.y;
CollisionInfo collisionInfo;
foreach (const AvatarSharedPointer& avatarPointer, avatars) {
Avatar* avatar = static_cast<Avatar*>(avatarPointer.data());
if (static_cast<Avatar*>(this) == avatar) {
// don't collide with ourselves
continue;
}
avatar->updateShapePositions();
float distance = glm::length(_position - avatar->getPosition());
if (_distanceToNearestAvatar > distance) {
_distanceToNearestAvatar = distance;
}
float theirBoundingRadius = avatar->getBoundingRadius();
if (distance < myBoundingRadius + theirBoundingRadius) {
_skeletonModel.updateShapePositions();
Model& headModel = getHead()->getFaceModel();
headModel.updateShapePositions();
/* TODO: Andrew to fix Avatar-Avatar body collisions
Extents theirStaticExtents = _skeletonModel.getStaticExtents();
glm::vec3 staticScale = theirStaticExtents.maximum - theirStaticExtents.minimum;
@ -925,12 +922,16 @@ void MyAvatar::updateCollisionWithAvatars(float deltaTime) {
*/
// collide our hands against them
getHand()->collideAgainstAvatar(avatar, true);
// TODO: make this work when we can figure out when the other avatar won't yeild
// (for example, we're colling against their chest or leg)
//getHand()->collideAgainstAvatar(avatar, true);
// collide their hands against us
avatar->getHand()->collideAgainstAvatar(this, false);
}
}
// TODO: uncomment this when we handle collisions that won't affect other avatar
//getHand()->resolvePenetrations();
}
class SortedAvatar {

23
interface/src/avatar/SkeletonModel.cpp
View file

@ -63,13 +63,30 @@ void SkeletonModel::simulate(float deltaTime, bool fullUpdate) {
}
void SkeletonModel::getHandShapes(int jointIndex, QVector<const Shape*>& shapes) const {
if (jointIndex == -1) {
if (jointIndex < 0 || jointIndex >= int(_shapes.size())) {
return;
}
if (jointIndex == getLeftHandJointIndex()
|| jointIndex == getRightHandJointIndex()) {
// TODO: also add fingers and other hand-parts
shapes.push_back(_shapes[jointIndex]);
// get all shapes that have this hand as an ancestor in the skeleton heirarchy
const FBXGeometry& geometry = _geometry->getFBXGeometry();
for (int i = 0; i < _jointStates.size(); i++) {
const FBXJoint& joint = geometry.joints[i];
if (i == jointIndex) {
// this shape is the hand
shapes.push_back(_shapes[i]);
} else {
int parentIndex = joint.parentIndex;
while (parentIndex != -1) {
if (parentIndex == jointIndex) {
// this shape is a child of the hand
shapes.push_back(_shapes[i]);
break;
}
parentIndex = geometry.joints[parentIndex].parentIndex;
}
}
}
}
}

2
interface/src/avatar/SkeletonModel.h
View file

@ -27,7 +27,7 @@ public:
/// \param jointIndex index of hand joint
/// \param shapes[out] list in which is stored pointers to hand shapes
void getHandShapes(int jointIndex, QVector<const Shape*>& shapes) const;
protected:
void applyHandPosition(int jointIndex, const glm::vec3& position);

