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Moving I/O code into head class, playing with blocks

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This commit is contained in:
Philip Rosedale 2012-11-28 14:47:09 -08:00
parent 6172b38f49
commit 2309d248a9
11 changed files with 102 additions and 154 deletions
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4
SerialInterface.cpp
View file

@ -60,10 +60,10 @@ int read_sensors(int first_measurement, float * avg_adc_channels, int * adc_chan
{
// Channels:
// 0, 1 = Head Pitch and Yaw
// 2,3,4 = Head XYZ Acceleration
// 2,3,4 = Head X,Y,Z Acceleration
//
int samples_read = 0;
const float AVG_RATE[] = {0.001, 0.001, 0.01, 0.01, 0.01};
const float AVG_RATE[] = {0.001, 0.001, 0.001, 0.001, 0.001};
char bufchar[1];
while (read(serial_fd, bufchar, 1) > 0)
{

9
SerialInterface.h
View file

@ -12,4 +12,13 @@ int read_sensors(int first_measurement, float * avg_adc_channels, int * adc_chan
#define NUM_CHANNELS 5
#define SERIAL_PORT_NAME "/dev/tty.usbmodem641"
// Acceleration sensors, in screen/world coord system (X = left/right, Y = Up/Down, Z = fwd/back)
#define ACCEL_X 3
#define ACCEL_Y 4
#define ACCEL_Z 2
// Gyro sensors, in coodinate system of head/airplane
#define PITCH_RATE 0
#define YAW_RATE 1
#endif

