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luiscuenca 2019-01-23 17:23:36 -07:00
parent 43244193e8
commit a947c894c2
10 changed files with 68 additions and 62 deletions
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59
interface/src/avatar/AvatarManager.cpp
View file

@ -411,11 +411,8 @@ void AvatarManager::buildPhysicsTransaction(PhysicsEngine::Transaction& transact
auto& detailedMotionStates = avatar->getDetailedMotionStates();
for (auto& mState : detailedMotionStates) {
if (mState) {
transaction.objectsToRemove.push_back(mState);
}
transaction.objectsToRemove.push_back(mState);
}
qDebug() << "Removing " << detailedMotionStates.size() << " detailed motion states from " << avatar->getSessionUUID();
avatar->resetDetailedMotionStates();
} else {
@ -430,15 +427,12 @@ void AvatarManager::buildPhysicsTransaction(PhysicsEngine::Transaction& transact
} else {
failedShapeBuilds.insert(avatar);
}
if (avatar->getDetailedMotionStates().size() == 0) {
avatar->createDetailedMotionStates(avatar);
for (auto dMotionState : avatar->getDetailedMotionStates()) {
transaction.objectsToAdd.push_back(dMotionState);
}
}
qDebug() << "Adding " << avatar->getDetailedMotionStates().size() << " detailed motion states from " << avatar->getSessionUUID();
}
} else if (isInPhysics) {
transaction.objectsToChange.push_back(avatar->_motionState);
@ -642,19 +636,17 @@ AvatarSharedPointer AvatarManager::getAvatarBySessionID(const QUuid& sessionID)
RayToAvatarIntersectionResult AvatarManager::findRayIntersection(const PickRay& ray,
const QScriptValue& avatarIdsToInclude,
const QScriptValue& avatarIdsToDiscard,
const QScriptValue& jointIndicesToFilter,
const QStringList& jointIndicesToFilter,
bool pickAgainstMesh) {
QVector<EntityItemID> avatarsToInclude = qVectorEntityItemIDFromScriptValue(avatarIdsToInclude);
QVector<EntityItemID> avatarsToDiscard = qVectorEntityItemIDFromScriptValue(avatarIdsToDiscard);
QVector<uint> jointsToFilter;
qVectorIntFromScriptValue(jointIndicesToFilter, jointsToFilter);
return findRayIntersectionVector(ray, avatarsToInclude, avatarsToDiscard, jointsToFilter, pickAgainstMesh);
return findRayIntersectionVector(ray, avatarsToInclude, avatarsToDiscard, jointIndicesToFilter, pickAgainstMesh);
}
RayToAvatarIntersectionResult AvatarManager::findRayIntersectionVector(const PickRay& ray,
const QVector<EntityItemID>& avatarsToInclude,
const QVector<EntityItemID>& avatarsToDiscard,
const QVector<uint>& jointIndicesToFilter,
const QStringList& jointIndicesToFilter,
bool pickAgainstMesh) {
RayToAvatarIntersectionResult result;
if (QThread::currentThread() != thread()) {
@ -663,14 +655,10 @@ RayToAvatarIntersectionResult AvatarManager::findRayIntersectionVector(const Pic
Q_ARG(const PickRay&, ray),
Q_ARG(const QVector<EntityItemID>&, avatarsToInclude),
Q_ARG(const QVector<EntityItemID>&, avatarsToDiscard),
Q_ARG(const QVector<uint>&, jointIndicesToFilter),
Q_ARG(const QStringList&, jointIndicesToFilter),
Q_ARG(bool, pickAgainstMesh));
return result;
}
glm::vec3 rayDirectionInv = { ray.direction.x != 0 ? 1.0f / ray.direction.x : INFINITY,
ray.direction.y != 0 ? 1.0f / ray.direction.y : INFINITY,
ray.direction.z != 0 ? 1.0f / ray.direction.z : INFINITY };
float distance = (float)INT_MAX; // with FLT_MAX bullet rayTest does not return results
BoxFace face = BoxFace::UNKNOWN_FACE;
@ -681,13 +669,18 @@ RayToAvatarIntersectionResult AvatarManager::findRayIntersectionVector(const Pic
glm::vec3 transformedRayDirection;
if (physicsResults.size() > 0) {
glm::vec3 rayDirectionInv = { ray.direction.x != 0 ? 1.0f / ray.direction.x : INFINITY,
