Merge branch 'master' into tony/ik-and-controllers

cmake/externals/polyvox/CMakeLists.txt

@@ -5,7 +5,7 @@ ExternalProject_Add(
   ${EXTERNAL_NAME}
   URL http://hifi-public.s3.amazonaws.com/dependencies/polyvox-master-2015-7-15.zip
   URL_MD5 9ec6323b87e849ae36e562ae1c7494a9
-  CMAKE_ARGS -DENABLE_EXAMPLES=OFF -DCMAKE_INSTALL_PREFIX:PATH=<INSTALL_DIR>
+  CMAKE_ARGS -DENABLE_EXAMPLES=OFF -DENABLE_BINDINGS=OFF -DCMAKE_INSTALL_PREFIX:PATH=<INSTALL_DIR>
   BINARY_DIR ${EXTERNAL_PROJECT_PREFIX}/build
   LOG_DOWNLOAD 1
   LOG_CONFIGURE 1

examples/controllers/handControllerGrab.js

@@ -13,7 +13,6 @@
 
 Script.include("../libraries/utils.js");
 
-
 var RIGHT_HAND_CLICK = Controller.findAction("RIGHT_HAND_CLICK");
 var rightTriggerAction = RIGHT_HAND_CLICK;
 
@@ -22,6 +21,10 @@ var GRAB_USER_DATA_KEY = "grabKey";
 var LEFT_HAND_CLICK = Controller.findAction("LEFT_HAND_CLICK");
 var leftTriggerAction = LEFT_HAND_CLICK;
 
+var LIFETIME = 10;
+var EXTRA_TIME = 5;
+var POINTER_CHECK_TIME = 5000;
+
 var ZERO_VEC = {
     x: 0,
     y: 0,
@@ -42,7 +45,7 @@ var INTERSECT_COLOR = {
     blue: 10
 };
 
-var GRAB_RADIUS = 1.0;
+var GRAB_RADIUS = 1.5;
 
 var GRAB_COLOR = {
     red: 250,
@@ -59,8 +62,15 @@ var TRACTOR_BEAM_VELOCITY_THRESHOLD = 0.5;
 
 var RIGHT = 1;
 var LEFT = 0;
-var rightController = new controller(RIGHT, rightTriggerAction, right4Action, "right")
+var rightController = new controller(RIGHT, rightTriggerAction, right4Action, "right");
-var leftController = new controller(LEFT, leftTriggerAction, left4Action, "left")
+var leftController = new controller(LEFT, leftTriggerAction, left4Action, "left");
+
+
+//Need to wait before calling these methods for some reason...
+Script.setTimeout(function() {
+    rightController.checkPointer();
+    leftController.checkPointer();
+}, 100)
 
 function controller(side, triggerAction, pullAction, hand) {
     this.hand = hand;
@@ -92,7 +102,9 @@ function controller(side, triggerAction, pullAction, hand) {
             z: 1000
         },
         visible: false,
+        lifetime: LIFETIME
     });
+
 }
 
 
@@ -127,6 +139,16 @@ controller.prototype.updateLine = function() {
 }
 
 
+controller.prototype.checkPointer = function() {
+    var self = this;
+    Script.setTimeout(function() {
+        var props = Entities.getEntityProperties(self.pointer);
+        Entities.editEntity(self.pointer, {
+            lifetime: props.age + EXTRA_TIME
+        });
+        self.checkPointer();
+    }, POINTER_CHECK_TIME);
+}
 
 controller.prototype.checkForIntersections = function(origin, direction) {
     var pickRay = {
@@ -241,14 +263,22 @@ controller.prototype.grabEntity = function() {
     this.closeGrabbing = true;
     //check if our entity has instructions on how to be grabbed, otherwise, just use default relative position and rotation
     var userData = getEntityUserData(this.grabbedEntity);
-    var relativePosition = ZERO_VEC;
+
-    var relativeRotation = Quat.fromPitchYawRollDegrees(0, 0, 0);
+    var objectRotation = Entities.getEntityProperties(this.grabbedEntity).rotation;
-    if(userData.spatialKey) {
+    var offsetRotation = Quat.multiply(Quat.inverse(handRotation), objectRotation);
-        if(userData.spatialKey.relativePosition) {
+
-            relativePosition = userData.spatialKey.relativePosition;
+    var objectPosition = Entities.getEntityProperties(this.grabbedEntity).position;
+    var offset = Vec3.subtract(objectPosition, handPosition);
+    var offsetPosition = Vec3.multiplyQbyV(Quat.inverse(Quat.multiply(handRotation, offsetRotation)), offset);
+
+    var relativePosition = offsetPosition;
+    var relativeRotation = offsetRotation;
+    if (userData.grabFrame) {
+        if (userData.grabFrame.relativePosition) {
+            relativePosition = userData.grabFrame.relativePosition;
         }
-        if(userData.spatialKey.relativeRotation) {
+        if (userData.grabFrame.relativeRotation) {
-            relativeRotation = userData.spatialKey.relativeRotation;
+            relativeRotation = userData.grabFrame.relativeRotation;
         }
     }
     this.actionID = Entities.addAction("hold", this.grabbedEntity, {

examples/entityScripts/boombox.js

@@ -71,7 +71,7 @@
                             if (_this.injector == null) {
                                 _this.injector = Audio.playSound(_this.song,  {
                                     position: props.position, // position of boombox entity
-                                    volume: 0.5,
+                                    volume: 0.1,
                                     loop: true
                                 });
                             } else {

examples/entityScripts/breakdanceEntity.js

@@ -31,6 +31,7 @@
         // if we're currently being grabbed and if the person grabbing us is the current interfaces avatar.
         // we will watch this for state changes and print out if we're being grabbed or released when it changes.
         update: function() {
+            //print("BreakdanceEntity.update() _this.entityID:" + _this.entityID);
             var GRAB_USER_DATA_KEY = "grabKey";
 
             // because the update() signal doesn't have a valid this, we need to use our memorized _this to access our entityID
@@ -45,14 +46,15 @@
 
             // if the grabData says we're being grabbed, and the owner ID is our session, then we are being grabbed by this interface
             if (grabData.activated && grabData.avatarId == MyAvatar.sessionUUID) {
-
+                //print("BreakdanceEntity.update() [I'm being grabbed] _this.entityID:" + _this.entityID);
                 if (!_this.beingGrabbed) {
+                    print("I'm was grabbed... _this.entityID:" + _this.entityID);
+
                     // remember we're being grabbed so we can detect being released
                     _this.beingGrabbed = true;
                     var props = Entities.getEntityProperties(entityID);
                     var puppetPosition = getPuppetPosition(props);
                     breakdanceStart(props.modelURL, puppetPosition);
-                    print("I'm was grabbed...");
                 } else {
                     breakdanceUpdate();
                 }
@@ -62,7 +64,7 @@
                 // if we are not being grabbed, and we previously were, then we were just released, remember that
                 // and print out a message
                 _this.beingGrabbed = false;
-                print("I'm was released...");
+                print("I'm was released... _this.entityID:" + _this.entityID);
                 breakdanceEnd();
             }
         },
@@ -73,6 +75,7 @@
         //   * connecting to the update signal so we can check our grabbed state
         preload: function(entityID) {
             this.entityID = entityID;
+            print("BreakdanceEntity.preload() this.entityID:" + this.entityID);
             Script.update.connect(this.update);
         },
 
@@ -80,6 +83,7 @@
         // or because we've left the domain or quit the application. In all cases we want to unhook our connection
         // to the update signal
         unload: function(entityID) {
+            print("BreakdanceEntity.unload() this.entityID:" + this.entityID);
             Script.update.disconnect(this.update);
         },
 

examples/entityScripts/sprayPaintCan.js

@@ -1,6 +1,6 @@
 (function() {
     Script.include("../libraries/utils.js");
-    SPATIAL_USER_DATA_KEY = "spatialKey";
+    GRAB_FRAME_USER_DATA_KEY = "grabFrame";
     this.userData = {};
 
     var TIP_OFFSET_Z = 0.14;
@@ -62,13 +62,14 @@
     this.sprayStream = function() {
         var forwardVec = Quat.getFront(self.properties.rotation);
         forwardVec = Vec3.multiplyQbyV(Quat.fromPitchYawRollDegrees(0, 90, 0), forwardVec);
+        forwardVec = Vec3.normalize(forwardVec);
 
         var upVec = Quat.getUp(self.properties.rotation);
         var position = Vec3.sum(self.properties.position, Vec3.multiply(forwardVec, TIP_OFFSET_Z));
         position = Vec3.sum(position, Vec3.multiply(upVec, TIP_OFFSET_Y))
         Entities.editEntity(self.paintStream, {
             position: position,
-            emitVelocity: forwardVec
+            emitVelocity: Vec3.multiply(forwardVec, 4)
         });
 
         //Now check for an intersection with an entity
@@ -155,12 +156,16 @@
         if (this.userData.grabKey && this.userData.grabKey.activated) {
             this.activated = true;
         }
-        if(!this.userData.spatialKey) {
+        if (!this.userData.grabFrame) {
             var data = {
-                relativePosition: {x: 0, y: 0, z: 0},
+                relativePosition: {
+                    x: 0,
+                    y: 0,
+                    z: 0
+                },
                 relativeRotation: Quat.fromPitchYawRollDegrees(0, 0, 0)
             }
-            setEntityCustomData(SPATIAL_USER_DATA_KEY, this.entityId, data);
+            setEntityCustomData(GRAB_FRAME_USER_DATA_KEY, this.entityId, data);
         }
         this.initialize();
     }
@@ -174,7 +179,6 @@
             running: false
         });
 
-
         this.paintStream = Entities.addEntity({
             type: "ParticleEffect",
             animationSettings: animationSettings,

examples/example/tests/test-includes/a.js

@@ -0,0 +1,7 @@
+// a.js:
+Script.include('b.js');
+if (a === undefined) {
+a = 0;
+}
+a++;
+print('script a:' + a);

examples/example/tests/test-includes/b.js

@@ -0,0 +1,6 @@
+// b.js:
+if (b === undefined) {
+b = 0;
+}
+b++;
+print('script b: ' + b);

examples/example/tests/test-includes/start.js

@@ -0,0 +1,5 @@
+// start.js:
+var a, b;
+print('initially: a:' + a + ' b:' + b);
+Script.include(['a.js', '../test-includes/a.js', 'b.js', 'a.js']);
+print('finally a:' + a + ' b:' + b);

examples/libraries/utils.js

@@ -96,21 +96,45 @@ mergeObjects = function(proto, custom) {
     return result;
 }
 
+LOG_WARN = 1;
+
 logWarn = function(str) {
+    if (LOG_WARN) {
         print(str);
     }
+}
+
+LOG_ERROR = 1;
 
 logError = function(str) {
+    if (LOG_ERROR) {
         print(str);
     }
+}
+
+LOG_INFO = 1;
 
 logInfo = function(str) {
+    if (LOG_INFO) {
         print(str);
     }
+}
+
+LOG_DEBUG = 0;
 
 logDebug = function(str) {
+    if (LOG_DEBUG) {
         print(str);
     }
+}
+
+LOG_TRACE = 0;
+
+logTrace = function(str) {
+    if (LOG_TRACE) {
+        print(str);
+    }
+}
 
 // Computes the penetration between a point and a sphere (centered at the origin)
 // if point is inside sphere: returns true and stores the result in 'penetration'

examples/toys/breakdanceCore.js

@@ -10,8 +10,7 @@
 //  See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
 //
 
