add particle collisions with voxels

interface/src/Application.cpp

@@ -1849,6 +1849,8 @@ void Application::init() {
     _particles.init();
     _particles.setViewFrustum(getViewFrustum());
     
+    _particleCollisionSystem.init(&_particleEditSender, _particles.getTree(), _voxels.getTree(), &_audio);
+    
     _palette.init(_glWidget->width(), _glWidget->height());
     _palette.addAction(Menu::getInstance()->getActionForOption(MenuOption::VoxelAddMode), 0, 0);
     _palette.addAction(Menu::getInstance()->getActionForOption(MenuOption::VoxelDeleteMode), 0, 1);
@@ -2517,6 +2519,7 @@ void Application::update(float deltaTime) {
     updateCursor(deltaTime); // Handle cursor updates
     
     _particles.update(); // update the particles...
+    _particleCollisionSystem.update(); // handle collisions for the particles...
 }
 
 void Application::updateAvatar(float deltaTime) {

interface/src/Application.h

@@ -22,6 +22,7 @@
 #include <NetworkPacket.h>
 #include <NodeList.h>
 #include <PacketHeaders.h>
+#include <ParticleCollisionSystem.h>
 #include <ParticleEditPacketSender.h>
 #include <VoxelQuery.h>
 
@@ -352,6 +353,7 @@ private:
     ViewFrustum _sharedVoxelSystemViewFrustum;
     
     ParticleTreeRenderer _particles;
+    ParticleCollisionSystem _particleCollisionSystem;
 
     QByteArray _voxelsFilename;
     bool _wantToKillLocalVoxels;

interface/src/Audio.h

@@ -16,6 +16,7 @@
 
 #include <QtCore/QObject>
 
+#include <AbstractAudioInterface.h>
 #include <AudioRingBuffer.h>
 #include <StdDev.h>
 
@@ -34,7 +35,7 @@ class QAudioInput;
 class QAudioOutput;
 class QIODevice;
 
-class Audio : public QObject {
+class Audio : public QObject, public AbstractAudioInterface {
     Q_OBJECT
 public:
     // setup for audio I/O
@@ -52,9 +53,9 @@ public:
     
     void lowPassFilter(int16_t* inputBuffer);
     
-    void startCollisionSound(float magnitude, float frequency, float noise, float duration, bool flashScreen);
-    void startDrumSound(float volume, float frequency, float duration, float decay);
-    
+    virtual void startCollisionSound(float magnitude, float frequency, float noise, float duration, bool flashScreen);
+    virtual void startDrumSound(float volume, float frequency, float duration, float decay);
+
     float getCollisionSoundMagnitude() { return _collisionSoundMagnitude; }
     
     bool getCollisionFlashesScreen() { return _collisionFlashesScreen; }

libraries/audio/src/AbstractAudioInterface.h

@@ -0,0 +1,19 @@
+//
+//  AbstractAudioInterface.h
+//  hifi
+//
+//  Created by Brad Hefta-Gaub on 12/4/13.
+//  Copyright (c) 2013 High Fidelity, Inc. All rights reserved.
+//
+//
+
+#ifndef __hifi__AbstractAudioInterface__
+#define __hifi__AbstractAudioInterface__
+
+class AbstractAudioInterface {
+public:
+    virtual void startCollisionSound(float magnitude, float frequency, float noise, float duration, bool flashScreen) = 0;
+    virtual void startDrumSound(float volume, float frequency, float duration, float decay) = 0;
+};
+
+#endif /* defined(__hifi__AbstractAudioInterface__) */

libraries/octree/src/Octree.cpp

@@ -583,33 +583,40 @@ public:
     float radius;
     glm::vec3& penetration;
     bool found;
+    OctreeElement* penetratedElement;
 };
 
-bool findSpherePenetrationOp(OctreeElement* node, void* extraData) {
+bool findSpherePenetrationOp(OctreeElement* element, void* extraData) {
     SphereArgs* args = static_cast<SphereArgs*>(extraData);
 