26
interface/src/renderer/Model.cpp
View file

@ -11,6 +11,7 @@
#include <QThreadPool>
#include <glm/gtx/transform.hpp>
#include <glm/gtx/norm.hpp>
#include <GeometryUtil.h>
@ -32,7 +33,8 @@ Model::Model(QObject* parent) :
_scale(1.0f, 1.0f, 1.0f),
_shapesAreDirty(true),
_lodDistance(0.0f),
_pupilDilation(0.0f) {
_pupilDilation(0.0f),
_boundingRadius(0.f) {
// we may have been created in the network thread, but we live in the main thread
moveToThread(Application::getInstance()->thread());
}
@ -164,6 +166,7 @@ void Model::createCollisionShapes() {
void Model::updateShapePositions() {
if (_shapesAreDirty && _shapes.size() == _jointStates.size()) {
_boundingRadius = 0.f;
float uniformScale = extractUniformScale(_scale);
const FBXGeometry& geometry = _geometry->getFBXGeometry();
for (int i = 0; i < _jointStates.size(); i++) {
@ -173,7 +176,12 @@ void Model::updateShapePositions() {
glm::vec3 worldPosition = extractTranslation(_jointStates[i].transform) + jointToShapeOffset + _translation;
_shapes[i]->setPosition(worldPosition);
_shapes[i]->setRotation(_jointStates[i].combinedRotation * joint.shapeRotation);
float distance2 = glm::distance2(worldPosition, _translation);
if (distance2 > _boundingRadius) {
_boundingRadius = distance2;
}
}
_boundingRadius = sqrtf(_boundingRadius);
_shapesAreDirty = false;
}
}
@ -321,18 +329,10 @@ bool Model::getRightHandRotation(glm::quat& rotation) const {
return getJointRotation(getRightHandJointIndex(), rotation);
}
bool Model::setLeftHandPosition(const glm::vec3& position) {
return setJointPosition(getLeftHandJointIndex(), position);
}
bool Model::restoreLeftHandPosition(float percent) {
return restoreJointPosition(getLeftHandJointIndex(), percent);
}
bool Model::setLeftHandRotation(const glm::quat& rotation) {
return setJointRotation(getLeftHandJointIndex(), rotation);
}
bool Model::getLeftShoulderPosition(glm::vec3& position) const {
return getJointPosition(getLastFreeJointIndex(getLeftHandJointIndex()), position);
}
@ -341,18 +341,10 @@ float Model::getLeftArmLength() const {
return getLimbLength(getLeftHandJointIndex());
}
bool Model::setRightHandPosition(const glm::vec3& position) {
return setJointPosition(getRightHandJointIndex(), position);
}
bool Model::restoreRightHandPosition(float percent) {
return restoreJointPosition(getRightHandJointIndex(), percent);
}
bool Model::setRightHandRotation(const glm::quat& rotation) {
return setJointRotation(getRightHandJointIndex(), rotation);
}
bool Model::getRightShoulderPosition(glm::vec3& position) const {
return getJointPosition(getLastFreeJointIndex(getRightHandJointIndex()), position);
}

22
interface/src/renderer/Model.h
View file

@ -135,19 +135,11 @@ public:
/// \return true whether or not the rotation was found
bool getRightHandRotation(glm::quat& rotation) const;
/// Sets the position of the left hand using inverse kinematics.
/// \return whether or not the left hand joint was found
bool setLeftHandPosition(const glm::vec3& position);
/// Restores some percentage of the default position of the left hand.
/// \param percent the percentage of the default position to restore
/// \return whether or not the left hand joint was found
bool restoreLeftHandPosition(float percent = 1.0f);
/// Sets the rotation of the left hand.
/// \return whether or not the left hand joint was found
bool setLeftHandRotation(const glm::quat& rotation);
/// Gets the position of the left shoulder.
/// \return whether or not the left shoulder joint was found
bool getLeftShoulderPosition(glm::vec3& position) const;
@ -155,19 +147,11 @@ public:
/// Returns the extended length from the left hand to its last free ancestor.
float getLeftArmLength() const;
/// Sets the position of the right hand using inverse kinematics.
/// \return whether or not the right hand joint was found
bool setRightHandPosition(const glm::vec3& position);
/// Restores some percentage of the default position of the right hand.
/// \param percent the percentage of the default position to restore
/// \return whether or not the right hand joint was found
bool restoreRightHandPosition(float percent = 1.0f);
/// Sets the rotation of the right hand.
/// \return whether or not the right hand joint was found
bool setRightHandRotation(const glm::quat& rotation);
/// Gets the position of the right shoulder.
/// \return whether or not the right shoulder joint was found
bool getRightShoulderPosition(glm::vec3& position) const;
@ -195,6 +179,8 @@ public:
/// Use the collision to affect the model
void applyCollision(CollisionInfo& collision);
float getBoundingRadius() const { return _boundingRadius; }
/// Sets blended vertices computed in a separate thread.
void setBlendedVertices(const QVector<glm::vec3>& vertices, const QVector<glm::vec3>& normals);
@ -254,7 +240,7 @@ protected:
/// Computes and returns the extended length of the limb terminating at the specified joint and starting at the joint's
/// first free ancestor.
float getLimbLength(int jointIndex) const;
void applyRotationDelta(int jointIndex, const glm::quat& delta, bool constrain = true);
private:
@ -280,6 +266,8 @@ private:
QVector<QVector<QSharedPointer<Texture> > > _dilatedTextures;
QVector<Model*> _attachments;
float _boundingRadius;
static ProgramObject _program;
static ProgramObject _normalMapProgram;

