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Merge pull request #11176 from hyperlogic/feature/improve-hand-body-collision

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Improve avatar hand vs body collision
This commit is contained in:
Anthony Thibault 2017-08-15 13:43:21 -07:00 committed by GitHub
commit 342f8acff5
11 changed files with 356 additions and 35 deletions
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2
interface/src/Menu.cpp
View file

@ -555,6 +555,8 @@ Menu::Menu() {
avatar.get(), SLOT(setEnableDebugDrawIKConstraints(bool)));
addCheckableActionToQMenuAndActionHash(avatarDebugMenu, MenuOption::RenderIKChains, 0, false,
avatar.get(), SLOT(setEnableDebugDrawIKChains(bool)));
addCheckableActionToQMenuAndActionHash(avatarDebugMenu, MenuOption::RenderDetailedCollision, 0, false,
avatar.get(), SLOT(setEnableDebugDrawDetailedCollision(bool)));
addCheckableActionToQMenuAndActionHash(avatarDebugMenu, MenuOption::ActionMotorControl,
Qt::CTRL | Qt::SHIFT | Qt::Key_K, true, avatar.get(), SLOT(updateMotionBehaviorFromMenu()),

1
interface/src/Menu.h
View file

@ -162,6 +162,7 @@ namespace MenuOption {
const QString RenderIKTargets = "Show IK Targets";
const QString RenderIKConstraints = "Show IK Constraints";
const QString RenderIKChains = "Show IK Chains";
const QString RenderDetailedCollision = "Show Detailed Collision";
const QString ResetAvatarSize = "Reset Avatar Size";
const QString ResetSensors = "Reset Sensors";
const QString RunningScripts = "Running Scripts...";

35
interface/src/avatar/MyAvatar.cpp
View file

@ -1060,6 +1060,10 @@ void MyAvatar::setEnableDebugDrawIKConstraints(bool isEnabled) {
_enableDebugDrawIKConstraints = isEnabled;
}
void MyAvatar::setEnableDebugDrawDetailedCollision(bool isEnabled) {
_enableDebugDrawDetailedCollision = isEnabled;
}
void MyAvatar::setEnableDebugDrawIKChains(bool isEnabled) {
_enableDebugDrawIKChains = isEnabled;
}
@ -1805,6 +1809,37 @@ void MyAvatar::postUpdate(float deltaTime) {
AnimPose postUpdateRoomPose(_sensorToWorldMatrix);
updateHoldActions(_prePhysicsRoomPose, postUpdateRoomPose);
if (_enableDebugDrawDetailedCollision) {
AnimPose rigToWorldPose(glm::vec3(1.0f), getRotation() * Quaternions::Y_180, getPosition());
const int NUM_DEBUG_COLORS = 8;
const glm::vec4 DEBUG_COLORS[NUM_DEBUG_COLORS] = {
glm::vec4(1.0f, 1.0f, 1.0f, 1.0f),
glm::vec4(1.0f, 0.0f, 0.0f, 1.0f),
glm::vec4(0.0f, 1.0f, 0.0f, 1.0f),
glm::vec4(0.25f, 0.25f, 1.0f, 1.0f),
glm::vec4(1.0f, 1.0f, 0.0f, 1.0f),
glm::vec4(0.25f, 1.0f, 1.0f, 1.0f),
glm::vec4(1.0f, 0.25f, 1.0f, 1.0f),
glm::vec4(1.0f, 0.65f, 0.0f, 1.0f) // Orange you glad I added this color?
};
if (_skeletonModel && _skeletonModel->isLoaded()) {
const Rig& rig = _skeletonModel->getRig();
const FBXGeometry& geometry = _skeletonModel->getFBXGeometry();
for (int i = 0; i < rig.getJointStateCount(); i++) {
AnimPose jointPose;
rig.getAbsoluteJointPoseInRigFrame(i, jointPose);
const FBXJointShapeInfo& shapeInfo = geometry.joints[i].shapeInfo;
const AnimPose pose = rigToWorldPose * jointPose;
for (size_t j = 0; j < shapeInfo.debugLines.size() / 2; j++) {
glm::vec3 pointA = pose.xformPoint(shapeInfo.debugLines[2 * j]);
glm::vec3 pointB = pose.xformPoint(shapeInfo.debugLines[2 * j + 1]);
DebugDraw::getInstance().drawRay(pointA, pointB, DEBUG_COLORS[i % NUM_DEBUG_COLORS]);
}
}
}
}
}
void MyAvatar::preDisplaySide(RenderArgs* renderArgs) {

