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Merge branch 'master' into feature/ik-solver-init-config

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This commit is contained in:
Anthony J. Thibault 2017-05-10 09:03:21 -07:00
commit 93b8dc550c
58 changed files with 2199 additions and 522 deletions
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4
cmake/externals/wasapi/CMakeLists.txt vendored
View file

@ -6,8 +6,8 @@ if (WIN32)
include(ExternalProject)
ExternalProject_Add(
${EXTERNAL_NAME}
URL http://hifi-public.s3.amazonaws.com/dependencies/qtaudio_wasapi7.zip
URL_MD5 bc2861e50852dd590cdc773a14a041a7
URL http://hifi-public.s3.amazonaws.com/dependencies/qtaudio_wasapi8.zip
URL_MD5 b01510437ea15527156bc25cdf733bd9
CONFIGURE_COMMAND ""
BUILD_COMMAND ""
INSTALL_COMMAND ""

7
interface/resources/controllers/vive.json
View file

@ -35,6 +35,11 @@
{ "from": "Vive.RightApplicationMenu", "to": "Standard.RightSecondaryThumb" },
{ "from": "Vive.LeftHand", "to": "Standard.LeftHand", "when": [ "Application.InHMD" ] },
{ "from": "Vive.RightHand", "to": "Standard.RightHand", "when": [ "Application.InHMD" ] }
{ "from": "Vive.RightHand", "to": "Standard.RightHand", "when": [ "Application.InHMD" ] },
{ "from": "Vive.LeftFoot", "to" : "Standard.LeftFoot", "when": [ "Application.InHMD"] },
{ "from": "Vive.RightFoot", "to" : "Standard.RightFoot", "when": [ "Application.InHMD"] },
{ "from": "Vive.Hips", "to" : "Standard.Hips", "when": [ "Application.InHMD"] },
{ "from": "Vive.Spine2", "to" : "Standard.Spine2", "when": [ "Application.InHMD"] },
{ "from": "Vive.Head", "to" : "Standard.Head", "when" : [ "Application.InHMD"] }
]
}

8
interface/resources/qml/controls/TabletWebButton.qml
View file

@ -17,26 +17,26 @@ Rectangle {
property alias pixelSize: label.font.pixelSize;
property bool selected: false
property bool hovered: false
property bool enabled: false
property int spacing: 2
property var action: function () {}
property string enabledColor: hifi.colors.blueHighlight
property string disabledColor: hifi.colors.blueHighlight
property string highlightColor: hifi.colors.blueHighlight;
width: label.width + 64
height: 32
color: hifi.colors.white
enabled: false
HifiConstants { id: hifi }
RalewaySemiBold {
id: label;
color: enabledColor
color: enabled ? enabledColor : disabledColor
font.pixelSize: 15;
anchors {
horizontalCenter: parent.horizontalCenter;
verticalCenter: parent.verticalCenter;
}
}
Rectangle {
id: indicator

106
interface/resources/qml/controls/TabletWebView.qml
View file

@ -8,6 +8,7 @@ import "../styles" as HifiStyles
import "../styles-uit"
import "../"
import "."
Item {
id: web
HifiConstants { id: hifi }
@ -22,17 +23,14 @@ Item {
property bool keyboardRaised: false
property bool punctuationMode: false
property bool isDesktop: false
property string initialPage: ""
property bool startingUp: true
property alias webView: webview
property alias profile: webview.profile
property bool remove: false
property var urlList: []
property var forwardList: []
property int currentPage: -1 // used as a model for repeater
property alias pagesModel: pagesModel
// Manage own browse history because WebEngineView history is wiped when a new URL is loaded via
// onNewViewRequested, e.g., as happens when a social media share button is clicked.
property var history: []
property int historyIndex: -1
Rectangle {
id: buttons
@ -51,21 +49,22 @@ Item {
TabletWebButton {
id: back
enabledColor: hifi.colors.baseGray
enabled: false
enabledColor: hifi.colors.darkGray
disabledColor: hifi.colors.lightGrayText
enabled: historyIndex > 0
text: "BACK"
MouseArea {
anchors.fill: parent
onClicked: goBack()
hoverEnabled: true
}
}
TabletWebButton {
id: close
enabledColor: hifi.colors.darkGray
disabledColor: hifi.colors.lightGrayText
enabled: true
text: "CLOSE"
MouseArea {
@ -75,7 +74,6 @@ Item {
}
}
RalewaySemiBold {
id: displayUrl
color: hifi.colors.baseGray
@ -90,7 +88,6 @@ Item {
}
}
MouseArea {
anchors.fill: parent
preventStealing: true
@ -98,29 +95,10 @@ Item {
}
}
ListModel {
id: pagesModel
onCountChanged: {
currentPage = count - 1;
if (currentPage > 0) {
back.enabledColor = hifi.colors.darkGray;
} else {
back.enabledColor = hifi.colors.baseGray;
}
}
}
function goBack() {
if (webview.canGoBack) {
forwardList.push(webview.url);
webview.goBack();
} else if (web.urlList.length > 0) {
var url = web.urlList.pop();
loadUrl(url);
} else if (web.forwardList.length > 0) {
var url = web.forwardList.pop();
loadUrl(url);
web.forwardList = [];
if (historyIndex > 0) {
historyIndex--;
loadUrl(history[historyIndex]);
}
}
@ -137,19 +115,12 @@ Item {
}
function goForward() {
if (currentPage < pagesModel.count - 1) {
currentPage++;
if (historyIndex < history.length - 1) {
historyIndex++;
loadUrl(history[historyIndex]);
}
}
function gotoPage(url) {
urlAppend(url)
}
function isUrlLoaded(url) {
return (pagesModel.get(currentPage).webUrl === url);
}
function reloadPage() {
view.reloadAndBypassCache()
view.setActiveFocusOnPress(true);
@ -161,36 +132,8 @@ Item {
web.url = webview.url;
}
function onInitialPage(url) {
return (url === webview.url);
}
function urlAppend(url) {
var lurl = decodeURIComponent(url)
if (lurl[lurl.length - 1] !== "/") {
lurl = lurl + "/"
}
web.urlList.push(url);
setBackButtonStatus();
}
function setBackButtonStatus() {
if (web.urlList.length > 0 || webview.canGoBack) {
back.enabledColor = hifi.colors.darkGray;
back.enabled = true;
} else {
back.enabledColor = hifi.colors.baseGray;
back.enabled = false;
}
}
onUrlChanged: {
loadUrl(url);
if (startingUp) {
web.initialPage = webview.url;
startingUp = false;
}
}
QtObject {
@ -258,6 +201,17 @@ Item {
grantFeaturePermission(securityOrigin, feature, true);
}
onUrlChanged: {
// Record history, skipping null and duplicate items.
var urlString = url + "";
urlString = urlString.replace(/\//g, "%2F"); // Consistent representation of "/"s to avoid false differences.
if (urlString.length > 0 && (historyIndex === -1 || urlString !== history[historyIndex])) {
historyIndex++;
history = history.slice(0, historyIndex);
history.push(urlString);
}
}
onLoadingChanged: {
keyboardRaised = false;
punctuationMode = false;
@ -277,17 +231,11 @@ Item {
}
if (WebEngineView.LoadSucceededStatus == loadRequest.status) {
if (startingUp) {
web.initialPage = webview.url;
startingUp = false;
}
webview.forceActiveFocus();
}
}
onNewViewRequested: {
var currentUrl = webview.url;
urlAppend(currentUrl);
request.openIn(webview);
}
}

2
interface/resources/qml/hifi/Pal.qml
View file

@ -844,7 +844,7 @@ Rectangle {
boxSize: 24;
onClicked: {
var newValue = model.connection !== "friend";
connectionsUserModel.setProperty(model.userIndex, styleData.role, newValue);
connectionsUserModel.setProperty(model.userIndex, styleData.role, (newValue ? "friend" : "connection"));
connectionsUserModelData[model.userIndex][styleData.role] = newValue; // Defensive programming
pal.sendToScript({method: newValue ? 'addFriend' : 'removeFriend', params: model.userName});

17
interface/src/Application.cpp
View file

@ -1688,7 +1688,6 @@ void Application::updateHeartbeat() const {
void Application::aboutToQuit() {
emit beforeAboutToQuit();
DependencyManager::get<AudioClient>()->beforeAboutToQuit();
foreach(auto inputPlugin, PluginManager::getInstance()->getInputPlugins()) {
if (inputPlugin->isActive()) {
@ -1789,14 +1788,13 @@ void Application::cleanupBeforeQuit() {
_snapshotSoundInjector->stop();
}
// stop audio after QML, as there are unexplained audio crashes originating in qtwebengine
// stop the AudioClient, synchronously
// FIXME: something else is holding a reference to AudioClient,
// so it must be explicitly synchronously stopped here
QMetaObject::invokeMethod(DependencyManager::get<AudioClient>().data(),
"stop", Qt::BlockingQueuedConnection);
"cleanupBeforeQuit", Qt::BlockingQueuedConnection);
// destroy Audio so it and its threads have a chance to go down safely
// this must happen after QML, as there are unexplained audio crashes originating in qtwebengine
DependencyManager::destroy<AudioClient>();
DependencyManager::destroy<AudioInjectorManager>();
@ -4331,13 +4329,6 @@ void Application::update(float deltaTime) {
if (nearbyEntitiesAreReadyForPhysics()) {
_physicsEnabled = true;
getMyAvatar()->updateMotionBehaviorFromMenu();
} else {
auto characterController = getMyAvatar()->getCharacterController();
if (characterController) {
// if we have a character controller, disable it here so the avatar doesn't get stuck due to
// a non-loading collision hull.
characterController->setEnabled(false);
}
}
}
} else if (domainLoadingInProgress) {

2
interface/src/Menu.cpp
View file

@ -197,7 +197,7 @@ Menu::Menu() {
0, // QML Qt::Key_Apostrophe,
qApp, SLOT(resetSensors()));
addCheckableActionToQMenuAndActionHash(avatarMenu, MenuOption::EnableCharacterController, 0, true,
addCheckableActionToQMenuAndActionHash(avatarMenu, MenuOption::EnableAvatarCollisions, 0, true,
avatar.get(), SLOT(updateMotionBehaviorFromMenu()));
// Avatar > AvatarBookmarks related menus -- Note: the AvatarBookmarks class adds its own submenus here.

2
interface/src/Menu.h
View file

@ -96,7 +96,7 @@ namespace MenuOption {
const QString DontRenderEntitiesAsScene = "Don't Render Entities as Scene";
const QString EchoLocalAudio = "Echo Local Audio";
const QString EchoServerAudio = "Echo Server Audio";
const QString EnableCharacterController = "Collide with world";
const QString EnableAvatarCollisions = "Enable Avatar Collisions";
const QString EnableInverseKinematics = "Enable Inverse Kinematics";
const QString EntityScriptServerLog = "Entity Script Server Log";
const QString ExpandMyAvatarSimulateTiming = "Expand /myAvatar/simulation";

70
interface/src/avatar/MyAvatar.cpp Normal file → Executable file
View file

@ -151,8 +151,6 @@ MyAvatar::MyAvatar(QThread* thread, RigPointer rig) :
// when we leave a domain we lift whatever restrictions that domain may have placed on our scale
connect(&domainHandler, &DomainHandler::disconnectedFromDomain, this, &MyAvatar::clearScaleRestriction);
_characterController.setEnabled(true);
_bodySensorMatrix = deriveBodyFromHMDSensor();
using namespace recording;
@ -166,12 +164,14 @@ MyAvatar::MyAvatar(QThread* thread, RigPointer rig) :
if (recordingInterface->getPlayFromCurrentLocation()) {
setRecordingBasis();
}
_wasCharacterControllerEnabled = _characterController.isEnabled();
_characterController.setEnabled(false);
_previousCollisionGroup = _characterController.computeCollisionGroup();
_characterController.setCollisionless(true);
} else {
clearRecordingBasis();
useFullAvatarURL(_fullAvatarURLFromPreferences, _fullAvatarModelName);
_characterController.setEnabled(_wasCharacterControllerEnabled);
if (_previousCollisionGroup != BULLET_COLLISION_GROUP_COLLISIONLESS) {
_characterController.setCollisionless(false);
}
}
auto audioIO = DependencyManager::get<AudioClient>();
@ -554,12 +554,12 @@ void MyAvatar::simulate(float deltaTime) {
EntityTreePointer entityTree = entityTreeRenderer ? entityTreeRenderer->getTree() : nullptr;
if (entityTree) {
bool flyingAllowed = true;
bool ghostingAllowed = true;
bool collisionlessAllowed = true;
entityTree->withWriteLock([&] {
std::shared_ptr<ZoneEntityItem> zone = entityTreeRenderer->myAvatarZone();
if (zone) {
flyingAllowed = zone->getFlyingAllowed();
ghostingAllowed = zone->getGhostingAllowed();
collisionlessAllowed = zone->getGhostingAllowed();
}
auto now = usecTimestampNow();
EntityEditPacketSender* packetSender = qApp->getEntityEditPacketSender();
@ -590,9 +590,7 @@ void MyAvatar::simulate(float deltaTime) {
}
});
_characterController.setFlyingAllowed(flyingAllowed);
if (!_characterController.isEnabled() && !ghostingAllowed) {
_characterController.setEnabled(true);
}
_characterController.setCollisionlessAllowed(collisionlessAllowed);
}
updateAvatarEntities();
@ -1455,7 +1453,8 @@ void MyAvatar::updateMotors() {
_characterController.clearMotors();
glm::quat motorRotation;
if (_motionBehaviors & AVATAR_MOTION_ACTION_MOTOR_ENABLED) {
if (_characterController.getState() == CharacterController::State::Hover) {
if (_characterController.getState() == CharacterController::State::Hover ||
_characterController.computeCollisionGroup() == BULLET_COLLISION_GROUP_COLLISIONLESS) {
motorRotation = getMyHead()->getCameraOrientation();
} else {
// non-hovering = walking: follow camera twist about vertical but not lift
@ -1501,6 +1500,7 @@ void MyAvatar::prepareForPhysicsSimulation() {
qDebug() << "Warning: getParentVelocity failed" << getID();
parentVelocity = glm::vec3();
}
_characterController.handleChangedCollisionGroup();
_characterController.setParentVelocity(parentVelocity);
_characterController.setPositionAndOrientation(getPosition(), getOrientation());
@ -1889,8 +1889,9 @@ void MyAvatar::updateActionMotor(float deltaTime) {
glm::vec3 direction = forward + right;
CharacterController::State state = _characterController.getState();
if (state == CharacterController::State::Hover) {
// we're flying --> support vertical motion
if (state == CharacterController::State::Hover ||
_characterController.computeCollisionGroup() == BULLET_COLLISION_GROUP_COLLISIONLESS) {
// we can fly --> support vertical motion
glm::vec3 up = (getDriveKey(TRANSLATE_Y)) * IDENTITY_UP;
direction += up;
}
@ -1912,7 +1913,7 @@ void MyAvatar::updateActionMotor(float deltaTime) {
float finalMaxMotorSpeed = getUniformScale() * MAX_ACTION_MOTOR_SPEED;
float speedGrowthTimescale = 2.0f;
float speedIncreaseFactor = 1.8f;
motorSpeed *= 1.0f + glm::clamp(deltaTime / speedGrowthTimescale , 0.0f, 1.0f) * speedIncreaseFactor;
motorSpeed *= 1.0f + glm::clamp(deltaTime / speedGrowthTimescale, 0.0f, 1.0f) * speedIncreaseFactor;
const float maxBoostSpeed = getUniformScale() * MAX_BOOST_SPEED;
if (_isPushing) {
@ -1955,9 +1956,17 @@ void MyAvatar::updatePosition(float deltaTime) {
measureMotionDerivatives(deltaTime);
_moving = speed2 > MOVING_SPEED_THRESHOLD_SQUARED;
} else {
// physics physics simulation updated elsewhere
float speed2 = glm::length2(velocity);
_moving = speed2 > MOVING_SPEED_THRESHOLD_SQUARED;
if (_moving) {
// scan for walkability
glm::vec3 position = getPosition();
MyCharacterController::RayShotgunResult result;
glm::vec3 step = deltaTime * (getRotation() * _actionMotorVelocity);
_characterController.testRayShotgun(position, step, result);
_characterController.setStepUpEnabled(result.walkable);
}
}
// capture the head rotation, in sensor space, when the user first indicates they would like to move/fly.
@ -2194,30 +2203,33 @@ void MyAvatar::updateMotionBehaviorFromMenu() {
} else {
_motionBehaviors &= ~AVATAR_MOTION_SCRIPTED_MOTOR_ENABLED;
}
setCharacterControllerEnabled(menu->isOptionChecked(MenuOption::EnableCharacterController));
setCollisionsEnabled(menu->isOptionChecked(MenuOption::EnableAvatarCollisions));
}
void MyAvatar::setCharacterControllerEnabled(bool enabled) {
void MyAvatar::setCollisionsEnabled(bool enabled) {
if (QThread::currentThread() != thread()) {
QMetaObject::invokeMethod(this, "setCharacterControllerEnabled", Q_ARG(bool, enabled));
QMetaObject::invokeMethod(this, "setCollisionsEnabled", Q_ARG(bool, enabled));
return;
}
bool ghostingAllowed = true;
auto entityTreeRenderer = qApp->getEntities();
if (entityTreeRenderer) {
std::shared_ptr<ZoneEntityItem> zone = entityTreeRenderer->myAvatarZone();
if (zone) {
ghostingAllowed = zone->getGhostingAllowed();
}
}
_characterController.setEnabled(ghostingAllowed ? enabled : true);
_characterController.setCollisionless(!enabled);
}
bool MyAvatar::getCollisionsEnabled() {
// may return 'false' even though the collisionless option was requested
// because the zone may disallow collisionless avatars
return _characterController.computeCollisionGroup() != BULLET_COLLISION_GROUP_COLLISIONLESS;
}
void MyAvatar::setCharacterControllerEnabled(bool enabled) {
qCDebug(interfaceapp) << "MyAvatar.characterControllerEnabled is deprecated. Use MyAvatar.collisionsEnabled instead.";
setCollisionsEnabled(enabled);
}
bool MyAvatar::getCharacterControllerEnabled() {
return _characterController.isEnabled();
qCDebug(interfaceapp) << "MyAvatar.characterControllerEnabled is deprecated. Use MyAvatar.collisionsEnabled instead.";
return getCollisionsEnabled();
}
void MyAvatar::clearDriveKeys() {