-
+getPuppetPosition = function(props) {
-function getPuppetPosition(props) {
     var MAX_DISTANCE = 10;
     var searchPosition = MyAvatar.position;
 

examples/toys/flashlight/createFlashlight.js

@@ -0,0 +1,45 @@
+//
+//  createFlashligh.js
+//  examples/entityScripts
+//
+//  Created by Sam Gateau on 9/9/15.
+//  Copyright 2015 High Fidelity, Inc.
+//
+//  This is a toy script that create a flashlight entity that lit when grabbed
+//  This can be run from an interface and the flashlight will get deleted from the domain when quitting
+//
+//  Distributed under the Apache License, Version 2.0.
+//  See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
+//
+
+Script.include("https://hifi-public.s3.amazonaws.com/scripts/utilities.js");
+
+
+var scriptURL = "https://hifi-public.s3.amazonaws.com/scripts/toys/flashlight/flashlight.js?"+randInt(0,1000);
+
+var modelURL = "https://hifi-public.s3.amazonaws.com/models/props/flashlight.fbx";
+
+
+var center = Vec3.sum(Vec3.sum(MyAvatar.position, {x: 0, y: 0.5, z: 0}), Vec3.multiply(0.5, Quat.getFront(Camera.getOrientation())));
+
+var flashlight = Entities.addEntity({
+ type: "Model",
+ modelURL: modelURL,
+ position: center,
+ dimensions: {
+     x: 0.04,
+     y: 0.15,
+     z: 0.04
+ },
+ collisionsWillMove: true,
+ shapeType: 'box',
+ script: scriptURL
+});
+
+
+function cleanup() {
+    Entities.deleteEntity(flashlight);
+}
+
+
+Script.scriptEnding.connect(cleanup);

examples/toys/flashlight/flashlight.js

@@ -0,0 +1,154 @@
+//
+//  flashligh.js
+//  examples/entityScripts
+//
+//  Created by Sam Gateau on 9/9/15.
+//  Copyright 2015 High Fidelity, Inc.
+//
+//  This is a toy script that can be added to the Flashlight model entity:
+//  "https://hifi-public.s3.amazonaws.com/models/props/flashlight.fbx"
+//  that creates a spotlight attached with the flashlight model while the entity is grabbed
+//
+//  Distributed under the Apache License, Version 2.0.
+//  See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
+//
+
+(function() {
+    
+    function debugPrint(message) {
+      //  print(message);
+    }
+
+    Script.include("../../libraries/utils.js");
+
+    var _this;
+
+    // this is the "constructor" for the entity as a JS object we don't do much here, but we do want to remember
+    // our this object, so we can access it in cases where we're called without a this (like in the case of various global signals)
+    Flashlight = function() { 
+        _this = this;
+        _this._hasSpotlight = false;
+        _this._spotlight = null;
+    };
+
+    // These constants define the Spotlight position and orientation relative to the model 
+    var MODEL_LIGHT_POSITION = {x: 0, y: 0, z: 0};
+    var MODEL_LIGHT_ROTATION = Quat.angleAxis (-90, {x: 1, y: 0, z: 0});
+
+    // Evaluate the world light entity position and orientation from the model ones
+    function evalLightWorldTransform(modelPos, modelRot) {
+        return {p: Vec3.sum(modelPos, Vec3.multiplyQbyV(modelRot, MODEL_LIGHT_POSITION)),
+                q: Quat.multiply(modelRot, MODEL_LIGHT_ROTATION)};
+    };
+
+    Flashlight.prototype = {
+
+        // update() will be called regulary, because we've hooked the update signal in our preload() function
+        // we will check out userData for the grabData. In the case of the hydraGrab script, it will tell us
+        // if we're currently being grabbed and if the person grabbing us is the current interfaces avatar.
+        // we will watch this for state changes and print out if we're being grabbed or released when it changes.
+        update: function() {
+            var GRAB_USER_DATA_KEY = "grabKey";
+
+            // because the update() signal doesn't have a valid this, we need to use our memorized _this to access our entityID
+            var entityID = _this.entityID;
+
+            // we want to assume that if there is no grab data, then we are not being grabbed
+            var defaultGrabData = { activated: false, avatarId: null };
+
+            // this handy function getEntityCustomData() is available in utils.js and it will return just the specific section
+            // of user data we asked for. If it's not available it returns our default data.
+            var grabData = getEntityCustomData(GRAB_USER_DATA_KEY, entityID, defaultGrabData);
+
+
+            // if the grabData says we're being grabbed, and the owner ID is our session, then we are being grabbed by this interface
+            if (grabData.activated && grabData.avatarId == MyAvatar.sessionUUID) {
+
+                // remember we're being grabbed so we can detect being released
+                _this.beingGrabbed = true;
+
+                var modelProperties = Entities.getEntityProperties(entityID);
+                var lightTransform = evalLightWorldTransform(modelProperties.position, modelProperties.rotation);
+
+                // Create the spot light driven by this model if we don;t have one yet
+                // Or make sure to keep it's position in sync
+                if (!_this._hasSpotlight) {
+
+                    _this._spotlight = Entities.addEntity({
+                        type: "Light",
+                        position: lightTransform.p,
+                        rotation: lightTransform.q,
+                        isSpotlight: true,
+                        dimensions: { x: 2, y: 2, z: 20 },
+                        color: { red: 255, green: 255, blue: 255 },
+                        intensity: 2,
+                        exponent: 0.3,
+                        cutoff: 20
+                    });
+                    _this._hasSpotlight = true;
+
+                    _this._startModelPosition = modelProperties.position;
+                    _this._startModelRotation = modelProperties.rotation;
+
+                    debugPrint("Flashlight:: creating a spotlight");
+                } else {
+                    // Updating the spotlight
+                    Entities.editEntity(_this._spotlight, {position: lightTransform.p, rotation: lightTransform.q});
+
+                    debugPrint("Flashlight:: updating the spotlight");
+                }
+
+                debugPrint("I'm being grabbed...");
+
+            } else if (_this.beingGrabbed) {
+
+                if (_this._hasSpotlight) {
+                    Entities.deleteEntity(_this._spotlight);
+                    debugPrint("Destroying flashlight spotlight...");
+                }
+                _this._hasSpotlight = false;
+                _this._spotlight = null;
+
+                // Reset model to initial position
+                Entities.editEntity(_this.entityID, {position: _this._startModelPosition, rotation: _this._startModelRotation,
+                                                     velocity: {x: 0, y: 0, z: 0}, angularVelocity: {x: 0, y: 0, z: 0}});
+
+                // if we are not being grabbed, and we previously were, then we were just released, remember that
+                // and print out a message
+                _this.beingGrabbed = false;
+                debugPrint("I'm was released...");
+            }
+        },
+
+        // preload() will be called when the entity has become visible (or known) to the interface
+        // it gives us a chance to set our local JavaScript object up. In this case it means:
+        //   * remembering our entityID, so we can access it in cases where we're called without an entityID
+        //   * connecting to the update signal so we can check our grabbed state
+        preload: function(entityID) {
+            _this.entityID = entityID;
+
+            var modelProperties = Entities.getEntityProperties(entityID);
+            _this._startModelPosition = modelProperties.position;
+            _this._startModelRotation = modelProperties.rotation;
+
+            Script.update.connect(this.update);        
+        },
+
+        // unload() will be called when our entity is no longer available. It may be because we were deleted,
+        // or because we've left the domain or quit the application. In all cases we want to unhook our connection
+        // to the update signal
+        unload: function(entityID) {
+
+            if (_this._hasSpotlight) {
+                Entities.deleteEntity(_this._spotlight);
+            }
+            _this._hasSpotlight = false;
+            _this._spotlight = null;
+
+            Script.update.disconnect(this.update);
+        },
+    };
+
+    // entity scripts always need to return a newly constructed object of our type
+    return new Flashlight();
+})

interface/resources/qml/Stats.qml

@@ -52,6 +52,11 @@ Item {
                         font.pixelSize: root.fontSize
                         text: "Simrate: " + root.simrate
                     }
+                    Text {
+                        color: root.fontColor;
+                        font.pixelSize: root.fontSize
+                        text: "Avatar Simrate: " + root.avatarSimrate
+                    }
                     Text {
                         color: root.fontColor;
                         font.pixelSize: root.fontSize

interface/src/Application.cpp

@@ -786,6 +786,14 @@ void Application::aboutToQuit() {
 }
 
 void Application::cleanupBeforeQuit() {
+    // Terminate third party processes so that they're not left running in the event of a subsequent shutdown crash
+#ifdef HAVE_DDE
+    DependencyManager::destroy<DdeFaceTracker>();
+#endif
+#ifdef HAVE_IVIEWHMD
+    DependencyManager::destroy<EyeTracker>();
+#endif
+
     if (_keyboardFocusHighlightID > 0) {
         getOverlays().deleteOverlay(_keyboardFocusHighlightID);
         _keyboardFocusHighlightID = -1;
@@ -802,6 +810,7 @@ void Application::cleanupBeforeQuit() {
 
     // first stop all timers directly or by invokeMethod
     // depending on what thread they run in
+    _avatarUpdate->terminate();
     locationUpdateTimer->stop();
     balanceUpdateTimer->stop();
     identityPacketTimer->stop();
@@ -833,13 +842,6 @@ void Application::cleanupBeforeQuit() {
 
     // destroy the AudioClient so it and its thread have a chance to go down safely
     DependencyManager::destroy<AudioClient>();
-
-#ifdef HAVE_DDE
-    DependencyManager::destroy<DdeFaceTracker>();
-#endif
-#ifdef HAVE_IVIEWHMD
-    DependencyManager::destroy<EyeTracker>();
-#endif
 }
 
 void Application::emptyLocalCache() {
@@ -1101,6 +1103,7 @@ void Application::paintGL() {
         _applicationOverlay.renderOverlay(&renderArgs);
     }
 
+    _myAvatar->startCapture();
     if (_myCamera.getMode() == CAMERA_MODE_FIRST_PERSON || _myCamera.getMode() == CAMERA_MODE_THIRD_PERSON) {
         Menu::getInstance()->setIsOptionChecked(MenuOption::FirstPerson, _myAvatar->getBoomLength() <= MyAvatar::ZOOM_MIN);
         Menu::getInstance()->setIsOptionChecked(MenuOption::ThirdPerson, !(_myAvatar->getBoomLength() <= MyAvatar::ZOOM_MIN));
@@ -1150,7 +1153,7 @@ void Application::paintGL() {
     if (!isHMDMode()) {
         _myCamera.update(1.0f / _fps);
     }
-
+    _myAvatar->endCapture();
 
     // Primary rendering pass
     auto framebufferCache = DependencyManager::get<FramebufferCache>();
@@ -2172,6 +2175,18 @@ float Application::getAverageSimsPerSecond() {
     }
     return _simsPerSecondReport;
 }
+void Application::setAvatarSimrateSample(float sample) {
+    _avatarSimsPerSecond.updateAverage(sample);
+}
+float Application::getAvatarSimrate() {
+    uint64_t now = usecTimestampNow();
+
+    if (now - _lastAvatarSimsPerSecondUpdate > USECS_PER_SECOND) {
+        _avatarSimsPerSecondReport = _avatarSimsPerSecond.getAverage();
+        _lastAvatarSimsPerSecondUpdate = now;
+    }
+    return _avatarSimsPerSecondReport;
+}
 
 void Application::setLowVelocityFilter(bool lowVelocityFilter) {
     InputDevice::setLowVelocityFilter(lowVelocityFilter);
@@ -2457,8 +2472,20 @@ void Application::init() {
     // Make sure any new sounds are loaded as soon as know about them.
     connect(tree, &EntityTree::newCollisionSoundURL, DependencyManager::get<SoundCache>().data(), &SoundCache::getSound);
     connect(_myAvatar, &MyAvatar::newCollisionSoundURL, DependencyManager::get<SoundCache>().data(), &SoundCache::getSound);
+
+    setAvatarUpdateThreading(Menu::getInstance()->isOptionChecked(MenuOption::EnableAvatarUpdateThreading));
 }
 
