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Merge branch 'master' of https://github.com/worklist/hifi into render_voxels_optimization

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This commit is contained in:
ZappoMan 2013-05-06 13:36:31 -07:00
commit 043a284d4d
21 changed files with 541 additions and 346 deletions
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2
CMakeLists.txt
View file

@ -10,5 +10,5 @@ add_subdirectory(interface)
add_subdirectory(injector)
add_subdirectory(pairing-server)
add_subdirectory(space-server)
add_subdirectory(voxel-server)
add_subdirectory(voxel-edit)
add_subdirectory(voxel-server)

36
domain-server/src/main.cpp
View file

@ -45,8 +45,6 @@ unsigned char packetData[MAX_PACKET_SIZE];
const int LOGOFF_CHECK_INTERVAL = 5000;
#define DEBUG_TO_SELF 0
int lastActiveCount = 0;
unsigned char* addAgentToBroadcastPacket(unsigned char* currentPosition, Agent* agentToAdd) {
@ -81,10 +79,10 @@ int main(int argc, const char * argv[])
setvbuf(stdout, NULL, _IOLBF, 0);
ssize_t receivedBytes = 0;
char agentType;
char agentType = '\0';
unsigned char *broadcastPacket = new unsigned char[MAX_PACKET_SIZE];
*broadcastPacket = PACKET_HEADER_DOMAIN;
unsigned char broadcastPacket[MAX_PACKET_SIZE];
broadcastPacket[0] = PACKET_HEADER_DOMAIN;
unsigned char* currentBufferPos;
unsigned char* startPointer;
@ -101,8 +99,8 @@ int main(int argc, const char * argv[])
if (agentList->getAgentSocket().receive((sockaddr *)&agentPublicAddress, packetData, &receivedBytes)) {
std::map<char, Agent *> newestSoloAgents;
agentType = packetData[0];
unpackSocket(&packetData[1], (sockaddr *)&agentLocalAddress);
agentType = packetData[1];
unpackSocket(&packetData[2], (sockaddr*) &agentLocalAddress);
// check the agent public address
// if it matches our local address we're on the same box
@ -119,17 +117,19 @@ int main(int argc, const char * argv[])
(sockaddr*) &agentLocalAddress,
agentType,
agentList->getLastAgentId())) {
agentList->increaseAgentId();
} else if (packetData[0] == PACKET_HEADER_DOMAIN_RFD) {
// if this is a previous agent, and they are re-reporting for duty
// then we need to update the first receive time
Agent* refreshedAgent = agentList->agentWithAddress((sockaddr*) &agentLocalAddress);
refreshedAgent->setWakeMicrostamp(usecTimestampNow());
}
currentBufferPos = broadcastPacket + 1;
currentBufferPos = broadcastPacket + 2;
startPointer = currentBufferPos;
for (AgentList::iterator agent = agentList->begin(); agent != agentList->end(); agent++) {
if (DEBUG_TO_SELF ||
!agent->matches((sockaddr *)&agentPublicAddress, (sockaddr *)&agentLocalAddress, agentType)) {
if (!agent->matches((sockaddr*) &agentPublicAddress, (sockaddr*) &agentLocalAddress, agentType)) {
if (memchr(SOLO_AGENT_TYPES, agent->getType(), sizeof(SOLO_AGENT_TYPES)) == NULL) {
// this is an agent of which there can be multiple, just add them to the packet
// don't send avatar agents to other avatars, that will come from avatar mixer
@ -140,22 +140,22 @@ int main(int argc, const char * argv[])
} else {
// solo agent, we need to only send newest
if (newestSoloAgents[agent->getType()] == NULL ||
newestSoloAgents[agent->getType()]->getFirstRecvTimeUsecs() < agent->getFirstRecvTimeUsecs()) {
newestSoloAgents[agent->getType()]->getWakeMicrostamp() < agent->getWakeMicrostamp()) {
// we have to set the newer solo agent to add it to the broadcast later
newestSoloAgents[agent->getType()] = &(*agent);
}
}
} else {
// this is the agent, just update last receive to now
agent->setLastRecvTimeUsecs(usecTimestampNow());
agent->setLastHeardMicrostamp(usecTimestampNow());
}
}
for (std::map<char, Agent *>::iterator agentIterator = newestSoloAgents.begin();
agentIterator != newestSoloAgents.end();
agentIterator++) {
for (std::map<char, Agent *>::iterator soloAgent = newestSoloAgents.begin();
soloAgent != newestSoloAgents.end();
soloAgent++) {
// this is the newest alive solo agent, add them to the packet
currentBufferPos = addAgentToBroadcastPacket(currentBufferPos, agentIterator->second);
currentBufferPos = addAgentToBroadcastPacket(currentBufferPos, soloAgent->second);
}
if ((packetBytesWithoutLeadingChar = (currentBufferPos - startPointer))) {

2
eve/src/main.cpp
View file

@ -49,7 +49,7 @@ void *receiveAgentData(void *args) {
avatarMixer = agentList->soloAgentOfType(AGENT_TYPE_AVATAR_MIXER);
if (avatarMixer != NULL) {
avatarMixer->setLastRecvTimeUsecs(usecTimestampNow());
avatarMixer->setLastHeardMicrostamp(usecTimestampNow());
}
break;

