mirror of
https://github.com/lubosz/overte.git
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Lots of small changes in the head (evolving into "avatar") to include skeleton. Also, added camera behaviors for navigation
This commit is contained in:
Jeffrey Ventrella
parent
ead0d2948e
commit
cd1533dc7c
3 changed files with 425 additions and 191 deletions
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@ -3,6 +3,7 @@
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// interface
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//
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// Created by Philip Rosedale on 9/11/12.
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// adapted by Jeffrey Ventrella, starting on April 2, 2013
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// Copyright (c) 2012 Physical, Inc.. All rights reserved.
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//
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@ -45,9 +46,9 @@ Head::Head()
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{
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initializeAvatar();
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position = glm::vec3(0,0,0);
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velocity = glm::vec3(0,0,0);
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thrust = glm::vec3(0,0,0);
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position = glm::vec3(0,0,0);
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velocity = glm::vec3(0,0,0);
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thrust = glm::vec3(0,0,0);
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for (int i = 0; i < MAX_DRIVE_KEYS; i++) driveKeys[i] = false;
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@ -83,7 +84,7 @@ Head::Head()
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browAudioLift = 0.0;
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noise = 0;
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handOffset.clear();
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handOffset = glm::vec3( 0.0, 0.0, 0.0 );
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sphere = NULL;
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@ -194,7 +195,6 @@ void Head::reset()
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void Head::UpdatePos(float frametime, SerialInterface * serialInterface, int head_mirror, glm::vec3 * gravity)
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// Using serial data, update avatar/render position and angles
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{
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const float PITCH_ACCEL_COUPLING = 0.5;
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const float ROLL_ACCEL_COUPLING = -1.0;
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float measured_pitch_rate = serialInterface->getRelativeValue(PITCH_RATE);
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@ -241,7 +241,7 @@ void Head::UpdatePos(float frametime, SerialInterface * serialInterface, int hea
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//---------------------------------------------------
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void Head::setAvatarPosition( double x, double y, double z )
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{
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avatar.position.setXYZ( x, y, z );
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avatar.position = glm::dvec3( x, y, z );
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}
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@ -276,48 +276,159 @@ void Head::setLeanSideways(float dist){
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//---------------------------------------------------
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void Head::simulate(float deltaTime)
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{
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simulateAvatar( deltaTime );
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updateAvatarSkeleton();
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/*
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glm::vec3 forward
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(
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-sin( avatar.yaw * PI_OVER_180 ),
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sin( avatar.pitch * PI_OVER_180 ),
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cos( avatar.roll * PI_OVER_180 )
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);
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*/
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/*
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glm::vec3 forward(-sinf(getRenderYaw()*PI/180),
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sinf(getRenderPitch()*PI/180),
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cosf(getRenderYaw()*PI/180));
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thrust = glm::vec3(0);
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*/
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const float THRUST_MAG = 10.0;
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const float THRUST_LATERAL_MAG = 10.0;
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const float THRUST_VERTICAL_MAG = 10.0;
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if (driveKeys[FWD]) {
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thrust += THRUST_MAG*forward;
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/*
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const float THRUST_LATERAL_MAG = 10.0;
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const float THRUST_VERTICAL_MAG = 10.0;
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*/
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avatar.thrust = glm::dvec3( 0.0, 0.0, 0.0 );
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if (driveKeys[FWD])
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{
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//position.x += avatar.orientation.getFront().getX() * 0.01;
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//position.y += avatar.orientation.getFront().getY() * 0.01;
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//position.z -= avatar.orientation.getFront().getZ() * 0.01;
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avatar.thrust.x += avatar.orientation.getFront().getX() * THRUST_MAG;
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avatar.thrust.y += avatar.orientation.getFront().getY() * THRUST_MAG;
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avatar.thrust.z -= avatar.orientation.getFront().getZ() * THRUST_MAG;
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//thrust += THRUST_MAG*forward;
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}
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if (driveKeys[BACK]) {
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thrust += -THRUST_MAG*forward;
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}
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if (driveKeys[RIGHT]) {
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thrust.x += forward.z*-THRUST_LATERAL_MAG;
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thrust.z += forward.x*THRUST_LATERAL_MAG;
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}
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if (driveKeys[LEFT]) {
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thrust.x += forward.z*THRUST_LATERAL_MAG;
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thrust.z += forward.x*-THRUST_LATERAL_MAG;
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}
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if (driveKeys[UP]) {
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thrust.y += -THRUST_VERTICAL_MAG;
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}
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if (driveKeys[DOWN]) {
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thrust.y += THRUST_VERTICAL_MAG;
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if (driveKeys[BACK])
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{
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//position.x -= avatar.orientation.getFront().getX() * 0.01;
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//position.y -= avatar.orientation.getFront().getY() * 0.01;
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//position.z += avatar.orientation.getFront().getZ() * 0.01;
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avatar.thrust.x -= avatar.orientation.getFront().getX() * THRUST_MAG;
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avatar.thrust.y -= avatar.orientation.getFront().getY() * THRUST_MAG;
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avatar.thrust.z += avatar.orientation.getFront().getZ() * THRUST_MAG;
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//thrust += -THRUST_MAG*forward;
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}
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if (driveKeys[RIGHT])
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{
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//position.x += avatar.orientation.getRight().getX() * 0.01;
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//position.y += avatar.orientation.getRight().getY() * 0.01;
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//position.z -= avatar.orientation.getRight().getZ() * 0.01;
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avatar.thrust.x += avatar.orientation.getRight().getX() * THRUST_MAG;
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avatar.thrust.y += avatar.orientation.getRight().getY() * THRUST_MAG;
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avatar.thrust.z -= avatar.orientation.getRight().getZ() * THRUST_MAG;
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//thrust.x += forward.z*-THRUST_LATERAL_MAG;
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//thrust.z += forward.x*THRUST_LATERAL_MAG;
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}
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if (driveKeys[LEFT])
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{
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//position.x -= avatar.orientation.getRight().getX() * 0.01;
