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fix use of PI constant after merge with upstream master

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This commit is contained in:
Stephen Birarda 2013-06-03 12:00:57 -07:00
parent 104fcd1289
commit 5a5b22db61
2 changed files with 195 additions and 203 deletions
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2
interface/src/Application.cpp
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@ -288,7 +288,7 @@ void Application::paintGL() {
if (_myCamera.getMode() == CAMERA_MODE_MIRROR) {
_myCamera.setTightness (100.0f);
_myCamera.setTargetPosition(_myAvatar.getSpringyHeadPosition());
_myCamera.setTargetRotation(_myAvatar.getWorldAlignedOrientation() * glm::quat(glm::vec3(0.0f, PI, 0.0f)));
_myCamera.setTargetRotation(_myAvatar.getWorldAlignedOrientation() * glm::quat(glm::vec3(0.0f, PIf, 0.0f)));
} else if (OculusManager::isConnected()) {
_myCamera.setUpShift (0.0f);

396
interface/src/Avatar.cpp
View file

@ -62,41 +62,41 @@ float chatMessageScale = 0.0015;
float chatMessageHeight = 0.20;
Avatar::Avatar(Agent* owningAgent) :
AvatarData(owningAgent),
_head(this),
_TEST_bigSphereRadius(0.4f),
_TEST_bigSpherePosition(5.0f, _TEST_bigSphereRadius, 5.0f),
_mousePressed(false),
_bodyPitchDelta(0.0f),
_bodyYawDelta(0.0f),
_bodyRollDelta(0.0f),
_movedHandOffset(0.0f, 0.0f, 0.0f),
_mode(AVATAR_MODE_STANDING),
_cameraPosition(0.0f, 0.0f, 0.0f),
_handHoldingPosition(0.0f, 0.0f, 0.0f),
_velocity(0.0f, 0.0f, 0.0f),
_thrust(0.0f, 0.0f, 0.0f),
_speed(0.0f),
_maxArmLength(0.0f),
_pelvisStandingHeight(0.0f),
_pelvisFloatingHeight(0.0f),
_distanceToNearestAvatar(std::numeric_limits<float>::max()),
_gravity(0.0f, -1.0f, 0.0f),
_worldUpDirection(DEFAULT_UP_DIRECTION),
_mouseRayOrigin(0.0f, 0.0f, 0.0f),
_mouseRayDirection(0.0f, 0.0f, 0.0f),
_interactingOther(NULL),
_cumulativeMouseYaw(0.0f),
_isMouseTurningRight(false)
AvatarData(owningAgent),
_head(this),
_TEST_bigSphereRadius(0.4f),
_TEST_bigSpherePosition(5.0f, _TEST_bigSphereRadius, 5.0f),
_mousePressed(false),
_bodyPitchDelta(0.0f),
_bodyYawDelta(0.0f),
_bodyRollDelta(0.0f),
_movedHandOffset(0.0f, 0.0f, 0.0f),
_mode(AVATAR_MODE_STANDING),
_cameraPosition(0.0f, 0.0f, 0.0f),
_handHoldingPosition(0.0f, 0.0f, 0.0f),
_velocity(0.0f, 0.0f, 0.0f),
_thrust(0.0f, 0.0f, 0.0f),
_speed(0.0f),
_maxArmLength(0.0f),
_pelvisStandingHeight(0.0f),
_pelvisFloatingHeight(0.0f),
_distanceToNearestAvatar(std::numeric_limits<float>::max()),
_gravity(0.0f, -1.0f, 0.0f),
_worldUpDirection(DEFAULT_UP_DIRECTION),
_mouseRayOrigin(0.0f, 0.0f, 0.0f),
_mouseRayDirection(0.0f, 0.0f, 0.0f),
_interactingOther(NULL),
_cumulativeMouseYaw(0.0f),
_isMouseTurningRight(false)
{
// give the pointer to our head to inherited _headData variable from AvatarData
_headData = &_head;
for (int i = 0; i < MAX_DRIVE_KEYS; i++) {
_driveKeys[i] = false;
}
_skeleton.initialize();
initializeBodyBalls();
@ -105,9 +105,9 @@ Avatar::Avatar(Agent* owningAgent) :
_maxArmLength = _skeleton.getArmLength();
_pelvisStandingHeight = _skeleton.getPelvisStandingHeight() + _bodyBall[ AVATAR_JOINT_LEFT_HEEL ].radius;
_pelvisFloatingHeight = _skeleton.getPelvisFloatingHeight() + _bodyBall[ AVATAR_JOINT_LEFT_HEEL ].radius;
_avatarTouch.setReachableRadius(PERIPERSONAL_RADIUS);
if (BALLS_ON) {
_balls = new Balls(100);
} else {
@ -154,14 +154,14 @@ void Avatar::initializeBodyBalls() {
