Merge remote-tracking branch 'upstream/master'

audio-mixer/src/main.cpp

@@ -22,7 +22,6 @@
 #include <AgentTypes.h>
 #include <SharedUtil.h>
 #include <StdDev.h>
-#include <Stacktrace.h>
 
 #include "AudioRingBuffer.h"
 #include "PacketHeaders.h"
@@ -259,7 +258,6 @@ void attachNewBufferToAgent(Agent *newAgent) {
 }
 
 int main(int argc, const char* argv[]) {    
-    signal(SIGSEGV, printStacktrace);
     setvbuf(stdout, NULL, _IOLBF, 0);
     
     AgentList* agentList = AgentList::createInstance(AGENT_TYPE_AUDIO_MIXER, MIXER_LISTEN_PORT);

interface/resources/gen_stars.py

@@ -1,3 +1,5 @@
+#!/usr/bin/env python
+
 #
 # gen_stars.py
 # interface
@@ -12,7 +14,7 @@ from random import random,randint
 from math import sqrt, hypot, atan2, pi, fmod, degrees
 from sys import argv,stderr
 
-hemisphere_only, equator, meridians= False, 1000, 1000
+hemisphere_only, equator, meridians= False, 0, 1000
 
 n_random = 100000
 if len(argv) > 1:
@@ -50,10 +52,13 @@ for i in range(n_random):
     g = max(0,min(255,w + randint(-20,60)))
     b = max(0,min(255,w + randint(-10,100)))
     # position
+    while True:
         x,y,z = random()*2-1,random(),random()*2-1
         if not hemisphere_only:
             y = y*2-1
         l = sqrt(x*x + y*y + z*z)
+        if l <= 1.0:
+            break
     x /= l; y /= l; z /= l
     xz = hypot(x,z)
 

interface/src/Avatar.cpp

@@ -1257,6 +1257,11 @@ void Avatar::initializeBodySprings() {
 }
 
 void Avatar::updateBodySprings(float deltaTime) {
+    //  Check for a large repositioning, and re-initialize body springs if this has happened
+    const float BEYOND_BODY_SPRING_RANGE = 2.f;
+    if (glm::length(_position - _joint[AVATAR_JOINT_PELVIS].springyPosition) > BEYOND_BODY_SPRING_RANGE) {
+        initializeBodySprings();
+    }
     for (int b = 0; b < NUM_AVATAR_JOINTS; b++) {
         glm::vec3 springVector(_joint[b].springyPosition);
         

interface/src/SerialInterface.cpp

@@ -42,9 +42,6 @@ void SerialInterface::pair() {
     int matchStatus;
     regex_t regex;
     
-    if (_failedOpenAttempts < 2) {
-        // if we've already failed to open the detected interface twice then don't try again
-        
     // for now this only works on OS X, where the usb serial shows up as /dev/tty.usb*
     if((devDir = opendir("/dev"))) {
         while((entry = readdir(devDir))) {
@@ -62,8 +59,6 @@ void SerialInterface::pair() {
         }
         closedir(devDir);
     }    
-    }
-    
 #endif
 }
 
@@ -76,7 +71,6 @@ void SerialInterface::initializePort(char* portname, int baud) {
     
     if (_serialDescriptor == -1) {
         printLog("Failed.\n");
-        _failedOpenAttempts++;
         return;
     }    
     struct termios options;
@@ -123,6 +117,9 @@ void SerialInterface::initializePort(char* portname, int baud) {
         // this disables streaming so there's no garbage data on reads
         write(_serialDescriptor, "SD\n", 3);
         
+        // delay after disabling streaming
+        usleep(10000);
+        
         // flush whatever was produced by the last two commands
         tcflush(_serialDescriptor, TCIOFLUSH);
     }
@@ -232,26 +229,38 @@ void SerialInterface::readData() {
     int initialSamples = totalSamples;
     
     if (USING_INVENSENSE_MPU9150) { 
-        unsigned char gyroBuffer[20];
+        unsigned char sensorBuffer[36];
         
