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added 'isCollidable' to avatar bone so that some bones do not collide (for handshaking)

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Jeffrey Ventrella 2013-04-29 10:38:29 -07:00
parent caac600030
commit 4e4521325d
2 changed files with 51 additions and 39 deletions
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87
interface/src/Avatar.cpp
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@ -539,21 +539,23 @@ void Avatar::updateCollisionWithSphere( glm::vec3 position, float radius, float
float distanceToBigSphere = glm::length(vectorFromMyBodyToBigSphere);
if ( distanceToBigSphere < myBodyApproximateBoundingRadius + radius ) {
for (int b = 0; b < NUM_AVATAR_BONES; b++) {
glm::vec3 vectorFromJointToBigSphereCenter(_bone[b].springyPosition - position);
float distanceToBigSphereCenter = glm::length(vectorFromJointToBigSphereCenter);
float combinedRadius = _bone[b].radius + radius;
if ( distanceToBigSphereCenter < combinedRadius ) {
jointCollision = true;
if (distanceToBigSphereCenter > 0.0) {
glm::vec3 directionVector = vectorFromJointToBigSphereCenter / distanceToBigSphereCenter;
float penetration = 1.0 - (distanceToBigSphereCenter / combinedRadius);
glm::vec3 collisionForce = vectorFromJointToBigSphereCenter * penetration;
_bone[b].springyVelocity += collisionForce * 30.0f * deltaTime;
_velocity += collisionForce * 100.0f * deltaTime;
_bone[b].springyPosition = position + directionVector * combinedRadius;
if ( _bone[b].isCollidable ) {
glm::vec3 vectorFromJointToBigSphereCenter(_bone[b].springyPosition - position);
float distanceToBigSphereCenter = glm::length(vectorFromJointToBigSphereCenter);
float combinedRadius = _bone[b].radius + radius;
if ( distanceToBigSphereCenter < combinedRadius ) {
jointCollision = true;
if (distanceToBigSphereCenter > 0.0) {
glm::vec3 directionVector = vectorFromJointToBigSphereCenter / distanceToBigSphereCenter;
float penetration = 1.0 - (distanceToBigSphereCenter / combinedRadius);
glm::vec3 collisionForce = vectorFromJointToBigSphereCenter * penetration;
_bone[b].springyVelocity += collisionForce * 30.0f * deltaTime;
_velocity += collisionForce * 100.0f * deltaTime;
_bone[b].springyPosition = position + directionVector * combinedRadius;
}
}
}
}
@ -577,27 +579,32 @@ void Avatar::updateCollisionWithOtherAvatar( Avatar * otherAvatar, float deltaTi
// loop through the bones of each avatar to check for every possible collision
for (int b=1; b<NUM_AVATAR_BONES; b++) {
for (int o=b+1; o<NUM_AVATAR_BONES; o++) {
if ( _bone[b].isCollidable ) {
for (int o=b+1; o<NUM_AVATAR_BONES; o++) {
if ( _bone[o].isCollidable ) {
glm::vec3 vectorBetweenJoints(_bone[b].springyPosition - otherAvatar->_bone[o].springyPosition);
float distanceBetweenJoints = glm::length(vectorBetweenJoints);
glm::vec3 vectorBetweenJoints(_bone[b].springyPosition - otherAvatar->_bone[o].springyPosition);
float distanceBetweenJoints = glm::length(vectorBetweenJoints);
// to avoid divide by zero
if ( distanceBetweenJoints > 0.0 ) {
float combinedRadius = _bone[b].radius + otherAvatar->_bone[o].radius;
// to avoid divide by zero
if ( distanceBetweenJoints > 0.0 ) {
float combinedRadius = _bone[b].radius + otherAvatar->_bone[o].radius;
// check for collision
if ( distanceBetweenJoints < combinedRadius * COLLISION_RADIUS_SCALAR) {
glm::vec3 directionVector = vectorBetweenJoints / distanceBetweenJoints;
// check for collision
if ( distanceBetweenJoints < combinedRadius * COLLISION_RADIUS_SCALAR) {
