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Merge branch 'master' of https://github.com/highfidelity/hifi into ambient

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samcake 2017-05-18 09:21:02 -07:00
commit 2c6e10fbe1
33 changed files with 331 additions and 106 deletions
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2
assignment-client/src/avatars/AvatarMixerClientData.h
View file

@ -145,7 +145,7 @@ private:
std::unordered_map<QUuid, QVector<JointData>> _lastOtherAvatarSentJoints;
uint64_t _identityChangeTimestamp;
bool _avatarSessionDisplayNameMustChange{ false };
bool _avatarSessionDisplayNameMustChange{ true };
int _numAvatarsSentLastFrame = 0;
int _numFramesSinceAdjustment = 0;

35
interface/resources/avatar/avatar-animation.json
View file

@ -56,43 +56,64 @@
"jointName": "Hips",
"positionVar": "hipsPosition",
"rotationVar": "hipsRotation",
"typeVar": "hipsType"
"typeVar": "hipsType",
"weightVar": "hipsWeight",
"weight": 1.0,
"flexCoefficients": [1]
},
{
"jointName": "RightHand",
"positionVar": "rightHandPosition",
"rotationVar": "rightHandRotation",
"typeVar": "rightHandType"
"typeVar": "rightHandType",
"weightVar": "rightHandWeight",
"weight": 1.0,
"flexCoefficients": [1, 0.5, 0.5, 0.25, 0.1, 0.05, 0.01, 0.0, 0.0]
},
{
"jointName": "LeftHand",
"positionVar": "leftHandPosition",
"rotationVar": "leftHandRotation",
"typeVar": "leftHandType"
"typeVar": "leftHandType",
"weightVar": "leftHandWeight",
"weight": 1.0,
"flexCoefficients": [1, 0.5, 0.5, 0.25, 0.1, 0.05, 0.01, 0.0, 0.0]
},
{
"jointName": "RightFoot",
"positionVar": "rightFootPosition",
"rotationVar": "rightFootRotation",
"typeVar": "rightFootType"
"typeVar": "rightFootType",
"weightVar": "rightFootWeight",
"weight": 1.0,
"flexCoefficients": [1, 0.45, 0.45]
},
{
"jointName": "LeftFoot",
"positionVar": "leftFootPosition",
"rotationVar": "leftFootRotation",
"typeVar": "leftFootType"
"typeVar": "leftFootType",
"weightVar": "leftFootWeight",
"weight": 1.0,
"flexCoefficients": [1, 0.45, 0.45]
},
{
"jointName": "Spine2",
"positionVar": "spine2Position",
"rotationVar": "spine2Rotation",
"typeVar": "spine2Type"
"typeVar": "spine2Type",
"weightVar": "spine2Weight",
"weight": 1.0,
"flexCoefficients": [0.45, 0.45]
},
{
"jointName": "Head",
"positionVar": "headPosition",
"rotationVar": "headRotation",
"typeVar": "headType"
"typeVar": "headType",
"weightVar": "headWeight",
"weight": 4.0,
"flexCoefficients": [1, 0.5, 0.5, 0.5, 0.5]
}
]
},

3
interface/src/Application.cpp
View file

@ -5258,9 +5258,8 @@ void Application::nodeActivated(SharedNodePointer node) {
}
if (node->getType() == NodeType::AvatarMixer) {
// new avatar mixer, send off our identity packet right away
// new avatar mixer, send off our identity packet on next update loop
getMyAvatar()->markIdentityDataChanged();
getMyAvatar()->sendIdentityPacket();
getMyAvatar()->resetLastSent();
}
}

1
interface/src/avatar/AvatarManager.cpp
View file

@ -189,6 +189,7 @@ void AvatarManager::updateOtherAvatars(float deltaTime) {
btCollisionShape* shape = const_cast<btCollisionShape*>(ObjectMotionState::getShapeManager()->getShape(shapeInfo));
if (shape) {
AvatarMotionState* motionState = new AvatarMotionState(avatar, shape);
motionState->setMass(avatar->computeMass());
avatar->setPhysicsCallback([=] (uint32_t flags) { motionState->addDirtyFlags(flags); });
_motionStates.insert(avatar.get(), motionState);
_motionStatesToAddToPhysics.insert(motionState);

3
interface/src/avatar/AvatarMotionState.cpp
View file

@ -19,9 +19,6 @@
AvatarMotionState::AvatarMotionState(AvatarSharedPointer avatar, const btCollisionShape* shape) : ObjectMotionState(shape), _avatar(avatar) {
assert(_avatar);
_type = MOTIONSTATE_TYPE_AVATAR;
if (_shape) {
_mass = 100.0f; // HACK
}
}
AvatarMotionState::~AvatarMotionState() {

1
interface/src/avatar/MyAvatar.cpp
View file

@ -239,6 +239,7 @@ MyAvatar::MyAvatar(QThread* thread, RigPointer rig) :
});
connect(rig.get(), SIGNAL(onLoadComplete()), this, SIGNAL(onLoadComplete()));
_characterController.setDensity(_density);
}
MyAvatar::~MyAvatar() {

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

@ -125,7 +125,7 @@ class MyAvatar : public Avatar {
Q_PROPERTY(controller::Pose rightHandTipPose READ getRightHandTipPose)
Q_PROPERTY(float energy READ getEnergy WRITE setEnergy)
Q_PROPERTY(float isAway READ getIsAway WRITE setAway)
Q_PROPERTY(bool isAway READ getIsAway WRITE setAway)
Q_PROPERTY(bool hmdLeanRecenterEnabled READ getHMDLeanRecenterEnabled WRITE setHMDLeanRecenterEnabled)
Q_PROPERTY(bool collisionsEnabled READ getCollisionsEnabled WRITE setCollisionsEnabled)

