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Merge pull request #2919 from AndrewMeadows/inertia

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turn on gravity when there is a voxel floor to stand on
This commit is contained in:
Philip Rosedale 2014-05-23 16:36:57 -07:00
commit 7c8ece6a5b
5 changed files with 144 additions and 72 deletions
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3
interface/src/Menu.cpp
View file

@ -200,7 +200,8 @@ Menu::Menu() :
QObject* avatar = appInstance->getAvatar();
addCheckableActionToQMenuAndActionHash(editMenu, MenuOption::ObeyEnvironmentalGravity, Qt::SHIFT | Qt::Key_G, false,
avatar, SLOT(updateMotionBehaviorsFromMenu()));
addCheckableActionToQMenuAndActionHash(editMenu, MenuOption::StandOnNearbyFloors, 0, true,
avatar, SLOT(updateMotionBehaviorsFromMenu()));
addAvatarCollisionSubMenu(editMenu);

1
interface/src/Menu.h
View file

@ -376,6 +376,7 @@ namespace MenuOption {
const QString ShowBordersModelNodes = "Show Model Nodes";
const QString ShowBordersParticleNodes = "Show Particle Nodes";
const QString ShowIKConstraints = "Show IK Constraints";
const QString StandOnNearbyFloors = "Stand on nearby floors";
const QString Stars = "Stars";
const QString Stats = "Stats";
const QString StopAllScripts = "Stop All Scripts";