11
interface/src/avatar/MyAvatar.h
View file

@ -96,7 +96,7 @@ class MyAvatar : public Avatar {
* @property rightHandTipPose {Pose} READ-ONLY. Returns a pose offset 30 cm from MyAvatar.rightHandPose
* @property hmdLeanRecenterEnabled {bool} This can be used disable the hmd lean recenter behavior. This behavior is what causes your avatar
* to follow your HMD as you walk around the room, in room scale VR. Disabling this is useful if you desire to pin the avatar to a fixed location.
* @property characterControllerEnabled {bool} This can be used to disable collisions between the avatar and the world.
* @property collisionsEnabled {bool} This can be used to disable collisions between the avatar and the world.
* @property useAdvancedMovementControls {bool} Stores the user preference only, does not change user mappings, this is done in the defaultScript
* "scripts/system/controllers/toggleAdvancedMovementForHandControllers.js".
*/
@ -128,6 +128,7 @@ class MyAvatar : public Avatar {
Q_PROPERTY(float isAway READ getIsAway WRITE setAway)
Q_PROPERTY(bool hmdLeanRecenterEnabled READ getHMDLeanRecenterEnabled WRITE setHMDLeanRecenterEnabled)
Q_PROPERTY(bool collisionsEnabled READ getCollisionsEnabled WRITE setCollisionsEnabled)
Q_PROPERTY(bool characterControllerEnabled READ getCharacterControllerEnabled WRITE setCharacterControllerEnabled)
Q_PROPERTY(bool useAdvancedMovementControls READ useAdvancedMovementControls WRITE setUseAdvancedMovementControls)
@ -470,8 +471,10 @@ public:
bool hasDriveInput() const;
Q_INVOKABLE void setCharacterControllerEnabled(bool enabled);
Q_INVOKABLE bool getCharacterControllerEnabled();
Q_INVOKABLE void setCollisionsEnabled(bool enabled);
Q_INVOKABLE bool getCollisionsEnabled();
Q_INVOKABLE void setCharacterControllerEnabled(bool enabled); // deprecated
Q_INVOKABLE bool getCharacterControllerEnabled(); // deprecated
virtual glm::quat getAbsoluteJointRotationInObjectFrame(int index) const override;
virtual glm::vec3 getAbsoluteJointTranslationInObjectFrame(int index) const override;
@ -615,7 +618,7 @@ private:
SharedSoundPointer _collisionSound;
MyCharacterController _characterController;
bool _wasCharacterControllerEnabled { true };
int16_t _previousCollisionGroup { BULLET_COLLISION_GROUP_MY_AVATAR };
AvatarWeakPointer _lookAtTargetAvatar;
glm::vec3 _targetAvatarPosition;

286
interface/src/avatar/MyCharacterController.cpp Normal file → Executable file
View file

@ -15,11 +15,15 @@
#include "MyAvatar.h"
// TODO: improve walking up steps
// TODO: make avatars able to walk up and down steps/slopes
// TODO: make avatars stand on steep slope
// TODO: make avatars not snag on low ceilings
void MyCharacterController::RayShotgunResult::reset() {
hitFraction = 1.0f;
walkable = true;
}
MyCharacterController::MyCharacterController(MyAvatar* avatar) {
assert(avatar);
@ -30,37 +34,33 @@ MyCharacterController::MyCharacterController(MyAvatar* avatar) {
MyCharacterController::~MyCharacterController() {
}
void MyCharacterController::setDynamicsWorld(btDynamicsWorld* world) {
CharacterController::setDynamicsWorld(world);
if (world) {
initRayShotgun(world);
}
}
void MyCharacterController::updateShapeIfNecessary() {
if (_pendingFlags & PENDING_FLAG_UPDATE_SHAPE) {
_pendingFlags &= ~PENDING_FLAG_UPDATE_SHAPE;
// compute new dimensions from avatar's bounding box
float x = _boxScale.x;
float z = _boxScale.z;
_radius = 0.5f * sqrtf(0.5f * (x * x + z * z));
_halfHeight = 0.5f * _boxScale.y - _radius;
float MIN_HALF_HEIGHT = 0.1f;
if (_halfHeight < MIN_HALF_HEIGHT) {
_halfHeight = MIN_HALF_HEIGHT;
}
// NOTE: _shapeLocalOffset is already computed
if (_radius > 0.0f) {
// create RigidBody if it doesn't exist
if (!_rigidBody) {
btCollisionShape* shape = computeShape();
// HACK: use some simple mass property defaults for now
const float DEFAULT_AVATAR_MASS = 100.0f;
const btScalar DEFAULT_AVATAR_MASS = 100.0f;
const btVector3 DEFAULT_AVATAR_INERTIA_TENSOR(30.0f, 8.0f, 30.0f);
btCollisionShape* shape = new btCapsuleShape(_radius, 2.0f * _halfHeight);
_rigidBody = new btRigidBody(DEFAULT_AVATAR_MASS, nullptr, shape, DEFAULT_AVATAR_INERTIA_TENSOR);
} else {
btCollisionShape* shape = _rigidBody->getCollisionShape();
if (shape) {
delete shape;
}
shape = new btCapsuleShape(_radius, 2.0f * _halfHeight);
shape = computeShape();
_rigidBody->setCollisionShape(shape);
}
@ -72,12 +72,262 @@ void MyCharacterController::updateShapeIfNecessary() {
if (_state == State::Hover) {
_rigidBody->setGravity(btVector3(0.0f, 0.0f, 0.0f));
} else {
_rigidBody->setGravity(DEFAULT_CHARACTER_GRAVITY * _currentUp);
_rigidBody->setGravity(_gravity * _currentUp);
}
//_rigidBody->setCollisionFlags(btCollisionObject::CF_CHARACTER_OBJECT);
_rigidBody->setCollisionFlags(_rigidBody->getCollisionFlags() &
~(btCollisionObject::CF_KINEMATIC_OBJECT | btCollisionObject::CF_STATIC_OBJECT));
} else {
// TODO: handle this failure case
}
}
}
bool MyCharacterController::testRayShotgun(const glm::vec3& position, const glm::vec3& step, RayShotgunResult& result) {
btVector3 rayDirection = glmToBullet(step);
btScalar stepLength = rayDirection.length();
if (stepLength < FLT_EPSILON) {
return false;
}
rayDirection /= stepLength;
// get _ghost ready for ray traces
btTransform transform = _rigidBody->getWorldTransform();
btVector3 newPosition = glmToBullet(position);
transform.setOrigin(newPosition);
_ghost.setWorldTransform(transform);
btMatrix3x3 rotation = transform.getBasis();
_ghost.refreshOverlappingPairCache();
CharacterRayResult rayResult(&_ghost);
CharacterRayResult closestRayResult(&_ghost);
btVector3 rayStart;
btVector3 rayEnd;
// compute rotation that will orient local ray start points to face step direction
btVector3 forward = rotation * btVector3(0.0f, 0.0f, -1.0f);
btVector3 adjustedDirection = rayDirection - rayDirection.dot(_currentUp) * _currentUp;
btVector3 axis = forward.cross(adjustedDirection);
btScalar lengthAxis = axis.length();
if (lengthAxis > FLT_EPSILON) {
// we're walking sideways
btScalar angle = acosf(lengthAxis / adjustedDirection.length());
if (rayDirection.dot(forward) < 0.0f) {
angle = PI - angle;
}
axis /= lengthAxis;
rotation = btMatrix3x3(btQuaternion(axis, angle)) * rotation;
} else if (rayDirection.dot(forward) < 0.0f) {
// we're walking backwards
rotation = btMatrix3x3(btQuaternion(_currentUp, PI)) * rotation;
}
// scan the top
// NOTE: if we scan an extra distance forward we can detect flat surfaces that are too steep to walk on.
// The approximate extra distance can be derived with trigonometry.
//
// minimumForward = [ (maxStepHeight + radius / cosTheta - radius) * (cosTheta / sinTheta) - radius ]
//
// where: theta = max angle between floor normal and vertical
//
// if stepLength is not long enough we can add the difference.
//
btScalar cosTheta = _minFloorNormalDotUp;
btScalar sinTheta = sqrtf(1.0f - cosTheta * cosTheta);
const btScalar MIN_FORWARD_SLOP = 0.12f; // HACK: not sure why this is necessary to detect steepest walkable slope
btScalar forwardSlop = (_maxStepHeight + _radius / cosTheta - _radius) * (cosTheta / sinTheta) - (_radius + stepLength) + MIN_FORWARD_SLOP;
if (forwardSlop < 0.0f) {
// BIG step, no slop necessary
forwardSlop = 0.0f;
}
const btScalar backSlop = 0.04f;
for (int32_t i = 0; i < _topPoints.size(); ++i) {
rayStart = newPosition + rotation * _topPoints[i] - backSlop * rayDirection;
rayEnd = rayStart + (backSlop + stepLength + forwardSlop) * rayDirection;
if (_ghost.rayTest(rayStart, rayEnd, rayResult)) {
if (rayResult.m_closestHitFraction < closestRayResult.m_closestHitFraction) {
closestRayResult = rayResult;
}
if (result.walkable) {
if (rayResult.m_hitNormalWorld.dot(_currentUp) < _minFloorNormalDotUp) {
result.walkable = false;
// the top scan wasn't walkable so don't bother scanning the bottom
// remove both forwardSlop and backSlop
result.hitFraction = glm::min(1.0f, (closestRayResult.m_closestHitFraction * (backSlop + stepLength + forwardSlop) - backSlop) / stepLength);
return result.hitFraction < 1.0f;
}
}
}
}
if (_state == State::Hover) {
// scan the bottom just like the top
for (int32_t i = 0; i < _bottomPoints.size(); ++i) {
rayStart = newPosition + rotation * _bottomPoints[i] - backSlop * rayDirection;
rayEnd = rayStart + (backSlop + stepLength + forwardSlop) * rayDirection;
if (_ghost.rayTest(rayStart, rayEnd, rayResult)) {
if (rayResult.m_closestHitFraction < closestRayResult.m_closestHitFraction) {
closestRayResult = rayResult;
}
if (result.walkable) {
if (rayResult.m_hitNormalWorld.dot(_currentUp) < _minFloorNormalDotUp) {
result.walkable = false;
// the bottom scan wasn't walkable
// remove both forwardSlop and backSlop
result.hitFraction = glm::min(1.0f, (closestRayResult.m_closestHitFraction * (backSlop + stepLength + forwardSlop) - backSlop) / stepLength);
return result.hitFraction < 1.0f;
}
}
}
}
} else {
// scan the bottom looking for nearest step point
// remove forwardSlop
result.hitFraction = (closestRayResult.m_closestHitFraction * (backSlop + stepLength + forwardSlop)) / (backSlop + stepLength);
for (int32_t i = 0; i < _bottomPoints.size(); ++i) {
rayStart = newPosition + rotation * _bottomPoints[i] - backSlop * rayDirection;
rayEnd = rayStart + (backSlop + stepLength) * rayDirection;
if (_ghost.rayTest(rayStart, rayEnd, rayResult)) {
if (rayResult.m_closestHitFraction < closestRayResult.m_closestHitFraction) {
closestRayResult = rayResult;
}
}
}
// remove backSlop
// NOTE: backSlop removal can produce a NEGATIVE hitFraction!
// which means the shape is actually in interpenetration
result.hitFraction = ((closestRayResult.m_closestHitFraction * (backSlop + stepLength)) - backSlop) / stepLength;
}
return result.hitFraction < 1.0f;
}
btConvexHullShape* MyCharacterController::computeShape() const {
// HACK: the avatar collides using convex hull with a collision margin equal to
// the old capsule radius. Two points define a capsule and additional points are
// spread out at chest level to produce a slight taper toward the feet. This
// makes the avatar more likely to collide with vertical walls at a higher point
// and thus less likely to produce a single-point collision manifold below the
// _maxStepHeight when walking into against vertical surfaces --> fixes a bug
// where the "walk up steps" feature would allow the avatar to walk up vertical
// walls.
const int32_t NUM_POINTS = 6;
btVector3 points[NUM_POINTS];
btVector3 xAxis = btVector3(1.0f, 0.0f, 0.0f);
btVector3 yAxis = btVector3(0.0f, 1.0f, 0.0f);
btVector3 zAxis = btVector3(0.0f, 0.0f, 1.0f);
points[0] = _halfHeight * yAxis;
points[1] = -_halfHeight * yAxis;
points[2] = (0.75f * _halfHeight) * yAxis - (0.1f * _radius) * zAxis;
points[3] = (0.75f * _halfHeight) * yAxis + (0.1f * _radius) * zAxis;
points[4] = (0.75f * _halfHeight) * yAxis - (0.1f * _radius) * xAxis;
points[5] = (0.75f * _halfHeight) * yAxis + (0.1f * _radius) * xAxis;
btConvexHullShape* shape = new btConvexHullShape(reinterpret_cast<btScalar*>(points), NUM_POINTS);
shape->setMargin(_radius);
return shape;
}
void MyCharacterController::initRayShotgun(const btCollisionWorld* world) {
// In order to trace rays out from the avatar's shape surface we need to know where the start points are in
// the local-frame. Since the avatar shape is somewhat irregular computing these points by hand is a hassle
// so instead we ray-trace backwards to the avatar to find them.
//
// We trace back a regular grid (see below) of points against the shape and keep any that hit.
// ___
// + / + \ +
// |+ +|
// +| + | +
// |+ +|
// +| + | +
// |+ +|
// + \ + / +
// ---
// The shotgun will send rays out from these same points to see if the avatar's shape can proceed through space.
// helper class for simple ray-traces against character
class MeOnlyResultCallback : public btCollisionWorld::ClosestRayResultCallback {
public:
MeOnlyResultCallback (btRigidBody* me) : btCollisionWorld::ClosestRayResultCallback(btVector3(0.0f, 0.0f, 0.0f), btVector3(0.0f, 0.0f, 0.0f)) {
_me = me;
m_collisionFilterGroup = BULLET_COLLISION_GROUP_DYNAMIC;
m_collisionFilterMask = BULLET_COLLISION_MASK_DYNAMIC;
}
virtual btScalar addSingleResult(btCollisionWorld::LocalRayResult& rayResult,bool normalInWorldSpace) override {
if (rayResult.m_collisionObject != _me) {
return 1.0f;
}
return ClosestRayResultCallback::addSingleResult(rayResult, normalInWorldSpace);
}
btRigidBody* _me;
};
const btScalar fullHalfHeight = _radius + _halfHeight;
const btScalar divisionLine = -fullHalfHeight + _maxStepHeight; // line between top and bottom
const btScalar topHeight = fullHalfHeight - divisionLine;
const btScalar slop = 0.02f;
const int32_t NUM_ROWS = 5; // must be odd number > 1
const int32_t NUM_COLUMNS = 5; // must be odd number > 1
btVector3 reach = (2.0f * _radius) * btVector3(0.0f, 0.0f, 1.0f);
{ // top points
_topPoints.clear();
_topPoints.reserve(NUM_ROWS * NUM_COLUMNS);
btScalar stepY = (topHeight - slop) / (btScalar)(NUM_ROWS - 1);
btScalar stepX = 2.0f * (_radius - slop) / (btScalar)(NUM_COLUMNS - 1);
btTransform transform = _rigidBody->getWorldTransform();
btVector3 position = transform.getOrigin();
btMatrix3x3 rotation = transform.getBasis();
for (int32_t i = 0; i < NUM_ROWS; ++i) {
int32_t maxJ = NUM_COLUMNS;
btScalar offsetX = -(btScalar)((NUM_COLUMNS - 1) / 2) * stepX;
if (i % 2 == 1) {
// odd rows have one less point and start a halfStep closer
maxJ -= 1;
offsetX += 0.5f * stepX;
}
for (int32_t j = 0; j < maxJ; ++j) {
btVector3 localRayEnd(offsetX + (btScalar)(j) * stepX, divisionLine + (btScalar)(i) * stepY, 0.0f);
btVector3 localRayStart = localRayEnd - reach;
MeOnlyResultCallback result(_rigidBody);
world->rayTest(position + rotation * localRayStart, position + rotation * localRayEnd, result);
if (result.m_closestHitFraction < 1.0f) {
_topPoints.push_back(localRayStart + result.m_closestHitFraction * reach);
}
}
}
}
{ // bottom points
_bottomPoints.clear();
_bottomPoints.reserve(NUM_ROWS * NUM_COLUMNS);
btScalar steepestStepHitHeight = (_radius + 0.04f) * (1.0f - DEFAULT_MIN_FLOOR_NORMAL_DOT_UP);
btScalar stepY = (_maxStepHeight - slop - steepestStepHitHeight) / (btScalar)(NUM_ROWS - 1);
btScalar stepX = 2.0f * (_radius - slop) / (btScalar)(NUM_COLUMNS - 1);
btTransform transform = _rigidBody->getWorldTransform();
btVector3 position = transform.getOrigin();
btMatrix3x3 rotation = transform.getBasis();
for (int32_t i = 0; i < NUM_ROWS; ++i) {
int32_t maxJ = NUM_COLUMNS;
btScalar offsetX = -(btScalar)((NUM_COLUMNS - 1) / 2) * stepX;
if (i % 2 == 1) {
// odd rows have one less point and start a halfStep closer
maxJ -= 1;
offsetX += 0.5f * stepX;
}
for (int32_t j = 0; j < maxJ; ++j) {
btVector3 localRayEnd(offsetX + (btScalar)(j) * stepX, (divisionLine - slop) - (btScalar)(i) * stepY, 0.0f);
btVector3 localRayStart = localRayEnd - reach;
MeOnlyResultCallback result(_rigidBody);
world->rayTest(position + rotation * localRayStart, position + rotation * localRayEnd, result);
if (result.m_closestHitFraction < 1.0f) {
_bottomPoints.push_back(localRayStart + result.m_closestHitFraction * reach);
}
}
}
}
}

