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more work on avatar touch

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This commit is contained in:
Jeffrey Ventrella 2013-06-03 16:23:55 -07:00
parent e96503de0d
commit 26bbb9917b
5 changed files with 185 additions and 84 deletions
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2
interface/src/Application.cpp
View file

@ -50,7 +50,7 @@
using namespace std;
const bool TESTING_AVATAR_TOUCH = false;
const bool TESTING_AVATAR_TOUCH = true;
// Starfield information
static char STAR_FILE[] = "https://s3-us-west-1.amazonaws.com/highfidelity/stars.txt";

242
interface/src/Avatar.cpp
View file

@ -44,7 +44,7 @@ const float HEAD_MAX_YAW = 85;
const float HEAD_MIN_YAW = -85;
const float PERIPERSONAL_RADIUS = 1.0f;
const float AVATAR_BRAKING_STRENGTH = 40.0f;
const float JOINT_TOUCH_RANGE = 0.01f;
const float MOUSE_RAY_TOUCH_RANGE = 0.01f;
const float FLOATING_HEIGHT = 0.13f;
const bool USING_HEAD_LEAN = false;
const float LEAN_SENSITIVITY = 0.15;
@ -64,7 +64,8 @@ float chatMessageHeight = 0.20;
Avatar::Avatar(Agent* owningAgent) :
AvatarData(owningAgent),
_head(this),
_TEST_bigSphereRadius(0.4f),
_ballSpringsInitialized(false),
_TEST_bigSphereRadius(0.5f),
_TEST_bigSpherePosition(5.0f, _TEST_bigSphereRadius, 5.0f),
_mousePressed(false),
_bodyPitchDelta(0.0f),
@ -118,6 +119,8 @@ Avatar::Avatar(Agent* owningAgent) :
void Avatar::initializeBodyBalls() {
_ballSpringsInitialized = false; //this gets set to true on the first update pass...
for (int b=0; b<NUM_AVATAR_BODY_BALLS; b++) {
_bodyBall[b].parentJoint = AVATAR_JOINT_NULL;
_bodyBall[b].parentOffset = glm::vec3(0.0, 0.0, 0.0);
@ -129,61 +132,124 @@ void Avatar::initializeBodyBalls() {
_bodyBall[b].jointTightness = BODY_SPRING_DEFAULT_TIGHTNESS;
}
// specify the parent joint of each ball
// specify the radius of each ball
_bodyBall[ BODY_BALL_PELVIS ].radius = 0.07;
_bodyBall[ BODY_BALL_TORSO ].radius = 0.065;
_bodyBall[ BODY_BALL_CHEST ].radius = 0.08;
_bodyBall[ BODY_BALL_NECK_BASE ].radius = 0.03;
_bodyBall[ BODY_BALL_HEAD_BASE ].radius = 0.07;
_bodyBall[ BODY_BALL_LEFT_COLLAR ].radius = 0.04;
_bodyBall[ BODY_BALL_LEFT_SHOULDER ].radius = 0.03;
_bodyBall[ BODY_BALL_LEFT_ELBOW ].radius = 0.02;
_bodyBall[ BODY_BALL_LEFT_WRIST ].radius = 0.02;
_bodyBall[ BODY_BALL_LEFT_FINGERTIPS ].radius = 0.01;
_bodyBall[ BODY_BALL_RIGHT_COLLAR ].radius = 0.04;
_bodyBall[ BODY_BALL_RIGHT_SHOULDER ].radius = 0.03;
_bodyBall[ BODY_BALL_RIGHT_ELBOW ].radius = 0.02;
_bodyBall[ BODY_BALL_RIGHT_WRIST ].radius = 0.02;
_bodyBall[ BODY_BALL_RIGHT_FINGERTIPS ].radius = 0.01;