30
interface/src/avatar/MyCharacterController.cpp
View file

@ -49,12 +49,9 @@ void MyCharacterController::updateShapeIfNecessary() {
// create RigidBody if it doesn't exist
if (!_rigidBody) {
btCollisionShape* shape = computeShape();
// HACK: use some simple mass property defaults for now
const btScalar DEFAULT_AVATAR_MASS = 100.0f;
const btVector3 DEFAULT_AVATAR_INERTIA_TENSOR(30.0f, 8.0f, 30.0f);
_rigidBody = new btRigidBody(DEFAULT_AVATAR_MASS, nullptr, shape, DEFAULT_AVATAR_INERTIA_TENSOR);
btScalar mass = 1.0f;
btVector3 inertia(1.0f, 1.0f, 1.0f);
_rigidBody = new btRigidBody(mass, nullptr, shape, inertia);
} else {
btCollisionShape* shape = _rigidBody->getCollisionShape();
if (shape) {
@ -63,6 +60,7 @@ void MyCharacterController::updateShapeIfNecessary() {
shape = computeShape();
_rigidBody->setCollisionShape(shape);
}
updateMassProperties();
_rigidBody->setSleepingThresholds(0.0f, 0.0f);
_rigidBody->setAngularFactor(0.0f);
@ -331,3 +329,23 @@ void MyCharacterController::initRayShotgun(const btCollisionWorld* world) {
}
}
}
void MyCharacterController::updateMassProperties() {
assert(_rigidBody);
// the inertia tensor of a capsule with Y-axis of symmetry, radius R and cylinder height H is:
// Ix = density * (volumeCylinder * (H^2 / 12 + R^2 / 4) + volumeSphere * (2R^2 / 5 + H^2 / 2 + 3HR / 8))
// Iy = density * (volumeCylinder * (R^2 / 2) + volumeSphere * (2R^2 / 5)
btScalar r2 = _radius * _radius;
btScalar h2 = 4.0f * _halfHeight * _halfHeight;
btScalar volumeSphere = 4.0f * PI * r2 * _radius / 3.0f;
btScalar volumeCylinder = TWO_PI * r2 * 2.0f * _halfHeight;
btScalar cylinderXZ = volumeCylinder * (h2 / 12.0f + r2 / 4.0f);
btScalar capsXZ = volumeSphere * (2.0f * r2 / 5.0f + h2 / 2.0f + 6.0f * _halfHeight * _radius / 8.0f);
btScalar inertiaXZ = _density * (cylinderXZ + capsXZ);
btScalar inertiaY = _density * ((volumeCylinder * r2 / 2.0f) + volumeSphere * (2.0f * r2 / 5.0f));
btVector3 inertia(inertiaXZ, inertiaY, inertiaXZ);
btScalar mass = _density * (volumeCylinder + volumeSphere);
_rigidBody->setMassProps(mass, inertia);
}

4
interface/src/avatar/MyCharacterController.h
View file

@ -40,8 +40,11 @@ public:
/// return true if RayShotgun hits anything
bool testRayShotgun(const glm::vec3& position, const glm::vec3& step, RayShotgunResult& result);
void setDensity(btScalar density) { _density = density; }
protected:
void initRayShotgun(const btCollisionWorld* world);
void updateMassProperties() override;
private:
btConvexHullShape* computeShape() const;
@ -52,6 +55,7 @@ protected:
// shotgun scan data
btAlignedObjectArray<btVector3> _topPoints;
btAlignedObjectArray<btVector3> _bottomPoints;
btScalar _density { 1.0f };
};
#endif // hifi_MyCharacterController_h

