code out of Model into base and derived classes

PhysicalEntity (base class) gets some shape management stuff
SkeletonModel (derived class) gets some boundary shape and
joint-shape stuff

interface/src/avatar/Avatar.cpp

@@ -230,7 +230,6 @@ void Avatar::render(const glm::vec3& cameraPosition, RenderMode renderMode) {
                 getHead()->getFaceModel().renderJointCollisionShapes(0.7f);
             }
             if (renderBounding && shouldRenderHead(cameraPosition, renderMode)) {
-                getHead()->getFaceModel().renderBoundingCollisionShapes(0.7f);
                 _skeletonModel.renderBoundingCollisionShapes(0.7f);
             }
 

interface/src/avatar/SkeletonModel.cpp

@@ -11,6 +11,9 @@
 
 #include <glm/gtx/transform.hpp>
 
+#include <CapsuleShape.h>
+#include <SphereShape.h>
+
 #include "Application.h"
 #include "Avatar.h"
 #include "Hand.h"
@@ -20,7 +23,9 @@
 SkeletonModel::SkeletonModel(Avatar* owningAvatar, QObject* parent) : 
     Model(parent),
     Ragdoll(),
-    _owningAvatar(owningAvatar) {
+    _owningAvatar(owningAvatar),
+    _boundingShape(),
+    _boundingShapeLocalOffset(0.0f) {
 }
 