+void Application::setAvatarUpdateThreading(bool isThreaded) {
+    if (_avatarUpdate) {
+        getMyAvatar()->destroyAnimGraph();
+        _avatarUpdate->terminate();
+    }
+    _avatarUpdate = new AvatarUpdate();
+    _avatarUpdate->initialize(isThreaded);
+}
+
+
 void Application::closeMirrorView() {
     if (Menu::getInstance()->isOptionChecked(MenuOption::Mirror)) {
         Menu::getInstance()->triggerOption(MenuOption::Mirror);
@@ -2535,18 +2562,19 @@ void Application::updateMyAvatarLookAtPosition() {
     auto eyeTracker = DependencyManager::get<EyeTracker>();
 
     bool isLookingAtSomeone = false;
+    bool isHMD = _avatarUpdate->isHMDMode();
     glm::vec3 lookAtSpot;
     if (_myCamera.getMode() == CAMERA_MODE_MIRROR) {
         //  When I am in mirror mode, just look right at the camera (myself); don't switch gaze points because when physically
         //  looking in a mirror one's eyes appear steady.
-        if (!isHMDMode()) {
+        if (!isHMD) {
             lookAtSpot = _myCamera.getPosition();
         } else {
             lookAtSpot = _myCamera.getPosition() + transformPoint(_myAvatar->getSensorToWorldMatrix(), extractTranslation(getHMDSensorPose()));
         }
-    } else if (eyeTracker->isTracking() && (isHMDMode() || eyeTracker->isSimulating())) {
+    } else if (eyeTracker->isTracking() && (isHMD || eyeTracker->isSimulating())) {
         //  Look at the point that the user is looking at.
-        if (isHMDMode()) {
+        if (isHMD) {
             glm::mat4 headPose = getActiveDisplayPlugin()->getHeadPose();
             glm::quat hmdRotation = glm::quat_cast(headPose);
             lookAtSpot = _myCamera.getPosition() +
@@ -2589,8 +2617,8 @@ void Application::updateMyAvatarLookAtPosition() {
             }
         } else {
             //  I am not looking at anyone else, so just look forward
-            if (isHMDMode()) {
+            if (isHMD) {
-                glm::mat4 headPose = getActiveDisplayPlugin()->getHeadPose();
+                glm::mat4 headPose = _avatarUpdate->getHeadPose() ;
                 glm::quat headRotation = glm::quat_cast(headPose);
                 lookAtSpot = _myCamera.getPosition() +
                     _myAvatar->getOrientation() * (headRotation * glm::vec3(0.0f, 0.0f, -TREE_SCALE));
@@ -2817,9 +2845,6 @@ void Application::update(float deltaTime) {
 
     updateThreads(deltaTime); // If running non-threaded, then give the threads some time to process...
 
-    //loop through all the other avatars and simulate them...
-    DependencyManager::get<AvatarManager>()->updateOtherAvatars(deltaTime);
-
     updateCamera(deltaTime); // handle various camera tweaks like off axis projection
     updateDialogs(deltaTime); // update various stats dialogs if present
     updateCursor(deltaTime); // Handle cursor updates
@@ -2891,12 +2916,7 @@ void Application::update(float deltaTime) {
         _overlays.update(deltaTime);
     }
 
-    {
+    _avatarUpdate->synchronousProcess();
-        PerformanceTimer perfTimer("myAvatar");
-        updateMyAvatarLookAtPosition();
-        // Sample hardware, update view frustum if needed, and send avatar data to mixer/nodes
-        DependencyManager::get<AvatarManager>()->updateMyAvatar(deltaTime);
-    }
 
     {
         PerformanceTimer perfTimer("emitSimulating");
@@ -3477,7 +3497,10 @@ void Application::displaySide(RenderArgs* renderArgs, Camera& theCamera, bool se
 
     // FIXME: This preRender call is temporary until we create a separate render::scene for the mirror rendering.
     // Then we can move this logic into the Avatar::simulate call.
+    _myAvatar->startRender();
     _myAvatar->preRender(renderArgs);
+    _myAvatar->endRender();
+
 
     activeRenderingThread = QThread::currentThread();
     PROFILE_RANGE(__FUNCTION__);
@@ -3591,7 +3614,9 @@ void Application::displaySide(RenderArgs* renderArgs, Camera& theCamera, bool se
         _renderEngine->setRenderContext(renderContext);
 
         // Before the deferred pass, let's try to use the render engine
+        _myAvatar->startRenderRun();
         _renderEngine->run();
+        _myAvatar->endRenderRun();
 
         auto engineRC = _renderEngine->getRenderContext();
         sceneInterface->setEngineFeedOpaqueItems(engineRC->_numFeedOpaqueItems);
@@ -4761,9 +4786,11 @@ void Application::updateDisplayMode() {
         qDebug() << "Deferring plugin switch until out of painting";
         // Have the old plugin stop requesting renders
         oldDisplayPlugin->stop();
-        QCoreApplication::postEvent(this, new LambdaEvent([this] {
+        QTimer* timer = new QTimer();
+        timer->singleShot(500, [this, timer] {
+            timer->deleteLater();
             updateDisplayMode();
-        }));
+        });
         return;
     }
 

interface/src/Application.h

@@ -48,6 +48,7 @@
 #include "Menu.h"
 #include "Physics.h"
 #include "Stars.h"
+#include "avatar/AvatarUpdate.h"
 #include "avatar/Avatar.h"
 #include "avatar/MyAvatar.h"
 #include "scripting/ControllerScriptingInterface.h"
@@ -335,6 +336,12 @@ public:
 
     const QRect& getMirrorViewRect() const { return _mirrorViewRect; }
 
+    void updateMyAvatarLookAtPosition();
+    AvatarUpdate* getAvatarUpdater() { return _avatarUpdate; }
+    MyAvatar* getMyAvatar() { return _myAvatar; }
+    float getAvatarSimrate();
+    void setAvatarSimrateSample(float sample);
+
     float getAverageSimsPerSecond();
 
 signals:
@@ -405,6 +412,7 @@ public slots:
     void openUrl(const QUrl& url);
 
     void updateMyAvatarTransform();
+    void setAvatarUpdateThreading(bool isThreaded);
 
     void domainSettingsReceived(const QJsonObject& domainSettingsObject);
 
@@ -482,7 +490,6 @@ private:
     // Various helper functions called during update()
     void updateLOD();
     void updateMouseRay();
-    void updateMyAvatarLookAtPosition();
     void updateThreads(float deltaTime);
     void updateCamera(float deltaTime);
     void updateDialogs(float deltaTime);
@@ -551,6 +558,10 @@ private:
 
     KeyboardMouseDevice* _keyboardMouseDevice{ nullptr };   // Default input device, the good old keyboard mouse and maybe touchpad
     MyAvatar* _myAvatar;                         // TODO: move this and relevant code to AvatarManager (or MyAvatar as the case may be)
+    AvatarUpdate* _avatarUpdate {nullptr};
+    SimpleMovingAverage _avatarSimsPerSecond {10};
+    int _avatarSimsPerSecondReport {0};
+    quint64 _lastAvatarSimsPerSecondUpdate {0};
     Camera _myCamera;                            // My view onto the world
     Camera _mirrorCamera;                        // Cammera for mirror view
     QRect _mirrorViewRect;

interface/src/Menu.cpp

@@ -447,6 +447,8 @@ Menu::Menu() {
     addCheckableActionToQMenuAndActionHash(avatarDebugMenu, MenuOption::RenderFocusIndicator, 0, false);
     addCheckableActionToQMenuAndActionHash(avatarDebugMenu, MenuOption::ShowWhosLookingAtMe, 0, false);
     addCheckableActionToQMenuAndActionHash(avatarDebugMenu, MenuOption::FixGaze, 0, false);
+    addCheckableActionToQMenuAndActionHash(avatarDebugMenu, MenuOption::EnableAvatarUpdateThreading, 0, false,
+                                           qApp, SLOT(setAvatarUpdateThreading(bool)));
     addCheckableActionToQMenuAndActionHash(avatarDebugMenu, MenuOption::EnableRigAnimations, 0, true,
                                            avatar, SLOT(setEnableRigAnimations(bool)));
     addCheckableActionToQMenuAndActionHash(avatarDebugMenu, MenuOption::EnableAnimGraph, 0, false,

interface/src/Menu.h

@@ -188,6 +188,7 @@ namespace MenuOption {
     const QString EchoServerAudio = "Echo Server Audio";
     const QString EditEntitiesHelp = "Edit Entities Help...";
     const QString Enable3DTVMode = "Enable 3DTV Mode";
+    const QString EnableAvatarUpdateThreading = "Enable Avatar Update Threading";
     const QString EnableAnimGraph = "Enable Anim Graph";
     const QString EnableCharacterController = "Enable avatar collisions";
     const QString EnableRigAnimations = "Enable Rig Animations";

interface/src/avatar/Avatar.cpp

@@ -316,6 +316,7 @@ void Avatar::removeFromScene(AvatarSharedPointer self, std::shared_ptr<render::S
 }
 
 void Avatar::render(RenderArgs* renderArgs, const glm::vec3& cameraPosition) {
+    startRender();
     if (_referential) {
         _referential->update();
     }
@@ -390,6 +391,7 @@ void Avatar::render(RenderArgs* renderArgs, const glm::vec3& cameraPosition) {
     }
 
     if (frustum->sphereInFrustum(getPosition(), boundingRadius) == ViewFrustum::OUTSIDE) {
+        endRender();
         return;
     }
 
@@ -540,6 +542,7 @@ void Avatar::render(RenderArgs* renderArgs, const glm::vec3& cameraPosition) {
     if (!isMyAvatar() || cameraMode != CAMERA_MODE_FIRST_PERSON) {
         renderDisplayName(batch, *renderArgs->_viewFrustum, renderArgs->_viewport);
     }
+    endRender();
 }
 
 glm::quat Avatar::computeRotationFromBodyToWorldUp(float proportion) const {
@@ -1019,6 +1022,7 @@ void Avatar::setBillboard(const QByteArray& billboard) {
 }
 
 int Avatar::parseDataFromBuffer(const QByteArray& buffer) {
+    startUpdate();
     if (!_initialized) {
         // now that we have data for this Avatar we are go for init
         init();
@@ -1034,6 +1038,7 @@ int Avatar::parseDataFromBuffer(const QByteArray& buffer) {
     if (_moving && _motionState) {
         _motionState->addDirtyFlags(EntityItem::DIRTY_POSITION);
     }
+    endUpdate();
 
     return bytesRead;
 }

interface/src/avatar/Avatar.h

@@ -156,6 +156,7 @@ public:
     void scaleVectorRelativeToPosition(glm::vec3 &positionToScale) const;
 
     void slamPosition(const glm::vec3& position);
+    virtual void updateAttitude() { _skeletonModel.updateAttitude(); }
 