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

@ -553,6 +553,7 @@ public slots:
void setEnableDebugDrawIKTargets(bool isEnabled);
void setEnableDebugDrawIKConstraints(bool isEnabled);
void setEnableDebugDrawIKChains(bool isEnabled);
void setEnableDebugDrawDetailedCollision(bool isEnabled);
bool getEnableMeshVisible() const { return _skeletonModel->isVisible(); }
void setEnableMeshVisible(bool isEnabled);
@ -757,6 +758,7 @@ private:
bool _enableDebugDrawIKTargets { false };
bool _enableDebugDrawIKConstraints { false };
bool _enableDebugDrawIKChains { false };
bool _enableDebugDrawDetailedCollision { false };
AudioListenerMode _audioListenerMode;
glm::vec3 _customListenPosition;

22
interface/src/avatar/MySkeletonModel.cpp
View file

@ -124,12 +124,26 @@ void MySkeletonModel::updateRig(float deltaTime, glm::mat4 parentTransform) {
}
}
params.bodyCapsuleRadius = myAvatar->getCharacterController()->getCapsuleRadius();
params.bodyCapsuleHalfHeight = myAvatar->getCharacterController()->getCapsuleHalfHeight();
params.bodyCapsuleLocalOffset = myAvatar->getCharacterController()->getCapsuleLocalOffset();
params.isTalking = head->getTimeWithoutTalking() <= 1.5f;
// pass detailed torso k-dops to rig.
int hipsJoint = _rig.indexOfJoint("Hips");
if (hipsJoint >= 0) {
params.hipsShapeInfo = geometry.joints[hipsJoint].shapeInfo;
}
int spineJoint = _rig.indexOfJoint("Spine");
if (spineJoint >= 0) {
params.spineShapeInfo = geometry.joints[spineJoint].shapeInfo;
}
int spine1Joint = _rig.indexOfJoint("Spine1");
if (spine1Joint >= 0) {
params.spine1ShapeInfo = geometry.joints[spine1Joint].shapeInfo;
}
int spine2Joint = _rig.indexOfJoint("Spine2");
if (spine2Joint >= 0) {
params.spine2ShapeInfo = geometry.joints[spine2Joint].shapeInfo;
}
_rig.updateFromControllerParameters(params, deltaTime);
Rig::CharacterControllerState ccState = convertCharacterControllerState(myAvatar->getCharacterController()->getState());