 void SkeletonModel::setJointStates(QVector<JointState> states) {
@@ -524,3 +529,251 @@ void SkeletonModel::renderRagdoll() {
     glEnable(GL_DEPTH_TEST);
     glEnable(GL_LIGHTING);
 }
+
+// virtual
+void SkeletonModel::buildShapes() {
+    if (!_geometry || _rootIndex == -1) {
+        return;
+    }
+    
+    const FBXGeometry& geometry = _geometry->getFBXGeometry();
+    if (geometry.joints.isEmpty()) {
+        return;
+    }
+    // We create the shapes with proper dimensions, but we set their transforms later.
+    float uniformScale = extractUniformScale(_scale);
+    for (int i = 0; i < _jointStates.size(); i++) {
+        const FBXJoint& joint = geometry.joints[i];
+
+        float radius = uniformScale * joint.boneRadius;
+        float halfHeight = 0.5f * uniformScale * joint.distanceToParent;
+        Shape::Type type = joint.shapeType;
+        if (type == Shape::CAPSULE_SHAPE && halfHeight < EPSILON) {
+            // this capsule is effectively a sphere
+            type = Shape::SPHERE_SHAPE;
+        }
+        if (type == Shape::CAPSULE_SHAPE) {
+            CapsuleShape* capsule = new CapsuleShape(radius, halfHeight);
+            capsule->setEntity(this);
+            _shapes.push_back(capsule);
+        } else if (type == Shape::SPHERE_SHAPE) {
+            SphereShape* sphere = new SphereShape(radius, glm::vec3(0.0f));
+            _shapes.push_back(sphere);
+            sphere->setEntity(this);
+        } else {
+            // this shape type is not handled and the joint shouldn't collide, 
+            // however we must have a Shape* for each joint, so we push NULL
+            _shapes.push_back(NULL);
+        }
+    }
+
+    // This method moves the shapes to their default positions in Model frame
+    // which is where we compute the bounding shape's parameters.
+    computeBoundingShape(geometry);
+
+    // finally sync shapes to joint positions
+    _shapesAreDirty = true;
+    updateShapePositions();
+}
+
+void SkeletonModel::updateShapePositionsLegacy() {
+    if (_shapesAreDirty && _shapes.size() == _jointStates.size()) {
+        glm::vec3 rootPosition(0.0f);
+        _boundingRadius = 0.0f;
+        float uniformScale = extractUniformScale(_scale);
+        for (int i = 0; i < _jointStates.size(); i++) {
+            const JointState& state = _jointStates[i];
+            const FBXJoint& joint = state.getFBXJoint();
+            // shape position and rotation need to be in world-frame
+            glm::quat stateRotation = state.getRotation();
+            glm::vec3 shapeOffset = uniformScale * (stateRotation * joint.shapePosition);
+            glm::vec3 worldPosition = _translation + _rotation * (state.getPosition() + shapeOffset);
+            Shape* shape = _shapes[i];
+            if (shape) {
+                shape->setCenter(worldPosition);
+                shape->setRotation(_rotation * stateRotation * joint.shapeRotation);
+                float distance = glm::distance(worldPosition, _translation) + shape->getBoundingRadius();
+                if (distance > _boundingRadius) {
+                    _boundingRadius = distance;
+                }
+            }
+            if (joint.parentIndex == -1) {
+                rootPosition = worldPosition;
+            }
+        }
+        _shapesAreDirty = false;
+        _boundingShape.setCenter(rootPosition + _rotation * _boundingShapeLocalOffset);
+        _boundingShape.setRotation(_rotation);
+    }
+}
+
+void SkeletonModel::computeBoundingShape(const FBXGeometry& geometry) {
+    // compute default joint transforms and rotations 
+    // (in local frame, ignoring Model translation and rotation)
+    int numJoints = geometry.joints.size();
+    QVector<glm::mat4> transforms;
+    transforms.fill(glm::mat4(), numJoints);
+    QVector<glm::quat> finalRotations;
+    finalRotations.fill(glm::quat(), numJoints);
+
+    QVector<bool> shapeIsSet;
+    shapeIsSet.fill(false, numJoints);
+    int numShapesSet = 0;
+    int lastNumShapesSet = -1;
+    while (numShapesSet < numJoints && numShapesSet != lastNumShapesSet) {
+        lastNumShapesSet = numShapesSet;
+        for (int i = 0; i < numJoints; i++) {
+            const FBXJoint& joint = geometry.joints.at(i);
+            int parentIndex = joint.parentIndex;
+            
+            if (parentIndex == -1) {
+                glm::mat4 baseTransform = glm::scale(_scale) * glm::translate(_offset);
+                glm::quat combinedRotation = joint.preRotation * joint.rotation * joint.postRotation;    
+                glm::mat4 rootTransform = baseTransform * geometry.offset * glm::translate(joint.translation) 
+                    * joint.preTransform * glm::mat4_cast(combinedRotation) * joint.postTransform;
+                // remove the tranlsation part before we save the root transform
+                transforms[i] = glm::translate(- extractTranslation(rootTransform)) * rootTransform;
+
+                finalRotations[i] = combinedRotation;
+                ++numShapesSet;
+                shapeIsSet[i] = true;
+            } else if (shapeIsSet[parentIndex]) {
+                glm::quat combinedRotation = joint.preRotation * joint.rotation * joint.postRotation;    
+                transforms[i] = transforms[parentIndex] * glm::translate(joint.translation) 
+                    * joint.preTransform * glm::mat4_cast(combinedRotation) * joint.postTransform;