     // Call this when updating Avatar position with a delta.  This will allow us to
     // _accurately_ measure position changes and compute the resulting velocity

interface/src/avatar/AvatarManager.cpp

@@ -129,7 +129,9 @@ void AvatarManager::updateOtherAvatars(float deltaTime) {
             _avatarFades.push_back(avatarIterator.value());
             avatarIterator = _avatarHash.erase(avatarIterator);
         } else {
+            avatar->startUpdate();
             avatar->simulate(deltaTime);
+            avatar->endUpdate();
             ++avatarIterator;
         }
     }
@@ -148,6 +150,7 @@ void AvatarManager::simulateAvatarFades(float deltaTime) {
     render::PendingChanges pendingChanges;
     while (fadingIterator != _avatarFades.end()) {
         auto avatar = std::static_pointer_cast<Avatar>(*fadingIterator);
+        avatar->startUpdate();
         avatar->setTargetScale(avatar->getScale() * SHRINK_RATE, true);
         if (avatar->getTargetScale() < MIN_FADE_SCALE) {
             avatar->removeFromScene(*fadingIterator, scene, pendingChanges);
@@ -156,6 +159,7 @@ void AvatarManager::simulateAvatarFades(float deltaTime) {
             avatar->simulate(deltaTime);
             ++fadingIterator;
         }
+        avatar->endUpdate();
     }
     scene->enqueuePendingChanges(pendingChanges);
 }

interface/src/avatar/AvatarUpdate.cpp

@@ -0,0 +1,75 @@
+//
+//  AvatarUpdate.cpp
+//  interface/src/avatar
+//
+//  Created by Howard Stearns on 8/18/15.
+//
+//  Distributed under the Apache License, Version 2.0.
+//  See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
+//
+//
+
+#include <DependencyManager.h>
+#include "Application.h"
+#include "AvatarManager.h"
+#include "AvatarUpdate.h"
+#include <display-plugins/DisplayPlugin.h>
+#include "InterfaceLogging.h"
+
+AvatarUpdate::AvatarUpdate() : GenericThread(),  _lastAvatarUpdate(0) {
+    setObjectName("Avatar Update"); // GenericThread::initialize uses this to set the thread name.
+    Settings settings;
+    const int DEFAULT_TARGET_AVATAR_SIMRATE = 60;
+    _targetInterval = USECS_PER_SECOND / settings.value("AvatarUpdateTargetSimrate", DEFAULT_TARGET_AVATAR_SIMRATE).toInt();
+}
+// We could have the constructor call initialize(), but GenericThread::initialize can take parameters.
+// Keeping it separately called by the client allows that client to pass those without our
+// constructor needing to know about them.
+
+void AvatarUpdate::synchronousProcess() {
+
+    // Keep our own updated value, so that our asynchronous code can consult it.
+    _isHMDMode = Application::getInstance()->isHMDMode();
+    _headPose = Application::getInstance()->getActiveDisplayPlugin()->getHeadPose();
+
+    if (_updateBillboard) {
+        Application::getInstance()->getMyAvatar()->doUpdateBillboard();
+    }
+
+    if (!isThreaded()) {
+        process();
+    }
+}
+
+bool AvatarUpdate::process() {
+    PerformanceTimer perfTimer("AvatarUpdate");
+    quint64 start = usecTimestampNow();
+    quint64 deltaMicroseconds = start - _lastAvatarUpdate;
+    _lastAvatarUpdate = start;
+    float deltaSeconds = (float) deltaMicroseconds / (float) USECS_PER_SECOND;
+    Application::getInstance()->setAvatarSimrateSample(1.0f / deltaSeconds);
+
+    QSharedPointer<AvatarManager> manager = DependencyManager::get<AvatarManager>();
+    MyAvatar* myAvatar = manager->getMyAvatar();
+
+    //loop through all the other avatars and simulate them...
+    //gets current lookat data, removes missing avatars, etc.
+    manager->updateOtherAvatars(deltaSeconds);
+
+    myAvatar->startUpdate();
+    Application::getInstance()->updateMyAvatarLookAtPosition();
+    // Sample hardware, update view frustum if needed, and send avatar data to mixer/nodes
+    manager->updateMyAvatar(deltaSeconds);
+    myAvatar->endUpdate();
+
+    if (!isThreaded()) {
+        return true;
+    }
+    int elapsed = (usecTimestampNow() - start);
+    int usecToSleep =  _targetInterval - elapsed;
+    if (usecToSleep < 0) {
+        usecToSleep = 1; // always yield
+    }
+    usleep(usecToSleep);
+    return true;
+}

interface/src/avatar/AvatarUpdate.h

@@ -0,0 +1,43 @@
+//
+//  AvatarUpdate.h
+//  interface/src/avatar
+//
+//  Created by Howard Stearns on 8/18/15.
+///
+//  Distributed under the Apache License, Version 2.0.
+//  See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
+//
+//
+
+#ifndef __hifi__AvatarUpdate__
+#define __hifi__AvatarUpdate__
+
+#include <QtCore/QObject>
+#include <QTimer>
+
+// Home for the avatarUpdate operations (e.g., whether on a separate thread, pipelined in various ways, etc.)
+// This might get folded into AvatarManager.
+class AvatarUpdate : public GenericThread {
+    Q_OBJECT
+public:
+    AvatarUpdate();
+    void synchronousProcess();
+    void setRequestBillboardUpdate(bool needsUpdate) { _updateBillboard = needsUpdate; }
+
+private:
+    virtual bool process(); // No reason for other classes to invoke this.
+    quint64 _lastAvatarUpdate; // microsoeconds
+    quint64 _targetInterval; // microseconds
+    bool _updateBillboard;
+
+    // Goes away if Application::getActiveDisplayPlugin() and friends are made thread safe:
+public:
+    bool isHMDMode() { return _isHMDMode; }
+    glm::mat4 getHeadPose() { return _headPose; }
+private:
+    bool _isHMDMode;
+    glm::mat4 _headPose;
+};
+
+
+#endif /* defined(__hifi__AvatarUpdate__) */

interface/src/avatar/Head.cpp

@@ -389,7 +389,7 @@ glm::quat Head::getCameraOrientation() const {
     // to change the driving direction while in Oculus mode. It is used to support driving toward where you're
     // head is looking. Note that in oculus mode, your actual camera view and where your head is looking is not
     // always the same.
-    if (qApp->isHMDMode()) {
+    if (qApp->getAvatarUpdater()->isHMDMode()) {
         MyAvatar* myAvatar = dynamic_cast<MyAvatar*>(_owningAvatar);
         if (myAvatar && myAvatar->getStandingHMDSensorMode()) {
             return glm::quat_cast(myAvatar->getSensorToWorldMatrix()) * myAvatar->getHMDSensorOrientation();

interface/src/avatar/MyAvatar.cpp

@@ -266,8 +266,7 @@ void MyAvatar::updateFromHMDSensorMatrix(const glm::mat4& hmdSensorMatrix) {
     if (getStandingHMDSensorMode()) {
         // set the body position/orientation to reflect motion due to the head.
         auto worldMat = _sensorToWorldMatrix * _bodySensorMatrix;
-        setPosition(extractTranslation(worldMat));
+        nextAttitude(extractTranslation(worldMat), glm::quat_cast(worldMat));
-        setOrientation(glm::quat_cast(worldMat));
     }
 }
 
@@ -285,7 +284,7 @@ void MyAvatar::updateSensorToWorldMatrix() {
 void MyAvatar::updateFromTrackers(float deltaTime) {
     glm::vec3 estimatedPosition, estimatedRotation;
 
-    bool inHmd = qApp->isHMDMode();
+    bool inHmd = qApp->getAvatarUpdater()->isHMDMode();
 
     if (isPlaying() && inHmd) {
         return;
@@ -705,19 +704,46 @@ float loadSetting(QSettings& settings, const char* name, float defaultValue) {
     return value;
 }
 
+// Resource loading is not yet thread safe. If an animation is not loaded when requested by other than tha main thread,
+// we block in AnimationHandle::setURL => AnimationCache::getAnimation.
+// Meanwhile, the main thread will also eventually lock as it tries to render us.
+// If we demand the animation from the update thread while we're locked, we'll deadlock.
+// Until we untangle this, code puts the updates back on the main thread temporarilly and starts all the loading.
+void MyAvatar::safelyLoadAnimations() {
+    qApp->setAvatarUpdateThreading(false);
+    _rig->addAnimationByRole("idle");
+    _rig->addAnimationByRole("walk");
+    _rig->addAnimationByRole("backup");
+    _rig->addAnimationByRole("leftTurn");
+    _rig->addAnimationByRole("rightTurn");
+    _rig->addAnimationByRole("leftStrafe");
+    _rig->addAnimationByRole("rightStrafe");
+}
+
 void MyAvatar::setEnableRigAnimations(bool isEnabled) {
+    if (isEnabled) {
+        safelyLoadAnimations();
+    }
     _rig->setEnableRig(isEnabled);
     if (!isEnabled) {
         _rig->deleteAnimations();
+    } else if (Menu::getInstance()->isOptionChecked(MenuOption::EnableAvatarUpdateThreading)) {
+        qApp->setAvatarUpdateThreading(true);
     }
 }
 
 void MyAvatar::setEnableAnimGraph(bool isEnabled) {
+    if (isEnabled) {
+        safelyLoadAnimations();
+    }
     _rig->setEnableAnimGraph(isEnabled);
     if (isEnabled) {
         if (_skeletonModel.readyToAddToScene()) {
             initAnimGraph();
         }
+        if (Menu::getInstance()->isOptionChecked(MenuOption::EnableAvatarUpdateThreading)) {
+            qApp->setAvatarUpdateThreading(true);
+        }
     } else {
         destroyAnimGraph();
     }
@@ -804,6 +830,9 @@ void MyAvatar::loadData() {
 
     settings.endGroup();
     _rig->setEnableRig(Menu::getInstance()->isOptionChecked(MenuOption::EnableRigAnimations));
+    setEnableMeshVisible(Menu::getInstance()->isOptionChecked(MenuOption::MeshVisible));
+    setEnableDebugDrawBindPose(Menu::getInstance()->isOptionChecked(MenuOption::AnimDebugDrawBindPose));
+    setEnableDebugDrawAnimPose(Menu::getInstance()->isOptionChecked(MenuOption::AnimDebugDrawAnimPose));
 }
 
 void MyAvatar::saveAttachmentData(const AttachmentData& attachment) const {
@@ -1248,7 +1277,7 @@ void MyAvatar::initAnimGraph() {
     // or run a local web-server
     // python -m SimpleHTTPServer&
     auto graphUrl = QUrl("https://gist.githubusercontent.com/hyperlogic/e58e0a24cc341ad5d060/raw/2a994bef7726ce8e9efcee7622b8b1a1b6b67490/ik-avatar.json");
-    _skeletonModel.initAnimGraph(graphUrl, _skeletonModel.getGeometry()->getFBXGeometry());
+    _rig->initAnimGraph(graphUrl, _skeletonModel.getGeometry()->getFBXGeometry());
 }
 
 void MyAvatar::destroyAnimGraph() {
@@ -1346,7 +1375,7 @@ void MyAvatar::updateOrientation(float deltaTime) {
     setOrientation(getOrientation() *
                    glm::quat(glm::radians(glm::vec3(0.0f, _bodyYawDelta * deltaTime, 0.0f))));
 
-    if (qApp->isHMDMode()) {
+    if (qApp->getAvatarUpdater()->isHMDMode()) {
         glm::quat orientation = glm::quat_cast(getSensorToWorldMatrix()) * getHMDSensorOrientation();
         glm::quat bodyOrientation = getWorldBodyOrientation();
         glm::quat localOrientation = glm::inverse(bodyOrientation) * orientation;
@@ -1567,6 +1596,7 @@ bool findAvatarAvatarPenetration(const glm::vec3 positionA, float radiusA, float
 }
 
 void MyAvatar::maybeUpdateBillboard() {
+    qApp->getAvatarUpdater()->setRequestBillboardUpdate(false);
     if (_billboardValid || !(_skeletonModel.isLoadedWithTextures() && getHead()->getFaceModel().isLoadedWithTextures())) {
         return;
     }
@@ -1575,7 +1605,9 @@ void MyAvatar::maybeUpdateBillboard() {
             return;
         }
     }
-
+    qApp->getAvatarUpdater()->setRequestBillboardUpdate(true);
+}
+void MyAvatar::doUpdateBillboard() {
     RenderArgs renderArgs(qApp->getGPUContext());
     QImage image = qApp->renderAvatarBillboard(&renderArgs);
     _billboard.clear();

interface/src/avatar/MyAvatar.h

@@ -19,7 +19,6 @@
 #include "Avatar.h"
 
 class ModelItemID;
-class AnimNode;
 
 enum eyeContactTarget {
     LEFT_EYE,
@@ -151,6 +150,8 @@ public:
     static const float ZOOM_DEFAULT;
 
     bool getStandingHMDSensorMode() const { return _standingHMDSensorMode; }
+    void doUpdateBillboard();
+    void destroyAnimGraph();
 
 public slots:
     void increaseSize();
@@ -290,7 +291,7 @@ private:
     void maybeUpdateBillboard();
     void initHeadBones();
     void initAnimGraph();
-    void destroyAnimGraph();
+    void safelyLoadAnimations();
 