     // coarse check against bounds
-    const AABox& box = node->getAABox();
+    const AABox& box = element->getAABox();
     if (!box.expandedContains(args->center, args->radius)) {
         return false;
     }
-    if (!node->isLeaf()) {
+    if (!element->isLeaf()) {
         return true; // recurse on children
     }
-    if (node->hasContent()) {
-        glm::vec3 nodePenetration;
-        if (box.findSpherePenetration(args->center, args->radius, nodePenetration)) {
-            args->penetration = addPenetrations(args->penetration, nodePenetration * (float)TREE_SCALE);
+    if (element->hasContent()) {
+        glm::vec3 elementPenetration;
+        if (box.findSpherePenetration(args->center, args->radius, elementPenetration)) {
+            args->penetration = addPenetrations(args->penetration, elementPenetration * (float)TREE_SCALE);
             args->found = true;
+            args->penetratedElement = element;
         }
     }
     return false;
 }
 
-bool Octree::findSpherePenetration(const glm::vec3& center, float radius, glm::vec3& penetration) {
-    SphereArgs args = { center / (float)TREE_SCALE, radius / TREE_SCALE, penetration };
+bool Octree::findSpherePenetration(const glm::vec3& center, float radius, glm::vec3& penetration, 
+                    OctreeElement** penetratedElement) {
+                    
+    SphereArgs args = { center / (float)TREE_SCALE, radius / TREE_SCALE, penetration, false, NULL };
     penetration = glm::vec3(0.0f, 0.0f, 0.0f);
     recurseTreeWithOperation(findSpherePenetrationOp, &args);
+    if (penetratedElement) {
+        *penetratedElement = args.penetratedElement;
+    }
     return args.found;
 }
 

libraries/octree/src/Octree.h

@@ -218,7 +218,9 @@ public:
     bool findRayIntersection(const glm::vec3& origin, const glm::vec3& direction,
                              OctreeElement*& node, float& distance, BoxFace& face);
 
-    bool findSpherePenetration(const glm::vec3& center, float radius, glm::vec3& penetration);
+    bool findSpherePenetration(const glm::vec3& center, float radius, glm::vec3& penetration, 
+                                OctreeElement** penetratedElement = NULL);
+                                
     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

