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prevent walking avatar from bouncing on floor

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This commit is contained in:
Andrew Meadows 2014-05-22 17:54:32 -07:00
parent b0c3655076
commit 08b525ef91
2 changed files with 71 additions and 44 deletions
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113
interface/src/avatar/MyAvatar.cpp
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@ -134,45 +134,7 @@ void MyAvatar::simulate(float deltaTime) {
_handState = HAND_STATE_NULL;
updateOrientation(deltaTime);
float keyboardInput = fabsf(_driveKeys[FWD] - _driveKeys[BACK]) +
fabsf(_driveKeys[RIGHT] - _driveKeys[LEFT]) +
fabsf(_driveKeys[UP] - _driveKeys[DOWN]);
bool walkingOnFloor = false;
float gravityLength = glm::length(_gravity);
if (gravityLength > EPSILON) {
const CapsuleShape& boundingShape = _skeletonModel.getBoundingShape();
glm::vec3 startCap;
boundingShape.getStartPoint(startCap);
glm::vec3 bottomOfBoundingCapsule = startCap + (boundingShape.getRadius() / gravityLength) * _gravity;
float fallThreshold = 2.0f * deltaTime * gravityLength;
walkingOnFloor = (glm::distance(bottomOfBoundingCapsule, _lastFloorContactPoint) < fallThreshold);
}
if (keyboardInput > 0.0f || glm::length2(_velocity) > 0.0f || glm::length2(_thrust) > 0.0f ||
! walkingOnFloor) {
// apply gravity
_velocity += _scale * _gravity * (GRAVITY_EARTH * deltaTime);
// update motor and thrust
updateMotorFromKeyboard(deltaTime, walkingOnFloor);
applyMotor(deltaTime);
applyThrust(deltaTime);
// update position
if (glm::length2(_velocity) < EPSILON) {
_velocity = glm::vec3(0.0f);
} else {
_position += _velocity * deltaTime;
}
}
// update moving flag based on speed
const float MOVING_SPEED_THRESHOLD = 0.01f;
_moving = glm::length(_velocity) > MOVING_SPEED_THRESHOLD;
updateChatCircle(deltaTime);
updatePosition(deltaTime);
// update avatar skeleton and simulate hand and head
getHand()->collideAgainstOurself();
@ -833,8 +795,7 @@ void MyAvatar::updateOrientation(float deltaTime) {
// We must adjust the body orientation using a delta rotation (rather than
// doing yaw math) because the body's yaw ranges are not the same
// as what the Oculus API provides.
glm::vec3 UP_AXIS = glm::vec3(0.0f, 1.0f, 0.0f);
glm::quat bodyCorrection = glm::angleAxis(glm::radians(delta), UP_AXIS);
glm::quat bodyCorrection = glm::angleAxis(glm::radians(delta), _worldUpDirection);
orientation = orientation * bodyCorrection;
}
Head* head = getHead();
@ -848,6 +809,62 @@ void MyAvatar::updateOrientation(float deltaTime) {
setOrientation(orientation);
}
void MyAvatar::updatePosition(float deltaTime) {
float keyboardInput = fabsf(_driveKeys[FWD] - _driveKeys[BACK]) +
fabsf(_driveKeys[RIGHT] - _driveKeys[LEFT]) +
fabsf(_driveKeys[UP] - _driveKeys[DOWN]);
bool walkingOnFloor = false;
float gravityLength = glm::length(_gravity) * GRAVITY_EARTH;
if (gravityLength > EPSILON) {
const CapsuleShape& boundingShape = _skeletonModel.getBoundingShape();
glm::vec3 startCap;
boundingShape.getStartPoint(startCap);
glm::vec3 bottomOfBoundingCapsule = startCap - boundingShape.getRadius() * _worldUpDirection;
float speedFromGravity = _scale * deltaTime * gravityLength;
float distanceToFall = glm::distance(bottomOfBoundingCapsule, _lastFloorContactPoint);
walkingOnFloor = (distanceToFall < 2.0f * deltaTime * speedFromGravity);