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//position.y -= avatar.orientation.getRight().getY() * 0.01;
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//position.z += avatar.orientation.getRight().getZ() * 0.01;
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avatar.thrust.x -= avatar.orientation.getRight().getX() * THRUST_MAG;
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avatar.thrust.y -= avatar.orientation.getRight().getY() * THRUST_MAG;
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avatar.thrust.z += avatar.orientation.getRight().getZ() * THRUST_MAG;
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//thrust.x += forward.z*THRUST_LATERAL_MAG;
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//thrust.z += forward.x*-THRUST_LATERAL_MAG;
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}
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if (driveKeys[UP])
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{
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//position.x -= avatar.orientation.getUp().getX() * 0.01;
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//position.y -= avatar.orientation.getUp().getY() * 0.01;
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//position.z += avatar.orientation.getUp().getZ() * 0.01;
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avatar.thrust.x -= avatar.orientation.getUp().getX() * THRUST_MAG;
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avatar.thrust.y -= avatar.orientation.getUp().getY() * THRUST_MAG;
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avatar.thrust.z += avatar.orientation.getUp().getZ() * THRUST_MAG;
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//thrust.y += -THRUST_VERTICAL_MAG;
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}
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if (driveKeys[DOWN])
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{
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//position.x += avatar.orientation.getUp().getX() * 0.01;
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//position.y += avatar.orientation.getUp().getY() * 0.01;
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//position.z -= avatar.orientation.getUp().getZ() * 0.01;
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avatar.thrust.x += avatar.orientation.getUp().getX() * THRUST_MAG;
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avatar.thrust.y += avatar.orientation.getUp().getY() * THRUST_MAG;
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avatar.thrust.z -= avatar.orientation.getUp().getZ() * THRUST_MAG;
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//thrust.y += THRUST_VERTICAL_MAG;
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}
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if (driveKeys[ROT_RIGHT])
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{
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avatar.yawDelta -= 300.0 * deltaTime;
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}
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if (driveKeys[ROT_LEFT])
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{
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avatar.yawDelta += 300.0 * deltaTime;
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}
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avatar.yaw += avatar.yawDelta * deltaTime;
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const float TEST_YAW_DECAY = 5.0;
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avatar.yawDelta *= ( 1.0 - TEST_YAW_DECAY * deltaTime );
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//avatar.yawDelta *= 0.99;
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avatar.velocity += avatar.thrust * (double)deltaTime;
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position += avatar.velocity * (double)deltaTime;
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//avatar.velocity *= 0.9;
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const float LIN_VEL_DECAY = 5.0;
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avatar.velocity *= ( 1.0 - LIN_VEL_DECAY * deltaTime );
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/*
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// Increment velocity as time
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velocity += thrust * deltaTime;
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// Increment position as a function of velocity
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position += velocity * deltaTime;
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*/
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/*
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// Decay velocity
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const float LIN_VEL_DECAY = 5.0;
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velocity *= (1.0 - LIN_VEL_DECAY*deltaTime);
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*/
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if (!noise)
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{
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// Decay back toward center
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@ -335,6 +446,8 @@ void Head::simulate(float deltaTime)
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leanForward *= (1.f - DECAY*30.f*deltaTime);
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leanSideways *= (1.f - DECAY*30.f*deltaTime);
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// Update where the avatar's eyes are
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//
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// First, decide if we are making eye contact or not
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@ -351,6 +464,8 @@ void Head::simulate(float deltaTime)
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}
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}
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const float DEGREES_BETWEEN_VIEWER_EYES = 3;
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const float DEGREES_TO_VIEWER_MOUTH = 7;
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@ -374,8 +489,8 @@ void Head::simulate(float deltaTime)
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EyeballPitch[0] = EyeballPitch[1] = -Pitch + eye_target_pitch_adjust;
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EyeballYaw[0] = EyeballYaw[1] = -Yaw + eye_target_yaw_adjust;
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}
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if (noise)
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{
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Pitch += (randFloat() - 0.5)*0.2*NoiseEnvelope;
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@ -409,7 +524,8 @@ void Head::simulate(float deltaTime)
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}
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}
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//hand->simulate(deltaTime);
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//hand->simulate(deltaTime);
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}
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@ -419,43 +535,49 @@ void Head::simulate(float deltaTime)
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//---------------------------------------------------
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void Head::render(int faceToFace, int isMine)
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{
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// render avatar
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renderAvatar();
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renderBody();
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renderHead( faceToFace, isMine );
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}
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//---------------------------------------------------
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void Head::renderHead( int faceToFace, int isMine )
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{
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int side = 0;
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// Always render own hand, but don't render head unless showing face2face
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glEnable(GL_DEPTH_TEST);
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glPushMatrix();
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//glScalef(scale, scale, scale);
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//glScalef(scale, scale, scale);
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glTranslatef
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(
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avatar.bone[ AVATAR_BONE_HEAD ].worldPosition.x,
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avatar.bone[ AVATAR_BONE_HEAD ].worldPosition.y,
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avatar.bone[ AVATAR_BONE_HEAD ].worldPosition.z
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);
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glScalef( 0.03, 0.03, 0.03 );
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glTranslatef
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(
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avatar.bone[ AVATAR_BONE_HEAD ].position.x,
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avatar.bone[ AVATAR_BONE_HEAD ].position.y,
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avatar.bone[ AVATAR_BONE_HEAD ].position.z
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);
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glScalef( 0.03, 0.03, 0.03 );
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glTranslatef(leanSideways, 0.f, leanForward);
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//glTranslatef(leanSideways, 0.f, leanForward);
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glRotatef(Yaw, 0, 1, 0);
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//glRotatef(Yaw, 0, 1, 0);
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glRotatef( avatar.yaw, 0, 1, 0);
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//hand->render(1);
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//hand->render(1);
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// Don't render a head if it is really close to your location, because that is your own head!