ray.direction.y != 0.0f ? 1.0f / ray.direction.y : INFINITY,
ray.direction.z != 0.0f ? 1.0f / ray.direction.z : INFINITY };
MyCharacterController::RayAvatarResult rayAvatarResult;
AvatarPointer avatar = nullptr;
for (auto &hit : physicsResults) {
auto avatarID = hit._intersectWithAvatar;
bool skipThisAvatar = ((avatarsToInclude.size() > 0 && !avatarsToInclude.contains(avatarID)) ||
(avatarsToDiscard.size() > 0 && avatarsToDiscard.contains(avatarID))) && jointIndicesToFilter.size() == 0;
if (skipThisAvatar) {
bool avatarIsIncluded = avatarsToInclude.contains(avatarID);
bool avatarIsDiscarded = avatarsToDiscard.contains(avatarID);
if (jointIndicesToFilter.size() == 0 && ((avatarsToInclude.size() > 0 && !avatarIsIncluded) ||
(avatarsToDiscard.size() > 0 && avatarIsDiscarded))) {
continue;
}
if (!(_myAvatar->getSessionUUID() == avatarID)) {
@ -701,16 +694,16 @@ RayToAvatarIntersectionResult AvatarManager::findRayIntersectionVector(const Pic
}
QVector<int> jointsToDiscard;
if (avatar && jointIndicesToFilter.size() > 0) {
int jointCount = avatar->getJointCount();
if (avatarsToInclude.size() > 0 && avatarsToInclude.contains(avatarID)) {
for (int i = 0; i < jointCount; i++) {
if (!jointIndicesToFilter.contains(i)) {
auto names = avatar->getJointNames();
if (avatarIsIncluded) {
for (int i = 0; i < names.size(); i++) {
if (!jointIndicesToFilter.contains(names[i])) {
jointsToDiscard.push_back(i);
}
}
} else if (avatarsToDiscard.size() > 0 && avatarsToDiscard.contains(avatarID)) {
for (int i = 0; i < jointCount; i++) {
if (jointIndicesToFilter.contains(i)) {
} else if (avatarIsDiscarded) {
for (int i = 0; i < names.size(); i++) {
if (jointIndicesToFilter.contains(names[i])) {
jointsToDiscard.push_back(i);
}
}
@ -719,7 +712,6 @@ RayToAvatarIntersectionResult AvatarManager::findRayIntersectionVector(const Pic
if (!hit._isBound) {
if (!jointsToDiscard.contains(hit._intersectWithJoint)) {
rayAvatarResult = hit;
break;
}
} else if (avatar) {
auto &multiSpheres = avatar->getMultiSphereShapes();
@ -753,13 +745,9 @@ RayToAvatarIntersectionResult AvatarManager::findRayIntersectionVector(const Pic
});
}
rayAvatarResult = boxHits[0];
break;
}
}
}
}
if (rayAvatarResult._intersect) {
if (pickAgainstMesh) {
glm::vec3 localRayOrigin = avatar->worldToJointPoint(ray.origin, rayAvatarResult._intersectWithJoint);
glm::vec3 localRayPoint = avatar->worldToJointPoint(ray.origin + ray.direction, rayAvatarResult._intersectWithJoint);
@ -769,7 +757,7 @@ RayToAvatarIntersectionResult AvatarManager::findRayIntersectionVector(const Pic
auto jointOrientation = avatarOrientation * avatar->getAbsoluteDefaultJointRotationInObjectFrame(rayAvatarResult._intersectWithJoint);
auto jointPosition = avatarPosition + (avatarOrientation * avatar->getAbsoluteDefaultJointTranslationInObjectFrame(rayAvatarResult._intersectWithJoint));
auto defaultFrameRayOrigin = jointPosition + jointOrientation * localRayOrigin;
auto defaultFrameRayPoint = jointPosition + jointOrientation * localRayPoint;
auto defaultFrameRayDirection = defaultFrameRayPoint - defaultFrameRayOrigin;
@ -780,9 +768,14 @@ RayToAvatarIntersectionResult AvatarManager::findRayIntersectionVector(const Pic
rayAvatarResult._intersectionPoint = ray.origin + newDistance * glm::normalize(ray.direction);
rayAvatarResult._intersectionNormal = surfaceNormal;
extraInfo["worldIntersectionPoint"] = vec3toVariant(rayAvatarResult._intersectionPoint);
break;
}
} else {
break;
}
}
if (rayAvatarResult._intersect) {
result.intersects = true;
result.avatarID = rayAvatarResult._intersectWithAvatar;
result.distance = rayAvatarResult._distance;