149
libraries/animation/src/Rig.cpp
View file

@ -1099,35 +1099,139 @@ void Rig::updateHead(bool headEnabled, bool hipsEnabled, const AnimPose& headPos
}
}
void Rig::updateHands(bool leftHandEnabled, bool rightHandEnabled, bool hipsEnabled, bool leftArmEnabled, bool rightArmEnabled, float dt,
const AnimPose& leftHandPose, const AnimPose& rightHandPose,
float bodyCapsuleRadius, float bodyCapsuleHalfHeight, const glm::vec3& bodyCapsuleLocalOffset) {
const float INV_SQRT_3 = 1.0f / sqrtf(3.0f);
const int DOP14_COUNT = 14;
const glm::vec3 DOP14_NORMALS[DOP14_COUNT] = {
Vectors::UNIT_X,
-Vectors::UNIT_X,
Vectors::UNIT_Y,
-Vectors::UNIT_Y,
Vectors::UNIT_Z,
-Vectors::UNIT_Z,
glm::vec3(INV_SQRT_3, INV_SQRT_3, INV_SQRT_3),
-glm::vec3(INV_SQRT_3, INV_SQRT_3, INV_SQRT_3),
glm::vec3(INV_SQRT_3, -INV_SQRT_3, INV_SQRT_3),
-glm::vec3(INV_SQRT_3, -INV_SQRT_3, INV_SQRT_3),
glm::vec3(INV_SQRT_3, INV_SQRT_3, -INV_SQRT_3),
-glm::vec3(INV_SQRT_3, INV_SQRT_3, -INV_SQRT_3),
glm::vec3(INV_SQRT_3, -INV_SQRT_3, -INV_SQRT_3),
-glm::vec3(INV_SQRT_3, -INV_SQRT_3, -INV_SQRT_3)
};
// Use this capsule to represent the avatar body.
int hipsIndex = indexOfJoint("Hips");
glm::vec3 hipsTrans;
if (hipsIndex >= 0) {
hipsTrans = _internalPoseSet._absolutePoses[hipsIndex].trans();
// returns true if the given point lies inside of the k-dop, specified by shapeInfo & shapePose.
// if the given point does lie within the k-dop, it also returns the amount of displacement necessary to push that point outward
// such that it lies on the surface of the kdop.
static bool findPointKDopDisplacement(const glm::vec3& point, const AnimPose& shapePose, const FBXJointShapeInfo& shapeInfo, glm::vec3& displacementOut) {
// transform point into local space of jointShape.
glm::vec3 localPoint = shapePose.inverse().xformPoint(point);
// Only works for 14-dop shape infos.
assert(shapeInfo.dots.size() == DOP14_COUNT);
if (shapeInfo.dots.size() != DOP14_COUNT) {
return false;
}
const glm::vec3 bodyCapsuleCenter = hipsTrans - bodyCapsuleLocalOffset;
const glm::vec3 bodyCapsuleStart = bodyCapsuleCenter - glm::vec3(0, bodyCapsuleHalfHeight, 0);
const glm::vec3 bodyCapsuleEnd = bodyCapsuleCenter + glm::vec3(0, bodyCapsuleHalfHeight, 0);
glm::vec3 minDisplacement(FLT_MAX);
float minDisplacementLen = FLT_MAX;
glm::vec3 p = localPoint - shapeInfo.avgPoint;
float pLen = glm::length(p);
if (pLen > 0.0f) {
int slabCount = 0;
for (int i = 0; i < DOP14_COUNT; i++) {
float dot = glm::dot(p, DOP14_NORMALS[i]);
if (dot > 0.0f && dot < shapeInfo.dots[i]) {
slabCount++;
float distToPlane = pLen * (shapeInfo.dots[i] / dot);
float displacementLen = distToPlane - pLen;
// keep track of the smallest displacement
if (displacementLen < minDisplacementLen) {
minDisplacementLen = displacementLen;
minDisplacement = (p / pLen) * displacementLen;
}
}
}
if (slabCount == (DOP14_COUNT / 2) && minDisplacementLen != FLT_MAX) {
// we are within the k-dop so push the point along the minimum displacement found
displacementOut = shapePose.xformVectorFast(minDisplacement);
return true;
} else {
// point is outside of kdop
return false;
}
} else {
// point is directly on top of shapeInfo.avgPoint.
// push the point out along the x axis.
displacementOut = shapePose.xformVectorFast(shapeInfo.points[0]);
return true;
}
}
glm::vec3 Rig::deflectHandFromTorso(const glm::vec3& handPosition, const FBXJointShapeInfo& hipsShapeInfo, const FBXJointShapeInfo& spineShapeInfo,
const FBXJointShapeInfo& spine1ShapeInfo, const FBXJointShapeInfo& spine2ShapeInfo) const {
glm::vec3 position = handPosition;
glm::vec3 displacement;
int hipsJoint = indexOfJoint("Hips");
if (hipsJoint >= 0) {
AnimPose hipsPose;
if (getAbsoluteJointPoseInRigFrame(hipsJoint, hipsPose)) {
if (findPointKDopDisplacement(position, hipsPose, hipsShapeInfo, displacement)) {
position += displacement;
}
}
}
int spineJoint = indexOfJoint("Spine");
if (spineJoint >= 0) {
AnimPose spinePose;
if (getAbsoluteJointPoseInRigFrame(spineJoint, spinePose)) {
if (findPointKDopDisplacement(position, spinePose, spineShapeInfo, displacement)) {
position += displacement;
}
}
}
int spine1Joint = indexOfJoint("Spine1");
if (spine1Joint >= 0) {
AnimPose spine1Pose;
if (getAbsoluteJointPoseInRigFrame(spine1Joint, spine1Pose)) {
if (findPointKDopDisplacement(position, spine1Pose, spine1ShapeInfo, displacement)) {
position += displacement;
}
}
}
int spine2Joint = indexOfJoint("Spine2");
if (spine2Joint >= 0) {
AnimPose spine2Pose;
if (getAbsoluteJointPoseInRigFrame(spine2Joint, spine2Pose)) {
if (findPointKDopDisplacement(position, spine2Pose, spine2ShapeInfo, displacement)) {
position += displacement;
}
}
}
return position;
}
void Rig::updateHands(bool leftHandEnabled, bool rightHandEnabled, bool hipsEnabled, bool leftArmEnabled, bool rightArmEnabled, float dt,
const AnimPose& leftHandPose, const AnimPose& rightHandPose,
const FBXJointShapeInfo& hipsShapeInfo, const FBXJointShapeInfo& spineShapeInfo,
const FBXJointShapeInfo& spine1ShapeInfo, const FBXJointShapeInfo& spine2ShapeInfo) {
const float HAND_RADIUS = 0.05f;
const float ELBOW_POLE_VECTOR_BLEND_FACTOR = 0.95f;
int hipsIndex = indexOfJoint("Hips");
if (leftHandEnabled) {
glm::vec3 handPosition = leftHandPose.trans();
glm::quat handRotation = leftHandPose.rot();
if (!hipsEnabled) {
// prevent the hand IK targets from intersecting the body capsule
glm::vec3 displacement;
if (findSphereCapsulePenetration(handPosition, HAND_RADIUS, bodyCapsuleStart, bodyCapsuleEnd, bodyCapsuleRadius, displacement)) {
handPosition -= displacement;
}
// prevent the hand IK targets from intersecting the torso
handPosition = deflectHandFromTorso(handPosition, hipsShapeInfo, spineShapeInfo, spine1ShapeInfo, spine2ShapeInfo);
}
_animVars.set("leftHandPosition", handPosition);
@ -1173,11 +1277,8 @@ void Rig::updateHands(bool leftHandEnabled, bool rightHandEnabled, bool hipsEnab
glm::quat handRotation = rightHandPose.rot();
if (!hipsEnabled) {
// prevent the hand IK targets from intersecting the body capsule
glm::vec3 displacement;
if (findSphereCapsulePenetration(handPosition, HAND_RADIUS, bodyCapsuleStart, bodyCapsuleEnd, bodyCapsuleRadius, displacement)) {
handPosition -= displacement;
}
// prevent the hand IK targets from intersecting the torso
handPosition = deflectHandFromTorso(handPosition, hipsShapeInfo, spineShapeInfo, spine1ShapeInfo, spine2ShapeInfo);
}
_animVars.set("rightHandPosition", handPosition);
@ -1414,7 +1515,7 @@ void Rig::updateFromControllerParameters(const ControllerParameters& params, flo
updateHands(leftHandEnabled, rightHandEnabled, hipsEnabled, leftArmEnabled, rightArmEnabled, dt,
params.primaryControllerPoses[PrimaryControllerType_LeftHand], params.primaryControllerPoses[PrimaryControllerType_RightHand],
params.bodyCapsuleRadius, params.bodyCapsuleHalfHeight, params.bodyCapsuleLocalOffset);
params.hipsShapeInfo, params.spineShapeInfo, params.spine1ShapeInfo, params.spine2ShapeInfo);
updateFeet(leftFootEnabled, rightFootEnabled,
params.primaryControllerPoses[PrimaryControllerType_LeftFoot], params.primaryControllerPoses[PrimaryControllerType_RightFoot]);
@ -1730,7 +1831,7 @@ void Rig::computeAvatarBoundingCapsule(
const FBXJointShapeInfo& shapeInfo = geometry.joints.at(index).shapeInfo;
AnimPose pose = finalPoses[index];
if (shapeInfo.points.size() > 0) {
for (int j = 0; j < shapeInfo.points.size(); ++j) {
for (size_t j = 0; j < shapeInfo.points.size(); ++j) {
totalExtents.addPoint((pose * shapeInfo.points[j]));
}
}