_bodyBall[ BODY_BALL_LEFT_HIP ].radius = 0.04;
//_bodyBall[ BODY_BALL_LEFT_MID_THIGH ].radius = 0.03;
_bodyBall[ BODY_BALL_LEFT_KNEE ].radius = 0.025;
_bodyBall[ BODY_BALL_LEFT_HEEL ].radius = 0.025;
_bodyBall[ BODY_BALL_LEFT_TOES ].radius = 0.025;
_bodyBall[ BODY_BALL_RIGHT_HIP ].radius = 0.04;
_bodyBall[ BODY_BALL_RIGHT_KNEE ].radius = 0.025;
_bodyBall[ BODY_BALL_RIGHT_HEEL ].radius = 0.025;
_bodyBall[ BODY_BALL_RIGHT_TOES ].radius = 0.025;
_bodyBall[ BODY_BALL_RIGHT_TOES ].radius = 0.025;
// specify the parent joint for each ball
_bodyBall[ BODY_BALL_PELVIS ].parentJoint = AVATAR_JOINT_NULL;
_bodyBall[ BODY_BALL_TORSO ].parentJoint = AVATAR_JOINT_PELVIS;
_bodyBall[ BODY_BALL_CHEST ].parentJoint = AVATAR_JOINT_TORSO;
_bodyBall[ BODY_BALL_NECK_BASE ].parentJoint = AVATAR_JOINT_CHEST;
_bodyBall[ BODY_BALL_HEAD_BASE ].parentJoint = AVATAR_JOINT_NECK_BASE;
_bodyBall[ BODY_BALL_HEAD_TOP ].parentJoint = AVATAR_JOINT_HEAD_BASE;
_bodyBall[ BODY_BALL_LEFT_COLLAR ].parentJoint = AVATAR_JOINT_CHEST;
_bodyBall[ BODY_BALL_LEFT_SHOULDER ].parentJoint = AVATAR_JOINT_LEFT_COLLAR;
_bodyBall[ BODY_BALL_LEFT_ELBOW ].parentJoint = AVATAR_JOINT_LEFT_SHOULDER;
_bodyBall[ BODY_BALL_LEFT_WRIST ].parentJoint = AVATAR_JOINT_LEFT_ELBOW;
_bodyBall[ BODY_BALL_LEFT_FINGERTIPS ].parentJoint = AVATAR_JOINT_LEFT_WRIST;
_bodyBall[ BODY_BALL_RIGHT_COLLAR ].parentJoint = AVATAR_JOINT_CHEST;
_bodyBall[ BODY_BALL_RIGHT_SHOULDER ].parentJoint = AVATAR_JOINT_RIGHT_COLLAR;
_bodyBall[ BODY_BALL_RIGHT_ELBOW ].parentJoint = AVATAR_JOINT_RIGHT_SHOULDER;
_bodyBall[ BODY_BALL_RIGHT_WRIST ].parentJoint = AVATAR_JOINT_RIGHT_ELBOW;
_bodyBall[ BODY_BALL_RIGHT_FINGERTIPS ].parentJoint = AVATAR_JOINT_RIGHT_WRIST;
_bodyBall[ BODY_BALL_LEFT_HIP ].parentJoint = AVATAR_JOINT_PELVIS;
_bodyBall[ BODY_BALL_LEFT_KNEE ].parentJoint = AVATAR_JOINT_LEFT_HIP;
_bodyBall[ BODY_BALL_LEFT_HEEL ].parentJoint = AVATAR_JOINT_LEFT_KNEE;
_bodyBall[ BODY_BALL_LEFT_TOES ].parentJoint = AVATAR_JOINT_LEFT_HEEL;
_bodyBall[ BODY_BALL_RIGHT_HIP ].parentJoint = AVATAR_JOINT_PELVIS;
_bodyBall[ BODY_BALL_RIGHT_KNEE ].parentJoint = AVATAR_JOINT_RIGHT_HIP;
_bodyBall[ BODY_BALL_RIGHT_HEEL ].parentJoint = AVATAR_JOINT_RIGHT_KNEE;
_bodyBall[ BODY_BALL_RIGHT_TOES ].parentJoint = AVATAR_JOINT_RIGHT_HEEL;
_bodyBall[ BODY_BALL_PELVIS ].parentJoint = AVATAR_JOINT_PELVIS;
_bodyBall[ BODY_BALL_TORSO ].parentJoint = AVATAR_JOINT_TORSO;
_bodyBall[ BODY_BALL_CHEST ].parentJoint = AVATAR_JOINT_CHEST;
_bodyBall[ BODY_BALL_NECK_BASE ].parentJoint = AVATAR_JOINT_NECK_BASE;
_bodyBall[ BODY_BALL_HEAD_BASE ].parentJoint = AVATAR_JOINT_HEAD_BASE;