10
interface/src/avatar/AvatarManager.h
View file

@ -138,26 +138,26 @@ public:
* @param {PickRay} ray
* @param {Uuid[]} [avatarsToInclude=[]]
* @param {Uuid[]} [avatarsToDiscard=[]]
* @param {uint[]} [jointIndicesToFilter=[] - If included/discarded avatars are provided only this joints corresponding to those avatars would be included/discarded. ]
* @param {string[]} [jointIndicesToFilter=[] - If included/discarded avatars are provided only this joints corresponding to those avatars would be included/discarded. ]
* @returns {RayToAvatarIntersectionResult}
*/
Q_INVOKABLE RayToAvatarIntersectionResult findRayIntersection(const PickRay& ray,
const QScriptValue& avatarIdsToInclude = QScriptValue(),
const QScriptValue& avatarIdsToDiscard = QScriptValue(),
const QScriptValue& jointIndicesToFilter = QScriptValue(),
bool pickAgainstMesh = false);
const QStringList& jointIndicesToFilter = QStringList(),
bool pickAgainstMesh = true);
/**jsdoc
* @function AvatarManager.findRayIntersectionVector
* @param {PickRay} ray
* @param {Uuid[]} avatarsToInclude
* @param {Uuid[]} avatarsToDiscard
* @param {uint[]} [jointIndicesToFilter=[] - If included/discarded avatars are provided only this joints corresponding to those avatars would be included/discarded. ]
* @param {string[]} [jointIndicesToFilter=[] - If included/discarded avatars are provided only this joints corresponding to those avatars would be included/discarded. ]
* @returns {RayToAvatarIntersectionResult}
*/
Q_INVOKABLE RayToAvatarIntersectionResult findRayIntersectionVector(const PickRay& ray,
const QVector<EntityItemID>& avatarsToInclude,
const QVector<EntityItemID>& avatarsToDiscard,
const QVector<uint>& jointIndicesToFilter,
const QStringList& jointIndicesToFilter,
bool pickAgainstMesh);
/**jsdoc

11
interface/src/avatar/MyCharacterController.cpp
View file

@ -47,7 +47,6 @@ void MyCharacterController::updateShapeIfNecessary() {
if (_pendingFlags & PENDING_FLAG_UPDATE_SHAPE) {
_pendingFlags &= ~PENDING_FLAG_UPDATE_SHAPE;
if (_radius > 0.0f) {
// _pendingFlags |= PENDING_FLAG_RESET_DETAILED_SHAPES;
// create RigidBody if it doesn't exist
if (!_rigidBody) {
btCollisionShape* shape = computeShape();
@ -378,6 +377,12 @@ DetailedMotionState* MyCharacterController::createDetailedMotionStateForJoint(in
return nullptr;
}
void MyCharacterController::clearDetailedMotionStates() {
_pendingFlags |= PENDING_FLAG_REMOVE_DETAILED_FROM_SIMULATION;
// We make sure we don't add them again
_pendingFlags &= ~PENDING_FLAG_ADD_DETAILED_TO_SIMULATION;
}
void MyCharacterController::resetDetailedMotionStates() {
for (size_t i = 0; i < _detailedMotionStates.size(); i++) {
_detailedMotionStates[i] = nullptr;
@ -455,6 +460,10 @@ std::vector<MyCharacterController::RayAvatarResult> MyCharacterController::rayTe
result._distance = length * rayCallback.m_hitFractions[i];
result._intersectWithJoint = detailedMotionState->getJointIndex();
result._isBound = detailedMotionState->getIsBound(result._boundJoints);
btVector3 center;
btScalar radius;
detailedMotionState->getShape()->getBoundingSphere(center, radius);
result._maxDistance = (float)radius;
foundAvatars.push_back(result);
}
}

4
interface/src/avatar/MyCharacterController.h
View file

@ -47,7 +47,7 @@ public:
btCollisionShape* createDetailedCollisionShapeForJoint(int jointIndex);
DetailedMotionState* createDetailedMotionStateForJoint(int jointIndex);
std::vector<DetailedMotionState*>& getDetailedMotionStates() { return _detailedMotionStates; }
void clearDetailedMotionStates() { _pendingFlags |= PENDING_FLAG_REMOVE_DETAILED_FROM_SIMULATION; }
void clearDetailedMotionStates();
void resetDetailedMotionStates();
void buildPhysicsTransaction(PhysicsEngine::Transaction& transaction);
@ -60,6 +60,8 @@ public:
QUuid _intersectWithAvatar;
int _intersectWithJoint { -1 };
float _distance { 0.0f };
float _maxDistance { 0.0f };
QVariantMap _extraInfo;
glm::vec3 _intersectionPoint;
glm::vec3 _intersectionNormal;
std::vector<int> _boundJoints;

