Fixed conflicts

interface/src/Application.cpp

@@ -82,39 +82,39 @@ protected:
 };
 
 void GLCanvas::initializeGL() {
-    static_cast<Application*>(QCoreApplication::instance())->initializeGL();
+    Application::getInstance()->initializeGL();
 }
 
 void GLCanvas::paintGL() {
-    static_cast<Application*>(QCoreApplication::instance())->paintGL();
+    Application::getInstance()->paintGL();
 }
 
 void GLCanvas::resizeGL(int width, int height) {
-    static_cast<Application*>(QCoreApplication::instance())->resizeGL(width, height);
+    Application::getInstance()->resizeGL(width, height);
 }
 
 void GLCanvas::keyPressEvent(QKeyEvent* event) {
-    static_cast<Application*>(QCoreApplication::instance())->keyPressEvent(event);
+    Application::getInstance()->keyPressEvent(event);
 }
 
 void GLCanvas::keyReleaseEvent(QKeyEvent* event) {
-    static_cast<Application*>(QCoreApplication::instance())->keyReleaseEvent(event);
+    Application::getInstance()->keyReleaseEvent(event);
 }
 
 void GLCanvas::mouseMoveEvent(QMouseEvent* event) {
-    static_cast<Application*>(QCoreApplication::instance())->mouseMoveEvent(event);
+    Application::getInstance()->mouseMoveEvent(event);
 }
 
 void GLCanvas::mousePressEvent(QMouseEvent* event) {
-    static_cast<Application*>(QCoreApplication::instance())->mousePressEvent(event);
+    Application::getInstance()->mousePressEvent(event);
 }
 
 void GLCanvas::mouseReleaseEvent(QMouseEvent* event) {
-    static_cast<Application*>(QCoreApplication::instance())->mouseReleaseEvent(event);
+    Application::getInstance()->mouseReleaseEvent(event);
 }
 
 void GLCanvas::wheelEvent(QWheelEvent* event) {
-    static_cast<Application*>(QCoreApplication::instance())->wheelEvent(event);
+    Application::getInstance()->wheelEvent(event);
 }
 
 Application::Application(int& argc, char** argv) :
@@ -2114,7 +2114,7 @@ void* Application::networkReceive(void* args) {
     sockaddr senderAddress;
     ssize_t bytesReceived;
     
-    Application* app = static_cast<Application*>(QCoreApplication::instance());
+    Application* app = Application::getInstance();
     while (!app->_stopNetworkReceiveThread) {
         // check to see if the UI thread asked us to kill the voxel tree. since we're the only thread allowed to do that
         if (app->_wantToKillLocalVoxels) {

interface/src/Application.h

@@ -44,6 +44,8 @@ class Application : public QApplication {
     Q_OBJECT
 
 public:
+    static Application* getInstance() { return static_cast<Application*>(QCoreApplication::instance()); }
+
     Application(int& argc, char** argv);
 
     void initializeGL();
@@ -60,6 +62,7 @@ public:
     void wheelEvent(QWheelEvent* event);
     
     Avatar* getAvatar() { return &_myAvatar; }
+    VoxelSystem* getVoxels() { return &_voxels; }
 
 private slots:
     

interface/src/Audio.cpp

@@ -84,7 +84,7 @@ int audioCallback (const void* inputBuffer,
     Audio* parentAudio = (Audio*) userData;
     AgentList* agentList = AgentList::getInstance();
     