118
interface/src/Avatar.cpp
View file

@ -21,7 +21,9 @@
using namespace std;
const bool BALLS_ON = false;
const bool AVATAR_GRAVITY = true;
const bool USING_AVATAR_GRAVITY = true;
const float GRAVITY_SCALE = 6.0f;
const float BOUNCE = 0.3f;
const float DECAY = 0.1;
const float THRUST_MAG = 1200.0;
const float YAW_MAG = 500.0;
@ -32,9 +34,14 @@ const float BODY_ROLL_WHILE_TURNING = 0.1;
const float LIN_VEL_DECAY = 5.0;
const float MY_HAND_HOLDING_PULL = 0.2;
const float YOUR_HAND_HOLDING_PULL = 1.0;
const float BODY_SPRING_FORCE = 6.0f;
//const float BODY_SPRING_DEFAULT_TIGHTNESS = 20.0f;
//const float BODY_SPRING_FORCE = 6.0f;
const float BODY_SPRING_DEFAULT_TIGHTNESS = 1500.0f;
const float BODY_SPRING_FORCE = 300.0f;
const float BODY_SPRING_DECAY = 16.0f;
const float BODY_SPRING_DEFAULT_TIGHTNESS = 10.0f;
const float COLLISION_RADIUS_SCALAR = 1.8;
const float COLLISION_BALL_FORCE = 1.0;
const float COLLISION_BODY_FORCE = 6.0;
@ -70,8 +77,8 @@ Avatar::Avatar(bool isMine) {
_orientation.setToIdentity();
_velocity = glm::vec3( 0.0, 0.0, 0.0 );
_thrust = glm::vec3( 0.0, 0.0, 0.0 );
_velocity = glm::vec3(0.0f, 0.0f, 0.0f);
_thrust = glm::vec3(0.0f, 0.0f, 0.0f);
_rotation = glm::quat(0.0f, 0.0f, 0.0f, 0.0f);
_bodyYaw = -90.0;
_bodyPitch = 0.0;
@ -91,7 +98,7 @@ Avatar::Avatar(bool isMine) {
_pelvisStandingHeight = 0.0f;
_displayingHead = true;
_TEST_bigSphereRadius = 0.4f;
_TEST_bigSpherePosition = glm::vec3( 0.0f, _TEST_bigSphereRadius, 2.0f );
_TEST_bigSpherePosition = glm::vec3(5.0f, _TEST_bigSphereRadius, 5.0f);
for (int i = 0; i < MAX_DRIVE_KEYS; i++) _driveKeys[i] = false;
@ -132,14 +139,15 @@ Avatar::Avatar(bool isMine) {
_head.browAudioLift = 0.0;
_head.noise = 0;
_head.returnSpringScale = 1.0;
_movedHandOffset = glm::vec3( 0.0, 0.0, 0.0 );
_movedHandOffset = glm::vec3(0.0f, 0.0f, 0.0f);
_usingBodySprings = true;
_renderYaw = 0.0;
_renderPitch = 0.0;
_sphere = NULL;
_interactingOther = NULL;
_handHoldingPosition = glm::vec3( 0.0, 0.0, 0.0 );
_handHoldingPosition = glm::vec3(0.0f, 0.0f, 0.0f);
_distanceToNearestAvatar = std::numeric_limits<float>::max();
_gravity = glm::vec3(0.0f, -1.0f, 0.0f); // default
initializeSkeleton();
@ -255,45 +263,39 @@ void Avatar::reset() {
_head.leanForward = _head.leanSideways = 0;
}
// this pertains to moving the head with the glasses
void Avatar::UpdateGyros(float frametime, SerialInterface * serialInterface, glm::vec3 * gravity)
// Using serial data, update avatar/render position and angles
{
const float PITCH_ACCEL_COUPLING = 0.5;
const float ROLL_ACCEL_COUPLING = -1.0;
float measured_pitch_rate = serialInterface->getRelativeValue(HEAD_PITCH_RATE);
void Avatar::UpdateGyros(float frametime, SerialInterface* serialInterface, glm::vec3* gravity) {
float measured_pitch_rate = 0.0f;
float measured_roll_rate = 0.0f;
if (serialInterface->active && USING_INVENSENSE_MPU9150) {
measured_pitch_rate = serialInterface->getLastPitch();
_head.yawRate = serialInterface->getLastYaw();
measured_roll_rate = -1 * serialInterface->getLastRoll();
} else {
measured_pitch_rate = serialInterface->getRelativeValue(HEAD_PITCH_RATE);
_head.yawRate = serialInterface->getRelativeValue(HEAD_YAW_RATE);
float measured_lateral_accel = serialInterface->getRelativeValue(ACCEL_X) -
ROLL_ACCEL_COUPLING * serialInterface->getRelativeValue(HEAD_ROLL_RATE);
float measured_fwd_accel = serialInterface->getRelativeValue(ACCEL_Z) -
PITCH_ACCEL_COUPLING * serialInterface->getRelativeValue(HEAD_PITCH_RATE);
float measured_roll_rate = serialInterface->getRelativeValue(HEAD_ROLL_RATE);
//printLog("Pitch Rate: %d ACCEL_Z: %d\n", serialInterface->getRelativeValue(PITCH_RATE),
// serialInterface->getRelativeValue(ACCEL_Z));
//printLog("Pitch Rate: %d ACCEL_X: %d\n", serialInterface->getRelativeValue(PITCH_RATE),
// serialInterface->getRelativeValue(ACCEL_Z));
//printLog("Pitch: %f\n", Pitch);
measured_roll_rate = serialInterface->getRelativeValue(HEAD_ROLL_RATE);
}
// Update avatar head position based on measured gyro rates
const float HEAD_ROTATION_SCALE = 0.70;
const float HEAD_ROLL_SCALE = 0.40;
const float HEAD_LEAN_SCALE = 0.01;
const float MAX_PITCH = 45;
const float MIN_PITCH = -45;
const float MAX_YAW = 85;
const float MIN_YAW = -85;
if ((_headPitch < MAX_PITCH) && (_headPitch > MIN_PITCH))
if ((_headPitch < MAX_PITCH) && (_headPitch > MIN_PITCH)) {
