Merge pull request #14243 from hyperlogic/bug-fix/small-jumping-avatars

Small avatars now have a minimum jump height of 0.25 meters

interface/src/avatar/MySkeletonModel.cpp

@@ -299,7 +299,7 @@ void MySkeletonModel::updateRig(float deltaTime, glm::mat4 parentTransform) {
     auto velocity = myAvatar->getLocalVelocity() / myAvatar->getSensorToWorldScale();
     auto position = myAvatar->getLocalPosition();
     auto orientation = myAvatar->getLocalOrientation();
-    _rig.computeMotionAnimationState(deltaTime, position, velocity, orientation, ccState);
+    _rig.computeMotionAnimationState(deltaTime, position, velocity, orientation, ccState, myAvatar->getSensorToWorldScale());
 
     // evaluate AnimGraph animation and update jointStates.
     Model::updateRig(deltaTime, parentTransform);

libraries/animation/src/Rig.cpp

@@ -30,6 +30,7 @@
 #include "AnimOverlay.h"
 #include "AnimSkeleton.h"
 #include "AnimUtil.h"
+#include "AvatarConstants.h"
 #include "IKTarget.h"
 #include "PathUtils.h"
 
@@ -692,7 +693,8 @@ bool Rig::getRelativeDefaultJointTranslation(int index, glm::vec3& translationOu
     }
 }
 
-void Rig::computeMotionAnimationState(float deltaTime, const glm::vec3& worldPosition, const glm::vec3& worldVelocity, const glm::quat& worldRotation, CharacterControllerState ccState) {
+void Rig::computeMotionAnimationState(float deltaTime, const glm::vec3& worldPosition, const glm::vec3& worldVelocity,
+                                      const glm::quat& worldRotation, CharacterControllerState ccState, float sensorToWorldScale) {
 
     glm::vec3 forward = worldRotation * IDENTITY_FORWARD;
     glm::vec3 workingVelocity = worldVelocity;
@@ -987,9 +989,15 @@ void Rig::computeMotionAnimationState(float deltaTime, const glm::vec3& worldPos
             }
             _animVars.set("isNotInAir", false);
 
-            // compute blend based on velocity
-            const float JUMP_SPEED = 3.5f;
-            float alpha = glm::clamp(-workingVelocity.y / JUMP_SPEED, -1.0f, 1.0f) + 1.0f;
+            // We want to preserve the apparent jump height in sensor space.
+            const float jumpHeight = std::max(sensorToWorldScale * DEFAULT_AVATAR_JUMP_HEIGHT, DEFAULT_AVATAR_MIN_JUMP_HEIGHT);
+
+            // convert jump height to a initial jump speed with the given gravity.
+            const float jumpSpeed = sqrtf(2.0f * -DEFAULT_AVATAR_GRAVITY * jumpHeight);
+
+            // compute inAirAlpha blend based on velocity
+            float alpha = glm::clamp((-workingVelocity.y * sensorToWorldScale) / jumpSpeed, -1.0f, 1.0f) + 1.0f;
+
             _animVars.set("inAirAlpha", alpha);
         }
 

libraries/animation/src/Rig.h

@@ -175,7 +175,8 @@ public:
     AnimPose getJointPose(int jointIndex) const;
 
     // Start or stop animations as needed.
-    void computeMotionAnimationState(float deltaTime, const glm::vec3& worldPosition, const glm::vec3& worldVelocity, const glm::quat& worldRotation, CharacterControllerState ccState);
+    void computeMotionAnimationState(float deltaTime, const glm::vec3& worldPosition, const glm::vec3& worldVelocity,
+                                     const glm::quat& worldRotation, CharacterControllerState ccState, float sensorToWorldScale);
 
     // Regardless of who started the animations or how many, update the joints.
     void updateAnimations(float deltaTime, const glm::mat4& rootTransform, const glm::mat4& rigToWorldTransform);

libraries/physics/src/CharacterController.cpp

@@ -766,14 +766,16 @@ void CharacterController::updateState() {
                 SET_STATE(State::InAir, "takeoff done");
 
                 // compute jumpSpeed based on the scaled jump height for the default avatar in default gravity.
-                float jumpSpeed = sqrtf(2.0f * DEFAULT_AVATAR_GRAVITY * _scaleFactor * DEFAULT_AVATAR_JUMP_HEIGHT);
+                const float jumpHeight = std::max(_scaleFactor * DEFAULT_AVATAR_JUMP_HEIGHT, DEFAULT_AVATAR_MIN_JUMP_HEIGHT);
+                const float jumpSpeed = sqrtf(2.0f * -DEFAULT_AVATAR_GRAVITY * jumpHeight);
                 velocity += jumpSpeed * _currentUp;
                 _rigidBody->setLinearVelocity(velocity);
             }
             break;
         case State::InAir: {
-            const float JUMP_SPEED = _scaleFactor * DEFAULT_AVATAR_JUMP_SPEED;
-            if ((velocity.dot(_currentUp) <= (JUMP_SPEED / 2.0f)) && ((_floorDistance < FLY_TO_GROUND_THRESHOLD) || _hasSupport)) {
+            const float jumpHeight = std::max(_scaleFactor * DEFAULT_AVATAR_JUMP_HEIGHT, DEFAULT_AVATAR_MIN_JUMP_HEIGHT);
+            const float jumpSpeed = sqrtf(2.0f * -DEFAULT_AVATAR_GRAVITY * jumpHeight);
+            if ((velocity.dot(_currentUp) <= (jumpSpeed / 2.0f)) && ((_floorDistance < FLY_TO_GROUND_THRESHOLD) || _hasSupport)) {
                 SET_STATE(State::Ground, "hit ground");
             } else if (_flyingAllowed) {
                 btVector3 desiredVelocity = _targetVelocity;

libraries/shared/src/AvatarConstants.h

@@ -70,9 +70,10 @@ const float DEFAULT_AVATAR_MAX_WALKING_BACKWARD_SPEED = 2.2f; // meters / second
 const float DEFAULT_AVATAR_MAX_FLYING_SPEED = 30.0f; // meters / second
 const float DEFAULT_AVATAR_WALK_SPEED_THRESHOLD = 0.15f;
 
-const float DEFAULT_AVATAR_GRAVITY = -5.0f; // meters / second^2
-const float DEFAULT_AVATAR_JUMP_SPEED = 3.5f; // meters / second
-const float DEFAULT_AVATAR_JUMP_HEIGHT = (DEFAULT_AVATAR_JUMP_SPEED * DEFAULT_AVATAR_JUMP_SPEED) / (2.0f * DEFAULT_AVATAR_GRAVITY); // meters
+const float DEFAULT_AVATAR_GRAVITY = -5.0f; // meters / second^2 (world)
+const float DEFAULT_AVATAR_JUMP_SPEED = 3.5f; // meters / second (sensor)
+const float DEFAULT_AVATAR_JUMP_HEIGHT = (DEFAULT_AVATAR_JUMP_SPEED * DEFAULT_AVATAR_JUMP_SPEED) / (2.0f * -DEFAULT_AVATAR_GRAVITY); // meters (sensor)
+const float DEFAULT_AVATAR_MIN_JUMP_HEIGHT = 0.25f; // meters (world)  // hack
 
 const float DEFAULT_AVATAR_FALL_HEIGHT = 20.0f; // meters
 const float DEFAULT_AVATAR_MIN_HOVER_HEIGHT = 2.5f; // meters