26
interface/src/avatar/MyCharacterController.h
View file

@ -24,10 +24,34 @@ public:
explicit MyCharacterController(MyAvatar* avatar);
~MyCharacterController ();
virtual void updateShapeIfNecessary() override;
void setDynamicsWorld(btDynamicsWorld* world) override;
void updateShapeIfNecessary() override;
// Sweeping a convex shape through the physics simulation can be expensive when the obstacles are too
// complex (e.g. small 20k triangle static mesh) so instead we cast several rays forward and if they
// don't hit anything we consider it a clean sweep. Hence this "Shotgun" code.
class RayShotgunResult {
public:
void reset();
float hitFraction { 1.0f };
bool walkable { true };
};
/// return true if RayShotgun hits anything
bool testRayShotgun(const glm::vec3& position, const glm::vec3& step, RayShotgunResult& result);
protected:
void initRayShotgun(const btCollisionWorld* world);
private:
btConvexHullShape* computeShape() const;
protected:
MyAvatar* _avatar { nullptr };
// shotgun scan data
btAlignedObjectArray<btVector3> _topPoints;
btAlignedObjectArray<btVector3> _bottomPoints;
};
#endif // hifi_MyCharacterController_h

15
interface/src/avatar/MySkeletonModel.cpp
View file

@ -37,7 +37,14 @@ void MySkeletonModel::updateRig(float deltaTime, glm::mat4 parentTransform) {
Head* head = _owningAvatar->getHead();
// make sure lookAt is not too close to face (avoid crosseyes)
glm::vec3 lookAt = _owningAvatar->isMyAvatar() ? head->getLookAtPosition() : head->getCorrectedLookAtPosition();
glm::vec3 lookAt = head->getLookAtPosition();
glm::vec3 focusOffset = lookAt - _owningAvatar->getHead()->getEyePosition();
float focusDistance = glm::length(focusOffset);
const float MIN_LOOK_AT_FOCUS_DISTANCE = 1.0f;
if (focusDistance < MIN_LOOK_AT_FOCUS_DISTANCE && focusDistance > EPSILON) {
lookAt = _owningAvatar->getHead()->getEyePosition() + (MIN_LOOK_AT_FOCUS_DISTANCE / focusDistance) * focusOffset;
}
MyAvatar* myAvatar = static_cast<MyAvatar*>(_owningAvatar);
Rig::HeadParameters headParams;
@ -140,6 +147,9 @@ void MySkeletonModel::updateRig(float deltaTime, glm::mat4 parentTransform) {
auto orientation = myAvatar->getLocalOrientation();
_rig->computeMotionAnimationState(deltaTime, position, velocity, orientation, ccState);
// evaluate AnimGraph animation and update jointStates.
Model::updateRig(deltaTime, parentTransform);
Rig::EyeParameters eyeParams;
eyeParams.eyeLookAt = lookAt;
eyeParams.eyeSaccade = head->getSaccade();
@ -149,8 +159,5 @@ void MySkeletonModel::updateRig(float deltaTime, glm::mat4 parentTransform) {
eyeParams.rightEyeJointIndex = geometry.rightEyeJointIndex;
_rig->updateFromEyeParameters(eyeParams);
// evaluate AnimGraph animation and update jointStates.
Parent::updateRig(deltaTime, parentTransform);
}

176
libraries/audio-client/src/AudioClient.cpp
View file

@ -76,42 +76,58 @@ using Mutex = std::mutex;
using Lock = std::unique_lock<Mutex>;
static Mutex _deviceMutex;
// background thread that continuously polls for device changes
class CheckDevicesThread : public QThread {
class BackgroundThread : public QThread {
public:
const unsigned long DEVICE_CHECK_INTERVAL_MSECS = 2 * 1000;
BackgroundThread(AudioClient* client) : QThread((QObject*)client), _client(client) {}
virtual void join() = 0;
protected:
AudioClient* _client;
};
CheckDevicesThread(AudioClient* audioClient)
: _audioClient(audioClient) {
}
void beforeAboutToQuit() {
Lock lock(_checkDevicesMutex);
_quit = true;
// background thread continuously polling device changes
class CheckDevicesThread : public BackgroundThread {
public:
CheckDevicesThread(AudioClient* client) : BackgroundThread(client) {}
void join() override {
_shouldQuit = true;
std::unique_lock<std::mutex> lock(_joinMutex);
_joinCondition.wait(lock, [&]{ return !_isRunning; });
}
protected:
void run() override {
while (true) {
{
Lock lock(_checkDevicesMutex);
if (_quit) {
break;
}
_audioClient->checkDevices();
}
while (!_shouldQuit) {
_client->checkDevices();
const unsigned long DEVICE_CHECK_INTERVAL_MSECS = 2 * 1000;
QThread::msleep(DEVICE_CHECK_INTERVAL_MSECS);
}
std::lock_guard<std::mutex> lock(_joinMutex);
_isRunning = false;
_joinCondition.notify_one();
}
private:
AudioClient* _audioClient { nullptr };
Mutex _checkDevicesMutex;
bool _quit { false };
std::atomic<bool> _shouldQuit { false };
bool _isRunning { true };
std::mutex _joinMutex;
std::condition_variable _joinCondition;
};
void AudioInjectorsThread::prepare() {
_audio->prepareLocalAudioInjectors();
}
// background thread buffering local injectors
class LocalInjectorsThread : public BackgroundThread {
Q_OBJECT
public:
LocalInjectorsThread(AudioClient* client) : BackgroundThread(client) {}
void join() override { return; }
private slots:
void prepare() { _client->prepareLocalAudioInjectors(); }
};
#include "AudioClient.moc"
static void channelUpmix(int16_t* source, int16_t* dest, int numSamples, int numExtraChannels) {
for (int i = 0; i < numSamples/2; i++) {
@ -179,7 +195,6 @@ AudioClient::AudioClient() :
_inputToNetworkResampler(NULL),
_networkToOutputResampler(NULL),
_localToOutputResampler(NULL),
_localAudioThread(this),
_audioLimiter(AudioConstants::SAMPLE_RATE, OUTPUT_CHANNEL_COUNT),
_outgoingAvatarAudioSequenceNumber(0),
_audioOutputIODevice(_localInjectorsStream, _receivedAudioStream, this),
@ -210,13 +225,14 @@ AudioClient::AudioClient() :
// start a thread to detect any device changes
_checkDevicesThread = new CheckDevicesThread(this);
_checkDevicesThread->setObjectName("CheckDevices Thread");
_checkDevicesThread->setObjectName("AudioClient CheckDevices Thread");
_checkDevicesThread->setPriority(QThread::LowPriority);
_checkDevicesThread->start();
// start a thread to process local injectors
_localAudioThread.setObjectName("LocalAudio Thread");
_localAudioThread.start();
_localInjectorsThread = new LocalInjectorsThread(this);
_localInjectorsThread->setObjectName("AudioClient LocalInjectors Thread");
_localInjectorsThread->start();
configureReverb();
@ -231,18 +247,32 @@ AudioClient::AudioClient() :
}
AudioClient::~AudioClient() {
delete _checkDevicesThread;
stop();
if (_codec && _encoder) {
_codec->releaseEncoder(_encoder);
_encoder = nullptr;
}
}
void AudioClient::beforeAboutToQuit() {
static_cast<CheckDevicesThread*>(_checkDevicesThread)->beforeAboutToQuit();
void AudioClient::customDeleter() {
deleteLater();
}
void AudioClient::cleanupBeforeQuit() {
// FIXME: this should be put in customDeleter, but there is still a reference to this when it is called,
// so this must be explicitly, synchronously stopped
stop();
if (_checkDevicesThread) {
static_cast<BackgroundThread*>(_checkDevicesThread)->join();
delete _checkDevicesThread;
}
if (_localInjectorsThread) {
static_cast<BackgroundThread*>(_localInjectorsThread)->join();
delete _localInjectorsThread;
}
}
void AudioClient::handleMismatchAudioFormat(SharedNodePointer node, const QString& currentCodec, const QString& recievedCodec) {
qCDebug(audioclient) << __FUNCTION__ << "sendingNode:" << *node << "currentCodec:" << currentCodec << "recievedCodec:" << recievedCodec;
@ -1096,11 +1126,19 @@ void AudioClient::handleRecordedAudioInput(const QByteArray& audio) {
handleAudioInput(audioBuffer);
}
void AudioClient::prepareLocalAudioInjectors() {
void AudioClient::prepareLocalAudioInjectors(std::unique_ptr<Lock> localAudioLock) {
bool doSynchronously = localAudioLock.operator bool();
if (!localAudioLock) {
localAudioLock.reset(new Lock(_localAudioMutex));
}
int samplesNeeded = std::numeric_limits<int>::max();
while (samplesNeeded > 0) {
// unlock between every write to allow device switching
Lock lock(_localAudioMutex);
if (!doSynchronously) {
// unlock between every write to allow device switching
localAudioLock->unlock();
localAudioLock->lock();
}
// in case of a device switch, consider bufferCapacity volatile across iterations
if (_outputPeriod == 0) {
@ -1154,16 +1192,16 @@ void AudioClient::prepareLocalAudioInjectors() {
}
bool AudioClient::mixLocalAudioInjectors(float* mixBuffer) {
QVector<AudioInjector*> injectorsToRemove;
// lock the injector vector
Lock lock(_injectorsMutex);
if (_activeLocalAudioInjectors.size() == 0) {
// check the flag for injectors before attempting to lock
if (!_localInjectorsAvailable.load(std::memory_order_acquire)) {
return false;
}
// lock the injectors
Lock lock(_injectorsMutex);
QVector<AudioInjector*> injectorsToRemove;
memset(mixBuffer, 0, AudioConstants::NETWORK_FRAME_SAMPLES_STEREO * sizeof(float));
for (AudioInjector* injector : _activeLocalAudioInjectors) {
@ -1242,6 +1280,9 @@ bool AudioClient::mixLocalAudioInjectors(float* mixBuffer) {
_activeLocalAudioInjectors.removeOne(injector);
}
// update the flag
_localInjectorsAvailable.exchange(!_activeLocalAudioInjectors.empty(), std::memory_order_release);
return true;
}
@ -1328,11 +1369,14 @@ bool AudioClient::outputLocalInjector(AudioInjector* injector) {
// move local buffer to the LocalAudioThread to avoid dataraces with AudioInjector (like stop())
injectorBuffer->setParent(nullptr);
injectorBuffer->moveToThread(&_localAudioThread);
injectorBuffer->moveToThread(_localInjectorsThread);
// update the flag
_localInjectorsAvailable.exchange(true, std::memory_order_release);
} else {
qCDebug(audioclient) << "injector exists in active list already";
}
return true;
} else {
@ -1455,7 +1499,7 @@ void AudioClient::outputNotify() {
bool AudioClient::switchOutputToAudioDevice(const QAudioDeviceInfo& outputDeviceInfo) {
bool supportedFormat = false;
Lock lock(_localAudioMutex);
Lock localAudioLock(_localAudioMutex);
_localSamplesAvailable.exchange(0, std::memory_order_release);
// cleanup any previously initialized device
@ -1525,14 +1569,23 @@ bool AudioClient::switchOutputToAudioDevice(const QAudioDeviceInfo& outputDevice
connect(_audioOutput, &QAudioOutput::stateChanged, [&, frameSize, requestedSize](QAudio::State state) {
if (state == QAudio::ActiveState) {
// restrict device callback to _outputPeriod samples
_outputPeriod = (_audioOutput->periodSize() / AudioConstants::SAMPLE_SIZE) * 2;
_outputPeriod = _audioOutput->periodSize() / AudioConstants::SAMPLE_SIZE;
// device callback may exceed reported period, so double it to avoid stutter
_outputPeriod *= 2;
_outputMixBuffer = new float[_outputPeriod];
_outputScratchBuffer = new int16_t[_outputPeriod];
// size local output mix buffer based on resampled network frame size
_networkPeriod = _localToOutputResampler->getMaxOutput(AudioConstants::NETWORK_FRAME_SAMPLES_STEREO);
_localOutputMixBuffer = new float[_networkPeriod];
int networkPeriod = _localToOutputResampler->getMaxOutput(AudioConstants::NETWORK_FRAME_SAMPLES_STEREO);
_localOutputMixBuffer = new float[networkPeriod];
// local period should be at least twice the output period,
// in case two device reads happen before more data can be read (worst case)
int localPeriod = _outputPeriod * 2;
// round up to an exact multiple of networkPeriod
localPeriod = ((localPeriod + networkPeriod - 1) / networkPeriod) * networkPeriod;
// this ensures lowest latency without stutter from underrun
_localInjectorsStream.resizeForFrameSize(localPeriod);
int bufferSize = _audioOutput->bufferSize();
@ -1547,6 +1600,9 @@ bool AudioClient::switchOutputToAudioDevice(const QAudioDeviceInfo& outputDevice
qCDebug(audioclient) << "local buffer (samples):" << localPeriod;
disconnect(_audioOutput, &QAudioOutput::stateChanged, 0, 0);
// unlock to avoid a deadlock with the device callback (which always succeeds this initialization)
localAudioLock.unlock();
}
});
connect(_audioOutput, &QAudioOutput::notify, this, &AudioClient::outputNotify);
@ -1685,12 +1741,24 @@ qint64 AudioClient::AudioOutputIODevice::readData(char * data, qint64 maxSize) {
int injectorSamplesPopped = 0;
{
bool append = networkSamplesPopped > 0;
// this does not require a lock as of the only two functions adding to _localSamplesAvailable (samples count):
// check the samples we have available locklessly; this is possible because only two functions add to the count:
// - prepareLocalAudioInjectors will only increase samples count
// - switchOutputToAudioDevice will zero samples count
// stop the device, so that readData will exhaust the existing buffer or see a zeroed samples count
// and start the device, which can only see a zeroed samples count
samplesRequested = std::min(samplesRequested, _audio->_localSamplesAvailable.load(std::memory_order_acquire));
// - switchOutputToAudioDevice will zero samples count,
// stop the device - so that readData will exhaust the existing buffer or see a zeroed samples count,
// and start the device - which can then only see a zeroed samples count
int samplesAvailable = _audio->_localSamplesAvailable.load(std::memory_order_acquire);
// if we do not have enough samples buffered despite having injectors, buffer them synchronously
if (samplesAvailable < samplesRequested && _audio->_localInjectorsAvailable.load(std::memory_order_acquire)) {
// try_to_lock, in case the device is being shut down already
std::unique_ptr<Lock> localAudioLock(new Lock(_audio->_localAudioMutex, std::try_to_lock));
if (localAudioLock->owns_lock()) {
_audio->prepareLocalAudioInjectors(std::move(localAudioLock));
samplesAvailable = _audio->_localSamplesAvailable.load(std::memory_order_acquire);
}
}
samplesRequested = std::min(samplesRequested, samplesAvailable);
if ((injectorSamplesPopped = _localInjectorsStream.appendSamples(mixBuffer, samplesRequested, append)) > 0) {
_audio->_localSamplesAvailable.fetch_sub(injectorSamplesPopped, std::memory_order_release);
qCDebug(audiostream, "Read %d samples from injectors (%d available, %d requested)", injectorSamplesPopped, _localInjectorsStream.samplesAvailable(), samplesRequested);
@ -1698,7 +1766,7 @@ qint64 AudioClient::AudioOutputIODevice::readData(char * data, qint64 maxSize) {
}
// prepare injectors for the next callback
QMetaObject::invokeMethod(&_audio->_localAudioThread, "prepare", Qt::QueuedConnection);
QMetaObject::invokeMethod(_audio->_localInjectorsThread, "prepare", Qt::QueuedConnection);
int samplesPopped = std::max(networkSamplesPopped, injectorSamplesPopped);
int framesPopped = samplesPopped / AudioConstants::STEREO;

51
libraries/audio-client/src/AudioClient.h
View file

@ -71,19 +71,6 @@ class QIODevice;
class Transform;
class NLPacket;
class AudioInjectorsThread : public QThread {
Q_OBJECT
public:
AudioInjectorsThread(AudioClient* audio) : _audio(audio) {}
public slots :
void prepare();
private:
AudioClient* _audio;
};
class AudioClient : public AbstractAudioInterface, public Dependency {
Q_OBJECT
SINGLETON_DEPENDENCY
@ -158,7 +145,7 @@ public:
Q_INVOKABLE void setAvatarBoundingBoxParameters(glm::vec3 corner, glm::vec3 scale);
void checkDevices();
bool outputLocalInjector(AudioInjector* injector) override;
static const float CALLBACK_ACCELERATOR_RATIO;
@ -169,6 +156,7 @@ public:
public slots:
void start();
void stop();
void cleanupBeforeQuit();
void handleAudioEnvironmentDataPacket(QSharedPointer<ReceivedMessage> message);
void handleAudioDataPacket(QSharedPointer<ReceivedMessage> message);
@ -184,8 +172,6 @@ public slots:
void audioMixerKilled();
void toggleMute();
void beforeAboutToQuit();
virtual void setIsStereoInput(bool stereo) override;
void toggleAudioNoiseReduction() { _isNoiseGateEnabled = !_isNoiseGateEnabled; }
@ -198,8 +184,6 @@ public slots:
int setOutputBufferSize(int numFrames, bool persist = true);
void prepareLocalAudioInjectors();
bool outputLocalInjector(AudioInjector* injector) override;
bool shouldLoopbackInjectors() override { return _shouldEchoToServer; }
bool switchInputToAudioDevice(const QString& inputDeviceName);
@ -242,13 +226,16 @@ protected:
AudioClient();
~AudioClient();
virtual void customDeleter() override {
deleteLater();
}
virtual void customDeleter() override;
private:
friend class CheckDevicesThread;
friend class LocalInjectorsThread;
void outputFormatChanged();
void handleAudioInput(QByteArray& audioBuffer);
void checkDevices();
void prepareLocalAudioInjectors(std::unique_ptr<Lock> localAudioLock = nullptr);
bool mixLocalAudioInjectors(float* mixBuffer);
float azimuthForSource(const glm::vec3& relativePosition);
float gainForSource(float distance, float volume);
@ -295,8 +282,9 @@ private:
AudioRingBuffer _inputRingBuffer;
LocalInjectorsStream _localInjectorsStream;
// In order to use _localInjectorsStream as a lock-free pipe,
// use it with a single producer/consumer, and track available samples
// use it with a single producer/consumer, and track available samples and injectors
std::atomic<int> _localSamplesAvailable { 0 };
std::atomic<bool> _localInjectorsAvailable { false };
MixedProcessedAudioStream _receivedAudioStream;
bool _isStereoInput;
@ -337,19 +325,17 @@ private:
// for network audio (used by network audio thread)
int16_t _networkScratchBuffer[AudioConstants::NETWORK_FRAME_SAMPLES_AMBISONIC];
// for local audio (used by audio injectors thread)
int _networkPeriod { 0 };
float _localMixBuffer[AudioConstants::NETWORK_FRAME_SAMPLES_STEREO];
int16_t _localScratchBuffer[AudioConstants::NETWORK_FRAME_SAMPLES_AMBISONIC];
float* _localOutputMixBuffer { NULL };
AudioInjectorsThread _localAudioThread;
Mutex _localAudioMutex;
// for output audio (used by this thread)
int _outputPeriod { 0 };
float* _outputMixBuffer { NULL };
int16_t* _outputScratchBuffer { NULL };
// for local audio (used by audio injectors thread)
float _localMixBuffer[AudioConstants::NETWORK_FRAME_SAMPLES_STEREO];
int16_t _localScratchBuffer[AudioConstants::NETWORK_FRAME_SAMPLES_AMBISONIC];
float* _localOutputMixBuffer { NULL };
Mutex _localAudioMutex;
AudioLimiter _audioLimiter;
// Adds Reverb
@ -392,12 +378,13 @@ private:
QString _selectedCodecName;
Encoder* _encoder { nullptr }; // for outbound mic stream
QThread* _checkDevicesThread { nullptr };
RateCounter<> _silentOutbound;
RateCounter<> _audioOutbound;
RateCounter<> _silentInbound;
RateCounter<> _audioInbound;
QThread* _checkDevicesThread { nullptr };
QThread* _localInjectorsThread { nullptr };
};