_bodyBall[ BODY_BALL_HEAD_TOP ].parentJoint = AVATAR_JOINT_HEAD_TOP;
_bodyBall[ BODY_BALL_LEFT_COLLAR ].parentJoint = AVATAR_JOINT_LEFT_COLLAR;
_bodyBall[ BODY_BALL_LEFT_SHOULDER ].parentJoint = AVATAR_JOINT_LEFT_SHOULDER;
_bodyBall[ BODY_BALL_LEFT_ELBOW ].parentJoint = AVATAR_JOINT_LEFT_ELBOW;
_bodyBall[ BODY_BALL_LEFT_WRIST ].parentJoint = AVATAR_JOINT_LEFT_WRIST;
_bodyBall[ BODY_BALL_LEFT_FINGERTIPS ].parentJoint = AVATAR_JOINT_LEFT_FINGERTIPS;
_bodyBall[ BODY_BALL_RIGHT_COLLAR ].parentJoint = AVATAR_JOINT_RIGHT_COLLAR;
_bodyBall[ BODY_BALL_RIGHT_SHOULDER ].parentJoint = AVATAR_JOINT_RIGHT_SHOULDER;
_bodyBall[ BODY_BALL_RIGHT_ELBOW ].parentJoint = AVATAR_JOINT_RIGHT_ELBOW;
_bodyBall[ BODY_BALL_RIGHT_WRIST ].parentJoint = AVATAR_JOINT_RIGHT_WRIST;
_bodyBall[ BODY_BALL_RIGHT_FINGERTIPS ].parentJoint = AVATAR_JOINT_RIGHT_FINGERTIPS;
_bodyBall[ BODY_BALL_LEFT_HIP ].parentJoint = AVATAR_JOINT_LEFT_HIP;
_bodyBall[ BODY_BALL_LEFT_KNEE ].parentJoint = AVATAR_JOINT_LEFT_KNEE;
_bodyBall[ BODY_BALL_LEFT_HEEL ].parentJoint = AVATAR_JOINT_LEFT_HEEL;
_bodyBall[ BODY_BALL_LEFT_TOES ].parentJoint = AVATAR_JOINT_LEFT_TOES;
_bodyBall[ BODY_BALL_RIGHT_HIP ].parentJoint = AVATAR_JOINT_RIGHT_HIP;
_bodyBall[ BODY_BALL_RIGHT_KNEE ].parentJoint = AVATAR_JOINT_RIGHT_KNEE;
_bodyBall[ BODY_BALL_RIGHT_HEEL ].parentJoint = AVATAR_JOINT_RIGHT_HEEL;
_bodyBall[ BODY_BALL_RIGHT_TOES ].parentJoint = AVATAR_JOINT_RIGHT_TOES;
//_bodyBall[ BODY_BALL_LEFT_MID_THIGH].parentJoint = AVATAR_JOINT_LEFT_HIP;
// specify the parent offset for each ball
_bodyBall[ BODY_BALL_PELVIS ].parentOffset = glm::vec3(0.0, 0.0, 0.0);
_bodyBall[ BODY_BALL_TORSO ].parentOffset = glm::vec3(0.0, 0.0, 0.0);
_bodyBall[ BODY_BALL_CHEST ].parentOffset = glm::vec3(0.0, 0.0, 0.0);
_bodyBall[ BODY_BALL_NECK_BASE ].parentOffset = glm::vec3(0.0, 0.0, 0.0);
_bodyBall[ BODY_BALL_HEAD_BASE ].parentOffset = glm::vec3(0.0, 0.0, 0.0);
_bodyBall[ BODY_BALL_HEAD_TOP ].parentOffset = glm::vec3(0.0, 0.0, 0.0);
_bodyBall[ BODY_BALL_LEFT_COLLAR ].parentOffset = glm::vec3(0.0, 0.0, 0.0);
_bodyBall[ BODY_BALL_LEFT_SHOULDER ].parentOffset = glm::vec3(0.0, 0.0, 0.0);
_bodyBall[ BODY_BALL_LEFT_ELBOW ].parentOffset = glm::vec3(0.0, 0.0, 0.0);
_bodyBall[ BODY_BALL_LEFT_WRIST ].parentOffset = glm::vec3(0.0, 0.0, 0.0);
_bodyBall[ BODY_BALL_LEFT_FINGERTIPS ].parentOffset = glm::vec3(0.0, 0.0, 0.0);
_bodyBall[ BODY_BALL_RIGHT_COLLAR ].parentOffset = glm::vec3(0.0, 0.0, 0.0);
_bodyBall[ BODY_BALL_RIGHT_SHOULDER ].parentOffset = glm::vec3(0.0, 0.0, 0.0);
_bodyBall[ BODY_BALL_RIGHT_ELBOW ].parentOffset = glm::vec3(0.0, 0.0, 0.0);
_bodyBall[ BODY_BALL_RIGHT_WRIST ].parentOffset = glm::vec3(0.0, 0.0, 0.0);