+                finalRotations[i] = finalRotations[parentIndex] * combinedRotation;
+                ++numShapesSet;
+                shapeIsSet[i] = true;
+            }
+        }
+    }
+
+    // sync shapes to joints
+    _boundingRadius = 0.0f;
+    float uniformScale = extractUniformScale(_scale);
+    for (int i = 0; i < _shapes.size(); i++) {
+        Shape* shape = _shapes[i];
+        if (!shape) {
+            continue;
+        }
+        const FBXJoint& joint = geometry.joints[i];
+        glm::vec3 jointToShapeOffset = uniformScale * (finalRotations[i] * joint.shapePosition);
+        glm::vec3 localPosition = extractTranslation(transforms[i]) + jointToShapeOffset;
+        shape->setCenter(localPosition);
+        shape->setRotation(finalRotations[i] * joint.shapeRotation);
+        float distance = glm::length(localPosition) + shape->getBoundingRadius();
+        if (distance > _boundingRadius) {
+            _boundingRadius = distance;
+        }
+    }
+
+    // compute bounding box
+    Extents totalExtents;
+    totalExtents.reset();
+    totalExtents.addPoint(glm::vec3(0.0f));
+    for (int i = 0; i < _shapes.size(); i++) {
+        Shape* shape = _shapes[i];
+        if (!shape) {
+            continue;
+        }
+        Extents shapeExtents;
+        shapeExtents.reset();
+        glm::vec3 localPosition = shape->getCenter();
+        int type = shape->getType();
+        if (type == Shape::CAPSULE_SHAPE) {
+            // add the two furthest surface points of the capsule
+            CapsuleShape* capsule = static_cast<CapsuleShape*>(shape);
+            glm::vec3 axis;
+            capsule->computeNormalizedAxis(axis);
+            float radius = capsule->getRadius();
+            float halfHeight = capsule->getHalfHeight();
+            axis = halfHeight * axis + glm::vec3(radius);
+
+            shapeExtents.addPoint(localPosition + axis);
+            shapeExtents.addPoint(localPosition - axis);
+            totalExtents.addExtents(shapeExtents);
+        } else if (type == Shape::SPHERE_SHAPE) {
+            float radius = shape->getBoundingRadius();
+            glm::vec3 axis = glm::vec3(radius);
+            shapeExtents.addPoint(localPosition + axis);
+            shapeExtents.addPoint(localPosition - axis);
+            totalExtents.addExtents(shapeExtents);
+        }
+    }
+
+    // compute bounding shape parameters
+    // NOTE: we assume that the longest side of totalExtents is the yAxis...
+    glm::vec3 diagonal = totalExtents.maximum - totalExtents.minimum;
+    // ... and assume the radius is half the RMS of the X and Z sides:
+    float capsuleRadius = 0.5f * sqrtf(0.5f * (diagonal.x * diagonal.x + diagonal.z * diagonal.z));
+    _boundingShape.setRadius(capsuleRadius);
+    _boundingShape.setHalfHeight(0.5f * diagonal.y - capsuleRadius);
+    _boundingShapeLocalOffset = 0.5f * (totalExtents.maximum + totalExtents.minimum);
+}
+
+void SkeletonModel::resetShapePositions() {
+    // DEBUG method.
+    // Moves shapes to the joint default locations for debug visibility into
+    // how the bounding shape is computed.
+
+    if (!_geometry || _rootIndex == -1 || _shapes.isEmpty()) {
+        // geometry or joints have not yet been created
+        return;
+    }
+    
+    const FBXGeometry& geometry = _geometry->getFBXGeometry();
+    if (geometry.joints.isEmpty() || _shapes.size() != geometry.joints.size()) {
+        return;
+    }
+
+    // The shapes are moved to their default positions in computeBoundingShape().
+    computeBoundingShape(geometry);
+
+    // Then we move them into world frame for rendering at the Model's location.
+    for (int i = 0; i < _shapes.size(); i++) {
+        Shape* shape = _shapes[i];
+        if (shape) {
+            shape->setCenter(_translation + _rotation * shape->getCenter());
+            shape->setRotation(_rotation * shape->getRotation());
+        }
+    }
+    _boundingShape.setCenter(_translation + _rotation * _boundingShapeLocalOffset);
+    _boundingShape.setRotation(_rotation);
+}
+
+void SkeletonModel::renderBoundingCollisionShapes(float alpha) {
+    const int BALL_SUBDIVISIONS = 10;
+    if (_shapes.isEmpty()) {
+        // the bounding shape has not been propery computed
+        // so no need to render it
+        return;
+    }
+    glPushMatrix();
+
+    Application::getInstance()->loadTranslatedViewMatrix(_translation);
+
+    // draw a blue sphere at the capsule endpoint
+    glm::vec3 endPoint;
+    _boundingShape.getEndPoint(endPoint);
+    endPoint = endPoint - _translation;
+    glTranslatef(endPoint.x, endPoint.y, endPoint.z);
+    glColor4f(0.6f, 0.6f, 0.8f, alpha);
+    glutSolidSphere(_boundingShape.getRadius(), BALL_SUBDIVISIONS, BALL_SUBDIVISIONS);
+
+    // draw a yellow sphere at the capsule startpoint
+    glm::vec3 startPoint;
+    _boundingShape.getStartPoint(startPoint);
+    startPoint = startPoint - _translation;
+    glm::vec3 axis = endPoint - startPoint;
+    glTranslatef(-axis.x, -axis.y, -axis.z);
+    glColor4f(0.8f, 0.8f, 0.6f, alpha);
+    glutSolidSphere(_boundingShape.getRadius(), BALL_SUBDIVISIONS, BALL_SUBDIVISIONS);
+
+    // draw a green cylinder between the two points
+    glm::vec3 origin(0.0f);
+    glColor4f(0.6f, 0.8f, 0.6f, alpha);
+    Avatar::renderJointConnectingCone( origin, axis, _boundingShape.getRadius(), _boundingShape.getRadius());
+
+    glPopMatrix();
+}
+