69
libraries/animation/src/AnimInverseKinematics.cpp
View file

@ -21,6 +21,39 @@
#include "SwingTwistConstraint.h"
#include "AnimationLogging.h"
AnimInverseKinematics::IKTargetVar::IKTargetVar(const QString& jointNameIn, const QString& positionVarIn, const QString& rotationVarIn,
const QString& typeVarIn, const QString& weightVarIn, float weightIn, const std::vector<float>& flexCoefficientsIn) :
jointName(jointNameIn),
positionVar(positionVarIn),
rotationVar(rotationVarIn),
typeVar(typeVarIn),
weightVar(weightVarIn),
weight(weightIn),
numFlexCoefficients(flexCoefficientsIn.size()),
jointIndex(-1)
{
numFlexCoefficients = std::min(numFlexCoefficients, (size_t)MAX_FLEX_COEFFICIENTS);
for (size_t i = 0; i < numFlexCoefficients; i++) {
flexCoefficients[i] = flexCoefficientsIn[i];
}
}
AnimInverseKinematics::IKTargetVar::IKTargetVar(const IKTargetVar& orig) :
jointName(orig.jointName),
positionVar(orig.positionVar),
rotationVar(orig.rotationVar),
typeVar(orig.typeVar),
weightVar(orig.weightVar),
weight(orig.weight),
numFlexCoefficients(orig.numFlexCoefficients),
jointIndex(orig.jointIndex)
{
numFlexCoefficients = std::min(numFlexCoefficients, (size_t)MAX_FLEX_COEFFICIENTS);
for (size_t i = 0; i < numFlexCoefficients; i++) {
flexCoefficients[i] = orig.flexCoefficients[i];
}
}
AnimInverseKinematics::AnimInverseKinematics(const QString& id) : AnimNode(AnimNode::Type::InverseKinematics, id) {
}
@ -60,26 +93,22 @@ void AnimInverseKinematics::computeAbsolutePoses(AnimPoseVec& absolutePoses) con
}
}
void AnimInverseKinematics::setTargetVars(
const QString& jointName,
const QString& positionVar,
const QString& rotationVar,
const QString& typeVar) {
void AnimInverseKinematics::setTargetVars(const QString& jointName, const QString& positionVar, const QString& rotationVar,
const QString& typeVar, const QString& weightVar, float weight, const std::vector<float>& flexCoefficients) {
IKTargetVar targetVar(jointName, positionVar, rotationVar, typeVar, weightVar, weight, flexCoefficients);
// if there are dups, last one wins.
bool found = false;
for (auto& targetVar: _targetVarVec) {
if (targetVar.jointName == jointName) {
// update existing targetVar
targetVar.positionVar = positionVar;
targetVar.rotationVar = rotationVar;
targetVar.typeVar = typeVar;
for (auto& targetVarIter: _targetVarVec) {
if (targetVarIter.jointName == jointName) {
targetVarIter = targetVar;
found = true;
break;
}
}
if (!found) {
// create a new entry
_targetVarVec.push_back(IKTargetVar(jointName, positionVar, rotationVar, typeVar));
_targetVarVec.push_back(targetVar);
}
}
@ -107,10 +136,15 @@ void AnimInverseKinematics::computeTargets(const AnimVariantMap& animVars, std::
AnimPose defaultPose = _skeleton->getAbsolutePose(targetVar.jointIndex, underPoses);
glm::quat rotation = animVars.lookupRigToGeometry(targetVar.rotationVar, defaultPose.rot());
glm::vec3 translation = animVars.lookupRigToGeometry(targetVar.positionVar, defaultPose.trans());
float weight = animVars.lookup(targetVar.weightVar, targetVar.weight);
target.setPose(rotation, translation);
target.setIndex(targetVar.jointIndex);
target.setWeight(weight);
target.setFlexCoefficients(targetVar.numFlexCoefficients, targetVar.flexCoefficients);
targets.push_back(target);
if (targetVar.jointIndex > _maxTargetIndex) {
_maxTargetIndex = targetVar.jointIndex;
}
@ -271,6 +305,8 @@ int AnimInverseKinematics::solveTargetWithCCD(const IKTarget& target, AnimPoseVe
// cache tip absolute position
glm::vec3 tipPosition = absolutePoses[tipIndex].trans();
size_t chainDepth = 1;
// descend toward root, pivoting each joint to get tip closer to target position
while (pivotIndex != _hipsIndex && pivotsParentIndex != -1) {
// compute the two lines that should be aligned
@ -312,9 +348,8 @@ int AnimInverseKinematics::solveTargetWithCCD(const IKTarget& target, AnimPoseVe
float angle = acosf(cosAngle);
const float MIN_ADJUSTMENT_ANGLE = 1.0e-4f;
if (angle > MIN_ADJUSTMENT_ANGLE) {
// reduce angle by a fraction (for stability)
const float STABILITY_FRACTION = 0.5f;
angle *= STABILITY_FRACTION;
// reduce angle by a flexCoefficient
angle *= target.getFlexCoefficient(chainDepth);
deltaRotation = glm::angleAxis(angle, axis);
// The swing will re-orient the tip but there will tend to be be a non-zero delta between the tip's
@ -385,6 +420,8 @@ int AnimInverseKinematics::solveTargetWithCCD(const IKTarget& target, AnimPoseVe
pivotIndex = pivotsParentIndex;
pivotsParentIndex = _skeleton->getParentIndex(pivotIndex);
chainDepth++;
}
return lowestMovedIndex;
}
@ -806,7 +843,7 @@ void AnimInverseKinematics::initConstraints() {
stConstraint->setTwistLimits(-MAX_SHOULDER_TWIST, MAX_SHOULDER_TWIST);
std::vector<float> minDots;
const float MAX_SHOULDER_SWING = PI / 20.0f;
const float MAX_SHOULDER_SWING = PI / 16.0f;
minDots.push_back(cosf(MAX_SHOULDER_SWING));
stConstraint->setSwingLimits(minDots);

23
libraries/animation/src/AnimInverseKinematics.h
View file

@ -32,7 +32,8 @@ public:
void loadPoses(const AnimPoseVec& poses);
void computeAbsolutePoses(AnimPoseVec& absolutePoses) const;
void setTargetVars(const QString& jointName, const QString& positionVar, const QString& rotationVar, const QString& typeVar);
void setTargetVars(const QString& jointName, const QString& positionVar, const QString& rotationVar,
const QString& typeVar, const QString& weightVar, float weight, const std::vector<float>& flexCoefficients);
virtual const AnimPoseVec& evaluate(const AnimVariantMap& animVars, const AnimContext& context, float dt, AnimNode::Triggers& triggersOut) override;
virtual const AnimPoseVec& overlay(const AnimVariantMap& animVars, const AnimContext& context, float dt, Triggers& triggersOut, const AnimPoseVec& underPoses) override;
@ -77,22 +78,20 @@ protected:
AnimInverseKinematics(const AnimInverseKinematics&) = delete;
AnimInverseKinematics& operator=(const AnimInverseKinematics&) = delete;
enum FlexCoefficients { MAX_FLEX_COEFFICIENTS = 10 };
struct IKTargetVar {
IKTargetVar(const QString& jointNameIn,
const QString& positionVarIn,
const QString& rotationVarIn,
const QString& typeVarIn) :
positionVar(positionVarIn),
rotationVar(rotationVarIn),
typeVar(typeVarIn),
jointName(jointNameIn),
jointIndex(-1)
{}
IKTargetVar(const QString& jointNameIn, const QString& positionVarIn, const QString& rotationVarIn,
const QString& typeVarIn, const QString& weightVarIn, float weightIn, const std::vector<float>& flexCoefficientsIn);
IKTargetVar(const IKTargetVar& orig);
QString jointName;
QString positionVar;
QString rotationVar;
QString typeVar;
QString jointName;
QString weightVar;
float weight;
float flexCoefficients[MAX_FLEX_COEFFICIENTS];
size_t numFlexCoefficients;
int jointIndex; // cached joint index
};