190
interface/src/avatar/MyAvatar.cpp
View file

@ -134,45 +134,7 @@ void MyAvatar::simulate(float deltaTime) {
_handState = HAND_STATE_NULL;
updateOrientation(deltaTime);
float keyboardInput = fabsf(_driveKeys[FWD] - _driveKeys[BACK]) +
fabsf(_driveKeys[RIGHT] - _driveKeys[LEFT]) +
fabsf(_driveKeys[UP] - _driveKeys[DOWN]);
bool walkingOnFloor = false;
float gravityLength = glm::length(_gravity);
if (gravityLength > EPSILON) {
const CapsuleShape& boundingShape = _skeletonModel.getBoundingShape();
glm::vec3 startCap;
boundingShape.getStartPoint(startCap);
glm::vec3 bottomOfBoundingCapsule = startCap + (boundingShape.getRadius() / gravityLength) * _gravity;
float fallThreshold = 2.0f * deltaTime * gravityLength;
walkingOnFloor = (glm::distance(bottomOfBoundingCapsule, _lastFloorContactPoint) < fallThreshold);
}
if (keyboardInput > 0.0f || glm::length2(_velocity) > 0.0f || glm::length2(_thrust) > 0.0f ||
! walkingOnFloor) {
// apply gravity
_velocity += _scale * _gravity * (GRAVITY_EARTH * deltaTime);
// update motor and thrust
updateMotorFromKeyboard(deltaTime, walkingOnFloor);
applyMotor(deltaTime);
applyThrust(deltaTime);
// update position
if (glm::length2(_velocity) < EPSILON) {
_velocity = glm::vec3(0.0f);
} else {
_position += _velocity * deltaTime;
}
}
// update moving flag based on speed
const float MOVING_SPEED_THRESHOLD = 0.01f;
_moving = glm::length(_velocity) > MOVING_SPEED_THRESHOLD;
updateChatCircle(deltaTime);
updatePosition(deltaTime);
// update avatar skeleton and simulate hand and head
getHand()->collideAgainstOurself();
@ -206,19 +168,17 @@ void MyAvatar::simulate(float deltaTime) {
radius = myCamera->getAspectRatio() * (myCamera->getNearClip() / cos(myCamera->getFieldOfView() / 2.0f));
radius *= COLLISION_RADIUS_SCALAR;
}
if (_collisionGroups) {
updateShapePositions();
if (_collisionGroups & COLLISION_GROUP_ENVIRONMENT) {
updateCollisionWithEnvironment(deltaTime, radius);
}
if (_collisionGroups & COLLISION_GROUP_VOXELS) {
updateCollisionWithVoxels(deltaTime, radius);
} else {
_trapDuration = 0.0f;
}
if (_collisionGroups & COLLISION_GROUP_AVATARS) {
updateCollisionWithAvatars(deltaTime);
}
updateShapePositions();
if (_collisionGroups & COLLISION_GROUP_ENVIRONMENT) {
updateCollisionWithEnvironment(deltaTime, radius);
}
if (_collisionGroups & COLLISION_GROUP_VOXELS) {
updateCollisionWithVoxels(deltaTime, radius);
} else {
_trapDuration = 0.0f;
}
if (_collisionGroups & COLLISION_GROUP_AVATARS) {
updateCollisionWithAvatars(deltaTime);
}
}
@ -423,9 +383,9 @@ void MyAvatar::setGravity(const glm::vec3& gravity) {
float gravityLength = glm::length(gravity);
if (gravityLength > EPSILON) {
_worldUpDirection = _gravity / -gravityLength;
} else {
_worldUpDirection = DEFAULT_UP_DIRECTION;
}
// NOTE: the else case here it to leave _worldUpDirection unchanged
// so it continues to point opposite to the previous gravity setting.
}
AnimationHandlePointer MyAvatar::addAnimationHandle() {
@ -890,8 +850,7 @@ void MyAvatar::updateOrientation(float deltaTime) {
// We must adjust the body orientation using a delta rotation (rather than
// doing yaw math) because the body's yaw ranges are not the same
// as what the Oculus API provides.
glm::vec3 UP_AXIS = glm::vec3(0.0f, 1.0f, 0.0f);
glm::quat bodyCorrection = glm::angleAxis(glm::radians(delta), UP_AXIS);
glm::quat bodyCorrection = glm::angleAxis(glm::radians(delta), _worldUpDirection);
orientation = orientation * bodyCorrection;
}
Head* head = getHead();
@ -905,6 +864,89 @@ void MyAvatar::updateOrientation(float deltaTime) {
setOrientation(orientation);
}
void MyAvatar::updatePosition(float deltaTime) {
float keyboardInput = fabsf(_driveKeys[FWD] - _driveKeys[BACK]) +
fabsf(_driveKeys[RIGHT] - _driveKeys[LEFT]) +
fabsf(_driveKeys[UP] - _driveKeys[DOWN]);
bool walkingOnFloor = false;
float gravityLength = glm::length(_gravity) * GRAVITY_EARTH;
const CapsuleShape& boundingShape = _skeletonModel.getBoundingShape();
glm::vec3 startCap;
boundingShape.getStartPoint(startCap);
glm::vec3 bottomOfBoundingCapsule = startCap - boundingShape.getRadius() * _worldUpDirection;
if (gravityLength > EPSILON) {
float speedFromGravity = _scale * deltaTime * gravityLength;
float distanceToFall = glm::distance(bottomOfBoundingCapsule, _lastFloorContactPoint);
walkingOnFloor = (distanceToFall < 2.0f * deltaTime * speedFromGravity);
if (walkingOnFloor) {
// BEGIN HACK: to prevent the avatar from bouncing on a floor surface
if (distanceToFall < deltaTime * speedFromGravity) {
float verticalSpeed = glm::dot(_velocity, _worldUpDirection);
if (fabs(verticalSpeed) < speedFromGravity) {
// we're standing on a floor, and nearly at rest so we zero the vertical velocity component
_velocity -= verticalSpeed * _worldUpDirection;
}
} else {
// fall with gravity against floor
_velocity -= speedFromGravity * _worldUpDirection;
}
// END HACK
} else {
_velocity -= speedFromGravity * _worldUpDirection;
}
if (_motionBehaviors & AVATAR_MOTION_STAND_ON_NEARBY_FLOORS) {
const float MAX_VERTICAL_FLOOR_DETECTION_SPEED = _scale * MAX_WALKING_SPEED;
if (keyboardInput && glm::dot(_motorVelocity, _worldUpDirection) > 0.0f &&
glm::dot(_velocity, _worldUpDirection) > MAX_VERTICAL_FLOOR_DETECTION_SPEED) {
// disable gravity because we're pushing with keyboard
setLocalGravity(glm::vec3(0.0f));
}
}
} else {
if ((_collisionGroups & COLLISION_GROUP_VOXELS) &&
_motionBehaviors & AVATAR_MOTION_STAND_ON_NEARBY_FLOORS) {
const float MIN_FLOOR_DETECTION_SPEED = _scale * 1.0f;
