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avatar follows HMD using velocity motor

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This commit is contained in:
Andrew Meadows 2016-09-20 08:29:02 -07:00
parent a8af8d6027
commit 59e6ca8f8d
3 changed files with 38 additions and 77 deletions
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4
interface/src/avatar/MyAvatar.cpp
View file

@ -1387,9 +1387,7 @@ void MyAvatar::harvestResultsFromPhysicsSimulation(float deltaTime) {
//_bodySensorMatrix = deriveBodyFromHMDSensor(); //_bodySensorMatrix = deriveBodyFromHMDSensor();
if (_characterController.isEnabledAndReady()) { if (_characterController.isEnabledAndReady()) {
setVelocity(_characterController.getLinearVelocity() + _characterController.getFollowVelocity()); setVelocity(_characterController.getLinearVelocity());
} else {
setVelocity(getVelocity() + _characterController.getFollowVelocity());
} }
_follow.postPhysicsUpdate(*this); _follow.postPhysicsUpdate(*this);

104
libraries/physics/src/CharacterController.cpp
View file

@ -75,9 +75,6 @@ CharacterController::CharacterController() {
_takeoffToInAirStartTime = 0; _takeoffToInAirStartTime = 0;
_jumpButtonDownStartTime = 0; _jumpButtonDownStartTime = 0;
_jumpButtonDownCount = 0; _jumpButtonDownCount = 0;
_followTime = 0.0f;
_followLinearDisplacement = btVector3(0, 0, 0);
_followAngularDisplacement = btQuaternion::getIdentity();
_hasSupport = false; _hasSupport = false;
_pendingFlags = PENDING_FLAG_UPDATE_SHAPE; _pendingFlags = PENDING_FLAG_UPDATE_SHAPE;
@ -203,6 +200,43 @@ const btScalar MIN_TARGET_SPEED_SQUARED = MIN_TARGET_SPEED * MIN_TARGET_SPEED;
void CharacterController::playerStep(btCollisionWorld* dynaWorld, btScalar dt) { void CharacterController::playerStep(btCollisionWorld* dynaWorld, btScalar dt) {
btVector3 velocity = _rigidBody->getLinearVelocity() - _parentVelocity; btVector3 velocity = _rigidBody->getLinearVelocity() - _parentVelocity;
if (_following) {
// OUTOFBODY_HACK -- these consts were copied from elsewhere, and then tuned
const float NORMAL_WALKING_SPEED = 2.5f; // actual walk speed is 2.5 m/sec
const float FOLLOW_TIMESCALE = 0.8f;
const float FOLLOW_ROTATION_THRESHOLD = PI / 6.0f;
const float FOLLOW_FACTOR = 0.5f;
const float MAX_ANGULAR_SPEED = FOLLOW_ROTATION_THRESHOLD / FOLLOW_TIMESCALE;
// linear part uses a motor
btTransform bodyTransform = _rigidBody->getWorldTransform();
btVector3 startPos = bodyTransform.getOrigin();
btVector3 deltaPos = _followDesiredBodyTransform.getOrigin() - startPos;
btVector3 vel = deltaPos * (FOLLOW_FACTOR / dt);
btScalar speed = vel.length();
if (speed > NORMAL_WALKING_SPEED) {
vel *= NORMAL_WALKING_SPEED / speed;
}
const float HORIZONTAL_FOLLOW_TIMESCALE = 0.01f; // a very small timescale here is OK
const float VERTICAL_FOLLOW_TIMESCALE = (_state == State::Hover) ? HORIZONTAL_FOLLOW_TIMESCALE : 20.0f;
glm::quat motorRotation;
addMotor(bulletToGLM(vel), motorRotation, HORIZONTAL_FOLLOW_TIMESCALE, VERTICAL_FOLLOW_TIMESCALE);
// angular part uses incremental teleports
btQuaternion startRot = bodyTransform.getRotation();
glm::vec2 currentFacing = getFacingDir2D(bulletToGLM(startRot));
glm::vec2 currentRight(currentFacing.y, - currentFacing.x);
glm::vec2 desiredFacing = getFacingDir2D(bulletToGLM(_followDesiredBodyTransform.getRotation()));
float deltaAngle = acosf(glm::clamp(glm::dot(currentFacing, desiredFacing), -1.0f, 1.0f));
float angularSpeed = 0.5f * deltaAngle / dt;
if (angularSpeed > MAX_ANGULAR_SPEED) {
angularSpeed *= MAX_ANGULAR_SPEED / angularSpeed;
}
float sign = copysignf(1.0f, glm::dot(desiredFacing, currentRight));
btQuaternion angularDisplacement = btQuaternion(btVector3(0.0f, 1.0f, 0.0f), sign * angularSpeed * dt);
btQuaternion endRot = angularDisplacement * startRot;
_rigidBody->setWorldTransform(btTransform(endRot, startPos));
}
computeNewVelocity(dt, velocity); computeNewVelocity(dt, velocity);
if (_moveKinematically) { if (_moveKinematically) {
@ -222,50 +256,6 @@ void CharacterController::playerStep(btCollisionWorld* dynaWorld, btScalar dt) {
// This mirrors the computation done in MyAvatar::FollowHelper::postPhysicsUpdate(). // This mirrors the computation done in MyAvatar::FollowHelper::postPhysicsUpdate().
_rigidBody->setLinearVelocity(velocity + _parentVelocity); _rigidBody->setLinearVelocity(velocity + _parentVelocity);
if (_following) {
// OUTOFBODY_HACK -- these consts were copied from elsewhere, and then tuned