11
libraries/avatars/src/HandData.cpp
View file

@ -61,11 +61,12 @@ void HandData::getLeftRightPalmIndices(int& leftPalmIndex, int& rightPalmIndex)
}
PalmData::PalmData(HandData* owningHandData) :
_rawRotation(0, 0, 0, 1),
_rawPosition(0, 0, 0),
_rawNormal(0, 1, 0),
_rawVelocity(0, 0, 0),
_rotationalVelocity(0, 0, 0),
_rawRotation(0.f, 0.f, 0.f, 1.f),
_rawPosition(0.f),
_rawNormal(0.f, 1.f, 0.f),
_rawVelocity(0.f),
_rotationalVelocity(0.f),
_totalPenetration(0.f),
_controllerButtons(0),
_isActive(false),
_leapID(LEAPID_INVALID),

4
libraries/avatars/src/HandData.h
View file

@ -154,6 +154,9 @@ public:
void setRawVelocity(const glm::vec3& velocity) { _rawVelocity = velocity; }
const glm::vec3& getRawVelocity() const { return _rawVelocity; }
void addToPosition(const glm::vec3& delta);
void addToPenetration(const glm::vec3& penetration) { _totalPenetration += penetration; }
void resolvePenetrations() { addToPosition(-_totalPenetration); _totalPenetration = glm::vec3(0.f); }
void setTipPosition(const glm::vec3& position) { _tipPosition = position; }
const glm::vec3 getTipPosition() const { return _owningHandData->leapPositionToWorldPosition(_tipPosition); }
@ -203,6 +206,7 @@ private:
glm::vec3 _tipPosition;
glm::vec3 _tipVelocity;
glm::vec3 _totalPenetration; // accumulator for per-frame penetrations
unsigned int _controllerButtons;
unsigned int _lastControllerButtons;
float _trigger;

12
libraries/shared/src/ShapeCollider.cpp
View file

@ -86,7 +86,8 @@ bool sphereCapsule(const SphereShape* sphereA, const CapsuleShape* capsuleB, Col
if (absAxialDistance < totalRadius + capsuleB->getHalfHeight()) {
glm::vec3 radialAxis = BA + axialDistance * capsuleAxis; // points from A to axis of B
float radialDistance2 = glm::length2(radialAxis);
if (radialDistance2 > totalRadius * totalRadius) {
float totalRadius2 = totalRadius * totalRadius;
if (radialDistance2 > totalRadius2) {
// sphere is too far from capsule axis
return false;
}
@ -95,6 +96,9 @@ bool sphereCapsule(const SphereShape* sphereA, const CapsuleShape* capsuleB, Col
float sign = (axialDistance > 0.f) ? 1.f : -1.f;
radialAxis = BA + (sign * capsuleB->getHalfHeight()) * capsuleAxis;
radialDistance2 = glm::length2(radialAxis);
if (radialDistance2 > totalRadius2) {
return false;
}
}
if (radialDistance2 > EPSILON * EPSILON) {
CollisionInfo* collision = collisions.getNewCollision();
@ -147,7 +151,8 @@ bool capsuleSphere(const CapsuleShape* capsuleA, const SphereShape* sphereB, Col
if (absAxialDistance < totalRadius + capsuleA->getHalfHeight()) {
glm::vec3 radialAxis = AB + axialDistance * capsuleAxis; // from sphereB to axis of capsuleA
float radialDistance2 = glm::length2(radialAxis);
if (radialDistance2 > totalRadius * totalRadius) {
float totalRadius2 = totalRadius * totalRadius;
if (radialDistance2 > totalRadius2) {
// sphere is too far from capsule axis
return false;
}
@ -162,6 +167,9 @@ bool capsuleSphere(const CapsuleShape* capsuleA, const SphereShape* sphereB, Col
closestApproach = capsuleA->getPosition() + (sign * capsuleA->getHalfHeight()) * capsuleAxis;
radialAxis = closestApproach - sphereB->getPosition();
radialDistance2 = glm::length2(radialAxis);
if (radialDistance2 > totalRadius2) {
return false;
}
}
if (radialDistance2 > EPSILON * EPSILON) {
CollisionInfo* collision = collisions.getNewCollision();