133
head.cpp
View file

@ -9,6 +9,7 @@
#include <iostream>
#include "head.h"
#include "util.h"
#include "glm/gtx/vector_angle.hpp"
float skinColor[] = {1.0, 0.84, 0.66};
float browColor[] = {210.0/255.0, 105.0/255.0, 30.0/255.0};
@ -56,14 +57,7 @@ void Head::reset()
leanForward = leanSideways = 0;
}
// Read the sensors
void readSensors()
{
}
/*
void update_pos(float frametime)
void Head::UpdatePos(float frametime, int * adc_channels, float * avg_adc_channels, int head_mirror, glm::vec3 * gravity)
// Using serial data, update avatar/render position and angles
{
float measured_pitch_rate = adc_channels[0] - avg_adc_channels[0];
@ -75,111 +69,28 @@ void update_pos(float frametime)
const float HEAD_ROTATION_SCALE = 0.20;
const float HEAD_LEAN_SCALE = 0.02;
if (head_mirror) {
myHead.addYaw(measured_yaw_rate * HEAD_ROTATION_SCALE * frametime);
myHead.addPitch(measured_pitch_rate * -HEAD_ROTATION_SCALE * frametime);
myHead.addLean(measured_lateral_accel * frametime * HEAD_LEAN_SCALE, measured_fwd_accel*frametime * HEAD_LEAN_SCALE);
addYaw(measured_yaw_rate * HEAD_ROTATION_SCALE * frametime);
addPitch(measured_pitch_rate * -HEAD_ROTATION_SCALE * frametime);
addLean(measured_lateral_accel * frametime * HEAD_LEAN_SCALE, measured_fwd_accel*frametime * HEAD_LEAN_SCALE);
} else {
myHead.addYaw(measured_yaw_rate * -HEAD_ROTATION_SCALE * frametime);
myHead.addPitch(measured_pitch_rate * -HEAD_ROTATION_SCALE * frametime);
myHead.addLean(measured_lateral_accel * frametime * -HEAD_LEAN_SCALE, measured_fwd_accel*frametime * HEAD_LEAN_SCALE);
addYaw(measured_yaw_rate * -HEAD_ROTATION_SCALE * frametime);
addPitch(measured_pitch_rate * -HEAD_ROTATION_SCALE * frametime);
addLean(measured_lateral_accel * frametime * -HEAD_LEAN_SCALE, measured_fwd_accel*frametime * HEAD_LEAN_SCALE);
}
// Try to measure absolute roll from sensors
const float MIN_ROLL = 3.0;
glm::vec3 v1(gravity->x, gravity->y, 0);
glm::vec3 v2(adc_channels[ACCEL_X], adc_channels[ACCEL_Y], 0);
float newRoll = acos(glm::dot(glm::normalize(v1), glm::normalize(v2))) ;
if (newRoll != NAN) {
newRoll *= 1000.0;
if (newRoll > MIN_ROLL) {
if (adc_channels[ACCEL_X] > gravity->x) newRoll *= -1.0;
//SetRoll(newRoll);
}
}
// Decay avatar head back toward zero
//pitch *= (1.f - 5.0*frametime);
//yaw *= (1.f - 7.0*frametime);
// Update head_mouse model
const float MIN_MOUSE_RATE = 30.0;
const float MOUSE_SENSITIVITY = 0.1;
if (powf(measured_yaw_rate*measured_yaw_rate +
measured_pitch_rate*measured_pitch_rate, 0.5) > MIN_MOUSE_RATE)
{
head_mouse_x -= measured_yaw_rate*MOUSE_SENSITIVITY;
head_mouse_y += measured_pitch_rate*MOUSE_SENSITIVITY*(float)HEIGHT/(float)WIDTH;
}
head_mouse_x = max(head_mouse_x, 0);
head_mouse_x = min(head_mouse_x, WIDTH);
head_mouse_y = max(head_mouse_y, 0);
head_mouse_y = min(head_mouse_y, HEIGHT);
// Update render direction (pitch/yaw) based on measured gyro rates
const int MIN_YAW_RATE = 300;
const float YAW_SENSITIVITY = 0.03;
const int MIN_PITCH_RATE = 300;
const float PITCH_SENSITIVITY = 0.04;
if (fabs(measured_yaw_rate) > MIN_YAW_RATE)
{
if (measured_yaw_rate > 0)
render_yaw_rate -= (measured_yaw_rate - MIN_YAW_RATE) * YAW_SENSITIVITY * frametime;
else
render_yaw_rate -= (measured_yaw_rate + MIN_YAW_RATE) * YAW_SENSITIVITY * frametime;
}
if (fabs(measured_pitch_rate) > MIN_PITCH_RATE)
{
if (measured_pitch_rate > 0)
render_pitch_rate += (measured_pitch_rate - MIN_PITCH_RATE) * PITCH_SENSITIVITY * frametime;
else
render_pitch_rate += (measured_pitch_rate + MIN_PITCH_RATE) * PITCH_SENSITIVITY * frametime;
}
render_yaw += render_yaw_rate;
render_pitch += render_pitch_rate;
// Decay render_pitch toward zero because we never look constantly up/down
render_pitch *= (1.f - 2.0*frametime);
// Decay angular rates toward zero
render_pitch_rate *= (1.f - 5.0*frametime);
render_yaw_rate *= (1.f - 7.0*frametime);
// Update slide left/right based on accelerometer reading
const int MIN_LATERAL_ACCEL = 20;
const float LATERAL_SENSITIVITY = 0.001;
if (fabs(measured_lateral_accel) > MIN_LATERAL_ACCEL)
{
if (measured_lateral_accel > 0)
lateral_vel += (measured_lateral_accel - MIN_LATERAL_ACCEL) * LATERAL_SENSITIVITY * frametime;
else
lateral_vel += (measured_lateral_accel + MIN_LATERAL_ACCEL) * LATERAL_SENSITIVITY * frametime;
}
//slide += lateral_vel;
lateral_vel *= (1.f - 4.0*frametime);
// Update fwd/back based on accelerometer reading
const int MIN_FWD_ACCEL = 20;
const float FWD_SENSITIVITY = 0.001;
if (fabs(measured_fwd_accel) > MIN_FWD_ACCEL)
{
if (measured_fwd_accel > 0)
fwd_vel += (measured_fwd_accel - MIN_FWD_ACCEL) * FWD_SENSITIVITY * frametime;
else
fwd_vel += (measured_fwd_accel + MIN_FWD_ACCEL) * FWD_SENSITIVITY * frametime;
}
// Decrease forward velocity
fwd_vel *= (1.f - 4.0*frametime);
// Update forward vector based on pitch and yaw
fwd_vec[0] = -sinf(render_yaw*PI/180);
fwd_vec[1] = sinf(render_pitch*PI/180);
fwd_vec[2] = cosf(render_yaw*PI/180);
// Advance location forward
location[0] += fwd_vec[0]*fwd_vel;
location[1] += fwd_vec[1]*fwd_vel;
location[2] += fwd_vec[2]*fwd_vel;
// Slide location sideways
location[0] += fwd_vec[2]*-lateral_vel;
location[2] += fwd_vec[0]*lateral_vel;
// Update head and manipulator objects with object with current location
myHead.setPos(glm::vec3(location[0], location[1], location[2]));
balls.updateHand(myHead.getPos() + myHand.getPos(), glm::vec3(0,0,0), myHand.getRadius());
}
*/
void Head::addLean(float x, float z) {
// Add Body lean as impulse
@ -201,7 +112,7 @@ void Head::simulate(float deltaTime)
// Move toward new target
Pitch += (PitchTarget - Pitch)*22*deltaTime; // (1.f - DECAY*deltaTime)*Pitch + ;
Yaw += (YawTarget - Yaw)*22*deltaTime; // (1.f - DECAY*deltaTime);
Roll *= (1.f - DECAY*deltaTime);
//Roll *= (1.f - DECAY*deltaTime);
}
leanForward *= (1.f - DECAY*30.f*deltaTime);

