Mirrors/overte
3
0
Fork 0
mirror of https://github.com/overte-org/overte.git synced 2025-04-20 18:23:54 +02:00
Code Issues Projects Releases Packages Wiki Activity Actions 2

improved collisions between avatars

Browse source
This commit is contained in:
Jeffrey Ventrella 2013-04-27 09:33:58 -07:00
parent 308b9dcf82
commit 5c3bd5fe87
4 changed files with 72 additions and 53 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

2
eve/src/main.cpp
View file

@ -121,7 +121,7 @@ int main(int argc, const char* argv[]) {
// put her hand out so somebody can shake it
eve.setHandPosition(glm::vec3(eve.getPosition()[0] - 0.2,
0.25,
0.32, // this is the same as the pelvis standing height (as of 4/26/13)
eve.getPosition()[2] + 0.1));
// read eve's audio data
AudioInjector eveAudioInjector("eve.raw");

91
interface/src/Avatar.cpp
View file

@ -328,11 +328,7 @@ void Avatar::simulate(float deltaTime) {
Avatar *otherAvatar = (Avatar *)agent->getLinkedData();
// check for collisions with other avatars and respond
updateAvatarCollisionDetectionAndResponse(otherAvatar->getPosition(),
0.1,
0.1,
otherAvatar->getBodyUpDirection(),
deltaTime);
updateCollisionWithOtherAvatar(otherAvatar, deltaTime );
// test other avatar hand position for proximity
glm::vec3 v( _bone[ AVATAR_BONE_RIGHT_SHOULDER ].position );
@ -381,12 +377,8 @@ void Avatar::simulate(float deltaTime) {
}
if (usingBigSphereCollisionTest) {
// test for avatar collision response (using a big sphere :)
updateAvatarCollisionDetectionAndResponse(_TEST_bigSpherePosition,
_TEST_bigSphereRadius,
_TEST_bigSphereRadius,
glm::vec3( 0.0, 1.0, 0.0 ),
deltaTime);
// test for avatar collision response with the big sphere
updateCollisionWithSphere( _TEST_bigSpherePosition, _TEST_bigSphereRadius, deltaTime );
}
if ( AVATAR_GRAVITY ) {
@ -540,31 +532,22 @@ void Avatar::simulate(float deltaTime) {
}
}
float Avatar::getGirth() {
return COLLISION_BODY_RADIUS;
}
float Avatar::getHeight() {
return COLLISION_HEIGHT;
return _height;
}
// This is a workspace for testing avatar body collision detection and response
void Avatar::updateAvatarCollisionDetectionAndResponse(glm::vec3 collisionPosition,
float collisionGirth,
float collisionHeight,
glm::vec3 collisionUpVector,
float deltaTime) {
void Avatar::updateCollisionWithSphere( glm::vec3 position, float radius, float deltaTime ) {
float myBodyApproximateBoundingRadius = 1.0f;
glm::vec3 vectorFromMyBodyToBigSphere(_position - collisionPosition);
glm::vec3 vectorFromMyBodyToBigSphere(_position - position);
bool jointCollision = false;
float distanceToBigSphere = glm::length(vectorFromMyBodyToBigSphere);
if ( distanceToBigSphere < myBodyApproximateBoundingRadius + collisionGirth ) {
if ( distanceToBigSphere < myBodyApproximateBoundingRadius + radius ) {
for (int b = 0; b < NUM_AVATAR_BONES; b++) {
glm::vec3 vectorFromJointToBigSphereCenter(_bone[b].springyPosition - collisionPosition);
glm::vec3 vectorFromJointToBigSphereCenter(_bone[b].springyPosition - position);
float distanceToBigSphereCenter = glm::length(vectorFromJointToBigSphereCenter);
float combinedRadius = _bone[b].radius + collisionGirth;
float combinedRadius = _bone[b].radius + radius;
if ( distanceToBigSphereCenter < combinedRadius ) {
jointCollision = true;
@ -576,7 +559,7 @@ void Avatar::updateAvatarCollisionDetectionAndResponse(glm::vec3 collisionPositi
_bone[b].springyVelocity += collisionForce * 30.0f * deltaTime;
_velocity += collisionForce * 100.0f * deltaTime;
_bone[b].springyPosition = collisionPosition + directionVector * combinedRadius;
_bone[b].springyPosition = position + directionVector * combinedRadius;
}
}
}
@ -590,6 +573,38 @@ void Avatar::updateAvatarCollisionDetectionAndResponse(glm::vec3 collisionPositi
}
}
void Avatar::updateCollisionWithOtherAvatar( Avatar * otherAvatar, float deltaTime ) {
glm::vec3 vectorBetweenBoundingSpheres(_position - otherAvatar->_position);
if ( glm::length(vectorBetweenBoundingSpheres) < _height * ONE_HALF + otherAvatar->_height * ONE_HALF ) {
for (int b=1; b<NUM_AVATAR_BONES; b++) {
for (int o=b+1; o<NUM_AVATAR_BONES; o++) {
glm::vec3 vectorBetweenJoints(_bone[b].springyPosition - otherAvatar->_bone[o].springyPosition);
float distanceBetweenJoints = glm::length(vectorBetweenJoints);
if ( distanceBetweenJoints > 0.0 ) {
float combinedRadius = _bone[b].radius + otherAvatar->_bone[o].radius;
if ( distanceBetweenJoints < combinedRadius * 1.8) {
glm::vec3 directionVector = vectorBetweenJoints / distanceBetweenJoints;
_bone[b].springyVelocity += directionVector * 0.1f * deltaTime;
_velocity += directionVector * 3.0f * deltaTime;
float momentum = 1.0 - COLLISION_FRICTION * deltaTime;
if ( momentum < 0.0 ) { momentum = 0.0;}
_velocity *= momentum;
}
}
}
}
}
}
void Avatar::setDisplayingHead( bool displayingHead ) {
_displayingHead = displayingHead;
}
@ -965,12 +980,22 @@ void Avatar::initializeSkeleton() {
calculateBoneLengths();
_pelvisStandingHeight =
_bone[ AVATAR_BONE_PELVIS_SPINE ].length +
_bone[ AVATAR_BONE_LEFT_THIGH ].length +
_bone[ AVATAR_BONE_LEFT_FOOT ].radius +
_bone[ AVATAR_BONE_LEFT_SHIN ].length +
_bone[ AVATAR_BONE_LEFT_FOOT ].length +
_bone[ AVATAR_BONE_RIGHT_FOOT ].radius;
_bone[ AVATAR_BONE_LEFT_THIGH ].length +
_bone[ AVATAR_BONE_PELVIS_SPINE ].length;
//printf( "_pelvisStandingHeight = %f\n", _pelvisStandingHeight );
_height =
(
_pelvisStandingHeight +
_bone[ AVATAR_BONE_MID_SPINE ].length +
_bone[ AVATAR_BONE_CHEST_SPINE].length +
_bone[ AVATAR_BONE_NECK ].length +
_bone[ AVATAR_BONE_HEAD ].length +
_bone[ AVATAR_BONE_HEAD ].radius
);
// generate world positions
updateSkeleton();
}