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

@ -75,9 +75,10 @@ public:
AnimPose secondaryControllerPoses[NumSecondaryControllerTypes]; // rig space
bool secondaryControllerActiveFlags[NumSecondaryControllerTypes];
bool isTalking;
float bodyCapsuleRadius;
float bodyCapsuleHalfHeight;
glm::vec3 bodyCapsuleLocalOffset;
FBXJointShapeInfo hipsShapeInfo;
FBXJointShapeInfo spineShapeInfo;
FBXJointShapeInfo spine1ShapeInfo;
FBXJointShapeInfo spine2ShapeInfo;
};
struct EyeParameters {
@ -249,7 +250,8 @@ protected:
void updateHead(bool headEnabled, bool hipsEnabled, const AnimPose& headMatrix);
void updateHands(bool leftHandEnabled, bool rightHandEnabled, bool hipsEnabled, bool leftArmEnabled, bool rightArmEnabled, float dt,
const AnimPose& leftHandPose, const AnimPose& rightHandPose,
float bodyCapsuleRadius, float bodyCapsuleHalfHeight, const glm::vec3& bodyCapsuleLocalOffset);
const FBXJointShapeInfo& hipsShapeInfo, const FBXJointShapeInfo& spineShapeInfo,
const FBXJointShapeInfo& spine1ShapeInfo, const FBXJointShapeInfo& spine2ShapeInfo);
void updateFeet(bool leftFootEnabled, bool rightFootEnabled, const AnimPose& leftFootPose, const AnimPose& rightFootPose);
void updateEyeJoint(int index, const glm::vec3& modelTranslation, const glm::quat& modelRotation, const glm::vec3& lookAt, const glm::vec3& saccade);
@ -257,6 +259,8 @@ protected:
glm::vec3 calculateElbowPoleVector(int handIndex, int elbowIndex, int armIndex, int hipsIndex, bool isLeft) const;
glm::vec3 calculateKneePoleVector(int footJointIndex, int kneeJoint, int upLegIndex, int hipsIndex, const AnimPose& targetFootPose) const;
glm::vec3 deflectHandFromTorso(const glm::vec3& handPosition, const FBXJointShapeInfo& hipsShapeInfo, const FBXJointShapeInfo& spineShapeInfo,
const FBXJointShapeInfo& spine1ShapeInfo, const FBXJointShapeInfo& spine2ShapeInfo) const;
AnimPose _modelOffset; // model to rig space
AnimPose _geometryOffset; // geometry to model space (includes unit offset & fst offsets)