-    Application* interface = (Application*) QCoreApplication::instance();
+    Application* interface = Application::getInstance();
     Avatar* interfaceAvatar = interface->getAvatar();
     
     int16_t* inputLeft = ((int16_t**) inputBuffer)[0];
@@ -306,8 +306,6 @@ Audio::Audio(Oscilloscope* scope) :
     _averagedLatency(0.0),
     _measuredJitter(0),
     _jitterBufferLengthMsecs(12.0),
-    _jitterBufferSamples(_jitterBufferLengthMsecs *
-                     NUM_AUDIO_CHANNELS * (SAMPLE_RATE / 1000.0)),
     _wasStarved(0),
     _lastInputLoudness(0),
     _mixerLoopbackFlag(false),

interface/src/Audio.h

@@ -49,7 +49,6 @@ private:
     float _averagedLatency;
     float _measuredJitter;
     float _jitterBufferLengthMsecs;
-    short _jitterBufferSamples;
     int _wasStarved;
     float _lastInputLoudness;
     bool _mixerLoopbackFlag;

interface/src/Avatar.cpp

@@ -10,6 +10,7 @@
 #include <lodepng.h>
 #include <SharedUtil.h>
 #include "world.h"
+#include "Application.h"
 #include "Avatar.h"
 #include "Head.h"
 #include "Log.h"
@@ -254,6 +255,11 @@ void Avatar::simulate(float deltaTime, Transmitter* transmitter) {
         updateCollisionWithSphere(_TEST_bigSpherePosition, _TEST_bigSphereRadius, deltaTime);
     }
     
+    // collision response with voxels
+    if (_isMine) {
+        updateCollisionWithVoxels(deltaTime);
+    }
+    
     // driving the avatar around should only apply if this is my avatar (as opposed to an avatar being driven remotely)
     if (_isMine) {
         
@@ -583,6 +589,20 @@ void Avatar::updateCollisionWithSphere(glm::vec3 position, float radius, float d
     }
 }
 
+void Avatar::updateCollisionWithVoxels(float deltaTime) {
+    VoxelSystem* voxels = Application::getInstance()->getVoxels();
+    float radius = _height * 0.125f;
+    glm::vec3 halfVector = glm::vec3(0.0f, _height * ONE_HALF - radius, 0.0f);
+    glm::vec3 penetration;
+    if (voxels->findCapsulePenetration(_position - halfVector, _position + halfVector, radius, penetration)) {
+        _position += penetration;
+        
+        // reflect the velocity component in the direction of penetration
+        glm::vec3 direction = glm::normalize(penetration);
+        _velocity -= 2.0f * glm::dot(_velocity, direction) * direction * BOUNCE;
+    }
+}
+
 void Avatar::updateAvatarCollisions(float deltaTime) {
         
     //  Reset detector for nearest avatar

interface/src/Avatar.h

@@ -194,6 +194,7 @@ private:
     void updateHandMovementAndTouching(float deltaTime);
     void updateAvatarCollisions(float deltaTime);
     void updateCollisionWithSphere( glm::vec3 position, float radius, float deltaTime );
+    void updateCollisionWithVoxels(float deltaTime);
     void applyCollisionWithOtherAvatar( Avatar * other, float deltaTime );
     void setHeadFromGyros(glm::vec3 * eulerAngles, glm::vec3 * angularVelocity, float deltaTime, float smoothingTime);
     void checkForMouseRayTouching();

interface/src/Transmitter.h

@@ -35,4 +35,4 @@ private:
     glm::vec3 _estimatedRotation;
 
 #endif /* defined(__hifi__Transmitter__) */
-};
+};

interface/src/VoxelSystem.cpp

@@ -663,7 +663,8 @@ void VoxelSystem::render(bool texture) {
     // draw the number of voxels we have
     glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, _vboIndicesID);
     glScalef(TREE_SCALE, TREE_SCALE, TREE_SCALE);
-    glDrawElements(GL_TRIANGLES, 36 * _voxelsInReadArrays, GL_UNSIGNED_INT, 0);
+    glDrawRangeElementsEXT(GL_TRIANGLES, 0, VERTICES_PER_VOXEL * _voxelsInReadArrays,
+        36 * _voxelsInReadArrays, GL_UNSIGNED_INT, 0);
 
     glEnable(GL_BLEND);
     glDisable(GL_CULL_FACE);
@@ -929,6 +930,20 @@ bool VoxelSystem::findRayIntersection(const glm::vec3& origin, const glm::vec3&
     return true;
 }
 