addHeadPitch(measured_pitch_rate * -HEAD_ROTATION_SCALE * frametime);
}
addHeadRoll(measured_roll_rate * HEAD_ROLL_SCALE * frametime);
if ((_headYaw < MAX_YAW) && (_headYaw > MIN_YAW))
if ((_headYaw < MAX_YAW) && (_headYaw > MIN_YAW)) {
addHeadYaw(_head.yawRate * HEAD_ROTATION_SCALE * frametime);
}
addLean(-measured_lateral_accel * frametime * HEAD_LEAN_SCALE, -measured_fwd_accel*frametime * HEAD_LEAN_SCALE);
}
float Avatar::getAbsoluteHeadYaw() const {
@ -336,28 +338,29 @@ void Avatar::simulate(float deltaTime) {
//update the movement of the hand and process handshaking with other avatars...
updateHandMovementAndTouching(deltaTime);
// test for avatar collision response with the big sphere
if (usingBigSphereCollisionTest) {
updateCollisionWithSphere( _TEST_bigSpherePosition, _TEST_bigSphereRadius, deltaTime );
}
// apply gravity and collision wiht the ground/floor
if ( AVATAR_GRAVITY ) {
if ( _position.y > _pelvisStandingHeight + 0.01 ) {
_velocity += glm::dvec3(getGravity(getPosition())) * ( 6.0 * deltaTime );
// apply gravity and collision with the ground/floor
if (USING_AVATAR_GRAVITY) {
if (_position.y > _pelvisStandingHeight + 0.01f) {
_velocity += _gravity * (GRAVITY_SCALE * deltaTime);
} else if (_position.y < _pelvisStandingHeight) {
_position.y = _pelvisStandingHeight;
_velocity.y = 0.0;
_velocity.y = -_velocity.y * BOUNCE;
}
}
// update body springs
updateBodySprings(deltaTime);
// test for avatar collision response with the big sphere
if (usingBigSphereCollisionTest) {
updateCollisionWithSphere(_TEST_bigSpherePosition, _TEST_bigSphereRadius, deltaTime);
}
// driving the avatar around should only apply if this is my avatar (as opposed to an avatar being driven remotely)
if (_isMine) {
_thrust = glm::vec3( 0.0, 0.0, 0.0 );
_thrust = glm::vec3(0.0f, 0.0f, 0.0f);
if (_driveKeys[FWD ]) {_thrust += THRUST_MAG * deltaTime * _orientation.getFront();}
if (_driveKeys[BACK ]) {_thrust -= THRUST_MAG * deltaTime * _orientation.getFront();}
@ -670,8 +673,8 @@ void Avatar::updateCollisionWithSphere( glm::vec3 position, float radius, float
float penetration = 1.0 - (distanceToBigSphereCenter / combinedRadius);
glm::vec3 collisionForce = vectorFromJointToBigSphereCenter * penetration;
_joint[b].springyVelocity += collisionForce * 30.0f * deltaTime;
_velocity += collisionForce * 100.0f * deltaTime;
_joint[b].springyVelocity += collisionForce * 0.0f * deltaTime;
_velocity += collisionForce * 40.0f * deltaTime;
_joint[b].springyPosition = position + directionVector * combinedRadius;
}
}
@ -695,7 +698,7 @@ void Avatar::updateCollisionWithOtherAvatar( Avatar * otherAvatar, float deltaTi
if (glm::length(vectorBetweenBoundingSpheres) < _height * ONE_HALF + otherAvatar->_height * ONE_HALF) {
float bodyMomentum = 1.0f;
glm::vec3 bodyPushForce = glm::vec3( 0.0, 0.0, 0.0 );
glm::vec3 bodyPushForce = glm::vec3(0.0f, 0.0f, 0.0f);
// loop through the joints of each avatar to check for every possible collision
for (int b=1; b<NUM_AVATAR_JOINTS; b++) {
@ -759,8 +762,16 @@ static TextRenderer* textRenderer() {
return renderer;
}
void Avatar::setGravity(glm::vec3 gravity) {
_gravity = gravity;
}
void Avatar::render(bool lookingInMirror) {
// render a simple round on the ground projected down from the avatar's position
renderDiskShadow(_position, glm::vec3(0.0f, 1.0f, 0.0f ), 0.1f, 0.2f );
/*
// show avatar position
@ -1276,7 +1287,7 @@ void Avatar::updateBodySprings( float deltaTime ) {
_joint[b].springyVelocity = glm::vec3( 0.0f, 0.0f, 0.0f );
}
_joint[b].springyPosition += _joint[b].springyVelocity;
_joint[b].springyPosition += _joint[b].springyVelocity * deltaTime;
}
}
@ -1520,25 +1531,7 @@ void Avatar::setHeadFromGyros(glm::vec3* eulerAngles, glm::vec3* angularVelocity
}
}
// Find and return the gravity vector at my location
glm::vec3 Avatar::getGravity(glm::vec3 pos) {
//
// For now, we'll test this with a simple global lookup, but soon we will add getting this
// from the domain/voxelserver (or something similar)
//
if ((pos.x > 0.f) &&
(pos.x < 10.f) &&
(pos.z > 0.f) &&
(pos.z < 10.f) &&
(pos.y > 0.f) &&
(pos.y < 3.f)) {
// If above ground plane, turn gravity on
return glm::vec3(0.f, -1.f, 0.f);
} else {
// If flying in space, turn gravity OFF
return glm::vec3(0.f, 0.f, 0.f);
}
}
const char AVATAR_DATA_FILENAME[] = "avatar.ifd";
@ -1568,3 +1561,4 @@ void Avatar::readAvatarDataFromFile() {
fclose(avatarFile);
}
}