2
libraries/audio/src/AbstractAudioInterface.h
View file

@ -32,12 +32,12 @@ public:
const Transform& transform, glm::vec3 avatarBoundingBoxCorner, glm::vec3 avatarBoundingBoxScale,
PacketType packetType, QString codecName = QString(""));
public slots:
// threadsafe
// moves injector->getLocalBuffer() to another thread (so removes its parent)
// take care to delete it when ~AudioInjector, as parenting Qt semantics will not work
virtual bool outputLocalInjector(AudioInjector* injector) = 0;
public slots:
virtual bool shouldLoopbackInjectors() { return false; }
virtual void setIsStereoInput(bool stereo) = 0;

34
libraries/avatars-renderer/src/avatars-renderer/Avatar.cpp
View file

@ -369,23 +369,25 @@ void Avatar::simulate(float deltaTime, bool inView) {
PerformanceTimer perfTimer("simulate");
{
PROFILE_RANGE(simulation, "updateJoints");
if (inView && _hasNewJointData) {
_skeletonModel->getRig()->copyJointsFromJointData(_jointData);
glm::mat4 rootTransform = glm::scale(_skeletonModel->getScale()) * glm::translate(_skeletonModel->getOffset());
_skeletonModel->getRig()->computeExternalPoses(rootTransform);
_jointDataSimulationRate.increment();
_skeletonModel->simulate(deltaTime, true);
locationChanged(); // joints changed, so if there are any children, update them.
_hasNewJointData = false;
glm::vec3 headPosition = getPosition();
if (!_skeletonModel->getHeadPosition(headPosition)) {
headPosition = getPosition();
}
if (inView) {
Head* head = getHead();
head->setPosition(headPosition);
if (_hasNewJointData) {
_skeletonModel->getRig()->copyJointsFromJointData(_jointData);
glm::mat4 rootTransform = glm::scale(_skeletonModel->getScale()) * glm::translate(_skeletonModel->getOffset());
_skeletonModel->getRig()->computeExternalPoses(rootTransform);
_jointDataSimulationRate.increment();
_skeletonModel->simulate(deltaTime, true);
locationChanged(); // joints changed, so if there are any children, update them.
_hasNewJointData = false;
glm::vec3 headPosition = getPosition();
if (!_skeletonModel->getHeadPosition(headPosition)) {
headPosition = getPosition();
}
head->setPosition(headPosition);
}
head->setScale(getUniformScale());
head->simulate(deltaTime);
} else {

60
libraries/avatars-renderer/src/avatars-renderer/SkeletonModel.cpp
View file

@ -73,12 +73,13 @@ void SkeletonModel::initJointStates() {
// Called within Model::simulate call, below.
void SkeletonModel::updateRig(float deltaTime, glm::mat4 parentTransform) {
assert(!_owningAvatar->isMyAvatar());
const FBXGeometry& geometry = getFBXGeometry();
Head* head = _owningAvatar->getHead();
// make sure lookAt is not too close to face (avoid crosseyes)
glm::vec3 lookAt = _owningAvatar->isMyAvatar() ? head->getLookAtPosition() : head->getCorrectedLookAtPosition();
glm::vec3 lookAt = head->getCorrectedLookAtPosition();
glm::vec3 focusOffset = lookAt - _owningAvatar->getHead()->getEyePosition();
float focusDistance = glm::length(focusOffset);
const float MIN_LOOK_AT_FOCUS_DISTANCE = 1.0f;
@ -86,41 +87,36 @@ void SkeletonModel::updateRig(float deltaTime, glm::mat4 parentTransform) {
lookAt = _owningAvatar->getHead()->getEyePosition() + (MIN_LOOK_AT_FOCUS_DISTANCE / focusDistance) * focusOffset;
}
if (!_owningAvatar->isMyAvatar()) {
// no need to call Model::updateRig() because otherAvatars get their joint state
// copied directly from AvtarData::_jointData (there are no Rig animations to blend)
_needsUpdateClusterMatrices = true;
// no need to call Model::updateRig() because otherAvatars get their joint state
// copied directly from AvtarData::_jointData (there are no Rig animations to blend)
_needsUpdateClusterMatrices = true;
// This is a little more work than we really want.
//
// Other avatars joint, including their eyes, should already be set just like any other joints
// from the wire data. But when looking at me, we want the eyes to use the corrected lookAt.
//
// Thus this should really only be ... else if (_owningAvatar->getHead()->isLookingAtMe()) {...
// However, in the !isLookingAtMe case, the eyes aren't rotating the way they should right now.
// We will revisit that as priorities allow, and particularly after the new rig/animation/joints.
// This is a little more work than we really want.
//
// Other avatars joint, including their eyes, should already be set just like any other joints
// from the wire data. But when looking at me, we want the eyes to use the corrected lookAt.
//
// Thus this should really only be ... else if (_owningAvatar->getHead()->isLookingAtMe()) {...
// However, in the !isLookingAtMe case, the eyes aren't rotating the way they should right now.
// We will revisit that as priorities allow, and particularly after the new rig/animation/joints.
// If the head is not positioned, updateEyeJoints won't get the math right
glm::quat headOrientation;
_rig->getJointRotation(geometry.headJointIndex, headOrientation);
glm::vec3 eulers = safeEulerAngles(headOrientation);
head->setBasePitch(glm::degrees(-eulers.x));
head->setBaseYaw(glm::degrees(eulers.y));
head->setBaseRoll(glm::degrees(-eulers.z));
// If the head is not positioned, updateEyeJoints won't get the math right
glm::quat headOrientation;
_rig->getJointRotation(geometry.headJointIndex, headOrientation);
glm::vec3 eulers = safeEulerAngles(headOrientation);
head->setBasePitch(glm::degrees(-eulers.x));
head->setBaseYaw(glm::degrees(eulers.y));
head->setBaseRoll(glm::degrees(-eulers.z));
Rig::EyeParameters eyeParams;
eyeParams.eyeLookAt = lookAt;
eyeParams.eyeSaccade = glm::vec3(0.0f);
eyeParams.modelRotation = getRotation();
eyeParams.modelTranslation = getTranslation();
eyeParams.leftEyeJointIndex = geometry.leftEyeJointIndex;
eyeParams.rightEyeJointIndex = geometry.rightEyeJointIndex;
Rig::EyeParameters eyeParams;
eyeParams.eyeLookAt = lookAt;
eyeParams.eyeSaccade = glm::vec3(0.0f);
eyeParams.modelRotation = getRotation();
eyeParams.modelTranslation = getTranslation();
eyeParams.leftEyeJointIndex = geometry.leftEyeJointIndex;
eyeParams.rightEyeJointIndex = geometry.rightEyeJointIndex;
_rig->updateFromEyeParameters(eyeParams);
}
// evaluate AnimGraph animation and update jointStates.
Parent::updateRig(deltaTime, parentTransform);
_rig->updateFromEyeParameters(eyeParams);
}
void SkeletonModel::updateAttitude() {

3
libraries/fbx/src/OBJReader.cpp
View file

@ -273,10 +273,9 @@ std::tuple<bool, QByteArray> requestData(QUrl& url) {
return std::make_tuple(false, QByteArray());
}
request->send();
QEventLoop loop;
QObject::connect(request, &ResourceRequest::finished, &loop, &QEventLoop::quit);
request->send();
loop.exec();
if (request->getResult() == ResourceRequest::Success) {

2
libraries/physics/src/BulletUtil.h
View file

@ -1,6 +1,6 @@
//
// BulletUtil.h
// libraries/physcis/src
// libraries/physics/src
//
// Created by Andrew Meadows 2014.11.02
// Copyright 2014 High Fidelity, Inc.

423
libraries/physics/src/CharacterController.cpp Normal file → Executable file
View file

