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improved algorithm for rotating eyes to look at target

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This commit is contained in:
Jeffrey Ventrella 2013-05-18 14:31:27 -07:00
parent f5dc5b0a39
commit 5a4813d5c9
3 changed files with 86 additions and 51 deletions
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3
interface/src/Avatar.cpp
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@ -394,12 +394,11 @@ void Avatar::simulate(float deltaTime) {
);
_head.setBodyYaw(_bodyYaw);
//the following is still being prototyped (making the eyes look at a specific location), it should be finished by 5/20/13
if (_interactingOther) {
_head.setLooking(true);
_head.setLookatPosition(_interactingOther->getSpringyHeadPosition());
//_head.setLookatPosition(_interactingOther->getApproximateEyePosition());
} else {
_head.setLooking(false);
}

132
interface/src/Head.cpp
View file

@ -15,12 +15,16 @@ using namespace std;
const float HEAD_MOTION_DECAY = 0.1;
const float MINIMUM_EYE_ROTATION = 0.7f; // based on a dot product: 1.0 is straight ahead, 0.0 is 90 degrees off
const float EYEBALL_RADIUS = 0.02;
const float IRIS_RADIUS = 0.007;
const float IRIS_PROTRUSION = 0.018f;
float _browColor [] = {210.0/255.0, 105.0/255.0, 30.0/255.0};
float _mouthColor[] = {1, 0, 0};
float _BrowRollAngle [5] = {0, 15, 30, -30, -15};
float _BrowPitchAngle[3] = {-70, -60, -50};
float _eyeColor [3] = {1,1,1};
float _BrowRollAngle [5] = { 0.0f, 15.0f, 30.0f, -30.0f, -15.0f};
float _BrowPitchAngle[3] = {-70.0f, -60.0f, -50.0f};
float _eyeColor [3] = { 0.9f, 0.9f, 0.8f};
float _MouthWidthChoices[3] = {0.5, 0.77, 0.3};
@ -58,20 +62,21 @@ Head::Head() :
_scale(1.0f),
_eyeContact(1),
_browAudioLift(0.0f),
_eyeContactTarget(LEFT_EYE),
_bodyYaw(0.0f),
_lastLoudness(0.0f),
_averageLoudness(0.0f),
_audioAttack(0.0f),
_gravity(0.0f, -1.0f, 0.0f),
_returnSpringScale(1.0f)
{
_eyebrowPitch[0] = -30;
_eyebrowPitch[1] = -30;
_eyebrowRoll [0] = 20;
_eyebrowRoll [1] = -20;
_eyebrowPitch[0] = -30;
_eyebrowPitch[1] = -30;
_eyebrowRoll [0] = 20;
_eyebrowRoll [1] = -20;
_bodyYaw = 0.0f;
_audioAttack = 0.0f;
_averageLoudness = 0.0f;
_lastLoudness = 0.0f;
_eyeContactTarget = LEFT_EYE;
}
void Head::setPositionRotationAndScale(glm::vec3 p, glm::vec3 r, float s) {
_position = p;
_scale = s;
@ -221,14 +226,14 @@ void Head::updateEyePositions() {
void Head::setLooking(bool looking) {
_looking = looking;
_lookingAtSomething = looking;
glm::vec3 averageEyePosition = _leftEyePosition + (_rightEyePosition - _leftEyePosition ) * ONE_HALF;
glm::vec3 targetLookatAxis = glm::normalize(_lookatPosition - averageEyePosition);
float dot = glm::dot(targetLookatAxis, _orientation.getFront());
if (dot < MINIMUM_EYE_ROTATION) {
_looking = false;
_lookingAtSomething = false;
}
}
@ -245,9 +250,8 @@ void Head::render(bool lookingInMirror) {
glPushMatrix();
glTranslatef(_position.x, _position.y, _position.z);
glScalef(_scale, _scale, _scale);
glTranslatef(_position.x, _position.y, _position.z); //translate to head position
glScalef(_scale, _scale, _scale); //scale to head size