if (glm::length(_velocity) < MIN_FLOOR_DETECTION_SPEED ) {
// scan for floor
glm::vec3 direction = -_worldUpDirection;
OctreeElement* elementHit; // output from findRayIntersection
float distance; // output from findRayIntersection
BoxFace face; // output from findRayIntersection
Application::getInstance()->getVoxelTree()->findRayIntersection(bottomOfBoundingCapsule, direction, elementHit, distance, face);
const float NEARBY_FLOOR_THRESHOLD = _scale * 2.0f;
if (elementHit && distance < NEARBY_FLOOR_THRESHOLD) {
// turn on local gravity
setLocalGravity(-_worldUpDirection);
}
}
}
}
if (keyboardInput > 0.0f || glm::length2(_velocity) > 0.0f || glm::length2(_thrust) > 0.0f || ! walkingOnFloor) {
// update motor and thrust
updateMotorFromKeyboard(deltaTime, walkingOnFloor);
applyMotor(deltaTime);
applyThrust(deltaTime);
// update position
if (glm::length2(_velocity) < EPSILON) {
_velocity = glm::vec3(0.0f);
} else {
_position += _velocity * deltaTime;
}
}
// update moving flag based on speed
const float MOVING_SPEED_THRESHOLD = 0.01f;
_moving = glm::length(_velocity) > MOVING_SPEED_THRESHOLD;
updateChatCircle(deltaTime);
}
void MyAvatar::updateMotorFromKeyboard(float deltaTime, bool walking) {
// Increase motor velocity until its length is equal to _maxMotorSpeed.
if (!(_motionBehaviors & AVATAR_MOTION_MOTOR_KEYBOARD_ENABLED)) {
@ -930,12 +972,12 @@ void MyAvatar::updateMotorFromKeyboard(float deltaTime, bool walking) {
if (directionLength > EPSILON) {
direction /= directionLength;
// the finalMotorSpeed depends on whether we are walking or not
float finalMaxMotorSpeed = walking ? MAX_WALKING_SPEED : _maxMotorSpeed;
float finalMaxMotorSpeed = walking ? _scale * MAX_WALKING_SPEED : _scale * _maxMotorSpeed;
float motorLength = glm::length(_motorVelocity);
if (motorLength < MIN_KEYBOARD_CONTROL_SPEED) {
if (motorLength < _scale * MIN_KEYBOARD_CONTROL_SPEED) {
// an active keyboard motor should never be slower than this
_motorVelocity = MIN_KEYBOARD_CONTROL_SPEED * direction;
_motorVelocity = _scale * MIN_KEYBOARD_CONTROL_SPEED * direction;
} else {
float MOTOR_LENGTH_TIMESCALE = 1.5f;
float tau = glm::clamp(deltaTime / MOTOR_LENGTH_TIMESCALE, 0.0f, 1.0f);
@ -1178,6 +1220,8 @@ void MyAvatar::updateCollisionWithVoxels(float deltaTime, float radius) {
const float MIN_STEP_HEIGHT = 0.0f;
glm::vec3 footBase = boundingShape.getPosition() - (capsuleRadius + capsuleHalfHeight) * _worldUpDirection;
float highestStep = 0.0f;
float lowestStep = MAX_STEP_HEIGHT;
glm::vec3 floorPoint;
glm::vec3 stepPenetration(0.0f);
glm::vec3 totalPenetration(0.0f);
@ -1211,8 +1255,15 @@ void MyAvatar::updateCollisionWithVoxels(float deltaTime, float radius) {
highestStep = stepHeight;
stepPenetration = collision->_penetration;
}
if (stepHeight < lowestStep) {
lowestStep = stepHeight;
floorPoint = collision->_contactPoint - collision->_penetration;
}
}
}
if (lowestStep < MAX_STEP_HEIGHT) {
_lastFloorContactPoint = floorPoint;
}
float penetrationLength = glm::length(totalPenetration);
if (penetrationLength < EPSILON) {
@ -1251,8 +1302,9 @@ void MyAvatar::updateCollisionWithVoxels(float deltaTime, float radius) {
applyHardCollision(totalPenetration, VOXEL_ELASTICITY, VOXEL_DAMPING);
}
const float VOXEL_COLLISION_FREQUENCY = 0.5f;
updateCollisionSound(myCollisions[0]->_penetration, deltaTime, VOXEL_COLLISION_FREQUENCY);
// Don't make a collision sound against voxlels by default -- too annoying when walking
//const float VOXEL_COLLISION_FREQUENCY = 0.5f;
//updateCollisionSound(myCollisions[0]->_penetration, deltaTime, VOXEL_COLLISION_FREQUENCY);
}
_trapDuration = isTrapped ? _trapDuration + deltaTime : 0.0f;
}
@ -1598,7 +1650,8 @@ void MyAvatar::goToLocationFromResponse(const QJsonObject& jsonObject) {
}
void MyAvatar::updateMotionBehaviorsFromMenu() {
if (Menu::getInstance()->isOptionChecked(MenuOption::ObeyEnvironmentalGravity)) {
Menu* menu = Menu::getInstance();
if (menu->isOptionChecked(MenuOption::ObeyEnvironmentalGravity)) {
_motionBehaviors |= AVATAR_MOTION_OBEY_ENVIRONMENTAL_GRAVITY;
// Environmental and Local gravities are incompatible. Environmental setting trumps local.
_motionBehaviors &= ~AVATAR_MOTION_OBEY_LOCAL_GRAVITY;
@ -1608,6 +1661,14 @@ void MyAvatar::updateMotionBehaviorsFromMenu() {
if (! (_motionBehaviors & (AVATAR_MOTION_OBEY_ENVIRONMENTAL_GRAVITY | AVATAR_MOTION_OBEY_LOCAL_GRAVITY))) {
setGravity(glm::vec3(0.0f));
}
if (menu->isOptionChecked(MenuOption::StandOnNearbyFloors)) {
_motionBehaviors |= AVATAR_MOTION_STAND_ON_NEARBY_FLOORS;
// standing on floors requires collision with voxels
_collisionGroups |= COLLISION_GROUP_VOXELS;
menu->setIsOptionChecked(MenuOption::CollideWithVoxels, true);
} else {
_motionBehaviors &= ~AVATAR_MOTION_STAND_ON_NEARBY_FLOORS;
}
}
void MyAvatar::renderAttachments(RenderMode renderMode) {
@ -1634,6 +1695,11 @@ void MyAvatar::setCollisionGroups(quint32 collisionGroups) {
menu->setIsOptionChecked(MenuOption::CollideWithAvatars, (bool)(_collisionGroups & COLLISION_GROUP_AVATARS));
menu->setIsOptionChecked(MenuOption::CollideWithVoxels, (bool)(_collisionGroups & COLLISION_GROUP_VOXELS));
menu->setIsOptionChecked(MenuOption::CollideWithParticles, (bool)(_collisionGroups & COLLISION_GROUP_PARTICLES));
if (! (_collisionGroups & COLLISION_GROUP_VOXELS)) {
// no collision with voxels --> disable standing on floors
_motionBehaviors &= ~AVATAR_MOTION_STAND_ON_NEARBY_FLOORS;
menu->setIsOptionChecked(MenuOption::StandOnNearbyFloors, false);
}
}
void MyAvatar::setMotionBehaviorsByScript(quint32 flags) {