5
interface/src/avatar/OtherAvatar.cpp
View file

@ -210,7 +210,7 @@ void OtherAvatar::setWorkloadRegion(uint8_t region) {
} else {
printRegion = "invalid";
}
qDebug() << "Setting workload region to " << printRegion;
qCDebug(avatars) << "Setting workload region to " << printRegion;
computeShapeLOD();
}
@ -235,7 +235,7 @@ void OtherAvatar::computeShapeLOD() {
if (newLOD != _bodyLOD) {
_bodyLOD = newLOD;
if (isInPhysicsSimulation()) {
qDebug() << "Changing to body LOD " << newLOD;
qCDebug(avatars) << "Changing to body LOD " << newLOD;
_needsReinsertion = true;
}
}
@ -280,6 +280,7 @@ void OtherAvatar::updateCollisionGroup(bool myAvatarCollide) {
}
void OtherAvatar::createDetailedMotionStates(const std::shared_ptr<OtherAvatar>& avatar) {
assert(detailedMotionStates.empty());
auto& detailedMotionStates = getDetailedMotionStates();
if (_bodyLOD == BodyLOD::Sphere) {
auto dMotionState = createMotionState(avatar, -1);

2
interface/src/raypick/RayPick.cpp
View file

@ -56,7 +56,7 @@ PickResultPointer RayPick::getOverlayIntersection(const PickRay& pick) {
}
PickResultPointer RayPick::getAvatarIntersection(const PickRay& pick) {
RayToAvatarIntersectionResult avatarRes = DependencyManager::get<AvatarManager>()->findRayIntersectionVector(pick, getIncludeItemsAs<EntityItemID>(), getIgnoreItemsAs<EntityItemID>(), QVector<uint>(), false);
RayToAvatarIntersectionResult avatarRes = DependencyManager::get<AvatarManager>()->findRayIntersectionVector(pick, getIncludeItemsAs<EntityItemID>(), getIgnoreItemsAs<EntityItemID>(), QStringList(), true);
if (avatarRes.intersects) {
return std::make_shared<RayPickResult>(IntersectionType::AVATAR, avatarRes.avatarID, avatarRes.distance, avatarRes.intersection, pick, avatarRes.surfaceNormal, avatarRes.extraInfo);
} else {