if (lookingInMirror) {
glRotatef(_bodyYaw - _yaw, 0, 1, 0);
@ -329,10 +333,12 @@ void Head::render(bool lookingInMirror) {
//a new version of eyeballs that has the ability to look at specific targets in the world (algo still not finished yet)
renderEyeBalls();
if (_looking) {
/*
if (_lookingAtSomething) {
// Render lines originating from the eyes and converging on the lookatPosition
debugRenderLookatVectors(_leftEyePosition, _rightEyePosition, _lookatPosition);
}
*/
}
void Head::renderEyeBalls() {
@ -345,7 +351,7 @@ void Head::renderEyeBalls() {
}
}
// setup the texutre to be used on each eye
// setup the texutre to be used on each iris
GLUquadric* irisQuadric = gluNewQuadric();
gluQuadricTexture(irisQuadric, GL_TRUE);
glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
@ -353,60 +359,90 @@ void Head::renderEyeBalls() {
gluQuadricOrientation(irisQuadric, GLU_OUTSIDE);
glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA, IRIS_TEXTURE_WIDTH, IRIS_TEXTURE_HEIGHT,
0, GL_RGBA, GL_UNSIGNED_BYTE, &::irisTexture[0]);
// left eyeball
// render white ball of left eyeball
glPushMatrix();
glColor3fv(_eyeColor);
glTranslatef(_leftEyePosition.x, _leftEyePosition.y, _leftEyePosition.z);
gluSphere(irisQuadric, 0.02, 30, 30);
gluSphere(irisQuadric, EYEBALL_RADIUS, 30, 30);
glPopMatrix();
// left iris
// render left iris
glPushMatrix(); {
glTranslatef(_leftEyePosition.x, _leftEyePosition.y, _leftEyePosition.z);
glm::vec3 targetLookatAxis = glm::normalize(_lookatPosition - _leftEyePosition);
if (!_looking) {
targetLookatAxis = _orientation.getFront();
}
glTranslatef(_leftEyePosition.x, _leftEyePosition.y, _leftEyePosition.z); //translate to eyeball position
glPushMatrix();
glm::vec3 rotationAxis = glm::cross(targetLookatAxis, glm::vec3(0.0f, 1.0f, 0.0f));
float angle = 180.0f - angleBetween(targetLookatAxis, glm::vec3(0.0f, 1.0f, 0.0f));
glRotatef(angle, rotationAxis.x, rotationAxis.y, rotationAxis.z);
glTranslatef( 0.0f, -0.018f, 0.0f);//push the iris out a bit (otherwise - inside of eyeball!)
if (_lookingAtSomething) {
//rotate the eyeball to aim towards the lookat position
glm::vec3 targetLookatAxis = glm::normalize(_lookatPosition - _leftEyePosition); // the lookat direction
glm::vec3 rotationAxis = glm::cross(targetLookatAxis, IDENTITY_UP);
float angle = 180.0f - angleBetween(targetLookatAxis, IDENTITY_UP);
glRotatef(angle, rotationAxis.x, rotationAxis.y, rotationAxis.z);
glRotatef(180.0, 0.0f, 1.0f, 0.0f); //adjust roll to correct after previous rotations
} else {
//rotate the eyeball to aim straight ahead
glm::vec3 rotationAxisToHeadFront = glm::cross(_orientation.getFront(), IDENTITY_UP);
float angleToHeadFront = 180.0f - angleBetween(_orientation.getFront(), IDENTITY_UP);
glRotatef(angleToHeadFront, rotationAxisToHeadFront.x, rotationAxisToHeadFront.y, rotationAxisToHeadFront.z);
//set the amount of roll (for correction after previous rotations)
float rollRotation = angleBetween(_orientation.getFront(), IDENTITY_FRONT);
float dot = glm::dot(_orientation.getFront(), -IDENTITY_RIGHT);
if ( dot < 0.0f ) { rollRotation = -rollRotation; }