_bodyBall[ AVATAR_JOINT_RIGHT_HIP ].radius = 0.04;
_bodyBall[ AVATAR_JOINT_RIGHT_KNEE ].radius = 0.025;
_bodyBall[ AVATAR_JOINT_RIGHT_HEEL ].radius = 0.025;
_bodyBall[ AVATAR_JOINT_RIGHT_TOES ].radius = 0.025;
_bodyBall[ AVATAR_JOINT_RIGHT_TOES ].radius = 0.025;
/*
// to aid in hand-shaking and hand-holding, the right hand is not collidable
_bodyBall[ AVATAR_JOINT_RIGHT_ELBOW ].isCollidable = false;
_bodyBall[ AVATAR_JOINT_RIGHT_WRIST ].isCollidable = false;
_bodyBall[ AVATAR_JOINT_RIGHT_FINGERTIPS].isCollidable = false;
*/
// to aid in hand-shaking and hand-holding, the right hand is not collidable
_bodyBall[ AVATAR_JOINT_RIGHT_ELBOW ].isCollidable = false;
_bodyBall[ AVATAR_JOINT_RIGHT_WRIST ].isCollidable = false;
_bodyBall[ AVATAR_JOINT_RIGHT_FINGERTIPS].isCollidable = false;
*/
}
@ -183,7 +183,7 @@ void Avatar::updateHeadFromGyros(float deltaTime, SerialInterface* serialInterfa
float measuredPitchRate = serialInterface->getLastPitchRate();
float measuredYawRate = serialInterface->getLastYawRate();
float measuredRollRate = serialInterface->getLastRollRate();
// Update avatar head position based on measured gyro rates
_head.addPitch(measuredPitchRate * AMPLIFY_PITCH * deltaTime);
_head.addYaw(measuredYawRate * AMPLIFY_YAW * deltaTime);
@ -193,8 +193,8 @@ void Avatar::updateHeadFromGyros(float deltaTime, SerialInterface* serialInterfa
glm::vec3 headRotationRates(_head.getPitch(), _head.getYaw(), _head.getRoll());
glm::vec3 leaning = (serialInterface->getLastAcceleration() - serialInterface->getGravity())
* LEAN_SENSITIVITY
* (1.f - fminf(glm::length(headRotationRates), HEAD_RATE_MAX) / HEAD_RATE_MAX);
* LEAN_SENSITIVITY
* (1.f - fminf(glm::length(headRotationRates), HEAD_RATE_MAX) / HEAD_RATE_MAX);
leaning.y = 0.f;
if (glm::length(leaning) < LEAN_MAX) {
_head.setLeanForward(_head.getLeanForward() * (1.f - LEAN_AVERAGING * deltaTime) +
@ -229,7 +229,7 @@ void Avatar::updateFromMouse(int mouseX, int mouseY, int screenWidth, int scree
const int TITLE_BAR_HEIGHT = 46;
float mouseLocationX = (float)mouseX / (float)screenWidth - 0.5f;
float mouseLocationY = (float)mouseY / (float)screenHeight - 0.5f;
if ((mouseX > 1) && (mouseX < screenWidth) && (mouseY > TITLE_BAR_HEIGHT) && (mouseY < screenHeight)) {
//
// Mouse must be inside screen (not at edge) and not on title bar for movement to happen
@ -262,16 +262,16 @@ void Avatar::updateFromMouse(int mouseX, int mouseY, int screenWidth, int scree
}
void Avatar::simulate(float deltaTime, Transmitter* transmitter) {
//figure out if the mouse cursor is over any body spheres...
//figure out if the mouse cursor is over any body spheres...
checkForMouseRayTouching();
// copy velocity so we can use it later for acceleration
glm::vec3 oldVelocity = getVelocity();
// update balls
if (_balls) { _balls->simulate(deltaTime); }
// update avatar skeleton
_skeleton.update(deltaTime, getOrientation(), _position);
@ -279,16 +279,16 @@ void Avatar::simulate(float deltaTime, Transmitter* transmitter) {
if (_owningAgent) {
_skeleton.joint[ AVATAR_JOINT_RIGHT_FINGERTIPS ].position = _handPosition;
}
//detect and respond to collisions with other avatars...
//detect and respond to collisions with other avatars...
if (!_owningAgent) {
updateAvatarCollisions(deltaTime);
}
//update the movement of the hand and process handshaking with other avatars...
//update the movement of the hand and process handshaking with other avatars...