@ -1,6 +1,6 @@
//
// CharacterControllerInterface.cpp
// libraries/physcis/src
// libraries/physics/src
//
// Created by Andrew Meadows 2015.10.21
// Copyright 2015 High Fidelity, Inc.
@ -13,8 +13,8 @@
#include <NumericalConstants.h>
#include "PhysicsCollisionGroups.h"
#include "ObjectMotionState.h"
#include "PhysicsHelpers.h"
#include "PhysicsLogging.h"
const btVector3 LOCAL_UP_AXIS(0.0f, 1.0f, 0.0f);
@ -62,10 +62,6 @@ CharacterController::CharacterMotor::CharacterMotor(const glm::vec3& vel, const
}
CharacterController::CharacterController() {
_halfHeight = 1.0f;
_enabled = false;
_floorDistance = MAX_FALL_HEIGHT;
_targetVelocity.setValue(0.0f, 0.0f, 0.0f);
@ -107,6 +103,7 @@ bool CharacterController::needsAddition() const {
void CharacterController::setDynamicsWorld(btDynamicsWorld* world) {
if (_dynamicsWorld != world) {
// remove from old world
if (_dynamicsWorld) {
if (_rigidBody) {
_dynamicsWorld->removeRigidBody(_rigidBody);
@ -114,17 +111,23 @@ void CharacterController::setDynamicsWorld(btDynamicsWorld* world) {
}
_dynamicsWorld = nullptr;
}
int16_t collisionGroup = computeCollisionGroup();
if (world && _rigidBody) {
// add to new world
_dynamicsWorld = world;
_pendingFlags &= ~PENDING_FLAG_JUMP;
// Before adding the RigidBody to the world we must save its oldGravity to the side
// because adding an object to the world will overwrite it with the default gravity.
btVector3 oldGravity = _rigidBody->getGravity();
_dynamicsWorld->addRigidBody(_rigidBody, BULLET_COLLISION_GROUP_MY_AVATAR, BULLET_COLLISION_MASK_MY_AVATAR);
_dynamicsWorld->addRigidBody(_rigidBody, collisionGroup, BULLET_COLLISION_MASK_MY_AVATAR);
_dynamicsWorld->addAction(this);
// restore gravity settings
_rigidBody->setGravity(oldGravity);
// restore gravity settings because adding an object to the world overwrites its gravity setting
_rigidBody->setGravity(_gravity * _currentUp);
btCollisionShape* shape = _rigidBody->getCollisionShape();
assert(shape && shape->getShapeType() == CONVEX_HULL_SHAPE_PROXYTYPE);
_ghost.setCharacterShape(static_cast<btConvexHullShape*>(shape));
}
_ghost.setCollisionGroupAndMask(collisionGroup, BULLET_COLLISION_MASK_MY_AVATAR & (~ collisionGroup));
_ghost.setCollisionWorld(_dynamicsWorld);
_ghost.setRadiusAndHalfHeight(_radius, _halfHeight);
_ghost.setWorldTransform(_rigidBody->getWorldTransform());
}
if (_dynamicsWorld) {
if (_pendingFlags & PENDING_FLAG_UPDATE_SHAPE) {
@ -138,38 +141,78 @@ void CharacterController::setDynamicsWorld(btDynamicsWorld* world) {
}
}
static const float COS_PI_OVER_THREE = cosf(PI / 3.0f);
bool CharacterController::checkForSupport(btCollisionWorld* collisionWorld) {
bool pushing = _targetVelocity.length2() > FLT_EPSILON;
btDispatcher* dispatcher = collisionWorld->getDispatcher();
int numManifolds = dispatcher->getNumManifolds();
bool hasFloor = false;
btTransform rotation = _rigidBody->getWorldTransform();
rotation.setOrigin(btVector3(0.0f, 0.0f, 0.0f)); // clear translation part
bool CharacterController::checkForSupport(btCollisionWorld* collisionWorld) const {
int numManifolds = collisionWorld->getDispatcher()->getNumManifolds();
for (int i = 0; i < numManifolds; i++) {
btPersistentManifold* contactManifold = collisionWorld->getDispatcher()->getManifoldByIndexInternal(i);
const btCollisionObject* obA = static_cast<const btCollisionObject*>(contactManifold->getBody0());
const btCollisionObject* obB = static_cast<const btCollisionObject*>(contactManifold->getBody1());
if (obA == _rigidBody || obB == _rigidBody) {
btPersistentManifold* contactManifold = dispatcher->getManifoldByIndexInternal(i);
if (_rigidBody == contactManifold->getBody1() || _rigidBody == contactManifold->getBody0()) {
bool characterIsFirst = _rigidBody == contactManifold->getBody0();
int numContacts = contactManifold->getNumContacts();
int stepContactIndex = -1;
float highestStep = _minStepHeight;
for (int j = 0; j < numContacts; j++) {
btManifoldPoint& pt = contactManifold->getContactPoint(j);
// check to see if contact point is touching the bottom sphere of the capsule.
// and the contact normal is not slanted too much.
float contactPointY = (obA == _rigidBody) ? pt.m_localPointA.getY() : pt.m_localPointB.getY();
btVector3 normal = (obA == _rigidBody) ? pt.m_normalWorldOnB : -pt.m_normalWorldOnB;
if (contactPointY < -_halfHeight && normal.dot(_currentUp) > COS_PI_OVER_THREE) {
return true;
// check for "floor"
btManifoldPoint& contact = contactManifold->getContactPoint(j);
btVector3 pointOnCharacter = characterIsFirst ? contact.m_localPointA : contact.m_localPointB; // object-local-frame
btVector3 normal = characterIsFirst ? contact.m_normalWorldOnB : -contact.m_normalWorldOnB; // points toward character
btScalar hitHeight = _halfHeight + _radius + pointOnCharacter.dot(_currentUp);
if (hitHeight < _maxStepHeight && normal.dot(_currentUp) > _minFloorNormalDotUp) {
hasFloor = true;
if (!pushing) {
// we're not pushing against anything so we can early exit
// (all we need to know is that there is a floor)
break;
}
}
if (pushing && _targetVelocity.dot(normal) < 0.0f) {
// remember highest step obstacle
if (!_stepUpEnabled || hitHeight > _maxStepHeight) {
// this manifold is invalidated by point that is too high
stepContactIndex = -1;
break;
} else if (hitHeight > highestStep && normal.dot(_targetVelocity) < 0.0f ) {
highestStep = hitHeight;
stepContactIndex = j;
hasFloor = true;
}
}
}
if (stepContactIndex > -1 && highestStep > _stepHeight) {
// remember step info for later
btManifoldPoint& contact = contactManifold->getContactPoint(stepContactIndex);
btVector3 pointOnCharacter = characterIsFirst ? contact.m_localPointA : contact.m_localPointB; // object-local-frame
_stepNormal = characterIsFirst ? contact.m_normalWorldOnB : -contact.m_normalWorldOnB; // points toward character
_stepHeight = highestStep;
_stepPoint = rotation * pointOnCharacter; // rotate into world-frame
}
if (hasFloor && !(pushing && _stepUpEnabled)) {
// early exit since all we need to know is that we're on a floor
break;
}
}
}
return false;
return hasFloor;
}
void CharacterController::updateAction(btCollisionWorld* collisionWorld, btScalar deltaTime) {
preStep(collisionWorld);
playerStep(collisionWorld, deltaTime);
}
void CharacterController::preStep(btCollisionWorld* collisionWorld) {
// trace a ray straight down to see if we're standing on the ground
const btTransform& xform = _rigidBody->getWorldTransform();
const btTransform& transform = _rigidBody->getWorldTransform();
// rayStart is at center of bottom sphere
btVector3 rayStart = xform.getOrigin() - _halfHeight * _currentUp;
btVector3 rayStart = transform.getOrigin() - _halfHeight * _currentUp;
// rayEnd is some short distance outside bottom sphere
const btScalar FLOOR_PROXIMITY_THRESHOLD = 0.3f * _radius;
@ -183,21 +226,16 @@ void CharacterController::preStep(btCollisionWorld* collisionWorld) {
if (rayCallback.hasHit()) {
_floorDistance = rayLength * rayCallback.m_closestHitFraction - _radius;
}
_hasSupport = checkForSupport(collisionWorld);
}
const btScalar MIN_TARGET_SPEED = 0.001f;
const btScalar MIN_TARGET_SPEED_SQUARED = MIN_TARGET_SPEED * MIN_TARGET_SPEED;
void CharacterController::playerStep(btCollisionWorld* dynaWorld, btScalar dt) {
void CharacterController::playerStep(btCollisionWorld* collisionWorld, btScalar dt) {
_stepHeight = _minStepHeight; // clears memory of last step obstacle
_hasSupport = checkForSupport(collisionWorld);
btVector3 velocity = _rigidBody->getLinearVelocity() - _parentVelocity;
computeNewVelocity(dt, velocity);
_rigidBody->setLinearVelocity(velocity + _parentVelocity);
// Dynamicaly compute a follow velocity to move this body toward the _followDesiredBodyTransform.
// Rather than add this velocity to velocity the RigidBody, we explicitly teleport the RigidBody towards its goal.
// This mirrors the computation done in MyAvatar::FollowHelper::postPhysicsUpdate().
const float MINIMUM_TIME_REMAINING = 0.005f;
const float MAX_DISPLACEMENT = 0.5f * _radius;
@ -231,6 +269,47 @@ void CharacterController::playerStep(btCollisionWorld* dynaWorld, btScalar dt) {
_rigidBody->setWorldTransform(btTransform(endRot, endPos));
}
_followTime += dt;
if (_steppingUp) {
float horizontalTargetSpeed = (_targetVelocity - _targetVelocity.dot(_currentUp) * _currentUp).length();
if (horizontalTargetSpeed > FLT_EPSILON) {
// compute a stepUpSpeed that will reach the top of the step in the time it would take
// to move over the _stepPoint at target speed
float horizontalDistance = (_stepPoint - _stepPoint.dot(_currentUp) * _currentUp).length();
float timeToStep = horizontalDistance / horizontalTargetSpeed;
float stepUpSpeed = _stepHeight / timeToStep;
// magically clamp stepUpSpeed to a fraction of horizontalTargetSpeed
// to prevent the avatar from moving unreasonably fast according to human eye
const float MAX_STEP_UP_SPEED = 0.65f * horizontalTargetSpeed;
if (stepUpSpeed > MAX_STEP_UP_SPEED) {
stepUpSpeed = MAX_STEP_UP_SPEED;
}
// add minimum velocity to counteract gravity's displacement during one step
// Note: the 0.5 factor comes from the fact that we really want the
// average velocity contribution from gravity during the step
stepUpSpeed -= 0.5f * _gravity * timeToStep; // remember: _gravity is negative scalar
btScalar vDotUp = velocity.dot(_currentUp);
if (vDotUp < stepUpSpeed) {
// character doesn't have enough upward velocity to cover the step so we help using a "sky hook"
// which uses micro-teleports rather than applying real velocity
// to prevent the avatar from popping up after the step is done
btTransform transform = _rigidBody->getWorldTransform();
transform.setOrigin(transform.getOrigin() + (dt * stepUpSpeed) * _currentUp);
_rigidBody->setWorldTransform(transform);
}
// don't allow the avatar to fall downward when stepping up
// since otherwise this would tend to defeat the step-up behavior
if (vDotUp < 0.0f) {
velocity -= vDotUp * _currentUp;
}
}
}
_rigidBody->setLinearVelocity(velocity + _parentVelocity);
_ghost.setWorldTransform(_rigidBody->getWorldTransform());
}
void CharacterController::jump() {
@ -272,95 +351,100 @@ void CharacterController::setState(State desiredState) {
#ifdef DEBUG_STATE_CHANGE
qCDebug(physics) << "CharacterController::setState" << stateToStr(desiredState) << "from" << stateToStr(_state) << "," << reason;
#endif
if (desiredState == State::Hover && _state != State::Hover) {
// hover enter
if (_rigidBody) {
_rigidBody->setGravity(btVector3(0.0f, 0.0f, 0.0f));
}
} else if (_state == State::Hover && desiredState != State::Hover) {
// hover exit
if (_rigidBody) {
_rigidBody->setGravity(DEFAULT_CHARACTER_GRAVITY * _currentUp);
}
}
_state = desiredState;
updateGravity();
}
}
void CharacterController::setLocalBoundingBox(const glm::vec3& corner, const glm::vec3& scale) {
_boxScale = scale;
void CharacterController::updateGravity() {
int16_t collisionGroup = computeCollisionGroup();
if (_state == State::Hover || collisionGroup == BULLET_COLLISION_GROUP_COLLISIONLESS) {
_gravity = 0.0f;
} else {
const float DEFAULT_CHARACTER_GRAVITY = -5.0f;
_gravity = DEFAULT_CHARACTER_GRAVITY;
}
if (_rigidBody) {
_rigidBody->setGravity(_gravity * _currentUp);
}
}
float x = _boxScale.x;
float z = _boxScale.z;
void CharacterController::setLocalBoundingBox(const glm::vec3& minCorner, const glm::vec3& scale) {
float x = scale.x;
float z = scale.z;
float radius = 0.5f * sqrtf(0.5f * (x * x + z * z));
float halfHeight = 0.5f * _boxScale.y - radius;
float halfHeight = 0.5f * scale.y - radius;
float MIN_HALF_HEIGHT = 0.1f;
if (halfHeight < MIN_HALF_HEIGHT) {
halfHeight = MIN_HALF_HEIGHT;
}
// compare dimensions
float radiusDelta = glm::abs(radius - _radius);
float heightDelta = glm::abs(halfHeight - _halfHeight);
if (radiusDelta < FLT_EPSILON && heightDelta < FLT_EPSILON) {
// shape hasn't changed --> nothing to do
} else {
if (glm::abs(radius - _radius) > FLT_EPSILON || glm::abs(halfHeight - _halfHeight) > FLT_EPSILON) {
_radius = radius;
_halfHeight = halfHeight;
const btScalar DEFAULT_MIN_STEP_HEIGHT_FACTOR = 0.005f;
const btScalar DEFAULT_MAX_STEP_HEIGHT_FACTOR = 0.65f;
_minStepHeight = DEFAULT_MIN_STEP_HEIGHT_FACTOR * (_halfHeight + _radius);
_maxStepHeight = DEFAULT_MAX_STEP_HEIGHT_FACTOR * (_halfHeight + _radius);
if (_dynamicsWorld) {
// must REMOVE from world prior to shape update
_pendingFlags |= PENDING_FLAG_REMOVE_FROM_SIMULATION;
}
_pendingFlags |= PENDING_FLAG_UPDATE_SHAPE;
// only need to ADD back when we happen to be enabled
if (_enabled) {
_pendingFlags |= PENDING_FLAG_ADD_TO_SIMULATION;
}
_pendingFlags |= PENDING_FLAG_ADD_TO_SIMULATION;
}
// it's ok to change offset immediately -- there are no thread safety issues here
_shapeLocalOffset = corner + 0.5f * _boxScale;
_shapeLocalOffset = minCorner + 0.5f * scale;
}
void CharacterController::setEnabled(bool enabled) {
if (enabled != _enabled) {
if (enabled) {
// Don't bother clearing REMOVE bit since it might be paired with an UPDATE_SHAPE bit.
// Setting the ADD bit here works for all cases so we don't even bother checking other bits.
_pendingFlags |= PENDING_FLAG_ADD_TO_SIMULATION;
} else {
if (_dynamicsWorld) {
_pendingFlags |= PENDING_FLAG_REMOVE_FROM_SIMULATION;
}
_pendingFlags &= ~ PENDING_FLAG_ADD_TO_SIMULATION;
void CharacterController::setCollisionless(bool collisionless) {
if (collisionless != _collisionless) {
_collisionless = collisionless;
_pendingFlags |= PENDING_FLAG_UPDATE_COLLISION_GROUP;
}
}
int16_t CharacterController::computeCollisionGroup() const {
if (_collisionless) {
return _collisionlessAllowed ? BULLET_COLLISION_GROUP_COLLISIONLESS : BULLET_COLLISION_GROUP_MY_AVATAR;
} else {
return BULLET_COLLISION_GROUP_MY_AVATAR;
}
}
void CharacterController::handleChangedCollisionGroup() {
if (_pendingFlags & PENDING_FLAG_UPDATE_COLLISION_GROUP) {
// ATM the easiest way to update collision groups is to remove/re-add the RigidBody
if (_dynamicsWorld) {
_dynamicsWorld->removeRigidBody(_rigidBody);
int16_t collisionGroup = computeCollisionGroup();
_dynamicsWorld->addRigidBody(_rigidBody, collisionGroup, BULLET_COLLISION_MASK_MY_AVATAR);
}
SET_STATE(State::Hover, "setEnabled");
_enabled = enabled;
_pendingFlags &= ~PENDING_FLAG_UPDATE_COLLISION_GROUP;
updateGravity();
}
}
void CharacterController::updateUpAxis(const glm::quat& rotation) {
btVector3 oldUp = _currentUp;
_currentUp = quatRotate(glmToBullet(rotation), LOCAL_UP_AXIS);
if (_state != State::Hover) {
const btScalar MIN_UP_ERROR = 0.01f;
if (oldUp.distance(_currentUp) > MIN_UP_ERROR) {
_rigidBody->setGravity(DEFAULT_CHARACTER_GRAVITY * _currentUp);
}
if (_state != State::Hover && _rigidBody) {
_rigidBody->setGravity(_gravity * _currentUp);
}
}
void CharacterController::setPositionAndOrientation(
const glm::vec3& position,
const glm::quat& orientation) {
// TODO: update gravity if up has changed
updateUpAxis(orientation);
btQuaternion bodyOrientation = glmToBullet(orientation);
btVector3 bodyPosition = glmToBullet(position + orientation * _shapeLocalOffset);
_characterBodyTransform = btTransform(bodyOrientation, bodyPosition);
_rotation = glmToBullet(orientation);
_position = glmToBullet(position + orientation * _shapeLocalOffset);
}
void CharacterController::getPositionAndOrientation(glm::vec3& position, glm::quat& rotation) const {
if (_enabled && _rigidBody) {
if (_rigidBody) {
const btTransform& avatarTransform = _rigidBody->getWorldTransform();
rotation = bulletToGLM(avatarTransform.getRotation());
position = bulletToGLM(avatarTransform.getOrigin()) - rotation * _shapeLocalOffset;
@ -428,16 +512,19 @@ void CharacterController::applyMotor(int index, btScalar dt, btVector3& worldVel
btScalar angle = motor.rotation.getAngle();
btVector3 velocity = worldVelocity.rotate(axis, -angle);
if (_state == State::Hover || motor.hTimescale == motor.vTimescale) {
int16_t collisionGroup = computeCollisionGroup();
if (collisionGroup == BULLET_COLLISION_GROUP_COLLISIONLESS ||
_state == State::Hover || motor.hTimescale == motor.vTimescale) {
// modify velocity
btScalar tau = dt / motor.hTimescale;
if (tau > 1.0f) {
tau = 1.0f;
}
velocity += (motor.velocity - velocity) * tau;
velocity += tau * (motor.velocity - velocity);
// rotate back into world-frame
velocity = velocity.rotate(axis, angle);
_targetVelocity += (tau * motor.velocity).rotate(axis, angle);
// store the velocity and weight
velocities.push_back(velocity);
@ -445,12 +532,26 @@ void CharacterController::applyMotor(int index, btScalar dt, btVector3& worldVel
} else {
// compute local UP
btVector3 up = _currentUp.rotate(axis, -angle);
btVector3 motorVelocity = motor.velocity;
// save these non-adjusted components for later
btVector3 vTargetVelocity = motorVelocity.dot(up) * up;
btVector3 hTargetVelocity = motorVelocity - vTargetVelocity;
if (_stepHeight > _minStepHeight && !_steppingUp) {
// there is a step --> compute velocity direction to go over step
btVector3 motorVelocityWF = motorVelocity.rotate(axis, angle);
if (motorVelocityWF.dot(_stepNormal) < 0.0f) {
// the motor pushes against step
_steppingUp = true;
}
}
// split velocity into horizontal and vertical components
btVector3 vVelocity = velocity.dot(up) * up;
btVector3 hVelocity = velocity - vVelocity;
btVector3 vTargetVelocity = motor.velocity.dot(up) * up;
btVector3 hTargetVelocity = motor.velocity - vTargetVelocity;
btVector3 vMotorVelocity = motorVelocity.dot(up) * up;
btVector3 hMotorVelocity = motorVelocity - vMotorVelocity;
// modify each component separately
btScalar maxTau = 0.0f;
@ -460,7 +561,7 @@ void CharacterController::applyMotor(int index, btScalar dt, btVector3& worldVel
tau = 1.0f;
}
maxTau = tau;
hVelocity += (hTargetVelocity - hVelocity) * tau;
hVelocity += (hMotorVelocity - hVelocity) * tau;
}
if (motor.vTimescale < MAX_CHARACTER_MOTOR_TIMESCALE) {
btScalar tau = dt / motor.vTimescale;
@ -470,11 +571,12 @@ void CharacterController::applyMotor(int index, btScalar dt, btVector3& worldVel
if (tau > maxTau) {
maxTau = tau;
}
vVelocity += (vTargetVelocity - vVelocity) * tau;
vVelocity += (vMotorVelocity - vVelocity) * tau;
}
// add components back together and rotate into world-frame
velocity = (hVelocity + vVelocity).rotate(axis, angle);
_targetVelocity += maxTau * (hTargetVelocity + vTargetVelocity).rotate(axis, angle);
// store velocity and weights
velocities.push_back(velocity);
@ -492,6 +594,8 @@ void CharacterController::computeNewVelocity(btScalar dt, btVector3& velocity) {
velocities.reserve(_motors.size());
std::vector<btScalar> weights;
weights.reserve(_motors.size());
_targetVelocity = btVector3(0.0f, 0.0f, 0.0f);
_steppingUp = false;
for (int i = 0; i < (int)_motors.size(); ++i) {
applyMotor(i, dt, velocity, velocities, weights);
}
@ -507,14 +611,18 @@ void CharacterController::computeNewVelocity(btScalar dt, btVector3& velocity) {
for (size_t i = 0; i < velocities.size(); ++i) {
velocity += (weights[i] / totalWeight) * velocities[i];
}
_targetVelocity /= totalWeight;
}
if (velocity.length2() < MIN_TARGET_SPEED_SQUARED) {
velocity = btVector3(0.0f, 0.0f, 0.0f);
}
// 'thrust' is applied at the very end
_targetVelocity += dt * _linearAcceleration;
velocity += dt * _linearAcceleration;
_targetVelocity = velocity;
// Note the differences between these two variables:
// _targetVelocity = ideal final velocity according to input
// velocity = real final velocity after motors are applied to current velocity
}
void CharacterController::computeNewVelocity(btScalar dt, glm::vec3& velocity) {
@ -523,57 +631,60 @@ void CharacterController::computeNewVelocity(btScalar dt, glm::vec3& velocity) {
velocity = bulletToGLM(btVelocity);
}
void CharacterController::preSimulation() {
if (_enabled && _dynamicsWorld && _rigidBody) {
quint64 now = usecTimestampNow();
void CharacterController::updateState() {
if (!_dynamicsWorld) {
return;
}
const btScalar FLY_TO_GROUND_THRESHOLD = 0.1f * _radius;
const btScalar GROUND_TO_FLY_THRESHOLD = 0.8f * _radius + _halfHeight;
const quint64 TAKE_OFF_TO_IN_AIR_PERIOD = 250 * MSECS_PER_SECOND;
const btScalar MIN_HOVER_HEIGHT = 2.5f;
const quint64 JUMP_TO_HOVER_PERIOD = 1100 * MSECS_PER_SECOND;
// slam body to where it is supposed to be
_rigidBody->setWorldTransform(_characterBodyTransform);
btVector3 velocity = _rigidBody->getLinearVelocity();
_preSimulationVelocity = velocity;
// scan for distant floor
// rayStart is at center of bottom sphere
btVector3 rayStart = _position;
// scan for distant floor
// rayStart is at center of bottom sphere
btVector3 rayStart = _characterBodyTransform.getOrigin();
btScalar rayLength = _radius;
int16_t collisionGroup = computeCollisionGroup();
if (collisionGroup == BULLET_COLLISION_GROUP_MY_AVATAR) {
rayLength += MAX_FALL_HEIGHT;
} else {
rayLength += MIN_HOVER_HEIGHT;
}
btVector3 rayEnd = rayStart - rayLength * _currentUp;
// rayEnd is straight down MAX_FALL_HEIGHT
btScalar rayLength = _radius + MAX_FALL_HEIGHT;
btVector3 rayEnd = rayStart - rayLength * _currentUp;
const btScalar FLY_TO_GROUND_THRESHOLD = 0.1f * _radius;
const btScalar GROUND_TO_FLY_THRESHOLD = 0.8f * _radius + _halfHeight;
const quint64 TAKE_OFF_TO_IN_AIR_PERIOD = 250 * MSECS_PER_SECOND;
const btScalar MIN_HOVER_HEIGHT = 2.5f;
const quint64 JUMP_TO_HOVER_PERIOD = 1100 * MSECS_PER_SECOND;
const btScalar MAX_WALKING_SPEED = 2.5f;
ClosestNotMe rayCallback(_rigidBody);
rayCallback.m_closestHitFraction = 1.0f;
_dynamicsWorld->rayTest(rayStart, rayEnd, rayCallback);
bool rayHasHit = rayCallback.hasHit();
quint64 now = usecTimestampNow();
if (rayHasHit) {
_rayHitStartTime = now;
_floorDistance = rayLength * rayCallback.m_closestHitFraction - (_radius + _halfHeight);
} else {
const quint64 RAY_HIT_START_PERIOD = 500 * MSECS_PER_SECOND;
ClosestNotMe rayCallback(_rigidBody);
rayCallback.m_closestHitFraction = 1.0f;
_dynamicsWorld->rayTest(rayStart, rayEnd, rayCallback);
bool rayHasHit = rayCallback.hasHit();
if (rayHasHit) {
_rayHitStartTime = now;
_floorDistance = rayLength * rayCallback.m_closestHitFraction - (_radius + _halfHeight);
} else if ((now - _rayHitStartTime) < RAY_HIT_START_PERIOD) {
if ((now - _rayHitStartTime) < RAY_HIT_START_PERIOD) {
rayHasHit = true;
} else {
_floorDistance = FLT_MAX;
}
}
// record a time stamp when the jump button was first pressed.
if ((_previousFlags & PENDING_FLAG_JUMP) != (_pendingFlags & PENDING_FLAG_JUMP)) {
if (_pendingFlags & PENDING_FLAG_JUMP) {
_jumpButtonDownStartTime = now;
_jumpButtonDownCount++;
}
// record a time stamp when the jump button was first pressed.
bool jumpButtonHeld = _pendingFlags & PENDING_FLAG_JUMP;
if ((_previousFlags & PENDING_FLAG_JUMP) != (_pendingFlags & PENDING_FLAG_JUMP)) {
if (_pendingFlags & PENDING_FLAG_JUMP) {
_jumpButtonDownStartTime = now;
_jumpButtonDownCount++;
}
}
bool jumpButtonHeld = _pendingFlags & PENDING_FLAG_JUMP;
btVector3 actualHorizVelocity = velocity - velocity.dot(_currentUp) * _currentUp;
bool flyingFast = _state == State::Hover && actualHorizVelocity.length() > (MAX_WALKING_SPEED * 0.75f);
btVector3 velocity = _preSimulationVelocity;
// disable normal state transitions while collisionless
const btScalar MAX_WALKING_SPEED = 2.65f;
if (collisionGroup == BULLET_COLLISION_GROUP_MY_AVATAR) {
switch (_state) {
case State::Ground:
if (!rayHasHit && !_hasSupport) {
@ -613,6 +724,9 @@ void CharacterController::preSimulation() {
break;
}
case State::Hover:
btScalar horizontalSpeed = (velocity - velocity.dot(_currentUp) * _currentUp).length();
bool flyingFast = horizontalSpeed > (MAX_WALKING_SPEED * 0.75f);
if ((_floorDistance < MIN_HOVER_HEIGHT) && !jumpButtonHeld && !flyingFast) {
SET_STATE(State::InAir, "near ground");
} else if (((_floorDistance < FLY_TO_GROUND_THRESHOLD) || _hasSupport) && !flyingFast) {
@ -620,6 +734,28 @@ void CharacterController::preSimulation() {
}
break;
}
} else {
// when collisionless: only switch between State::Ground and State::Hover
// and bypass state debugging
if (rayHasHit) {
if (velocity.length() > (MAX_WALKING_SPEED)) {
_state = State::Hover;
} else {
_state = State::Ground;
}
} else {
_state = State::Hover;
}
}
}
void CharacterController::preSimulation() {
if (_rigidBody) {
// slam body transform and remember velocity
_rigidBody->setWorldTransform(btTransform(btTransform(_rotation, _position)));
_preSimulationVelocity = _rigidBody->getLinearVelocity();
updateState();
}
_previousFlags = _pendingFlags;
@ -631,14 +767,11 @@ void CharacterController::preSimulation() {
}
void CharacterController::postSimulation() {
// postSimulation() exists for symmetry and just in case we need to do something here later
if (_enabled && _dynamicsWorld && _rigidBody) {
btVector3 velocity = _rigidBody->getLinearVelocity();
_velocityChange = velocity - _preSimulationVelocity;
if (_rigidBody) {
_velocityChange = _rigidBody->getLinearVelocity() - _preSimulationVelocity;
}
}
bool CharacterController::getRigidBodyLocation(glm::vec3& avatarRigidBodyPosition, glm::quat& avatarRigidBodyRotation) {
if (!_rigidBody) {
return false;
@ -651,11 +784,17 @@ bool CharacterController::getRigidBodyLocation(glm::vec3& avatarRigidBodyPositio
}
void CharacterController::setFlyingAllowed(bool value) {
if (_flyingAllowed != value) {
if (value != _flyingAllowed) {
_flyingAllowed = value;
if (!_flyingAllowed && _state == State::Hover) {
SET_STATE(State::InAir, "flying not allowed");
}
}
}
void CharacterController::setCollisionlessAllowed(bool value) {
if (value != _collisionlessAllowed) {
_collisionlessAllowed = value;
_pendingFlags |= PENDING_FLAG_UPDATE_COLLISION_GROUP;
}
}