_bodyBall[ BODY_BALL_RIGHT_FINGERTIPS ].parentOffset = glm::vec3(0.0, 0.0, 0.0);
_bodyBall[ BODY_BALL_LEFT_HIP ].parentOffset = glm::vec3(0.0, 0.0, 0.0);
_bodyBall[ BODY_BALL_LEFT_KNEE ].parentOffset = glm::vec3(0.0, 0.0, 0.0);
_bodyBall[ BODY_BALL_LEFT_HEEL ].parentOffset = glm::vec3(0.0, 0.0, 0.0);
_bodyBall[ BODY_BALL_LEFT_TOES ].parentOffset = glm::vec3(0.0, 0.0, 0.0);
_bodyBall[ BODY_BALL_RIGHT_HIP ].parentOffset = glm::vec3(0.0, 0.0, 0.0);
_bodyBall[ BODY_BALL_RIGHT_KNEE ].parentOffset = glm::vec3(0.0, 0.0, 0.0);
_bodyBall[ BODY_BALL_RIGHT_HEEL ].parentOffset = glm::vec3(0.0, 0.0, 0.0);
_bodyBall[ BODY_BALL_RIGHT_TOES ].parentOffset = glm::vec3(0.0, 0.0, 0.0);
//_bodyBall[ BODY_BALL_LEFT_MID_THIGH].parentOffset = glm::vec3(-0.1, -0.1, 0.0);
// specify the parent BALL for each ball
_bodyBall[ BODY_BALL_PELVIS ].parentBall = BODY_BALL_NULL;
_bodyBall[ BODY_BALL_TORSO ].parentBall = BODY_BALL_PELVIS;
_bodyBall[ BODY_BALL_CHEST ].parentBall = BODY_BALL_TORSO;
_bodyBall[ BODY_BALL_NECK_BASE ].parentBall = BODY_BALL_CHEST;
_bodyBall[ BODY_BALL_HEAD_BASE ].parentBall = BODY_BALL_NECK_BASE;
_bodyBall[ BODY_BALL_HEAD_TOP ].parentBall = BODY_BALL_HEAD_BASE;
_bodyBall[ BODY_BALL_LEFT_COLLAR ].parentBall = BODY_BALL_CHEST;
_bodyBall[ BODY_BALL_LEFT_SHOULDER ].parentBall = BODY_BALL_LEFT_COLLAR;
_bodyBall[ BODY_BALL_LEFT_ELBOW ].parentBall = BODY_BALL_LEFT_SHOULDER;
_bodyBall[ BODY_BALL_LEFT_WRIST ].parentBall = BODY_BALL_LEFT_ELBOW;
_bodyBall[ BODY_BALL_LEFT_FINGERTIPS ].parentBall = BODY_BALL_LEFT_WRIST;
_bodyBall[ BODY_BALL_RIGHT_COLLAR ].parentBall = BODY_BALL_CHEST;
_bodyBall[ BODY_BALL_RIGHT_SHOULDER ].parentBall = BODY_BALL_RIGHT_COLLAR;
_bodyBall[ BODY_BALL_RIGHT_ELBOW ].parentBall = BODY_BALL_RIGHT_SHOULDER;
_bodyBall[ BODY_BALL_RIGHT_WRIST ].parentBall = BODY_BALL_RIGHT_ELBOW;
_bodyBall[ BODY_BALL_RIGHT_FINGERTIPS ].parentBall = BODY_BALL_RIGHT_WRIST;
_bodyBall[ BODY_BALL_LEFT_HIP ].parentBall = BODY_BALL_PELVIS;
//_bodyBall[ BODY_BALL_LEFT_MID_THIGH ].parentBall = BODY_BALL_LEFT_HIP;
// _bodyBall[ BODY_BALL_LEFT_KNEE ].parentBall = BODY_BALL_LEFT_MID_THIGH;
_bodyBall[ BODY_BALL_LEFT_KNEE ].parentBall = BODY_BALL_LEFT_HIP;
_bodyBall[ BODY_BALL_LEFT_HEEL ].parentBall = BODY_BALL_LEFT_KNEE;
_bodyBall[ BODY_BALL_LEFT_TOES ].parentBall = BODY_BALL_LEFT_HEEL;
_bodyBall[ BODY_BALL_RIGHT_HIP ].parentBall = BODY_BALL_PELVIS;
_bodyBall[ BODY_BALL_RIGHT_KNEE ].parentBall = BODY_BALL_RIGHT_HIP;
_bodyBall[ BODY_BALL_RIGHT_HEEL ].parentBall = BODY_BALL_RIGHT_KNEE;
_bodyBall[ BODY_BALL_RIGHT_TOES ].parentBall = BODY_BALL_RIGHT_HEEL;
/*