29
libraries/physics/src/MultiSphereShape.cpp
View file

@ -25,7 +25,7 @@ void SphereRegion::dump(std::vector<std::pair<glm::vec3, glm::vec3>>& outLines)
void SphereRegion::insertUnique(const glm::vec3& point, std::vector<glm::vec3>& pointSet) {
auto hit = std::find_if(pointSet.begin(), pointSet.end(), [point](const glm::vec3& pointFromSet) -> bool {
return (pointFromSet == point);
return (glm::length(pointFromSet-point) < FLT_EPSILON);
});
if (hit == pointSet.end()) {
pointSet.push_back(point);
@ -107,7 +107,6 @@ CollisionShapeExtractionMode MultiSphereShape::getExtractionModeByName(const QSt
}
else if (isSim || isFlow || isEye || isToe) {
mode = CollisionShapeExtractionMode::None;
//qDebug() << "Trying to add " << (int)positions.size() << " spheres for " << jointName << " length: " << maxLength;
}
return mode;
}
@ -116,9 +115,9 @@ void MultiSphereShape::filterUniquePoints(const std::vector<btVector3>& kdop, st
for (size_t j = 0; j < kdop.size(); j++) {
btVector3 btPoint = kdop[j];
auto hit = std::find_if(uniquePoints.begin(), uniquePoints.end(), [btPoint](const glm::vec3& point) -> bool {
return (btPoint.getX() == point.x
&& btPoint.getY() == point.y
&& btPoint.getZ() == point.z);
return (glm::length(btPoint.getX() - point.x) < FLT_EPSILON
&& glm::length(btPoint.getY() - point.y) < FLT_EPSILON
&& glm::length(btPoint.getZ() - point.z) < FLT_EPSILON);
});
if (hit == uniquePoints.end()) {
uniquePoints.push_back(bulletToGLM(btPoint));
@ -287,9 +286,11 @@ void MultiSphereShape::spheresFromAxes(const std::vector<glm::vec3>& points, con
maxRadius = radius > maxRadius ? radius : maxRadius;
}
}
averageRadius /= (int)points.size();
maxAverageRadius = averageRadius > maxAverageRadius ? averageRadius : maxAverageRadius;
minAverageRadius = averageRadius < minAverageRadius ? averageRadius : minAverageRadius;
if (points.size() > 0) {
averageRadius /= (int)points.size();
}
maxAverageRadius = glm::max(averageRadius, maxAverageRadius);
minAverageRadius = glm::min(averageRadius, minAverageRadius);
spheres[j]._radius = averageRadius;
}
float radiusRatio = maxRadius / maxAverageRadius;
@ -331,17 +332,17 @@ void MultiSphereShape::connectSpheres(int index1, int index2, bool onlyEdges) {
auto axis = sphere1._position - sphere2._position;
float angleOffset = glm::asin((sphere1._radius - sphere2._radius) / distance);
float percent1 = ((0.5f * PI) + angleOffset) / PI;
float percent2 = ((0.5f * PI) - angleOffset) / PI;
float ratio1 = ((0.5f * PI) + angleOffset) / PI;
float ratio2 = ((0.5f * PI) - angleOffset) / PI;
std::vector<glm::vec3> edge1, edge2;
if (onlyEdges) {
std::vector<std::pair<glm::vec3, glm::vec3>> debugLines;
calculateSphereLines(debugLines, sphere1._position, sphere1._radius, DEFAULT_SPHERE_SUBDIVISIONS, glm::normalize(axis), percent1, &edge1);
calculateSphereLines(debugLines, sphere2._position, sphere2._radius, DEFAULT_SPHERE_SUBDIVISIONS, glm::normalize(-axis), percent2, &edge2);
calculateSphereLines(debugLines, sphere1._position, sphere1._radius, DEFAULT_SPHERE_SUBDIVISIONS, glm::normalize(axis), ratio1, &edge1);
calculateSphereLines(debugLines, sphere2._position, sphere2._radius, DEFAULT_SPHERE_SUBDIVISIONS, glm::normalize(-axis), ratio2, &edge2);
} else {
calculateSphereLines(_debugLines, sphere1._position, sphere1._radius, DEFAULT_SPHERE_SUBDIVISIONS, glm::normalize(axis), percent1, &edge1);
calculateSphereLines(_debugLines, sphere2._position, sphere2._radius, DEFAULT_SPHERE_SUBDIVISIONS, glm::normalize(-axis), percent2, &edge2);
calculateSphereLines(_debugLines, sphere1._position, sphere1._radius, DEFAULT_SPHERE_SUBDIVISIONS, glm::normalize(axis), ratio1, &edge1);
calculateSphereLines(_debugLines, sphere2._position, sphere2._radius, DEFAULT_SPHERE_SUBDIVISIONS, glm::normalize(-axis), ratio2, &edge2);
}
connectEdges(_debugLines, edge1, edge2);
}

4
libraries/physics/src/ShapeFactory.cpp
View file

@ -289,8 +289,8 @@ const btCollisionShape* ShapeFactory::createShapeFromInfo(const ShapeInfo& info)
std::vector<float> radiuses;
auto sphereCollection = info.getSphereCollection();
for (auto &sphereData : sphereCollection) {
positions.push_back(glmToBullet(sphereData.first));
radiuses.push_back(sphereData.second);
positions.push_back(glmToBullet(glm::vec3(sphereData)));
radiuses.push_back(sphereData.w);
}
shape = new btMultiSphereShape(positions.data(), radiuses.data(), (int)positions.size());
}

4
libraries/shared/src/ShapeInfo.cpp
View file

@ -276,8 +276,8 @@ const HashKey& ShapeInfo::getHash() const {
_hashKey.hashUint64((uint64_t)_type);
if (_type == SHAPE_TYPE_MULTISPHERE) {
for (auto &sphereData : _sphereCollection) {
_hashKey.hashVec3(sphereData.first);
_hashKey.hashFloat(sphereData.second);
_hashKey.hashVec3(glm::vec3(sphereData));
_hashKey.hashFloat(sphereData.w);
}
} else if (_type != SHAPE_TYPE_SIMPLE_HULL) {
_hashKey.hashVec3(_halfExtents);

2
libraries/shared/src/ShapeInfo.h
View file

@ -58,7 +58,7 @@ public:
using PointList = QVector<glm::vec3>;
using PointCollection = QVector<PointList>;
using TriangleIndices = QVector<int32_t>;
using SphereData = QPair<glm::vec3, float>;
using SphereData = glm::vec4;
using SphereCollection = QVector<SphereData>;
static QString getNameForShapeType(ShapeType type);