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Merge pull request #466 from ey6es/reorient

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Avatar orientation conversion: use quaternions rather than Orientation class, generalize rotations so that avatars can be reoriented based on gravity.
This commit is contained in:
Philip Rosedale 2013-05-30 11:55:19 -07:00
commit 6712c40073
13 changed files with 448 additions and 380 deletions
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58
interface/src/Application.cpp
View file

@ -288,33 +288,22 @@ void Application::paintGL() {
if (_myCamera.getMode() == CAMERA_MODE_MIRROR) {
_myCamera.setTightness (100.0f);
_myCamera.setTargetPosition(_myAvatar.getSpringyHeadPosition());
_myCamera.setTargetRotation(_myAvatar.getBodyYaw() - 180.0f,
0.0f,
0.0f);
_myCamera.setTargetRotation(_myAvatar.getHead().getWorldAlignedOrientation() * glm::quat(glm::vec3(0.0f, PI, 0.0f)));
} else if (OculusManager::isConnected()) {
_myCamera.setUpShift (0.0f);
_myCamera.setDistance (0.0f);
_myCamera.setTightness (100.0f);
_myCamera.setTargetPosition(_myAvatar.getHeadPosition());
_myCamera.setTargetRotation(_myAvatar.getAbsoluteHeadYaw(),
_myAvatar.getHead().getPitch(),
-_myAvatar.getHead().getRoll());
_myCamera.setTargetRotation(_myAvatar.getHead().getOrientation());
} else if (_myCamera.getMode() == CAMERA_MODE_FIRST_PERSON) {
_myCamera.setTargetPosition(_myAvatar.getSpringyHeadPosition());
_myCamera.setTargetRotation(_myAvatar.getAbsoluteHeadYaw(),
_myAvatar.getAbsoluteHeadPitch(),
0.0f);
// Take a look at whether we are inside head, don't render it if so.
const float HEAD_RENDER_DISTANCE = 0.5;
glm::vec3 distanceToHead(_myCamera.getPosition() - _myAvatar.getSpringyHeadPosition());
_myCamera.setTargetRotation(_myAvatar.getHead().getWorldAlignedOrientation());
if (glm::length(distanceToHead) < HEAD_RENDER_DISTANCE) {
}
} else if (_myCamera.getMode() == CAMERA_MODE_THIRD_PERSON) {
_myCamera.setTargetPosition(_myAvatar.getHeadPosition());
_myCamera.setTargetRotation(_myAvatar.getAbsoluteHeadYaw(),
_myAvatar.getAbsoluteHeadPitch(),
0.0f);
_myCamera.setTargetRotation(_myAvatar.getHead().getWorldAlignedOrientation());
}
// important...
@ -344,11 +333,12 @@ void Application::paintGL() {
if (_viewFrustumFromOffset->isChecked() && _frustumOn->isChecked()) {
// set the camera to third-person view but offset so we can see the frustum
_viewFrustumOffsetCamera.setTargetYaw(_viewFrustumOffsetYaw + _myAvatar.getBodyYaw());
_viewFrustumOffsetCamera.setPitch (_viewFrustumOffsetPitch );
_viewFrustumOffsetCamera.setRoll (_viewFrustumOffsetRoll );
_viewFrustumOffsetCamera.setTargetPosition(_myCamera.getTargetPosition());
_viewFrustumOffsetCamera.setTargetRotation(_myCamera.getTargetRotation() * glm::quat(glm::radians(glm::vec3(
_viewFrustumOffsetPitch, _viewFrustumOffsetYaw, _viewFrustumOffsetRoll))));
_viewFrustumOffsetCamera.setUpShift (_viewFrustumOffsetUp );
_viewFrustumOffsetCamera.setDistance (_viewFrustumOffsetDistance);
_viewFrustumOffsetCamera.initialize(); // force immediate snap to ideal position and orientation
_viewFrustumOffsetCamera.update(1.f/_fps);
whichCamera = _viewFrustumOffsetCamera;
}
@ -1122,7 +1112,7 @@ void Application::initMenu() {
_window->setMenuBar(menuBar);
QMenu* fileMenu = menuBar->addMenu("File");
fileMenu->addAction("Quit", this, SLOT(quit()), (Qt::Key_Q || Qt::Key_Control));
fileMenu->addAction("Quit", this, SLOT(quit()), Qt::CTRL | Qt::Key_Q);
QMenu* pairMenu = menuBar->addMenu("Pair");
pairMenu->addAction("Pair", this, SLOT(pair()));
@ -1379,10 +1369,6 @@ void Application::updateAvatar(float deltaTime) {
void Application::loadViewFrustum(Camera& camera, ViewFrustum& viewFrustum) {
// We will use these below, from either the camera or head vectors calculated above
glm::vec3 position;
glm::vec3 direction;
glm::vec3 up;
glm::vec3 right;
float fov, nearClip, farClip;
// Camera or Head?
if (_cameraFrustum->isChecked()) {
@ -1391,15 +1377,14 @@ void Application::loadViewFrustum(Camera& camera, ViewFrustum& viewFrustum) {
position = _myAvatar.getHeadPosition();
}
fov = camera.getFieldOfView();
nearClip = camera.getNearClip();
farClip = camera.getFarClip();
float fov = camera.getFieldOfView();
float nearClip = camera.getNearClip();
float farClip = camera.getFarClip();
Orientation o = camera.getOrientation();
direction = o.getFront();
up = o.getUp();
right = o.getRight();
glm::quat rotation = camera.getRotation();
glm::vec3 direction = rotation * AVATAR_FRONT;
glm::vec3 up = rotation * AVATAR_UP;
glm::vec3 right = rotation * AVATAR_RIGHT;
/*
printf("position.x=%f, position.y=%f, position.z=%f\n", position.x, position.y, position.z);
@ -1585,11 +1570,10 @@ void Application::displaySide(Camera& whichCamera) {
// transform view according to whichCamera
// could be myCamera (if in normal mode)
// or could be viewFrustumOffsetCamera if in offset mode
// I changed the ordering here - roll is FIRST (JJV)
glRotatef ( whichCamera.getRoll(), IDENTITY_FRONT.x, IDENTITY_FRONT.y, IDENTITY_FRONT.z);
glRotatef ( whichCamera.getPitch(), IDENTITY_RIGHT.x, IDENTITY_RIGHT.y, IDENTITY_RIGHT.z);
glRotatef (180.0 - whichCamera.getYaw(), IDENTITY_UP.x, IDENTITY_UP.y, IDENTITY_UP.z );
glm::quat rotation = whichCamera.getRotation();
glm::vec3 axis = glm::axis(rotation);
glRotatef(-glm::angle(rotation), axis.x, axis.y, axis.z);
glTranslatef(-whichCamera.getPosition().x, -whichCamera.getPosition().y, -whichCamera.getPosition().z);

