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

examples/editModels.js

@@ -76,38 +76,42 @@ function controller(wichSide) {
     this.oldModelRadius;
     
     this.laser = Overlays.addOverlay("line3d", {
-                                     position: this.palmPosition,
+                                     position: { x: 0, y: 0, z: 0 },
-                                     end: this.tipPosition,
+                                     end: { x: 0, y: 0, z: 0 },
                                      color: LASER_COLOR,
                                      alpha: 1,
                                      visible: false,
-                                     lineWidth: LASER_WIDTH
+                                     lineWidth: LASER_WIDTH,
+                                     anchor: "MyAvatar"
                                      });
     
     this.guideScale = 0.02;
     this.ball = Overlays.addOverlay("sphere", {
-                                    position: this.palmPosition,
+                                    position: { x: 0, y: 0, z: 0 },
                                     size: this.guideScale,
                                     solid: true,
                                     color: { red: 0, green: 255, blue: 0 },
                                     alpha: 1,
                                     visible: false,
+                                    anchor: "MyAvatar"
                                     });
     this.leftRight = Overlays.addOverlay("line3d", {
-                                         position: this.palmPosition,
+                                         position: { x: 0, y: 0, z: 0 },
-                                         end: this.tipPosition,
+                                         end: { x: 0, y: 0, z: 0 },
                                          color: { red: 0, green: 0, blue: 255 },
                                          alpha: 1,
                                          visible: false,
-                                         lineWidth: LASER_WIDTH
+                                         lineWidth: LASER_WIDTH,
+                                         anchor: "MyAvatar"
                                          });
     this.topDown = Overlays.addOverlay("line3d", {
-                                       position: this.palmPosition,
+                                       position: { x: 0, y: 0, z: 0 },
-                                       end: this.tipPosition,
+                                       end: { x: 0, y: 0, z: 0 },
                                        color: { red: 0, green: 0, blue: 255 },
                                        alpha: 1,
                                        visible: false,
-                                       lineWidth: LASER_WIDTH
+                                       lineWidth: LASER_WIDTH,
+                                       anchor: "MyAvatar"
                                        });
     
 
@@ -170,10 +174,11 @@ function controller(wichSide) {
     }
     
     this.moveLaser = function () {
-        var endPosition = Vec3.sum(this.palmPosition, Vec3.multiply(this.front, LASER_LENGTH_FACTOR));
+        var startPosition = Vec3.subtract(this.palmPosition, MyAvatar.position);
+        var endPosition = Vec3.sum(startPosition, Vec3.multiply(this.front, LASER_LENGTH_FACTOR));
         
         Overlays.editOverlay(this.laser, {
-                             position: this.palmPosition,
+                             position: startPosition,
                              end: endPosition,
                              visible: true
                              });
@@ -219,11 +224,11 @@ function controller(wichSide) {
                              position: newPosition,
                              modelRotation: newRotation
                              });
-            print("Moving " + this.modelID.id);
+//            print("Moving " + this.modelID.id);
 //            Vec3.print("Old Position: ", this.oldModelPosition);
 //            Vec3.print("Sav Position: ", newPosition);
-            Quat.print("Old Rotation: ", this.oldModelRotation);
+//            Quat.print("Old Rotation: ", this.oldModelRotation);
-            Quat.print("New Rotation: ", newRotation);
+//            Quat.print("New Rotation: ", newRotation);
             
             this.oldModelRotation = newRotation;
             this.oldModelPosition = newPosition;
@@ -301,7 +306,7 @@ var rightController = new controller(RIGHT);
 
 function moveModels() {
     if (leftController.grabbing && rightController.grabbing && rightController.modelID.id == leftController.modelID.id) {
-        print("Both controllers");
+        //print("Both controllers");
         var oldLeftPoint = Vec3.sum(leftController.oldPalmPosition, Vec3.multiply(leftController.oldFront, leftController.x));
         var oldRightPoint = Vec3.sum(rightController.oldPalmPosition, Vec3.multiply(rightController.oldFront, rightController.x));
         
@@ -319,7 +324,7 @@ function moveModels() {
         
         var newPosition = Vec3.sum(middle,
                                    Vec3.multiply(Vec3.subtract(leftController.oldModelPosition, oldMiddle), ratio));
-        Vec3.print("Ratio : " + ratio + " New position: ", newPosition);
+        //Vec3.print("Ratio : " + ratio + " New position: ", newPosition);
         var rotation = Quat.multiply(leftController.rotation,
                                      Quat.inverse(leftController.oldRotation));
         rotation = Quat.multiply(rotation, leftController.oldModelRotation);

interface/resources/shaders/model.frag

@@ -24,7 +24,7 @@ void main(void) {
         gl_FrontLightProduct[0].diffuse * max(0.0, dot(normalizedNormal, gl_LightSource[0].position)));
 