updateHandMovementAndTouching(deltaTime);
_avatarTouch.simulate(deltaTime);
_avatarTouch.simulate(deltaTime);
// apply gravity and collision with the ground/floor
if (!_owningAgent && USING_AVATAR_GRAVITY) {
@ -316,7 +316,7 @@ void Avatar::simulate(float deltaTime, Transmitter* transmitter) {
// driving the avatar around should only apply if this is my avatar (as opposed to an avatar being driven remotely)
const float THRUST_MAG = 600.0f;
if (!_owningAgent) {
_thrust = glm::vec3(0.0f, 0.0f, 0.0f);
@ -330,8 +330,8 @@ void Avatar::simulate(float deltaTime, Transmitter* transmitter) {
if (_driveKeys[DOWN ]) {_thrust -= THRUST_MAG * deltaTime * up;}
if (_driveKeys[ROT_RIGHT]) {_bodyYawDelta -= YAW_MAG * deltaTime;}
if (_driveKeys[ROT_LEFT ]) {_bodyYawDelta += YAW_MAG * deltaTime;}
// Add thrusts from Transmitter
// Add thrusts from Transmitter
if (transmitter) {
transmitter->checkForLostTransmitter();
glm::vec3 rotation = transmitter->getEstimatedRotation();
@ -353,28 +353,28 @@ void Avatar::simulate(float deltaTime, Transmitter* transmitter) {
}
if (transmitter->getTouchState()->state == 'D') {
_thrust += THRUST_MAG *
(float)(transmitter->getTouchState()->y - TOUCH_POSITION_RANGE_HALF) / TOUCH_POSITION_RANGE_HALF *
TRANSMITTER_LIFT_SCALE *
deltaTime *
up;
(float)(transmitter->getTouchState()->y - TOUCH_POSITION_RANGE_HALF) / TOUCH_POSITION_RANGE_HALF *
TRANSMITTER_LIFT_SCALE *
deltaTime *
up;
}
}
// update body yaw by body yaw delta
orientation = orientation * glm::quat(glm::radians(
glm::vec3(_bodyPitchDelta, _bodyYawDelta, _bodyRollDelta) * deltaTime));
glm::vec3(_bodyPitchDelta, _bodyYawDelta, _bodyRollDelta) * deltaTime));
// decay body rotation momentum
float bodySpinMomentum = 1.0 - BODY_SPIN_FRICTION * deltaTime;
if (bodySpinMomentum < 0.0f) { bodySpinMomentum = 0.0f; }
if (bodySpinMomentum < 0.0f) { bodySpinMomentum = 0.0f; }
_bodyPitchDelta *= bodySpinMomentum;
_bodyYawDelta *= bodySpinMomentum;
_bodyRollDelta *= bodySpinMomentum;
// add thrust to velocity
_velocity += _thrust * deltaTime;
// calculate speed
// calculate speed
_speed = glm::length(_velocity);
//pitch and roll the body as a function of forward speed and turning delta
@ -382,23 +382,23 @@ void Avatar::simulate(float deltaTime, Transmitter* transmitter) {
const float BODY_ROLL_WHILE_TURNING = 0.2;
float forwardComponentOfVelocity = glm::dot(getBodyFrontDirection(), _velocity);
orientation = orientation * glm::quat(glm::radians(glm::vec3(
BODY_PITCH_WHILE_WALKING * deltaTime * forwardComponentOfVelocity, 0.0f,
BODY_ROLL_WHILE_TURNING * deltaTime * _speed * _bodyYawDelta)));
BODY_PITCH_WHILE_WALKING * deltaTime * forwardComponentOfVelocity, 0.0f,
BODY_ROLL_WHILE_TURNING * deltaTime * _speed * _bodyYawDelta)));
// these forces keep the body upright...
const float BODY_UPRIGHT_FORCE = 10.0;
float tiltDecay = BODY_UPRIGHT_FORCE * deltaTime;
if (tiltDecay > 1.0f) {tiltDecay = 1.0f;}
if (tiltDecay > 1.0f) {tiltDecay = 1.0f;}
// update the euler angles
setOrientation(orientation);
//the following will be used to make the avatar upright no matter what gravity is
setOrientation(computeRotationFromBodyToWorldUp(tiltDecay) * orientation);
// update position by velocity
_position += _velocity * deltaTime;
// decay velocity
const float VELOCITY_DECAY = 0.9;
float decay = 1.0 - VELOCITY_DECAY * deltaTime;
@ -419,7 +419,7 @@ void Avatar::simulate(float deltaTime, Transmitter* transmitter) {
}
}
// Compute instantaneous acceleration
// Compute instantaneous acceleration
float acceleration = glm::distance(getVelocity(), oldVelocity) / deltaTime;
const float ACCELERATION_PITCH_DECAY = 0.4f;
const float ACCELERATION_YAW_DECAY = 0.4f;
@ -428,7 +428,7 @@ void Avatar::simulate(float deltaTime, Transmitter* transmitter) {
const int OCULUS_YAW_OFFSET_THRESHOLD = 10;
// Decay HeadPitch as a function of acceleration, so that you look straight ahead when
// you start moving, but don't do this with an HMD like the Oculus.
// you start moving, but don't do this with an HMD like the Oculus.
if (!OculusManager::isConnected()) {
_head.setPitch(_head.getPitch() * (1.f - acceleration * ACCELERATION_PITCH_DECAY * deltaTime));
_head.setYaw(_head.getYaw() * (1.f - acceleration * ACCELERATION_YAW_DECAY * deltaTime));
@ -452,10 +452,10 @@ void Avatar::simulate(float deltaTime, Transmitter* transmitter) {
//apply the head lean values to the ball positions...