75
libraries/shared/src/StreamUtils.cpp Normal file
View file

@ -0,0 +1,75 @@
//
// StreamUtils.cpp
//
// Created by Andrew Meadows on 2014.02.21
// Copyright (c) 2014 High Fidelity, Inc. All rights reserved.
//
#include <glm/gtc/type_ptr.hpp>
#include "StreamUtils.h"
const char* hex_digits = "0123456789abcdef";
void StreamUtil::dump(std::ostream& s, const QByteArray& buffer) {
int row_size = 32;
int i = 0;
while (i < buffer.size()) {
for(int j = 0; i < buffer.size() && j < row_size; ++j) {
char byte = buffer[i];
s << hex_digits[(byte >> 4) & 0x0f] << hex_digits[byte & 0x0f] << " ";
++i;
}
s << "\n";
}
}
std::ostream& operator<<(std::ostream& s, const glm::vec3& v) {
s << "<" << v.x << " " << v.y << " " << v.z << ">";
return s;
}
std::ostream& operator<<(std::ostream& s, const glm::quat& q) {
s << "<" << q.x << " " << q.y << " " << q.z << " " << q.w << ">";
return s;
}
std::ostream& operator<<(std::ostream& s, const glm::mat4& m) {
s << "[";
for (int j = 0; j < 4; ++j) {
s << " " << m[0][j] << " " << m[1][j] << " " << m[2][j] << " " << m[3][j] << ";";
}
s << " ]";
return s;
}
// less common utils can be enabled with DEBUG
#ifdef DEBUG
std::ostream& operator<<(std::ostream& s, const CollisionInfo& c) {
s << "{penetration=" << c._penetration
<< ", contactPoint=" << c._contactPoint
<< ", addedVelocity=" << c._addedVelocity
<< "}";
return s;
}
std::ostream& operator<<(std::ostream& s, const SphereShape& sphere) {
s << "{type='sphere', center=" << sphere.getPosition()
<< ", radius=" << sphere.getRadius()
<< "}";
return s;
}
std::ostream& operator<<(std::ostream& s, const CapsuleShape& capsule) {
s << "{type='capsule', center=" << capsule.getPosition()
<< ", radius=" << capsule.getRadius()
<< ", length=" << (2.f * capsule.getHalfHeight())
<< ", begin=" << capsule.getStartPoint()
<< ", end=" << capsule.getEndPoint()
<< "}";
return s;
}
#endif // DEBUG

39
libraries/shared/src/StreamUtils.h Normal file
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@ -0,0 +1,39 @@
//
// StreamUtils.h
//
// Created by Andrew Meadows on 2014.02.21
// Copyright (c) 2014 High Fidelity, Inc. All rights reserved.
//
#ifndef __tests__StreamUtils__
#define __tests__StreamUtils__
#include <iostream>
#include <QByteArray>
#include <glm/glm.hpp>
#include <glm/gtx/quaternion.hpp>
namespace StreamUtil {
// dump the buffer, 32 bytes per row, each byte in hex, separated by whitespace
void dump(std::ostream& s, const QByteArray& buffer);
}
std::ostream& operator<<(std::ostream& s, const glm::vec3& v);
std::ostream& operator<<(std::ostream& s, const glm::quat& q);
std::ostream& operator<<(std::ostream& s, const glm::mat4& m);
// less common utils can be enabled with DEBUG
#ifdef DEBUG
#include "CollisionInfo.h"
#include "SphereShape.h"
#include "CapsuleShape.h"
std::ostream& operator<<(std::ostream& s, const CollisionInfo& c);
std::ostream& operator<<(std::ostream& s, const SphereShape& shape);
std::ostream& operator<<(std::ostream& s, const CapsuleShape& capsule);
#endif // DEBUG
#endif // __tests__StreamUtils__

7
tests/physics/src/CollisionInfoTests.cpp
View file

@ -13,12 +13,17 @@
#include <CollisionInfo.h>
#include <SharedUtil.h>
#include <StreamUtils.h>
#include "CollisionInfoTests.h"
#include "PhysicsTestUtil.h"
/*
static glm::vec3 xAxis(1.f, 0.f, 0.f);
static glm::vec3 xZxis(0.f, 1.f, 0.f);
static glm::vec3 xYxis(0.f, 0.f, 1.f);
void CollisionInfoTests::rotateThenTranslate() {
CollisionInfo collision;
collision._penetration = xAxis;

5
tests/physics/src/ShapeColliderTests.cpp
View file

@ -16,11 +16,14 @@
#include <ShapeCollider.h>
#include <SharedUtil.h>
#include <SphereShape.h>
#include <StreamUtils.h>
#include "PhysicsTestUtil.h"
#include "ShapeColliderTests.h"
const glm::vec3 origin(0.f);
static const glm::vec3 xAxis(1.f, 0.f, 0.f);
static const glm::vec3 yAxis(0.f, 1.f, 0.f);
static const glm::vec3 zAxis(0.f, 0.f, 1.f);
void ShapeColliderTests::sphereMissesSphere() {
// non-overlapping spheres of unequal size