     // compute the specular component (sans exponent)
-    float specular = max(0.0, dot(normalize(gl_LightSource[0].position + vec4(0.0, 0.0, 1.0, 0.0)), normalizedNormal));
+    float specular = max(0.0, dot(gl_LightSource[0].position, normalizedNormal));
     
     // modulate texture by base color and add specular contribution
     gl_FragColor = base * texture2D(diffuseMap, gl_TexCoord[0].st) +

interface/resources/shaders/model_normal_map.frag

@@ -36,7 +36,7 @@ void main(void) {
         gl_FrontLightProduct[0].diffuse * max(0.0, dot(viewNormal, gl_LightSource[0].position)));
 
     // compute the specular component (sans exponent)
-    float specular = max(0.0, dot(normalize(gl_LightSource[0].position + vec4(0.0, 0.0, 1.0, 0.0)), viewNormal));
+    float specular = max(0.0, dot(gl_LightSource[0].position, viewNormal));
     
     // modulate texture by base color and add specular contribution
     gl_FragColor = base * texture2D(diffuseMap, gl_TexCoord[0].st) +

interface/resources/shaders/model_normal_specular_map.frag

@@ -39,7 +39,7 @@ void main(void) {
         gl_FrontLightProduct[0].diffuse * max(0.0, dot(viewNormal, gl_LightSource[0].position)));
 
     // compute the specular component (sans exponent)
-    float specular = max(0.0, dot(normalize(gl_LightSource[0].position + vec4(0.0, 0.0, 1.0, 0.0)), viewNormal));
+    float specular = max(0.0, dot(gl_LightSource[0].position, viewNormal));
     
     // modulate texture by base color and add specular contribution
     gl_FragColor = base * texture2D(diffuseMap, gl_TexCoord[0].st) + vec4(pow(specular, gl_FrontMaterial.shininess) *

interface/resources/shaders/model_specular_map.frag

@@ -27,7 +27,7 @@ void main(void) {
         gl_FrontLightProduct[0].diffuse * max(0.0, dot(normalizedNormal, gl_LightSource[0].position)));
 
     // compute the specular component (sans exponent)
-    float specular = max(0.0, dot(normalize(gl_LightSource[0].position + vec4(0.0, 0.0, 1.0, 0.0)), normalizedNormal));
+    float specular = max(0.0, dot(gl_LightSource[0].position, normalizedNormal));
     
     // modulate texture by base color and add specular contribution
     gl_FragColor = base * texture2D(diffuseMap, gl_TexCoord[0].st) + vec4(pow(specular, gl_FrontMaterial.shininess) *

interface/src/Menu.cpp

@@ -331,7 +331,7 @@ Menu::Menu() :
 #endif
 
 #ifdef HAVE_VISAGE
-    addCheckableActionToQMenuAndActionHash(avatarOptionsMenu, MenuOption::Visage, 0, true,
+    addCheckableActionToQMenuAndActionHash(avatarOptionsMenu, MenuOption::Visage, 0, false,
         appInstance->getVisage(), SLOT(updateEnabled()));
 #endif
 
@@ -351,6 +351,7 @@ Menu::Menu() :
     addCheckableActionToQMenuAndActionHash(handOptionsMenu, MenuOption::HandsCollideWithSelf, 0, false);
     addCheckableActionToQMenuAndActionHash(handOptionsMenu, MenuOption::ShowIKConstraints, 0, false);
     addCheckableActionToQMenuAndActionHash(handOptionsMenu, MenuOption::AlignForearmsWithWrists, 0, true);
+    addCheckableActionToQMenuAndActionHash(handOptionsMenu, MenuOption::AlternateIK, 0, false);
 
     addDisabledActionAndSeparator(developerMenu, "Testing");
 

interface/src/Menu.h

@@ -267,6 +267,7 @@ private:
 namespace MenuOption {
     const QString AboutApp = "About Interface";
     const QString AlignForearmsWithWrists = "Align Forearms with Wrists";
+    const QString AlternateIK = "Alternate IK";
     const QString AmbientOcclusion = "Ambient Occlusion";
     const QString Atmosphere = "Atmosphere";
     const QString Attachments = "Attachments...";

interface/src/avatar/SkeletonModel.cpp

@@ -164,7 +164,8 @@ void SkeletonModel::applyPalmData(int jointIndex, PalmData& palm) {
     