22
libraries/animation/src/AnimNodeLoader.cpp
View file

@ -173,6 +173,13 @@ static NodeProcessFunc animNodeTypeToProcessFunc(AnimNode::Type type) {
} \
float NAME = (float)NAME##_VAL.toDouble()
#define READ_OPTIONAL_FLOAT(NAME, JSON_OBJ, DEFAULT) \
auto NAME##_VAL = JSON_OBJ.value(#NAME); \
float NAME = (float)DEFAULT; \
if (NAME##_VAL.isDouble()) { \
NAME = (float)NAME##_VAL.toDouble(); \
} \
do {} while (0)
static AnimNode::Pointer loadNode(const QJsonObject& jsonObj, const QUrl& jsonUrl) {
auto idVal = jsonObj.value("id");
@ -470,8 +477,21 @@ AnimNode::Pointer loadInverseKinematicsNode(const QJsonObject& jsonObj, const QS
READ_STRING(positionVar, targetObj, id, jsonUrl, nullptr);
READ_STRING(rotationVar, targetObj, id, jsonUrl, nullptr);
READ_OPTIONAL_STRING(typeVar, targetObj);
READ_OPTIONAL_STRING(weightVar, targetObj);
READ_OPTIONAL_FLOAT(weight, targetObj, 1.0f);
node->setTargetVars(jointName, positionVar, rotationVar, typeVar);
auto flexCoefficientsValue = targetObj.value("flexCoefficients");
if (!flexCoefficientsValue.isArray()) {
qCCritical(animation) << "AnimNodeLoader, bad or missing flexCoefficients array in \"targets\", id =" << id << ", url =" << jsonUrl.toDisplayString();
return nullptr;
}
auto flexCoefficientsArray = flexCoefficientsValue.toArray();
std::vector<float> flexCoefficients;
for (const auto& value : flexCoefficientsArray) {
flexCoefficients.push_back((float)value.toDouble());
}
node->setTargetVars(jointName, positionVar, rotationVar, typeVar, weightVar, weight, flexCoefficients);
};
READ_OPTIONAL_STRING(solutionSource, jsonObj);

17
libraries/animation/src/IKTarget.cpp
View file

@ -14,6 +14,23 @@ void IKTarget::setPose(const glm::quat& rotation, const glm::vec3& translation)
_pose.trans() = translation;
}
void IKTarget::setFlexCoefficients(size_t numFlexCoefficientsIn, const float* flexCoefficientsIn) {
_numFlexCoefficients = std::min(numFlexCoefficientsIn, (size_t)MAX_FLEX_COEFFICIENTS);
for (size_t i = 0; i < _numFlexCoefficients; i++) {
_flexCoefficients[i] = flexCoefficientsIn[i];
}
}
float IKTarget::getFlexCoefficient(size_t chainDepth) const {
const float DEFAULT_FLEX_COEFFICIENT = 0.5f;
if (chainDepth < _numFlexCoefficients) {
return _flexCoefficients[chainDepth];
} else {
return DEFAULT_FLEX_COEFFICIENT;
}
}
void IKTarget::setType(int type) {
switch (type) {
case (int)Type::RotationAndPosition:

12
libraries/animation/src/IKTarget.h
View file

@ -35,15 +35,21 @@ public:
void setPose(const glm::quat& rotation, const glm::vec3& translation);
void setIndex(int index) { _index = index; }
void setType(int);
void setFlexCoefficients(size_t numFlexCoefficientsIn, const float* flexCoefficientsIn);
float getFlexCoefficient(size_t chainDepth) const;
// HACK: give HmdHead targets more "weight" during IK algorithm
float getWeight() const { return _type == Type::HmdHead ? HACK_HMD_TARGET_WEIGHT : 1.0f; }
void setWeight(float weight) { _weight = weight; }
float getWeight() const { return _weight; }
enum FlexCoefficients { MAX_FLEX_COEFFICIENTS = 10 };
private:
AnimPose _pose;
int _index{-1};
Type _type{Type::RotationAndPosition};
float _weight;
float _flexCoefficients[MAX_FLEX_COEFFICIENTS];
size_t _numFlexCoefficients;
};
#endif // hifi_IKTarget_h