     // Avatar Preferences
     QUrl _fullAvatarURLFromPreferences;

interface/src/avatar/SkeletonModel.cpp

@@ -103,13 +103,15 @@ void SkeletonModel::updateRig(float deltaTime, glm::mat4 parentTransform) {
         _rig->computeMotionAnimationState(deltaTime, _owningAvatar->getPosition(), _owningAvatar->getVelocity(), _owningAvatar->getOrientation());
     }
     Model::updateRig(deltaTime, parentTransform);
-    if (_owningAvatar->isMyAvatar()) {
-        const FBXGeometry& geometry = _geometry->getFBXGeometry();
     Head* head = _owningAvatar->getHead();
+    if (_owningAvatar->isMyAvatar()) {
+        MyAvatar* myAvatar = static_cast<MyAvatar*>(_owningAvatar);
+        const FBXGeometry& geometry = _geometry->getFBXGeometry();
 
         Rig::HeadParameters params;
         params.modelRotation = getRotation();
         params.modelTranslation = getTranslation();
+        params.enableLean = qApp->getAvatarUpdater()->isHMDMode() && !myAvatar->getStandingHMDSensorMode();
         params.leanSideways = head->getFinalLeanSideways();
         params.leanForward = head->getFinalLeanForward();
         params.torsoTwist = head->getTorsoTwist();
@@ -133,7 +135,6 @@ void SkeletonModel::updateRig(float deltaTime, glm::mat4 parentTransform) {
         // However, in the !isLookingAtMe case, the eyes aren't rotating the way they should right now.
         // We will revisit that as priorities allow, and particularly after the new rig/animation/joints.
         const FBXGeometry& geometry = _geometry->getFBXGeometry();
-        Head* head = _owningAvatar->getHead();
         // If the head is not positioned, updateEyeJoints won't get the math right
         glm::quat headOrientation;
         _rig->getJointRotation(geometry.headJointIndex, headOrientation);
@@ -147,13 +148,17 @@ void SkeletonModel::updateRig(float deltaTime, glm::mat4 parentTransform) {
      }
 }
 
-// Called by Avatar::simulate after it has set the joint states (fullUpdate true if changed),
+void SkeletonModel::updateAttitude() {
-// but just before head has been simulated.
-void SkeletonModel::simulate(float deltaTime, bool fullUpdate) {
     setTranslation(_owningAvatar->getSkeletonPosition());
     static const glm::quat refOrientation = glm::angleAxis(PI, glm::vec3(0.0f, 1.0f, 0.0f));
     setRotation(_owningAvatar->getOrientation() * refOrientation);
     setScale(glm::vec3(1.0f, 1.0f, 1.0f) * _owningAvatar->getScale());
+}
+
+// Called by Avatar::simulate after it has set the joint states (fullUpdate true if changed),
+// but just before head has been simulated.
+void SkeletonModel::simulate(float deltaTime, bool fullUpdate) {
+    updateAttitude();
     setBlendshapeCoefficients(_owningAvatar->getHead()->getBlendshapeCoefficients());
 
     Model::simulate(deltaTime, fullUpdate);
@@ -544,14 +549,24 @@ void SkeletonModel::computeBoundingShape() {
     totalExtents.addPoint(glm::vec3(0.0f));
     int numStates = _rig->getJointStateCount();
     for (int i = 0; i < numStates; i++) {
-        // compute the default transform of this joint
         const JointState& state = _rig->getJointState(i);
 
-        // Each joint contributes a sphere at its position
+        const glm::mat4& jointTransform = state.getTransform();
-        glm::vec3 axis(state.getBoneRadius());
+        float scale = extractUniformScale(jointTransform);
-        glm::vec3 jointPosition = state.getPosition();
+
-        totalExtents.addPoint(jointPosition + axis);
+        // Each joint contributes a capsule defined by FBXJoint.shapeInfo.
-        totalExtents.addPoint(jointPosition - axis);
+        // For totalExtents we use the capsule endpoints expanded by the radius.
+        const FBXJointShapeInfo& shapeInfo = geometry.joints.at(i).shapeInfo;
+        for (int j = 0; j < shapeInfo.points.size(); ++j) {
+            glm::vec3 transformedPoint = extractTranslation(jointTransform * glm::translate(shapeInfo.points[j]));
+            vec3 radius(scale * shapeInfo.radius);
+            totalExtents.addPoint(transformedPoint + radius);
+            totalExtents.addPoint(transformedPoint - radius);
+        }
+        // HACK so that default legless robot doesn't knuckle-drag
+        if (shapeInfo.points.size() == 0 && (state.getName() == "LeftFoot" || state.getName() == "RightFoot")) {
+            totalExtents.addPoint(extractTranslation(jointTransform));
+        }
     }
 
     // compute bounding shape parameters
@@ -607,6 +622,3 @@ bool SkeletonModel::hasSkeleton() {
 void SkeletonModel::onInvalidate() {
 }
 
-void SkeletonModel::initAnimGraph(const QUrl& url, const FBXGeometry& fbxGeometry) {
-    _rig->initAnimGraph(url, fbxGeometry);
-}

interface/src/avatar/SkeletonModel.h

@@ -31,6 +31,7 @@ public:
 
     virtual void simulate(float deltaTime, bool fullUpdate = true);
     virtual void updateRig(float deltaTime, glm::mat4 parentTransform);
+    void updateAttitude();
 
     void renderIKConstraints(gpu::Batch& batch);
 
@@ -105,8 +106,6 @@ public:
 
     virtual void onInvalidate() override;
 
-    void initAnimGraph(const QUrl& url, const FBXGeometry& fbxGeometry);
-
 signals:
 
     void skeletonLoaded();

interface/src/devices/DdeFaceTracker.cpp

@@ -236,20 +236,17 @@ void DdeFaceTracker::setEnabled(bool enabled) {
         cancelCalibration();
     }
 
-
     // isOpen() does not work as one might expect on QUdpSocket; don't test isOpen() before closing socket.
     _udpSocket.close();
-    if (enabled) {
-        _udpSocket.bind(_host, _serverPort);
-    }
 
+    // Terminate any existing DDE process, perhaps left running after an Interface crash.
+    // Do this even if !enabled in case user reset their settings after crash.
     const char* DDE_EXIT_COMMAND = "exit";
+    _udpSocket.bind(_host, _serverPort);
+    _udpSocket.writeDatagram(DDE_EXIT_COMMAND, DDE_SERVER_ADDR, _controlPort);
 
     if (enabled && !_ddeProcess) {
-        // Terminate any existing DDE process, perhaps left running after an Interface crash
-        _udpSocket.writeDatagram(DDE_EXIT_COMMAND, DDE_SERVER_ADDR, _controlPort);
         _ddeStopping = false;
-
         qCDebug(interfaceapp) << "DDE Face Tracker: Starting";
         _ddeProcess = new QProcess(qApp);
         connect(_ddeProcess, SIGNAL(finished(int, QProcess::ExitStatus)), SLOT(processFinished(int, QProcess::ExitStatus)));
@@ -258,7 +255,6 @@ void DdeFaceTracker::setEnabled(bool enabled) {
     
     if (!enabled && _ddeProcess) {
         _ddeStopping = true;
-        _udpSocket.writeDatagram(DDE_EXIT_COMMAND, DDE_SERVER_ADDR, _controlPort);
         qCDebug(interfaceapp) << "DDE Face Tracker: Stopping";
     }
 #endif

interface/src/ui/Stats.cpp

@@ -115,6 +115,7 @@ void Stats::updateStats() {
     STAT_UPDATE(serverCount, nodeList->size());
     STAT_UPDATE(framerate, (int)qApp->getFps());
     STAT_UPDATE(simrate, (int)Application::getInstance()->getAverageSimsPerSecond());
+    STAT_UPDATE(avatarSimrate, (int)qApp->getAvatarSimrate());
 
     auto bandwidthRecorder = DependencyManager::get<BandwidthRecorder>();
     STAT_UPDATE(packetInCount, bandwidthRecorder->getCachedTotalAverageInputPacketsPerSecond());

interface/src/ui/Stats.h

@@ -31,6 +31,7 @@ class Stats : public QQuickItem {
     STATS_PROPERTY(int, serverCount, 0)
     STATS_PROPERTY(int, framerate, 0)
     STATS_PROPERTY(int, simrate, 0)
+    STATS_PROPERTY(int, avatarSimrate, 0)
     STATS_PROPERTY(int, avatarCount, 0)
     STATS_PROPERTY(int, packetInCount, 0)
     STATS_PROPERTY(int, packetOutCount, 0)
@@ -98,6 +99,7 @@ signals:
     void serverCountChanged();
     void framerateChanged();
     void simrateChanged();
+    void avatarSimrateChanged();
     void avatarCountChanged();
     void packetInCountChanged();
     void packetOutCountChanged();

libraries/animation/src/JointState.cpp

@@ -41,7 +41,6 @@ void JointState::copyState(const JointState& other) {
     // DO NOT copy _constraint
     _name = other._name;
     _isFree = other._isFree;
-    _boneRadius = other._boneRadius;
     _parentIndex = other._parentIndex;
     _defaultRotation = other._defaultRotation;
     _inverseDefaultRotation = other._inverseDefaultRotation;
@@ -58,7 +57,6 @@ JointState::JointState(const FBXJoint& joint) {
     _rotationInConstrainedFrame = joint.rotation;
     _name = joint.name;
     _isFree = joint.isFree;
-    _boneRadius = joint.boneRadius;
     _parentIndex = joint.parentIndex;
     _translation = joint.translation;
     _defaultRotation = joint.rotation;

libraries/animation/src/JointState.h

@@ -118,7 +118,6 @@ public:
     const glm::quat& getDefaultRotation() const { return _defaultRotation; }
     const glm::quat& getInverseDefaultRotation() const { return _inverseDefaultRotation; }
     const QString& getName() const { return _name; }
-    float getBoneRadius() const { return _boneRadius; }
     bool getIsFree() const { return _isFree; }
     float getAnimationPriority() const { return _animationPriority; }
     void setAnimationPriority(float priority) { _animationPriority = priority; }
@@ -149,7 +148,6 @@ private:
     QString _name;
     int _parentIndex;
     bool _isFree;
-    float _boneRadius;
     glm::vec3 _rotationMin;
     glm::vec3 _rotationMax;
     glm::quat _preRotation;

libraries/animation/src/Rig.cpp

@@ -477,7 +477,7 @@ void Rig::computeMotionAnimationState(float deltaTime, const glm::vec3& worldPos
         }
 
         if (glm::length(localVel) > moveThresh) {
-            if (fabs(forwardSpeed) > 0.5f * fabs(lateralSpeed)) {
+            if (fabsf(forwardSpeed) > 0.5f * fabsf(lateralSpeed)) {
                 if (forwardSpeed > 0.0f) {
                     // forward
                     _animVars.set("isMovingForward", true);
@@ -501,7 +501,7 @@ void Rig::computeMotionAnimationState(float deltaTime, const glm::vec3& worldPos
             }
             _state = RigRole::Move;
         } else {
-            if (fabs(turningSpeed) > turnThresh) {
+            if (fabsf(turningSpeed) > turnThresh) {
                 if (turningSpeed > 0.0f) {
                     // turning right
                     _animVars.set("isTurningRight", true);
@@ -928,13 +928,6 @@ void Rig::updateVisibleJointStates() {
     }
 }
 