if (USING_HEAD_LEAN) {
if (fabs(_head.getLeanSideways() + _head.getLeanForward()) > 0.0f) {
glm::vec3 headLean =
right * _head.getLeanSideways() +
front * _head.getLeanForward();
glm::vec3 headLean =
right * _head.getLeanSideways() +
front * _head.getLeanForward();
_bodyBall[ AVATAR_JOINT_TORSO ].position += headLean * 0.1f;
_bodyBall[ AVATAR_JOINT_CHEST ].position += headLean * 0.4f;
_bodyBall[ AVATAR_JOINT_NECK_BASE ].position += headLean * 0.7f;
@ -473,24 +473,24 @@ void Avatar::simulate(float deltaTime, Transmitter* transmitter) {
_bodyBall[ AVATAR_JOINT_RIGHT_WRIST ].position += headLean * 0.1f;
_bodyBall[ AVATAR_JOINT_RIGHT_FINGERTIPS ].position += headLean * 0.0f;
}
}
// set head lookat position
}
// set head lookat position
if (!_owningAgent) {
if (_interactingOther) {
_head.setLookAtPosition(_interactingOther->caclulateAverageEyePosition());
} else {
_head.setLookAtPosition(glm::vec3(0.0f, 0.0f, 0.0f)); // 0,0,0 represents NOT looking at anything
}
}
}
_head.setBodyRotation (glm::vec3(_bodyPitch, _bodyYaw, _bodyRoll));
_head.setPosition(_bodyBall[ AVATAR_JOINT_HEAD_BASE ].position);
_head.setScale (_bodyBall[ AVATAR_JOINT_HEAD_BASE ].radius);
_head.setSkinColor(glm::vec3(SKIN_COLOR[0], SKIN_COLOR[1], SKIN_COLOR[2]));
_head.simulate(deltaTime, !_owningAgent);
// use speed and angular velocity to determine walking vs. standing
// use speed and angular velocity to determine walking vs. standing
if (_speed + fabs(_bodyYawDelta) > 0.2) {
_mode = AVATAR_MODE_WALKING;
} else {
@ -499,14 +499,14 @@ void Avatar::simulate(float deltaTime, Transmitter* transmitter) {
}
void Avatar::checkForMouseRayTouching() {
for (int b = 0; b < NUM_AVATAR_JOINTS; b++) {
for (int b = 0; b < NUM_AVATAR_JOINTS; b++) {
glm::vec3 directionToBodySphere = glm::normalize(_bodyBall[b].position - _mouseRayOrigin);
float dot = glm::dot(directionToBodySphere, _mouseRayDirection);
float range = _bodyBall[b].radius * JOINT_TOUCH_RANGE;
if (dot > (1.0f - range)) {
_bodyBall[b].touchForce = (dot - (1.0f - range)) / range;
} else {
@ -516,8 +516,8 @@ void Avatar::checkForMouseRayTouching() {
}
void Avatar::setMouseRay(const glm::vec3 &origin, const glm::vec3 &direction ) {
_mouseRayOrigin = origin;
_mouseRayDirection = direction;
_mouseRayOrigin = origin;
_mouseRayDirection = direction;
}
void Avatar::setOrientation(const glm::quat& orientation) {
@ -528,35 +528,35 @@ void Avatar::setOrientation(const glm::quat& orientation) {
}
void Avatar::updateHandMovementAndTouching(float deltaTime) {
glm::quat orientation = getOrientation();
// reset hand and arm positions according to hand movement
glm::vec3 right = orientation * AVATAR_RIGHT;
glm::vec3 up = orientation * AVATAR_UP;
glm::vec3 front = orientation * AVATAR_FRONT;
glm::vec3 transformedHandMovement
= right * _movedHandOffset.x * 2.0f
+ up * -_movedHandOffset.y * 2.0f
+ front * -_movedHandOffset.y * 2.0f;
_skeleton.joint[ AVATAR_JOINT_RIGHT_FINGERTIPS ].position += transformedHandMovement;
if (!_owningAgent) {
_avatarTouch.setMyBodyPosition(_position);
_avatarTouch.setMyOrientation(orientation);
float closestDistance = std::numeric_limits<float>::max();
_interactingOther = NULL;
//loop through all the other avatars for potential interactions...
AgentList* agentList = AgentList::getInstance();
for (AgentList::iterator agent = agentList->begin(); agent != agentList->end(); agent++) {
if (agent->getLinkedData() != NULL && agent->getType() == AGENT_TYPE_AVATAR) {
Avatar *otherAvatar = (Avatar *)agent->getLinkedData();
//Test: Show angle between your fwd vector and nearest avatar
//glm::vec3 vectorBetweenUs = otherAvatar->getJointPosition(AVATAR_JOINT_PELVIS) -
// getJointPosition(AVATAR_JOINT_PELVIS);
@ -576,53 +576,53 @@ void Avatar::updateHandMovementAndTouching(float deltaTime) {
}
if (_interactingOther) {
_avatarTouch.setHasInteractingOther(true);
_avatarTouch.setYourBodyPosition(_interactingOther->_position);
_avatarTouch.setYourHandPosition(_interactingOther->_bodyBall[ AVATAR_JOINT_RIGHT_FINGERTIPS ].position);
_avatarTouch.setYourBodyPosition(_interactingOther->_position);
_avatarTouch.setYourHandPosition(_interactingOther->_bodyBall[ AVATAR_JOINT_RIGHT_FINGERTIPS ].position);
_avatarTouch.setYourOrientation (_interactingOther->getOrientation());
_avatarTouch.setYourHandState (_interactingOther->_handState);
_avatarTouch.setYourHandState (_interactingOther->_handState);
//if hand-holding is initiated by either avatar, turn on hand-holding...