const float NORMAL_WALKING_SPEED = 1.5f; // actual walk speed is 2.5 m/sec
const float FOLLOW_TIME = 0.8f;
const float FOLLOW_ROTATION_THRESHOLD = cosf(PI / 6.0f);
const float FOLLOW_FACTOR = 0.5f;
const float MAX_ANGULAR_SPEED = FOLLOW_ROTATION_THRESHOLD / FOLLOW_TIME;
btTransform bodyTransform = _rigidBody->getWorldTransform();
btVector3 startPos = bodyTransform.getOrigin();
btVector3 deltaPos = _followDesiredBodyTransform.getOrigin() - startPos;
btVector3 vel = deltaPos * (FOLLOW_FACTOR / dt);
btScalar speed = vel.length();
if (speed > NORMAL_WALKING_SPEED) {
vel *= NORMAL_WALKING_SPEED / speed;
}
btVector3 linearDisplacement = vel * dt;
btVector3 endPos = startPos + linearDisplacement;
btQuaternion startRot = bodyTransform.getRotation();
glm::vec2 currentFacing = getFacingDir2D(bulletToGLM(startRot));
glm::vec2 currentRight(currentFacing.y, -currentFacing.x);
glm::vec2 desiredFacing = getFacingDir2D(bulletToGLM(_followDesiredBodyTransform.getRotation()));
float deltaAngle = acosf(glm::clamp(glm::dot(currentFacing, desiredFacing), -1.0f, 1.0f));
float angularSpeed = 0.5f * deltaAngle / dt;
if (angularSpeed > MAX_ANGULAR_SPEED) {
angularSpeed *= MAX_ANGULAR_SPEED / angularSpeed;
}
float sign = copysignf(1.0f, glm::dot(desiredFacing, currentRight));
btQuaternion angularDisplacement = btQuaternion(btVector3(0.0f, 1.0f, 0.0f), sign * angularSpeed * dt);
btQuaternion endRot = angularDisplacement * startRot;
// in order to accumulate displacement of avatar position, we need to take _shapeLocalOffset into account.
btVector3 shapeLocalOffset = glmToBullet(_shapeLocalOffset);
btVector3 swingDisplacement = rotateVector(endRot, -shapeLocalOffset) - rotateVector(startRot, -shapeLocalOffset);
_followLinearDisplacement = linearDisplacement + swingDisplacement + _followLinearDisplacement;
_followAngularDisplacement = angularDisplacement * _followAngularDisplacement;
_rigidBody->setWorldTransform(btTransform(endRot, endPos));
}
_followTime += dt;
_ghost.setWorldTransform(_rigidBody->getWorldTransform()); _ghost.setWorldTransform(_rigidBody->getWorldTransform());
} }
} }
@ -422,22 +412,6 @@ void CharacterController::setFollowParameters(const glm::mat4& desiredWorldBodyM
_following = true; _following = true;
} }
glm::vec3 CharacterController::getFollowLinearDisplacement() const {
return bulletToGLM(_followLinearDisplacement);
}
glm::quat CharacterController::getFollowAngularDisplacement() const {
return bulletToGLM(_followAngularDisplacement);
}
glm::vec3 CharacterController::getFollowVelocity() const {
if (_followTime > 0.0f) {
return bulletToGLM(_followLinearDisplacement) / _followTime;
} else {
return glm::vec3();
}
}
glm::vec3 CharacterController::getLinearVelocity() const { glm::vec3 CharacterController::getLinearVelocity() const {
glm::vec3 velocity(0.0f); glm::vec3 velocity(0.0f);
if (_rigidBody) { if (_rigidBody) {
@ -700,10 +674,6 @@ void CharacterController::preSimulation() {
_previousFlags = _pendingFlags; _previousFlags = _pendingFlags;
_pendingFlags &= ~PENDING_FLAG_JUMP; _pendingFlags &= ~PENDING_FLAG_JUMP;
_followTime = 0.0f;
_followLinearDisplacement = btVector3(0.0f, 0.0f, 0.0f);
_followAngularDisplacement = btQuaternion::getIdentity();
} }
void CharacterController::postSimulation() { void CharacterController::postSimulation() {

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

@ -88,10 +88,6 @@ public:
void setParentVelocity(const glm::vec3& parentVelocity); void setParentVelocity(const glm::vec3& parentVelocity);
void setFollowParameters(const glm::mat4& desiredWorldBodyMatrix); void setFollowParameters(const glm::mat4& desiredWorldBodyMatrix);
void disableFollow() { _following = false; } void disableFollow() { _following = false; }
float getFollowTime() const { return _followTime; }
glm::vec3 getFollowLinearDisplacement() const;
glm::quat getFollowAngularDisplacement() const;
glm::vec3 getFollowVelocity() const;
glm::vec3 getLinearVelocity() const; glm::vec3 getLinearVelocity() const;
glm::vec3 getVelocityChange() const; glm::vec3 getVelocityChange() const;
@ -177,9 +173,6 @@ protected:
btScalar _gravity; btScalar _gravity;
btScalar _jumpSpeed; btScalar _jumpSpeed;
btScalar _followTime;
btVector3 _followLinearDisplacement;
btQuaternion _followAngularDisplacement;
btVector3 _linearAcceleration; btVector3 _linearAcceleration;
bool _following { false }; bool _following { false };