320
interface/src/Avatar.cpp
View file

@ -51,7 +51,6 @@ const float HEAD_MIN_YAW = -85;
const float PERIPERSONAL_RADIUS = 1.0f;
const float AVATAR_BRAKING_STRENGTH = 40.0f;
const float JOINT_TOUCH_RANGE = 0.0005f;
const float ANGULAR_RIGHTING_SPEED = 45.0f;
const float FLOATING_HEIGHT = 0.13f;
const bool USING_HEAD_LEAN = false;
const float LEAN_SENSITIVITY = 0.15;
@ -78,7 +77,6 @@ Avatar::Avatar(Agent* owningAgent) :
_bodyYawDelta(0.0f),
_bodyRollDelta(0.0f),
_movedHandOffset(0.0f, 0.0f, 0.0f),
_rotation(0.0f, 0.0f, 0.0f, 0.0f),
_mode(AVATAR_MODE_STANDING),
_cameraPosition(0.0f, 0.0f, 0.0f),
_handHoldingPosition(0.0f, 0.0f, 0.0f),
@ -86,11 +84,11 @@ Avatar::Avatar(Agent* owningAgent) :
_thrust(0.0f, 0.0f, 0.0f),
_speed(0.0f),
_maxArmLength(0.0f),
_orientation(),
_pelvisStandingHeight(0.0f),
_pelvisFloatingHeight(0.0f),
_distanceToNearestAvatar(std::numeric_limits<float>::max()),
_gravity(0.0f, -1.0f, 0.0f),
_worldUpDirection(0.0f, 1.0f, 0.0),
_mouseRayOrigin(0.0f, 0.0f, 0.0f),
_mouseRayDirection(0.0f, 0.0f, 0.0f),
_interactingOther(NULL),
@ -157,11 +155,19 @@ void Avatar::updateHeadFromGyros(float deltaTime, SerialInterface* serialInterfa
}
float Avatar::getAbsoluteHeadYaw() const {
return _bodyYaw + _head.getYaw();
return glm::yaw(_head.getOrientation());
}
float Avatar::getAbsoluteHeadPitch() const {
return _bodyPitch + _head.getPitch();
return glm::pitch(_head.getOrientation());
}
glm::quat Avatar::getOrientation() const {
return glm::quat(glm::radians(glm::vec3(_bodyPitch, _bodyYaw, _bodyRoll)));
}
glm::quat Avatar::getWorldAlignedOrientation () const {
return computeRotationFromBodyToWorldUp() * getOrientation();
}
void Avatar::updateFromMouse(int mouseX, int mouseY, int screenWidth, int screenHeight) {
@ -218,9 +224,9 @@ void Avatar::simulate(float deltaTime, Transmitter* transmitter) {
// if other avatar, update head position from network data
// update avatar skeleton
updateSkeleton();
// update avatar skeleton
updateSkeleton();
//detect and respond to collisions with other avatars...
if (!_owningAgent) {
updateAvatarCollisions(deltaTime);
@ -238,7 +244,7 @@ void Avatar::simulate(float deltaTime, Transmitter* transmitter) {
updateCollisionWithEnvironment();
}
// update body springs
// update body springs
updateBodySprings(deltaTime);
// test for avatar collision response with the big sphere
@ -251,18 +257,23 @@ void Avatar::simulate(float deltaTime, Transmitter* transmitter) {
updateCollisionWithVoxels();
}
glm::quat orientation = getOrientation();
glm::vec3 front = orientation * AVATAR_FRONT;
glm::vec3 right = orientation * AVATAR_RIGHT;
glm::vec3 up = orientation * AVATAR_UP;
// driving the avatar around should only apply if this is my avatar (as opposed to an avatar being driven remotely)
if (!_owningAgent) {
_thrust = glm::vec3(0.0f, 0.0f, 0.0f);
// Add Thrusts from keyboard
if (_driveKeys[FWD ]) {_thrust += THRUST_MAG * deltaTime * _orientation.getFront();}
if (_driveKeys[BACK ]) {_thrust -= THRUST_MAG * deltaTime * _orientation.getFront();}
if (_driveKeys[RIGHT ]) {_thrust += THRUST_MAG * deltaTime * _orientation.getRight();}
if (_driveKeys[LEFT ]) {_thrust -= THRUST_MAG * deltaTime * _orientation.getRight();}
if (_driveKeys[UP ]) {_thrust += THRUST_MAG * deltaTime * _orientation.getUp();}
if (_driveKeys[DOWN ]) {_thrust -= THRUST_MAG * deltaTime * _orientation.getUp();}
if (_driveKeys[FWD ]) {_thrust += THRUST_MAG * deltaTime * front;}
if (_driveKeys[BACK ]) {_thrust -= THRUST_MAG * deltaTime * front;}
if (_driveKeys[RIGHT ]) {_thrust += THRUST_MAG * deltaTime * right;}
if (_driveKeys[LEFT ]) {_thrust -= THRUST_MAG * deltaTime * right;}
if (_driveKeys[UP ]) {_thrust += THRUST_MAG * deltaTime * up;}
if (_driveKeys[DOWN ]) {_thrust -= THRUST_MAG * deltaTime * up;}
if (_driveKeys[ROT_RIGHT]) {_bodyYawDelta -= YAW_MAG * deltaTime;}
if (_driveKeys[ROT_LEFT ]) {_bodyYawDelta += YAW_MAG * deltaTime;}
@ -277,10 +288,10 @@ void Avatar::simulate(float deltaTime, Transmitter* transmitter) {
const float TRANSMITTER_LIFT_SCALE = 3.f;
const float TOUCH_POSITION_RANGE_HALF = 32767.f;
if (fabs(rotation.z) > TRANSMITTER_MIN_RATE) {
_thrust += rotation.z * TRANSMITTER_LATERAL_FORCE_SCALE * deltaTime * _orientation.getRight();
_thrust += rotation.z * TRANSMITTER_LATERAL_FORCE_SCALE * deltaTime * right;
}
if (fabs(rotation.x) > TRANSMITTER_MIN_RATE) {
_thrust += -rotation.x * TRANSMITTER_FWD_FORCE_SCALE * deltaTime * _orientation.getFront();
_thrust += -rotation.x * TRANSMITTER_FWD_FORCE_SCALE * deltaTime * front;
}
if (fabs(rotation.y) > TRANSMITTER_MIN_YAW_RATE) {
_bodyYawDelta += rotation.y * TRANSMITTER_YAW_SCALE * deltaTime;
@ -290,65 +301,52 @@ void Avatar::simulate(float deltaTime, Transmitter* transmitter) {
(float)(transmitter->getTouchState()->y - TOUCH_POSITION_RANGE_HALF) / TOUCH_POSITION_RANGE_HALF *
TRANSMITTER_LIFT_SCALE *
deltaTime *
_orientation.getUp();
up;
}
}
}
// update body yaw by body yaw delta
if (!_owningAgent) {
_bodyPitch += _bodyPitchDelta * deltaTime;
_bodyYaw += _bodyYawDelta * deltaTime;
_bodyRoll += _bodyRollDelta * deltaTime;
}
// decay body rotation momentum
// update body yaw by body yaw delta
if (!_owningAgent) {
orientation = orientation * glm::quat(glm::radians(
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; }
_bodyPitchDelta *= bodySpinMomentum;
_bodyYawDelta *= bodySpinMomentum;
_bodyRollDelta *= bodySpinMomentum;
// add thrust to velocity
_velocity += _thrust * deltaTime;
// add thrust to velocity
_velocity += _thrust * deltaTime;
// calculate speed
_speed = glm::length(_velocity);
//pitch and roll the body as a function of forward speed and turning delta
const float BODY_PITCH_WHILE_WALKING = 20.0;
const float BODY_PITCH_WHILE_WALKING = -20.0;
const float BODY_ROLL_WHILE_TURNING = 0.2;
float forwardComponentOfVelocity = glm::dot(_orientation.getFront(), _velocity);
_bodyPitch += BODY_PITCH_WHILE_WALKING * deltaTime * forwardComponentOfVelocity;
_bodyRoll += BODY_ROLL_WHILE_TURNING * deltaTime * _speed * _bodyYawDelta;
// these forces keep the body upright...
float tiltDecay = 1.0 - BODY_UPRIGHT_FORCE * deltaTime;
if (tiltDecay < 0.0f) {tiltDecay = 0.0f;}
_bodyPitch *= tiltDecay;
_bodyRoll *= tiltDecay;
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)));
// these forces keep the body upright...
float tiltDecay = BODY_UPRIGHT_FORCE * deltaTime;
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
float gravityLength = glm::length(_gravity);
if (gravityLength > 0.0f) {
glm::vec3 targetUp = _gravity / -gravityLength;
const glm::vec3& currentUp = _righting * glm::vec3(0.0f, 1.0f, 0.0f);
float angle = glm::degrees(acosf(glm::dot(currentUp, targetUp)));
if (angle > 0.0f) {
glm::vec3 axis;
if (angle > 180.0f - EPSILON) { // 180 degree rotation; must use another axis
axis = _orientation.getRight();
} else {
axis = glm::normalize(glm::cross(currentUp, targetUp));
}
//_righting = glm::angleAxis(min(deltaTime * ANGULAR_RIGHTING_SPEED, angle), axis) * _righting;
}
}
setOrientation(computeRotationFromBodyToWorldUp(tiltDecay) * orientation);
// update position by velocity
_position += _velocity * deltaTime;
// decay velocity
// decay velocity
float decay = 1.0 - VELOCITY_DECAY * deltaTime;
if ( decay < 0.0 ) {
_velocity = glm::vec3( 0.0f, 0.0f, 0.0f );
@ -400,8 +398,8 @@ void Avatar::simulate(float deltaTime, Transmitter* transmitter) {
if (USING_HEAD_LEAN) {
if (fabs(_head.getLeanSideways() + _head.getLeanForward()) > 0.0f) {
glm::vec3 headLean =
_orientation.getRight() * _head.getLeanSideways() +
_orientation.getFront() * _head.getLeanForward();
right * _head.getLeanSideways() +
front * _head.getLeanForward();
_joint[ AVATAR_JOINT_TORSO ].springyPosition += headLean * 0.1f;
_joint[ AVATAR_JOINT_CHEST ].springyPosition += headLean * 0.4f;
@ -431,18 +429,18 @@ void Avatar::simulate(float deltaTime, Transmitter* transmitter) {
}
}
_head.setBodyRotation (glm::vec3(_bodyPitch, _bodyYaw, _bodyRoll));
_head.setBodyRotation(glm::vec3(_bodyPitch, _bodyYaw, _bodyRoll));
_head.setPosition(_joint[ AVATAR_JOINT_HEAD_BASE ].springyPosition);
_head.setScale (_joint[ 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
if (_speed + fabs(_bodyYawDelta) > 0.2) {
_mode = AVATAR_MODE_WALKING;
} else {
_mode = AVATAR_MODE_INTERACTING;
}
if (_speed + fabs(_bodyYawDelta) > 0.2) {
_mode = AVATAR_MODE_WALKING;
} else {
_mode = AVATAR_MODE_INTERACTING;
}
}
void Avatar::checkForMouseRayTouching() {
@ -465,19 +463,32 @@ void Avatar::setMouseRay(const glm::vec3 &origin, const glm::vec3 &direction ) {
_mouseRayDirection = direction;