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//if (!isMine || faceToFace)
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//if (!isMine || faceToFace)
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{
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glRotatef(Pitch, 1, 0, 0);
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glRotatef(Roll, 0, 0, 1);
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// Overall scale of head
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if (faceToFace) glScalef(1.5, 2.0, 2.0);
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else glScalef(0.75, 1.0, 1.0);
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@ -595,7 +717,7 @@ glScalef( 0.03, 0.03, 0.03 );
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//---------------------------------------------------------
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void Head::setHandMovement( glm::dvec3 movement )
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{
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handOffset.setXYZ( movement.x, -movement.y, movement.z );
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handOffset = glm::dvec3( movement.x, -movement.y, movement.z );
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}
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@ -603,19 +725,23 @@ void Head::setHandMovement( glm::dvec3 movement )
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//-----------------------------------------
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void Head::initializeAvatar()
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{
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//printf( "initializeAvatar\n" );
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avatar.position.clear();
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//avatar.position.setXYZ( -3.0, 0.0, 0.0 );
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avatar.velocity.clear();
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avatar.position = glm::dvec3( 0.0, 0.0, 0.0 );
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avatar.velocity = glm::dvec3( 0.0, 0.0, 0.0 );
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avatar.thrust = glm::dvec3( 0.0, 0.0, 0.0 );
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avatar.orientation.setToIdentity();
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avatar.yaw = 0.0;
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avatar.pitch = 0.0;
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avatar.roll = 0.0;
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avatar.yawDelta = 0.0;
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for (int b=0; b<NUM_AVATAR_BONES; b++)
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{
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avatar.bone[b].position.clear();
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avatar.bone[b].velocity.clear();
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avatar.bone[b].orientation.setToIdentity();
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avatar.bone[b].worldPosition = glm::dvec3( 0.0, 0.0, 0.0 );
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//avatar.bone[b].offsetPosition = glm::dvec3( 0.0, 0.0, 0.0 );
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avatar.bone[b].velocity = glm::dvec3( 0.0, 0.0, 0.0 );
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avatar.bone[b].worldOrientation.setToIdentity();
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}
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//----------------------------------------------------------------------------
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@ -667,83 +793,77 @@ void Head::initializeAvatar()
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//----------------------------------------------------------
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// default pose position
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// specify the default pose position
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//----------------------------------------------------------
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avatar.bone[ AVATAR_BONE_PELVIS_SPINE ].defaultPosePosition.setXYZ( 0.0, 0.1, 0.0 );
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avatar.bone[ AVATAR_BONE_MID_SPINE ].defaultPosePosition.setXYZ( 0.0, 0.1, 0.0 );
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avatar.bone[ AVATAR_BONE_CHEST_SPINE ].defaultPosePosition.setXYZ( 0.0, 0.1, 0.0 );
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avatar.bone[ AVATAR_BONE_NECK ].defaultPosePosition.setXYZ( 0.0, 0.06, 0.0 );
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avatar.bone[ AVATAR_BONE_HEAD ].defaultPosePosition.setXYZ( 0.0, 0.06, 0.0 );
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avatar.bone[ AVATAR_BONE_LEFT_CHEST ].defaultPosePosition.setXYZ( -0.06, 0.06, 0.0 );
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avatar.bone[ AVATAR_BONE_LEFT_SHOULDER ].defaultPosePosition.setXYZ( -0.03, 0.0, 0.0 );
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avatar.bone[ AVATAR_BONE_LEFT_UPPER_ARM ].defaultPosePosition.setXYZ( 0.0, -0.12, 0.0 );
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avatar.bone[ AVATAR_BONE_LEFT_FOREARM ].defaultPosePosition.setXYZ( 0.0, -0.1, 0.0 );
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avatar.bone[ AVATAR_BONE_LEFT_HAND ].defaultPosePosition.setXYZ( 0.0, -0.05, 0.0 );
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avatar.bone[ AVATAR_BONE_RIGHT_CHEST ].defaultPosePosition.setXYZ( 0.06, 0.06, 0.0 );
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avatar.bone[ AVATAR_BONE_RIGHT_SHOULDER ].defaultPosePosition.setXYZ( 0.03, 0.0, 0.0 );
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avatar.bone[ AVATAR_BONE_RIGHT_UPPER_ARM ].defaultPosePosition.setXYZ( 0.0, -0.12, 0.0 );
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avatar.bone[ AVATAR_BONE_RIGHT_FOREARM ].defaultPosePosition.setXYZ( 0.0, -0.1, 0.0 );
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avatar.bone[ AVATAR_BONE_RIGHT_HAND ].defaultPosePosition.setXYZ( 0.0, -0.05, 0.0 );
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avatar.bone[ AVATAR_BONE_LEFT_PELVIS ].defaultPosePosition.setXYZ( -0.05, 0.0, 0.0 );