glm::vec3 directionVector = vectorBetweenJoints / distanceBetweenJoints;
// push ball away from colliding other ball and puch avatar body (_velocity) as well
_bone[b].springyVelocity += directionVector * COLLISION_BALL_FORCE * deltaTime;
_velocity += directionVector * COLLISION_BODY_FORCE * deltaTime;
// apply fruction to _velocity
float momentum = 1.0 - COLLISION_FRICTION * deltaTime;
if ( momentum < 0.0 ) { momentum = 0.0;}
_velocity *= momentum;
// push ball away from colliding other ball and puch avatar body (_velocity) as well
_bone[b].springyVelocity += directionVector * COLLISION_BALL_FORCE * deltaTime;
_velocity += directionVector * COLLISION_BODY_FORCE * deltaTime;
// apply fruction to _velocity
float momentum = 1.0 - COLLISION_FRICTION * deltaTime;
if ( momentum < 0.0 ) { momentum = 0.0;}
_velocity *= momentum;
}
}
}
}
}
@ -872,6 +879,7 @@ AvatarMode Avatar::getMode() {
void Avatar::initializeSkeleton() {
for (int b=0; b<NUM_AVATAR_BONES; b++) {
_bone[b].isCollidable = true;
_bone[b].parent = AVATAR_BONE_NULL;
_bone[b].position = glm::vec3( 0.0, 0.0, 0.0 );
_bone[b].defaultPosePosition = glm::vec3( 0.0, 0.0, 0.0 );
@ -887,9 +895,7 @@ void Avatar::initializeSkeleton() {
_bone[b].orientation.setToIdentity();
}
//----------------------------------------------------------------------------
// parental hierarchy
//----------------------------------------------------------------------------
// specify the parental hierarchy
_bone[ AVATAR_BONE_PELVIS_SPINE ].parent = AVATAR_BONE_NULL;
_bone[ AVATAR_BONE_MID_SPINE ].parent = AVATAR_BONE_PELVIS_SPINE;
_bone[ AVATAR_BONE_CHEST_SPINE ].parent = AVATAR_BONE_MID_SPINE;
@ -939,7 +945,7 @@ void Avatar::initializeSkeleton() {
_bone[ AVATAR_BONE_RIGHT_SHIN ].defaultPosePosition = glm::vec3( 0.0, -0.15, 0.0 );
_bone[ AVATAR_BONE_RIGHT_FOOT ].defaultPosePosition = glm::vec3( 0.0, 0.0, 0.04 );
// specify the radii of the bone positions
_bone[ AVATAR_BONE_PELVIS_SPINE ].radius = 0.05;
_bone[ AVATAR_BONE_MID_SPINE ].radius = 0.06;
_bone[ AVATAR_BONE_CHEST_SPINE ].radius = 0.03;
@ -963,7 +969,12 @@ void Avatar::initializeSkeleton() {
_bone[ AVATAR_BONE_RIGHT_THIGH ].radius = 0.02;
_bone[ AVATAR_BONE_RIGHT_SHIN ].radius = 0.015;
_bone[ AVATAR_BONE_RIGHT_FOOT ].radius = 0.02;
// to aid in hand-shaking and hand-holding, the right hand is not collidable
_bone[ AVATAR_BONE_RIGHT_UPPER_ARM ].isCollidable = false;
_bone[ AVATAR_BONE_RIGHT_FOREARM ].isCollidable = false;
_bone[ AVATAR_BONE_RIGHT_HAND ].isCollidable = false;
// calculate bone length
calculateBoneLengths();

3
interface/src/Avatar.h
View file

@ -112,7 +112,7 @@ enum AvatarBoneID
struct AvatarBone
{
AvatarBoneID parent; // which bone is this bone connected to?
glm::vec3 position; // the position at the "end" of the bone
glm::vec3 position; // the position at the "end" of the bone - in global space
glm::vec3 defaultPosePosition; // the parent relative position when the avatar is in the "T-pose"
glm::vec3 springyPosition; // used for special effects (a 'flexible' variant of position)
glm::vec3 springyVelocity; // used for special effects ( the velocity of the springy position)
@ -124,6 +124,7 @@ struct AvatarBone
Orientation orientation; // three orthogonal normals determined by yaw, pitch, roll
float length; // the length of the bone
float radius; // used for detecting collisions for certain physical effects
bool isCollidable; // when false, the bone position will not register a collision
};
struct AvatarHead