}
void Avatar::setOrientation(const glm::quat& orientation) {
glm::vec3 eulerAngles = safeEulerAngles(orientation);
_bodyPitch = eulerAngles.x;
_bodyYaw = eulerAngles.y;
_bodyRoll = eulerAngles.z;
}
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
= _orientation.getRight() * _movedHandOffset.x * 2.0f
+ _orientation.getUp() * -_movedHandOffset.y * 2.0f
+ _orientation.getFront() * -_movedHandOffset.y * 2.0f;
= right * _movedHandOffset.x * 2.0f
+ up * -_movedHandOffset.y * 2.0f
+ front * -_movedHandOffset.z * 2.0f;
_joint[ AVATAR_JOINT_RIGHT_FINGERTIPS ].position += transformedHandMovement;
if (!_owningAgent) {
_avatarTouch.setMyBodyPosition(_position);
_avatarTouch.setMyOrientation(_orientation);
_avatarTouch.setMyOrientation(orientation);
float closestDistance = std::numeric_limits<float>::max();
@ -492,7 +503,7 @@ void Avatar::updateHandMovementAndTouching(float deltaTime) {
//Test: Show angle between your fwd vector and nearest avatar
//glm::vec3 vectorBetweenUs = otherAvatar->getJointPosition(AVATAR_JOINT_PELVIS) -
// getJointPosition(AVATAR_JOINT_PELVIS);
//printLog("Angle between: %f\n", angleBetween(vectorBetweenUs, _orientation.getFront()));
//printLog("Angle between: %f\n", angleBetween(vectorBetweenUs, getBodyFrontDirection()));
// test whether shoulders are close enough to allow for reaching to touch hands
glm::vec3 v(_position - otherAvatar->_position);
@ -511,7 +522,7 @@ void Avatar::updateHandMovementAndTouching(float deltaTime) {
_avatarTouch.setHasInteractingOther(true);
_avatarTouch.setYourBodyPosition(_interactingOther->_position);
_avatarTouch.setYourOrientation (_interactingOther->_orientation);
_avatarTouch.setYourOrientation (_interactingOther->getOrientation());
_avatarTouch.setYourHandPosition(_interactingOther->_joint[ AVATAR_JOINT_RIGHT_FINGERTIPS ].springyPosition);
_avatarTouch.setYourHandState (_interactingOther->_handState);
@ -616,11 +627,12 @@ void Avatar::updateCollisionWithSphere(glm::vec3 position, float radius, float d
}
void Avatar::updateCollisionWithEnvironment() {
glm::vec3 up = getBodyUpDirection();
float radius = _height * 0.125f;
glm::vec3 penetration;
if (Application::getInstance()->getEnvironment()->findCapsulePenetration(
_position - glm::vec3(0.0f, _pelvisFloatingHeight - radius, 0.0f),
_position + glm::vec3(0.0f, _height - _pelvisFloatingHeight - radius, 0.0f), radius, penetration)) {
_position - up * (_pelvisFloatingHeight - radius),
_position + up * (_height - _pelvisFloatingHeight - radius), radius, penetration)) {
applyCollisionWithScene(penetration);
}
}
@ -740,6 +752,12 @@ static TextRenderer* textRenderer() {
void Avatar::setGravity(glm::vec3 gravity) {
_gravity = gravity;
_head.setGravity(_gravity);
// use the gravity to determine the new world up direction, if possible
float gravityLength = glm::length(gravity);
if (gravityLength > EPSILON) {
_worldUpDirection = _gravity / -gravityLength;
}
}
void Avatar::render(bool lookingInMirror, glm::vec3 cameraPosition) {
@ -823,78 +841,74 @@ void Avatar::render(bool lookingInMirror, glm::vec3 cameraPosition) {
void Avatar::initializeSkeleton() {
for (int b=0; b<NUM_AVATAR_JOINTS; b++) {
for (int b=0; b<NUM_AVATAR_JOINTS; b++) {
_joint[b].isCollidable = true;
_joint[b].parent = AVATAR_JOINT_NULL;
_joint[b].position = glm::vec3(0.0, 0.0, 0.0);
_joint[b].defaultPosePosition = glm::vec3(0.0, 0.0, 0.0);
_joint[b].springyPosition = glm::vec3(0.0, 0.0, 0.0);
_joint[b].springyVelocity = glm::vec3(0.0, 0.0, 0.0);
_joint[b].rotation = glm::quat(0.0f, 0.0f, 0.0f, 0.0f);
_joint[b].yaw = 0.0;
_joint[b].pitch = 0.0;
_joint[b].roll = 0.0;
_joint[b].orientation = glm::quat(0.0f, 0.0f, 0.0f, 1.0f);
_joint[b].length = 0.0;
_joint[b].radius = 0.0;
_joint[b].touchForce = 0.0;
_joint[b].springBodyTightness = BODY_SPRING_DEFAULT_TIGHTNESS;
_joint[b].orientation.setToIdentity();
}
// specify the parental hierarchy
_joint[ AVATAR_JOINT_PELVIS ].parent = AVATAR_JOINT_NULL;
_joint[ AVATAR_JOINT_PELVIS ].parent = AVATAR_JOINT_NULL;
_joint[ AVATAR_JOINT_TORSO ].parent = AVATAR_JOINT_PELVIS;
_joint[ AVATAR_JOINT_CHEST ].parent = AVATAR_JOINT_TORSO;
_joint[ AVATAR_JOINT_NECK_BASE ].parent = AVATAR_JOINT_CHEST;
_joint[ AVATAR_JOINT_CHEST ].parent = AVATAR_JOINT_TORSO;
_joint[ AVATAR_JOINT_NECK_BASE ].parent = AVATAR_JOINT_CHEST;
_joint[ AVATAR_JOINT_HEAD_BASE ].parent = AVATAR_JOINT_NECK_BASE;
_joint[ AVATAR_JOINT_HEAD_TOP ].parent = AVATAR_JOINT_HEAD_BASE;
_joint[ AVATAR_JOINT_LEFT_COLLAR ].parent = AVATAR_JOINT_CHEST;
_joint[ AVATAR_JOINT_LEFT_SHOULDER ].parent = AVATAR_JOINT_LEFT_COLLAR;
_joint[ AVATAR_JOINT_LEFT_ELBOW ].parent = AVATAR_JOINT_LEFT_SHOULDER;
_joint[ AVATAR_JOINT_LEFT_WRIST ].parent = AVATAR_JOINT_LEFT_ELBOW;
_joint[ AVATAR_JOINT_LEFT_ELBOW ].parent = AVATAR_JOINT_LEFT_SHOULDER;
_joint[ AVATAR_JOINT_LEFT_WRIST ].parent = AVATAR_JOINT_LEFT_ELBOW;
_joint[ AVATAR_JOINT_LEFT_FINGERTIPS ].parent = AVATAR_JOINT_LEFT_WRIST;
_joint[ AVATAR_JOINT_RIGHT_COLLAR ].parent = AVATAR_JOINT_CHEST;
_joint[ AVATAR_JOINT_RIGHT_SHOULDER ].parent = AVATAR_JOINT_RIGHT_COLLAR;
_joint[ AVATAR_JOINT_RIGHT_ELBOW ].parent = AVATAR_JOINT_RIGHT_SHOULDER;
_joint[ AVATAR_JOINT_RIGHT_SHOULDER ].parent = AVATAR_JOINT_RIGHT_COLLAR;
_joint[ AVATAR_JOINT_RIGHT_ELBOW ].parent = AVATAR_JOINT_RIGHT_SHOULDER;
_joint[ AVATAR_JOINT_RIGHT_WRIST ].parent = AVATAR_JOINT_RIGHT_ELBOW;
_joint[ AVATAR_JOINT_RIGHT_FINGERTIPS ].parent = AVATAR_JOINT_RIGHT_WRIST;
_joint[ AVATAR_JOINT_LEFT_HIP ].parent = AVATAR_JOINT_PELVIS;
_joint[ AVATAR_JOINT_LEFT_KNEE ].parent = AVATAR_JOINT_LEFT_HIP;
_joint[ AVATAR_JOINT_LEFT_HEEL ].parent = AVATAR_JOINT_LEFT_KNEE;
_joint[ AVATAR_JOINT_LEFT_TOES ].parent = AVATAR_JOINT_LEFT_HEEL;
_joint[ AVATAR_JOINT_RIGHT_HIP ].parent = AVATAR_JOINT_PELVIS;
_joint[ AVATAR_JOINT_RIGHT_KNEE ].parent = AVATAR_JOINT_RIGHT_HIP;
_joint[ AVATAR_JOINT_RIGHT_HEEL ].parent = AVATAR_JOINT_RIGHT_KNEE;
_joint[ AVATAR_JOINT_RIGHT_TOES ].parent = AVATAR_JOINT_RIGHT_HEEL;
_joint[ AVATAR_JOINT_LEFT_HIP ].parent = AVATAR_JOINT_PELVIS;
_joint[ AVATAR_JOINT_LEFT_KNEE ].parent = AVATAR_JOINT_LEFT_HIP;
_joint[ AVATAR_JOINT_LEFT_HEEL ].parent = AVATAR_JOINT_LEFT_KNEE;
_joint[ AVATAR_JOINT_LEFT_TOES ].parent = AVATAR_JOINT_LEFT_HEEL;
_joint[ AVATAR_JOINT_RIGHT_HIP ].parent = AVATAR_JOINT_PELVIS;
_joint[ AVATAR_JOINT_RIGHT_KNEE ].parent = AVATAR_JOINT_RIGHT_HIP;
_joint[ AVATAR_JOINT_RIGHT_HEEL ].parent = AVATAR_JOINT_RIGHT_KNEE;
_joint[ AVATAR_JOINT_RIGHT_TOES ].parent = AVATAR_JOINT_RIGHT_HEEL;
// specify the default pose position
_joint[ AVATAR_JOINT_PELVIS ].defaultPosePosition = glm::vec3( 0.0, 0.0, 0.0 );
_joint[ AVATAR_JOINT_TORSO ].defaultPosePosition = glm::vec3( 0.0, 0.09, 0.01 );
_joint[ AVATAR_JOINT_CHEST ].defaultPosePosition = glm::vec3( 0.0, 0.09, 0.01 );
_joint[ AVATAR_JOINT_NECK_BASE ].defaultPosePosition = glm::vec3( 0.0, 0.14, -0.01 );
_joint[ AVATAR_JOINT_HEAD_BASE ].defaultPosePosition = glm::vec3( 0.0, 0.04, 0.00 );
_joint[ AVATAR_JOINT_PELVIS ].defaultPosePosition = glm::vec3( 0.0, 0.0, 0.0 );
_joint[ AVATAR_JOINT_TORSO ].defaultPosePosition = glm::vec3( 0.0, 0.09, -0.01 );
_joint[ AVATAR_JOINT_CHEST ].defaultPosePosition = glm::vec3( 0.0, 0.09, -0.01 );
_joint[ AVATAR_JOINT_NECK_BASE ].defaultPosePosition = glm::vec3( 0.0, 0.14, 0.01 );
_joint[ AVATAR_JOINT_HEAD_BASE ].defaultPosePosition = glm::vec3( 0.0, 0.04, 0.00 );
_joint[ AVATAR_JOINT_LEFT_COLLAR ].defaultPosePosition = glm::vec3( -0.06, 0.04, -0.01 );
_joint[ AVATAR_JOINT_LEFT_SHOULDER ].defaultPosePosition = glm::vec3( -0.05, 0.0, -0.01 );
_joint[ AVATAR_JOINT_LEFT_ELBOW ].defaultPosePosition = glm::vec3( 0.0, -0.16, 0.0 );
_joint[ AVATAR_JOINT_LEFT_WRIST ].defaultPosePosition = glm::vec3( 0.0, -0.117, 0.0 );
_joint[ AVATAR_JOINT_LEFT_FINGERTIPS ].defaultPosePosition = glm::vec3( 0.0, -0.1, 0.0 );
_joint[ AVATAR_JOINT_LEFT_COLLAR ].defaultPosePosition = glm::vec3( -0.06, 0.04, 0.01 );
_joint[ AVATAR_JOINT_LEFT_SHOULDER ].defaultPosePosition = glm::vec3( -0.05, 0.0, 0.01 );
_joint[ AVATAR_JOINT_LEFT_ELBOW ].defaultPosePosition = glm::vec3( 0.0, -0.16, 0.0 );
_joint[ AVATAR_JOINT_LEFT_WRIST ].defaultPosePosition = glm::vec3( 0.0, -0.117, 0.0 );
_joint[ AVATAR_JOINT_LEFT_FINGERTIPS ].defaultPosePosition = glm::vec3( 0.0, -0.1, 0.0 );
_joint[ AVATAR_JOINT_RIGHT_COLLAR ].defaultPosePosition = glm::vec3( 0.06, 0.04, -0.01 );
_joint[ AVATAR_JOINT_RIGHT_SHOULDER ].defaultPosePosition = glm::vec3( 0.05, 0.0, -0.01 );
_joint[ AVATAR_JOINT_RIGHT_ELBOW ].defaultPosePosition = glm::vec3( 0.0, -0.16, 0.0 );