5
interface/src/Avatar.h
View file

@ -93,6 +93,7 @@ public:
float getLastMeasuredHeadYaw() const {return _head.yawRate;}
float getBodyYaw() {return _bodyYaw;};
void addBodyYaw(float y) {_bodyYaw += y;};
void setGravity(glm::vec3 gravity);
bool getIsNearInteractingOther();
@ -143,9 +144,6 @@ public:
void processTransmitterData(unsigned char * packetData, int numBytes);
float getTransmitterHz() { return _transmitterHz; };
// Find out what the local gravity vector is at this location
glm::vec3 getGravity(glm::vec3 pos);
void writeAvatarDataToFile();
void readAvatarDataFromFile();
@ -251,6 +249,7 @@ private:
bool _displayingHead; // should be false if in first-person view
bool _returnHeadToCenter;
float _distanceToNearestAvatar; // How close is the nearest avatar?
glm::vec3 _gravity;
// private methods...
void initializeSkeleton();

4
interface/src/AvatarRenderer.cpp
View file

@ -11,13 +11,11 @@
#include "AvatarRenderer.h"
#include "InterfaceConfig.h"
AvatarRenderer::AvatarRenderer() {
}
// this method renders the avatar
void AvatarRenderer::render(Avatar *avatar, bool lookingInMirror) {
/*
// show avatar position
glColor4f( 0.5f, 0.5f, 0.5f, 0.6 );
@ -28,5 +26,3 @@ void AvatarRenderer::render(Avatar *avatar, bool lookingInMirror) {
glPopMatrix();
*/
}

101
interface/src/SerialInterface.cpp
View file

@ -22,7 +22,6 @@
#include <string>
#endif
int serialFd;
const int MAX_BUFFER = 255;
char serialBuffer[MAX_BUFFER];
int serialBufferPos = 0;
@ -32,6 +31,12 @@ const short NO_READ_MAXIMUM_MSECS = 3000;
const short SAMPLES_TO_DISCARD = 100; // Throw out the first few samples
const int GRAVITY_SAMPLES = 200; // Use the first samples to compute gravity vector
const bool USING_INVENSENSE_MPU9150 = 1;
SerialInterface::~SerialInterface() {
close(_serialDescriptor);
}
void SerialInterface::pair() {
#ifdef __APPLE__
@ -41,6 +46,9 @@ void SerialInterface::pair() {
int matchStatus;
regex_t regex;
if (_failedOpenAttempts < 2) {
// if we've already failed to open the detected interface twice then don't try again
// for now this only works on OS X, where the usb serial shows up as /dev/tty.usb*
if((devDir = opendir("/dev"))) {
while((entry = readdir(devDir))) {
@ -58,26 +66,27 @@ void SerialInterface::pair() {
}
closedir(devDir);
}
#endif
}
// Connect to the serial port
int SerialInterface::initializePort(char* portname, int baud)
{
#endif
}
// connect to the serial port
void SerialInterface::initializePort(char* portname, int baud) {
#ifdef __APPLE__
serialFd = open(portname, O_RDWR | O_NOCTTY | O_NDELAY);
_serialDescriptor = open(portname, O_RDWR | O_NOCTTY | O_NDELAY);
printLog("Opening SerialUSB %s: ", portname);
if (serialFd == -1) {
if (_serialDescriptor == -1) {
printLog("Failed.\n");
return -1; // Failed to open port
_failedOpenAttempts++;
return;
}
struct termios options;
tcgetattr(serialFd,&options);
switch(baud)
{
tcgetattr(_serialDescriptor, &options);
switch(baud) {
case 9600: cfsetispeed(&options,B9600);
cfsetospeed(&options,B9600);
break;
@ -94,20 +103,39 @@ int SerialInterface::initializePort(char* portname, int baud)
cfsetospeed(&options,B9600);
break;
}
options.c_cflag |= (CLOCAL | CREAD);
options.c_cflag &= ~PARENB;
options.c_cflag &= ~CSTOPB;
options.c_cflag &= ~CSIZE;
options.c_cflag |= CS8;
tcsetattr(serialFd,TCSANOW,&options);
tcsetattr(_serialDescriptor, TCSANOW, &options);
if (USING_INVENSENSE_MPU9150) {
// block on invensense reads until there is data to read
int currentFlags = fcntl(_serialDescriptor, F_GETFL);
fcntl(_serialDescriptor, F_SETFL, currentFlags & ~O_NONBLOCK);
// there are extra commands to send to the invensense when it fires up
// this takes it out of SLEEP
write(_serialDescriptor, "WR686B01\n", 9);
// delay after the wakeup
usleep(10000);
// this disables streaming so there's no garbage data on reads
write(_serialDescriptor, "SD\n", 3);
// flush whatever was produced by the last two commands
tcflush(_serialDescriptor, TCIOFLUSH);
}
printLog("Connected.\n");
resetSerial();
active = true;
#endif
return 0;
}
// Reset Trailing averages to the current measurement
@ -121,9 +149,7 @@ void SerialInterface::renderLevels(int width, int height) {
int disp_x = 10;
const int GAP = 16;
char val[10];
for(i = 0; i < NUM_CHANNELS; i++)
{
for(i = 0; i < NUM_CHANNELS; i++) {
// Actual value
glLineWidth(2.0);
glColor4f(1, 1, 1, 1);
@ -157,18 +183,44 @@ void SerialInterface::renderLevels(int width, int height) {
}
glEnd();
}
}
void convertHexToInt(unsigned char* sourceBuffer, int& destinationInt) {
unsigned int byte[2];
for(int i = 0; i < 2; i++) {
sscanf((char*) sourceBuffer + 2 * i, "%2x", &byte[i]);
}
int16_t result = (byte[0] << 8);
result += byte[1];
destinationInt = result;
}
void SerialInterface::readData() {
#ifdef __APPLE__
int initialSamples = totalSamples;
if (USING_INVENSENSE_MPU9150) {
unsigned char gyroBuffer[20];
// ask the invensense for raw gyro data
write(_serialDescriptor, "RD684306\n", 9);
read(_serialDescriptor, gyroBuffer, 20);
convertHexToInt(gyroBuffer + 6, _lastYaw);
convertHexToInt(gyroBuffer + 10, _lastRoll);
convertHexToInt(gyroBuffer + 14, _lastPitch);
totalSamples++;
} else {
// This array sets the rate of trailing averaging for each channel:
// If the sensor rate is 100Hz, 0.001 will make the long term average a 10-second average
const float AVG_RATE[] = {0.002, 0.002, 0.002, 0.002, 0.002, 0.002};
char bufchar[1];
int initialSamples = totalSamples;
while (read(serialFd, &bufchar, 1) > 0) {
while (read(_serialDescriptor, &bufchar, 1) > 0) {
serialBuffer[serialBufferPos] = bufchar[0];
serialBufferPos++;
// Have we reached end of a line of input?
@ -215,6 +267,7 @@ void SerialInterface::readData() {
serialBufferPos = 0;
}
}
}
if (initialSamples == totalSamples) {
timeval now;
@ -234,10 +287,12 @@ void SerialInterface::resetSerial() {
#ifdef __APPLE__
active = false;
totalSamples = 0;
gravity = glm::vec3(0,-1,0);
gettimeofday(&lastGoodRead, NULL);
if (!USING_INVENSENSE_MPU9150) {
gravity = glm::vec3(0, -1, 0);
// Clear the measured and average channel data
for (int i = 0; i < NUM_CHANNELS; i++) {
lastMeasured[i] = 0;
@ -247,6 +302,8 @@ void SerialInterface::resetSerial() {
for (int i = 1; i < MAX_BUFFER; i++) {
serialBuffer[i] = ' ';
}
}
#endif
}