// to aid in hand-shaking and hand-holding, the right hand is not collidable
_bodyBall[ BODY_BALL_RIGHT_ELBOW ].isCollidable = false;
@ -303,6 +369,25 @@ void Avatar::simulate(float deltaTime, Transmitter* transmitter) {
// update avatar skeleton
_skeleton.update(deltaTime, getOrientation(), _position);
//determine the lengths of the body springs now that we have updated the skeleton at least once
if (!_ballSpringsInitialized) {
for (int b = 0; b < NUM_AVATAR_BODY_BALLS; b++) {
glm::vec3 targetPosition
= _skeleton.joint[_bodyBall[b].parentJoint].position
+ _skeleton.joint[_bodyBall[b].parentJoint].rotation * _bodyBall[b].parentOffset;
glm::vec3 parentTargetPosition
= _skeleton.joint[_bodyBall[b].parentJoint].position
+ _skeleton.joint[_bodyBall[b].parentJoint].rotation * _bodyBall[b].parentOffset;
_bodyBall[b].springLength = glm::length(targetPosition - parentTargetPosition);
}
_ballSpringsInitialized = true;
}
// if this is not my avatar, then hand position comes from transmitted data
if (_owningAgent) {
_skeleton.joint[ AVATAR_JOINT_RIGHT_FINGERTIPS ].position = _handPosition;
@ -533,7 +618,7 @@ void Avatar::checkForMouseRayTouching() {
glm::vec3 directionToBodySphere = glm::normalize(_bodyBall[b].position - _mouseRayOrigin);
float dot = glm::dot(directionToBodySphere, _mouseRayDirection);
float range = _bodyBall[b].radius * JOINT_TOUCH_RANGE;
float range = _bodyBall[b].radius * MOUSE_RAY_TOUCH_RANGE;
if (dot > (1.0f - range)) {
_bodyBall[b].touchForce = (dot - (1.0f - range)) / range;
@ -585,11 +670,6 @@ void Avatar::updateHandMovementAndTouching(float deltaTime) {
if (agent->getLinkedData() != NULL && agent->getType() == AGENT_TYPE_AVATAR) {
Avatar *otherAvatar = (Avatar *)agent->getLinkedData();
//Test: Show angle between your fwd vector and nearest avatar
//glm::vec3 vectorBetweenUs = otherAvatar->getJointPosition(AVATAR_JOINT_PELVIS) -
// getJointPosition(AVATAR_JOINT_PELVIS);
//printLog("Angle between: %f\n", angleBetween(vectorBetweenUs, getBodyFrontDirection()));
// test whether shoulders are close enough to allow for reaching to touch hands
glm::vec3 v(_position - otherAvatar->_position);
float distance = glm::length(v);
@ -689,16 +769,16 @@ void Avatar::updateCollisionWithSphere(glm::vec3 position, float radius, float d
float distanceToBigSphere = glm::length(vectorFromMyBodyToBigSphere);
if (distanceToBigSphere < myBodyApproximateBoundingRadius + radius) {
for (int b = 0; b < NUM_AVATAR_BODY_BALLS; b++) {
glm::vec3 vectorFromJointToBigSphereCenter(_bodyBall[b].position - position);
float distanceToBigSphereCenter = glm::length(vectorFromJointToBigSphereCenter);