8
libraries/fbx/src/FBXReader.cpp
View file

@ -1682,8 +1682,8 @@ FBXGeometry* FBXReader::extractFBXGeometry(const QVariantHash& mapping, const QS
int newIndex = it.value();
// remember vertices with at least 1/4 weight
const float EXPANSION_WEIGHT_THRESHOLD = 0.99f;
if (weight > EXPANSION_WEIGHT_THRESHOLD) {
const float EXPANSION_WEIGHT_THRESHOLD = 0.25f;
if (weight >= EXPANSION_WEIGHT_THRESHOLD) {
// transform to joint-frame and save for later
const glm::mat4 vertexTransform = meshToJoint * glm::translate(extracted.mesh.vertices.at(newIndex));
points.push_back(extractTranslation(vertexTransform) * clusterScale);
@ -1788,6 +1788,7 @@ FBXGeometry* FBXReader::extractFBXGeometry(const QVariantHash& mapping, const QS
avgPoint += points[j];
}
avgPoint /= (float)points.size();
joint.shapeInfo.avgPoint = avgPoint;
// compute a k-Dop bounding volume
for (uint32_t j = 0; j < cardinalDirections.size(); ++j) {
@ -1803,8 +1804,11 @@ FBXGeometry* FBXReader::extractFBXGeometry(const QVariantHash& mapping, const QS
}
}
joint.shapeInfo.points.push_back(avgPoint + maxDot * cardinalDirections[j]);
joint.shapeInfo.dots.push_back(maxDot);
joint.shapeInfo.points.push_back(avgPoint + minDot * cardinalDirections[j]);
joint.shapeInfo.dots.push_back(-minDot);
}
generateBoundryLinesForDop14(joint.shapeInfo.dots, joint.shapeInfo.avgPoint, joint.shapeInfo.debugLines);
}
}
geometry.palmDirection = parseVec3(mapping.value("palmDirection", "0, -1, 0").toString());

5
libraries/fbx/src/FBXReader.h
View file

@ -56,7 +56,10 @@ public:
struct FBXJointShapeInfo {
// same units and frame as FBXJoint.translation
QVector<glm::vec3> points;
glm::vec3 avgPoint;
std::vector<float> dots;
std::vector<glm::vec3> points;
std::vector<glm::vec3> debugLines;
};
/// A single joint (transformation node) extracted from an FBX document.