_joint[ AVATAR_JOINT_RIGHT_COLLAR ].defaultPosePosition = glm::vec3( 0.06, 0.04, 0.01 );
_joint[ AVATAR_JOINT_RIGHT_SHOULDER ].defaultPosePosition = glm::vec3( 0.05, 0.0, 0.01 );
_joint[ AVATAR_JOINT_RIGHT_ELBOW ].defaultPosePosition = glm::vec3( 0.0, -0.16, 0.0 );
_joint[ AVATAR_JOINT_RIGHT_WRIST ].defaultPosePosition = glm::vec3( 0.0, -0.117, 0.0 );
_joint[ AVATAR_JOINT_RIGHT_FINGERTIPS ].defaultPosePosition = glm::vec3( 0.0, -0.1, 0.0 );
_joint[ AVATAR_JOINT_RIGHT_FINGERTIPS ].defaultPosePosition = glm::vec3( 0.0, -0.1, 0.0 );
_joint[ AVATAR_JOINT_LEFT_HIP ].defaultPosePosition = glm::vec3( -0.05, 0.0, -0.02 );
_joint[ AVATAR_JOINT_LEFT_KNEE ].defaultPosePosition = glm::vec3( 0.01, -0.25, 0.03 );
_joint[ AVATAR_JOINT_LEFT_HEEL ].defaultPosePosition = glm::vec3( 0.01, -0.22, -0.08 );
_joint[ AVATAR_JOINT_LEFT_TOES ].defaultPosePosition = glm::vec3( 0.00, -0.03, 0.05 );
_joint[ AVATAR_JOINT_LEFT_HIP ].defaultPosePosition = glm::vec3( -0.05, 0.0, 0.02 );
_joint[ AVATAR_JOINT_LEFT_KNEE ].defaultPosePosition = glm::vec3( 0.01, -0.25, -0.03 );
_joint[ AVATAR_JOINT_LEFT_HEEL ].defaultPosePosition = glm::vec3( 0.01, -0.22, 0.08 );
_joint[ AVATAR_JOINT_LEFT_TOES ].defaultPosePosition = glm::vec3( 0.00, -0.03, -0.05 );
_joint[ AVATAR_JOINT_RIGHT_HIP ].defaultPosePosition = glm::vec3( 0.05, 0.0, -0.02 );
_joint[ AVATAR_JOINT_RIGHT_KNEE ].defaultPosePosition = glm::vec3( -0.01, -0.25, 0.03 );
_joint[ AVATAR_JOINT_RIGHT_HEEL ].defaultPosePosition = glm::vec3( -0.01, -0.22, -0.08 );
_joint[ AVATAR_JOINT_RIGHT_TOES ].defaultPosePosition = glm::vec3( -0.00, -0.03, 0.05 );
_joint[ AVATAR_JOINT_RIGHT_HIP ].defaultPosePosition = glm::vec3( 0.05, 0.0, 0.02 );
_joint[ AVATAR_JOINT_RIGHT_KNEE ].defaultPosePosition = glm::vec3( -0.01, -0.25, -0.03 );
_joint[ AVATAR_JOINT_RIGHT_HEEL ].defaultPosePosition = glm::vec3( -0.01, -0.22, 0.08 );
_joint[ AVATAR_JOINT_RIGHT_TOES ].defaultPosePosition = glm::vec3( 0.00, -0.03, -0.05 );
// specify the radii of the joints
_joint[ AVATAR_JOINT_PELVIS ].radius = 0.07;
@ -905,29 +919,29 @@ void Avatar::initializeSkeleton() {
_joint[ AVATAR_JOINT_LEFT_COLLAR ].radius = 0.04;
_joint[ AVATAR_JOINT_LEFT_SHOULDER ].radius = 0.03;
_joint[ AVATAR_JOINT_LEFT_ELBOW ].radius = 0.02;
_joint[ AVATAR_JOINT_LEFT_ELBOW ].radius = 0.02;
_joint[ AVATAR_JOINT_LEFT_WRIST ].radius = 0.02;
_joint[ AVATAR_JOINT_LEFT_FINGERTIPS ].radius = 0.01;
_joint[ AVATAR_JOINT_RIGHT_COLLAR ].radius = 0.04;
_joint[ AVATAR_JOINT_RIGHT_SHOULDER ].radius = 0.03;
_joint[ AVATAR_JOINT_RIGHT_ELBOW ].radius = 0.02;
_joint[ AVATAR_JOINT_RIGHT_WRIST ].radius = 0.02;
_joint[ AVATAR_JOINT_RIGHT_SHOULDER ].radius = 0.03;
_joint[ AVATAR_JOINT_RIGHT_ELBOW ].radius = 0.02;
_joint[ AVATAR_JOINT_RIGHT_WRIST ].radius = 0.02;
_joint[ AVATAR_JOINT_RIGHT_FINGERTIPS ].radius = 0.01;
_joint[ AVATAR_JOINT_LEFT_HIP ].radius = 0.04;
_joint[ AVATAR_JOINT_LEFT_KNEE ].radius = 0.025;
_joint[ AVATAR_JOINT_LEFT_HEEL ].radius = 0.025;
_joint[ AVATAR_JOINT_LEFT_TOES ].radius = 0.025;
_joint[ AVATAR_JOINT_LEFT_HIP ].radius = 0.04;
_joint[ AVATAR_JOINT_LEFT_KNEE ].radius = 0.025;
_joint[ AVATAR_JOINT_LEFT_HEEL ].radius = 0.025;
_joint[ AVATAR_JOINT_LEFT_TOES ].radius = 0.025;
_joint[ AVATAR_JOINT_RIGHT_HIP ].radius = 0.04;
_joint[ AVATAR_JOINT_RIGHT_KNEE ].radius = 0.025;
_joint[ AVATAR_JOINT_RIGHT_HEEL ].radius = 0.025;
_joint[ AVATAR_JOINT_RIGHT_TOES ].radius = 0.025;
_joint[ AVATAR_JOINT_RIGHT_HIP ].radius = 0.04;
_joint[ AVATAR_JOINT_RIGHT_KNEE ].radius = 0.025;
_joint[ AVATAR_JOINT_RIGHT_HEEL ].radius = 0.025;
_joint[ AVATAR_JOINT_RIGHT_TOES ].radius = 0.025;
// to aid in hand-shaking and hand-holding, the right hand is not collidable
_joint[ AVATAR_JOINT_RIGHT_ELBOW ].isCollidable = false;
_joint[ AVATAR_JOINT_RIGHT_WRIST ].isCollidable = false;
_joint[ AVATAR_JOINT_RIGHT_ELBOW ].isCollidable = false;
_joint[ AVATAR_JOINT_RIGHT_WRIST ].isCollidable = false;
_joint[ AVATAR_JOINT_RIGHT_FINGERTIPS ].isCollidable = false;
// calculate bone length
@ -970,27 +984,23 @@ void Avatar::calculateBoneLengths() {
_maxArmLength
= _joint[ AVATAR_JOINT_RIGHT_ELBOW ].length
+ _joint[ AVATAR_JOINT_RIGHT_WRIST ].length
+ _joint[ AVATAR_JOINT_RIGHT_WRIST ].length
+ _joint[ AVATAR_JOINT_RIGHT_FINGERTIPS ].length;
}
void Avatar::updateSkeleton() {
// rotate body...
_orientation.setToIdentity();
_orientation.yaw (_bodyYaw );
_orientation.pitch(_bodyPitch);
_orientation.roll (_bodyRoll );
_orientation.rotate(_righting);
glm::quat orientation = getOrientation();
// calculate positions of all bones by traversing the skeleton tree:
for (int b = 0; b < NUM_AVATAR_JOINTS; b++) {
if (_joint[b].parent == AVATAR_JOINT_NULL) {
_joint[b].orientation.set(_orientation);
_joint[b].orientation = orientation;
_joint[b].position = _position;
}
else {
_joint[b].orientation.set(_joint[ _joint[b].parent ].orientation);
_joint[b].orientation = _joint[ _joint[b].parent ].orientation;
_joint[b].position = _joint[ _joint[b].parent ].position;
}
@ -1000,11 +1010,7 @@ void Avatar::updateSkeleton() {
}
// the following will be replaced by a proper rotation...close
float xx = glm::dot(_joint[b].defaultPosePosition, _joint[b].orientation.getRight());
float yy = glm::dot(_joint[b].defaultPosePosition, _joint[b].orientation.getUp ());
float zz = glm::dot(_joint[b].defaultPosePosition, _joint[b].orientation.getFront());
glm::vec3 rotatedJointVector(xx, yy, zz);
glm::vec3 rotatedJointVector = _joint[b].orientation * _joint[b].defaultPosePosition;
//glm::vec3 myEuler (0.0f, 0.0f, 0.0f);
//glm::quat myQuat (myEuler);
@ -1037,12 +1043,12 @@ void Avatar::updateBodySprings(float deltaTime) {
}
float length = glm::length(springVector);
if (length > 0.0f) { // to avoid divide by zero
glm::vec3 springDirection = springVector / length;
float force = (length - _joint[b].length) * BODY_SPRING_FORCE * deltaTime;
_joint[b].springyVelocity -= springDirection * force;
if (_joint[b].parent != AVATAR_JOINT_NULL) {
@ -1051,7 +1057,7 @@ void Avatar::updateBodySprings(float deltaTime) {
}
// apply tightness force - (causing springy position to be close to rigid body position)
_joint[b].springyVelocity += (_joint[b].position - _joint[b].springyPosition) * _joint[b].springBodyTightness * deltaTime;
_joint[b].springyVelocity += (_joint[b].position - _joint[b].springyPosition) * _joint[b].springBodyTightness * deltaTime;
// apply decay
float decay = 1.0 - BODY_SPRING_DECAY * deltaTime;
@ -1082,7 +1088,7 @@ void Avatar::updateArmIKAndConstraints(float deltaTime) {
// test to see if right hand is being dragged beyond maximum arm length
float distance = glm::length(armVector);
// don't let right hand get dragged beyond maximum arm length...
if (distance > _maxArmLength) {
// reset right hand to be constrained to maximum arm length
@ -1099,7 +1105,7 @@ void Avatar::updateArmIKAndConstraints(float deltaTime) {
glm::vec3 newElbowPosition = _joint[ AVATAR_JOINT_RIGHT_SHOULDER ].position;
newElbowPosition += armVector * ONE_HALF;
glm::vec3 perpendicular = glm::cross(_orientation.getFront(), armVector);
glm::vec3 perpendicular = glm::cross(getBodyFrontDirection(), armVector);
newElbowPosition += perpendicular * (1.0f - (_maxArmLength / distance)) * ONE_HALF;
_joint[ AVATAR_JOINT_RIGHT_ELBOW ].position = newElbowPosition;
@ -1111,6 +1117,21 @@ void Avatar::updateArmIKAndConstraints(float deltaTime) {
_joint[ AVATAR_JOINT_RIGHT_WRIST ].position = newWristPosition;
}
glm::quat Avatar::computeRotationFromBodyToWorldUp(float proportion) const {
glm::quat orientation = getOrientation();
glm::vec3 currentUp = orientation * AVATAR_UP;
float angle = glm::degrees(acosf(glm::clamp(glm::dot(currentUp, _worldUpDirection), -1.0f, 1.0f)));
if (angle < EPSILON) {
return glm::quat();
}
glm::vec3 axis;
if (angle > 179.99f) { // 180 degree rotation; must use another axis
axis = orientation * AVATAR_RIGHT;
} else {
axis = glm::normalize(glm::cross(currentUp, _worldUpDirection));
}
return glm::angleAxis(angle * proportion, axis);
}
void Avatar::renderBody(bool lookingInMirror) {
@ -1121,7 +1142,8 @@ void Avatar::renderBody(bool lookingInMirror) {
for (int b = 0; b < NUM_AVATAR_JOINTS; b++) {
float distanceToCamera = glm::length(_cameraPosition - _joint[b].position);
float alpha = glm::clamp((distanceToCamera - RENDER_TRANSLUCENT_BEYOND) / (RENDER_OPAQUE_BEYOND - RENDER_TRANSLUCENT_BEYOND), 0.f, 1.f);
float alpha = lookingInMirror ? 1.0f : glm::clamp((distanceToCamera - RENDER_TRANSLUCENT_BEYOND) /
(RENDER_OPAQUE_BEYOND - RENDER_TRANSLUCENT_BEYOND), 0.f, 1.f);
if (lookingInMirror || _owningAgent) {
alpha = 1.0f;