glm::vec3 vectorFromBallToBigSphereCenter(_bodyBall[b].position - position);
float distanceToBigSphereCenter = glm::length(vectorFromBallToBigSphereCenter);
float combinedRadius = _bodyBall[b].radius + radius;
if (distanceToBigSphereCenter < combinedRadius) {
if (distanceToBigSphereCenter > 0.0) {
glm::vec3 directionVector = vectorFromJointToBigSphereCenter / distanceToBigSphereCenter;
glm::vec3 directionVector = vectorFromBallToBigSphereCenter / distanceToBigSphereCenter;
float penetration = 1.0 - (distanceToBigSphereCenter / combinedRadius);
glm::vec3 collisionForce = vectorFromJointToBigSphereCenter * penetration;
glm::vec3 collisionForce = vectorFromBallToBigSphereCenter * penetration;
_velocity += collisionForce * 40.0f * deltaTime;
_bodyBall[b].position = position + directionVector * combinedRadius;
@ -792,18 +872,18 @@ void Avatar::applyCollisionWithOtherAvatar(Avatar * otherAvatar, float deltaTime
for (int o=b+1; o<NUM_AVATAR_BODY_BALLS; o++) {
if (otherAvatar->_bodyBall[o].isCollidable) {
glm::vec3 vectorBetweenJoints(_bodyBall[b].position - otherAvatar->_bodyBall[o].position);
float distanceBetweenJoints = glm::length(vectorBetweenJoints);
glm::vec3 vectorBetweenBalls(_bodyBall[b].position - otherAvatar->_bodyBall[o].position);
float distanceBetweenBalls = glm::length(vectorBetweenBalls);
if (distanceBetweenJoints > 0.0) { // to avoid divide by zero
if (distanceBetweenBalls > 0.0) { // to avoid divide by zero
float combinedRadius = _bodyBall[b].radius + otherAvatar->_bodyBall[o].radius;
// check for collision
if (distanceBetweenJoints < combinedRadius * COLLISION_RADIUS_SCALAR) {
glm::vec3 directionVector = vectorBetweenJoints / distanceBetweenJoints;
if (distanceBetweenBalls < combinedRadius * COLLISION_RADIUS_SCALAR) {
glm::vec3 directionVector = vectorBetweenBalls / distanceBetweenBalls;
// push balls away from each other and apply friction
float penetration = 1.0f - (distanceBetweenJoints / (combinedRadius * COLLISION_RADIUS_SCALAR));
float penetration = 1.0f - (distanceBetweenBalls / (combinedRadius * COLLISION_RADIUS_SCALAR));
glm::vec3 ballPushForce = directionVector * COLLISION_BALL_FORCE * penetration * deltaTime;
bodyPushForce += directionVector * COLLISION_BODY_FORCE * penetration * deltaTime;
@ -919,7 +999,12 @@ void Avatar::render(bool lookingInMirror) {
void Avatar::resetBodyBalls() {
for (int b = 0; b < NUM_AVATAR_BODY_BALLS; b++) {
_bodyBall[b].position = _skeleton.joint[b].position; // put balls on joints
glm::vec3 targetPosition
= _skeleton.joint[_bodyBall[b].parentJoint].position
+ _skeleton.joint[_bodyBall[b].parentJoint].rotation * _bodyBall[b].parentOffset;