12
libraries/animation/src/Rig.cpp
View file

@ -1088,10 +1088,12 @@ void Rig::updateHeadAnimVars(const HeadParameters& params) {
// Since there is an explicit hips ik target, switch the head to use the more generic RotationAndPosition IK chain type.
// this will allow the spine to bend more, ensuring that it can reach the head target position.
_animVars.set("headType", (int)IKTarget::Type::RotationAndPosition);
_animVars.unset("headWeight"); // use the default weight for this target.
} else {
// When there is no hips IK target, use the HmdHead IK chain type. This will make the spine very stiff,
// but because the IK _hipsOffset is enabled, the hips will naturally follow underneath the head.
_animVars.set("headType", (int)IKTarget::Type::HmdHead);
_animVars.set("headWeight", 8.0f);
}
} else {
_animVars.unset("headPosition");
@ -1400,22 +1402,24 @@ void Rig::computeAvatarBoundingCapsule(
AnimInverseKinematics ikNode("boundingShape");
ikNode.setSkeleton(_animSkeleton);
// AJT: FIX ME!!!!! ensure that empty weights vector does something reasonable....
ikNode.setTargetVars("LeftHand",
"leftHandPosition",
"leftHandRotation",
"leftHandType");
"leftHandType", "leftHandWeight", 1.0f, {});
ikNode.setTargetVars("RightHand",
"rightHandPosition",
"rightHandRotation",
"rightHandType");
"rightHandType", "rightHandWeight", 1.0f, {});
ikNode.setTargetVars("LeftFoot",
"leftFootPosition",
"leftFootRotation",
"leftFootType");
"leftFootType", "leftFootWeight", 1.0f, {});
ikNode.setTargetVars("RightFoot",
"rightFootPosition",
"rightFootRotation",
"rightFootType");
"rightFootType", "rightFootWeight", 1.0f, {});
AnimPose geometryToRig = _modelOffset * _geometryOffset;

11
libraries/avatars-renderer/src/avatars-renderer/Avatar.cpp
View file

@ -1265,6 +1265,17 @@ void Avatar::getCapsule(glm::vec3& start, glm::vec3& end, float& radius) {
radius = halfExtents.x;
}
float Avatar::computeMass() {
float radius;
glm::vec3 start, end;
getCapsule(start, end, radius);
// NOTE:
// volumeOfCapsule = volumeOfCylinder + volumeOfSphere
// volumeOfCapsule = (2PI * R^2 * H) + (4PI * R^3 / 3)
// volumeOfCapsule = 2PI * R^2 * (H + 2R/3)
return _density * TWO_PI * radius * radius * (glm::length(end - start) + 2.0f * radius / 3.0f);
}
// virtual
void Avatar::rebuildCollisionShape() {
addPhysicsFlags(Simulation::DIRTY_SHAPE);

1
libraries/avatars-renderer/src/avatars-renderer/Avatar.h
View file

@ -195,6 +195,7 @@ public:
virtual void computeShapeInfo(ShapeInfo& shapeInfo);
void getCapsule(glm::vec3& start, glm::vec3& end, float& radius);
float computeMass();
using SpatiallyNestable::setPosition;
virtual void setPosition(const glm::vec3& position) override;

6
libraries/avatars/src/AvatarData.cpp
View file

@ -52,6 +52,7 @@ const QString AvatarData::FRAME_NAME = "com.highfidelity.recording.AvatarData";
static const int TRANSLATION_COMPRESSION_RADIX = 12;
static const int SENSOR_TO_WORLD_SCALE_RADIX = 10;
static const float AUDIO_LOUDNESS_SCALE = 1024.0f;
static const float DEFAULT_AVATAR_DENSITY = 1000.0f; // density of water
#define ASSERT(COND) do { if (!(COND)) { abort(); } } while(0)
@ -65,7 +66,8 @@ AvatarData::AvatarData() :
_headData(NULL),
_errorLogExpiry(0),
_owningAvatarMixer(),
_targetVelocity(0.0f)
_targetVelocity(0.0f),
_density(DEFAULT_AVATAR_DENSITY)
{
setBodyPitch(0.0f);
setBodyYaw(-90.0f);
@ -1588,8 +1590,6 @@ void AvatarData::setDisplayName(const QString& displayName) {
_displayName = displayName;
_sessionDisplayName = "";
sendIdentityPacket();
qCDebug(avatars) << "Changing display name for avatar to" << displayName;
markIdentityDataChanged();
}

3
libraries/avatars/src/AvatarData.h
View file

@ -629,6 +629,8 @@ public:
_identityUpdatedAt = usecTimestampNow();
}
float getDensity() const { return _density; }
signals:
void displayNameChanged();
@ -785,6 +787,7 @@ protected:
bool _identityDataChanged { false };
quint64 _identityUpdatedAt { 0 };
float _density;
private:
friend void avatarStateFromFrame(const QByteArray& frameData, AvatarData* _avatar);