if (_avatarTouch.getHandsCloseEnoughToGrasp()) {
if (_avatarTouch.getHandsCloseEnoughToGrasp()) {
if ((_handState == HAND_STATE_GRASPING ) || (_interactingOther->_handState == HAND_STATE_GRASPING)) {
if (!_avatarTouch.getHoldingHands())
{
_avatarTouch.setHoldingHands(true);
}
}
}
}
glm::vec3 vectorFromMyHandToYourHand
(
_interactingOther->_skeleton.joint[ AVATAR_JOINT_RIGHT_FINGERTIPS ].position -
_skeleton.joint[ AVATAR_JOINT_RIGHT_FINGERTIPS ].position
);
_interactingOther->_skeleton.joint[ AVATAR_JOINT_RIGHT_FINGERTIPS ].position -
_skeleton.joint[ AVATAR_JOINT_RIGHT_FINGERTIPS ].position
);
float distanceBetweenOurHands = glm::length(vectorFromMyHandToYourHand);
/*
// if my arm can no longer reach the other hand, turn off hand-holding
if (!_avatarTouch.getAbleToReachOtherAvatar()) {
_avatarTouch.setHoldingHands(false);
}
if (distanceBetweenOurHands > _maxArmLength) {
_avatarTouch.setHoldingHands(false);
}
*/
// if my arm can no longer reach the other hand, turn off hand-holding
if (!_avatarTouch.getAbleToReachOtherAvatar()) {
_avatarTouch.setHoldingHands(false);
}
if (distanceBetweenOurHands > _maxArmLength) {
_avatarTouch.setHoldingHands(false);
}
*/
// if neither of us are grasping, turn off hand-holding
if ((_handState != HAND_STATE_GRASPING ) && (_interactingOther->_handState != HAND_STATE_GRASPING)) {
_avatarTouch.setHoldingHands(false);
_avatarTouch.setHoldingHands(false);
}
//if holding hands, apply the appropriate forces
if (_avatarTouch.getHoldingHands()) {
_skeleton.joint[ AVATAR_JOINT_RIGHT_FINGERTIPS ].position +=
(
_interactingOther->_skeleton.joint[ AVATAR_JOINT_RIGHT_FINGERTIPS ].position
- _skeleton.joint[ AVATAR_JOINT_RIGHT_FINGERTIPS ].position
) * 0.5f;
_skeleton.joint[ AVATAR_JOINT_RIGHT_FINGERTIPS ].position +=
(
_interactingOther->_skeleton.joint[ AVATAR_JOINT_RIGHT_FINGERTIPS ].position
- _skeleton.joint[ AVATAR_JOINT_RIGHT_FINGERTIPS ].position
) * 0.5f;
if (distanceBetweenOurHands > 0.3) {
float force = 10.0f * deltaTime;
@ -642,7 +642,7 @@ void Avatar::updateHandMovementAndTouching(float deltaTime) {
//Set right hand position and state to be transmitted, and also tell AvatarTouch about it
if (!_owningAgent) {
setHandPosition(_skeleton.joint[ AVATAR_JOINT_RIGHT_FINGERTIPS ].position);
if (_mousePressed) {
_handState = HAND_STATE_GRASPING;
} else {
@ -688,8 +688,8 @@ void Avatar::updateCollisionWithEnvironment() {
float radius = _height * 0.125f;
glm::vec3 penetration;
if (Application::getInstance()->getEnvironment()->findCapsulePenetration(
_position - up * (_pelvisFloatingHeight - radius),
_position + up * (_height - _pelvisFloatingHeight - radius), radius, penetration)) {
_position - up * (_pelvisFloatingHeight - radius),
_position + up * (_height - _pelvisFloatingHeight - radius), radius, penetration)) {
applyCollisionWithScene(penetration);
}
}
@ -698,8 +698,8 @@ void Avatar::updateCollisionWithVoxels() {
float radius = _height * 0.125f;
glm::vec3 penetration;
if (Application::getInstance()->getVoxels()->findCapsulePenetration(
_position - glm::vec3(0.0f, _pelvisFloatingHeight - radius, 0.0f),
_position + glm::vec3(0.0f, _height - _pelvisFloatingHeight - radius, 0.0f), radius, penetration)) {
_position - glm::vec3(0.0f, _pelvisFloatingHeight - radius, 0.0f),
_position + glm::vec3(0.0f, _height - _pelvisFloatingHeight - radius, 0.0f), radius, penetration)) {
applyCollisionWithScene(penetration);
}
}
@ -710,14 +710,14 @@ void Avatar::applyCollisionWithScene(const glm::vec3& penetration) {
static float STATIC_FRICTION_DAMPING = 0.0f;
static float KINETIC_FRICTION_DAMPING = 0.95f;
const float BOUNCE = 0.3f;
// reflect the velocity component in the direction of penetration
float penetrationLength = glm::length(penetration);
if (penetrationLength > EPSILON) {
glm::vec3 direction = penetration / penetrationLength;
_velocity -= 2.0f * glm::dot(_velocity, direction) * direction * BOUNCE;
_velocity *= KINETIC_FRICTION_DAMPING;
// If velocity is quite low, apply static friction that takes away energy
// If velocity is quite low, apply static friction that takes away energy
if (glm::length(_velocity) < STATIC_FRICTION_VELOCITY) {
_velocity *= STATIC_FRICTION_DAMPING;
}
@ -725,24 +725,24 @@ void Avatar::applyCollisionWithScene(const glm::vec3& penetration) {
}
void Avatar::updateAvatarCollisions(float deltaTime) {
// Reset detector for nearest avatar
_distanceToNearestAvatar = std::numeric_limits<float>::max();
//loop through all the other avatars for potential interactions...