+bool VoxelSystem::findSpherePenetration(const glm::vec3& center, float radius, glm::vec3& penetration) {
+    pthread_mutex_lock(&_treeLock);
+    bool result = _tree->findSpherePenetration(center, radius, penetration);
+    pthread_mutex_unlock(&_treeLock);
+    return result;
+}
+
+bool VoxelSystem::findCapsulePenetration(const glm::vec3& start, const glm::vec3& end, float radius, glm::vec3& penetration) {
+    pthread_mutex_lock(&_treeLock);
+    bool result = _tree->findCapsulePenetration(start, end, radius, penetration);
+    pthread_mutex_unlock(&_treeLock);
+    return result;
+}
+
 class falseColorizeRandomEveryOtherArgs {
 public:
     falseColorizeRandomEveryOtherArgs() : totalNodes(0), colorableNodes(0), coloredNodes(0), colorThis(true) {};

interface/src/VoxelSystem.h

@@ -69,7 +69,10 @@ public:
     
     bool findRayIntersection(const glm::vec3& origin, const glm::vec3& direction,
                              VoxelDetail& detail, float& distance, BoxFace& face);
-
+    
+    bool findSpherePenetration(const glm::vec3& center, float radius, glm::vec3& penetration);
+    bool findCapsulePenetration(const glm::vec3& start, const glm::vec3& end, float radius, glm::vec3& penetration);
+    
     void collectStatsForTreesAndVBOs();
 
     void deleteVoxelAt(float x, float y, float z, float s);

libraries/voxels/src/VoxelNode.cpp

@@ -247,6 +247,10 @@ void VoxelNode::printDebugDetails(const char* label) const {
     printOctalCode(_octalCode);
 }
 
+float VoxelNode::getEnclosingRadius() const {
+    return getScale() * sqrtf(3.0f) / 2.0f;
+}
+
 bool VoxelNode::isInView(const ViewFrustum& viewFrustum) const {
     AABox box = _box; // use temporary box so we can scale it
     box.scale(TREE_SCALE);

libraries/voxels/src/VoxelNode.h

@@ -57,6 +57,8 @@ public:
     float getScale() const { return _box.getSize().x;  /* voxelScale = (1 / powf(2, *node->getOctalCode())); */ };
     int getLevel() const { return *_octalCode + 1; /* one based or zero based? */ };
     
+    float getEnclosingRadius() const;
+    
     bool isColored() const { return (_trueColor[3]==1); }; 
     bool isInView(const ViewFrustum& viewFrustum) const; 
     ViewFrustum::location inFrustum(const ViewFrustum& viewFrustum) const;

libraries/voxels/src/VoxelTree.cpp

@@ -652,7 +652,7 @@ public:
     bool found;
 };
 
-bool findRayOperation(VoxelNode* node, void* extraData) {
+bool findRayIntersectionOp(VoxelNode* node, void* extraData) {
     RayArgs* args = static_cast<RayArgs*>(extraData);
     AABox box = node->getAABox();
     float distance;
@@ -674,10 +674,97 @@ bool findRayOperation(VoxelNode* node, void* extraData) {
 }
 