libraries/particles/src/ParticleCollisionSystem.cpp

@@ -0,0 +1,147 @@
+//
+//  ParticleCollisionSystem.cpp
+//  hifi
+//
+//  Created by Brad Hefta-Gaub on 12/4/13.
+//  Copyright (c) 2013 High Fidelity, Inc. All rights reserved.
+//
+//
+
+#include <AbstractAudioInterface.h>
+#include <VoxelTree.h>
+
+#include "Particle.h"
+#include "ParticleCollisionSystem.h"
+#include "ParticleEditHandle.h"
+#include "ParticleEditPacketSender.h"
+#include "ParticleTree.h"
+
+ParticleCollisionSystem::ParticleCollisionSystem(ParticleEditPacketSender* packetSender, 
+    ParticleTree* particles, VoxelTree* voxels, AbstractAudioInterface* audio) {
+    init(packetSender, particles, voxels, audio);
+}
+
+void ParticleCollisionSystem::init(ParticleEditPacketSender* packetSender, 
+    ParticleTree* particles, VoxelTree* voxels, AbstractAudioInterface* audio) {
+    _packetSender = packetSender;
+    _particles = particles;
+    _voxels = voxels;
+    _audio = audio;
+}
+
+ParticleCollisionSystem::~ParticleCollisionSystem() {
+}
+
+bool ParticleCollisionSystem::updateOperation(OctreeElement* element, void* extraData) {
+    ParticleCollisionSystem* system = static_cast<ParticleCollisionSystem*>(extraData);
+    ParticleTreeElement* particleTreeElement = static_cast<ParticleTreeElement*>(element);
+
+    // iterate the particles...
+    std::vector<Particle>& particles = particleTreeElement->getParticles();
+    uint16_t numberOfParticles = particles.size();
+    for (uint16_t i = 0; i < numberOfParticles; i++) {
+        Particle* particle = &particles[i];
+        system->checkParticle(particle);
+    }
+
+    return true;
+}
+
+
+void ParticleCollisionSystem::update() {
+    // update all particles
+    _particles->recurseTreeWithOperation(updateOperation, this);
+}
+
+
+void ParticleCollisionSystem::checkParticle(Particle* particle) {
+    updateCollisionWithVoxels(particle);
+}
+
+void ParticleCollisionSystem::updateCollisionWithVoxels(Particle* particle) {
+    glm::vec3 center = particle->getPosition() * (float)TREE_SCALE;
+    float radius = particle->getRadius() * (float)TREE_SCALE;
+    const float VOXEL_ELASTICITY = 1.4f;
+    const float VOXEL_DAMPING = 0.0;
+    const float VOXEL_COLLISION_FREQUENCY = 0.5f;
+    glm::vec3 penetration;
+    OctreeElement* penetratedVoxel;
+    if (_voxels->findSpherePenetration(center, radius, penetration, &penetratedVoxel)) {
+        printf("findSpherePenetration()... penetration=%f,%f,%f\n",penetration.x, penetration.y, penetration.z);
+        printf("penetratedElement=%f,%f,%f,%f\n", penetratedVoxel->getCorner().x, penetratedVoxel->getCorner().y,
+            penetratedVoxel->getCorner().z, penetratedVoxel->getScale());
+
+        penetration /= (float)TREE_SCALE;
+        updateCollisionSound(particle, penetration, VOXEL_COLLISION_FREQUENCY);
+        applyHardCollision(particle, penetration, VOXEL_ELASTICITY, VOXEL_DAMPING);
+    }
+}
+
+void ParticleCollisionSystem::applyHardCollision(Particle* particle, const glm::vec3& penetration, 
+                                float elasticity, float damping) {
+    //
+    //  Update the avatar in response to a hard collision.  Position will be reset exactly
+    //  to outside the colliding surface.  Velocity will be modified according to elasticity.
+    //
+    //  if elasticity = 1.0, collision is inelastic.
+    //  if elasticity > 1.0, collision is elastic. 
+    //  
+    glm::vec3 position = particle->getPosition();
+    glm::vec3 velocity = particle->getVelocity();
+
+    position -= penetration;
+    static float HALTING_VELOCITY = 0.2f / (float) TREE_SCALE;
+    // cancel out the velocity component in the direction of penetration
+    float penetrationLength = glm::length(penetration);
+    const float EPSILON = 0.0f;
+
+    if (penetrationLength > EPSILON) {
+        glm::vec3 direction = penetration / penetrationLength;
+        velocity -= glm::dot(velocity, direction) * direction * elasticity;
+        velocity *= glm::clamp(1.f - damping, 0.0f, 1.0f);
+        if (glm::length(velocity) < HALTING_VELOCITY) {
+            // If moving really slowly after a collision, and not applying forces, stop altogether
+            velocity *= 0.f;
+        }
+    }
+    ParticleEditHandle particleEditHandle(_packetSender, _particles, particle->getID());
+    particleEditHandle.updateParticle(position, particle->getRadius(), particle->getColor(), velocity, 
+                           particle->getGravity(), particle->getDamping(), particle->getUpdateScript());
+}
+
+
+void ParticleCollisionSystem::updateCollisionSound(Particle* particle, const glm::vec3 &penetration, float frequency) {
+                                
+    //  consider whether to have the collision make a sound
+    const float AUDIBLE_COLLISION_THRESHOLD = 0.02f;
+    const float COLLISION_LOUDNESS = 1.f;
+    const float DURATION_SCALING = 0.004f;
+    const float NOISE_SCALING = 0.1f;
+    glm::vec3 velocity = particle->getVelocity() * (float)TREE_SCALE;
+
+    /*
+    // how do we want to handle this??
+    //
+     glm::vec3 gravity = particle->getGravity() * (float)TREE_SCALE;
+    
+    if (glm::length(gravity) > EPSILON) {
+        //  If gravity is on, remove the effect of gravity on velocity for this
+        //  frame, so that we are not constantly colliding with the surface 
+        velocity -= _scale * glm::length(gravity) * GRAVITY_EARTH * deltaTime * glm::normalize(gravity);
+    }
+    */
+    float velocityTowardCollision = glm::dot(velocity, glm::normalize(penetration));
+    float velocityTangentToCollision = glm::length(velocity) - velocityTowardCollision;
+    
+    if (velocityTowardCollision > AUDIBLE_COLLISION_THRESHOLD) {
+        //  Volume is proportional to collision velocity
+        //  Base frequency is modified upward by the angle of the collision
+        //  Noise is a function of the angle of collision
+        //  Duration of the sound is a function of both base frequency and velocity of impact
+        _audio->startCollisionSound(
+                    fmin(COLLISION_LOUDNESS * velocityTowardCollision, 1.f),
+                    frequency * (1.f + velocityTangentToCollision / velocityTowardCollision),
+                    fmin(velocityTangentToCollision / velocityTowardCollision * NOISE_SCALING, 1.f),
+                    1.f - DURATION_SCALING * powf(frequency, 0.5f) / velocityTowardCollision, true);
+    }
+}