AgentList* agentList = AgentList::getInstance();
for (AgentList::iterator agent = agentList->begin(); agent != agentList->end(); agent++) {
if (agent->getLinkedData() != NULL && agent->getType() == AGENT_TYPE_AVATAR) {
Avatar *otherAvatar = (Avatar *)agent->getLinkedData();
// check if the bounding spheres of the two avatars are colliding
glm::vec3 vectorBetweenBoundingSpheres(_position - otherAvatar->_position);
if (glm::length(vectorBetweenBoundingSpheres) < _height * ONE_HALF + otherAvatar->_height * ONE_HALF) {
//apply forces from collision
applyCollisionWithOtherAvatar(otherAvatar, deltaTime);
}
//apply forces from collision
applyCollisionWithOtherAvatar(otherAvatar, deltaTime);
}
// test other avatar hand position for proximity
glm::vec3 v(_skeleton.joint[ AVATAR_JOINT_RIGHT_SHOULDER ].position);
v -= otherAvatar->getPosition();
@ -757,35 +757,35 @@ void Avatar::updateAvatarCollisions(float deltaTime) {
//detect collisions with other avatars and respond
void Avatar::applyCollisionWithOtherAvatar(Avatar * otherAvatar, float deltaTime) {
glm::vec3 bodyPushForce = glm::vec3(0.0f, 0.0f, 0.0f);
// loop through the joints of each avatar to check for every possible collision
for (int b=1; b<NUM_AVATAR_JOINTS; b++) {
if (_bodyBall[b].isCollidable) {
for (int o=b+1; o<NUM_AVATAR_JOINTS; o++) {
if (otherAvatar->_bodyBall[o].isCollidable) {
glm::vec3 vectorBetweenJoints(_bodyBall[b].position - otherAvatar->_bodyBall[o].position);
float distanceBetweenJoints = glm::length(vectorBetweenJoints);
if (distanceBetweenJoints > 0.0) { // to avoid divide by zero
float combinedRadius = _bodyBall[b].radius + otherAvatar->_bodyBall[o].radius;
// check for collision
if (distanceBetweenJoints < combinedRadius * COLLISION_RADIUS_SCALAR) {
glm::vec3 directionVector = vectorBetweenJoints / distanceBetweenJoints;
// push balls away from each other and apply friction
float penetration = 1.0f - (distanceBetweenJoints / (combinedRadius * COLLISION_RADIUS_SCALAR));
glm::vec3 ballPushForce = directionVector * COLLISION_BALL_FORCE * penetration * deltaTime;
bodyPushForce += directionVector * COLLISION_BODY_FORCE * penetration * deltaTime;
_bodyBall[b].velocity += ballPushForce;
bodyPushForce += directionVector * COLLISION_BODY_FORCE * penetration * deltaTime;
_bodyBall[b].velocity += ballPushForce;
otherAvatar->_bodyBall[o].velocity -= ballPushForce;
}// check for collision
} // to avoid divide by zero
} // o loop
@ -793,8 +793,8 @@ void Avatar::applyCollisionWithOtherAvatar(Avatar * otherAvatar, float deltaTime
} // b loop
} // collidable
//apply force on the whole body
_velocity += bodyPushForce;
//apply force on the whole body
_velocity += bodyPushForce;
}
@ -832,7 +832,7 @@ void Avatar::render(bool lookingInMirror) {
// render a simple round on the ground projected down from the avatar's position
renderDiskShadow(_position, glm::vec3(0.0f, 1.0f, 0.0f), 0.1f, 0.2f);
//render body
renderBody(lookingInMirror);
@ -848,7 +848,7 @@ void Avatar::render(bool lookingInMirror) {
_balls->render();
glPopMatrix();
}
if (!_chatMessage.empty()) {
int width = 0;
int lastWidth;
@ -857,22 +857,18 @@ void Avatar::render(bool lookingInMirror) {
}
glPushMatrix();
// extract the view direction from the modelview matrix: transform (0, 0, 1) by the
// transpose of the modelview to get its direction in world space, then use the X/Z
// components to determine the angle
float modelview[16];
glGetFloatv(GL_MODELVIEW_MATRIX, modelview);
glm::vec3 chatPosition = _bodyBall[AVATAR_JOINT_HEAD_BASE].position + getBodyUpDirection() * chatMessageHeight;
glTranslatef(chatPosition.x, chatPosition.y, chatPosition.z);
glm::quat chatRotation = Application::getInstance()->getCamera()->getRotation();
glm::vec3 chatAxis = glm::axis(chatRotation);