glRotatef(rollRotation, 0.0f, 1.0f, 0.0f); //roll the iris or correct roll about the lookat vector
}
glTranslatef( 0.0f, -IRIS_PROTRUSION, 0.0f);//push the iris out a bit (otherwise - inside of eyeball!)
glScalef( 1.0f, 0.5f, 1.0f); // flatten the iris
glEnable(GL_TEXTURE_2D);
gluSphere(irisQuadric, 0.007, 15, 15);
gluSphere(irisQuadric, IRIS_RADIUS, 15, 15);
glDisable(GL_TEXTURE_2D);
glPopMatrix();
}
glPopMatrix();
//right eyeball
//render white ball of right eyeball
glPushMatrix();
glColor3fv(_eyeColor);
glTranslatef(_rightEyePosition.x, _rightEyePosition.y, _rightEyePosition.z);
gluSphere(irisQuadric, 0.02, 30, 30);
gluSphere(irisQuadric, EYEBALL_RADIUS, 30, 30);
glPopMatrix();
//right iris
// render right iris
glPushMatrix(); {
glTranslatef(_rightEyePosition.x, _rightEyePosition.y, _rightEyePosition.z);
glm::vec3 targetLookatAxis = glm::normalize(_lookatPosition - _rightEyePosition);
if (!_looking) {
targetLookatAxis = _orientation.getFront();
}
glTranslatef(_rightEyePosition.x, _rightEyePosition.y, _rightEyePosition.z); //translate to eyeball position
glPushMatrix();
glm::vec3 rotationAxis = glm::cross(targetLookatAxis, glm::vec3(0.0f, 1.0f, 0.0f));
float angle = 180.0f - angleBetween(targetLookatAxis, glm::vec3(0.0f, 1.0f, 0.0f));
glRotatef(angle, rotationAxis.x, rotationAxis.y, rotationAxis.z);
glTranslatef( 0.0f, -0.018f, 0.0f);//push the iris out a bit (otherwise - inside of eyeball!)
if (_lookingAtSomething) {
//rotate the eyeball to aim towards the lookat position
glm::vec3 targetLookatAxis = glm::normalize(_lookatPosition - _rightEyePosition);
glm::vec3 rotationAxis = glm::cross(targetLookatAxis, IDENTITY_UP);
float angle = 180.0f - angleBetween(targetLookatAxis, IDENTITY_UP);
glRotatef(angle, rotationAxis.x, rotationAxis.y, rotationAxis.z);
glRotatef(180.0f, 0.0f, 1.0f, 0.0f); //adjust roll to correct after previous rotations
} else {
//rotate the eyeball to aim straight ahead
glm::vec3 rotationAxisToHeadFront = glm::cross(_orientation.getFront(), IDENTITY_UP);
float angleToHeadFront = 180.0f - angleBetween(_orientation.getFront(), IDENTITY_UP);
glRotatef(angleToHeadFront, rotationAxisToHeadFront.x, rotationAxisToHeadFront.y, rotationAxisToHeadFront.z);
//set the amount of roll (for correction after previous rotations)
float rollRotation = angleBetween(_orientation.getFront(), IDENTITY_FRONT);
float dot = glm::dot(_orientation.getFront(), -IDENTITY_RIGHT);
if ( dot < 0.0f ) { rollRotation = -rollRotation; }
glRotatef(rollRotation, 0.0f, 1.0f, 0.0f); //roll the iris or correct roll about the lookat vector
}
glTranslatef( 0.0f, -IRIS_PROTRUSION, 0.0f);//push the iris out a bit (otherwise - inside of eyeball!)
glScalef( 1.0f, 0.5f, 1.0f); // flatten the iris
glEnable(GL_TEXTURE_2D);
gluSphere(irisQuadric, 0.007, 15, 15);
gluSphere(irisQuadric, IRIS_RADIUS, 15, 15);
glDisable(GL_TEXTURE_2D);
glPopMatrix();
}

2
interface/src/Head.h
View file

@ -81,7 +81,7 @@ private:
float _scale;
int _eyeContact;
float _browAudioLift;
bool _looking;
bool _lookingAtSomething;
glm::vec3 _gravity;
float _lastLoudness;
float _averageLoudness;