         // ask the invensense for raw gyro data
-        write(_serialDescriptor, "RD684306\n", 9);
+        write(_serialDescriptor, "RD683B0E\n", 9);
-        read(_serialDescriptor, gyroBuffer, 20);
+        read(_serialDescriptor, sensorBuffer, 36);
+        
+        int accelXRate, accelYRate, accelZRate;
+        
+        convertHexToInt(sensorBuffer + 6, accelXRate); 
+        convertHexToInt(sensorBuffer + 10, accelYRate);
+        convertHexToInt(sensorBuffer + 14, accelZRate);
+        
+        const float LSB_TO_METERS_PER_SECOND = 1.f / 16384.f;
+        
+        _lastAccelX = ((float) accelXRate) * LSB_TO_METERS_PER_SECOND;
+        _lastAccelY = ((float) accelYRate) * LSB_TO_METERS_PER_SECOND;
+        _lastAccelZ = ((float) accelZRate) * LSB_TO_METERS_PER_SECOND;
         
         int rollRate, yawRate, pitchRate;
         
-        convertHexToInt(gyroBuffer + 6, rollRate);
+        convertHexToInt(sensorBuffer + 22, rollRate);
-        convertHexToInt(gyroBuffer + 10, yawRate);
+        convertHexToInt(sensorBuffer + 26, yawRate);
-        convertHexToInt(gyroBuffer + 14, pitchRate);
+        convertHexToInt(sensorBuffer + 30, pitchRate);
         
         //  Convert the integer rates to floats
         const float LSB_TO_DEGREES_PER_SECOND = 1.f / 16.4f;     //  From MPU-9150 register map, 2000 deg/sec.
         const float PITCH_BIAS = 2.0;                            //  Strangely, there is a small DC bias in the
                                                                  //  invensense pitch reading.  Gravity?
         
-        _lastRollRate = (float) rollRate * LSB_TO_DEGREES_PER_SECOND;
+        _lastRollRate = ((float) rollRate) * LSB_TO_DEGREES_PER_SECOND;
-        _lastYawRate = (float) yawRate * LSB_TO_DEGREES_PER_SECOND;
+        _lastYawRate = ((float) yawRate) * LSB_TO_DEGREES_PER_SECOND;
-        _lastPitchRate = (float) -pitchRate * LSB_TO_DEGREES_PER_SECOND + PITCH_BIAS;
+        _lastPitchRate = ((float) -pitchRate) * LSB_TO_DEGREES_PER_SECOND + PITCH_BIAS;
         
         totalSamples++;
     } else {

interface/src/SerialInterface.h

@@ -37,7 +37,12 @@ extern const bool USING_INVENSENSE_MPU9150;
 class SerialInterface {
 public:
     SerialInterface() : active(false),
-                        _failedOpenAttempts(0) {}
+                        _lastAccelX(0),
+                        _lastAccelY(0),
+                        _lastAccelZ(0),
+                        _lastYawRate(0),
+                        _lastPitchRate(0),
+                        _lastRollRate(0) {}
     
     void pair();
     void readData();
@@ -69,10 +74,12 @@ private:
     int totalSamples;
     timeval lastGoodRead;
     glm::vec3 gravity;
+    float _lastAccelX;
+    float _lastAccelY;
+    float _lastAccelZ;
     float _lastYawRate;         //  Rates are in degrees per second. 
     float _lastPitchRate;
     float _lastRollRate;
-    int _failedOpenAttempts;
 };
 
 #endif

interface/src/VoxelSystem.cpp

@@ -679,3 +679,19 @@ void VoxelSystem::removeOutOfView() {
             );
     }
 }
+
+bool VoxelSystem::findRayIntersection(const glm::vec3& origin, const glm::vec3& direction,
+                                      VoxelDetail& detail, float& distance, BoxFace& face) {
+    VoxelNode* node;
+    if (!_tree->findRayIntersection(origin, direction, node, distance, face)) {
+        return false;
+    }
+    detail.x = node->getCorner().x;
+    detail.y = node->getCorner().y;
+    detail.z = node->getCorner().z;
+    detail.s = node->getScale();
+    detail.red = node->getColor()[0];
+    detail.green = node->getColor()[1];
+    detail.blue = node->getColor()[2];
+    return true;
+}

interface/src/VoxelSystem.h

@@ -11,6 +11,7 @@
 
 #include "InterfaceConfig.h"
 #include <glm/glm.hpp>
+#include <SharedUtil.h>
 #include <UDPSocket.h>
 #include <AgentData.h>
 #include <VoxelTree.h>
@@ -64,6 +65,9 @@ public:
     void removeOutOfView();
     bool hasViewChanged();
     