30
interface/src/Avatar.h
View file

@ -32,8 +32,7 @@ const float YAW_MAG = 500.0; //JJV - changed from 300.0;
const float TEST_YAW_DECAY = 5.0;
const float LIN_VEL_DECAY = 5.0;
const float COLLISION_BODY_RADIUS = 0.1;
const float COLLISION_HEIGHT = 1.5;
const float COLLISION_FRICTION = 0.5;
enum eyeContactTargets {LEFT_EYE, RIGHT_EYE, MOUTH};
@ -103,7 +102,7 @@ struct AvatarBone
glm::vec3 position; // the position at the "end" of the bone
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::dvec3 springyVelocity; // used for special effects ( the velocity of the springy position)
glm::vec3 springyVelocity; // used for special effects ( the velocity of the springy position)
float springBodyTightness; // how tightly the springy position tries to stay on the position
glm::quat rotation; // this will eventually replace yaw, pitch and roll (and maybe orientation)
float yaw; // the yaw Euler angle of the bone rotation off the parent
@ -255,25 +254,20 @@ private:
Avatar* _interactingOther;
bool _interactingOtherIsNearby;
float _pelvisStandingHeight;
float _height;
Balls* _balls;
AvatarTouch _avatarTouch;
bool _displayingHead; // should be false if in first-person view
// private methods...
void initializeSkeleton();
void updateSkeleton();
void initializeBodySprings();
void updateBodySprings( float deltaTime );
void calculateBoneLengths();
void readSensors();
void updateAvatarCollisionDetectionAndResponse
(
glm::vec3 collisionPosition,
float collisionGirth,
float collisionHeight,
glm::vec3 collisionUpVector,
float deltaTime
);
// private methods...
void initializeSkeleton();
void updateSkeleton();
void initializeBodySprings();
void updateBodySprings( float deltaTime );
void calculateBoneLengths();
void readSensors();
void updateCollisionWithSphere( glm::vec3 position, float radius, float deltaTime );
void updateCollisionWithOtherAvatar( Avatar * other, float deltaTime );
};
#endif

2
interface/src/main.cpp
View file

@ -103,7 +103,7 @@ int HEIGHT = 800;
int fullscreen = 0;
float aspectRatio = 1.0f;
bool USING_FIRST_PERSON_EFFECT = true;
bool USING_FIRST_PERSON_EFFECT = false;
bool wantColorRandomizer = true; // for addSphere and load file