21
interface/src/SerialInterface.h
View file

@ -32,24 +32,37 @@
#define HEAD_YAW_RATE 0
#define HEAD_ROLL_RATE 2
extern const bool USING_INVENSENSE_MPU9150;
class SerialInterface {
public:
SerialInterface() { active = false; };
SerialInterface() : active(false),
_failedOpenAttempts(0) {}
~SerialInterface();
void pair();
void readData();
int getLastYaw() const { return _lastYaw; }
int getLastPitch() const { return _lastPitch; }
int getLastRoll() const { return _lastRoll; }
int getLED() {return LED;};
int getNumSamples() {return samplesAveraged;};
int getValue(int num) {return lastMeasured[num];};
int getRelativeValue(int num) {return static_cast<int>(lastMeasured[num] - trailingAverage[num]);};
float getTrailingValue(int num) {return trailingAverage[num];};
void resetTrailingAverages();
void renderLevels(int width, int height);
bool active;
glm::vec3 getGravity() {return gravity;};
private:
int initializePort(char * portname, int baud);
void initializePort(char* portname, int baud);
void resetSerial();
int _serialDescriptor;
int lastMeasured[NUM_CHANNELS];
float trailingAverage[NUM_CHANNELS];
int samplesAveraged;
@ -57,6 +70,10 @@ private:
int totalSamples;
timeval lastGoodRead;
glm::vec3 gravity;
int _lastYaw;
int _lastPitch;
int _lastRoll;
int _failedOpenAttempts;
};
#endif

30
interface/src/Util.cpp
View file

@ -237,6 +237,36 @@ void drawGroundPlaneGrid(float size)
}
void renderDiskShadow(glm::vec3 position, glm::vec3 upDirection, float radius, float darkness) {
glColor4f( 0.0f, 0.0f, 0.0f, darkness );
int num = 20;
float y = 0.001f;
float x2 = 0.0f;
float z2 = radius;
float x1;
float z1;
glBegin(GL_TRIANGLES);
for (int i=1; i<num+1; i++) {
x1 = x2;
z1 = z2;
float r = ((float)i / (float)num) * PI * 2.0;
x2 = radius * sin(r);
z2 = radius * cos(r);
glVertex3f(position.x, y, position.z );
glVertex3f(position.x + x1, y, position.z + z1);
glVertex3f(position.x + x2, y, position.z + z2);
}
glEnd();
}
void renderOrientationDirections( glm::vec3 position, Orientation orientation, float size ) {
glm::vec3 pRight = position + orientation.getRight() * size;
glm::vec3 pUp = position + orientation.getUp() * size;

2
interface/src/Util.h
View file

@ -44,6 +44,8 @@ double diffclock(timeval *clock1,timeval *clock2);
void drawGroundPlaneGrid(float size);
void renderDiskShadow(glm::vec3 position, glm::vec3 upDirection, float radius, float darkness);
void renderOrientationDirections( glm::vec3 position, Orientation orientation, float size );