2
interface/src/avatar/MyAvatar.h
View file

@ -150,7 +150,6 @@ private:
bool _shouldJump;
float _driveKeys[MAX_DRIVE_KEYS];
glm::vec3 _gravity;
glm::vec3 _environmentGravity;
float _distanceToNearestAvatar; // How close is the nearest avatar?
bool _wasPushing;
@ -175,6 +174,7 @@ private:
// private methods
void updateOrientation(float deltaTime);
void updatePosition(float deltaTime);
void updateMotorFromKeyboard(float deltaTime, bool walking);
float computeMotorTimescale();
void applyMotor(float deltaTime);

20
libraries/avatars/src/AvatarData.h
View file

@ -53,23 +53,27 @@ typedef unsigned long long quint64;
#include "HandData.h"
// avatar motion behaviors
const quint32 AVATAR_MOTION_MOTOR_ENABLED = 1U << 0;
const quint32 AVATAR_MOTION_MOTOR_KEYBOARD_ENABLED = 1U << 1;
const quint32 AVATAR_MOTION_MOTOR_USE_LOCAL_FRAME = 1U << 2;
const quint32 AVATAR_MOTION_MOTOR_COLLISION_SURFACE_ONLY = 1U << 3;
const quint32 AVATAR_MOTION_MOTOR_ENABLED = 1U << 0;
const quint32 AVATAR_MOTION_MOTOR_KEYBOARD_ENABLED = 1U << 1;
const quint32 AVATAR_MOTION_MOTOR_USE_LOCAL_FRAME = 1U << 2;
const quint32 AVATAR_MOTION_MOTOR_COLLISION_SURFACE_ONLY = 1U << 3;
const quint32 AVATAR_MOTION_OBEY_ENVIRONMENTAL_GRAVITY = 1U << 4;
const quint32 AVATAR_MOTION_OBEY_LOCAL_GRAVITY = 1U << 5;
const quint32 AVATAR_MOTION_OBEY_ENVIRONMENTAL_GRAVITY = 1U << 4;
const quint32 AVATAR_MOTION_OBEY_LOCAL_GRAVITY = 1U << 5;
const quint32 AVATAR_MOTION_STAND_ON_NEARBY_FLOORS = 1U << 6;
const quint32 AVATAR_MOTION_DEFAULTS =
AVATAR_MOTION_MOTOR_ENABLED |
AVATAR_MOTION_MOTOR_KEYBOARD_ENABLED |
AVATAR_MOTION_MOTOR_USE_LOCAL_FRAME;
AVATAR_MOTION_MOTOR_USE_LOCAL_FRAME |
AVATAR_MOTION_STAND_ON_NEARBY_FLOORS;
// these bits will be expanded as features are exposed
const quint32 AVATAR_MOTION_SCRIPTABLE_BITS =
AVATAR_MOTION_OBEY_ENVIRONMENTAL_GRAVITY |
AVATAR_MOTION_OBEY_LOCAL_GRAVITY;
AVATAR_MOTION_OBEY_LOCAL_GRAVITY |
AVATAR_MOTION_STAND_ON_NEARBY_FLOORS;
// First bitset