61
libraries/physics/src/CharacterController.h
View file

@ -1,6 +1,6 @@
//
// CharacterControllerInterface.h
// libraries/physcis/src
// libraries/physics/src
//
// Created by Andrew Meadows 2015.10.21
// Copyright 2015 High Fidelity, Inc.
@ -9,8 +9,8 @@
// See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
//
#ifndef hifi_CharacterControllerInterface_h
#define hifi_CharacterControllerInterface_h
#ifndef hifi_CharacterController_h
#define hifi_CharacterController_h
#include <assert.h>
#include <stdint.h>
@ -19,14 +19,18 @@
#include <BulletDynamics/Character/btCharacterControllerInterface.h>
#include <GLMHelpers.h>
#include <NumericalConstants.h>
#include <PhysicsCollisionGroups.h>
#include "BulletUtil.h"
#include "CharacterGhostObject.h"
const uint32_t PENDING_FLAG_ADD_TO_SIMULATION = 1U << 0;
const uint32_t PENDING_FLAG_REMOVE_FROM_SIMULATION = 1U << 1;
const uint32_t PENDING_FLAG_UPDATE_SHAPE = 1U << 2;
const uint32_t PENDING_FLAG_JUMP = 1U << 3;
const float DEFAULT_CHARACTER_GRAVITY = -5.0f;
const uint32_t PENDING_FLAG_UPDATE_COLLISION_GROUP = 1U << 4;
const float DEFAULT_MIN_FLOOR_NORMAL_DOT_UP = cosf(PI / 3.0f);
class btRigidBody;
class btCollisionWorld;
@ -44,7 +48,7 @@ public:
bool needsRemoval() const;
bool needsAddition() const;
void setDynamicsWorld(btDynamicsWorld* world);
virtual void setDynamicsWorld(btDynamicsWorld* world);
btCollisionObject* getCollisionObject() { return _rigidBody; }
virtual void updateShapeIfNecessary() = 0;
@ -56,10 +60,7 @@ public:
virtual void warp(const btVector3& origin) override { }
virtual void debugDraw(btIDebugDraw* debugDrawer) override { }
virtual void setUpInterpolate(bool value) override { }
virtual void updateAction(btCollisionWorld* collisionWorld, btScalar deltaTime) override {
preStep(collisionWorld);
playerStep(collisionWorld, deltaTime);
}
virtual void updateAction(btCollisionWorld* collisionWorld, btScalar deltaTime) override;
virtual void preStep(btCollisionWorld *collisionWorld) override;
virtual void playerStep(btCollisionWorld *collisionWorld, btScalar dt) override;
virtual bool canJump() const override { assert(false); return false; } // never call this
@ -69,6 +70,7 @@ public:
void clearMotors();
void addMotor(const glm::vec3& velocity, const glm::quat& rotation, float horizTimescale, float vertTimescale = -1.0f);
void applyMotor(int index, btScalar dt, btVector3& worldVelocity, std::vector<btVector3>& velocities, std::vector<btScalar>& weights);
void setStepUpEnabled(bool enabled) { _stepUpEnabled = enabled; }
void computeNewVelocity(btScalar dt, btVector3& velocity);
void computeNewVelocity(btScalar dt, glm::vec3& velocity);
@ -103,16 +105,20 @@ public:
};
State getState() const { return _state; }
void updateState();
void setLocalBoundingBox(const glm::vec3& corner, const glm::vec3& scale);
void setLocalBoundingBox(const glm::vec3& minCorner, const glm::vec3& scale);
bool isEnabled() const { return _enabled; } // thread-safe
void setEnabled(bool enabled);
bool isEnabledAndReady() const { return _enabled && _dynamicsWorld; }
bool isEnabledAndReady() const { return _dynamicsWorld; }
void setCollisionless(bool collisionless);
int16_t computeCollisionGroup() const;
void handleChangedCollisionGroup();
bool getRigidBodyLocation(glm::vec3& avatarRigidBodyPosition, glm::quat& avatarRigidBodyRotation);
void setFlyingAllowed(bool value);
void setCollisionlessAllowed(bool value);
protected:
@ -122,8 +128,9 @@ protected:
void setState(State state);
#endif
void updateGravity();
void updateUpAxis(const glm::quat& rotation);
bool checkForSupport(btCollisionWorld* collisionWorld) const;
bool checkForSupport(btCollisionWorld* collisionWorld);
protected:
struct CharacterMotor {
@ -136,6 +143,7 @@ protected:
};
std::vector<CharacterMotor> _motors;
CharacterGhostObject _ghost;
btVector3 _currentUp;
btVector3 _targetVelocity;
btVector3 _parentVelocity;
@ -144,6 +152,8 @@ protected:
btTransform _followDesiredBodyTransform;
btScalar _followTimeRemaining;
btTransform _characterBodyTransform;
btVector3 _position;
btQuaternion _rotation;
glm::vec3 _shapeLocalOffset;
@ -155,13 +165,23 @@ protected:
quint32 _jumpButtonDownCount;
quint32 _takeoffJumpButtonID;
btScalar _halfHeight;
btScalar _radius;
// data for walking up steps
btVector3 _stepPoint { 0.0f, 0.0f, 0.0f };
btVector3 _stepNormal { 0.0f, 0.0f, 0.0f };
bool _steppingUp { false };
btScalar _stepHeight { 0.0f };
btScalar _minStepHeight { 0.0f };
btScalar _maxStepHeight { 0.0f };
btScalar _minFloorNormalDotUp { DEFAULT_MIN_FLOOR_NORMAL_DOT_UP };
btScalar _halfHeight { 0.0f };
btScalar _radius { 0.0f };
btScalar _floorDistance;
bool _stepUpEnabled { true };
bool _hasSupport;
btScalar _gravity;
btScalar _gravity { 0.0f };
btScalar _jumpSpeed;
btScalar _followTime;
@ -169,7 +189,6 @@ protected:
btQuaternion _followAngularDisplacement;
btVector3 _linearAcceleration;
std::atomic_bool _enabled;
State _state;
bool _isPushingUp;
@ -179,6 +198,8 @@ protected:
uint32_t _previousFlags { 0 };
bool _flyingAllowed { true };
bool _collisionlessAllowed { true };
bool _collisionless { false };
};
#endif // hifi_CharacterControllerInterface_h
#endif // hifi_CharacterController_h

99
libraries/physics/src/CharacterGhostObject.cpp Executable file
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@ -0,0 +1,99 @@
//
// CharacterGhostObject.cpp
// libraries/physics/src
//
// Created by Andrew Meadows 2016.08.26
// Copyright 2016 High Fidelity, Inc.
//
// Distributed under the Apache License, Version 2.0.
// See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
//
#include "CharacterGhostObject.h"
#include <stdint.h>
#include <assert.h>
#include <PhysicsHelpers.h>
#include "CharacterRayResult.h"
#include "CharacterGhostShape.h"
CharacterGhostObject::~CharacterGhostObject() {
removeFromWorld();
if (_ghostShape) {
delete _ghostShape;
_ghostShape = nullptr;
setCollisionShape(nullptr);
}
}
void CharacterGhostObject::setCollisionGroupAndMask(int16_t group, int16_t mask) {
_collisionFilterGroup = group;
_collisionFilterMask = mask;
// TODO: if this probe is in the world reset ghostObject overlap cache
}
void CharacterGhostObject::getCollisionGroupAndMask(int16_t& group, int16_t& mask) const {
group = _collisionFilterGroup;
mask = _collisionFilterMask;
}
void CharacterGhostObject::setRadiusAndHalfHeight(btScalar radius, btScalar halfHeight) {
_radius = radius;
_halfHeight = halfHeight;
}
// override of btCollisionObject::setCollisionShape()
void CharacterGhostObject::setCharacterShape(btConvexHullShape* shape) {
assert(shape);
// we create our own shape with an expanded Aabb for more reliable sweep tests
if (_ghostShape) {
delete _ghostShape;
}
_ghostShape = new CharacterGhostShape(static_cast<const btConvexHullShape*>(shape));
setCollisionShape(_ghostShape);
}
void CharacterGhostObject::setCollisionWorld(btCollisionWorld* world) {
if (world != _world) {
removeFromWorld();
_world = world;
addToWorld();
}
}
bool CharacterGhostObject::rayTest(const btVector3& start,
const btVector3& end,
CharacterRayResult& result) const {
if (_world && _inWorld) {
_world->rayTest(start, end, result);
}
return result.hasHit();
}
void CharacterGhostObject::refreshOverlappingPairCache() {
assert(_world && _inWorld);
btVector3 minAabb, maxAabb;
getCollisionShape()->getAabb(getWorldTransform(), minAabb, maxAabb);
// this updates both pairCaches: world broadphase and ghostobject
_world->getBroadphase()->setAabb(getBroadphaseHandle(), minAabb, maxAabb, _world->getDispatcher());
}
void CharacterGhostObject::removeFromWorld() {
if (_world && _inWorld) {
_world->removeCollisionObject(this);
_inWorld = false;
}
}
void CharacterGhostObject::addToWorld() {
if (_world && !_inWorld) {
assert(getCollisionShape());
setCollisionFlags(getCollisionFlags() | btCollisionObject::CF_NO_CONTACT_RESPONSE);
_world->addCollisionObject(this, _collisionFilterGroup, _collisionFilterMask);
_inWorld = true;
}
}

62
libraries/physics/src/CharacterGhostObject.h Executable file
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@ -0,0 +1,62 @@
//
// CharacterGhostObject.h
// libraries/physics/src
//
// Created by Andrew Meadows 2016.08.26
// Copyright 2016 High Fidelity, Inc.
//
// Distributed under the Apache License, Version 2.0.
// See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
//
#ifndef hifi_CharacterGhostObject_h
#define hifi_CharacterGhostObject_h
#include <stdint.h>
#include <btBulletDynamicsCommon.h>
#include <BulletCollision/CollisionDispatch/btGhostObject.h>
#include <stdint.h>
#include "CharacterSweepResult.h"
#include "CharacterRayResult.h"
class CharacterGhostShape;
class CharacterGhostObject : public btPairCachingGhostObject {
public:
CharacterGhostObject() { }
~CharacterGhostObject();
void setCollisionGroupAndMask(int16_t group, int16_t mask);
void getCollisionGroupAndMask(int16_t& group, int16_t& mask) const;
void setRadiusAndHalfHeight(btScalar radius, btScalar halfHeight);
void setUpDirection(const btVector3& up);
void setCharacterShape(btConvexHullShape* shape);
void setCollisionWorld(btCollisionWorld* world);
bool rayTest(const btVector3& start,
const btVector3& end,
CharacterRayResult& result) const;
void refreshOverlappingPairCache();
protected:
void removeFromWorld();
void addToWorld();
protected:
btCollisionWorld* _world { nullptr }; // input, pointer to world
btScalar _halfHeight { 0.0f };
btScalar _radius { 0.0f };
btConvexHullShape* _characterShape { nullptr }; // input, shape of character
CharacterGhostShape* _ghostShape { nullptr }; // internal, shape whose Aabb is used for overlap cache
int16_t _collisionFilterGroup { 0 };
int16_t _collisionFilterMask { 0 };
bool _inWorld { false }; // internal, was added to world
};
#endif // hifi_CharacterGhostObject_h

31
libraries/physics/src/CharacterGhostShape.cpp Normal file
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@ -0,0 +1,31 @@
//
// CharacterGhostShape.cpp
// libraries/physics/src
//
// Created by Andrew Meadows 2016.09.14
// Copyright 2016 High Fidelity, Inc.
//
// Distributed under the Apache License, Version 2.0.
// See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
//
#include "CharacterGhostShape.h"
#include <assert.h>
CharacterGhostShape::CharacterGhostShape(const btConvexHullShape* shape) :
btConvexHullShape(reinterpret_cast<const btScalar*>(shape->getUnscaledPoints()), shape->getNumPoints(), sizeof(btVector3)) {
assert(shape);
assert(shape->getUnscaledPoints());
assert(shape->getNumPoints() > 0);
setMargin(shape->getMargin());
}
void CharacterGhostShape::getAabb (const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const {
btConvexHullShape::getAabb(t, aabbMin, aabbMax);
// double the size of the Aabb by expanding both corners by half the extent
btVector3 expansion = 0.5f * (aabbMax - aabbMin);
aabbMin -= expansion;
aabbMax += expansion;
}

25
libraries/physics/src/CharacterGhostShape.h Normal file
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@ -0,0 +1,25 @@
//
// CharacterGhostShape.h
// libraries/physics/src
//
// Created by Andrew Meadows 2016.09.14
// Copyright 2016 High Fidelity, Inc.
//
// Distributed under the Apache License, Version 2.0.
// See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
//
#ifndef hifi_CharacterGhostShape_h
#define hifi_CharacterGhostShape_h
#include <BulletCollision/CollisionShapes/btConvexHullShape.h>
class CharacterGhostShape : public btConvexHullShape {
// Same as btConvexHullShape but reports an expanded Aabb for larger ghost overlap cache
public:
CharacterGhostShape(const btConvexHullShape* shape);
virtual void getAabb (const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const override;
};
#endif // hifi_CharacterGhostShape_h

31
libraries/physics/src/CharacterRayResult.cpp Executable file
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@ -0,0 +1,31 @@
//
// CharaterRayResult.cpp
// libraries/physics/src
//
// Created by Andrew Meadows 2016.09.05
// Copyright 2016 High Fidelity, Inc.
//
// Distributed under the Apache License, Version 2.0.
// See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
//
#include "CharacterRayResult.h"
#include <assert.h>
#include "CharacterGhostObject.h"
CharacterRayResult::CharacterRayResult (const CharacterGhostObject* character) :
btCollisionWorld::ClosestRayResultCallback(btVector3(0.0f, 0.0f, 0.0f), btVector3(0.0f, 0.0f, 0.0f)),
_character(character)
{
assert(_character);
_character->getCollisionGroupAndMask(m_collisionFilterGroup, m_collisionFilterMask);
}
btScalar CharacterRayResult::addSingleResult(btCollisionWorld::LocalRayResult& rayResult, bool normalInWorldSpace) {
if (rayResult.m_collisionObject == _character) {
return 1.0f;
}
return ClosestRayResultCallback::addSingleResult (rayResult, normalInWorldSpace);
}

44
libraries/physics/src/CharacterRayResult.h Normal file
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@ -0,0 +1,44 @@
//
// CharaterRayResult.h
// libraries/physics/src
//
// Created by Andrew Meadows 2016.09.05
// Copyright 2016 High Fidelity, Inc.
//
// Distributed under the Apache License, Version 2.0.
// See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
//
#ifndef hifi_CharacterRayResult_h
#define hifi_CharacterRayResult_h
#include <btBulletDynamicsCommon.h>
#include <BulletCollision/CollisionDispatch/btCollisionWorld.h>
class CharacterGhostObject;
class CharacterRayResult : public btCollisionWorld::ClosestRayResultCallback {
public:
CharacterRayResult (const CharacterGhostObject* character);
virtual btScalar addSingleResult(btCollisionWorld::LocalRayResult& rayResult, bool normalInWorldSpace) override;
protected:
const CharacterGhostObject* _character;
// Note: Public data members inherited from ClosestRayResultCallback
//
// btVector3 m_rayFromWorld;//used to calculate hitPointWorld from hitFraction
// btVector3 m_rayToWorld;
// btVector3 m_hitNormalWorld;
// btVector3 m_hitPointWorld;
//
// Note: Public data members inherited from RayResultCallback
//
// btScalar m_closestHitFraction;
// const btCollisionObject* m_collisionObject;
// short int m_collisionFilterGroup;
// short int m_collisionFilterMask;
};
#endif // hifi_CharacterRayResult_h