interface/src/avatar/SkeletonModel.h

@@ -14,6 +14,7 @@
 
 #include "renderer/Model.h"
 
+#include <CapsuleShape.h>
 #include <Ragdoll.h>
 
 class Avatar;
@@ -30,7 +31,6 @@ public:
 
     void simulate(float deltaTime, bool fullUpdate = true);
     void simulateRagdoll(float deltaTime);
-    void updateShapePositions();
 
     /// \param jointIndex index of hand joint
     /// \param shapes[out] list in which is stored pointers to hand shapes
@@ -95,6 +95,17 @@ public:
     /// \return whether or not both eye meshes were found
     bool getEyePositions(glm::vec3& firstEyePosition, glm::vec3& secondEyePosition) const;
     
+    void buildShapes();
+    void updateShapePositions();
+    void updateShapePositionsLegacy();
+
+    void computeBoundingShape(const FBXGeometry& geometry);
+    void renderBoundingCollisionShapes(float alpha);
+    float getBoundingShapeRadius() const { return _boundingShape.getRadius(); }
+    const CapsuleShape& getBoundingShape() const { return _boundingShape; }
+
+    void resetShapePositions(); // DEBUG method
+
     void renderRagdoll();
 protected:
 
@@ -121,6 +132,9 @@ private:
     void setHandPosition(int jointIndex, const glm::vec3& position, const glm::quat& rotation);
     
     Avatar* _owningAvatar;
+
+    CapsuleShape _boundingShape;
+    glm::vec3 _boundingShapeLocalOffset;
 };
 