5
head.h
View file

@ -13,6 +13,7 @@
#include "field.h"
#include "world.h"
#include <GLUT/glut.h>
#include "SerialInterface.h"
class Head {
float noise;
@ -51,11 +52,15 @@ class Head {
public:
Head(void);
void reset();
void UpdatePos(float frametime, int * adc_channels, float * avg_adc_channels,
int head_mirror, glm::vec3 * gravity);
void setNoise (float mag) { noise = mag; }
void setPitch(float p) {Pitch = p; }
void setYaw(float y) {Yaw = y; }
void SetRoll(float r) {Roll = r; };
void addPitch(float p) {Pitch -= p; }
void addYaw(float y){Yaw -= y; }
void addRoll(float r){Roll += r; }
void addLean(float x, float z);
void getPitch(float);
void render();

2
interface.xcodeproj/project.pbxproj
View file

@ -140,11 +140,11 @@
isa = PBXGroup;
children = (
08FB7796FE84155DC02AAC07 /* main.cpp */,
D4EE3BC015E746E900EE4C89 /* world.h */,
D409B9A6165CA7A50099B0B3 /* agent.h */,
D409B9A7165CA7BB0099B0B3 /* agent.cpp */,
D409B988165849030099B0B3 /* cloud.h */,
D409B989165849180099B0B3 /* cloud.cpp */,
D4EE3BC015E746E900EE4C89 /* world.h */,
B6BDAE4315F6BE53002A07DF /* particle.cpp */,
B6BDAE4115F6BE4D002A07DF /* particle.h */,
D4EE3BBD15E7465700EE4C89 /* field.cpp */,

BIN
interface.xcodeproj/project.xcworkspace/xcuserdata/philip.xcuserdatad/UserInterfaceState.xcuserstate generated
View file

Binary file not shown.