52
libraries/entities/src/EntityItem.cpp
View file

@ -1691,14 +1691,20 @@ void EntityItem::updateVelocity(const glm::vec3& value) {
setLocalVelocity(Vectors::ZERO);
}
} else {
const float MIN_LINEAR_SPEED = 0.001f;
if (glm::length(value) < MIN_LINEAR_SPEED) {
velocity = ENTITY_ITEM_ZERO_VEC3;
} else {
velocity = value;
float speed = glm::length(value);
if (!glm::isnan(speed)) {
const float MIN_LINEAR_SPEED = 0.001f;
const float MAX_LINEAR_SPEED = 270.0f; // 3m per step at 90Hz
if (speed < MIN_LINEAR_SPEED) {
velocity = ENTITY_ITEM_ZERO_VEC3;
} else if (speed > MAX_LINEAR_SPEED) {
velocity = (MAX_LINEAR_SPEED / speed) * value;
} else {
velocity = value;
}
setLocalVelocity(velocity);
_dirtyFlags |= Simulation::DIRTY_LINEAR_VELOCITY;
}
setLocalVelocity(velocity);
_dirtyFlags |= Simulation::DIRTY_LINEAR_VELOCITY;
}
}
}
@ -1723,8 +1729,16 @@ void EntityItem::updateGravity(const glm::vec3& value) {
if (getShapeType() == SHAPE_TYPE_STATIC_MESH) {
_gravity = Vectors::ZERO;
} else {
_gravity = value;
_dirtyFlags |= Simulation::DIRTY_LINEAR_VELOCITY;
float magnitude = glm::length(value);
if (!glm::isnan(magnitude)) {
const float MAX_ACCELERATION_OF_GRAVITY = 10.0f * 9.8f; // 10g
if (magnitude > MAX_ACCELERATION_OF_GRAVITY) {
_gravity = (MAX_ACCELERATION_OF_GRAVITY / magnitude) * value;
} else {
_gravity = value;
}
_dirtyFlags |= Simulation::DIRTY_LINEAR_VELOCITY;
}
}
}
}
@ -1735,14 +1749,20 @@ void EntityItem::updateAngularVelocity(const glm::vec3& value) {
if (getShapeType() == SHAPE_TYPE_STATIC_MESH) {
setLocalAngularVelocity(Vectors::ZERO);
} else {
const float MIN_ANGULAR_SPEED = 0.0002f;
if (glm::length(value) < MIN_ANGULAR_SPEED) {
angularVelocity = ENTITY_ITEM_ZERO_VEC3;
} else {
angularVelocity = value;
float speed = glm::length(value);
if (!glm::isnan(speed)) {
const float MIN_ANGULAR_SPEED = 0.0002f;
const float MAX_ANGULAR_SPEED = 9.0f * TWO_PI; // 1/10 rotation per step at 90Hz
if (speed < MIN_ANGULAR_SPEED) {
angularVelocity = ENTITY_ITEM_ZERO_VEC3;
} else if (speed > MAX_ANGULAR_SPEED) {
angularVelocity = (MAX_ANGULAR_SPEED / speed) * value;
} else {
angularVelocity = value;
}
setLocalAngularVelocity(angularVelocity);
_dirtyFlags |= Simulation::DIRTY_ANGULAR_VELOCITY;
}
setLocalAngularVelocity(angularVelocity);
_dirtyFlags |= Simulation::DIRTY_ANGULAR_VELOCITY;
}
}
}

11
libraries/gpu/src/gpu/Texture_ktx.cpp
View file

@ -210,7 +210,16 @@ PixelsPointer KtxStorage::getMipFace(uint16 level, uint8 face) const {
auto faceSize = _ktxDescriptor->getMipFaceTexelsSize(level, face);
if (faceSize != 0 && faceOffset != 0) {
auto file = maybeOpenFile();
result = file->createView(faceSize, faceOffset)->toMemoryStorage();
if (file) {
auto storageView = file->createView(faceSize, faceOffset);
if (storageView) {
return storageView->toMemoryStorage();
} else {
qWarning() << "Failed to get a valid storageView for faceSize=" << faceSize << " faceOffset=" << faceOffset << "out of valid file " << QString::fromStdString(_filename);
}
} else {
qWarning() << "Failed to get a valid file out of maybeOpenFile " << QString::fromStdString(_filename);
}
}
return result;
}

7
libraries/physics/src/CharacterController.cpp
View file

@ -112,6 +112,9 @@ void CharacterController::setDynamicsWorld(btDynamicsWorld* world) {
_dynamicsWorld = nullptr;
}
int16_t collisionGroup = computeCollisionGroup();
if (_rigidBody) {
updateMassProperties();
}
if (world && _rigidBody) {
// add to new world
_dynamicsWorld = world;
@ -127,7 +130,9 @@ void CharacterController::setDynamicsWorld(btDynamicsWorld* world) {
_ghost.setCollisionGroupAndMask(collisionGroup, BULLET_COLLISION_MASK_MY_AVATAR & (~ collisionGroup));
_ghost.setCollisionWorld(_dynamicsWorld);
_ghost.setRadiusAndHalfHeight(_radius, _halfHeight);
_ghost.setWorldTransform(_rigidBody->getWorldTransform());
if (_rigidBody) {
_ghost.setWorldTransform(_rigidBody->getWorldTransform());
}
}
if (_dynamicsWorld) {
if (_pendingFlags & PENDING_FLAG_UPDATE_SHAPE) {

1
libraries/physics/src/CharacterController.h
View file

@ -128,6 +128,7 @@ protected:
void setState(State state);
#endif
virtual void updateMassProperties() = 0;
void updateGravity();
void updateUpAxis(const glm::quat& rotation);
bool checkForSupport(btCollisionWorld* collisionWorld);

6
libraries/physics/src/ObjectConstraintBallSocket.cpp
View file

@ -9,6 +9,8 @@
// See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
//
#include <LogHandler.h>
#include "QVariantGLM.h"
#include "EntityTree.h"
@ -83,6 +85,9 @@ btTypedConstraint* ObjectConstraintBallSocket::getConstraint() {
return constraint;
}
static QString repeatedBallSocketNoRigidBody = LogHandler::getInstance().addRepeatedMessageRegex(
"ObjectConstraintBallSocket::getConstraint -- no rigidBody.*");
btRigidBody* rigidBodyA = getRigidBody();
if (!rigidBodyA) {
qCDebug(physics) << "ObjectConstraintBallSocket::getConstraint -- no rigidBodyA";
@ -94,6 +99,7 @@ btTypedConstraint* ObjectConstraintBallSocket::getConstraint() {
btRigidBody* rigidBodyB = getOtherRigidBody(otherEntityID);
if (!rigidBodyB) {
qCDebug(physics) << "ObjectConstraintBallSocket::getConstraint -- no rigidBodyB";
return nullptr;
}