 #endif // hifi_SkeletonModel_h

interface/src/renderer/Model.cpp

@@ -33,7 +33,6 @@ static int vec3VectorTypeId = qRegisterMetaType<QVector<glm::vec3> >();
 
 Model::Model(QObject* parent) :
     QObject(parent),
-    PhysicalEntity(PhysicalEntity::ENTITY_MODEL),
     _scale(1.0f, 1.0f, 1.0f),
     _scaleToFit(false),
     _scaleToFitLargestDimension(0.0f),
@@ -42,8 +41,6 @@ Model::Model(QObject* parent) :
     _snappedToCenter(false),
     _rootIndex(-1),
     //_enableCollisionShapes(false),
-    _boundingShape(),
-    _boundingShapeLocalOffset(0.0f),
     _lodDistance(0.0f),
     _pupilDilation(0.0f),
     _url("http://invalid.com") {
@@ -793,308 +790,11 @@ AnimationHandlePointer Model::createAnimationHandle() {
 
 // virtual override from PhysicalEntity
 void Model::buildShapes() {
-    if (!_geometry || _rootIndex == -1) {
+    // TODO: figure out how to load/build collision shapes for general models
-        return;
-    }
-    
-    const FBXGeometry& geometry = _geometry->getFBXGeometry();
-    if (geometry.joints.isEmpty()) {
-        return;
-    }
-
-    // We create the shapes with proper dimensions, but we set their transforms later.
-    float uniformScale = extractUniformScale(_scale);
-    for (int i = 0; i < _jointStates.size(); i++) {
-        const FBXJoint& joint = geometry.joints[i];
-
-        float radius = uniformScale * joint.boneRadius;
-        float halfHeight = 0.5f * uniformScale * joint.distanceToParent;
-        Shape::Type type = joint.shapeType;
-        if (type == Shape::CAPSULE_SHAPE && halfHeight < EPSILON) {
-            // this capsule is effectively a sphere
-            type = Shape::SPHERE_SHAPE;
-        }
-        if (type == Shape::CAPSULE_SHAPE) {
-            CapsuleShape* capsule = new CapsuleShape(radius, halfHeight);
-            capsule->setEntity(this);
-            _shapes.push_back(capsule);
-        } else if (type == Shape::SPHERE_SHAPE) {
-            SphereShape* sphere = new SphereShape(radius, glm::vec3(0.0f));
-            _shapes.push_back(sphere);
-            sphere->setEntity(this);
-        } else {
-            // this shape type is not handled and the joint shouldn't collide, 
-            // however we must have a Shape* for each joint, so we push NULL
-            _shapes.push_back(NULL);
-        }
-    }
-
-    // This method moves the shapes to their default positions in Model frame
-    // which is where we compute the bounding shape's parameters.
-    computeBoundingShape(geometry);
-
-    // finally sync shapes to joint positions
-    _shapesAreDirty = true;
-    updateShapePositions();
-}
-
-void Model::computeBoundingShape(const FBXGeometry& geometry) {
-    // compute default joint transforms and rotations 
-    // (in local frame, ignoring Model translation and rotation)
-    int numJoints = geometry.joints.size();
-    QVector<glm::mat4> transforms;
-    transforms.fill(glm::mat4(), numJoints);
-    QVector<glm::quat> finalRotations;
-    finalRotations.fill(glm::quat(), numJoints);
-
-    QVector<bool> shapeIsSet;
-    shapeIsSet.fill(false, numJoints);
-    int numShapesSet = 0;
-    int lastNumShapesSet = -1;
-    while (numShapesSet < numJoints && numShapesSet != lastNumShapesSet) {
-        lastNumShapesSet = numShapesSet;
-        for (int i = 0; i < numJoints; i++) {
-            const FBXJoint& joint = geometry.joints.at(i);
-            int parentIndex = joint.parentIndex;
-            
-            if (parentIndex == -1) {
-                glm::mat4 baseTransform = glm::scale(_scale) * glm::translate(_offset);
-                glm::quat combinedRotation = joint.preRotation * joint.rotation * joint.postRotation;    
-                glm::mat4 rootTransform = baseTransform * geometry.offset * glm::translate(joint.translation) 
-                    * joint.preTransform * glm::mat4_cast(combinedRotation) * joint.postTransform;
-                // remove the tranlsation part before we save the root transform
-                transforms[i] = glm::translate(- extractTranslation(rootTransform)) * rootTransform;
-
-                finalRotations[i] = combinedRotation;
-                ++numShapesSet;
-                shapeIsSet[i] = true;
-            } else if (shapeIsSet[parentIndex]) {
-                glm::quat combinedRotation = joint.preRotation * joint.rotation * joint.postRotation;    
-                transforms[i] = transforms[parentIndex] * glm::translate(joint.translation) 
-                    * joint.preTransform * glm::mat4_cast(combinedRotation) * joint.postTransform;
-                finalRotations[i] = finalRotations[parentIndex] * combinedRotation;
-                ++numShapesSet;
-                shapeIsSet[i] = true;
-            }
-        }
-    }
-
-    // sync shapes to joints
-    _boundingRadius = 0.0f;
-    float uniformScale = extractUniformScale(_scale);
-    for (int i = 0; i < _shapes.size(); i++) {
-        Shape* shape = _shapes[i];
-        if (!shape) {
-            continue;
-        }
-        const FBXJoint& joint = geometry.joints[i];
-        glm::vec3 jointToShapeOffset = uniformScale * (finalRotations[i] * joint.shapePosition);
-        glm::vec3 localPosition = extractTranslation(transforms[i]) + jointToShapeOffset;
-        shape->setCenter(localPosition);
-        shape->setRotation(finalRotations[i] * joint.shapeRotation);
-        float distance = glm::length(localPosition) + shape->getBoundingRadius();
-        if (distance > _boundingRadius) {
-            _boundingRadius = distance;
-        }
-    }
-
-    // compute bounding box
-    Extents totalExtents;
-    totalExtents.reset();
-    totalExtents.addPoint(glm::vec3(0.0f));
-    for (int i = 0; i < _shapes.size(); i++) {
-        Shape* shape = _shapes[i];
-        if (!shape) {
-            continue;
-        }
-        Extents shapeExtents;
-        shapeExtents.reset();
-        glm::vec3 localPosition = shape->getCenter();
-        int type = shape->getType();
-        if (type == Shape::CAPSULE_SHAPE) {
-            // add the two furthest surface points of the capsule
-            CapsuleShape* capsule = static_cast<CapsuleShape*>(shape);
-            glm::vec3 axis;
-            capsule->computeNormalizedAxis(axis);
-            float radius = capsule->getRadius();
-            float halfHeight = capsule->getHalfHeight();
-            axis = halfHeight * axis + glm::vec3(radius);
-
-            shapeExtents.addPoint(localPosition + axis);
-            shapeExtents.addPoint(localPosition - axis);
-            totalExtents.addExtents(shapeExtents);
-        } else if (type == Shape::SPHERE_SHAPE) {
-            float radius = shape->getBoundingRadius();
-            glm::vec3 axis = glm::vec3(radius);
-            shapeExtents.addPoint(localPosition + axis);
-            shapeExtents.addPoint(localPosition - axis);
-            totalExtents.addExtents(shapeExtents);
-        }
-    }
-
-    // compute bounding shape parameters
-    // NOTE: we assume that the longest side of totalExtents is the yAxis...
-    glm::vec3 diagonal = totalExtents.maximum - totalExtents.minimum;
-    // ... and assume the radius is half the RMS of the X and Z sides:
-    float capsuleRadius = 0.5f * sqrtf(0.5f * (diagonal.x * diagonal.x + diagonal.z * diagonal.z));
-    _boundingShape.setRadius(capsuleRadius);
-    _boundingShape.setHalfHeight(0.5f * diagonal.y - capsuleRadius);
-    _boundingShapeLocalOffset = 0.5f * (totalExtents.maximum + totalExtents.minimum);
-}
-
-void Model::resetShapePositions() {
-    // DEBUG method.
-    // Moves shapes to the joint default locations for debug visibility into
-    // how the bounding shape is computed.
-
-    if (!_geometry || _rootIndex == -1 || _shapes.isEmpty()) {
-        // geometry or joints have not yet been created
-        return;
-    }
-    
-    const FBXGeometry& geometry = _geometry->getFBXGeometry();
-    if (geometry.joints.isEmpty() || _shapes.size() != geometry.joints.size()) {
-        return;
-    }
-
-    // The shapes are moved to their default positions in computeBoundingShape().
-    computeBoundingShape(geometry);
-
-    // Then we move them into world frame for rendering at the Model's location.
-    for (int i = 0; i < _shapes.size(); i++) {
-        Shape* shape = _shapes[i];
-        if (shape) {
-            shape->setCenter(_translation + _rotation * shape->getCenter());
-            shape->setRotation(_rotation * shape->getRotation());
-        }
-    }
-    _boundingShape.setCenter(_translation + _rotation * _boundingShapeLocalOffset);
-    _boundingShape.setRotation(_rotation);
 }
 