+    bool findRayIntersection(const glm::vec3& origin, const glm::vec3& direction,
+                             VoxelDetail& detail, float& distance, BoxFace& face);
+    
 private:
     int  _callsToTreesToArrays;
     VoxelNodeBag _removedVoxels;

interface/src/main.cpp

@@ -70,7 +70,6 @@
 #include "Oscilloscope.h"
 #include "UDPSocket.h"
 #include "SerialInterface.h"
-#include <SharedUtil.h>
 #include <PacketHeaders.h>
 #include <AvatarData.h>
 #include <PerfStat.h>
@@ -1007,22 +1006,6 @@ void display(void)
     glPushMatrix();  {
         glLoadIdentity();
     
-        //  Setup 3D lights
-        glEnable(GL_COLOR_MATERIAL);
-        glColorMaterial(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE);
-        
-        GLfloat light_position0[] = { 1.0, 1.0, 0.0, 0.0 };
-        glLightfv(GL_LIGHT0, GL_POSITION, light_position0);
-        GLfloat ambient_color[] = { 0.7, 0.7, 0.8 };   
-        glLightfv(GL_LIGHT0, GL_AMBIENT, ambient_color);
-        GLfloat diffuse_color[] = { 0.8, 0.7, 0.7 };  
-        glLightfv(GL_LIGHT0, GL_DIFFUSE, diffuse_color);
-        GLfloat specular_color[] = { 1.0, 1.0, 1.0, 1.0};
-        glLightfv(GL_LIGHT0, GL_SPECULAR, specular_color);
-        
-        glMaterialfv(GL_FRONT, GL_SPECULAR, specular_color);
-        glMateriali(GL_FRONT, GL_SHININESS, 96);
-
         // camera settings
         if (::lookingInMirror) {
             // set the camera to looking at my own face
@@ -1155,6 +1138,22 @@ void display(void)
 
         glTranslatef(-whichCamera.getPosition().x, -whichCamera.getPosition().y, -whichCamera.getPosition().z);
         
+        //  Setup 3D lights (after the camera transform, so that they are positioned in world space)
+        glEnable(GL_COLOR_MATERIAL);
+        glColorMaterial(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE);
+        
+        GLfloat light_position0[] = { 1.0, 1.0, 0.0, 0.0 };
+        glLightfv(GL_LIGHT0, GL_POSITION, light_position0);
+        GLfloat ambient_color[] = { 0.7, 0.7, 0.8 };   
+        glLightfv(GL_LIGHT0, GL_AMBIENT, ambient_color);
+        GLfloat diffuse_color[] = { 0.8, 0.7, 0.7 };  
+        glLightfv(GL_LIGHT0, GL_DIFFUSE, diffuse_color);
+        GLfloat specular_color[] = { 1.0, 1.0, 1.0, 1.0};
+        glLightfv(GL_LIGHT0, GL_SPECULAR, specular_color);
+        
+        glMaterialfv(GL_FRONT, GL_SPECULAR, specular_color);
+        glMateriali(GL_FRONT, GL_SHININESS, 96);
+        
         if (::oculusOn) {
             displayOculus(whichCamera);
             