63
interface/src/main.cpp
View file

@ -69,7 +69,6 @@
#include "Camera.h"
#include "Avatar.h"
#include "AvatarRenderer.h"
#include "Texture.h"
#include <AgentList.h>
#include <AgentTypes.h>
@ -91,6 +90,8 @@ using namespace std;
void reshape(int width, int height); // will be defined below
void loadViewFrustum(ViewFrustum& viewFrustum); // will be defined below
glm::vec3 getGravity(glm::vec3 pos); //get the local gravity vector at this location in the universe
QApplication* app;
bool enableNetworkThread = true;
@ -120,9 +121,6 @@ Avatar myAvatar(true); // The rendered avatar of oneself
Camera myCamera; // My view onto the world (sometimes on myself :)
Camera viewFrustumOffsetCamera; // The camera we use to sometimes show the view frustum from an offset mode
AvatarRenderer avatarRenderer;
// Starfield information
char starFile[] = "https://s3-us-west-1.amazonaws.com/highfidelity/stars.txt";
char starCacheFile[] = "cachedStars.txt";
@ -208,8 +206,7 @@ bool justStarted = true;
// Every second, check the frame rates and other stuff
void Timer(int extra)
{
void Timer(int extra) {
gettimeofday(&timerEnd, NULL);
FPS = (float)frameCount / ((float)diffclock(&timerStart, &timerEnd) / 1000.f);
packetsPerSecond = (float)packetCount / ((float)diffclock(&timerStart, &timerEnd) / 1000.f);
@ -227,8 +224,7 @@ void Timer(int extra)
}
}
void displayStats(void)
{
void displayStats(void) {
int statsVerticalOffset = 50;
if (::menuOn == 0) {
statsVerticalOffset = 8;
@ -269,6 +265,7 @@ void displayStats(void)
Agent *avatarMixer = AgentList::getInstance()->soloAgentOfType(AGENT_TYPE_AVATAR_MIXER);
char avatarMixerStats[200];
if (avatarMixer) {
sprintf(avatarMixerStats, "Avatar Mixer: %.f kbps, %.f pps",
roundf(avatarMixer->getAverageKilobitsPerSecond()),
@ -276,6 +273,7 @@ void displayStats(void)
} else {
sprintf(avatarMixerStats, "No Avatar Mixer");
}
drawtext(10, statsVerticalOffset + 330, 0.10f, 0, 1.0, 0, avatarMixerStats);
if (::perfStatsOn) {
@ -293,8 +291,7 @@ void displayStats(void)
}
}
void initDisplay(void)
{
void initDisplay(void) {
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glEnable(GL_BLEND);
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
@ -306,8 +303,7 @@ void initDisplay(void)
if (fullscreen) glutFullScreen();
}
void init(void)
{
void init(void) {
voxels.init();
voxels.setViewerAvatar(&myAvatar);
voxels.setCamera(&myCamera);
@ -360,8 +356,7 @@ void terminate () {
exit(EXIT_SUCCESS);
}
void reset_sensors()
{
void reset_sensors() {
myAvatar.setPosition(start_location);
headMouseX = WIDTH/2;
@ -377,16 +372,13 @@ void reset_sensors()
//
// Using gyro data, update both view frustum and avatar head position
//
void updateAvatar(float frametime)
{
void updateAvatar(float frametime) {
float gyroPitchRate = serialPort.getRelativeValue(HEAD_PITCH_RATE);
float gyroYawRate = serialPort.getRelativeValue(HEAD_YAW_RATE );
myAvatar.UpdateGyros(frametime, &serialPort, &gravity);
//
// Update gyro-based mouse (X,Y on screen)
//
const float MIN_MOUSE_RATE = 30.0;
const float MOUSE_SENSITIVITY = 0.1f;
if (powf(gyroYawRate*gyroYawRate +
@ -720,7 +712,6 @@ void displaySide(Camera& whichCamera) {
if (agent->getLinkedData() != NULL && agent->getType() == AGENT_TYPE_AVATAR) {
Avatar *avatar = (Avatar *)agent->getLinkedData();
avatar->render(0);
//avatarRenderer.render(avatar, 0); // this will replace the above call
}
}
agentList->unlock();
@ -733,7 +724,6 @@ void displaySide(Camera& whichCamera) {
//Render my own avatar
myAvatar.render(::lookingInMirror);
//avatarRenderer.render(&myAvatar, lookingInMirror); // this will replace the above call
glPopMatrix();
}
@ -1017,7 +1007,7 @@ void display(void)
float firstPersonTightness = 100.0f;
float thirdPersonPitch = 0.0f;
float thirdPersonUpShift = -0.1f;
float thirdPersonUpShift = -0.2f;
float thirdPersonDistance = 1.2f;
float thirdPersonTightness = 8.0f;
@ -1692,6 +1682,10 @@ void idle(void) {
handControl.stop();
}
if (serialPort.active && USING_INVENSENSE_MPU9150) {
serialPort.readData();
}
// Sample hardware, update view frustum if needed, Lsend avatar data to mixer/agents
updateAvatar(deltaTime);
@ -1711,6 +1705,7 @@ void idle(void) {
}
agentList->unlock();
myAvatar.setGravity(getGravity(myAvatar.getPosition()));
myAvatar.simulate(deltaTime);
glutPostRedisplay();
@ -1718,7 +1713,7 @@ void idle(void) {
}
// Read serial data
if (serialPort.active) {
if (serialPort.active && !USING_INVENSENSE_MPU9150) {
serialPort.readData();
}
}
@ -1773,6 +1768,30 @@ void reshape(int width, int height) {
glLoadIdentity();
}
//Find and return the gravity vector at this location
glm::vec3 getGravity(glm::vec3 pos) {
//
// For now, we'll test this with a simple global lookup, but soon we will add getting this
// from the domain/voxelserver (or something similar)
//
if ((pos.x > 0.f) &&
(pos.x < 10.f) &&
(pos.z > 0.f) &&
(pos.z < 10.f) &&
(pos.y > 0.f) &&
(pos.y < 3.f)) {
// If above ground plane, turn gravity on
return glm::vec3(0.f, -1.f, 0.f);
} else {
// If flying in space, turn gravity OFF
return glm::vec3(0.f, 0.f, 0.f);
}
}
void mouseFunc(int button, int state, int x, int y) {
if (button == GLUT_LEFT_BUTTON && state == GLUT_DOWN ) {
if (state == GLUT_DOWN && !menu.mouseClick(x, y)) {

28
libraries/shared/src/Agent.cpp
View file

@ -52,8 +52,8 @@ Agent::Agent(sockaddr *agentPublicSocket, sockaddr *agentLocalSocket, char agent
type = agentType;
agentId = thisAgentId;
firstRecvTimeUsecs = usecTimestampNow();
lastRecvTimeUsecs = usecTimestampNow();
_wakeMicrostamp = usecTimestampNow();
_lastHeardMicrostamp = usecTimestampNow();
activeSocket = NULL;
linkedData = NULL;
@ -87,8 +87,8 @@ Agent::Agent(const Agent &otherAgent) {
activeSocket = NULL;
}
firstRecvTimeUsecs = otherAgent.firstRecvTimeUsecs;
lastRecvTimeUsecs = otherAgent.lastRecvTimeUsecs;
_wakeMicrostamp = otherAgent._wakeMicrostamp;
_lastHeardMicrostamp = otherAgent._lastHeardMicrostamp;
type = otherAgent.type;
if (otherAgent.linkedData != NULL) {
@ -120,8 +120,8 @@ void Agent::swap(Agent &first, Agent &second) {
swap(first.type, second.type);
swap(first.linkedData, second.linkedData);
swap(first.agentId, second.agentId);
swap(first.firstRecvTimeUsecs, second.firstRecvTimeUsecs);
swap(first.lastRecvTimeUsecs, second.lastRecvTimeUsecs);
swap(first._wakeMicrostamp, second._wakeMicrostamp);
swap(first._lastHeardMicrostamp, second._lastHeardMicrostamp);
swap(first._bytesReceivedMovingAverage, second._bytesReceivedMovingAverage);
}
@ -178,22 +178,6 @@ void Agent::setAgentId(uint16_t thisAgentId) {
agentId = thisAgentId;
}
double Agent::getFirstRecvTimeUsecs() {
return firstRecvTimeUsecs;
}
void Agent::setFirstRecvTimeUsecs(double newTimeUsecs) {
firstRecvTimeUsecs = newTimeUsecs;
}
double Agent::getLastRecvTimeUsecs() {
return lastRecvTimeUsecs;
}
void Agent::setLastRecvTimeUsecs(double newTimeUsecs) {
lastRecvTimeUsecs = newTimeUsecs;
}
sockaddr* Agent::getPublicSocket() {
return publicSocket;
}