76
interface/src/Avatar.h
View file

@ -11,7 +11,6 @@
#include <glm/glm.hpp>
#include <glm/gtc/quaternion.hpp>
#include <AvatarData.h>
#include <Orientation.h>
#include "world.h"
#include "AvatarTouch.h"
#include "InterfaceConfig.h"
@ -31,15 +30,15 @@ enum DriveKeys
DOWN,
ROT_LEFT,
ROT_RIGHT,
MAX_DRIVE_KEYS
MAX_DRIVE_KEYS
};
enum AvatarMode
{
AVATAR_MODE_STANDING = 0,
AVATAR_MODE_WALKING,
AVATAR_MODE_INTERACTING,
NUM_AVATAR_MODES
AVATAR_MODE_STANDING = 0,
AVATAR_MODE_WALKING,
AVATAR_MODE_INTERACTING,
NUM_AVATAR_MODES
};
class Avatar : public AvatarData {
@ -62,22 +61,27 @@ public:
void setDisplayingLookatVectors(bool displayingLookatVectors) { _head.setRenderLookatVectors(displayingLookatVectors);}
void setGravity (glm::vec3 gravity);
void setMouseRay (const glm::vec3 &origin, const glm::vec3 &direction);
void setOrientation (const glm::quat& orientation);
//getters
float getHeadYawRate () const { return _head.yawRate;}
float getBodyYaw () const { return _bodyYaw;}
bool getIsNearInteractingOther() const { return _avatarTouch.getAbleToReachOtherAvatar();}
const glm::vec3& getHeadPosition () const { return _joint[ AVATAR_JOINT_HEAD_BASE ].position;}
const glm::vec3& getSpringyHeadPosition () const { return _joint[ AVATAR_JOINT_HEAD_BASE ].springyPosition;}
const glm::vec3& getJointPosition (AvatarJointID j) const { return _joint[j].springyPosition;}
const glm::vec3& getBodyUpDirection () const { return _orientation.getUp();}
const glm::vec3& getVelocity () const { return _velocity;}
float getSpeed () const { return _speed;}
float getHeight () const { return _height;}
AvatarMode getMode () const { return _mode;}
float getAbsoluteHeadYaw () const;
float getAbsoluteHeadPitch () const;
Head& getHead () {return _head; }
float getHeadYawRate () const { return _head.yawRate;}
float getBodyYaw () const { return _bodyYaw;}
bool getIsNearInteractingOther () const { return _avatarTouch.getAbleToReachOtherAvatar();}
const glm::vec3& getHeadPosition () const { return _joint[ AVATAR_JOINT_HEAD_BASE ].position;}
const glm::vec3& getSpringyHeadPosition () const { return _joint[ AVATAR_JOINT_HEAD_BASE ].springyPosition;}
const glm::vec3& getJointPosition (AvatarJointID j) const { return _joint[j].springyPosition;}
glm::vec3 getBodyRightDirection () const { return getOrientation() * AVATAR_RIGHT; }
glm::vec3 getBodyUpDirection () const { return getOrientation() * AVATAR_UP; }
glm::vec3 getBodyFrontDirection () const { return getOrientation() * AVATAR_FRONT; }
const glm::vec3& getVelocity () const { return _velocity;}
float getSpeed () const { return _speed;}
float getHeight () const { return _height;}
AvatarMode getMode () const { return _mode;}
float getAbsoluteHeadYaw () const;
float getAbsoluteHeadPitch () const;
Head& getHead () { return _head; }
glm::quat getOrientation () const;
glm::quat getWorldAlignedOrientation () const;
// Set what driving keys are being pressed to control thrust levels
void setDriveKeys(int key, bool val) { _driveKeys[key] = val; };
@ -99,19 +103,15 @@ private:
struct AvatarJoint
{
AvatarJointID parent; // which joint is this joint connected to?
glm::vec3 position; // the position at the "end" of the joint - in global space
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::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 joint rotation off the parent
float pitch; // the pitch Euler angle of the joint rotation off the parent
float roll; // the roll Euler angle of the joint rotation off the parent
Orientation orientation; // three orthogonal normals determined by yaw, pitch, roll
float length; // the length of vector connecting the joint and its parent
float radius; // used for detecting collisions for certain physical effects
bool isCollidable; // when false, the joint position will not register a collision
glm::vec3 position; // the position at the "end" of the joint - in global space
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::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 orientation; // this will eventually replace yaw, pitch and roll (and maybe orientation)
float length; // the length of vector connecting the joint and its parent
float radius; // used for detecting collisions for certain physical effects
bool isCollidable; // when false, the joint position will not register a collision
float touchForce; // if being touched, what's the degree of influence? (0 to 1)
};
@ -124,16 +124,14 @@ private:
float _bodyYawDelta;
float _bodyRollDelta;
glm::vec3 _movedHandOffset;
glm::quat _rotation; // the rotation of the avatar body as a whole expressed as a quaternion
AvatarJoint _joint[ NUM_AVATAR_JOINTS ];
AvatarJoint _joint[ NUM_AVATAR_JOINTS ];
AvatarMode _mode;
glm::vec3 _cameraPosition;
glm::vec3 _handHoldingPosition;
glm::vec3 _velocity;
glm::vec3 _thrust;
glm::vec3 _thrust;
float _speed;
float _maxArmLength;
Orientation _orientation;
float _maxArmLength;
glm::quat _righting;
int _driveKeys[MAX_DRIVE_KEYS];
float _pelvisStandingHeight;
@ -143,6 +141,7 @@ private:
AvatarTouch _avatarTouch;
float _distanceToNearestAvatar; // How close is the nearest avatar?
glm::vec3 _gravity;
glm::vec3 _worldUpDirection;
glm::vec3 _mouseRayOrigin;
glm::vec3 _mouseRayDirection;
Avatar* _interactingOther;
@ -151,6 +150,7 @@ private:
// private methods...
glm::vec3 caclulateAverageEyePosition() { return _head.caclulateAverageEyePosition(); } // get the position smack-dab between the eyes (for lookat)
glm::quat computeRotationFromBodyToWorldUp(float proportion = 1.0f) const;
void renderBody(bool lookingInMirror);
void initializeSkeleton();
void updateSkeleton();