6
libraries/physics/src/ObjectConstraintConeTwist.cpp
View file

@ -9,6 +9,8 @@
// See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
//
#include <LogHandler.h>
#include "QVariantGLM.h"
#include "EntityTree.h"
@ -94,6 +96,9 @@ btTypedConstraint* ObjectConstraintConeTwist::getConstraint() {
return constraint;
}
static QString repeatedConeTwistNoRigidBody = LogHandler::getInstance().addRepeatedMessageRegex(
"ObjectConstraintConeTwist::getConstraint -- no rigidBody.*");
btRigidBody* rigidBodyA = getRigidBody();
if (!rigidBodyA) {
qCDebug(physics) << "ObjectConstraintConeTwist::getConstraint -- no rigidBodyA";
@ -125,6 +130,7 @@ btTypedConstraint* ObjectConstraintConeTwist::getConstraint() {
btRigidBody* rigidBodyB = getOtherRigidBody(otherEntityID);
if (!rigidBodyB) {
qCDebug(physics) << "ObjectConstraintConeTwist::getConstraint -- no rigidBodyB";
return nullptr;
}

6
libraries/physics/src/ObjectConstraintHinge.cpp
View file

@ -9,6 +9,8 @@
// See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
//
#include <LogHandler.h>
#include "QVariantGLM.h"
#include "EntityTree.h"
@ -93,6 +95,9 @@ btTypedConstraint* ObjectConstraintHinge::getConstraint() {
return constraint;
}
static QString repeatedHingeNoRigidBody = LogHandler::getInstance().addRepeatedMessageRegex(
"ObjectConstraintHinge::getConstraint -- no rigidBody.*");
btRigidBody* rigidBodyA = getRigidBody();
if (!rigidBodyA) {
qCDebug(physics) << "ObjectConstraintHinge::getConstraint -- no rigidBodyA";
@ -110,6 +115,7 @@ btTypedConstraint* ObjectConstraintHinge::getConstraint() {
// This hinge is between two entities... find the other rigid body.
btRigidBody* rigidBodyB = getOtherRigidBody(otherEntityID);
if (!rigidBodyB) {
qCDebug(physics) << "ObjectConstraintHinge::getConstraint -- no rigidBodyB";
return nullptr;
}

6
libraries/physics/src/ObjectConstraintSlider.cpp
View file

@ -9,6 +9,8 @@
// See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
//
#include <LogHandler.h>
#include "QVariantGLM.h"
#include "EntityTree.h"
@ -85,6 +87,9 @@ btTypedConstraint* ObjectConstraintSlider::getConstraint() {
return constraint;
}
static QString repeatedSliderNoRigidBody = LogHandler::getInstance().addRepeatedMessageRegex(
"ObjectConstraintSlider::getConstraint -- no rigidBody.*");
btRigidBody* rigidBodyA = getRigidBody();
if (!rigidBodyA) {
qCDebug(physics) << "ObjectConstraintSlider::getConstraint -- no rigidBodyA";
@ -116,6 +121,7 @@ btTypedConstraint* ObjectConstraintSlider::getConstraint() {
btRigidBody* rigidBodyB = getOtherRigidBody(otherEntityID);
if (!rigidBodyB) {
qCDebug(physics) << "ObjectConstraintSlider::getConstraint -- no rigidBodyB";
return nullptr;
}

41
libraries/physics/src/ObjectMotionState.cpp
View file

@ -63,10 +63,7 @@ ShapeManager* ObjectMotionState::getShapeManager() {
}
ObjectMotionState::ObjectMotionState(const btCollisionShape* shape) :
_motionType(MOTION_TYPE_STATIC),
_shape(shape),
_body(nullptr),
_mass(0.0f),
_lastKinematicStep(worldSimulationStep)
{
}
@ -74,7 +71,43 @@ ObjectMotionState::ObjectMotionState(const btCollisionShape* shape) :
ObjectMotionState::~ObjectMotionState() {
assert(!_body);
setShape(nullptr);
_type = MOTIONSTATE_TYPE_INVALID;
}
void ObjectMotionState::setMass(float mass) {
_density = 1.0f;
if (_shape) {
// we compute the density for the current shape's Aabb volume
// and save that instead of the total mass
btTransform transform;
transform.setIdentity();
btVector3 minCorner, maxCorner;
_shape->getAabb(transform, minCorner, maxCorner);
btVector3 diagonal = maxCorner - minCorner;
float volume = diagonal.getX() * diagonal.getY() * diagonal.getZ();
if (volume > EPSILON) {
_density = fabsf(mass) / volume;
}
}
}
float ObjectMotionState::getMass() const {
if (_shape) {
// scale the density by the current Aabb volume to get mass
btTransform transform;
transform.setIdentity();
btVector3 minCorner, maxCorner;
_shape->getAabb(transform, minCorner, maxCorner);
btVector3 diagonal = maxCorner - minCorner;
float volume = diagonal.getX() * diagonal.getY() * diagonal.getZ();
// cap the max mass for numerical stability
const float MIN_OBJECT_MASS = 0.0f;
const float MAX_OBJECT_DENSITY = 20000.0f; // kg/m^3 density of Tungsten
const float MAX_OBJECT_VOLUME = 1.0e6f;
const float MAX_OBJECT_MASS = MAX_OBJECT_DENSITY * MAX_OBJECT_VOLUME;
return glm::clamp(_density * volume, MIN_OBJECT_MASS, MAX_OBJECT_MASS);
}
return 0.0f;
}
void ObjectMotionState::setBodyLinearVelocity(const glm::vec3& velocity) const {