72
main.cpp
View file

@ -76,7 +76,7 @@ int bytescount = 0;
int target_x, target_y;
int target_display = 0;
int head_mirror = 0; // Whether to mirror the head when viewing it
int head_mirror = 1; // Whether to mirror the head when viewing it
int WIDTH = 1200;
int HEIGHT = 800;
@ -95,7 +95,7 @@ ParticleSystem balls(0,
0.0 // Gravity
);
Cloud cloud(0, // Particles
Cloud cloud(100000, // Particles
box, // Bounding Box
false // Wrap
);
@ -161,6 +161,7 @@ int speed;
int adc_channels[NUM_CHANNELS];
float avg_adc_channels[NUM_CHANNELS];
glm::vec3 gravity;
int first_measurement = 1;
int samplecount = 0;
@ -277,16 +278,32 @@ void init(void)
}
int index = 0;
while (index < MAX_CUBES) {
cubes_position[index*3] = randFloat()*WORLD_SIZE;
cubes_position[index*3+1] = randFloat()*WORLD_SIZE;
cubes_position[index*3+2] = randFloat()*WORLD_SIZE;
cubes_scale[index] = WORLD_SIZE/powf(2,2+rand()%8);
float color = randFloat();
cubes_color[index*3] = color;
cubes_color[index*3 + 1] = color;
cubes_color[index*3 + 2] = color;
index++;
}
cube_count = index;
// Recursive build
/*
float location[] = {0,0,0};
float scale = 10.0;
int j = 0;
while (index < (MAX_CUBES/2)) {
while (index < 4) { //(index < (MAX_CUBES/2)) {
index = 0;
j++;
makeCubes(location, scale, &index, cubes_position, cubes_scale, cubes_color);
std::cout << "Run " << j << " Made " << index << " cubes\n";
cube_count = index;
}
}*/
//load_png_as_texture(texture_filename);
@ -303,6 +320,11 @@ void init(void)
gettimeofday(&timer_end, NULL);
if (diffclock(timer_start,timer_end) > 1000) done = 1;
}
gravity.x = avg_adc_channels[ACCEL_X];
gravity.y = avg_adc_channels[ACCEL_Y];
gravity.z = avg_adc_channels[ACCEL_Z];
std::cout << "Gravity: " << gravity.x << "," << gravity.y << "," << gravity.z << "\n";
printf( "Done.\n" );
}
@ -347,27 +369,13 @@ void reset_sensors()
void update_pos(float frametime)
// Using serial data, update avatar/render position and angles
{
float measured_pitch_rate = adc_channels[0] - avg_adc_channels[0];
float measured_yaw_rate = adc_channels[1] - avg_adc_channels[1];
float measured_lateral_accel = adc_channels[3] - avg_adc_channels[3];
float measured_fwd_accel = avg_adc_channels[2] - adc_channels[2];
float measured_pitch_rate = adc_channels[PITCH_RATE] - avg_adc_channels[PITCH_RATE];
float measured_yaw_rate = adc_channels[YAW_RATE] - avg_adc_channels[YAW_RATE];
float measured_lateral_accel = adc_channels[ACCEL_X] - avg_adc_channels[ACCEL_X];
float measured_fwd_accel = avg_adc_channels[ACCEL_Z] - adc_channels[ACCEL_Z];
myHead.UpdatePos(frametime, &adc_channels[0], &avg_adc_channels[0], head_mirror, &gravity);
// Update avatar head position based on measured gyro rates
const float HEAD_ROTATION_SCALE = 0.20;
const float HEAD_LEAN_SCALE = 0.02;
if (head_mirror) {
myHead.addYaw(measured_yaw_rate * HEAD_ROTATION_SCALE * frametime);
myHead.addPitch(measured_pitch_rate * -HEAD_ROTATION_SCALE * frametime);
myHead.addLean(measured_lateral_accel * frametime * HEAD_LEAN_SCALE, measured_fwd_accel*frametime * HEAD_LEAN_SCALE);
} else {
myHead.addYaw(measured_yaw_rate * -HEAD_ROTATION_SCALE * frametime);
myHead.addPitch(measured_pitch_rate * -HEAD_ROTATION_SCALE * frametime);
myHead.addLean(measured_lateral_accel * frametime * -HEAD_LEAN_SCALE, measured_fwd_accel*frametime * HEAD_LEAN_SCALE);
}
// Decay avatar head back toward zero
//pitch *= (1.f - 5.0*frametime);
//yaw *= (1.f - 7.0*frametime);
// Update head_mouse model
const float MIN_MOUSE_RATE = 30.0;
const float MOUSE_SENSITIVITY = 0.1;
@ -510,7 +518,7 @@ void display(void)
glTranslatef(location[0], location[1], location[2]);
glPushMatrix();
glTranslatef(WORLD_SIZE/2, WORLD_SIZE/2, WORLD_SIZE/2);
//glTranslatef(-WORLD_SIZE/2, -WORLD_SIZE/2, -WORLD_SIZE/2);
int i = 0;
while (i < cube_count) {
glPushMatrix();
@ -592,18 +600,25 @@ void display(void)
for(i = 0; i < NUM_CHANNELS; i++)
{
// Actual value
glLineWidth(2.0);
glColor4f(1, 1, 1, 1);
glBegin(GL_LINES);
glVertex2f(disp_x, HEIGHT*0.95);
glVertex2f(disp_x, HEIGHT*(0.25 + 0.75f*adc_channels[i]/4096));
glEnd();
// Trailing Average value
glColor4f(0, 0, 0.8, 1);
glColor4f(1, 1, 0, 1);
glBegin(GL_LINES);
glVertex2f(disp_x + 2, HEIGHT*0.95);
glVertex2f(disp_x + 2, HEIGHT*(0.25 + 0.75f*avg_adc_channels[i]/4096));
glEnd();
glColor3f(1,0,0);
glBegin(GL_LINES);
glLineWidth(2.0);
glVertex2f(disp_x - 10, HEIGHT*0.5 - (adc_channels[i] - avg_adc_channels[i]));
glVertex2f(disp_x + 10, HEIGHT*0.5 - (adc_channels[i] - avg_adc_channels[i]));
glEnd();
sprintf(val, "%d", adc_channels[i]);
drawtext(disp_x-GAP/2, (HEIGHT*0.95)+2, 0.08, 90, 1.0, 0, val, 0, 1, 0);
@ -653,10 +668,13 @@ void key(unsigned char k, int x, int y)
}
if (k == 'h') display_head = !display_head;
if (k == 'm') display_hand = !display_hand;
if (k == 'b') display_hand = !display_hand;
if (k == 'm') head_mirror = !head_mirror;
if (k == 'f') display_field = !display_field;
if (k == 'l') display_levels = !display_levels;
if (k == 'e') location[1] -= WORLD_SIZE/100.0;
if (k == 'c') location[1] += WORLD_SIZE/100.0;
if (k == 'w') fwd_vel += 0.05;