9
interface/src/AvatarTouch.cpp
View file

@ -29,8 +29,6 @@ AvatarTouch::AvatarTouch() {
_canReachToOtherAvatar = false;
_handsCloseEnoughToGrasp = false;
_hasInteractingOther = false;
_myOrientation.setToIdentity();
_yourOrientation.setToIdentity();
for (int p=0; p<NUM_PARTICLE_POINTS; p++) {
_point[p] = glm::vec3(0.0, 0.0, 0.0);
@ -49,8 +47,11 @@ void AvatarTouch::simulate (float deltaTime) {
bool facingEachOther = false;
if (( glm::dot(_myOrientation.getFront(), _yourOrientation.getFront()) < -AVATAR_FACING_THRESHOLD) // we're facing each other
&& ( glm::dot(_myOrientation.getFront(), directionBetweenBodies ) > AVATAR_FACING_THRESHOLD)) { // I'm facing you
glm::vec3 myFront = _myOrientation * AVATAR_FRONT;
glm::vec3 yourFront = _yourOrientation * AVATAR_FRONT;
if (( glm::dot(myFront, yourFront) < -AVATAR_FACING_THRESHOLD) // we're facing each other
&& ( glm::dot(myFront, directionBetweenBodies ) > AVATAR_FACING_THRESHOLD)) { // I'm facing you
facingEachOther = true;
}

12
interface/src/AvatarTouch.h
View file

@ -9,7 +9,9 @@
#define __interface__AvatarTouch__
#include <glm/glm.hpp>
#include "Orientation.h"
#include <glm/gtc/quaternion.hpp>
#include <AvatarData.h>
enum AvatarHandState
{
@ -31,8 +33,8 @@ public:
void setHasInteractingOther(bool hasInteractingOther) { _hasInteractingOther = hasInteractingOther;}
void setMyHandPosition (glm::vec3 position ) { _myHandPosition = position;}
void setYourHandPosition (glm::vec3 position ) { _yourHandPosition = position;}
void setMyOrientation (Orientation orientation ) { _myOrientation = orientation;}
void setYourOrientation (Orientation orientation ) { _yourOrientation = orientation;}
void setMyOrientation (glm::quat orientation ) { _myOrientation = orientation;}
void setYourOrientation (glm::quat orientation ) { _yourOrientation = orientation;}
void setMyBodyPosition (glm::vec3 position ) { _myBodyPosition = position;}
void setYourBodyPosition (glm::vec3 position ) { _yourBodyPosition = position;}
void setMyHandState (int state ) { _myHandState = state;}
@ -55,8 +57,8 @@ private:
glm::vec3 _yourBodyPosition;
glm::vec3 _myHandPosition;
glm::vec3 _yourHandPosition;
Orientation _myOrientation;
Orientation _yourOrientation;
glm::quat _myOrientation;
glm::quat _yourOrientation;
glm::vec3 _vectorBetweenHands;
int _myHandState;
int _yourHandState;

49
interface/src/Camera.cpp
View file

@ -4,12 +4,14 @@
//
// Copyright (c) 2013 High Fidelity, Inc. All rights reserved.
#include <glm/gtx/quaternion.hpp>
#include <SharedUtil.h>
#include <VoxelConstants.h>
#include <OculusManager.h>
// #include "Log.h"
#include "Log.h"
#include "Camera.h"
#include "Util.h"
const float CAMERA_MINIMUM_MODE_SHIFT_RATE = 0.5f;
@ -38,9 +40,6 @@ Camera::Camera() {
_fieldOfView = 60.0f; // default
_nearClip = 0.08f; // default
_farClip = 50.0f * TREE_SCALE; // default
_yaw = 0.0f;
_pitch = 0.0f;
_roll = 0.0f;
_upShift = 0.0f;
_distance = 0.0f;
_previousUpShift = 0.0f;
@ -49,13 +48,9 @@ Camera::Camera() {
_newUpShift = 0.0f;
_newDistance = 0.0f;
_newTightness = 0.0f;
_idealYaw = 0.0f;
_idealPitch = 0.0f;
_idealRoll = 0.0f;
_targetPosition = glm::vec3(0.0f, 0.0f, 0.0f);
_position = glm::vec3(0.0f, 0.0f, 0.0f);
_idealPosition = glm::vec3(0.0f, 0.0f, 0.0f);
_orientation.setToIdentity();
}
void Camera::update(float deltaTime) {
@ -64,17 +59,6 @@ void Camera::update(float deltaTime) {
// use iterative forces to push the camera towards the target position and angle
updateFollowMode(deltaTime);
}
// do this AFTER making any changes to yaw pitch and roll....
generateOrientation();
}
// generate the ortho-normals for the orientation based on the three Euler angles
void Camera::generateOrientation() {
_orientation.setToIdentity();
_orientation.pitch(_pitch);
_orientation.yaw (_yaw );
_orientation.roll (_roll );
}
// use iterative forces to keep the camera at the desired position and angle
@ -104,26 +88,15 @@ void Camera::updateFollowMode(float deltaTime) {
t = 1.0;
}
// update Euler angles (before position!)
// update rotation (before position!)
if (_needsToInitialize || OculusManager::isConnected()) {
_yaw = _idealYaw;
_pitch = _idealPitch;
_roll = _idealRoll;
_rotation = _targetRotation;
} else {
// pull Euler angles towards ideal Euler angles
_yaw += (_idealYaw - _yaw ) * t;
_pitch += (_idealPitch - _pitch) * t;
_roll += (_idealRoll - _roll ) * t;
// pull rotation towards ideal
_rotation = safeMix(_rotation, _targetRotation, t);
}
float radian = (_yaw / 180.0) * PIE;
// update _position
double x = -_distance * sin(radian);
double z = -_distance * cos(radian);
double y = _upShift;
_idealPosition = _targetPosition + glm::vec3(x, y, z);
_idealPosition = _targetPosition + _rotation * glm::vec3(0.0f, _upShift, _distance);
if (_needsToInitialize) {
_position = _idealPosition;
@ -171,10 +144,8 @@ void Camera::setMode(CameraMode m) {
}
void Camera::setTargetRotation( float yaw, float pitch, float roll ) {
_idealYaw = yaw;
_idealPitch = pitch;
_idealRoll = roll;
void Camera::setTargetRotation( const glm::quat& targetRotation ) {
_targetRotation = targetRotation;
}
void Camera::setFieldOfView(float f) {

72
interface/src/Camera.h
View file

@ -30,40 +30,36 @@ public:
void update( float deltaTime );
void setYaw ( float y ) { _yaw = y; }
void setPitch ( float p ) { _pitch = p; }
void setRoll ( float r ) { _roll = r; }
void setUpShift ( float u ) { _upShift = u; }
void setDistance ( float d ) { _distance = d; }
void setTargetPosition( glm::vec3 t ) { _targetPosition = t; }
void setTargetYaw ( float y ) { _idealYaw = y; }
void setPosition ( glm::vec3 p ) { _position = p; }
void setTightness ( float t ) { _tightness = t; }
void setTargetRotation( float yaw, float pitch, float roll );
void setUpShift ( float u ) { _upShift = u; }
void setDistance ( float d ) { _distance = d; }
void setTargetPosition( const glm::vec3& t ) { _targetPosition = t; }
void setPosition ( const glm::vec3& p ) { _position = p; }
void setTightness ( float t ) { _tightness = t; }
void setTargetRotation( const glm::quat& rotation );
void setMode ( CameraMode m );
void setModeShiftRate ( float r );
void setFieldOfView ( float f );
void setAspectRatio ( float a );
void setNearClip ( float n );
void setFarClip ( float f );
void setEyeOffsetPosition ( const glm::vec3& p);
void setEyeOffsetOrientation ( const glm::quat& o);
float getYaw () { return _yaw; }
float getPitch () { return _pitch; }
float getRoll () { return _roll; }
glm::vec3 getPosition () { return _position; }
Orientation getOrientation() { return _orientation; }
CameraMode getMode () { return _mode; }
float getFieldOfView() { return _fieldOfView; }
float getAspectRatio() { return _aspectRatio; }
float getNearClip () { return _nearClip; }
float getFarClip () { return _farClip; }
glm::vec3 getEyeOffsetPosition () { return _eyeOffsetPosition; }
glm::quat getEyeOffsetOrientation () { return _eyeOffsetOrientation; }
bool getFrustumNeedsReshape(); // call to find out if the view frustum needs to be reshaped
void setFrustumWasReshaped(); // call this after reshaping the view frustum.
void setMode ( CameraMode m );
void setModeShiftRate ( float r );
void setFieldOfView ( float f );
void setAspectRatio ( float a );
void setNearClip ( float n );
void setFarClip ( float f );
void setEyeOffsetPosition ( const glm::vec3& p );
void setEyeOffsetOrientation( const glm::quat& o );
const glm::vec3& getTargetPosition () { return _targetPosition; }
const glm::vec3& getPosition () { return _position; }
const glm::quat& getTargetRotation () { return _targetRotation; }
const glm::quat& getRotation () { return _rotation; }
CameraMode getMode () { return _mode; }
float getFieldOfView () { return _fieldOfView; }
float getAspectRatio () { return _aspectRatio; }
float getNearClip () { return _nearClip; }
float getFarClip () { return _farClip; }
const glm::vec3& getEyeOffsetPosition () { return _eyeOffsetPosition; }
const glm::quat& getEyeOffsetOrientation () { return _eyeOffsetOrientation; }
bool getFrustumNeedsReshape(); // call to find out if the view frustum needs to be reshaped
void setFrustumWasReshaped(); // call this after reshaping the view frustum.
private:
@ -79,12 +75,8 @@ private:
float _farClip;
glm::vec3 _eyeOffsetPosition;
glm::quat _eyeOffsetOrientation;
float _yaw;
float _pitch;
float _roll;
float _idealYaw;
float _idealPitch;
float _idealRoll;
glm::quat _rotation;
glm::quat _targetRotation;
float _upShift;
float _distance;
float _tightness;
@ -94,12 +86,10 @@ private:
float _newUpShift;
float _newDistance;
float _newTightness;
Orientation _orientation;
float _modeShift;
float _linearModeShift;
float _modeShiftRate;
void generateOrientation();
void updateFollowMode( float deltaTime );
};