148
libraries/shared/src/GeometryUtil.cpp
View file

@ -17,6 +17,7 @@
#include <glm/gtx/quaternion.hpp>
#include "NumericalConstants.h"
#include "GLMHelpers.h"
glm::vec3 computeVectorFromPointToSegment(const glm::vec3& point, const glm::vec3& start, const glm::vec3& end) {
// compute the projection of the point vector onto the segment vector
@ -657,3 +658,150 @@ bool findPlaneFromPoints(const glm::vec3* points, size_t numPoints, glm::vec3& p
planeNormalOut = glm::normalize(dir);
return true;
}
bool findIntersectionOfThreePlanes(const glm::vec4& planeA, const glm::vec4& planeB, const glm::vec4& planeC, glm::vec3& intersectionPointOut) {
glm::vec3 normalA(planeA);
glm::vec3 normalB(planeB);
glm::vec3 normalC(planeC);
glm::vec3 u = glm::cross(normalB, normalC);
float denom = glm::dot(normalA, u);
if (fabsf(denom) < EPSILON) {
return false; // planes do not intersect in a point.
} else {
intersectionPointOut = (planeA.w * u + glm::cross(normalA, planeC.w * normalB - planeB.w * normalC)) / denom;
return true;
}
}
const float INV_SQRT_3 = 1.0f / sqrtf(3.0f);
const int DOP14_COUNT = 14;
const glm::vec3 DOP14_NORMALS[DOP14_COUNT] = {
Vectors::UNIT_X,
-Vectors::UNIT_X,
Vectors::UNIT_Y,
-Vectors::UNIT_Y,
Vectors::UNIT_Z,
-Vectors::UNIT_Z,
glm::vec3(INV_SQRT_3, INV_SQRT_3, INV_SQRT_3),
-glm::vec3(INV_SQRT_3, INV_SQRT_3, INV_SQRT_3),
glm::vec3(INV_SQRT_3, -INV_SQRT_3, INV_SQRT_3),
-glm::vec3(INV_SQRT_3, -INV_SQRT_3, INV_SQRT_3),
glm::vec3(INV_SQRT_3, INV_SQRT_3, -INV_SQRT_3),
-glm::vec3(INV_SQRT_3, INV_SQRT_3, -INV_SQRT_3),
glm::vec3(INV_SQRT_3, -INV_SQRT_3, -INV_SQRT_3),
-glm::vec3(INV_SQRT_3, -INV_SQRT_3, -INV_SQRT_3)
};
typedef std::tuple<int, int, int> Int3Tuple;
const std::tuple<int, int, int> DOP14_PLANE_COMBINATIONS[] = {
Int3Tuple(0, 2, 4), Int3Tuple(0, 2, 5), Int3Tuple(0, 2, 6), Int3Tuple(0, 2, 7), Int3Tuple(0, 2, 8), Int3Tuple(0, 2, 9), Int3Tuple(0, 2, 10), Int3Tuple(0, 2, 11), Int3Tuple(0, 2, 12), Int3Tuple(0, 2, 13),
Int3Tuple(0, 3, 4), Int3Tuple(0, 3, 5), Int3Tuple(0, 3, 6), Int3Tuple(0, 3, 7), Int3Tuple(0, 3, 8), Int3Tuple(0, 3, 9), Int3Tuple(0, 3, 10), Int3Tuple(0, 3, 11), Int3Tuple(0, 3, 12), Int3Tuple(0, 3, 13),
Int3Tuple(0, 4, 6), Int3Tuple(0, 4, 7), Int3Tuple(0, 4, 8), Int3Tuple(0, 4, 9), Int3Tuple(0, 4, 10), Int3Tuple(0, 4, 11), Int3Tuple(0, 4, 12), Int3Tuple(0, 4, 13),
Int3Tuple(0, 5, 6), Int3Tuple(0, 5, 7), Int3Tuple(0, 5, 8), Int3Tuple(0, 5, 9), Int3Tuple(0, 5, 10), Int3Tuple(0, 5, 11), Int3Tuple(0, 5, 12), Int3Tuple(0, 5, 13),
Int3Tuple(0, 6, 8), Int3Tuple(0, 6, 9), Int3Tuple(0, 6, 10), Int3Tuple(0, 6, 11), Int3Tuple(0, 6, 12), Int3Tuple(0, 6, 13),
Int3Tuple(0, 7, 8), Int3Tuple(0, 7, 9), Int3Tuple(0, 7, 10), Int3Tuple(0, 7, 11), Int3Tuple(0, 7, 12), Int3Tuple(0, 7, 13),
Int3Tuple(0, 8, 10), Int3Tuple(0, 8, 11), Int3Tuple(0, 8, 12), Int3Tuple(0, 8, 13), Int3Tuple(0, 9, 10),
Int3Tuple(0, 9, 11), Int3Tuple(0, 9, 12), Int3Tuple(0, 9, 13),
Int3Tuple(0, 10, 12), Int3Tuple(0, 10, 13),
Int3Tuple(0, 11, 12), Int3Tuple(0, 11, 13),
Int3Tuple(1, 2, 4), Int3Tuple(1, 2, 5), Int3Tuple(1, 2, 6), Int3Tuple(1, 2, 7), Int3Tuple(1, 2, 8), Int3Tuple(1, 2, 9), Int3Tuple(1, 2, 10), Int3Tuple(1, 2, 11), Int3Tuple(1, 2, 12), Int3Tuple(1, 2, 13),
Int3Tuple(1, 3, 4), Int3Tuple(1, 3, 5), Int3Tuple(1, 3, 6), Int3Tuple(1, 3, 7), Int3Tuple(1, 3, 8), Int3Tuple(1, 3, 9), Int3Tuple(1, 3, 10), Int3Tuple(1, 3, 11), Int3Tuple(1, 3, 12), Int3Tuple(1, 3, 13),