-void Rig::setJointTransform(int jointIndex, glm::mat4 newTransform) {
-    if (jointIndex == -1 || jointIndex >= _jointStates.size()) {
-        return;
-    }
-    _jointStates[jointIndex].setTransform(newTransform);
-}
-
 void Rig::setJointVisibleTransform(int jointIndex, glm::mat4 newTransform) {
     if (jointIndex == -1 || jointIndex >= _jointStates.size()) {
         return;
@@ -957,7 +950,9 @@ glm::quat Rig::getJointDefaultRotationInParentFrame(int jointIndex) {
 }
 
 void Rig::updateFromHeadParameters(const HeadParameters& params) {
+    if (params.enableLean) {
         updateLeanJoint(params.leanJointIndex, params.leanSideways, params.leanForward, params.torsoTwist);
+    }
     updateNeckJoint(params.neckJointIndex, params.localHeadOrientation, params.leanSideways, params.leanForward, params.torsoTwist);
     updateEyeJoints(params.leftEyeJointIndex, params.rightEyeJointIndex, params.modelTranslation, params.modelRotation,
                     params.worldHeadOrientation, params.eyeLookAt, params.eyeSaccade);

libraries/animation/src/Rig.h

@@ -56,6 +56,7 @@ public:
         float leanSideways = 0.0f; // degrees
         float leanForward = 0.0f; // degrees
         float torsoTwist = 0.0f; // degrees
+        bool enableLean = false;
         glm::quat modelRotation = glm::quat();
         glm::quat localHeadOrientation = glm::quat();
         glm::quat worldHeadOrientation = glm::quat();
@@ -132,7 +133,6 @@ public:
                                              glm::vec3 translation, glm::quat rotation) const;
     bool getVisibleJointRotationInWorldFrame(int jointIndex, glm::quat& result, glm::quat rotation) const;
     glm::mat4 getJointTransform(int jointIndex) const;
-    void setJointTransform(int jointIndex, glm::mat4 newTransform);
     glm::mat4 getJointVisibleTransform(int jointIndex) const;
     void setJointVisibleTransform(int jointIndex, glm::mat4 newTransform);
     // Start or stop animations as needed.

libraries/avatars/src/AvatarData.cpp

@@ -110,6 +110,53 @@ void AvatarData::setOrientation(const glm::quat& orientation, bool overideRefere
     }
 }
 
+// There are a number of possible strategies for this set of tools through endRender, below.
+void AvatarData::nextAttitude(glm::vec3 position, glm::quat orientation) {
+    avatarLock.lock();
+    setPosition(position, true);
+    setOrientation(orientation, true);
+    avatarLock.unlock();
+}
+void AvatarData::startCapture() {
+    avatarLock.lock();
+    assert(_nextAllowed);
+    _nextAllowed = false;
+    _nextPosition = getPosition();
+    _nextOrientation = getOrientation();
+}
+void AvatarData::endCapture() {
+    avatarLock.unlock();
+}
+void AvatarData::startUpdate() {
+    avatarLock.lock();
+}
+void AvatarData::endUpdate() {
+    avatarLock.unlock();
+}
+void AvatarData::startRenderRun() {
+    // I'd like to get rid of this and just (un)lock at (end-)startRender.
+    // But somehow that causes judder in rotations.
+    avatarLock.lock();
+}
+void AvatarData::endRenderRun() {
+    avatarLock.unlock();
+}
+void AvatarData::startRender() {
+    glm::vec3 pos = getPosition();
+    glm::quat rot = getOrientation();
+    setPosition(_nextPosition, true);
+    setOrientation(_nextOrientation, true);
+    updateAttitude();
+    _nextPosition = pos;
+    _nextOrientation = rot;
+}
+void AvatarData::endRender() {
+    setPosition(_nextPosition, true);
+    setOrientation(_nextOrientation, true);
+    updateAttitude();
+    _nextAllowed = true;
+}
+
 float AvatarData::getTargetScale() const {
     if (_referential) {
         _referential->update();

libraries/avatars/src/AvatarData.h

@@ -200,6 +200,17 @@ public:
     glm::quat getOrientation() const;
     virtual void setOrientation(const glm::quat& orientation, bool overideReferential = false);
 
+    void nextAttitude(glm::vec3 position, glm::quat orientation); // Can be safely called at any time.
+    void startCapture();    // start/end of the period in which the latest values are about to be captured for camera, etc.
+    void endCapture();
+    void startUpdate();     // start/end of update iteration
+    void endUpdate();
+    void startRender();     // start/end of rendering of this object
+    void startRenderRun();  // start/end of entire scene.
+    void endRenderRun();
+    void endRender();
+    virtual void updateAttitude() {} // Tell skeleton mesh about changes
+
     glm::quat getHeadOrientation() const { return _headData->getOrientation(); }
     void setHeadOrientation(const glm::quat& orientation) { _headData->setOrientation(orientation); }
 
@@ -358,6 +369,10 @@ protected:
     float _bodyPitch;   // degrees
     float _bodyRoll;    // degrees
 
+    glm::vec3 _nextPosition {};
+    glm::quat _nextOrientation {};
+    bool _nextAllowed {true};
+
     // Body scale
     float _targetScale;
 
@@ -407,6 +422,8 @@ protected:
 
     SimpleMovingAverage _averageBytesReceived;
 
+    QMutex avatarLock; // Name is redundant, but it aids searches.
+
 private:
     static QUrl _defaultFullAvatarModelUrl;
     // privatize the copy constructor and assignment operator so they cannot be called

libraries/fbx/src/FBXReader.cpp

@@ -1257,21 +1257,7 @@ QString getString(const QVariant& value) {
     return list.isEmpty() ? value.toString() : list.at(0).toString();
 }
 
-class JointShapeInfo {
+typedef std::vector<glm::vec3> ShapeVertices;
-public:
-    JointShapeInfo() : numVertices(0), 
-            sumVertexWeights(0.0f), sumWeightedRadii(0.0f), numVertexWeights(0), 
-            boneBegin(0.0f), averageRadius(0.0f) {
-    }
-
-    // NOTE: the points here are in the "joint frame" which has the "jointEnd" at the origin
-    int numVertices;        // num vertices from contributing meshes
-    float sumVertexWeights; // sum of all vertex weights
-    float sumWeightedRadii; // sum of weighted vertices
-    int numVertexWeights;   // num vertices that contributed to sums
-    glm::vec3 boneBegin;    // parent joint location (in joint frame)
-    float averageRadius;
-};
 
 class AnimationCurve {
 public:
@@ -2282,22 +2268,21 @@ FBXGeometry* extractFBXGeometry(const FBXNode& node, const QVariantHash& mapping
         joint.postTransform = model.postTransform;
         joint.rotationMin = model.rotationMin;
         joint.rotationMax = model.rotationMax;
-        glm::quat combinedRotation = model.preRotation * model.rotation * model.postRotation;
+        glm::quat combinedRotation = joint.preRotation * joint.rotation * joint.postRotation;
         if (joint.parentIndex == -1) {
-            joint.transform = geometry.offset * glm::translate(model.translation) * model.preTransform * 
+            joint.transform = geometry.offset * glm::translate(joint.translation) * joint.preTransform * 
-                glm::mat4_cast(combinedRotation) * model.postTransform;
+                glm::mat4_cast(combinedRotation) * joint.postTransform;
             joint.inverseDefaultRotation = glm::inverse(combinedRotation);
            joint.distanceToParent = 0.0f;
 
         } else {
             const FBXJoint& parentJoint = geometry.joints.at(joint.parentIndex);
-            joint.transform = parentJoint.transform * glm::translate(model.translation) *
+            joint.transform = parentJoint.transform * glm::translate(joint.translation) *
-                model.preTransform * glm::mat4_cast(combinedRotation) * model.postTransform;
+                joint.preTransform * glm::mat4_cast(combinedRotation) * joint.postTransform;
             joint.inverseDefaultRotation = glm::inverse(combinedRotation) * parentJoint.inverseDefaultRotation;
             joint.distanceToParent = glm::distance(extractTranslation(parentJoint.transform),
                 extractTranslation(joint.transform));
         }
-        joint.boneRadius = 0.0f;
         joint.inverseBindRotation = joint.inverseDefaultRotation;
         joint.name = model.name;
         
@@ -2326,9 +2311,10 @@ FBXGeometry* extractFBXGeometry(const FBXNode& node, const QVariantHash& mapping
                 zCurve.values.isEmpty() ? defaultValues.z : zCurve.values.at(i % zCurve.values.size()))));
         }
     }
-    // for each joint we allocate a JointShapeInfo in which we'll store collision shape info
+
-    QVector<JointShapeInfo> jointShapeInfos;
+    // NOTE: shapeVertices are in joint-frame
-    jointShapeInfos.resize(geometry.joints.size());
+    QVector<ShapeVertices> shapeVertices;
+    shapeVertices.resize(geometry.joints.size());
 
     // find our special joints
     geometry.leftEyeJointIndex = modelIDs.indexOf(jointEyeLeftID);
@@ -2585,8 +2571,10 @@ FBXGeometry* extractFBXGeometry(const FBXNode& node, const QVariantHash& mapping
                         boneDirection /= boneLength;
                     }
                 }
-                float radiusScale = extractUniformScale(joint.transform * fbxCluster.inverseBindMatrix);
+
-                JointShapeInfo& jointShapeInfo = jointShapeInfos[jointIndex];
+                float clusterScale = extractUniformScale(fbxCluster.inverseBindMatrix);
+                glm::mat4 meshToJoint = glm::inverse(joint.bindTransform) * modelTransform;
+                ShapeVertices& points = shapeVertices[jointIndex];
 
                 float totalWeight = 0.0f;
                 for (int j = 0; j < cluster.indices.size(); j++) {
@@ -2595,18 +2583,13 @@ FBXGeometry* extractFBXGeometry(const FBXNode& node, const QVariantHash& mapping
                     totalWeight += weight;
                     for (QMultiHash<int, int>::const_iterator it = extracted.newIndices.constFind(oldIndex);
                             it != extracted.newIndices.end() && it.key() == oldIndex; it++) {
-                        // expand the bone radius for vertices with at least 1/4 weight
+
+                        // remember vertices with at least 1/4 weight
                         const float EXPANSION_WEIGHT_THRESHOLD = 0.25f;
                         if (weight > EXPANSION_WEIGHT_THRESHOLD) {
-                            const glm::vec3& vertex = extracted.mesh.vertices.at(it.value());
+                            // transform to joint-frame and save for later
-                            float proj = glm::dot(boneDirection, boneEnd - vertex);
+                            const glm::mat4 vertexTransform = meshToJoint * glm::translate(extracted.mesh.vertices.at(it.value()));
-                            float radiusWeight = (proj < 0.0f || proj > boneLength) ? 0.5f * weight : weight;
+                            points.push_back(extractTranslation(vertexTransform) * clusterScale);
-
-                            jointShapeInfo.sumVertexWeights += radiusWeight;
-                            jointShapeInfo.sumWeightedRadii += radiusWeight * radiusScale * glm::distance(vertex, boneEnd - boneDirection * proj);
-                            ++jointShapeInfo.numVertexWeights;
-
-                            ++jointShapeInfo.numVertices;
                         }
 
                         // look for an unused slot in the weights vector
@@ -2649,54 +2632,16 @@ FBXGeometry* extractFBXGeometry(const FBXNode& node, const QVariantHash& mapping
             // this is a single-mesh joint
             int jointIndex = maxJointIndex;
             FBXJoint& joint = geometry.joints[jointIndex];
-            JointShapeInfo& jointShapeInfo = jointShapeInfos[jointIndex];
 