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avatar.bone[ AVATAR_BONE_LEFT_THIGH ].defaultPosePosition.setXYZ( 0.0, -0.15, 0.0 );
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avatar.bone[ AVATAR_BONE_LEFT_SHIN ].defaultPosePosition.setXYZ( 0.0, -0.15, 0.0 );
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avatar.bone[ AVATAR_BONE_LEFT_FOOT ].defaultPosePosition.setXYZ( 0.0, 0.0, 0.04 );
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avatar.bone[ AVATAR_BONE_RIGHT_PELVIS ].defaultPosePosition.setXYZ( 0.05, 0.0, 0.0 );
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avatar.bone[ AVATAR_BONE_RIGHT_THIGH ].defaultPosePosition.setXYZ( 0.0, -0.15, 0.0 );
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avatar.bone[ AVATAR_BONE_RIGHT_SHIN ].defaultPosePosition.setXYZ( 0.0, -0.15, 0.0 );
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avatar.bone[ AVATAR_BONE_RIGHT_FOOT ].defaultPosePosition.setXYZ( 0.0, 0.0, 0.04 );
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avatar.bone[ AVATAR_BONE_PELVIS_SPINE ].defaultPosePosition = glm::dvec3( 0.0, 0.1, 0.0 );
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avatar.bone[ AVATAR_BONE_MID_SPINE ].defaultPosePosition = glm::dvec3( 0.0, 0.1, 0.0 );
|
||||
avatar.bone[ AVATAR_BONE_CHEST_SPINE ].defaultPosePosition = glm::dvec3( 0.0, 0.1, 0.0 );
|
||||
avatar.bone[ AVATAR_BONE_NECK ].defaultPosePosition = glm::dvec3( 0.0, 0.06, 0.0 );
|
||||
avatar.bone[ AVATAR_BONE_HEAD ].defaultPosePosition = glm::dvec3( 0.0, 0.06, 0.0 );
|
||||
avatar.bone[ AVATAR_BONE_LEFT_CHEST ].defaultPosePosition = glm::dvec3( -0.06, 0.06, 0.0 );
|
||||
avatar.bone[ AVATAR_BONE_LEFT_SHOULDER ].defaultPosePosition = glm::dvec3( -0.03, 0.0, 0.0 );
|
||||
avatar.bone[ AVATAR_BONE_LEFT_UPPER_ARM ].defaultPosePosition = glm::dvec3( 0.0, -0.12, 0.0 );
|
||||
avatar.bone[ AVATAR_BONE_LEFT_FOREARM ].defaultPosePosition = glm::dvec3( 0.0, -0.1, 0.0 );
|
||||
avatar.bone[ AVATAR_BONE_LEFT_HAND ].defaultPosePosition = glm::dvec3( 0.0, -0.05, 0.0 );
|
||||
avatar.bone[ AVATAR_BONE_RIGHT_CHEST ].defaultPosePosition = glm::dvec3( 0.06, 0.06, 0.0 );
|
||||
avatar.bone[ AVATAR_BONE_RIGHT_SHOULDER ].defaultPosePosition = glm::dvec3( 0.03, 0.0, 0.0 );
|
||||
avatar.bone[ AVATAR_BONE_RIGHT_UPPER_ARM ].defaultPosePosition = glm::dvec3( 0.0, -0.12, 0.0 );
|
||||
avatar.bone[ AVATAR_BONE_RIGHT_FOREARM ].defaultPosePosition = glm::dvec3( 0.0, -0.1, 0.0 );
|
||||
avatar.bone[ AVATAR_BONE_RIGHT_HAND ].defaultPosePosition = glm::dvec3( 0.0, -0.05, 0.0 );
|
||||
avatar.bone[ AVATAR_BONE_LEFT_PELVIS ].defaultPosePosition = glm::dvec3( -0.05, 0.0, 0.0 );
|
||||
avatar.bone[ AVATAR_BONE_LEFT_THIGH ].defaultPosePosition = glm::dvec3( 0.0, -0.15, 0.0 );
|
||||
avatar.bone[ AVATAR_BONE_LEFT_SHIN ].defaultPosePosition = glm::dvec3( 0.0, -0.15, 0.0 );
|
||||
avatar.bone[ AVATAR_BONE_LEFT_FOOT ].defaultPosePosition = glm::dvec3( 0.0, 0.0, 0.04 );
|
||||
avatar.bone[ AVATAR_BONE_RIGHT_PELVIS ].defaultPosePosition = glm::dvec3( 0.05, 0.0, 0.0 );
|
||||
avatar.bone[ AVATAR_BONE_RIGHT_THIGH ].defaultPosePosition = glm::dvec3( 0.0, -0.15, 0.0 );
|
||||
avatar.bone[ AVATAR_BONE_RIGHT_SHIN ].defaultPosePosition = glm::dvec3( 0.0, -0.15, 0.0 );
|
||||
avatar.bone[ AVATAR_BONE_RIGHT_FOOT ].defaultPosePosition = glm::dvec3( 0.0, 0.0, 0.04 );
|
||||
|
||||
//----------------------------------------------------------------------------
|
||||
// length
|
||||
// calculate bone length
|
||||
//----------------------------------------------------------------------------
|
||||
avatar.bone[ AVATAR_BONE_PELVIS_SPINE ].length = 0.1;
|
||||
avatar.bone[ AVATAR_BONE_MID_SPINE ].length = 0.1;
|
||||
avatar.bone[ AVATAR_BONE_CHEST_SPINE ].length = 0.1;
|
||||
avatar.bone[ AVATAR_BONE_NECK ].length = 0.1;
|
||||
avatar.bone[ AVATAR_BONE_HEAD ].length = 0.1;
|
||||
calculateBoneLengths();
|
||||
|
||||
avatar.bone[ AVATAR_BONE_LEFT_CHEST ].length = 0.1;
|
||||
avatar.bone[ AVATAR_BONE_LEFT_SHOULDER ].length = 0.1;
|
||||
avatar.bone[ AVATAR_BONE_LEFT_UPPER_ARM ].length = 0.1;
|
||||
avatar.bone[ AVATAR_BONE_LEFT_FOREARM ].length = 0.1;
|
||||
avatar.bone[ AVATAR_BONE_LEFT_HAND ].length = 0.1;
|
||||
|
||||
avatar.bone[ AVATAR_BONE_RIGHT_CHEST ].length = 0.1;
|
||||
avatar.bone[ AVATAR_BONE_RIGHT_SHOULDER ].length = 0.1;
|
||||
avatar.bone[ AVATAR_BONE_RIGHT_UPPER_ARM ].length = 0.1;
|
||||
avatar.bone[ AVATAR_BONE_RIGHT_FOREARM ].length = 0.1;
|
||||
avatar.bone[ AVATAR_BONE_RIGHT_HAND ].length = 0.1;
|
||||
|
||||
avatar.bone[ AVATAR_BONE_LEFT_PELVIS ].length = 0.1;
|
||||
avatar.bone[ AVATAR_BONE_LEFT_THIGH ].length = 0.1;
|
||||
avatar.bone[ AVATAR_BONE_LEFT_SHIN ].length = 0.1;
|
||||
avatar.bone[ AVATAR_BONE_LEFT_FOOT ].length = 0.1;
|
||||
|
||||
avatar.bone[ AVATAR_BONE_RIGHT_PELVIS ].length = 0.1;
|
||||
avatar.bone[ AVATAR_BONE_RIGHT_THIGH ].length = 0.1;
|
||||
avatar.bone[ AVATAR_BONE_RIGHT_SHIN ].length = 0.1;
|
||||
avatar.bone[ AVATAR_BONE_RIGHT_FOOT ].length = 0.1;
|
||||
|
||||
//----------------------------------------------------------------------------
|
||||
// generate world positions
|
||||
//----------------------------------------------------------------------------
|
||||
updateAvatarSkeleton();
|
||||
|
||||
//----------------------------------------------------------------------------
|
||||
// set offset positions = world positions
|
||||
//----------------------------------------------------------------------------
|
||||
for (int b=0; b<NUM_AVATAR_BONES; b++)
|
||||
{
|
||||
//avatar.bone[b].offsetPosition = avatar.bone[b].worldPosition;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
//-----------------------------------------
|
||||
void Head::simulateAvatar( float deltaTime )
|
||||
void Head::calculateBoneLengths()
|
||||
{
|
||||
updateAvatarSkeleton();
|
||||
}
|
||||
for (int b=0; b<NUM_AVATAR_BONES; b++)
|
||||
{
|
||||
avatar.bone[b].length = glm::length( avatar.bone[b].defaultPosePosition );
|
||||
}
|
||||
|
||||
avatar.maxArmLength
|
||||
= avatar.bone[ AVATAR_BONE_RIGHT_UPPER_ARM ].length
|
||||
+ avatar.bone[ AVATAR_BONE_RIGHT_FOREARM ].length
|
||||
+ avatar.bone[ AVATAR_BONE_RIGHT_HAND ].length;
|
||||
}
|
||||
|
||||
|
||||
//-----------------------------------------
|
||||
void Head::updateAvatarSkeleton()
|
||||
{
|
||||
//rotate the body...