Int3Tuple(1, 4, 6), Int3Tuple(1, 4, 7), Int3Tuple(1, 4, 8), Int3Tuple(1, 4, 9), Int3Tuple(1, 4, 10), Int3Tuple(1, 4, 11), Int3Tuple(1, 4, 12), Int3Tuple(1, 4, 13),
Int3Tuple(1, 5, 6), Int3Tuple(1, 5, 7), Int3Tuple(1, 5, 8), Int3Tuple(1, 5, 9), Int3Tuple(1, 5, 10), Int3Tuple(1, 5, 11), Int3Tuple(1, 5, 12), Int3Tuple(1, 5, 13),
Int3Tuple(1, 6, 8), Int3Tuple(1, 6, 9), Int3Tuple(1, 6, 10), Int3Tuple(1, 6, 11), Int3Tuple(1, 6, 12), Int3Tuple(1, 6, 13),
Int3Tuple(1, 7, 8), Int3Tuple(1, 7, 9), Int3Tuple(1, 7, 10), Int3Tuple(1, 7, 11), Int3Tuple(1, 7, 12), Int3Tuple(1, 7, 13),
Int3Tuple(1, 8, 10), Int3Tuple(1, 8, 11), Int3Tuple(1, 8, 12), Int3Tuple(1, 8, 13),
Int3Tuple(1, 9, 10), Int3Tuple(1, 9, 11), Int3Tuple(1, 9, 12), Int3Tuple(1, 9, 13),
Int3Tuple(1, 10, 12), Int3Tuple(1, 10, 13),
Int3Tuple(1, 11, 12), Int3Tuple(1, 11, 13),
Int3Tuple(2, 4, 6), Int3Tuple(2, 4, 7), Int3Tuple(2, 4, 8), Int3Tuple(2, 4, 9), Int3Tuple(2, 4, 10), Int3Tuple(2, 4, 11), Int3Tuple(2, 4, 12), Int3Tuple(2, 4, 13),
Int3Tuple(2, 5, 6), Int3Tuple(2, 5, 7), Int3Tuple(2, 5, 8), Int3Tuple(2, 5, 9), Int3Tuple(2, 5, 10), Int3Tuple(2, 5, 11), Int3Tuple(2, 5, 12), Int3Tuple(2, 5, 13),
Int3Tuple(2, 6, 8), Int3Tuple(2, 6, 9), Int3Tuple(2, 6, 10), Int3Tuple(2, 6, 11), Int3Tuple(2, 6, 12), Int3Tuple(2, 6, 13),
Int3Tuple(2, 7, 8), Int3Tuple(2, 7, 9), Int3Tuple(2, 7, 10), Int3Tuple(2, 7, 11), Int3Tuple(2, 7, 12), Int3Tuple(2, 7, 13),
Int3Tuple(2, 8, 10), Int3Tuple(2, 8, 11), Int3Tuple(2, 8, 12), Int3Tuple(2, 8, 13),
Int3Tuple(2, 9, 10), Int3Tuple(2, 9, 11), Int3Tuple(2, 9, 12), Int3Tuple(2, 9, 13),
Int3Tuple(2, 10, 12), Int3Tuple(2, 10, 13),
Int3Tuple(2, 11, 12), Int3Tuple(2, 11, 13),
Int3Tuple(3, 4, 6), Int3Tuple(3, 4, 7), Int3Tuple(3, 4, 8), Int3Tuple(3, 4, 9), Int3Tuple(3, 4, 10), Int3Tuple(3, 4, 11), Int3Tuple(3, 4, 12), Int3Tuple(3, 4, 13),
Int3Tuple(3, 5, 6), Int3Tuple(3, 5, 7), Int3Tuple(3, 5, 8), Int3Tuple(3, 5, 9), Int3Tuple(3, 5, 10), Int3Tuple(3, 5, 11), Int3Tuple(3, 5, 12), Int3Tuple(3, 5, 13),
Int3Tuple(3, 6, 8), Int3Tuple(3, 6, 9), Int3Tuple(3, 6, 10), Int3Tuple(3, 6, 11), Int3Tuple(3, 6, 12), Int3Tuple(3, 6, 13),
Int3Tuple(3, 7, 8), Int3Tuple(3, 7, 9), Int3Tuple(3, 7, 10), Int3Tuple(3, 7, 11), Int3Tuple(3, 7, 12), Int3Tuple(3, 7, 13),
Int3Tuple(3, 8, 10), Int3Tuple(3, 8, 11), Int3Tuple(3, 8, 12), Int3Tuple(3, 8, 13),
Int3Tuple(3, 9, 10), Int3Tuple(3, 9, 11), Int3Tuple(3, 9, 12), Int3Tuple(3, 9, 13),
Int3Tuple(3, 10, 12), Int3Tuple(3, 10, 13),
Int3Tuple(3, 11, 12), Int3Tuple(3, 11, 13),
Int3Tuple(4, 6, 8), Int3Tuple(4, 6, 9), Int3Tuple(4, 6, 10), Int3Tuple(4, 6, 11), Int3Tuple(4, 6, 12), Int3Tuple(4, 6, 13),
Int3Tuple(4, 7, 8), Int3Tuple(4, 7, 9), Int3Tuple(4, 7, 10), Int3Tuple(4, 7, 11), Int3Tuple(4, 7, 12), Int3Tuple(4, 7, 13),
Int3Tuple(4, 8, 10), Int3Tuple(4, 8, 11), Int3Tuple(4, 8, 12), Int3Tuple(4, 8, 13),
Int3Tuple(4, 9, 10), Int3Tuple(4, 9, 11), Int3Tuple(4, 9, 12), Int3Tuple(4, 9, 13),
Int3Tuple(4, 10, 12), Int3Tuple(4, 10, 13),
Int3Tuple(4, 11, 12), Int3Tuple(4, 11, 13),
Int3Tuple(5, 6, 8), Int3Tuple(5, 6, 9), Int3Tuple(5, 6, 10), Int3Tuple(5, 6, 11), Int3Tuple(5, 6, 12), Int3Tuple(5, 6, 13),
Int3Tuple(5, 7, 8), Int3Tuple(5, 7, 9), Int3Tuple(5, 7, 10), Int3Tuple(5, 7, 11), Int3Tuple(5, 7, 12), Int3Tuple(5, 7, 13),
Int3Tuple(5, 8, 10), Int3Tuple(5, 8, 11), Int3Tuple(5, 8, 12), Int3Tuple(5, 8, 13),