-            glm::mat4 transformJointToMesh = inverseModelTransform * joint.bindTransform;
+            // transform cluster vertices to joint-frame and save for later
-            glm::vec3 boneEnd = extractTranslation(transformJointToMesh);
+            float clusterScale = extractUniformScale(firstFBXCluster.inverseBindMatrix);
-            glm::vec3 boneBegin = boneEnd;
+            glm::mat4 meshToJoint = glm::inverse(joint.bindTransform) * modelTransform;
-
+            ShapeVertices& points = shapeVertices[jointIndex];
-            glm::vec3 boneDirection;
-            float boneLength = 0.0f;
-            if (joint.parentIndex != -1) {
-                boneBegin = extractTranslation(inverseModelTransform * geometry.joints[joint.parentIndex].bindTransform);
-                boneDirection = boneEnd - boneBegin;
-                boneLength = glm::length(boneDirection);
-                if (boneLength > EPSILON) {
-                    boneDirection /= boneLength;
-                }
-            }
-            float radiusScale = extractUniformScale(joint.transform * firstFBXCluster.inverseBindMatrix);
-
-            // compute average vertex
-            glm::vec3 averageVertex(0.0f);
             foreach (const glm::vec3& vertex, extracted.mesh.vertices) {
-                float proj = glm::dot(boneDirection, boneEnd - vertex);
+                const glm::mat4 vertexTransform = meshToJoint * glm::translate(vertex);
-                float radiusWeight = (proj < 0.0f || proj > boneLength) ? 0.5f : 1.0f;
+                points.push_back(extractTranslation(vertexTransform) * clusterScale);
-                jointShapeInfo.sumVertexWeights += radiusWeight;
-                jointShapeInfo.sumWeightedRadii += radiusWeight * radiusScale * glm::distance(vertex, boneEnd - boneDirection * proj);
-                ++jointShapeInfo.numVertexWeights;
-                averageVertex += vertex;
             }
 
-            // compute joint's radius
-            int numVertices = extracted.mesh.vertices.size();
-            jointShapeInfo.numVertices = numVertices;
-            if (numVertices > 0) {
-                // compute average radius
-                averageVertex /= (float)jointShapeInfo.numVertices;
-                float averageRadius = 0.0f;
-                foreach (const glm::vec3& vertex, extracted.mesh.vertices) {
-                    averageRadius += glm::distance(vertex, averageVertex);
-                }
-                averageRadius *= radiusScale / (float)jointShapeInfo.numVertices;
-
-                // final radius is minimum of average and weighted
-                float weightedRadius = jointShapeInfo.sumWeightedRadii / jointShapeInfo.sumVertexWeights;
-                jointShapeInfo.averageRadius = glm::min(weightedRadius, averageRadius);
-            }
-
-            // clear sumVertexWeights (this flags it as a single-mesh joint for later)
-            jointShapeInfo.sumVertexWeights = 0.0f;
         }
         extracted.mesh.isEye = (maxJointIndex == geometry.leftEyeJointIndex || maxJointIndex == geometry.rightEyeJointIndex);
 
@@ -2721,24 +2666,59 @@ FBXGeometry* extractFBXGeometry(const FBXNode& node, const QVariantHash& mapping
     glm::vec3 defaultCapsuleAxis(0.0f, 1.0f, 0.0f);
     for (int i = 0; i < geometry.joints.size(); ++i) {
         FBXJoint& joint = geometry.joints[i];
-        JointShapeInfo& jointShapeInfo = jointShapeInfos[i];
 
-        if (joint.parentIndex == -1) {
+        // NOTE: points are in joint-frame
-            jointShapeInfo.boneBegin = glm::vec3(0.0f);
+        // compute average point
+        ShapeVertices& points = shapeVertices[i];
+        glm::vec3 avgPoint = glm::vec3(0.0f);
+        for (uint32_t j = 0; j < points.size(); ++j) {
+            avgPoint += points[j];
+        }
+        avgPoint /= (float)points.size();
+
+        // compute axis from begin to avgPoint
+        glm::vec3 begin(0.0f);
+        glm::vec3 end = avgPoint;
+        glm::vec3 axis = end - begin;
+        float axisLength = glm::length(axis);
+        if (axisLength > EPSILON) {
+            axis /= axisLength;
         } else {
-            const FBXJoint& parentJoint = geometry.joints[joint.parentIndex];
+            axis = glm::vec3(0.0f);
-            glm::quat inverseRotation = glm::inverse(extractRotation(joint.transform));
-            jointShapeInfo.boneBegin = inverseRotation * (extractTranslation(parentJoint.transform) - extractTranslation(joint.transform));
         }
 
-        if (jointShapeInfo.sumVertexWeights > 0.0f) {
+        // measure average cylindrical radius
-            // mutiple meshes contributed to the bone radius and now that all 
+        float avgRadius = 0.0f;
-            // contributing meshes are done we can finally compute the boneRadius
+        if (points.size() > 0) {
-            joint.boneRadius = jointShapeInfo.sumWeightedRadii / jointShapeInfo.sumVertexWeights;
+            float minProjection = FLT_MAX;
-        } else {
+            float maxProjection = -FLT_MIN;
-            // single-mesh joint
+            for (uint32_t j = 0; j < points.size(); ++j) {
-            joint.boneRadius = jointShapeInfo.averageRadius;
+                glm::vec3 offset = points[j] - avgPoint;
+                float projection = glm::dot(offset, axis);
+                maxProjection = glm::max(maxProjection, projection);
+                minProjection = glm::min(minProjection, projection);
+                avgRadius += glm::length(offset - projection * axis);
             }
+            avgRadius /= (float)points.size();
+        
+            // compute endpoints of capsule in joint-frame
+            glm::vec3 capsuleBegin = avgPoint;
+            glm::vec3 capsuleEnd = avgPoint;
+            if (maxProjection - minProjection < 2.0f * avgRadius) {
+                // the mesh-as-cylinder approximation is too short to collide as a capsule
+                // so we'll collapse it to a sphere (although that isn't a very good approximation)
+                capsuleBegin = avgPoint + 0.5f * (maxProjection + minProjection) * axis;
+                capsuleEnd = capsuleBegin;
+            } else {
+                capsuleBegin = avgPoint + (minProjection + avgRadius) * axis;
+                capsuleEnd = avgPoint + (maxProjection - avgRadius) * axis;
+            }
+
+            // save points for later
+            joint.shapeInfo.points.push_back(capsuleBegin);
+            joint.shapeInfo.points.push_back(capsuleEnd);
+        }
+        joint.shapeInfo.radius = avgRadius;
     }
     geometry.palmDirection = parseVec3(mapping.value("palmDirection", "0, -1, 0").toString());
     

libraries/fbx/src/FBXReader.h

@@ -55,15 +55,21 @@ public:
     QVector<glm::vec3> normals;
 };
 
+struct FBXJointShapeInfo {
+    // same units and frame as FBXJoint.translation
+    QVector<glm::vec3> points;
+    float radius;
+};
+
 /// A single joint (transformation node) extracted from an FBX document.
 class FBXJoint {
 public:
 
-    bool isFree;
+    FBXJointShapeInfo shapeInfo;
     QVector<int> freeLineage;
+    bool isFree;
     int parentIndex;
     float distanceToParent;
-    float boneRadius;
 
     // http://download.autodesk.com/us/fbx/20112/FBX_SDK_HELP/SDKRef/a00209.html
 

libraries/fbx/src/OBJReader.cpp

@@ -441,7 +441,6 @@ FBXGeometry* OBJReader::readOBJ(QByteArray& model, const QVariantHash& mapping,
         geometry.joints[0].isFree = false;
         geometry.joints[0].parentIndex = -1;
         geometry.joints[0].distanceToParent = 0;
-        geometry.joints[0].boneRadius = 0;
         geometry.joints[0].translation = glm::vec3(0, 0, 0);
         geometry.joints[0].rotationMin = glm::vec3(0, 0, 0);
         geometry.joints[0].rotationMax = glm::vec3(0, 0, 0);
@@ -617,7 +616,6 @@ void fbxDebugDump(const FBXGeometry& fbxgeo) {
         qCDebug(modelformat) << "    freeLineage" << joint.freeLineage;
         qCDebug(modelformat) << "    parentIndex" << joint.parentIndex;
         qCDebug(modelformat) << "    distanceToParent" << joint.distanceToParent;
-        qCDebug(modelformat) << "    boneRadius" << joint.boneRadius;
         qCDebug(modelformat) << "    translation" << joint.translation;
         qCDebug(modelformat) << "    preTransform" << joint.preTransform;
         qCDebug(modelformat) << "    preRotation" << joint.preRotation;

libraries/networking/src/AssetClient.cpp

@@ -57,7 +57,8 @@ AssetRequest* AssetClient::createRequest(const QString& hash, const QString& ext
     SharedNodePointer assetServer = nodeList->soloNodeOfType(NodeType::AssetServer);
 
     if (!assetServer) {
-        qDebug().nospace() << "Could not request " << hash << "." << extension << " since you are not currently connected to an asset-server.";
+        qDebug().nospace() << "Could not request " << hash << "." << extension
+            << " since you are not currently connected to an asset-server.";
         return nullptr;
     }
 
@@ -96,10 +97,13 @@ bool AssetClient::getAsset(const QString& hash, const QString& extension, DataOf
     SharedNodePointer assetServer = nodeList->soloNodeOfType(NodeType::AssetServer);
 
     if (assetServer) {
-        auto packet = NLPacket::create(PacketType::AssetGet);
         
         auto messageID = ++_currentID;
         
+        auto payloadSize = sizeof(messageID) + SHA256_HASH_LENGTH + sizeof(uint8_t) + extension.length()
+            + sizeof(start) + sizeof(end);
+        auto packet = NLPacket::create(PacketType::AssetGet, payloadSize, true);
+        
         qDebug() << "Requesting data from" << start << "to" << end << "of" << hash << "from asset-server.";
         
         packet->writePrimitive(messageID);
@@ -127,9 +131,11 @@ bool AssetClient::getAssetInfo(const QString& hash, const QString& extension, Ge
     SharedNodePointer assetServer = nodeList->soloNodeOfType(NodeType::AssetServer);
 
     if (assetServer) {
-        auto packet = NLPacket::create(PacketType::AssetGetInfo);
-
         auto messageID = ++_currentID;
+        
+        auto payloadSize = sizeof(messageID) + SHA256_HASH_LENGTH + sizeof(uint8_t) + extension.length();
+        auto packet = NLPacket::create(PacketType::AssetGetInfo, payloadSize, true);
+        
         packet->writePrimitive(messageID);
         packet->write(QByteArray::fromHex(hash.toLatin1()));
         packet->writePrimitive(uint8_t(extension.length()));
@@ -207,9 +213,6 @@ bool AssetClient::uploadAsset(const QByteArray& data, const QString& extension,
         packetList->writePrimitive(static_cast<uint8_t>(extension.length()));
         packetList->write(extension.toLatin1().constData(), extension.length());
 
-        qDebug() << "Extension length: " << extension.length();
-        qDebug() << "Extension: " << extension;
-
         uint64_t size = data.length();
         packetList->writePrimitive(size);
         packetList->write(data.constData(), size);

libraries/networking/src/AssetUpload.cpp

@@ -41,6 +41,8 @@ void AssetUpload::start() {
         // ask the AssetClient to upload the asset and emit the proper signals from the passed callback
         auto assetClient = DependencyManager::get<AssetClient>();
         
+        qDebug() << "Attempting to upload" << _filename << "to asset-server.";
+        
         assetClient->uploadAsset(data, _extension, [this](AssetServerError error, const QString& hash){
             switch (error) {
                 case AssetServerError::NoError:

libraries/networking/src/LimitedNodeList.cpp

@@ -242,8 +242,9 @@ bool LimitedNodeList::packetSourceAndHashMatch(const udt::Packet& packet) {
             return true;
             