8
network.cpp
View file

@ -73,7 +73,6 @@ int network_init()
//from.sin_addr.s_addr = htonl(ip_address);
from.sin_port = htons( (unsigned short) UDP_PORT );
return handle;
}
@ -94,7 +93,6 @@ int notify_spaceserver(int handle, float x, float y, float z) {
int packet_size = strlen(data);
int sent_bytes = sendto( handle, (const char*)data, packet_size,
0, (sockaddr*)&spaceserver_address, sizeof(sockaddr_in) );
if ( sent_bytes != packet_size )
{
printf( "failed to send to spaceserver: return value = %d\n", sent_bytes );
@ -103,9 +101,11 @@ int notify_spaceserver(int handle, float x, float y, float z) {
return sent_bytes;
}
int network_send(int handle, char * packet_data, int packet_size)
{
int sent_bytes = sendto( handle, (const char*)packet_data, packet_size,
{
int sent_bytes = 0;
sent_bytes = sendto( handle, (const char*)packet_data, packet_size,
0, (sockaddr*)&dest_address, sizeof(sockaddr_in) );
if ( sent_bytes != packet_size )

3
network.h
View file

@ -25,6 +25,9 @@ const char DESTINATION_IP[] = "127.0.0.1";
const char SPACESERVER_IP[] = "127.0.0.1";
const int SPACESERVER_PORT = 40000;
// Randomly send a ping packet every N packets sent
const int PING_PACKET_COUNT = 20;
int network_init();
int network_send(int handle, char * packet_data, int packet_size);
int network_receive(int handle, char * packet_data, int delay /*msecs*/);

16
util.cpp
View file

@ -26,21 +26,23 @@ void makeCubes(float location[3], float scale, int * index,
//std::cout << "loc: " << location[0] << ","
//<< location[1] << "," << location[2] << "\n";
if ((*index >= MAX_CUBES) || (scale < SMALLEST_CUBE)) return;
if (randFloat() < 0.5) {
if (scale < 3 && (randFloat() < .1)) {
// Make a cube
for (i = 0; i < 3; i++) cubes_position[*index*3 + i] = location[i];
for (i = 0; i < 3; i++) cubes_position[*index*3 + i] = location[i]+scale/2.0;
float color = randFloat();
cubes_scale[*index] = scale;
cubes_color[*index*3] = randFloat();
cubes_color[*index*3 + 1] = randFloat();
cubes_color[*index*3 + 2] = randFloat();
cubes_color[*index*3] = color;
cubes_color[*index*3 + 1] = color;
cubes_color[*index*3 + 2] = color;
*index += 1;
//std::cout << "Quad made at scale " << scale << "\n";
//std::cout << "Loc: " << location[0] << "," << location[1]
//<< "," << location[2] << " scale " << scale << "\n";
} else {
for (i = 0; i < 8; i++) {
spot[0] = location[0] + (i%2)*scale/2.0;
spot[1] = location[1] + ((i/2)%2)*scale/2.0;
spot[2] = location[2] + ((i/4)%2)*scale/2.0;
//std::cout << spot[0] << "," << spot[1] << "," << spot[2] << "\n";
//std::cout << "called with " << spot[0] << "," << spot[1] << "," << spot[2] << "\n";
makeCubes(spot, scale/2.0, index, cubes_position, cubes_scale, cubes_color);
}
}

4
world.h
View file

@ -14,7 +14,7 @@
const float WORLD_SIZE = 10.0;
#define PI 3.14159265
#define MAX_CUBES 2000
#define SMALLEST_CUBE 0.01
#define MAX_CUBES 0
#define SMALLEST_CUBE 0.1
#endif