|
||||
|
||||
avatar.orientation.setToIdentity();
|
||||
avatar.orientation.yaw( -avatar.yaw );
|
||||
|
||||
//------------------------------------------------------------------------
|
||||
// calculate positions of all bones by traversing the skeleton tree:
|
||||
//------------------------------------------------------------------------
|
||||
|
|
@ -751,81 +871,146 @@ void Head::updateAvatarSkeleton()
|
|||
{
|
||||
if ( avatar.bone[b].parent == AVATAR_BONE_NULL )
|
||||
{
|
||||
avatar.bone[b].position.set( avatar.position );
|
||||
avatar.bone[b].worldOrientation.set( avatar.orientation );
|
||||
avatar.bone[b].worldPosition = avatar.position;
|
||||
}
|
||||
else
|
||||
{
|
||||
avatar.bone[b].position.set( avatar.bone[ avatar.bone[b].parent ].position );
|
||||
avatar.bone[b].worldOrientation.set( avatar.bone[ avatar.bone[b].parent ].worldOrientation );
|
||||
avatar.bone[b].worldPosition = avatar.bone[ avatar.bone[b].parent ].worldPosition;
|
||||
}
|
||||
|
||||
double xx = glm::dot( avatar.bone[b].defaultPosePosition.x, avatar.bone[b].worldOrientation.getRight ().x )
|
||||
+ glm::dot( avatar.bone[b].defaultPosePosition.y, avatar.bone[b].worldOrientation.getRight ().y )
|
||||
+ glm::dot( avatar.bone[b].defaultPosePosition.z, avatar.bone[b].worldOrientation.getRight ().z );
|
||||
|
||||
double yy = glm::dot( avatar.bone[b].defaultPosePosition.x, avatar.bone[b].worldOrientation.getUp ().x )
|
||||
+ glm::dot( avatar.bone[b].defaultPosePosition.y, avatar.bone[b].worldOrientation.getUp ().y )
|
||||
+ glm::dot( avatar.bone[b].defaultPosePosition.z, avatar.bone[b].worldOrientation.getUp ().z );
|
||||
|
||||
double zz = glm::dot( avatar.bone[b].defaultPosePosition.x, avatar.bone[b].worldOrientation.getFront ().x )
|
||||
+ glm::dot( avatar.bone[b].defaultPosePosition.y, avatar.bone[b].worldOrientation.getFront ().y )
|
||||
+ glm::dot( avatar.bone[b].defaultPosePosition.z, avatar.bone[b].worldOrientation.getFront ().z );
|
||||
|
||||
glm::dvec3 rotatedBoneVector( xx, yy, zz );
|
||||
|
||||
//rotatedBonePosition.x = avatar.bone[b].defaultPosePosition.x;// * avatar.bone[b].worldOrientation.getFront().x;
|
||||
//rotatedBonePosition.y = avatar.bone[b].defaultPosePosition.y;// * avatar.bone[b].worldOrientation.getFront().y;
|
||||
//rotatedBonePosition.z = avatar.bone[b].defaultPosePosition.z;// * avatar.bone[b].worldOrientation.getFront().z;
|
||||
|
||||
|
||||
|
||||
avatar.bone[b].position.add( avatar.bone[b].defaultPosePosition );
|
||||
//glm::dvec3 rotatedBoneVector( avatar.bone[b].defaultPosePosition );
|
||||
|
||||
//glm::dmat3x3 rotationMatrix ( glm::dvec3( 1.0, 0.0, 0.0 ), glm::dvec3( 0.0, 1.0, 0.0 ), glm::dvec3( 0.0, 0.0, 1.0 ) );
|
||||
//glm::dmat3x3 rotationMatrix;
|
||||
|
||||
//glm::dmat3x3 rotationMatrix = glm::eulerAngleYXZ( 0.0, 0.0, 0.0 );
|
||||
|
||||
|
||||
avatar.bone[b].worldPosition += rotatedBoneVector;
|
||||
}
|
||||
|
||||
//------------------------------------------------------------------------
|
||||
// reset hand and elbow position according to hand movement
|
||||
//------------------------------------------------------------------------
|
||||
updateHandMovement();
|
||||
|
||||
/*
|
||||
glm::dvec3 v( avatar.bone[ AVATAR_BONE_RIGHT_HAND ].worldPosition );
|
||||
v -= avatar.bone[ AVATAR_BONE_RIGHT_UPPER_ARM ].worldPosition;
|
||||
|
||||
double distance = glm::length(v);
|
||||
if ( distance > avatar.maxArmLength )
|
||||
{
|
||||
avatar.bone[ AVATAR_BONE_RIGHT_UPPER_ARM ].worldPosition += v * 0.2;
|
||||
}
|
||||
*/
|
||||
|
||||
|
||||
|
||||
/*
|
||||
//------------------------------------------------------------------------
|
||||
// update offset position
|
||||
//------------------------------------------------------------------------
|
||||
for (int b=0; b<NUM_AVATAR_BONES; b++)
|
||||
{
|
||||
glm::dvec3 diff( avatar.bone[b].worldPosition );
|
||||
diff -= avatar.bone[b].offsetPosition;
|
||||
|
||||
avatar.bone[b].offsetPosition += diff * 0.1;
|
||||
}
|
||||
*/
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
//-------------------------------
|
||||
double Head::getAvatarYaw()
|
||||
{
|
||||
return avatar.yaw;
|
||||
}
|
||||
|
||||
|
||||
|
||||
//-------------------------------
|
||||
void Head::updateHandMovement()
|
||||
{
|
||||
//----------------------------------------------------------------
|
||||
// adjust right hand and elbow according to hand offset
|
||||
//----------------------------------------------------------------
|
||||
avatar.bone[ AVATAR_BONE_RIGHT_HAND ].position.add( handOffset );
|
||||
|
||||
glm::dvec3 armVector = glm::dvec3( avatar.bone[ AVATAR_BONE_RIGHT_HAND ].position.x, avatar.bone[ AVATAR_BONE_RIGHT_HAND ].position.y, avatar.bone[ AVATAR_BONE_RIGHT_HAND ].position.z );
|
||||
|
||||
armVector -= glm::dvec3( avatar.bone[ AVATAR_BONE_RIGHT_SHOULDER ].position.x, avatar.bone[ AVATAR_BONE_RIGHT_SHOULDER ].position.y, avatar.bone[ AVATAR_BONE_RIGHT_SHOULDER ].position.z );
|
||||
avatar.bone[ AVATAR_BONE_RIGHT_HAND ].worldPosition += handOffset;
|
||||
glm::dvec3 armVector = avatar.bone[ AVATAR_BONE_RIGHT_HAND ].worldPosition;
|
||||
armVector -= avatar.bone[ AVATAR_BONE_RIGHT_SHOULDER ].worldPosition;
|
||||
|
||||
//-------------------------------------------------------------------------------
|
||||
// test to see if right hand is being dragged beyond maximum arm length
|
||||
//-------------------------------------------------------------------------------
|
||||
double distance = glm::length( armVector );
|
||||
double maxArmLength = 0.27;
|
||||
|
||||
|
||||
//-------------------------------------------------------------------------------
|
||||
// right hand is being dragged beyond maximum arm length...