         } else {
+            static const QString UNKNOWN_REGEX = "Packet of type \\d+ \\([\\sa-zA-Z:]+\\) received from unknown node with UUID";
             static QString repeatedMessage
-                = LogHandler::getInstance().addRepeatedMessageRegex("Packet of type \\d+ \\([\\sa-zA-Z]+\\) received from unknown node with UUID");
+                = LogHandler::getInstance().addRepeatedMessageRegex(UNKNOWN_REGEX);
 
             qCDebug(networking) << "Packet of type" << headerType 
                 << "received from unknown node with UUID" << qPrintable(uuidStringWithoutCurlyBraces(sourceID));

libraries/networking/src/ResourceManager.cpp

@@ -25,6 +25,13 @@ ResourceRequest* ResourceManager::createResourceRequest(QObject* parent, const Q
         return new HTTPResourceRequest(parent, url);
     } else if (scheme == URL_SCHEME_ATP) {
         return new AssetResourceRequest(parent, url);
+    } else {
+        // check the degenerative file case: on windows we can often have urls of the form c:/filename
+        // this checks for and works around that case.
+        QUrl urlWithFileScheme { URL_SCHEME_FILE + ":///" + url.toString() };
+        if (!urlWithFileScheme.toLocalFile().isEmpty()) {
+            return new FileResourceRequest(parent, urlWithFileScheme);
+        }
     }
 
     qDebug() << "Unknown scheme (" << scheme << ") for URL: " << url.url();

libraries/physics/src/DynamicCharacterController.cpp

@@ -409,8 +409,7 @@ void DynamicCharacterController::postSimulation() {
         glm::quat rotation = bulletToGLM(avatarTransform.getRotation());
         glm::vec3 position = bulletToGLM(avatarTransform.getOrigin());
 
-        _avatarData->setOrientation(rotation);
+        _avatarData->nextAttitude(position - rotation * _shapeLocalOffset, rotation);
-        _avatarData->setPosition(position - rotation * _shapeLocalOffset);
         _avatarData->setVelocity(bulletToGLM(_rigidBody->getLinearVelocity()));
     }
 }

libraries/render-utils/src/Model.cpp

@@ -1291,7 +1291,9 @@ void Model::simulateInternal(float deltaTime) {
     const FBXGeometry& geometry = _geometry->getFBXGeometry();
     glm::mat4 parentTransform = glm::scale(_scale) * glm::translate(_offset) * geometry.offset;
     updateRig(deltaTime, parentTransform);
-
+}
+void Model::updateClusterMatrices() {
+    const FBXGeometry& geometry = _geometry->getFBXGeometry();
     glm::mat4 zeroScale(glm::vec4(0.0f, 0.0f, 0.0f, 0.0f),
                         glm::vec4(0.0f, 0.0f, 0.0f, 0.0f),
                         glm::vec4(0.0f, 0.0f, 0.0f, 0.0f),
@@ -1319,7 +1321,7 @@ void Model::simulateInternal(float deltaTime) {
         } else {
             for (int j = 0; j < mesh.clusters.size(); j++) {
                 const FBXCluster& cluster = mesh.clusters.at(j);
-                auto jointMatrix = _rig->getJointVisibleTransform(cluster.jointIndex);
+                auto jointMatrix = _rig->getJointVisibleTransform(cluster.jointIndex); // differs from above only in using get...VisibleTransform
                 state.clusterMatrices[j] = modelToWorld * jointMatrix * cluster.inverseBindMatrix;
 
                 // as an optimization, don't build cautrizedClusterMatrices if the boneSet is empty.
@@ -1434,7 +1436,6 @@ AABox Model::getPartBounds(int meshIndex, int partIndex) {
             return calculateScaledOffsetAABox(_geometry->getFBXGeometry().meshExtents);
         }
     }
-
     if (_geometry->getFBXGeometry().meshes.size() > meshIndex) {
 
         // FIX ME! - This is currently a hack because for some mesh parts our efforts to calculate the bounding
@@ -1489,6 +1490,8 @@ void Model::renderPart(RenderArgs* args, int meshIndex, int partIndex, bool tran
         return;
     }
 
+    updateClusterMatrices();
+
     const NetworkMesh& networkMesh = *(networkMeshes.at(meshIndex).get());
     const FBXMesh& mesh = geometry.meshes.at(meshIndex);
     const MeshState& state = _meshStates.at(meshIndex);

libraries/render-utils/src/Model.h

@@ -111,6 +111,7 @@ public:
     bool getSnapModelToRegistrationPoint() { return _snapModelToRegistrationPoint; }
 
     virtual void simulate(float deltaTime, bool fullUpdate = true);
+    void updateClusterMatrices();
 
     /// Returns a reference to the shared geometry.
     const QSharedPointer<NetworkGeometry>& getGeometry() const { return _geometry; }

libraries/script-engine/src/ScriptEngine.cpp

@@ -860,7 +860,14 @@ void ScriptEngine::include(const QStringList& includeFiles, QScriptValue callbac
     }
     QList<QUrl> urls;
     for (QString file : includeFiles) {
-        urls.append(resolvePath(file));
+        QUrl thisURL { resolvePath(file) };
+        if (!_includedURLs.contains(thisURL)) {
+            urls.append(thisURL);
+            _includedURLs << thisURL;
+        }
+        else {
+            qCDebug(scriptengine) << "Script.include() ignoring previously included url:" << thisURL;
+        }
     }
 
     BatchLoader* loader = new BatchLoader(urls);

libraries/script-engine/src/ScriptEngine.h

@@ -16,6 +16,7 @@
 
 #include <QtCore/QObject>
 #include <QtCore/QUrl>
+#include <QtCore/QSet>
 #include <QtCore/QWaitCondition>
 #include <QtScript/QScriptEngine>
 
@@ -152,6 +153,7 @@ protected:
     Sound* _avatarSound;
     int _numAvatarSoundSentBytes;
     bool _isAgent = false;
+    QSet<QUrl> _includedURLs;
     
 private:
     void stopAllTimers();

libraries/shared/src/GenericQueueThread.h

@@ -24,7 +24,7 @@ class GenericQueueThread : public GenericThread {
 public:
     using Queue = QQueue<T>;
     GenericQueueThread(QObject* parent = nullptr) 
-        : GenericThread(parent) {}
+        : GenericThread() {}
 
     virtual ~GenericQueueThread() {}
 

libraries/shared/src/GenericThread.cpp

@@ -14,8 +14,8 @@
 #include "GenericThread.h"
 
 
-GenericThread::GenericThread(QObject* parent) : 
+GenericThread::GenericThread() :
-    QObject(parent),
+    QObject(),
     _stopThread(false),
     _isThreaded(false) // assume non-threaded, must call initialize()
 {

libraries/shared/src/GenericThread.h

@@ -23,7 +23,7 @@
 class GenericThread : public QObject {
     Q_OBJECT
 public:
-    GenericThread(QObject* parent = nullptr);
+    GenericThread();
     virtual ~GenericThread();
 
     /// Call to start the thread.

tests/animation/src/AnimTests.cpp

@@ -127,21 +127,20 @@ void AnimTests::testClipEvaulateWithVars() {
 
 void AnimTests::testLoader() {
     auto url = QUrl("https://gist.githubusercontent.com/hyperlogic/857129fe04567cbe670f/raw/8ba57a8f0a76f88b39a11f77f8d9df04af9cec95/test.json");
+    // NOTE: This will warn about missing "test01.fbx", "test02.fbx", etc. if the resource loading code doesn't handle relative pathnames!
+    // However, the test will proceed.
     AnimNodeLoader loader(url);
 
     const int timeout = 1000;
     QEventLoop loop;
-    QTimer timer;
-    timer.setInterval(timeout);
-    timer.setSingleShot(true);
 
     AnimNode::Pointer node = nullptr;
     connect(&loader, &AnimNodeLoader::success, [&](AnimNode::Pointer nodeIn) { node = nodeIn; });
 
     loop.connect(&loader, SIGNAL(success(AnimNode::Pointer)), SLOT(quit()));
     loop.connect(&loader, SIGNAL(error(int, QString)), SLOT(quit()));
-    loop.connect(&timer, SIGNAL(timeout()), SLOT(quit()));
+    QTimer::singleShot(timeout, &loop, SLOT(quit()));
-    timer.start();
+
     loop.exec();
 
     QVERIFY((bool)node);
@@ -184,42 +183,58 @@ void AnimTests::testLoader() {
 
 void AnimTests::testVariant() {
     auto defaultVar = AnimVariant();
-    auto boolVar = AnimVariant(true);
+    auto boolVarTrue = AnimVariant(true);
-    auto intVar = AnimVariant(1);
+    auto boolVarFalse = AnimVariant(false);
-    auto floatVar = AnimVariant(1.0f);
+    auto intVarZero = AnimVariant(0);
-    auto vec3Var = AnimVariant(glm::vec3(1.0f, 2.0f, 3.0f));
+    auto intVarOne = AnimVariant(1);
-    auto quatVar = AnimVariant(glm::quat(1.0f, 2.0f, 3.0f, 4.0f));
+    auto intVarNegative = AnimVariant(-1);
+    auto floatVarZero = AnimVariant(0.0f);
+    auto floatVarOne = AnimVariant(1.0f);
+    auto floatVarNegative = AnimVariant(-1.0f);
+    auto vec3Var = AnimVariant(glm::vec3(1.0f, -2.0f, 3.0f));
+    auto quatVar = AnimVariant(glm::quat(1.0f, 2.0f, -3.0f, 4.0f));
     auto mat4Var = AnimVariant(glm::mat4(glm::vec4(1.0f, 2.0f, 3.0f, 4.0f),
-                                         glm::vec4(5.0f, 6.0f, 7.0f, 8.0f),
+                                         glm::vec4(5.0f, 6.0f, -7.0f, 8.0f),
                                          glm::vec4(9.0f, 10.0f, 11.0f, 12.0f),
                                          glm::vec4(13.0f, 14.0f, 15.0f, 16.0f)));
     QVERIFY(defaultVar.isBool());
     QVERIFY(defaultVar.getBool() == false);
 
-    QVERIFY(boolVar.isBool());
+    QVERIFY(boolVarTrue.isBool());
-    QVERIFY(boolVar.getBool() == true);
+    QVERIFY(boolVarTrue.getBool() == true);
+    QVERIFY(boolVarFalse.isBool());
+    QVERIFY(boolVarFalse.getBool() == false);
 
-    QVERIFY(intVar.isInt());
+    QVERIFY(intVarZero.isInt());
-    QVERIFY(intVar.getInt() == 1);
+    QVERIFY(intVarZero.getInt() == 0);
+    QVERIFY(intVarOne.isInt());
+    QVERIFY(intVarOne.getInt() == 1);
+    QVERIFY(intVarNegative.isInt());
+    QVERIFY(intVarNegative.getInt() == -1);
 
-    QVERIFY(floatVar.isFloat());
+    QVERIFY(floatVarZero.isFloat());
-    QVERIFY(floatVar.getFloat() == 1.0f);
+    QVERIFY(floatVarZero.getFloat() == 0.0f);
+    QVERIFY(floatVarOne.isFloat());
+    QVERIFY(floatVarOne.getFloat() == 1.0f);
+    QVERIFY(floatVarNegative.isFloat());
+    QVERIFY(floatVarNegative.getFloat() == -1.0f);
 
     QVERIFY(vec3Var.isVec3());
     auto v = vec3Var.getVec3();
     QVERIFY(v.x == 1.0f);
-    QVERIFY(v.y == 2.0f);
+    QVERIFY(v.y == -2.0f);
     QVERIFY(v.z == 3.0f);
 
     QVERIFY(quatVar.isQuat());
     auto q = quatVar.getQuat();
     QVERIFY(q.w == 1.0f);
     QVERIFY(q.x == 2.0f);
-    QVERIFY(q.y == 3.0f);
+    QVERIFY(q.y == -3.0f);
     QVERIFY(q.z == 4.0f);
 
     QVERIFY(mat4Var.isMat4());
     auto m = mat4Var.getMat4();
     QVERIFY(m[0].x == 1.0f);
+    QVERIFY(m[1].z == -7.0f);
     QVERIFY(m[3].w == 16.0f);
 }