12
libraries/physics/src/ObjectMotionState.h
View file

@ -93,8 +93,8 @@ public:
MotionStateType getType() const { return _type; }
virtual PhysicsMotionType getMotionType() const { return _motionType; }
void setMass(float mass) { _mass = fabsf(mass); }
float getMass() { return _mass; }
void setMass(float mass);
float getMass() const;
void setBodyLinearVelocity(const glm::vec3& velocity) const;
void setBodyAngularVelocity(const glm::vec3& velocity) const;
@ -159,12 +159,12 @@ protected:
void setRigidBody(btRigidBody* body);
virtual void setShape(const btCollisionShape* shape);
MotionStateType _type = MOTIONSTATE_TYPE_INVALID; // type of MotionState
PhysicsMotionType _motionType; // type of motion: KINEMATIC, DYNAMIC, or STATIC
MotionStateType _type { MOTIONSTATE_TYPE_INVALID }; // type of MotionState
PhysicsMotionType _motionType { MOTION_TYPE_STATIC }; // type of motion: KINEMATIC, DYNAMIC, or STATIC
const btCollisionShape* _shape;
btRigidBody* _body;
float _mass;
btRigidBody* _body { nullptr };
float _density { 1.0f };
uint32_t _lastKinematicStep;
bool _hasInternalKinematicChanges { false };

15
libraries/shared/src/SettingHelpers.cpp
View file

@ -126,19 +126,8 @@ QJsonDocument variantMapToJsonDocument(const QSettings::SettingsMap& map) {
}
switch (variantType) {
case QVariant::Map: {
auto varmap = variant.toMap();
for (auto mapit = varmap.cbegin(); mapit != varmap.cend(); ++mapit) {
auto& mapkey = mapit.key();
auto& mapvariant = mapit.value();
object.insert(key + "/" + mapkey, QJsonValue::fromVariant(mapvariant));
}
break;
}
case QVariant::List:
case QVariant::Hash: {
qCritical() << "Unsupported variant type" << variant.typeName();
qCritical() << "Unsupported variant type" << variant.typeName() << ";" << key << variant;
Q_ASSERT(false);
break;
}
@ -152,6 +141,8 @@ QJsonDocument variantMapToJsonDocument(const QSettings::SettingsMap& map) {
case QVariant::UInt:
case QVariant::Bool:
case QVariant::Double:
case QVariant::Map:
case QVariant::List:
object.insert(key, QJsonValue::fromVariant(variant));
break;

7
libraries/shared/src/SharedUtil.cpp
View file

@ -768,9 +768,10 @@ bool similarStrings(const QString& stringA, const QString& stringB) {
}
void disableQtBearerPoll() {
// to work around the Qt constant wireless scanning, set the env for polling interval very high
const QByteArray EXTREME_BEARER_POLL_TIMEOUT = QString::number(INT16_MAX).toLocal8Bit();
qputenv("QT_BEARER_POLL_TIMEOUT", EXTREME_BEARER_POLL_TIMEOUT);
// to disable the Qt constant wireless scanning, set the env for polling interval
qDebug() << "Disabling Qt wireless polling by using a negative value for QTimer::setInterval";
const QByteArray DISABLE_BEARER_POLL_TIMEOUT = QString::number(-1).toLocal8Bit();
qputenv("QT_BEARER_POLL_TIMEOUT", DISABLE_BEARER_POLL_TIMEOUT);
}
void printSystemInformation() {

4
libraries/shared/src/shared/Storage.cpp
View file

@ -25,7 +25,9 @@ StoragePointer Storage::createView(size_t viewSize, size_t offset) const {
viewSize = selfSize;
}
if ((viewSize + offset) > selfSize) {
throw std::runtime_error("Invalid mapping range");
return StoragePointer();
//TODO: Disable te exception for now and return an empty storage instead.
//throw std::runtime_error("Invalid mapping range");
}
return std::make_shared<ViewStorage>(shared_from_this(), viewSize, data() + offset);
}

6
scripts/developer/tests/dynamics/dynamics-tests.html
View file

@ -9,8 +9,8 @@
lifetime: <input id="lifetime" type="text" size=6>
<hr>
<input type="button" id="cone-twist-and-spring-lever-test" value="Cone-Twist and Spring-Action Lever"><br>
A platform with a lever. The lever can be moved in a cone and rotated. A spring brings it back to its neutral position.
<input type="button" id="cone-twist-and-tractor-lever-test" value="Cone-Twist and Tractor-Action Lever"><br>
A platform with a lever. The lever can be moved in a cone and rotated. A tractor brings it back to its neutral position.
<hr>
<input type="button" id="door-vs-world-test" value="Hinge Between Swinging Door and World"><br>
A grabbable door with a hinge between it and world-space.
@ -31,7 +31,7 @@
A chain of spheres connected by ball-and-socket joints coincident-with the spheres.
<hr>
<input type="button" id="ragdoll-test" value="Ragdoll"><br>
A self-righting ragdoll. The head is on a weak spring vs the body.
A self-righting ragdoll. The head is on a weak tractor vs the body.
</body>
</html>