     // rotate palm to align with its normal (normal points out of hand's palm)
     glm::quat palmRotation;
-    if (Menu::getInstance()->isOptionChecked(MenuOption::AlignForearmsWithWrists)) {
+    if (!Menu::getInstance()->isOptionChecked(MenuOption::AlternateIK) &&
+            Menu::getInstance()->isOptionChecked(MenuOption::AlignForearmsWithWrists)) {
         getJointRotation(parentJointIndex, palmRotation, true);
     } else {
         getJointRotation(jointIndex, palmRotation, true);
@@ -176,7 +177,10 @@ void SkeletonModel::applyPalmData(int jointIndex, PalmData& palm) {
     palmRotation = rotationBetween(palmRotation * glm::vec3(-sign, 0.0f, 0.0f), direction) * palmRotation;
 
     // set hand position, rotation
-    if (Menu::getInstance()->isOptionChecked(MenuOption::AlignForearmsWithWrists)) {
+    if (Menu::getInstance()->isOptionChecked(MenuOption::AlternateIK)) {
+        setHandPosition(jointIndex, palm.getPosition(), palmRotation);  
+        
+    } else if (Menu::getInstance()->isOptionChecked(MenuOption::AlignForearmsWithWrists)) {
         glm::vec3 forearmVector = palmRotation * glm::vec3(sign, 0.0f, 0.0f);
         setJointPosition(parentJointIndex, palm.getPosition() + forearmVector *
             geometry.joints.at(jointIndex).distanceToParent * extractUniformScale(_scale));
@@ -276,3 +280,68 @@ void SkeletonModel::renderJointConstraints(int jointIndex) {
     glLineWidth(1.0f);
 }
 
+void SkeletonModel::setHandPosition(int jointIndex, const glm::vec3& position, const glm::quat& rotation) {
+    // this algorithm is from sample code from sixense
+    const FBXGeometry& geometry = _geometry->getFBXGeometry();
+    int elbowJointIndex = geometry.joints.at(jointIndex).parentIndex;
+    if (elbowJointIndex == -1) {
+        return;
+    }
+    int shoulderJointIndex = geometry.joints.at(elbowJointIndex).parentIndex;
+    glm::vec3 shoulderPosition;
+    if (!getJointPosition(shoulderJointIndex, shoulderPosition)) {
+        return;
+    }
+    // precomputed lengths
+    float scale = extractUniformScale(_scale);
+    float upperArmLength = geometry.joints.at(elbowJointIndex).distanceToParent * scale;
+    float lowerArmLength = geometry.joints.at(jointIndex).distanceToParent * scale;
+    
+    // first set wrist position
+    glm::vec3 wristPosition = position;
+    
+    glm::vec3 shoulderToWrist = wristPosition - shoulderPosition;
+    float distanceToWrist = glm::length(shoulderToWrist);
+    
+    // prevent gimbal lock
+    if (distanceToWrist > upperArmLength + lowerArmLength - EPSILON) {
+        distanceToWrist = upperArmLength + lowerArmLength - EPSILON;
+        shoulderToWrist = glm::normalize(shoulderToWrist) * distanceToWrist;
+        wristPosition = shoulderPosition + shoulderToWrist;
+    }
+    
+    // cosine of angle from upper arm to hand vector 
+    float cosA = (upperArmLength * upperArmLength + distanceToWrist * distanceToWrist - lowerArmLength * lowerArmLength) / 
+        (2 * upperArmLength * distanceToWrist);
+    float mid = upperArmLength * cosA;
+    float height = sqrt(upperArmLength * upperArmLength + mid * mid - 2 * upperArmLength * mid * cosA);
+    
+    // direction of the elbow
+    glm::vec3 handNormal = glm::cross(rotation * glm::vec3(0.0f, 1.0f, 0.0f), shoulderToWrist); // elbow rotating with wrist
+    glm::vec3 relaxedNormal = glm::cross(glm::vec3(0.0f, 1.0f, 0.0f), shoulderToWrist); // elbow pointing straight down
+    const float NORMAL_WEIGHT = 0.5f;
+    glm::vec3 finalNormal = glm::mix(relaxedNormal, handNormal, NORMAL_WEIGHT);
+    
+    bool rightHand = (jointIndex == geometry.rightHandJointIndex);
+    if (rightHand ? (finalNormal.y > 0.0f) : (finalNormal.y < 0.0f)) {
+        finalNormal.y = 0.0f; // dont allow elbows to point inward (y is vertical axis)
+    }
+    
+    glm::vec3 tangent = glm::normalize(glm::cross(shoulderToWrist, finalNormal));
+    
+    // ik solution
+    glm::vec3 elbowPosition = shoulderPosition + glm::normalize(shoulderToWrist) * mid - tangent * height;
+    
+    glm::vec3 forwardVector(rightHand ? -1.0f : 1.0f, 0.0f, 0.0f);
+    
+    glm::quat shoulderRotation;
+    getJointRotation(shoulderJointIndex, shoulderRotation, true);
+    applyRotationDelta(shoulderJointIndex, rotationBetween(shoulderRotation * forwardVector, elbowPosition - shoulderPosition), false);
+    
+    glm::quat elbowRotation;
+    getJointRotation(elbowJointIndex, elbowRotation, true);
+    applyRotationDelta(elbowJointIndex, rotationBetween(elbowRotation * forwardVector, wristPosition - elbowPosition), false);
+    
+    setJointRotation(jointIndex, rotation, true);
+}
+