 void Model::updateShapePositions() {
-    if (_shapesAreDirty && _shapes.size() == _jointStates.size()) {
+    // TODO: implement this when we know how to build shapes for regular Models
-        glm::vec3 rootPosition(0.0f);
-        _boundingRadius = 0.0f;
-        float uniformScale = extractUniformScale(_scale);
-        for (int i = 0; i < _jointStates.size(); i++) {
-            const JointState& state = _jointStates[i];
-            const FBXJoint& joint = state.getFBXJoint();
-            // shape position and rotation need to be in world-frame
-            glm::quat stateRotation = state.getRotation();
-            glm::vec3 shapeOffset = uniformScale * (stateRotation * joint.shapePosition);
-            glm::vec3 worldPosition = _translation + _rotation * (state.getPosition() + shapeOffset);
-            Shape* shape = _shapes[i];
-            if (shape) {
-                shape->setCenter(worldPosition);
-                shape->setRotation(_rotation * stateRotation * joint.shapeRotation);
-                float distance = glm::distance(worldPosition, _translation) + shape->getBoundingRadius();
-                if (distance > _boundingRadius) {
-                    _boundingRadius = distance;
-                }
-            }
-            if (joint.parentIndex == -1) {
-                rootPosition = worldPosition;
-            }
-        }
-        _shapesAreDirty = false;
-        _boundingShape.setCenter(rootPosition + _rotation * _boundingShapeLocalOffset);
-        _boundingShape.setRotation(_rotation);
-    }
-}
-
-bool Model::findRayIntersection(const glm::vec3& origin, const glm::vec3& direction, float& distance) const {
-    const glm::vec3 relativeOrigin = origin - _translation;
-    const FBXGeometry& geometry = _geometry->getFBXGeometry();
-    float minDistance = FLT_MAX;
-    float radiusScale = extractUniformScale(_scale);
-    for (int i = 0; i < _jointStates.size(); i++) {
-        const FBXJoint& joint = geometry.joints[i];
-        glm::vec3 end = _translation + _rotation * _jointStates[i].getPosition();
-        float endRadius = joint.boneRadius * radiusScale;
-        glm::vec3 start = end;
-        float startRadius = joint.boneRadius * radiusScale;
-        if (joint.parentIndex != -1) {
-            start = _translation + _rotation * _jointStates[joint.parentIndex].getPosition();
-            startRadius = geometry.joints[joint.parentIndex].boneRadius * radiusScale;
-        }
-        // for now, use average of start and end radii
-        float capsuleDistance;
-        if (findRayCapsuleIntersection(relativeOrigin, direction, start, end,
-                (startRadius + endRadius) / 2.0f, capsuleDistance)) {
-            minDistance = qMin(minDistance, capsuleDistance);
-        }
-    }
-    if (minDistance < FLT_MAX) {
-        distance = minDistance;
-        return true;
-    }
-    return false;
-}
-
-bool Model::findCollisions(const QVector<const Shape*> shapes, CollisionList& collisions) {
-    bool collided = false;
-    for (int i = 0; i < shapes.size(); ++i) {
-        const Shape* theirShape = shapes[i];
-        if (!theirShape) {
-            continue;
-        }
-        for (int j = 0; j < _shapes.size(); ++j) {
-            const Shape* ourShape = _shapes[j];
-            if (ourShape && ShapeCollider::collideShapes(theirShape, ourShape, collisions)) {
-                collided = true;
-            }
-        }
-    }
-    return collided;
-}
-
-bool Model::findSphereCollisions(const glm::vec3& sphereCenter, float sphereRadius,
-    CollisionList& collisions, int skipIndex) {
-    bool collided = false;
-    SphereShape sphere(sphereRadius, sphereCenter);
-    const FBXGeometry& geometry = _geometry->getFBXGeometry();
-    for (int i = 0; i < _shapes.size(); i++) {
-        Shape* shape = _shapes[i];
-        if (!shape) {
-            continue;
-        }
-        const FBXJoint& joint = geometry.joints[i];
-        if (joint.parentIndex != -1) {
-            if (skipIndex != -1) {
-                int ancestorIndex = joint.parentIndex;
-                do {
-                    if (ancestorIndex == skipIndex) {
-                        goto outerContinue;
-                    }
-                    ancestorIndex = geometry.joints[ancestorIndex].parentIndex;
-                    
-                } while (ancestorIndex != -1);
-            }
-        }
-        if (ShapeCollider::collideShapes(&sphere, shape, collisions)) {
-            CollisionInfo* collision = collisions.getLastCollision();
-            collision->_data = (void*)(this);
-            collision->_intData = i;
-            collided = true;
-        }
-        outerContinue: ;
-    }
-    return collided;
-}
-
-bool Model::findPlaneCollisions(const glm::vec4& plane, CollisionList& collisions) {
-    bool collided = false;
-    PlaneShape planeShape(plane);
-    for (int i = 0; i < _shapes.size(); i++) {
-        if (_shapes[i] && ShapeCollider::collideShapes(&planeShape, _shapes[i], collisions)) {
-            CollisionInfo* collision = collisions.getLastCollision();
-            collision->_data = (void*)(this);
-            collision->_intData = i;
-            collided = true;
-        }
-    }
-    return collided;
 }
 
 class Blender : public QRunnable {
@@ -1441,41 +1141,6 @@ void Model::renderJointCollisionShapes(float alpha) {
     glPopMatrix();
 }
 