libraries/particles/src/ParticleCollisionSystem.h

@@ -0,0 +1,56 @@
+//
+//  ParticleCollisionSystem.h
+//  hifi
+//
+//  Created by Brad Hefta-Gaub on 12/4/13.
+//  Copyright (c) 2013 High Fidelity, Inc. All rights reserved.
+//
+//
+
+#ifndef __hifi__ParticleCollisionSystem__
+#define __hifi__ParticleCollisionSystem__
+
+#include <glm/glm.hpp>
+#include <stdint.h>
+
+#include <QtScript/QScriptEngine>
+#include <QtCore/QObject>
+
+#include <SharedUtil.h>
+#include <OctreePacketData.h>
+
+#include "Particle.h"
+
+class AbstractAudioInterface;
+class ParticleEditPacketSender;
+class ParticleTree;
+class VoxelTree;
+
+class ParticleCollisionSystem {
+public:
+    ParticleCollisionSystem(ParticleEditPacketSender* packetSender = NULL, ParticleTree* particles = NULL, 
+                                VoxelTree* voxels = NULL, 
+                                AbstractAudioInterface* audio = NULL);
+
+    void init(ParticleEditPacketSender* packetSender, ParticleTree* particles, VoxelTree* voxels, 
+                                AbstractAudioInterface* audio = NULL);
+                                
+    ~ParticleCollisionSystem();
+
+    void update();
+    void checkParticle(Particle* particle);
+    void updateCollisionWithVoxels(Particle* particle);
+    void applyHardCollision(Particle* particle, const glm::vec3& penetration, float elasticity, float damping);
+    void updateCollisionSound(Particle* particle, const glm::vec3 &penetration, float frequency);
+
+private:
+    static bool updateOperation(OctreeElement* element, void* extraData);
+
+
+    ParticleEditPacketSender* _packetSender;
+    ParticleTree* _particles;
+    VoxelTree* _voxels;
+    AbstractAudioInterface* _audio;
+};
+
+#endif /* defined(__hifi__ParticleCollisionSystem__) */

libraries/particles/src/ParticleEditHandle.cpp

@@ -15,7 +15,6 @@
 std::map<uint32_t,ParticleEditHandle*> ParticleEditHandle::_allHandles;
 uint32_t ParticleEditHandle::_nextCreatorTokenID = 0;
 
-
 ParticleEditHandle::ParticleEditHandle(ParticleEditPacketSender* packetSender, ParticleTree* localTree, uint32_t id) {
     if (id == NEW_PARTICLE) {
         _creatorTokenID = _nextCreatorTokenID;
@@ -36,7 +35,9 @@ ParticleEditHandle::ParticleEditHandle(ParticleEditPacketSender* packetSender, P
 
 ParticleEditHandle::~ParticleEditHandle() {
     // remove us from our _allHandles map
-    _allHandles.erase(_allHandles.find(_creatorTokenID));
+    if (_creatorTokenID != UNKNOWN_TOKEN) {
+        _allHandles.erase(_allHandles.find(_creatorTokenID));
+    }
 }
 
 void ParticleEditHandle::createParticle(glm::vec3 position, float radius, xColor color, glm::vec3 velocity, 
@@ -71,7 +72,7 @@ bool ParticleEditHandle::updateParticle(glm::vec3 position, float radius, xColor
     ParticleDetail newParticleDetail = { _id, usecTimestampNow(), 
             position, radius, {color.red, color.green, color.blue }, 
             velocity, gravity, damping, updateScript, _creatorTokenID };
-    
+
     // queue the packet
     _packetSender->queueParticleEditMessages(PACKET_TYPE_PARTICLE_ADD_OR_EDIT, 1, &newParticleDetail);
     

libraries/particles/src/ParticleTreeElement.h

@@ -74,6 +74,7 @@ public:
     virtual bool deleteApproved() const { return !hasParticles(); }
 
     const std::vector<Particle>& getParticles() const { return _particles; }
+    std::vector<Particle>& getParticles() { return _particles; }
     bool hasParticles() const { return _particles.size() > 0; }
     
     void update(ParticleTreeUpdateArgs& args);