glRotatef(glm::angle(chatRotation), chatAxis.x, chatAxis.y, chatAxis.z);
glTranslatef(_joint[AVATAR_JOINT_HEAD_BASE].springyPosition.x,
_joint[AVATAR_JOINT_HEAD_BASE].springyPosition.y + chatMessageHeight,
_joint[AVATAR_JOINT_HEAD_BASE].springyPosition.z);
glRotatef(atan2(-modelview[2], -modelview[10]) * 180 / PIf, 0, 1, 0);
glColor3f(0, 0.8, 0);
glRotatef(180, 0, 1, 0);
glRotatef(180, 0, 0, 1);
glScalef(chatMessageScale, chatMessageScale, 1.0f);
glDisable(GL_LIGHTING);
glDepthMask(false);
if (_keyState == NO_KEY_DOWN) {
@ -887,7 +883,7 @@ void Avatar::render(bool lookingInMirror) {
textRenderer()->draw(-width/2, 0, _chatMessage.c_str());
_chatMessage[lastIndex] = lastChar;
glColor3f(0, 1, 0);
textRenderer()->draw(width/2 - lastWidth, 0, _chatMessage.c_str() + lastIndex);
textRenderer()->draw(width/2 - lastWidth, 0, _chatMessage.c_str() + lastIndex);
}
glEnable(GL_LIGHTING);
glDepthMask(true);
@ -924,7 +920,7 @@ void Avatar::updateBodyBalls(float deltaTime) {
if (length > 0.0f) { // to avoid divide by zero
glm::vec3 springDirection = springVector / length;
float force = (length - _skeleton.joint[b].length) * BODY_SPRING_FORCE * deltaTime;
float force = (length - _skeleton.joint[b].length) * BODY_SPRING_FORCE * deltaTime;
_bodyBall[b].velocity -= springDirection * force;
if (_skeleton.joint[b].parent != AVATAR_JOINT_NULL) {
@ -945,11 +941,11 @@ void Avatar::updateBodyBalls(float deltaTime) {
}
/*
//apply forces from touch...
if (_skeleton.joint[b].touchForce > 0.0) {
_skeleton.joint[b].springyVelocity += _mouseRayDirection * _skeleton.joint[b].touchForce * 0.7f;
}
*/
//apply forces from touch...
if (_skeleton.joint[b].touchForce > 0.0) {
_skeleton.joint[b].springyVelocity += _mouseRayDirection * _skeleton.joint[b].touchForce * 0.7f;
}
*/
//update position by velocity...
_bodyBall[b].position += _bodyBall[b].velocity * deltaTime;
@ -979,7 +975,7 @@ void Avatar::updateArmIKAndConstraints(float deltaTime) {
// set elbow position
glm::vec3 newElbowPosition = _skeleton.joint[ AVATAR_JOINT_RIGHT_SHOULDER ].position + armVector * ONE_HALF;
glm::vec3 perpendicular = glm::cross(getBodyRightDirection(), armVector);
newElbowPosition += perpendicular * (1.0f - (_maxArmLength / distance)) * ONE_HALF;
@ -1013,17 +1009,17 @@ void Avatar::renderBody(bool lookingInMirror) {
const float RENDER_OPAQUE_BEYOND = 1.0f; // Meters beyond which body is shown opaque
const float RENDER_TRANSLUCENT_BEYOND = 0.5f;
// Render the body as balls and cones
// Render the body as balls and cones
for (int b = 0; b < NUM_AVATAR_JOINTS; b++) {
float distanceToCamera = glm::length(_cameraPosition - _skeleton.joint[b].position);
float alpha = lookingInMirror ? 1.0f : glm::clamp((distanceToCamera - RENDER_TRANSLUCENT_BEYOND) /
(RENDER_OPAQUE_BEYOND - RENDER_TRANSLUCENT_BEYOND), 0.f, 1.f);
(RENDER_OPAQUE_BEYOND - RENDER_TRANSLUCENT_BEYOND), 0.f, 1.f);
if (lookingInMirror || _owningAgent) {
alpha = 1.0f;
}
// Always render other people, and render myself when beyond threshold distance
if (b == AVATAR_JOINT_HEAD_BASE) { // the head is rendered as a special
if (lookingInMirror || _owningAgent || distanceToCamera > RENDER_OPAQUE_BEYOND * 0.5) {
@ -1035,8 +1031,8 @@ void Avatar::renderBody(bool lookingInMirror) {
|| b == AVATAR_JOINT_RIGHT_FINGERTIPS ) {
// Render the sphere at the joint
if (_owningAgent || b == AVATAR_JOINT_RIGHT_ELBOW
|| b == AVATAR_JOINT_RIGHT_WRIST
|| b == AVATAR_JOINT_RIGHT_FINGERTIPS ) {
|| b == AVATAR_JOINT_RIGHT_WRIST
|| b == AVATAR_JOINT_RIGHT_FINGERTIPS ) {
glColor3f(SKIN_COLOR[0] + _bodyBall[b].touchForce * 0.3f,
SKIN_COLOR[1] - _bodyBall[b].touchForce * 0.2f,
SKIN_COLOR[2] - _bodyBall[b].touchForce * 0.1f);
@ -1048,7 +1044,7 @@ void Avatar::renderBody(bool lookingInMirror) {
}
if ((b != AVATAR_JOINT_HEAD_TOP )