|
||||
// if right hand is being dragged beyond maximum arm length...
|
||||
//-------------------------------------------------------------------------------
|
||||
if ( distance > maxArmLength )
|
||||
if ( distance > avatar.maxArmLength )
|
||||
{
|
||||
//-------------------------------------------------------------------------------
|
||||
// reset right hand to be constrained to maximum arm length
|
||||
//-------------------------------------------------------------------------------
|
||||
avatar.bone[ AVATAR_BONE_RIGHT_HAND ].position.set( avatar.bone[ AVATAR_BONE_RIGHT_SHOULDER ].position );
|
||||
|
||||
avatar.bone[ AVATAR_BONE_RIGHT_HAND ].worldPosition = avatar.bone[ AVATAR_BONE_RIGHT_SHOULDER ].worldPosition;
|
||||
glm::dvec3 armNormal = armVector / distance;
|
||||
armVector = armNormal * maxArmLength;
|
||||
distance = maxArmLength;
|
||||
|
||||
glm::dvec3 constrainedPosition = glm::dvec3( avatar.bone[ AVATAR_BONE_RIGHT_SHOULDER ].position.x, avatar.bone[ AVATAR_BONE_RIGHT_SHOULDER ].position.y, avatar.bone[ AVATAR_BONE_RIGHT_SHOULDER ].position.z );
|
||||
|
||||
armVector = armNormal * avatar.maxArmLength;
|
||||
distance = avatar.maxArmLength;
|
||||
glm::dvec3 constrainedPosition = avatar.bone[ AVATAR_BONE_RIGHT_SHOULDER ].worldPosition;
|
||||
constrainedPosition += armVector;
|
||||
|
||||
avatar.bone[ AVATAR_BONE_RIGHT_HAND ].position.setXYZ( constrainedPosition.x, constrainedPosition.y, constrainedPosition.z );
|
||||
avatar.bone[ AVATAR_BONE_RIGHT_HAND ].worldPosition = constrainedPosition;
|
||||
}
|
||||
|
||||
|
||||
//-----------------------------------------------------------------------------
|
||||
// set elbow position
|
||||
// set elbow position
|
||||
//-----------------------------------------------------------------------------
|
||||
glm::dvec3 newElbowPosition = glm::dvec3( avatar.bone[ AVATAR_BONE_RIGHT_SHOULDER ].position.x, avatar.bone[ AVATAR_BONE_RIGHT_SHOULDER ].position.y, avatar.bone[ AVATAR_BONE_RIGHT_SHOULDER ].position.z );
|
||||
|
||||
glm::dvec3 newElbowPosition = avatar.bone[ AVATAR_BONE_RIGHT_SHOULDER ].worldPosition;
|
||||
newElbowPosition += armVector * ONE_HALF;
|
||||
|
||||
glm::dvec3 perpendicular = glm::dvec3( -armVector.y, armVector.x, armVector.z );
|
||||
|
||||
newElbowPosition += perpendicular * ( 1.0 - ( maxArmLength / distance ) ) * ONE_HALF;
|
||||
|
||||
avatar.bone[ AVATAR_BONE_RIGHT_FOREARM ].position.setXYZ( newElbowPosition.x, newElbowPosition.y, newElbowPosition.z );
|
||||
newElbowPosition += perpendicular * ( 1.0 - ( avatar.maxArmLength / distance ) ) * ONE_HALF;
|
||||
avatar.bone[ AVATAR_BONE_RIGHT_FOREARM ].worldPosition = newElbowPosition;
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
//-----------------------------------------
|
||||
void Head::renderAvatar()
|
||||
void Head::renderBody()
|
||||
{
|
||||
glColor3fv(skinColor);
|
||||
|
||||
for (int b=0; b<NUM_AVATAR_BONES; b++)
|
||||
{
|
||||
glPushMatrix();
|
||||
glTranslatef( avatar.bone[b].position.x, avatar.bone[b].position.y, avatar.bone[b].position.z );
|
||||
glTranslatef( avatar.bone[b].worldPosition.x, avatar.bone[b].worldPosition.y, avatar.bone[b].worldPosition.z );
|
||||
glScalef( 0.02, 0.02, 0.02 );
|
||||
glutSolidSphere( 1, 8, 4 );
|
||||
glutSolidSphere( 1, 10, 5 );
|
||||
glPopMatrix();
|
||||
}
|
||||
}
|
||||
|
|
@ -835,6 +1020,9 @@ void Head::renderAvatar()
|
|||
|
||||
|
||||
// Transmit data to agents requesting it
|
||||
|
||||
//called on me just prior to sending data to others (continuasly called)
|
||||
|
||||
//---------------------------------------------------
|
||||
int Head::getBroadcastData(char* data)
|
||||
{
|
||||
|
|
@ -843,19 +1031,31 @@ int Head::getBroadcastData(char* data)
|
|||
getRenderPitch() + Pitch, -getRenderYaw() + 180 -Yaw, Roll,
|
||||
position.x + leanSideways, position.y, position.z + leanForward,
|
||||
loudness, averageLoudness,
|
||||
hand->getPos().x, hand->getPos().y, hand->getPos().z);
|
||||
//hand->getPos().x, hand->getPos().y, hand->getPos().z); //previous to Ventrella change
|
||||
avatar.bone[ AVATAR_BONE_RIGHT_HAND ].worldPosition.x,
|
||||
avatar.bone[ AVATAR_BONE_RIGHT_HAND ].worldPosition.y,
|
||||
avatar.bone[ AVATAR_BONE_RIGHT_HAND ].worldPosition.z ); // Ventrella change
|
||||
return strlen(data);
|
||||
}
|
||||
|
||||
//called on the other agents - assigns it to my views of the others
|
||||
|
||||
//---------------------------------------------------
|
||||
void Head::parseData(void *data, int size) {
|
||||
void Head::parseData(void *data, int size)
|
||||
{
|
||||
//glm::vec3 pos;//( (glm::vec3)avatar.bone[ AVATAR_BONE_RIGHT_HAND ].worldPosition );
|
||||
|
||||
// parse head data for this agent
|
||||
glm::vec3 handPos(0,0,0);
|
||||
sscanf((char *)data, "H%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f",
|
||||
&Pitch, &Yaw, &Roll,
|
||||
&position.x, &position.y, &position.z,
|
||||
&loudness, &averageLoudness,
|
||||
&handPos.x, &handPos.y, &handPos.z);
|
||||
glm::vec3 handPos( 0,0,0 );
|
||||
|
||||
sscanf
|
||||
(
|
||||
(char *)data, "H%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f",