-void Model::renderBoundingCollisionShapes(float alpha) {
-    if (_shapes.isEmpty()) {
-        // the bounding shape has not been propery computed
-        // so no need to render it
-        return;
-    }
-    glPushMatrix();
-
-    Application::getInstance()->loadTranslatedViewMatrix(_translation);
-
-    // draw a blue sphere at the capsule endpoint
-    glm::vec3 endPoint;
-    _boundingShape.getEndPoint(endPoint);
-    endPoint = endPoint - _translation;
-    glTranslatef(endPoint.x, endPoint.y, endPoint.z);
-    glColor4f(0.6f, 0.6f, 0.8f, alpha);
-    glutSolidSphere(_boundingShape.getRadius(), BALL_SUBDIVISIONS, BALL_SUBDIVISIONS);
-
-    // draw a yellow sphere at the capsule startpoint
-    glm::vec3 startPoint;
-    _boundingShape.getStartPoint(startPoint);
-    startPoint = startPoint - _translation;
-    glm::vec3 axis = endPoint - startPoint;
-    glTranslatef(-axis.x, -axis.y, -axis.z);
-    glColor4f(0.8f, 0.8f, 0.6f, alpha);
-    glutSolidSphere(_boundingShape.getRadius(), BALL_SUBDIVISIONS, BALL_SUBDIVISIONS);
-
-    // draw a green cylinder between the two points
-    glm::vec3 origin(0.0f);
-    glColor4f(0.6f, 0.8f, 0.6f, alpha);
-    Avatar::renderJointConnectingCone( origin, axis, _boundingShape.getRadius(), _boundingShape.getRadius());
-
-    glPopMatrix();
-}
-
 void Model::setBlendedVertices(const QVector<glm::vec3>& vertices, const QVector<glm::vec3>& normals) {
     if (_blendedVertexBuffers.isEmpty()) {
         return;

interface/src/renderer/Model.h

@@ -16,7 +16,6 @@
 #include <QObject>
 #include <QUrl>
 
-#include <CapsuleShape.h>
 #include <PhysicalEntity.h>
 
 #include <AnimationCache.h>
@@ -132,34 +131,15 @@ public:
 
     const QList<AnimationHandlePointer>& getRunningAnimations() const { return _runningAnimations; }
    
-    // virtual override from PhysicalEntity
+    // virtual overrides from PhysicalEntity
     virtual void buildShapes();
-
-    void resetShapePositions(); // DEBUG method
     virtual void updateShapePositions();
 
     void renderJointCollisionShapes(float alpha);
-    void renderBoundingCollisionShapes(float alpha);
     
-    bool findRayIntersection(const glm::vec3& origin, const glm::vec3& direction, float& distance) const;
-    
-    /// \param shapes list of pointers shapes to test against Model
-    /// \param collisions list to store collision results
-    /// \return true if at least one shape collided agains Model
-    bool findCollisions(const QVector<const Shape*> shapes, CollisionList& collisions);
-
-    bool findSphereCollisions(const glm::vec3& penetratorCenter, float penetratorRadius,
-        CollisionList& collisions, int skipIndex = -1);
-
-    bool findPlaneCollisions(const glm::vec4& plane, CollisionList& collisions);
-    
-    float getBoundingShapeRadius() const { return _boundingShape.getRadius(); }
-
     /// Sets blended vertices computed in a separate thread.
     void setBlendedVertices(const QVector<glm::vec3>& vertices, const QVector<glm::vec3>& normals);
 
-    const CapsuleShape& getBoundingShape() const { return _boundingShape; }
-
 protected:
     QSharedPointer<NetworkGeometry> _geometry;
     
@@ -176,9 +156,6 @@ protected:
     
     QVector<JointState> _jointStates;
 
-    CapsuleShape _boundingShape;
-    glm::vec3 _boundingShapeLocalOffset;
-    
     class MeshState {
     public:
         QVector<glm::mat4> clusterMatrices;
@@ -222,8 +199,6 @@ protected:
     /// first free ancestor.
     float getLimbLength(int jointIndex) const;
 
-    void computeBoundingShape(const FBXGeometry& geometry);
-
 private:
     
     friend class AnimationHandle;

libraries/shared/src/PhysicalEntity.cpp

@@ -11,9 +11,9 @@
 
 #include "PhysicalEntity.h"
 #include "Shape.h"
+#include "ShapeCollider.h"
 
-PhysicalEntity::PhysicalEntity(EntityType type) : 
+PhysicalEntity::PhysicalEntity() : 
-    _entityType(type), 
     _translation(0.0f), 
     _rotation(), 
     _boundingRadius(0.0f), 
@@ -61,4 +61,93 @@ void PhysicalEntity::clearShapes() {
     _shapes.clear();
 }
 