42
libraries/physics/src/CharacterSweepResult.cpp Executable file
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@ -0,0 +1,42 @@
//
// CharaterSweepResult.cpp
// libraries/physics/src
//
// Created by Andrew Meadows 2016.09.01
// Copyright 2016 High Fidelity, Inc.
//
// Distributed under the Apache License, Version 2.0.
// See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
//
#include "CharacterSweepResult.h"
#include <assert.h>
#include "CharacterGhostObject.h"
CharacterSweepResult::CharacterSweepResult(const CharacterGhostObject* character)
: btCollisionWorld::ClosestConvexResultCallback(btVector3(0.0f, 0.0f, 0.0f), btVector3(0.0f, 0.0f, 0.0f)),
_character(character)
{
// set collision group and mask to match _character
assert(_character);
_character->getCollisionGroupAndMask(m_collisionFilterGroup, m_collisionFilterMask);
}
btScalar CharacterSweepResult::addSingleResult(btCollisionWorld::LocalConvexResult& convexResult, bool useWorldFrame) {
// skip objects that we shouldn't collide with
if (!convexResult.m_hitCollisionObject->hasContactResponse()) {
return btScalar(1.0);
}
if (convexResult.m_hitCollisionObject == _character) {
return btScalar(1.0);
}
return ClosestConvexResultCallback::addSingleResult(convexResult, useWorldFrame);
}
void CharacterSweepResult::resetHitHistory() {
m_hitCollisionObject = nullptr;
m_closestHitFraction = btScalar(1.0f);
}

45
libraries/physics/src/CharacterSweepResult.h Normal file
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@ -0,0 +1,45 @@
//
// CharaterSweepResult.h
// libraries/physics/src
//
// Created by Andrew Meadows 2016.09.01
// Copyright 2016 High Fidelity, Inc.
//
// Distributed under the Apache License, Version 2.0.
// See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
//
#ifndef hifi_CharacterSweepResult_h
#define hifi_CharacterSweepResult_h
#include <btBulletDynamicsCommon.h>
#include <BulletCollision/CollisionDispatch/btCollisionWorld.h>
class CharacterGhostObject;
class CharacterSweepResult : public btCollisionWorld::ClosestConvexResultCallback {
public:
CharacterSweepResult(const CharacterGhostObject* character);
virtual btScalar addSingleResult(btCollisionWorld::LocalConvexResult& convexResult, bool useWorldFrame) override;
void resetHitHistory();
protected:
const CharacterGhostObject* _character;
// NOTE: Public data members inherited from ClosestConvexResultCallback:
//
// btVector3 m_convexFromWorld; // unused except by btClosestNotMeConvexResultCallback
// btVector3 m_convexToWorld; // unused except by btClosestNotMeConvexResultCallback
// btVector3 m_hitNormalWorld;
// btVector3 m_hitPointWorld;
// const btCollisionObject* m_hitCollisionObject;
//
// NOTE: Public data members inherited from ConvexResultCallback:
//
// btScalar m_closestHitFraction;
// short int m_collisionFilterGroup;
// short int m_collisionFilterMask;
};
#endif // hifi_CharacterSweepResult_h

2
libraries/physics/src/CollisionRenderMeshCache.cpp
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@ -1,6 +1,6 @@
//
// CollisionRenderMeshCache.cpp
// libraries/physcis/src
// libraries/physics/src
//
// Created by Andrew Meadows 2016.07.13
// Copyright 2016 High Fidelity, Inc.

2
libraries/physics/src/CollisionRenderMeshCache.h
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@ -1,6 +1,6 @@
//
// CollisionRenderMeshCache.h
// libraries/physcis/src
// libraries/physics/src
//
// Created by Andrew Meadows 2016.07.13
// Copyright 2016 High Fidelity, Inc.

2
libraries/physics/src/ContactInfo.cpp
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@ -1,6 +1,6 @@
//
// ContactEvent.cpp
// libraries/physcis/src
// libraries/physics/src
//
// Created by Andrew Meadows 2015.01.20
// Copyright 2015 High Fidelity, Inc.

2
libraries/physics/src/ContactInfo.h
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@ -1,6 +1,6 @@
//
// ContactEvent.h
// libraries/physcis/src
// libraries/physics/src
//
// Created by Andrew Meadows 2015.01.20
// Copyright 2015 High Fidelity, Inc.

2
libraries/physics/src/ObjectAction.cpp
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@ -1,6 +1,6 @@
//
// ObjectAction.cpp
// libraries/physcis/src
// libraries/physics/src
//
// Created by Seth Alves 2015-6-2
// Copyright 2015 High Fidelity, Inc.

2
libraries/physics/src/ObjectAction.h
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@ -1,6 +1,6 @@
//
// ObjectAction.h
// libraries/physcis/src
// libraries/physics/src
//
// Created by Seth Alves 2015-6-2
// Copyright 2015 High Fidelity, Inc.

2
libraries/physics/src/ObjectMotionState.cpp
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@ -1,6 +1,6 @@
//
// ObjectMotionState.cpp
// libraries/physcis/src
// libraries/physics/src
//
// Created by Andrew Meadows 2014.11.05
// Copyright 2014 High Fidelity, Inc.

2
libraries/physics/src/ObjectMotionState.h
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@ -1,6 +1,6 @@
//
// ObjectMotionState.h
// libraries/physcis/src
// libraries/physics/src
//
// Created by Andrew Meadows 2014.11.05
// Copyright 2014 High Fidelity, Inc.

2
libraries/physics/src/PhysicalEntitySimulation.cpp
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@ -1,6 +1,6 @@
//
// PhysicalEntitySimulation.cpp
// libraries/physcis/src
// libraries/physics/src
//
// Created by Andrew Meadows 2015.04.27
// Copyright 2015 High Fidelity, Inc.

2
libraries/physics/src/PhysicalEntitySimulation.h
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@ -1,6 +1,6 @@
//
// PhysicalEntitySimulation.h
// libraries/physcis/src
// libraries/physics/src
//
// Created by Andrew Meadows 2015.04.27
// Copyright 2015 High Fidelity, Inc.

2
libraries/physics/src/PhysicsEngine.cpp
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@ -1,6 +1,6 @@
//
// PhysicsEngine.cpp
// libraries/physcis/src
// libraries/physics/src
//
// Created by Andrew Meadows 2014.10.29
// Copyright 2014 High Fidelity, Inc.

2
libraries/physics/src/PhysicsEngine.h
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@ -1,6 +1,6 @@
//
// PhysicsEngine.h
// libraries/physcis/src
// libraries/physics/src
//
// Created by Andrew Meadows 2014.10.29
// Copyright 2014 High Fidelity, Inc.

2
libraries/physics/src/ShapeFactory.cpp
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@ -1,6 +1,6 @@
//
// ShapeFactory.cpp
// libraries/physcis/src
// libraries/physics/src
//
// Created by Andrew Meadows 2014.12.01
// Copyright 2014 High Fidelity, Inc.

2
libraries/physics/src/ShapeFactory.h
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@ -1,6 +1,6 @@
//
// ShapeFactory.h
// libraries/physcis/src
// libraries/physics/src
//
// Created by Andrew Meadows 2014.12.01
// Copyright 2014 High Fidelity, Inc.

2
libraries/physics/src/ShapeManager.cpp
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@ -1,6 +1,6 @@
//
// ShapeManager.cpp
// libraries/physcis/src
// libraries/physics/src
//
// Created by Andrew Meadows 2014.10.29
// Copyright 2014 High Fidelity, Inc.

2
libraries/physics/src/ShapeManager.h
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@ -1,6 +1,6 @@
//
// ShapeManager.h
// libraries/physcis/src
// libraries/physics/src
//
// Created by Andrew Meadows 2014.10.29
// Copyright 2014 High Fidelity, Inc.

4
libraries/script-engine/src/TabletScriptingInterface.cpp
View file

@ -250,6 +250,10 @@ static void addButtonProxyToQmlTablet(QQuickItem* qmlTablet, TabletButtonProxy*
if (QThread::currentThread() != qmlTablet->thread()) {
connectionType = Qt::BlockingQueuedConnection;
}
if (buttonProxy == NULL){
qCCritical(scriptengine) << "TabletScriptingInterface addButtonProxyToQmlTablet buttonProxy is NULL";
return;
}
bool hasResult = QMetaObject::invokeMethod(qmlTablet, "addButtonProxy", connectionType,
Q_RETURN_ARG(QVariant, resultVar), Q_ARG(QVariant, buttonProxy->getProperties()));
if (!hasResult) {

2
libraries/shared/src/BackgroundMode.h
View file

@ -1,6 +1,6 @@
//
// BackgroundMode.h
// libraries/physcis/src
// libraries/physics/src
//
// Copyright 2015 High Fidelity, Inc.
//

2
libraries/shared/src/ShapeInfo.cpp
View file

@ -1,6 +1,6 @@
//
// ShapeInfo.cpp
// libraries/physcis/src
// libraries/physics/src
//
// Created by Andrew Meadows 2014.10.29
// Copyright 2014 High Fidelity, Inc.

2
libraries/shared/src/ShapeInfo.h
View file

@ -1,6 +1,6 @@
//
// ShapeInfo.h
// libraries/physcis/src
// libraries/physics/src
//
// Created by Andrew Meadows 2014.10.29
// Copyright 2014 High Fidelity, Inc.

191
plugins/openvr/src/ViveControllerManager.cpp
View file

@ -10,6 +10,7 @@
//
#include "ViveControllerManager.h"
#include <algorithm>
#include <PerfStat.h>
#include <PathUtils.h>
@ -20,7 +21,11 @@
#include <NumericalConstants.h>
#include <ui-plugins/PluginContainer.h>
#include <UserActivityLogger.h>
#include <NumericalConstants.h>
#include <OffscreenUi.h>
#include <GLMHelpers.h>
#include <glm/ext.hpp>
#include <glm/gtc/quaternion.hpp>
#include <controllers/UserInputMapper.h>
@ -36,14 +41,32 @@ void releaseOpenVrSystem();
static const char* CONTROLLER_MODEL_STRING = "vr_controller_05_wireless_b";
const quint64 CALIBRATION_TIMELAPSE = 2 * USECS_PER_SECOND;
static const char* MENU_PARENT = "Avatar";
static const char* MENU_NAME = "Vive Controllers";
static const char* MENU_PATH = "Avatar" ">" "Vive Controllers";
static const char* RENDER_CONTROLLERS = "Render Hand Controllers";
static const int MIN_PUCK_COUNT = 2;
static const int MIN_FEET_AND_HIPS = 3;
static const int MIN_FEET_HIPS_CHEST = 4;
static const int FIRST_FOOT = 0;
static const int SECOND_FOOT = 1;
static const int HIP = 2;
static const int CHEST = 3;
const char* ViveControllerManager::NAME { "OpenVR" };
static glm::mat4 computeOffset(glm::mat4 defaultToReferenceMat, glm::mat4 defaultJointMat, controller::Pose puckPose) {
glm::mat4 poseMat = createMatFromQuatAndPos(puckPose.rotation, puckPose.translation);
glm::mat4 referenceJointMat = defaultToReferenceMat * defaultJointMat;
return glm::inverse(poseMat) * referenceJointMat;
}
static bool sortPucksYPosition(std::pair<uint32_t, controller::Pose> firstPuck, std::pair<uint32_t, controller::Pose> secondPuck) {
return (firstPuck.second.translation.y < firstPuck.second.translation.y);
}
bool ViveControllerManager::isSupported() const {
return openVrSupported();
}
@ -125,6 +148,7 @@ void ViveControllerManager::pluginUpdate(float deltaTime, const controller::Inpu
void ViveControllerManager::InputDevice::update(float deltaTime, const controller::InputCalibrationData& inputCalibrationData) {
_poseStateMap.clear();
_buttonPressedMap.clear();
_validTrackedObjects.clear();
// While the keyboard is open, we defer strictly to the keyboard values
if (isOpenVrKeyboardShown()) {
@ -143,6 +167,7 @@ void ViveControllerManager::InputDevice::update(float deltaTime, const controlle
// collect poses for all generic trackers
for (int i = 0; i < vr::k_unMaxTrackedDeviceCount; i++) {
handleTrackedObject(i, inputCalibrationData);
handleHmd(i, inputCalibrationData);
}
// handle haptics
@ -164,10 +189,27 @@ void ViveControllerManager::InputDevice::update(float deltaTime, const controlle
numTrackedControllers++;
}
_trackedControllers = numTrackedControllers;
if (checkForCalibrationEvent()) {
quint64 currentTime = usecTimestampNow();
if (!_timeTilCalibrationSet) {
_timeTilCalibrationSet = true;
_timeTilCalibration = currentTime + CALIBRATION_TIMELAPSE;
}
if (currentTime > _timeTilCalibration && !_triggersPressedHandled) {
_triggersPressedHandled = true;
calibrateOrUncalibrate(inputCalibrationData);
}
} else {
_triggersPressedHandled = false;
_timeTilCalibrationSet = false;
}
updateCalibratedLimbs();
}
void ViveControllerManager::InputDevice::handleTrackedObject(uint32_t deviceIndex, const controller::InputCalibrationData& inputCalibrationData) {
uint32_t poseIndex = controller::TRACKED_OBJECT_00 + deviceIndex;
if (_system->IsTrackedDeviceConnected(deviceIndex) &&
@ -185,12 +227,129 @@ void ViveControllerManager::InputDevice::handleTrackedObject(uint32_t deviceInde
// transform into avatar frame
glm::mat4 controllerToAvatar = glm::inverse(inputCalibrationData.avatarMat) * inputCalibrationData.sensorToWorldMat;
_poseStateMap[poseIndex] = pose.transform(controllerToAvatar);
_validTrackedObjects.push_back(std::make_pair(poseIndex, _poseStateMap[poseIndex]));
} else {
controller::Pose invalidPose;
_poseStateMap[poseIndex] = invalidPose;
}
}
void ViveControllerManager::InputDevice::calibrateOrUncalibrate(const controller::InputCalibrationData& inputCalibration) {
if (!_calibrated) {
calibrate(inputCalibration);
} else {
uncalibrate();
}
}
void ViveControllerManager::InputDevice::calibrate(const controller::InputCalibrationData& inputCalibration) {
// convert the hmd head from sensor space to avatar space
glm::mat4 hmdSensorFlippedMat = inputCalibration.hmdSensorMat * Matrices::Y_180;
glm::mat4 sensorToAvatarMat = glm::inverse(inputCalibration.avatarMat) * inputCalibration.sensorToWorldMat;
glm::mat4 hmdAvatarMat = sensorToAvatarMat * hmdSensorFlippedMat;
// cancel the roll and pitch for the hmd head
glm::quat hmdRotation = cancelOutRollAndPitch(glmExtractRotation(hmdAvatarMat));
glm::vec3 hmdTranslation = extractTranslation(hmdAvatarMat);
glm::mat4 currentHmd = createMatFromQuatAndPos(hmdRotation, hmdTranslation);
// calculate the offset from the centerOfEye to defaultHeadMat
glm::mat4 defaultHeadOffset = glm::inverse(inputCalibration.defaultCenterEyeMat) * inputCalibration.defaultHeadMat;
glm::mat4 currentHead = currentHmd * defaultHeadOffset;
// calculate the defaultToRefrenceXform
glm::mat4 defaultToReferenceMat = currentHead * glm::inverse(inputCalibration.defaultHeadMat);
int puckCount = (int)_validTrackedObjects.size();
if (puckCount == MIN_PUCK_COUNT) {
_config = Config::Feet;
} else if (puckCount == MIN_FEET_AND_HIPS) {
_config = Config::FeetAndHips;
} else if (puckCount >= MIN_FEET_HIPS_CHEST) {
_config = Config::FeetHipsAndChest;
} else {
return;
}
std::sort(_validTrackedObjects.begin(), _validTrackedObjects.end(), sortPucksYPosition);
auto& firstFoot = _validTrackedObjects[FIRST_FOOT];
auto& secondFoot = _validTrackedObjects[SECOND_FOOT];
controller::Pose& firstFootPose = firstFoot.second;
controller::Pose& secondFootPose = secondFoot.second;
if (firstFootPose.translation.x < secondFootPose.translation.x) {
_jointToPuckMap[controller::LEFT_FOOT] = firstFoot.first;
_pucksOffset[firstFoot.first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultLeftFoot, firstFootPose);
_jointToPuckMap[controller::RIGHT_FOOT] = secondFoot.first;
_pucksOffset[secondFoot.first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultRightFoot, secondFootPose);
} else {
_jointToPuckMap[controller::LEFT_FOOT] = secondFoot.first;
_pucksOffset[secondFoot.first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultLeftFoot, secondFootPose);
_jointToPuckMap[controller::RIGHT_FOOT] = firstFoot.first;
_pucksOffset[firstFoot.first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultRightFoot, firstFootPose);
}
if (_config == Config::Feet) {
// done
} else if (_config == Config::FeetAndHips) {
_jointToPuckMap[controller::HIPS] = _validTrackedObjects[HIP].first;
_pucksOffset[_validTrackedObjects[HIP].first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultHips, _validTrackedObjects[HIP].second);
} else if (_config == Config::FeetHipsAndChest) {
_jointToPuckMap[controller::HIPS] = _validTrackedObjects[HIP].first;
_pucksOffset[_validTrackedObjects[HIP].first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultHips, _validTrackedObjects[HIP].second);
_jointToPuckMap[controller::SPINE2] = _validTrackedObjects[CHEST].first;
_pucksOffset[_validTrackedObjects[CHEST].first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultSpine2, _validTrackedObjects[CHEST].second);
}
_calibrated = true;
}
void ViveControllerManager::InputDevice::uncalibrate() {
_pucksOffset.clear();
_jointToPuckMap.clear();
_calibrated = false;
}
void ViveControllerManager::InputDevice::updateCalibratedLimbs() {
_poseStateMap[controller::LEFT_FOOT] = addOffsetToPuckPose(controller::LEFT_FOOT);
_poseStateMap[controller::RIGHT_FOOT] = addOffsetToPuckPose(controller::RIGHT_FOOT);
_poseStateMap[controller::HIPS] = addOffsetToPuckPose(controller::HIPS);
_poseStateMap[controller::SPINE2] = addOffsetToPuckPose(controller::SPINE2);
}
controller::Pose ViveControllerManager::InputDevice::addOffsetToPuckPose(int joint) const {
auto puck = _jointToPuckMap.find(joint);
if (puck != _jointToPuckMap.end()) {
uint32_t puckIndex = puck->second;
auto puckPose = _poseStateMap.find(puckIndex);
auto puckOffset = _pucksOffset.find(puckIndex);
if ((puckPose != _poseStateMap.end()) && (puckOffset != _pucksOffset.end())) {
return puckPose->second.postTransform(puckOffset->second);
}
}
return controller::Pose();
}
void ViveControllerManager::InputDevice::handleHmd(uint32_t deviceIndex, const controller::InputCalibrationData& inputCalibrationData) {
uint32_t poseIndex = controller::TRACKED_OBJECT_00 + deviceIndex;
if (_system->IsTrackedDeviceConnected(deviceIndex) &&
_system->GetTrackedDeviceClass(deviceIndex) == vr::TrackedDeviceClass_HMD &&
_nextSimPoseData.vrPoses[deviceIndex].bPoseIsValid) {
const mat4& mat = _nextSimPoseData.poses[deviceIndex];
const vec3 linearVelocity = _nextSimPoseData.linearVelocities[deviceIndex];
const vec3 angularVelocity = _nextSimPoseData.angularVelocities[deviceIndex];
handleHeadPoseEvent(inputCalibrationData, mat, linearVelocity, angularVelocity);
}
}
void ViveControllerManager::InputDevice::handleHandController(float deltaTime, uint32_t deviceIndex, const controller::InputCalibrationData& inputCalibrationData, bool isLeftHand) {
if (_system->IsTrackedDeviceConnected(deviceIndex) &&
@ -262,7 +421,7 @@ void ViveControllerManager::InputDevice::handleAxisEvent(float deltaTime, uint32
_axisStateMap[isLeftHand ? LY : RY] = stick.y;
} else if (axis == vr::k_EButton_SteamVR_Trigger) {
_axisStateMap[isLeftHand ? LT : RT] = x;
// The click feeling on the Vive controller trigger represents a value of *precisely* 1.0,
// The click feeling on the Vive controller trigger represents a value of *precisely* 1.0,
// so we can expose that as an additional button
if (x >= 1.0f) {
_buttonPressedMap.insert(isLeftHand ? LT_CLICK : RT_CLICK);
@ -276,6 +435,14 @@ enum ViveButtonChannel {
RIGHT_APP_MENU
};
bool ViveControllerManager::InputDevice::checkForCalibrationEvent() {
auto& endOfMap = _buttonPressedMap.end();
auto& leftTrigger = _buttonPressedMap.find(controller::LT);
auto& rightTrigger = _buttonPressedMap.find(controller::RT);
auto& leftAppButton = _buttonPressedMap.find(LEFT_APP_MENU);
auto& rightAppButton = _buttonPressedMap.find(RIGHT_APP_MENU);
return ((leftTrigger != endOfMap && leftAppButton != endOfMap) && (rightTrigger != endOfMap && rightAppButton != endOfMap));
}
// These functions do translation from the Steam IDs to the standard controller IDs
void ViveControllerManager::InputDevice::handleButtonEvent(float deltaTime, uint32_t button, bool pressed, bool touched, bool isLeftHand) {
@ -305,6 +472,19 @@ void ViveControllerManager::InputDevice::handleButtonEvent(float deltaTime, uint
}
}
void ViveControllerManager::InputDevice::handleHeadPoseEvent(const controller::InputCalibrationData& inputCalibrationData, const mat4& mat,
const vec3& linearVelocity, const vec3& angularVelocity) {
//perform a 180 flip to make the HMD face the +z instead of -z, beacuse the head faces +z
glm::mat4 matYFlip = mat * Matrices::Y_180;
controller::Pose pose(extractTranslation(matYFlip), glmExtractRotation(matYFlip), linearVelocity, angularVelocity);
glm::mat4 sensorToAvatar = glm::inverse(inputCalibrationData.avatarMat) * inputCalibrationData.sensorToWorldMat;
glm::mat4 defaultHeadOffset = glm::inverse(inputCalibrationData.defaultCenterEyeMat) * inputCalibrationData.defaultHeadMat;
controller::Pose hmdHeadPose = pose.transform(sensorToAvatar);
_poseStateMap[controller::HEAD] = hmdHeadPose.postTransform(defaultHeadOffset);
}
void ViveControllerManager::InputDevice::handlePoseEvent(float deltaTime, const controller::InputCalibrationData& inputCalibrationData,
const mat4& mat, const vec3& linearVelocity,
const vec3& angularVelocity, bool isLeftHand) {
@ -353,7 +533,7 @@ void ViveControllerManager::InputDevice::hapticsHelper(float deltaTime, bool lef
float hapticTime = strength * MAX_HAPTIC_TIME;
if (hapticTime < duration * 1000.0f) {
_system->TriggerHapticPulse(deviceIndex, 0, hapticTime);
}
}
float remainingHapticTime = duration - (hapticTime / 1000.0f + deltaTime * 1000.0f); // in milliseconds
if (leftHand) {
@ -404,6 +584,11 @@ controller::Input::NamedVector ViveControllerManager::InputDevice::getAvailableI
// 3d location of controller
makePair(LEFT_HAND, "LeftHand"),
makePair(RIGHT_HAND, "RightHand"),
makePair(LEFT_FOOT, "LeftFoot"),
makePair(RIGHT_FOOT, "RightFoot"),
makePair(HIPS, "Hips"),
makePair(SPINE2, "Spine2"),
makePair(HEAD, "Head"),
// 16 tracked poses
makePair(TRACKED_OBJECT_00, "TrackedObject00"),