Int3Tuple(5, 9, 10), Int3Tuple(5, 9, 11), Int3Tuple(5, 9, 12), Int3Tuple(5, 9, 13),
Int3Tuple(5, 10, 12), Int3Tuple(5, 10, 13),
Int3Tuple(5, 11, 12), Int3Tuple(5, 11, 13),
Int3Tuple(6, 8, 10), Int3Tuple(6, 8, 11), Int3Tuple(6, 8, 12), Int3Tuple(6, 8, 13),
Int3Tuple(6, 9, 10), Int3Tuple(6, 9, 11), Int3Tuple(6, 9, 12), Int3Tuple(6, 9, 13),
Int3Tuple(6, 10, 12), Int3Tuple(6, 10, 13),
Int3Tuple(6, 11, 12), Int3Tuple(6, 11, 13),
Int3Tuple(7, 8, 10), Int3Tuple(7, 8, 11), Int3Tuple(7, 8, 12), Int3Tuple(7, 8, 13),
Int3Tuple(7, 9, 10), Int3Tuple(7, 9, 11), Int3Tuple(7, 9, 12), Int3Tuple(7, 9, 13),
Int3Tuple(7, 10, 12), Int3Tuple(7, 10, 13),
Int3Tuple(7, 11, 12), Int3Tuple(7, 11, 13),
Int3Tuple(8, 10, 12), Int3Tuple(8, 10, 13),
Int3Tuple(8, 11, 12), Int3Tuple(8, 11, 13),
Int3Tuple(9, 10, 12), Int3Tuple(9, 10, 13),
Int3Tuple(9, 11, 12), Int3Tuple(9, 11, 13)
};
void generateBoundryLinesForDop14(const std::vector<float>& dots, const glm::vec3& center, std::vector<glm::vec3>& linesOut) {
if (dots.size() != DOP14_COUNT) {
return;
}
// iterate over all purmutations of non-parallel planes.
// find all the vertices that lie on the surface of the k-dop
std::vector<glm::vec3> vertices;
for (auto& tuple : DOP14_PLANE_COMBINATIONS) {
int i = std::get<0>(tuple);
int j = std::get<1>(tuple);
int k = std::get<2>(tuple);
glm::vec4 planeA(DOP14_NORMALS[i], dots[i]);
glm::vec4 planeB(DOP14_NORMALS[j], dots[j]);
glm::vec4 planeC(DOP14_NORMALS[k], dots[k]);
glm::vec3 intersectionPoint;
const float IN_FRONT_MARGIN = 0.01f;
if (findIntersectionOfThreePlanes(planeA, planeB, planeC, intersectionPoint)) {
bool inFront = false;
for (int p = 0; p < DOP14_COUNT; p++) {
if (glm::dot(DOP14_NORMALS[p], intersectionPoint) > dots[p] + IN_FRONT_MARGIN) {
inFront = true;
}
}
if (!inFront) {
vertices.push_back(intersectionPoint);
}
}
}
// build a set of lines between these vertices, that also lie on the surface of the k-dop.
for (size_t i = 0; i < vertices.size(); i++) {
for (size_t j = i; j < vertices.size(); j++) {
glm::vec3 midPoint = (vertices[i] + vertices[j]) * 0.5f;
int onSurfaceCount = 0;
const float SURFACE_MARGIN = 0.01f;
for (int p = 0; p < DOP14_COUNT; p++) {
float d = glm::dot(DOP14_NORMALS[p], midPoint);
if (d > dots[p] - SURFACE_MARGIN && d < dots[p] + SURFACE_MARGIN) {
onSurfaceCount++;
}
}
if (onSurfaceCount > 1) {
linesOut.push_back(vertices[i] + center);
linesOut.push_back(vertices[j] + center);
}
}
}
}

7
libraries/shared/src/GeometryUtil.h
View file

@ -13,6 +13,7 @@
#define hifi_GeometryUtil_h
#include <glm/glm.hpp>
#include <vector>
glm::vec3 computeVectorFromPointToSegment(const glm::vec3& point, const glm::vec3& start, const glm::vec3& end);
@ -166,4 +167,10 @@ private:
// given a set of points, compute a best fit plane that passes as close as possible through all the points.
bool findPlaneFromPoints(const glm::vec3* points, size_t numPoints, glm::vec3& planeNormalOut, glm::vec3& pointOnPlaneOut);
// plane equation is specified by ax + by + cz + d = 0.
// the coefficents are passed in as a vec4. (a, b, c, d)
bool findIntersectionOfThreePlanes(const glm::vec4& planeA, const glm::vec4& planeB, const glm::vec4& planeC, glm::vec3& intersectionPointOut);
void generateBoundryLinesForDop14(const std::vector<float>& dots, const glm::vec3& center, std::vector<glm::vec3>& linesOut);
#endif // hifi_GeometryUtil_h