+bool PhysicalEntity::findRayIntersection(const glm::vec3& origin, const glm::vec3& direction, float& distance) const {
+    /* TODO: Andrew to make this work
+    int numShapes = _shapes.size();
+    float minDistance = FLT_MAX;
+    for (int j = 0; j < numShapes; ++j) {
+        const Shape* shape = _shapes[j];
+        float thisDistance = FLT_MAX;
+        if (shape && ShapeCollider::findRayIntersection(ourShape, origin, direction, thisDistance)) {
+            if (thisDistance < minDistance) {
+                minDistance = thisDistance;
+            }
+        }
+    }
+    if (minDistance < FLT_MAX) {
+        distance = minDistance;
+        return true;
+    }
+    */
+    return false;
+}
 
+bool PhysicalEntity::findCollisions(const QVector<const Shape*> shapes, CollisionList& collisions) {
+    bool collided = false;
+    int numTheirShapes = shapes.size();
+    for (int i = 0; i < numTheirShapes; ++i) {
+        const Shape* theirShape = shapes[i];
+        if (!theirShape) {
+            continue;
+        }
+        int numOurShapes = _shapes.size();
+        for (int j = 0; j < numOurShapes; ++j) {
+            const Shape* ourShape = _shapes[j];
+            if (ourShape && ShapeCollider::collideShapes(theirShape, ourShape, collisions)) {
+                collided = true;
+            }
+        }
+    }
+    return collided;
+}
+
+bool PhysicalEntity::findSphereCollisions(const glm::vec3& sphereCenter, float sphereRadius,
+    CollisionList& collisions, int skipIndex) {
+    bool collided = false;
+    // TODO: Andrew to implement this or make it unecessary
+    /*
+    SphereShape sphere(sphereRadius, sphereCenter);
+    const FBXGeometry& geometry = _geometry->getFBXGeometry();
+    for (int i = 0; i < _shapes.size(); i++) {
+        Shape* shape = _shapes[i];
+        if (!shape) {
+            continue;
+        }
+        const FBXJoint& joint = geometry.joints[i];
+        if (joint.parentIndex != -1) {
+            if (skipIndex != -1) {
+                int ancestorIndex = joint.parentIndex;
+                do {
+                    if (ancestorIndex == skipIndex) {
+                        goto outerContinue;
+                    }
+                    ancestorIndex = geometry.joints[ancestorIndex].parentIndex;
+                    
+                } while (ancestorIndex != -1);
+            }
+        }
+        if (ShapeCollider::collideShapes(&sphere, shape, collisions)) {
+            CollisionInfo* collision = collisions.getLastCollision();
+            collision->_data = (void*)(this);
+            collision->_intData = i;
+            collided = true;
+        }
+        outerContinue: ;
+    }
+    */
+    return collided;
+}
+
+bool PhysicalEntity::findPlaneCollisions(const glm::vec4& plane, CollisionList& collisions) {
+    bool collided = false;
+    PlaneShape planeShape(plane);
+    for (int i = 0; i < _shapes.size(); i++) {
+        if (_shapes[i] && ShapeCollider::collideShapes(&planeShape, _shapes[i], collisions)) {
+            CollisionInfo* collision = collisions.getLastCollision();
+            collision->_data = (void*)(this);
+            collision->_intData = i;
+            collided = true;
+        }
+    }
+    return collided;
+}

libraries/shared/src/PhysicalEntity.h

@@ -17,6 +17,8 @@
 #include <glm/glm.hpp>
 #include <glm/gtc/quaternion.hpp>
 
+#include "CollisionInfo.h"
+
 class Shape;
 
 // PhysicalEntity is the base class for anything that owns one or more Shapes that collide in a 
@@ -26,12 +28,7 @@ class Shape;
 class PhysicalEntity {
 
 public:
-    enum EntityType {
+    PhysicalEntity();
-        ENTITY_UNKNOWN,
-        ENTITY_MODEL,
-    };
-
-    PhysicalEntity(EntityType type = ENTITY_UNKNOWN);
     virtual ~PhysicalEntity() {}
 
     void setTranslation(const glm::vec3& translation);
@@ -41,8 +38,6 @@ public:
     const glm::quat& getRotation() const { return _rotation; }
     float getBoundingRadius() const { return _boundingRadius; }
 
-    EntityType getEntityType() const { return _entityType; }
-
     void setShapeBackPointers();
 
     void setEnableShapes(bool enable);
@@ -50,8 +45,12 @@ public:
     virtual void buildShapes() = 0;
     virtual void clearShapes();
 
+    bool findRayIntersection(const glm::vec3& origin, const glm::vec3& direction, float& distance) const;
+    bool findCollisions(const QVector<const Shape*> shapes, CollisionList& collisions);
+    bool findSphereCollisions(const glm::vec3& sphereCenter, float sphereRadius, CollisionList& collisions, int skipIndex);
+    bool findPlaneCollisions(const glm::vec4& plane, CollisionList& collisions);
+
 protected:
-    EntityType _entityType;
     glm::vec3 _translation;
     glm::quat _rotation;
     float _boundingRadius;