_bodyBall[b].position = targetPosition; // put ball on target position
_bodyBall[b].velocity = glm::vec3(0.0f, 0.0f, 0.0f);
}
}
@ -931,30 +1016,39 @@ void Avatar::updateBodyBalls(float deltaTime) {
resetBodyBalls();
}
for (int b = 0; b < NUM_AVATAR_BODY_BALLS; b++) {
glm::vec3 springVector(_bodyBall[b].position);
if (b == BODY_BALL_PELVIS) {
springVector -= _position;
}
else {
springVector -= _bodyBall[ _skeleton.joint[b].parent ].position;
}
float length = glm::length(springVector);
if (length > 0.0f) { // to avoid divide by zero
glm::vec3 springDirection = springVector / length;
float force = (length - _skeleton.joint[b].length) * BODY_SPRING_FORCE * deltaTime;
_bodyBall[b].velocity -= springDirection * force;
if (_ballSpringsInitialized) {
//apply spring forces
glm::vec3 springVector(_bodyBall[b].position);
if (_skeleton.joint[b].parent != AVATAR_JOINT_NULL) {
_bodyBall[_skeleton.joint[b].parent].velocity += springDirection * force;
if (b == BODY_BALL_PELVIS) {
springVector -= _position;
}
else {
springVector -= _bodyBall[_bodyBall[b].parentBall].position;
}
float length = glm::length(springVector);
if (length > 0.0f) { // to avoid divide by zero
glm::vec3 springDirection = springVector / length;
float force = (length - _skeleton.joint[b].length) * BODY_SPRING_FORCE * deltaTime;
_bodyBall[b].velocity -= springDirection * force;
if (_bodyBall[b].parentBall != BODY_BALL_NULL) {
_bodyBall[_bodyBall[b].parentBall].velocity += springDirection * force;
}
}
}
// apply tightness force - (causing ball position to be close to skeleton joint position)
_bodyBall[b].velocity += (_skeleton.joint[b].position - _bodyBall[b].position) * _bodyBall[b].jointTightness * deltaTime;
glm::vec3 targetPosition
= _skeleton.joint[_bodyBall[b].parentJoint].position
+ _skeleton.joint[_bodyBall[b].parentJoint].rotation * _bodyBall[b].parentOffset;
_bodyBall[b].velocity += (targetPosition - _bodyBall[b].position) * _bodyBall[b].jointTightness * deltaTime;
// apply decay
float decay = 1.0 - BODY_SPRING_DECAY * deltaTime;
@ -1077,7 +1171,7 @@ void Avatar::renderBody(bool lookingInMirror) {
}
// Render the cone connecting this ball to its parent
if (_skeleton.joint[b].parent != AVATAR_JOINT_NULL) {
if (_bodyBall[b].parentBall != BODY_BALL_NULL) {
if ((b != BODY_BALL_HEAD_TOP )
&& (b != BODY_BALL_HEAD_BASE )
&& (b != BODY_BALL_PELVIS )
@ -1089,15 +1183,15 @@ void Avatar::renderBody(bool lookingInMirror) {
&& (b != BODY_BALL_RIGHT_SHOULDER)) {
glColor3fv(DARK_SKIN_COLOR);
float r1 = _bodyBall[_skeleton.joint[b].parent ].radius * 0.8;
float r2 = _bodyBall[b ].radius * 0.8;