|
||||
&Pitch, &Yaw, &Roll,
|
||||
&position.x, &position.y, &position.z,
|
||||
&loudness, &averageLoudness,
|
||||
&handPos.x, &handPos.y, &handPos.z
|
||||
);
|
||||
|
||||
if (glm::length(handPos) > 0.0) hand->setPos(handPos);
|
||||
}
|
||||
|
|
|
|||
|
|
@ -74,30 +74,26 @@ enum AvatarJoints
|
|||
enum AvatarBones
|
||||
{
|
||||
AVATAR_BONE_NULL = -1,
|
||||
AVATAR_BONE_PELVIS_SPINE, // connects pelvis joint with torso joint (cannot be rotated)
|
||||
AVATAR_BONE_PELVIS_SPINE, // connects pelvis joint with torso joint (not supposed to be rotated)
|
||||
AVATAR_BONE_MID_SPINE, // connects torso joint with chest joint
|
||||
AVATAR_BONE_CHEST_SPINE, // connects chest joint with neckBase joint (cannot be rotated)
|
||||
AVATAR_BONE_CHEST_SPINE, // connects chest joint with neckBase joint (not supposed to be rotated)
|
||||
AVATAR_BONE_NECK, // connects neckBase joint with headBase joint
|
||||
AVATAR_BONE_HEAD, // connects headBase joint with headTop joint
|
||||
|
||||
AVATAR_BONE_LEFT_CHEST, // connects chest joint with left clavicle joint (cannot be rotated)
|
||||
AVATAR_BONE_LEFT_CHEST, // connects chest joint with left clavicle joint (not supposed to be rotated)
|
||||
AVATAR_BONE_LEFT_SHOULDER, // connects left clavicle joint with left shoulder joint
|
||||
AVATAR_BONE_LEFT_UPPER_ARM, // connects left shoulder joint with left elbow joint
|
||||
AVATAR_BONE_LEFT_FOREARM, // connects left elbow joint with left wrist joint
|
||||
AVATAR_BONE_LEFT_HAND, // connects left wrist joint with left fingertips joint
|
||||
|
||||
AVATAR_BONE_RIGHT_CHEST, // connects chest joint with right clavicle joint (cannot be rotated)
|
||||
AVATAR_BONE_RIGHT_CHEST, // connects chest joint with right clavicle joint (not supposed to be rotated)
|
||||
AVATAR_BONE_RIGHT_SHOULDER, // connects right clavicle joint with right shoulder joint
|
||||
AVATAR_BONE_RIGHT_UPPER_ARM, // connects right shoulder joint with right elbow joint
|
||||
AVATAR_BONE_RIGHT_FOREARM, // connects right elbow joint with right wrist joint
|
||||
AVATAR_BONE_RIGHT_HAND, // connects right wrist joint with right fingertips joint
|
||||
|
||||
AVATAR_BONE_LEFT_PELVIS, // connects pelvis joint with left hip joint (cannot be rotated)
|
||||
AVATAR_BONE_LEFT_PELVIS, // connects pelvis joint with left hip joint (not supposed to be rotated)
|
||||
AVATAR_BONE_LEFT_THIGH, // connects left hip joint with left knee joint
|
||||
AVATAR_BONE_LEFT_SHIN, // connects left knee joint with left heel joint
|
||||
AVATAR_BONE_LEFT_FOOT, // connects left heel joint with left toes joint
|
||||
|
||||
AVATAR_BONE_RIGHT_PELVIS, // connects pelvis joint with right hip joint (cannot be rotated)
|
||||
AVATAR_BONE_RIGHT_PELVIS, // connects pelvis joint with right hip joint (not supposed to be rotated)
|
||||
AVATAR_BONE_RIGHT_THIGH, // connects right hip joint with right knee joint
|
||||
AVATAR_BONE_RIGHT_SHIN, // connects right knee joint with right heel joint
|
||||
AVATAR_BONE_RIGHT_FOOT, // connects right heel joint with right toes joint
|
||||
|
|
@ -108,20 +104,26 @@ enum AvatarBones
|
|||
struct AvatarBone
|
||||
{
|
||||
AvatarBones parent;
|
||||
Vector3D position;
|
||||
Vector3D defaultPosePosition;
|
||||
Vector3D velocity;
|
||||
glm::dvec3 worldPosition;
|
||||
glm::dvec3 defaultPosePosition;
|
||||
glm::dvec3 velocity;
|
||||
double yaw;
|
||||
double pitch;
|
||||
double roll;
|
||||
Orientation orientation;
|
||||
Orientation worldOrientation;
|
||||
double length;
|
||||
};
|
||||
|
||||
struct Avatar
|
||||
{
|
||||
Vector3D position;
|
||||
Vector3D velocity;
|
||||
glm::dvec3 position;
|
||||
glm::dvec3 velocity;
|
||||
glm::dvec3 thrust;
|
||||
double yaw;
|
||||
double pitch;
|
||||
double roll;
|
||||
double yawDelta;
|
||||
double maxArmLength;
|
||||
Orientation orientation;
|
||||
AvatarBone bone[ NUM_AVATAR_BONES ];
|
||||
};
|
||||
|
|
@ -154,15 +156,19 @@ class Head : public AgentData {
|
|||
float getRoll() {return Roll;}
|
||||
float getYaw() {return Yaw;}
|
||||
float getLastMeasuredYaw() {return YawRate;}
|
||||
|
||||
double getAvatarYaw();
|
||||
|
||||
void render(int faceToFace, int isMine);
|
||||
|
||||
void setAvatarPosition( double, double, double );
|
||||
void renderAvatar();
|
||||
void renderBody();
|
||||
void renderHead( int faceToFace, int isMine );
|
||||
|
||||
void simulate(float);
|
||||
|
||||
void setHandMovement( glm::dvec3 movement );
|
||||
void updateHandMovement();
|
||||
|
||||
// Send and receive network data
|
||||
int getBroadcastData(char * data);
|
||||
|
|
@ -227,7 +233,7 @@ class Head : public AgentData {
|
|||
glm::vec3 velocity;
|
||||
glm::vec3 thrust;
|
||||
|
||||
Vector3D handOffset;
|
||||
glm::dvec3 handOffset;
|
||||
|
||||
int driveKeys[MAX_DRIVE_KEYS];
|
||||
|
||||
|
|
@ -238,8 +244,8 @@ class Head : public AgentData {
|
|||
Avatar avatar;
|
||||
|
||||
void initializeAvatar();
|
||||
void simulateAvatar( float deltaTime );
|
||||
void updateAvatarSkeleton();
|
||||
void calculateBoneLengths();
|
||||
|
||||
void readSensors();
|
||||
float renderYaw, renderPitch; // Pitch from view frustum when this is own head.