12
libraries/shared/src/Agent.h
View file

@ -38,11 +38,11 @@ public:
uint16_t getAgentId();
void setAgentId(uint16_t thisAgentId);
double getFirstRecvTimeUsecs();
void setFirstRecvTimeUsecs(double newTimeUsecs);
double getWakeMicrostamp() const { return _wakeMicrostamp; }
void setWakeMicrostamp(double wakeMicrostamp) { _wakeMicrostamp = wakeMicrostamp; }
double getLastRecvTimeUsecs();
void setLastRecvTimeUsecs(double newTimeUsecs);
double getLastHeardMicrostamp() const { return _lastHeardMicrostamp; }
void setLastHeardMicrostamp(double lastHeardMicrostamp) { _lastHeardMicrostamp = lastHeardMicrostamp; }
sockaddr* getPublicSocket();
void setPublicSocket(sockaddr *newSocket);
@ -70,8 +70,8 @@ private:
sockaddr *publicSocket, *localSocket, *activeSocket;
char type;
uint16_t agentId;
double firstRecvTimeUsecs;
double lastRecvTimeUsecs;
double _wakeMicrostamp;
double _lastHeardMicrostamp;
SimpleMovingAverage* _bytesReceivedMovingAverage;
AgentData* linkedData;
bool _isAlive;

36
libraries/shared/src/AgentList.cpp
View file

@ -64,8 +64,7 @@ AgentList::AgentList(char newOwnerType, unsigned int newSocketListenPort) :
agentSocket(newSocketListenPort),
ownerType(newOwnerType),
socketListenPort(newSocketListenPort),
lastAgentId(0)
{
lastAgentId(0) {
pthread_mutex_init(&mutex, 0);
}
@ -114,7 +113,7 @@ void AgentList::processBulkAgentData(sockaddr *senderAddress, unsigned char *pac
Agent* bulkSendAgent = agentWithAddress(senderAddress);
if (bulkSendAgent) {
bulkSendAgent->setLastRecvTimeUsecs(usecTimestampNow());
bulkSendAgent->setLastHeardMicrostamp(usecTimestampNow());
bulkSendAgent->recordBytesReceived(numTotalBytes);
}
@ -161,7 +160,7 @@ int AgentList::updateAgentWithData(sockaddr *senderAddress, unsigned char *packe
}
int AgentList::updateAgentWithData(Agent *agent, unsigned char *packetData, int dataBytes) {
agent->setLastRecvTimeUsecs(usecTimestampNow());
agent->setLastHeardMicrostamp(usecTimestampNow());
if (agent->getActiveSocket() != NULL) {
agent->recordBytesReceived(dataBytes);
@ -273,7 +272,7 @@ bool AgentList::addOrUpdateAgent(sockaddr *publicSocket, sockaddr *localSocket,
if (agent->getType() == AGENT_TYPE_AUDIO_MIXER || agent->getType() == AGENT_TYPE_VOXEL) {
// until the Audio class also uses our agentList, we need to update
// the lastRecvTimeUsecs for the audio mixer so it doesn't get killed and re-added continously
agent->setLastRecvTimeUsecs(usecTimestampNow());
agent->setLastHeardMicrostamp(usecTimestampNow());
}
// we had this agent already, do nothing for now
@ -383,7 +382,7 @@ void *removeSilentAgents(void *args) {
for(AgentList::iterator agent = agentList->begin(); agent != agentList->end(); ++agent) {
if ((checkTimeUSecs - agent->getLastRecvTimeUsecs()) > AGENT_SILENCE_THRESHOLD_USECS
if ((checkTimeUSecs - agent->getLastHeardMicrostamp()) > AGENT_SILENCE_THRESHOLD_USECS
&& agent->getType() != AGENT_TYPE_VOXEL) {
printLog("Killing agent - ");
@ -418,13 +417,6 @@ void *checkInWithDomainServer(void *args) {
const int DOMAIN_SERVER_CHECK_IN_USECS = 1 * 1000000;
AgentList* parentAgentList = (AgentList*) args;
timeval lastSend;
unsigned char output[7];
in_addr_t localAddress = getLocalAddress();
// Lookup the IP address of the domain server if we need to
if (atoi(DOMAIN_IP) == 0) {
struct hostent* pHostInfo;
@ -439,14 +431,23 @@ void *checkInWithDomainServer(void *args) {
}
} else printLog("Using static domainserver IP: %s\n", DOMAIN_IP);
AgentList* parentAgentList = (AgentList*) args;
timeval lastSend;
in_addr_t localAddress = getLocalAddress();
unsigned char packet[8];
packet[0] = PACKET_HEADER_DOMAIN_RFD;
packet[1] = parentAgentList->getOwnerType();
while (!domainServerCheckinStopFlag) {
gettimeofday(&lastSend, NULL);
output[0] = parentAgentList->getOwnerType();
packSocket(output + 1, localAddress, htons(parentAgentList->getSocketListenPort()));
packSocket(packet + 2, localAddress, htons(parentAgentList->getSocketListenPort()));
parentAgentList->getAgentSocket().send(DOMAIN_IP, DOMAINSERVER_PORT, output, 7);
parentAgentList->getAgentSocket().send(DOMAIN_IP, DOMAINSERVER_PORT, packet, sizeof(packet));
packet[0] = PACKET_HEADER_DOMAIN_LIST_REQUEST;
double usecToSleep = DOMAIN_SERVER_CHECK_IN_USECS - (usecTimestampNow() - usecTimestamp(&lastSend));
@ -481,7 +482,8 @@ AgentList::iterator AgentList::begin() const {
}
}
return AgentListIterator(this, 0);
// there's no alive agent to start from - return the end
return end();
}
AgentList::iterator AgentList::end() const {