@@ -1484,6 +1483,68 @@ void setupPaintingVoxel() {
     shiftPaintingColor();
 }
 
+void addVoxelUnderCursor() {
+    glm::vec3 origin, direction;
+    viewFrustum.computePickRay(mouseX / (float)WIDTH, mouseY / (float)HEIGHT, origin, direction);
+    
+    VoxelDetail detail;
+    float distance;
+    BoxFace face;
+    if (voxels.findRayIntersection(origin, direction, detail, distance, face)) {
+        // use the face to determine the side on which to create a neighbor
+        switch (face) {
+            case MIN_X_FACE:
+                detail.x -= detail.s;
+                break;
+            
+            case MAX_X_FACE:
+                detail.x += detail.s;
+                break;
+            
+            case MIN_Y_FACE:
+                detail.y -= detail.s;
+                break;
+            
+            case MAX_Y_FACE:
+                detail.y += detail.s;
+                break;
+            
+            case MIN_Z_FACE:
+                detail.z -= detail.s;
+                break;
+                
+            case MAX_Z_FACE:
+                detail.z += detail.s;
+                break;
+        }
+        unsigned char* bufferOut;
+        int sizeOut;
+    
+        if (createVoxelEditMessage(PACKET_HEADER_SET_VOXEL, 0, 1, &detail, bufferOut, sizeOut)){
+            AgentList::getInstance()->broadcastToAgents(bufferOut, sizeOut, &AGENT_TYPE_VOXEL, 1);
+            delete bufferOut;
+        }
+    }
+}
+
+void deleteVoxelUnderCursor() {
+    glm::vec3 origin, direction;
+    viewFrustum.computePickRay(mouseX / (float)WIDTH, mouseY / (float)HEIGHT, origin, direction);
+    
+    VoxelDetail detail;
+    float distance;
+    BoxFace face;
+    if (voxels.findRayIntersection(origin, direction, detail, distance, face)) {
+        unsigned char* bufferOut;
+        int sizeOut;
+    
+        if (createVoxelEditMessage(PACKET_HEADER_ERASE_VOXEL, 0, 1, &detail, bufferOut, sizeOut)){
+            AgentList::getInstance()->broadcastToAgents(bufferOut, sizeOut, &AGENT_TYPE_VOXEL, 1);
+            delete bufferOut;
+        }
+    }
+}
+
 const float KEYBOARD_YAW_RATE = 0.8;
 const float KEYBOARD_PITCH_RATE = 0.6;
 const float KEYBOARD_STRAFE_RATE = 0.03;
@@ -1601,6 +1662,8 @@ void key(unsigned char k, int x, int y) {
     if (k == '^')  ::shiftPaintingColor();        // shifts randomize color between R,G,B dominant
     if (k == '-')  ::sendVoxelServerEraseAll();    // sends erase all command to voxel server
     if (k == '%')  ::sendVoxelServerAddScene();    // sends add scene command to voxel server
+    if (k == '1')  ::addVoxelUnderCursor();
+    if (k == '2')  ::deleteVoxelUnderCursor();
     if (k == 'n' || k == 'N') 
     {
         noiseOn = !noiseOn;                   // Toggle noise 

libraries/shared/src/Stacktrace.cpp

@@ -1,28 +0,0 @@
-//
-//  Stacktrace.cpp
-//  hifi
-//
-//  Created by Stephen Birarda on 5/6/13.
-//
-//
-
-#include <signal.h>
-#include <stdio.h>
-#include <execinfo.h>
-#include <cstdlib>
-
-#include "Stacktrace.h"
-
-const int NUMBER_OF_STACK_ENTRIES = 20;
-
-void printStacktrace(int signal) {
-    void* array[NUMBER_OF_STACK_ENTRIES];
-    
-    // get void*'s for all entries on the stack
-    size_t size = backtrace(array, NUMBER_OF_STACK_ENTRIES);
-    
-    // print out all the frames to stderr
-    fprintf(stderr, "Error: signal %d:\n", signal);
-    backtrace_symbols_fd(array, size, 2);
-    exit(1);
-}

libraries/shared/src/Stacktrace.h

@@ -1,16 +0,0 @@
-//
-//  Stacktrace.h
-//  hifi
-//
-//  Created by Stephen Birarda on 5/6/13.
-//
-//
-
-#ifndef __hifi__Stacktrace__
-#define __hifi__Stacktrace__
-
-#include <iostream>
-
-void printStacktrace(int signal);
-
-#endif /* defined(__hifi__Stacktrace__) */

libraries/voxels/src/AABox.cpp

@@ -95,7 +95,7 @@ static bool findIntersection(float origin, float direction, float corner, float
     return false;
 }
 