interface/src/avatar/SkeletonModel.h

@@ -51,6 +51,7 @@ protected:
 private:
 
     void renderJointConstraints(int jointIndex);
+    void setHandPosition(int jointIndex, const glm::vec3& position, const glm::quat& rotation);
     
     Avatar* _owningAvatar;
 };

interface/src/ui/overlays/Overlay.cpp

@@ -23,7 +23,8 @@ Overlay::Overlay() :
     _parent(NULL),
     _alpha(DEFAULT_ALPHA),
     _color(DEFAULT_BACKGROUND_COLOR),
-    _visible(true)
+    _visible(true),
+    _anchor(NO_ANCHOR)
 {
 }
 
@@ -51,8 +52,15 @@ void Overlay::setProperties(const QScriptValue& properties) {
     if (properties.property("alpha").isValid()) {
         setAlpha(properties.property("alpha").toVariant().toFloat());
     }
-
+    
     if (properties.property("visible").isValid()) {
         setVisible(properties.property("visible").toVariant().toBool());
     }
+    
+    if (properties.property("anchor").isValid()) {
+        QString property = properties.property("anchor").toVariant().toString();
+        if (property == "MyAvatar") {
+            setAnchor(MY_AVATAR);
+        }
+    }
 }

interface/src/ui/overlays/Overlay.h

@@ -28,6 +28,11 @@ class Overlay : public QObject {
     Q_OBJECT
     
 public:
+    enum Anchor {
+        NO_ANCHOR,
+        MY_AVATAR
+    };
+    
     Overlay();
     ~Overlay();
     void init(QGLWidget* parent);
@@ -38,11 +43,13 @@ public:
     bool getVisible() const { return _visible; }
     const xColor& getColor() const { return _color; }
     float getAlpha() const { return _alpha; }
+    Anchor getAnchor() const { return _anchor; }
 
     // setters
     void setVisible(bool visible) { _visible = visible; }
     void setColor(const xColor& color) { _color = color; }
     void setAlpha(float alpha) { _alpha = alpha; }
+    void setAnchor(Anchor anchor) { _anchor = anchor; }
 
     virtual void setProperties(const QScriptValue& properties);
 
@@ -51,6 +58,7 @@ protected:
     float _alpha;
     xColor _color;
     bool _visible; // should the overlay be drawn at all
+    Anchor _anchor;
 };
 
  

interface/src/ui/overlays/Overlays.cpp

@@ -8,6 +8,7 @@
 //  See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
 //
 
+#include <Application.h>
 
 #include "Cube3DOverlay.h"
 #include "ImageOverlay.h"
@@ -57,8 +58,19 @@ void Overlays::render2D() {
 }
 
 void Overlays::render3D() {
+    glm::vec3 myAvatarPosition = Application::getInstance()->getAvatar()->getPosition();
+    
     foreach(Overlay* thisOverlay, _overlays3D) {
+        glPushMatrix();
+        switch (thisOverlay->getAnchor()) {
+            case Overlay::MY_AVATAR:
+                glTranslatef(myAvatarPosition.x, myAvatarPosition.y, myAvatarPosition.z);
+                break;
+            default:
+                break;
+        }
         thisOverlay->render();
+        glPopMatrix();
     }
 }