3
interface/src/Environment.cpp
View file

@ -71,7 +71,8 @@ glm::vec3 Environment::getGravity (const glm::vec3& position) {
foreach (const ServerData& serverData, _data) {
foreach (const EnvironmentData& environmentData, serverData) {
glm::vec3 vector = environmentData.getAtmosphereCenter() - position;
if (glm::length(vector) < environmentData.getAtmosphereOuterRadius()) {
const float GRAVITY_RADIUS_MULTIPLIER = 1.5f;
if (glm::length(vector) < environmentData.getAtmosphereOuterRadius() * GRAVITY_RADIUS_MULTIPLIER) {
gravity += glm::normalize(vector) * environmentData.getGravity();
}
}

144
interface/src/Head.cpp
View file

@ -4,6 +4,8 @@
//
// Copyright (c) 2013 High Fidelity, Inc. All rights reserved.
#include <glm/gtx/quaternion.hpp>
#include "Avatar.h"
#include "Head.h"
#include "Util.h"
#include <vector>
@ -62,6 +64,7 @@ Head::Head(Avatar* owningAvatar) :
_audioAttack(0.0f),
_returnSpringScale(1.0f),
_bodyRotation(0.0f, 0.0f, 0.0f),
_lookingInMirror(false),
_renderLookatVectors(false),
_mohawkTriangleFan(NULL),
_mohawkColors(NULL)
@ -84,13 +87,14 @@ void Head::reset() {
void Head::resetHairPhysics() {
glm::vec3 up = getUpDirection();
for (int t = 0; t < NUM_HAIR_TUFTS; t ++) {
_hairTuft[t].length = HAIR_LENGTH;
_hairTuft[t].thickness = HAIR_THICKNESS;
_hairTuft[t].basePosition = _position + _orientation.getUp() * _scale * 0.9f;
_hairTuft[t].midPosition = _hairTuft[t].basePosition + _orientation.getUp() * _hairTuft[t].length * ONE_HALF;
_hairTuft[t].endPosition = _hairTuft[t].midPosition + _orientation.getUp() * _hairTuft[t].length * ONE_HALF;
_hairTuft[t].basePosition = _position + up * _scale * 0.9f;
_hairTuft[t].midPosition = _hairTuft[t].basePosition + up * _hairTuft[t].length * ONE_HALF;
_hairTuft[t].endPosition = _hairTuft[t].midPosition + up * _hairTuft[t].length * ONE_HALF;
_hairTuft[t].midVelocity = glm::vec3(0.0f, 0.0f, 0.0f);
_hairTuft[t].endVelocity = glm::vec3(0.0f, 0.0f, 0.0f);
}
@ -156,7 +160,7 @@ void Head::determineIfLookingAtSomething() {
_lookingAtSomething = false;
} else {
glm::vec3 targetLookatAxis = glm::normalize(_lookAtPosition - caclulateAverageEyePosition());
float dot = glm::dot(targetLookatAxis, _orientation.getFront());
float dot = glm::dot(targetLookatAxis, getFrontDirection());
if (dot < MINIMUM_EYE_ROTATION_DOT) { // too far off from center for the eyes to rotate
_lookingAtSomething = false;
} else {
@ -165,57 +169,48 @@ void Head::determineIfLookingAtSomething() {
}
}
void Head::calculateGeometry(bool lookingInMirror) {
//generate orientation directions based on Euler angles...
float pitch = _pitch;
float yaw = _yaw;
float roll = _roll;
if (lookingInMirror) {
yaw = -_yaw;
roll = -_roll;
}
_orientation.setToIdentity();
_orientation.roll (_bodyRotation.z + roll );
_orientation.pitch(_bodyRotation.x + pitch);
_orientation.yaw (_bodyRotation.y + yaw );
void Head::calculateGeometry() {
//generate orientation directions
glm::quat orientation = getOrientation();
glm::vec3 right = orientation * AVATAR_RIGHT;
glm::vec3 up = orientation * AVATAR_UP;
glm::vec3 front = orientation * AVATAR_FRONT;
//calculate the eye positions
_leftEyePosition = _position
- _orientation.getRight() * _scale * EYE_RIGHT_OFFSET
+ _orientation.getUp () * _scale * EYE_UP_OFFSET
+ _orientation.getFront() * _scale * EYE_FRONT_OFFSET;
- right * _scale * EYE_RIGHT_OFFSET
+ up * _scale * EYE_UP_OFFSET
+ front * _scale * EYE_FRONT_OFFSET;
_rightEyePosition = _position
+ _orientation.getRight() * _scale * EYE_RIGHT_OFFSET
+ _orientation.getUp () * _scale * EYE_UP_OFFSET
+ _orientation.getFront() * _scale * EYE_FRONT_OFFSET;
+ right * _scale * EYE_RIGHT_OFFSET
+ up * _scale * EYE_UP_OFFSET
+ front * _scale * EYE_FRONT_OFFSET;
//calculate the eyebrow positions
_leftEyeBrowPosition = _leftEyePosition;
_rightEyeBrowPosition = _rightEyePosition;
//calculate the ear positions
_leftEarPosition = _position - _orientation.getRight() * _scale * EAR_RIGHT_OFFSET;
_rightEarPosition = _position + _orientation.getRight() * _scale * EAR_RIGHT_OFFSET;
_leftEarPosition = _position - right * _scale * EAR_RIGHT_OFFSET;
_rightEarPosition = _position + right * _scale * EAR_RIGHT_OFFSET;
//calculate the mouth position
_mouthPosition = _position + _orientation.getUp () * _scale * MOUTH_UP_OFFSET
+ _orientation.getFront() * _scale;
_mouthPosition = _position + up * _scale * MOUTH_UP_OFFSET
+ front * _scale;
}
void Head::render(bool lookingInMirror, glm::vec3 cameraPosition, float alpha) {
_renderAlpha = alpha;
_lookingInMirror = lookingInMirror;
calculateGeometry(lookingInMirror);
calculateGeometry();
glEnable(GL_DEPTH_TEST);
glEnable(GL_RESCALE_NORMAL);
renderMohawk(lookingInMirror, cameraPosition);
renderMohawk(cameraPosition);
renderHeadSphere();
renderEyeBalls();
renderEars();
@ -259,7 +254,7 @@ void Head::createMohawk() {
}
}
void Head::renderMohawk(bool lookingInMirror, glm::vec3 cameraPosition) {
void Head::renderMohawk(glm::vec3 cameraPosition) {
if (!_mohawkTriangleFan) {
createMohawk();
@ -297,8 +292,8 @@ void Head::renderMohawk(bool lookingInMirror, glm::vec3 cameraPosition) {
} else {
glPushMatrix();
glTranslatef(_position.x, _position.y, _position.z);
glRotatef((lookingInMirror ? (_bodyRotation.y - _yaw) : (_bodyRotation.y + _yaw)), 0, 1, 0);
glRotatef(lookingInMirror ? _roll: -_roll, 0, 0, 1);
glRotatef((_lookingInMirror ? (_bodyRotation.y - _yaw) : (_bodyRotation.y + _yaw)), 0, 1, 0);
glRotatef(_lookingInMirror ? _roll: -_roll, 0, 0, 1);
glRotatef(-_pitch - _bodyRotation.x, 1, 0, 0);
glBegin(GL_TRIANGLE_FAN);
@ -312,6 +307,16 @@ void Head::renderMohawk(bool lookingInMirror, glm::vec3 cameraPosition) {
}
}
glm::quat Head::getOrientation() const {
return glm::quat(glm::radians(_bodyRotation)) * glm::quat(glm::radians(_lookingInMirror ?
glm::vec3(_pitch, -_yaw, -_roll) : glm::vec3(_pitch, _yaw, _roll)));
}
glm::quat Head::getWorldAlignedOrientation () const {
Avatar* owningAvatar = static_cast<Avatar*>(_owningAvatar);
return owningAvatar->getWorldAlignedOrientation() * glm::quat(glm::radians(_lookingInMirror ?
glm::vec3(_pitch, -_yaw, -_roll) : glm::vec3(_pitch, _yaw, _roll)));
}
void Head::renderHeadSphere() {
glPushMatrix();
@ -341,9 +346,14 @@ void Head::renderMouth() {
float s = sqrt(_averageLoudness);
glm::vec3 r = _orientation.getRight() * _scale * (0.30f + s * 0.0014f );
glm::vec3 u = _orientation.getUp () * _scale * (0.05f + s * 0.0040f );
glm::vec3 f = _orientation.getFront() * _scale * 0.09f;
glm::quat orientation = getOrientation();
glm::vec3 right = orientation * AVATAR_RIGHT;
glm::vec3 up = orientation * AVATAR_UP;
glm::vec3 front = orientation * AVATAR_FRONT;
glm::vec3 r = right * _scale * (0.30f + s * 0.0014f );
glm::vec3 u = up * _scale * (0.05f + s * 0.0040f );
glm::vec3 f = front * _scale * 0.09f;
glm::vec3 middle = _mouthPosition;
glm::vec3 leftCorner = _mouthPosition - r * 1.0f;
@ -403,11 +413,16 @@ void Head::renderEyeBrows() {
glm::vec3 rightTop = _leftEyePosition;
glm::vec3 leftBottom = _leftEyePosition;
glm::vec3 rightBottom = _leftEyePosition;
glm::vec3 r = _orientation.getRight() * length;
glm::vec3 u = _orientation.getUp() * height;
glm::vec3 t = _orientation.getUp() * (height + width);
glm::vec3 f = _orientation.getFront() * _scale * -0.1f;
glm::quat orientation = getOrientation();
glm::vec3 right = orientation * AVATAR_RIGHT;
glm::vec3 up = orientation * AVATAR_UP;
glm::vec3 front = orientation * AVATAR_FRONT;
glm::vec3 r = right * length;
glm::vec3 u = up * height;
glm::vec3 t = up * (height + width);
glm::vec3 f = front * _scale * -0.1f;
for (int i = 0; i < 2; i++) {
@ -475,6 +490,8 @@ void Head::renderEyeBalls() {
gluSphere(irisQuadric, EYEBALL_RADIUS, 30, 30);
glPopMatrix();
glm::vec3 front = getFrontDirection();
// render left iris
glPushMatrix(); {
glTranslatef(_leftEyePosition.x, _leftEyePosition.y, _leftEyePosition.z); //translate to eyeball position
@ -485,20 +502,20 @@ void Head::renderEyeBalls() {
//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);
glm::vec3 rotationAxis = glm::cross(targetLookatAxis, AVATAR_UP);
float angle = 180.0f - angleBetween(targetLookatAxis, AVATAR_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);
glm::vec3 rotationAxisToHeadFront = glm::cross(front, AVATAR_UP);
float angleToHeadFront = 180.0f - angleBetween(front, AVATAR_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);
float rollRotation = angleBetween(front, AVATAR_FRONT);
float dot = glm::dot(front, -AVATAR_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
}
@ -529,21 +546,21 @@ void Head::renderEyeBalls() {
//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);
glm::vec3 rotationAxis = glm::cross(targetLookatAxis, AVATAR_UP);
float angle = 180.0f - angleBetween(targetLookatAxis, AVATAR_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);
glm::vec3 rotationAxisToHeadFront = glm::cross(front, AVATAR_UP);
float angleToHeadFront = 180.0f - angleBetween(front, AVATAR_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);
float rollRotation = angleBetween(front, AVATAR_FRONT);
float dot = glm::dot(front, -AVATAR_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
}
@ -578,6 +595,11 @@ void Head::renderLookatVectors(glm::vec3 leftEyePosition, glm::vec3 rightEyePosi
void Head::updateHairPhysics(float deltaTime) {
glm::quat orientation = getOrientation();
glm::vec3 right = orientation * AVATAR_RIGHT;
glm::vec3 up = orientation * AVATAR_UP;
glm::vec3 front = orientation * AVATAR_FRONT;
for (int t = 0; t < NUM_HAIR_TUFTS; t ++) {
float fraction = (float)t / (float)(NUM_HAIR_TUFTS - 1);
@ -586,8 +608,8 @@ void Head::updateHairPhysics(float deltaTime) {
float radian = angle * PI_OVER_180;
glm::vec3 baseDirection
= _orientation.getFront() * sinf(radian)
+ _orientation.getUp() * cosf(radian);
= front * sinf(radian)
+ up * cosf(radian);
_hairTuft[t].basePosition = _position + _scale * 0.9f * baseDirection;
@ -603,13 +625,13 @@ void Head::updateHairPhysics(float deltaTime) {
if (midLength > 0.0f) {
midDirection = midAxis / midLength;
} else {
midDirection = _orientation.getUp();
midDirection = up;
}
if (endLength > 0.0f) {
endDirection = endAxis / endLength;
} else {
endDirection = _orientation.getUp();
endDirection = up;
}
// add spring force
@ -654,13 +676,13 @@ void Head::updateHairPhysics(float deltaTime) {
if (newMidLength > 0.0f) {
newMidDirection = newMidVector/newMidLength;
} else {
newMidDirection = _orientation.getUp();
newMidDirection = up;
}
if (newEndLength > 0.0f) {
newEndDirection = newEndVector/newEndLength;
} else {
newEndDirection = _orientation.getUp();
newEndDirection = up;
}
_hairTuft[t].endPosition = _hairTuft[t].midPosition + newEndDirection * _hairTuft[t].length * ONE_HALF;