&& (b != AVATAR_JOINT_HEAD_BASE )) {
&& (b != AVATAR_JOINT_HEAD_BASE )) {
glPushMatrix();
glTranslatef(_bodyBall[b].position.x, _bodyBall[b].position.y, _bodyBall[b].position.z);
glutSolidSphere(_bodyBall[b].radius, 20.0f, 20.0f);
@ -1058,14 +1054,14 @@ void Avatar::renderBody(bool lookingInMirror) {
// Render the cone connecting this joint to its parent
if (_skeleton.joint[b].parent != AVATAR_JOINT_NULL) {
if ((b != AVATAR_JOINT_HEAD_TOP )
&& (b != AVATAR_JOINT_HEAD_BASE )
&& (b != AVATAR_JOINT_PELVIS )
&& (b != AVATAR_JOINT_TORSO )
&& (b != AVATAR_JOINT_CHEST )
&& (b != AVATAR_JOINT_LEFT_COLLAR )
&& (b != AVATAR_JOINT_LEFT_SHOULDER )
&& (b != AVATAR_JOINT_RIGHT_COLLAR )
&& (b != AVATAR_JOINT_RIGHT_SHOULDER)) {
&& (b != AVATAR_JOINT_HEAD_BASE )
&& (b != AVATAR_JOINT_PELVIS )
&& (b != AVATAR_JOINT_TORSO )
&& (b != AVATAR_JOINT_CHEST )
&& (b != AVATAR_JOINT_LEFT_COLLAR )
&& (b != AVATAR_JOINT_LEFT_SHOULDER )
&& (b != AVATAR_JOINT_RIGHT_COLLAR )
&& (b != AVATAR_JOINT_RIGHT_SHOULDER)) {
glColor3fv(DARK_SKIN_COLOR);
float r1 = _bodyBall[_skeleton.joint[b].parent ].radius * 0.8;
@ -1079,7 +1075,7 @@ void Avatar::renderBody(bool lookingInMirror) {
_bodyBall[b ].position, r2, r2
);
}
}
}
}
}
}
@ -1097,7 +1093,7 @@ void Avatar::setHeadFromGyros(glm::vec3* eulerAngles, glm::vec3* angularVelocity
//
// SMOOTHING_TIME is the time is seconds over which the head should average to the
// absolute eulerAngles passed.
//
//
//
if (deltaTime == 0.f) {
@ -1105,9 +1101,9 @@ void Avatar::setHeadFromGyros(glm::vec3* eulerAngles, glm::vec3* angularVelocity
_head.setYaw (eulerAngles->x);
_head.setPitch(eulerAngles->y);
_head.setRoll (eulerAngles->z);
} else {
} else {
glm::vec3 angles(_head.getYaw(), _head.getPitch(), _head.getRoll());
// Increment by detected velocity
// Increment by detected velocity
angles += (*angularVelocity) * deltaTime;
// Smooth to slowly follow absolute values
angles = ((1.f - deltaTime / smoothingTime) * angles) + (deltaTime / smoothingTime) * (*eulerAngles);
@ -1138,25 +1134,25 @@ void Avatar::readAvatarDataFromFile() {
// render a makeshift cone section that serves as a body part connecting joint spheres
void Avatar::renderJointConnectingCone(glm::vec3 position1, glm::vec3 position2, float radius1, float radius2) {
glBegin(GL_TRIANGLES);
glBegin(GL_TRIANGLES);
glm::vec3 axis = position2 - position1;
float length = glm::length(axis);
if (length > 0.0f) {
if (length > 0.0f) {
axis /= length;
glm::vec3 perpSin = glm::vec3(1.0f, 0.0f, 0.0f);
glm::vec3 perpCos = glm::normalize(glm::cross(axis, perpSin));
perpSin = glm::cross(perpCos, axis);
float anglea = 0.0;
float angleb = 0.0;
for (int i = 0; i < NUM_BODY_CONE_SIDES; i ++) {
for (int i = 0; i < NUM_BODY_CONE_SIDES; i ++) {
// the rectangles that comprise the sides of the cone section are
// referenced by "a" and "b" in one dimension, and "1", and "2" in the other dimension.
anglea = angleb;
@ -1166,12 +1162,12 @@ void Avatar::renderJointConnectingCone(glm::vec3 position1, glm::vec3 position2,
float sb = sinf(angleb);
float ca = cosf(anglea);
float cb = cosf(angleb);
glm::vec3 p1a = position1 + perpSin * sa * radius1 + perpCos * ca * radius1;
glm::vec3 p1b = position1 + perpSin * sb * radius1 + perpCos * cb * radius1;
glm::vec3 p1a = position1 + perpSin * sa * radius1 + perpCos * ca * radius1;
glm::vec3 p1b = position1 + perpSin * sb * radius1 + perpCos * cb * radius1;
glm::vec3 p2a = position2 + perpSin * sa * radius2 + perpCos * ca * radius2;
glm::vec3 p2b = position2 + perpSin * sb * radius2 + perpCos * cb * radius2;
glVertex3f(p1a.x, p1a.y, p1a.z);
glVertex3f(p1b.x, p1b.y, p1b.z);
glVertex3f(p2a.x, p2a.y, p2a.z);
@ -1182,8 +1178,4 @@ void Avatar::renderJointConnectingCone(glm::vec3 position1, glm::vec3 position2,
}
glEnd();
}
}