float r1 = _bodyBall[_bodyBall[b].parentBall ].radius * 0.8;
float r2 = _bodyBall[b].radius * 0.8;
if (b == BODY_BALL_HEAD_BASE) {
r1 *= 0.5f;
}
renderJointConnectingCone
(
_bodyBall[_skeleton.joint[b].parent ].position,
_bodyBall[b ].position, r2, r2
_bodyBall[_bodyBall[b].parentBall].position,
_bodyBall[b].position, r2, r2
);
}
}

23
interface/src/Avatar.h
View file

@ -48,6 +48,9 @@ enum AvatarBodyBallID
BODY_BALL_RIGHT_KNEE,
BODY_BALL_RIGHT_HEEL,
BODY_BALL_RIGHT_TOES,
//TEST!
//BODY_BALL_LEFT_MID_THIGH,
NUM_AVATAR_BODY_BALLS
};
@ -132,18 +135,21 @@ private:
struct AvatarBall
{
AvatarJointID parentJoint;
glm::vec3 parentOffset;
glm::vec3 position;
glm::vec3 velocity;
float jointTightness;
float radius;
bool isCollidable;
float touchForce;
AvatarJointID parentJoint; // the skeletal joint that serves as a reference for determining the position
glm::vec3 parentOffset; // a 3D vector in the frame of reference of the parent skeletal joint
AvatarBodyBallID parentBall; // the ball to which this ball is constrained for spring forces
glm::vec3 position; // the actual dynamic position of the ball at any given time
glm::vec3 velocity; // the velocity of the ball
float springLength; // the ideal length of the spring between this ball and its parentBall
float jointTightness; // how tightly the ball position attempts to stay at its ideal position (determined by parentOffset)
float radius; // the radius of the ball
bool isCollidable; // whether or not the ball responds to collisions
float touchForce; // a scalar determining the amount that the cursor (or hand) is penetrating the ball
};
Head _head;
Skeleton _skeleton;
bool _ballSpringsInitialized;
float _TEST_bigSphereRadius;
glm::vec3 _TEST_bigSpherePosition;
bool _mousePressed;
@ -151,7 +157,6 @@ private:
float _bodyYawDelta;
float _bodyRollDelta;
glm::vec3 _movedHandOffset;
glm::quat _rotation; // the rotation of the avatar body as a whole expressed as a quaternion
AvatarBall _bodyBall[ NUM_AVATAR_BODY_BALLS ];
AvatarMode _mode;
glm::vec3 _cameraPosition;

1
interface/src/Skeleton.cpp
View file

@ -101,6 +101,7 @@ void Skeleton::update(float deltaTime, const glm::quat& orientation, glm::vec3 p
}
}
float Skeleton::getArmLength() {
return joint[ AVATAR_JOINT_RIGHT_ELBOW ].length
+ joint[ AVATAR_JOINT_RIGHT_WRIST ].length

1
interface/src/Skeleton.h
View file

@ -55,6 +55,7 @@ public:
float getHeight();
float getPelvisStandingHeight();
float getPelvisFloatingHeight();
//glm::vec3 getJointVectorFromParent(AvatarJointID jointID) {return joint[jointID].position - joint[joint[jointID].parent].position; }
struct AvatarJoint
{