if (walkingOnFloor) {
// BEGIN HACK: to prevent the avatar from bouncing on a floor surface
if (distanceToFall < deltaTime * speedFromGravity) {
float verticalSpeed = glm::dot(_velocity, _worldUpDirection);
if (fabs(verticalSpeed) < speedFromGravity) {
// we're standing on a floor, and nearly at rest so we zero the vertical velocity component
_velocity -= verticalSpeed * _worldUpDirection;
}
} else {
// fall with gravity against floor
_velocity -= speedFromGravity * _worldUpDirection;
}
// END HACK
} else {
_velocity -= speedFromGravity * _worldUpDirection;
}
}
if (keyboardInput > 0.0f || glm::length2(_velocity) > 0.0f || glm::length2(_thrust) > 0.0f || ! walkingOnFloor) {
// update motor and thrust
updateMotorFromKeyboard(deltaTime, walkingOnFloor);
applyMotor(deltaTime);
applyThrust(deltaTime);
// update position
if (glm::length2(_velocity) < EPSILON) {
_velocity = glm::vec3(0.0f);
} else {
_position += _velocity * deltaTime;
}
}
// update moving flag based on speed
const float MOVING_SPEED_THRESHOLD = 0.01f;
_moving = glm::length(_velocity) > MOVING_SPEED_THRESHOLD;
updateChatCircle(deltaTime);
}
void MyAvatar::updateMotorFromKeyboard(float deltaTime, bool walking) {
// Increase motor velocity until its length is equal to _maxMotorSpeed.
if (!(_motionBehaviors & AVATAR_MOTION_MOTOR_KEYBOARD_ENABLED)) {
@ -1121,6 +1138,8 @@ void MyAvatar::updateCollisionWithVoxels(float deltaTime, float radius) {
const float MIN_STEP_HEIGHT = 0.0f;
glm::vec3 footBase = boundingShape.getPosition() - (capsuleRadius + capsuleHalfHeight) * _worldUpDirection;
float highestStep = 0.0f;
float lowestStep = MAX_STEP_HEIGHT;
glm::vec3 floorPoint;
glm::vec3 stepPenetration(0.0f);
glm::vec3 totalPenetration(0.0f);
@ -1154,8 +1173,15 @@ void MyAvatar::updateCollisionWithVoxels(float deltaTime, float radius) {
highestStep = stepHeight;
stepPenetration = collision->_penetration;
}
if (stepHeight < lowestStep) {
lowestStep = stepHeight;
floorPoint = collision->_contactPoint - collision->_penetration;
}
}
}
if (lowestStep < MAX_STEP_HEIGHT) {
_lastFloorContactPoint = floorPoint;
}
float penetrationLength = glm::length(totalPenetration);
if (penetrationLength < EPSILON) {
@ -1194,8 +1220,9 @@ void MyAvatar::updateCollisionWithVoxels(float deltaTime, float radius) {
applyHardCollision(totalPenetration, VOXEL_ELASTICITY, VOXEL_DAMPING);
}
const float VOXEL_COLLISION_FREQUENCY = 0.5f;
updateCollisionSound(myCollisions[0]->_penetration, deltaTime, VOXEL_COLLISION_FREQUENCY);
// Don't make a collision sound against voxlels by default -- too annoying when walking
//const float VOXEL_COLLISION_FREQUENCY = 0.5f;
//updateCollisionSound(myCollisions[0]->_penetration, deltaTime, VOXEL_COLLISION_FREQUENCY);
}
_trapDuration = isTrapped ? _trapDuration + deltaTime : 0.0f;
}

2
interface/src/avatar/MyAvatar.h
View file

@ -141,7 +141,6 @@ private:
bool _shouldJump;
float _driveKeys[MAX_DRIVE_KEYS];
glm::vec3 _gravity;
glm::vec3 _environmentGravity;
float _distanceToNearestAvatar; // How close is the nearest avatar?
bool _wasPushing;
@ -166,6 +165,7 @@ private:
// private methods
void updateOrientation(float deltaTime);
void updatePosition(float deltaTime);
void updateMotorFromKeyboard(float deltaTime, bool walking);
float computeMotorTimescale();
void applyMotor(float deltaTime);