-bool AABox::findRayIntersection(const glm::vec3& origin, const glm::vec3& direction, float& distance) const {
+bool AABox::findRayIntersection(const glm::vec3& origin, const glm::vec3& direction, float& distance, BoxFace& face) const {
     // handle the trivial case where the box contains the origin
     if (contains(origin)) {
         distance = 0;
@@ -105,14 +105,23 @@ bool AABox::findRayIntersection(const glm::vec3& origin, const glm::vec3& direct
     float axisDistance;
     if ((findIntersection(origin.x, direction.x, _corner.x, _size.x, axisDistance) && axisDistance >= 0 &&
             isWithin(origin.y + axisDistance*direction.y, _corner.y, _size.y) &&
-            isWithin(origin.z + axisDistance*direction.z, _corner.z, _size.z)) ||
+            isWithin(origin.z + axisDistance*direction.z, _corner.z, _size.z))) {
-        (findIntersection(origin.y, direction.y, _corner.y, _size.y, axisDistance) && axisDistance >= 0 &&
+        distance = axisDistance;
+        face = direction.x > 0 ? MIN_X_FACE : MAX_X_FACE;
+        return true;
+    }
+    if ((findIntersection(origin.y, direction.y, _corner.y, _size.y, axisDistance) && axisDistance >= 0 &&
             isWithin(origin.x + axisDistance*direction.x, _corner.x, _size.x) &&
-            isWithin(origin.z + axisDistance*direction.z, _corner.z, _size.z)) ||
+            isWithin(origin.z + axisDistance*direction.z, _corner.z, _size.z))) {
-        (findIntersection(origin.z, direction.z, _corner.z, _size.z, axisDistance) && axisDistance >= 0 &&
+        distance = axisDistance;
+        face = direction.y > 0 ? MIN_Y_FACE : MAX_Y_FACE;
+        return true;
+    }
+    if ((findIntersection(origin.z, direction.z, _corner.z, _size.z, axisDistance) && axisDistance >= 0 &&
             isWithin(origin.y + axisDistance*direction.y, _corner.y, _size.y) &&
             isWithin(origin.x + axisDistance*direction.x, _corner.x, _size.x))) {
         distance = axisDistance;
+        face = direction.z > 0 ? MIN_Z_FACE : MAX_Z_FACE; 
         return true;
     }
     return false;

libraries/voxels/src/AABox.h

@@ -13,6 +13,15 @@
 
 #include <glm/glm.hpp>
 
+enum BoxFace {
+    MIN_X_FACE,
+    MAX_X_FACE,
+    MIN_Y_FACE,
+    MAX_Y_FACE,
+    MIN_Z_FACE,
+    MAX_Z_FACE
+};
+
 class AABox 
 {
 
@@ -37,7 +46,7 @@ public:
 	const glm::vec3& getCenter() const { return _center; };
 
     bool contains(const glm::vec3& point) const;
-    bool findRayIntersection(const glm::vec3& origin, const glm::vec3& direction, float& distance) const;
+    bool findRayIntersection(const glm::vec3& origin, const glm::vec3& direction, float& distance, BoxFace& face) const;
 
 private:
 	glm::vec3 _corner;

libraries/voxels/src/VoxelTree.cpp

@@ -605,6 +605,7 @@ public:
     glm::vec3 direction;
     VoxelNode*& node;
     float& distance;
+    BoxFace& face;
     bool found;
 };
 
@@ -612,7 +613,8 @@ bool findRayOperation(VoxelNode* node, void* extraData) {
     RayArgs* args = static_cast<RayArgs*>(extraData);
     AABox box = node->getAABox();
     float distance;
-    if (!box.findRayIntersection(args->origin, args->direction, distance)) {
+    BoxFace face;
+    if (!box.findRayIntersection(args->origin, args->direction, distance, face)) {
         return false;
     }
     if (!node->isLeaf()) {
@@ -621,14 +623,16 @@ bool findRayOperation(VoxelNode* node, void* extraData) {
     if (!args->found || distance < args->distance) {
         args->node = node;
         args->distance = distance;
+        args->face = face;
         args->found = true;
     }
     return false;
 }
 
-bool VoxelTree::findRayIntersection(const glm::vec3& origin, const glm::vec3& direction, VoxelNode*& node, float& distance)
+bool VoxelTree::findRayIntersection(const glm::vec3& origin, const glm::vec3& direction,
+                                    VoxelNode*& node, float& distance, BoxFace& face)
 {
-    RayArgs args = { origin / (float)TREE_SCALE, direction, node, distance };
+    RayArgs args = { origin / (float)TREE_SCALE, direction, node, distance, face };
     recurseTreeWithOperation(findRayOperation, &args);
     return args.found;
 }

libraries/voxels/src/VoxelTree.h

@@ -63,7 +63,8 @@ public:
     void clearDirtyBit() { _isDirty = false; };
     unsigned long int getNodesChangedFromBitstream() const { return _nodesChangedFromBitstream; };
 
-    bool findRayIntersection(const glm::vec3& origin, const glm::vec3& direction, VoxelNode*& node, float& distance);
+    bool findRayIntersection(const glm::vec3& origin, const glm::vec3& direction,
+                             VoxelNode*& node, float& distance, BoxFace& face);
 
     // Note: this assumes the fileFormat is the HIO individual voxels code files
 	void loadVoxelsFile(const char* fileName, bool wantColorRandomizer);