16
interface/src/Head.h
View file

@ -14,7 +14,6 @@
#include "world.h"
#include "InterfaceConfig.h"
#include "SerialInterface.h"
#include "Orientation.h"
#include <SharedUtil.h>
enum eyeContactTargets
@ -35,7 +34,7 @@ public:
void reset();
void simulate(float deltaTime, bool isMine);
void render(bool lookingInMirror, glm::vec3 cameraPosition, float alpha);
void renderMohawk(bool lookingInMirror, glm::vec3 cameraPosition);
void renderMohawk(glm::vec3 cameraPosition);
void setScale (float scale ) { _scale = scale; }
void setPosition (glm::vec3 position ) { _position = position; }
@ -46,7 +45,14 @@ public:
void setAverageLoudness(float averageLoudness ) { _averageLoudness = averageLoudness; }
void setReturnToCenter (bool returnHeadToCenter) { _returnHeadToCenter = returnHeadToCenter; }
void setRenderLookatVectors(bool onOff ) { _renderLookatVectors = onOff; }
glm::quat getOrientation() const;
glm::quat getWorldAlignedOrientation () const;
glm::vec3 getRightDirection() const { return getOrientation() * AVATAR_RIGHT; }
glm::vec3 getUpDirection () const { return getOrientation() * AVATAR_UP; }
glm::vec3 getFrontDirection() const { return getOrientation() * AVATAR_FRONT; }
const bool getReturnToCenter() const { return _returnHeadToCenter; } // Do you want head to try to return to center (depends on interface detected)
float getAverageLoudness() {return _averageLoudness;};
glm::vec3 caclulateAverageEyePosition() { return _leftEyePosition + (_rightEyePosition - _leftEyePosition ) * ONE_HALF; }
@ -91,8 +97,8 @@ private:
float _averageLoudness;
float _audioAttack;
float _returnSpringScale; //strength of return springs
Orientation _orientation;
glm::vec3 _bodyRotation;
bool _lookingInMirror;
bool _renderLookatVectors;
HairTuft _hairTuft[NUM_HAIR_TUFTS];
glm::vec3* _mohawkTriangleFan;
@ -106,7 +112,7 @@ private:
void renderEars();
void renderMouth();
void renderLookatVectors(glm::vec3 leftEyePosition, glm::vec3 rightEyePosition, glm::vec3 lookatPosition);
void calculateGeometry( bool lookingInMirror);
void calculateGeometry();
void determineIfLookingAtSomething();
void resetHairPhysics();
void updateHairPhysics(float deltaTime);

60
interface/src/Util.cpp
View file

@ -13,6 +13,7 @@
#include <glm/glm.hpp>
#include <glm/gtc/noise.hpp>
#include <glm/gtc/quaternion.hpp>
#include <glm/gtx/quaternion.hpp>
#include <SharedUtil.h>
#include "Log.h"
@ -71,6 +72,65 @@ float angleBetween(const glm::vec3& v1, const glm::vec3& v2) {
return acos((glm::dot(v1, v2)) / (glm::length(v1) * glm::length(v2))) * 180.f / PI;
}
// Safe version of glm::eulerAngles; uses the factorization method described in David Eberly's
// http://www.geometrictools.com/Documentation/EulerAngles.pdf (via Clyde,
// https://github.com/threerings/clyde/blob/master/src/main/java/com/threerings/math/Quaternion.java)
glm::vec3 safeEulerAngles(const glm::quat& q) {
float sy = 2.0f * (q.y * q.w - q.x * q.z);
if (sy < 1.0f - EPSILON) {
if (sy > -1.0f + EPSILON) {
return glm::degrees(glm::vec3(
atan2f(q.y * q.z + q.x * q.w, 0.5f - (q.x * q.x + q.y * q.y)),
asinf(sy),
atan2f(q.x * q.y + q.z * q.w, 0.5f - (q.y * q.y + q.z * q.z))));
} else {
// not a unique solution; x + z = atan2(-m21, m11)
return glm::degrees(glm::vec3(
0.0f,
PIf * -0.5f,
atan2f(q.x * q.w - q.y * q.z, 0.5f - (q.x * q.x + q.z * q.z))));
}
} else {
// not a unique solution; x - z = atan2(-m21, m11)
return glm::degrees(glm::vec3(
0.0f,
PIf * 0.5f,
-atan2f(q.x * q.w - q.y * q.z, 0.5f - (q.x * q.x + q.z * q.z))));
}
}
// Safe version of glm::mix; based on the code in Nick Bobick's article,
// http://www.gamasutra.com/features/19980703/quaternions_01.htm (via Clyde,
// https://github.com/threerings/clyde/blob/master/src/main/java/com/threerings/math/Quaternion.java)
glm::quat safeMix(const glm::quat& q1, const glm::quat& q2, float proportion) {
float cosa = q1.x * q2.x + q1.y * q2.y + q1.z * q2.z + q1.w * q2.w;
float ox = q2.x, oy = q2.y, oz = q2.z, ow = q2.w, s0, s1;
// adjust signs if necessary
if (cosa < 0.0f) {
cosa = -cosa;
ox = -ox;
oy = -oy;
oz = -oz;
ow = -ow;
}
// calculate coefficients; if the angle is too close to zero, we must fall back
// to linear interpolation
if ((1.0f - cosa) > EPSILON) {
float angle = acosf(cosa), sina = sinf(angle);
s0 = sinf((1.0f - proportion) * angle) / sina;
s1 = sinf(proportion * angle) / sina;
} else {
s0 = 1.0f - proportion;
s1 = proportion;
}
return glm::normalize(glm::quat(s0 * q1.w + s1 * ow, s0 * q1.x + s1 * ox, s0 * q1.y + s1 * oy, s0 * q1.z + s1 * oz));
}
// Draw a 3D vector floating in space
void drawVector(glm::vec3 * vector) {
glDisable(GL_LIGHTING);

4
interface/src/Util.h
View file

@ -46,6 +46,10 @@ void drawVector(glm::vec3* vector);
float angleBetween(const glm::vec3& v1, const glm::vec3& v2);
glm::vec3 safeEulerAngles(const glm::quat& q);
glm::quat safeMix(const glm::quat& q1, const glm::quat& q2, float alpha);
double diffclock(timeval *clock1,timeval *clock2);
void drawGroundPlaneGrid(float size);

5
libraries/avatars/src/AvatarData.h
View file

@ -20,6 +20,11 @@ const int WANT_RESIN_AT_BIT = 0;
const int WANT_COLOR_AT_BIT = 1;
const int WANT_DELTA_AT_BIT = 2;
// this is where the coordinate system is represented
const glm::vec3 AVATAR_RIGHT = glm::vec3(1.0f, 0.0f, 0.0f);
const glm::vec3 AVATAR_UP = glm::vec3(0.0f, 1.0f, 0.0f);
const glm::vec3 AVATAR_FRONT = glm::vec3(0.0f, 0.0f, -1.0f);
enum KeyState
{
NO_KEY_DOWN,