 bool VoxelTree::findRayIntersection(const glm::vec3& origin, const glm::vec3& direction,
-                                    VoxelNode*& node, float& distance, BoxFace& face)
-{
+                                    VoxelNode*& node, float& distance, BoxFace& face) {
     RayArgs args = { origin / (float)TREE_SCALE, direction, node, distance, face };
-    recurseTreeWithOperation(findRayOperation, &args);
+    recurseTreeWithOperation(findRayIntersectionOp, &args);
+    return args.found;
+}
+
+class SphereArgs {
+public:
+    glm::vec3 center;
+    float radius;
+    glm::vec3& penetration;
+    bool found;
+};
+
+bool findSpherePenetrationOp(VoxelNode* node, void* extraData) {
+    SphereArgs* args = static_cast<SphereArgs*>(extraData);
+    
+    // currently, we treat each node as a sphere enveloping the box
+    const glm::vec3& nodeCenter = node->getCenter();
+    glm::vec3 vector = args->center - nodeCenter;
+    float vectorLength = glm::length(vector);
+    float distance = vectorLength - node->getEnclosingRadius() - args->radius;
+    if (distance >= 0.0f) {
+        return false;
+    }
+    if (!node->isLeaf()) {
+        return true; // recurse on children
+    }
+    if (node->isColored()) {
+        args->penetration += vector * (-distance * TREE_SCALE / vectorLength);
+        args->found = true;
+    }
+    return false;
+}
+
+bool VoxelTree::findSpherePenetration(const glm::vec3& center, float radius, glm::vec3& penetration) {
+    SphereArgs args = { center / (float)TREE_SCALE, radius / TREE_SCALE, penetration };
+    penetration = glm::vec3(0.0f, 0.0f, 0.0f);
+    recurseTreeWithOperation(findSpherePenetrationOp, &args);
+    return args.found;
+}
+
+class CapsuleArgs {
+public:
+    glm::vec3 start;
+    glm::vec3 end;
+    float radius;
+    glm::vec3& penetration;
+    bool found;
+};
+
+glm::vec3 computeVectorFromPointToSegment(const glm::vec3& point, const glm::vec3& start, const glm::vec3& end) {
+    // compute the projection of the point vector onto the segment vector
+    glm::vec3 segmentVector = end - start;
+    float proj = glm::dot(point - start, segmentVector) / glm::dot(segmentVector, segmentVector);
+    if (proj <= 0.0f) { // closest to the start
+        return start - point;
+        
+    } else if (proj >= 1.0f) { // closest to the end
+        return end - point;
+    
+    } else { // closest to the middle
+        return start + segmentVector*proj - point;
+    }
+}
+
+bool findCapsulePenetrationOp(VoxelNode* node, void* extraData) {
+    CapsuleArgs* args = static_cast<CapsuleArgs*>(extraData);
+    
+    // currently, we treat each node as a sphere enveloping the box
+    const glm::vec3& nodeCenter = node->getCenter();
+    glm::vec3 vector = computeVectorFromPointToSegment(nodeCenter, args->start, args->end);
+    float vectorLength = glm::length(vector);
+    float distance = vectorLength - node->getEnclosingRadius() - args->radius;
+    if (distance >= 0.0f) {
+        return false;
+    }
+    if (!node->isLeaf()) {
+        return true; // recurse on children
+    }
+    if (node->isColored()) {
+        args->penetration += vector * (-distance * TREE_SCALE / vectorLength);
+        args->found = true;
+    }
+    return false;
+}
+
+bool VoxelTree::findCapsulePenetration(const glm::vec3& start, const glm::vec3& end, float radius, glm::vec3& penetration) {
+    CapsuleArgs args = { start / (float)TREE_SCALE, end / (float)TREE_SCALE, radius / TREE_SCALE, penetration };
+    penetration = glm::vec3(0.0f, 0.0f, 0.0f);
+    recurseTreeWithOperation(findCapsulePenetrationOp, &args);
     return args.found;
 }
 

libraries/voxels/src/VoxelTree.h

@@ -71,6 +71,9 @@ public:
     bool findRayIntersection(const glm::vec3& origin, const glm::vec3& direction,
                              VoxelNode*& node, float& distance, BoxFace& face);
 
+    bool findSpherePenetration(const glm::vec3& center, float radius, glm::vec3& penetration);
+    bool findCapsulePenetration(const glm::vec3& start, const glm::vec3& end, float radius, glm::vec3& penetration);
+
     // Note: this assumes the fileFormat is the HIO individual voxels code files
     void loadVoxelsFile(const char* fileName, bool wantColorRandomizer);