|
||||
|
|
|
|||
|
|
@ -566,15 +566,32 @@ void display(void)
|
|||
glMateriali(GL_FRONT, GL_SHININESS, 96);
|
||||
|
||||
//-------------------------------------------------------------------------------------
|
||||
// set the caemra to third-person view
|
||||
// set the camera to third-person view
|
||||
//-------------------------------------------------------------------------------------
|
||||
myCamera.setTargetPosition ( (glm::dvec3)myHead.getPos() );
|
||||
myCamera.setYaw ( 0.0 );
|
||||
myCamera.setPitch ( 0.0 );
|
||||
myCamera.setRoll ( 0.0 );
|
||||
myCamera.setUp ( 0.15 );
|
||||
myCamera.setDistance ( 0.08 );
|
||||
myCamera.update();
|
||||
myCamera.setTargetPosition( (glm::dvec3)myHead.getPos() );
|
||||
myCamera.setPitch ( 0.0 );
|
||||
myCamera.setRoll ( 0.0 );
|
||||
|
||||
if ( display_head )
|
||||
//-------------------------------------------------------------------------------------
|
||||
// set the camera to looking at my face
|
||||
//-------------------------------------------------------------------------------------
|
||||
{
|
||||
myCamera.setYaw ( - myHead.getAvatarYaw() );
|
||||
myCamera.setUp ( 0.4 );
|
||||
myCamera.setDistance( 0.08 );
|
||||
myCamera.update();
|
||||
}
|
||||
else
|
||||
//-------------------------------------------------------------------------------------
|
||||
// set the camera to third-person view
|
||||
//-------------------------------------------------------------------------------------
|
||||
{
|
||||
myCamera.setYaw ( 180.0 - myHead.getAvatarYaw() );
|
||||
myCamera.setUp ( 0.15 );
|
||||
myCamera.setDistance( 0.08 );
|
||||
myCamera.update();
|
||||
}
|
||||
|
||||
//-------------------------------------------------------------------------------------
|
||||
// transform to camera view
|
||||
|
|
@ -582,7 +599,13 @@ void display(void)
|
|||
glRotatef ( myCamera.getPitch(), 1, 0, 0 );
|
||||
glRotatef ( myCamera.getYaw(), 0, 1, 0 );
|
||||
glRotatef ( myCamera.getRoll(), 0, 0, 1 );
|
||||
|
||||
//printf( "myCamera position = %f, %f, %f\n", myCamera.getPosition().x, myCamera.getPosition().y, myCamera.getPosition().z );
|
||||
|
||||
glTranslatef( myCamera.getPosition().x, myCamera.getPosition().y, myCamera.getPosition().z );
|
||||
|
||||
// fixed view
|
||||
//glTranslatef( 6.18, -0.15, 1.4 );
|
||||
|
||||
if (::starsOn) {
|
||||
// should be the first rendering pass - w/o depth buffer / lighting
|
||||
|
|
@ -601,7 +624,7 @@ void display(void)
|
|||
// if (!display_head) cloud.render();
|
||||
|
||||
// Draw voxels
|
||||
//voxels.render();
|
||||
voxels.render();
|
||||
|
||||
// Draw field vectors
|
||||
if (display_field) field.render();
|
||||
|
|
@ -624,11 +647,12 @@ void display(void)
|
|||
if (!display_head && stats_on) render_world_box();
|
||||
|
||||
|
||||
//---------------------------------
|
||||
// Render my own head
|
||||
//---------------------------------
|
||||
myHead.render( true, 1 );
|
||||
//myHead.renderAvatar();
|
||||
|
||||
/*
|
||||
// Render my own head
|
||||
glPushMatrix();
|
||||
glLoadIdentity();
|
||||
glTranslatef(0.f, 0.f, -7.f);
|
||||
|
|
@ -967,7 +991,7 @@ void idle(void)
|
|||
if ( mouse_pressed == 1 )
|
||||
{
|
||||
double xOffset = ( mouse_x - mouse_start_x ) / (double)WIDTH;
|
||||
double yOffset = ( mouse_y - mouse_start_y ) / (double)WIDTH;
|
||||
double yOffset = ( mouse_y - mouse_start_y ) / (double)HEIGHT;
|
||||
|
||||
double leftRight = xOffset;
|
||||
double downUp = yOffset;
|
||||
|
|
@ -1001,6 +1025,8 @@ void idle(void)
|
|||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
void reshape(int width, int height)
|
||||
{
|
||||
WIDTH = width;
|
||||
|
|
@ -1018,6 +1044,8 @@ void reshape(int width, int height)
|
|||
glViewport(0, 0, width, height);
|
||||
}
|
||||
|
||||
|
||||
|
||||
void mouseFunc( int button, int state, int x, int y )
|
||||
{
|
||||
if( button == GLUT_LEFT_BUTTON && state == GLUT_DOWN )
|
||||
|
|
|
|||
Loading…
Reference in a new issue