3
libraries/shared/src/PacketHeaders.h
View file

@ -1,3 +1,4 @@
//
// PacketHeaders.h
// hifi
@ -23,5 +24,7 @@ const char PACKET_HEADER_ERASE_VOXEL = 'E';
const char PACKET_HEADER_VOXEL_DATA = 'V';
const char PACKET_HEADER_BULK_AVATAR_DATA = 'X';
const char PACKET_HEADER_TRANSMITTER_DATA = 't';
const char PACKET_HEADER_DOMAIN_LIST_REQUEST = 'L';
const char PACKET_HEADER_DOMAIN_RFD = 'C';
#endif

49
libraries/voxels/src/AABox.cpp
View file

@ -8,6 +8,8 @@
// Simple axis aligned box class.
//
#include "SharedUtil.h"
#include "AABox.h"
@ -68,3 +70,50 @@ glm::vec3 AABox::getVertexN(const glm::vec3 &normal) const {
return(res);
}
// determines whether a value is within the extents
static bool isWithin(float value, float corner, float size) {
return value >= corner && value <= corner + size;
}
bool AABox::contains(const glm::vec3& point) const {
return isWithin(point.x, _corner.x, _size.x) &&
isWithin(point.y, _corner.y, _size.y) &&
isWithin(point.z, _corner.z, _size.z);
}
// finds the intersection between a ray and the facing plane on one axis
static bool findIntersection(float origin, float direction, float corner, float size, float& distance) {
if (direction > EPSILON) {
distance = (corner - origin) / direction;
return true;
} else if (direction < -EPSILON) {
distance = (corner + size - origin) / direction;
return true;
}
return false;
}
bool AABox::findRayIntersection(const glm::vec3& origin, const glm::vec3& direction, float& distance) const {
// handle the trivial case where the box contains the origin
if (contains(origin)) {
distance = 0;
return true;
}
// check each axis
float axisDistance;
if (findIntersection(origin.x, direction.x, _corner.x, _size.x, axisDistance) && axisDistance >= 0 &&
isWithin(origin.y + axisDistance*direction.y, _corner.y, _size.y) &&
isWithin(origin.z + axisDistance*direction.z, _corner.z, _size.z) ||
findIntersection(origin.y, direction.y, _corner.y, _size.y, axisDistance) && axisDistance >= 0 &&
isWithin(origin.x + axisDistance*direction.x, _corner.x, _size.x) &&
isWithin(origin.z + axisDistance*direction.z, _corner.z, _size.z) ||
findIntersection(origin.z, direction.z, _corner.z, _size.z, axisDistance) && axisDistance >= 0 &&
isWithin(origin.y + axisDistance*direction.y, _corner.y, _size.y) &&
isWithin(origin.x + axisDistance*direction.x, _corner.x, _size.x)) {
distance = axisDistance;
return true;
}
return false;
}

3
libraries/voxels/src/AABox.h
View file

@ -36,6 +36,9 @@ public:
const glm::vec3& getSize() const { return _size; };
const glm::vec3& getCenter() const { return _center; };
bool contains(const glm::vec3& point) const;
bool findRayIntersection(const glm::vec3& origin, const glm::vec3& direction, float& distance) const;
private:
glm::vec3 _corner;
glm::vec3 _center;

4
libraries/voxels/src/ViewFrustum.cpp
View file

@ -238,3 +238,7 @@ bool ViewFrustum::matches(const ViewFrustum& compareTo) const {
void ViewFrustum::computePickRay(float x, float y, glm::vec3& origin, glm::vec3& direction) const {
origin = _nearTopLeft + x*(_nearTopRight - _nearTopLeft) + y*(_nearBottomLeft - _nearTopLeft);
direction = glm::normalize(origin - _position);
}

2
libraries/voxels/src/ViewFrustum.h
View file

@ -101,7 +101,7 @@ public:
// some frustum comparisons
bool matches(const ViewFrustum& compareTo) const;
bool matches(const ViewFrustum* compareTo) const { return matches(*compareTo); };
void computePickRay(float x, float y, glm::vec3& origin, glm::vec3& direction) const;
};

34
libraries/voxels/src/VoxelTree.cpp
View file

@ -546,7 +546,41 @@ int VoxelTree::searchForColoredNodes(int maxSearchLevel, VoxelNode* node, const
return levelReached;
}
// combines the ray cast arguments into a single object
class RayArgs {
public:
glm::vec3 origin;
glm::vec3 direction;
VoxelNode*& node;
float& distance;
bool found;
};
bool findRayOperation(VoxelNode* node, void* extraData) {
RayArgs* args = static_cast<RayArgs*>(extraData);
AABox box;
node->getAABox(box);
float distance;
if (!box.findRayIntersection(args->origin, args->direction, distance)) {
return false;
}
if (!node->isLeaf()) {
return true; // recurse on children
}
if (!args->found || distance < args->distance) {
args->node = node;
args->distance = distance;
args->found = true;
}
return false;
}
bool VoxelTree::findRayIntersection(const glm::vec3& origin, const glm::vec3& direction, VoxelNode*& node, float& distance)
{
RayArgs args = { origin / (float)TREE_SCALE, direction, node, distance };
recurseTreeWithOperation(findRayOperation, &args);
return args.found;
}
int VoxelTree::searchForColoredNodesRecursion(int maxSearchLevel, int& currentSearchLevel,
VoxelNode* node, const ViewFrustum& viewFrustum, VoxelNodeBag& bag) {

2
libraries/voxels/src/VoxelTree.h
View file

@ -62,6 +62,8 @@ public:
void clearDirtyBit() { _isDirty = false; };
unsigned long int getNodesChangedFromBitstream() const { return _nodesChangedFromBitstream; };
bool findRayIntersection(const glm::vec3& origin, const glm::vec3& direction, VoxelNode*& node, float& distance);
// Note: this assumes the fileFormat is the HIO individual voxels code files
void loadVoxelsFile(const char* fileName, bool wantColorRandomizer);