24
plugins/openvr/src/ViveControllerManager.h
View file

@ -14,9 +14,11 @@
#include <QObject>
#include <unordered_set>
#include <vector>
#include <map>
#include <utility>
#include <GLMHelpers.h>
#include <model/Geometry.h>
#include <gpu/Texture.h>
#include <controllers/InputDevice.h>
@ -58,13 +60,21 @@ private:
bool triggerHapticPulse(float strength, float duration, controller::Hand hand) override;
void hapticsHelper(float deltaTime, bool leftHand);
void calibrateOrUncalibrate(const controller::InputCalibrationData& inputCalibration);
void calibrate(const controller::InputCalibrationData& inputCalibration);
void uncalibrate();
controller::Pose addOffsetToPuckPose(int joint) const;
void updateCalibratedLimbs();
bool checkForCalibrationEvent();
void handleHandController(float deltaTime, uint32_t deviceIndex, const controller::InputCalibrationData& inputCalibrationData, bool isLeftHand);
void handleHmd(uint32_t deviceIndex, const controller::InputCalibrationData& inputCalibrationData);
void handleTrackedObject(uint32_t deviceIndex, const controller::InputCalibrationData& inputCalibrationData);
void handleButtonEvent(float deltaTime, uint32_t button, bool pressed, bool touched, bool isLeftHand);
void handleAxisEvent(float deltaTime, uint32_t axis, float x, float y, bool isLeftHand);
void handlePoseEvent(float deltaTime, const controller::InputCalibrationData& inputCalibrationData, const mat4& mat,
const vec3& linearVelocity, const vec3& angularVelocity, bool isLeftHand);
void handleHeadPoseEvent(const controller::InputCalibrationData& inputCalibrationData, const mat4& mat, const vec3& linearVelocity,
const vec3& angularVelocity);
void partitionTouchpad(int sButton, int xAxis, int yAxis, int centerPsuedoButton, int xPseudoButton, int yPseudoButton);
class FilteredStick {
@ -90,10 +100,14 @@ private:
float _timer { 0.0f };
glm::vec2 _stick { 0.0f, 0.0f };
};
enum class Config { Feet, FeetAndHips, FeetHipsAndChest, NoConfig };
Config _config { Config::NoConfig };
FilteredStick _filteredLeftStick;
FilteredStick _filteredRightStick;
std::vector<std::pair<uint32_t, controller::Pose>> _validTrackedObjects;
std::map<uint32_t, glm::mat4> _pucksOffset;
std::map<int, uint32_t> _jointToPuckMap;
// perform an action when the InputDevice mutex is acquired.
using Locker = std::unique_lock<std::recursive_mutex>;
template <typename F>
@ -101,10 +115,14 @@ private:
int _trackedControllers { 0 };
vr::IVRSystem*& _system;
quint64 _timeTilCalibration { 0.0f };
float _leftHapticStrength { 0.0f };
float _leftHapticDuration { 0.0f };
float _rightHapticStrength { 0.0f };
float _rightHapticDuration { 0.0f };
bool _triggersPressedHandled { false };
bool _calibrated { false };
bool _timeTilCalibrationSet { false };
mutable std::recursive_mutex _lock;
friend class ViveControllerManager;

23
scripts/system/makeUserConnection.js
View file

@ -122,7 +122,8 @@
function debug() {
var stateString = "<" + STATE_STRINGS[state] + ">";
var connecting = "[" + connectingId + "/" + connectingHandJointIndex + "]";
print.apply(null, [].concat.apply([LABEL, stateString, JSON.stringify(waitingList), connecting],
var current = "[" + currentHand + "/" + currentHandJointIndex + "]"
print.apply(null, [].concat.apply([LABEL, stateString, current, JSON.stringify(waitingList), connecting],
[].map.call(arguments, JSON.stringify)));
}
@ -759,7 +760,10 @@
break;
case "done":
delete waitingList[senderID];
if (state === STATES.CONNECTING && connectingId === senderID) {
if (connectingId !== senderID) {
break;
}
if (state === STATES.CONNECTING) {
// if they are done, and didn't connect us, terminate our
// connecting
if (message.connectionId !== MyAvatar.sessionUUID) {
@ -768,11 +772,20 @@
// value for isKeyboard, as we should not change the animation
// state anyways (if any)
startHandshake();
} else {
// they just created a connection request to us, and we are connecting to
// them, so lets just stop connecting and make connection..
makeConnection(connectingId);
stopConnecting();
}
} else {
// if waiting or inactive, lets clear the connecting id. If in makingConnection,
// do nothing
if (state !== STATES.MAKING_CONNECTION && connectingId === senderID) {
if (state == STATES.MAKING_CONNECTION) {
// we are making connection, they just started, so lets reset the
// poll count just in case
pollCount = 0;
} else {
// if waiting or inactive, lets clear the connecting id. If in makingConnection,
// do nothing
clearConnecting();
if (state !== STATES.INACTIVE) {
startHandshake();

75
scripts/system/pal.js
View file

@ -268,7 +268,7 @@ function fromQml(message) { // messages are {method, params}, like json-rpc. See
break;
case 'refreshConnections':
print('Refreshing Connections...');
getConnectionData();
getConnectionData(false);
UserActivityLogger.palAction("refresh_connections", "");
break;
case 'removeConnection':
@ -281,25 +281,27 @@ function fromQml(message) { // messages are {method, params}, like json-rpc. See
print("Error: unable to remove connection", connectionUserName, error || response.status);
return;
}
getConnectionData();
getConnectionData(false);
});
break
case 'removeFriend':
friendUserName = message.params;
print("Removing " + friendUserName + " from friends.");
request({
uri: METAVERSE_BASE + '/api/v1/user/friends/' + friendUserName,
method: 'DELETE'
}, function (error, response) {
if (error || (response.status !== 'success')) {
print("Error: unable to unfriend", friendUserName, error || response.status);
print("Error: unable to unfriend " + friendUserName, error || response.status);
return;
}
getConnectionData();
getConnectionData(friendUserName);
});
break
case 'addFriend':
friendUserName = message.params;
print("Adding " + friendUserName + " to friends.");
request({
uri: METAVERSE_BASE + '/api/v1/user/friends',
method: 'POST',
@ -312,7 +314,7 @@ function fromQml(message) { // messages are {method, params}, like json-rpc. See
print("Error: unable to friend " + friendUserName, error || response.status);
return;
}
getConnectionData(); // For now, just refresh all connection data. Later, just refresh the one friended row.
getConnectionData(friendUserName);
}
);
break;
@ -360,8 +362,6 @@ function getProfilePicture(username, callback) { // callback(url) if successfull
});
}
function getAvailableConnections(domain, callback) { // callback([{usename, location}...]) if successfull. (Logs otherwise)
// The back end doesn't do user connections yet. Fake it by getting all users that have made themselves accessible to us,
// and pretending that they are all connections.
url = METAVERSE_BASE + '/api/v1/users?'
if (domain) {
url += 'status=' + domain.slice(1, -1); // without curly braces
@ -369,25 +369,22 @@ function getAvailableConnections(domain, callback) { // callback([{usename, loca
url += 'filter=connections'; // regardless of whether online
}
requestJSON(url, function (connectionsData) {
// The back end doesn't include the profile picture data, but we can add that here.
// For our current purposes, there's no need to be fancy and try to reduce latency by doing some number of requests in parallel,
// so these requests are all sequential.
var users = connectionsData.users;
function addPicture(index) {
if (index >= users.length) {
return callback(users);
}
var user = users[index];
getProfilePicture(user.username, function (url) {
user.profileUrl = url;
addPicture(index + 1);
});
}
addPicture(0);
callback(connectionsData.users);
});
}
function getConnectionData(domain) { // Update all the usernames that I am entitled to see, using my login but not dependent on canKick.
function getInfoAboutUser(specificUsername, callback) {
url = METAVERSE_BASE + '/api/v1/users?filter=connections'
requestJSON(url, function (connectionsData) {
for (user in connectionsData.users) {
if (connectionsData.users[user].username === specificUsername) {
callback(connectionsData.users[user]);
return;
}
}
callback(false);
});
}
function getConnectionData(specificUsername, domain) { // Update all the usernames that I am entitled to see, using my login but not dependent on canKick.
function frob(user) { // get into the right format
var formattedSessionId = user.location.node_id || '';
if (formattedSessionId !== '' && formattedSessionId.indexOf("{") != 0) {
@ -397,19 +394,29 @@ function getConnectionData(domain) { // Update all the usernames that I am entit
sessionId: formattedSessionId,
userName: user.username,
connection: user.connection,
profileUrl: user.profileUrl,
profileUrl: user.images.thumbnail,
placeName: (user.location.root || user.location.domain || {}).name || ''
};
}
getAvailableConnections(domain, function (users) {
if (domain) {
users.forEach(function (user) {
if (specificUsername) {
getInfoAboutUser(specificUsername, function (user) {
if (user) {
updateUser(frob(user));
});
} else {
sendToQml({ method: 'connections', params: users.map(frob) });
}
});
} else {
print('Error: Unable to find information about ' + specificUsername + ' in connectionsData!');
}
});
} else {
getAvailableConnections(domain, function (users) {
if (domain) {
users.forEach(function (user) {
updateUser(frob(user));
});
} else {
sendToQml({ method: 'connections', params: users.map(frob) });
}
});
}
}
//
@ -486,7 +493,7 @@ function populateNearbyUserList(selectData, oldAudioData) {
data.push(avatarPalDatum);
print('PAL data:', JSON.stringify(avatarPalDatum));
});
getConnectionData(location.domainId); // Even admins don't get relationship data in requestUsernameFromID (which is still needed for admin status, which comes from domain).
getConnectionData(false, location.domainId); // Even admins don't get relationship data in requestUsernameFromID (which is still needed for admin status, which comes from domain).
conserveResources = Object.keys(avatarsOfInterest).length > 20;
sendToQml({ method: 'nearbyUsers', params: data });
if (selectData) {

179
unpublishedScripts/interaction/Interaction.js Normal file
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@ -0,0 +1,179 @@
//
// Interaction.js
// scripts/interaction
//
// Created by Trevor Berninger on 3/20/17.
// Copyright 2017 High Fidelity, Inc.
//
// Distributed under the Apache License, Version 2.0.
// See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
//
(function(){
print("loading interaction script");
var Avatar = false;
var NPC = false;
var previousNPC = false;
var hasCenteredOnNPC = false;
var distance = 10;
var r = 8;
var player = false;
var baselineX = 0;
var baselineY = 0;
var nodRange = 20;
var shakeRange = 20;
var ticker = false;
var heartbeatTimer = false;
function callOnNPC(message) {
if(NPC)
Messages.sendMessage("interactionComs", NPC + ":" + message);
else
Messages.sendMessage("interactionComs", previousNPC + ":" + message);
}
LimitlessSpeechRecognition.onFinishedSpeaking.connect(function(speech) {
print("Got: " + speech);
callOnNPC("voiceData:" + speech);
});
LimitlessSpeechRecognition.onReceivedTranscription.connect(function(speech) {
callOnNPC("speaking");
});
function setBaselineRotations(rot) {
baselineX = rot.x;
baselineY = rot.y;
}
function findLookedAtNPC() {
var intersection = AvatarList.findRayIntersection({origin: MyAvatar.position, direction: Quat.getFront(Camera.getOrientation())}, true);
if (intersection.intersects && intersection.distance <= distance){
var npcAvatar = AvatarList.getAvatar(intersection.avatarID);
if (npcAvatar.displayName.search("NPC") != -1) {
setBaselineRotations(Quat.safeEulerAngles(Camera.getOrientation()));
return intersection.avatarID;
}
}
return false;
}
function isStillFocusedNPC() {
var avatar = AvatarList.getAvatar(NPC);
if (avatar) {
var avatarPosition = avatar.position;
return Vec3.distance(MyAvatar.position, avatarPosition) <= distance && Math.abs(Quat.dot(Camera.getOrientation(), Quat.lookAtSimple(MyAvatar.position, avatarPosition))) > 0.6;
}
return false; // NPC reference died. Maybe it crashed or we teleported to a new world?
}
function onWeLostFocus() {
print("lost NPC: " + NPC);
callOnNPC("onLostFocused");
var baselineX = 0;
var baselineY = 0;
}
function onWeGainedFocus() {
print("found NPC: " + NPC);
callOnNPC("onFocused");
var rotation = Quat.safeEulerAngles(Camera.getOrientation());
baselineX = rotation.x;
baselineY = rotation.y;
LimitlessSpeechRecognition.setListeningToVoice(true);
}
function checkFocus() {
var newNPC = findLookedAtNPC();
if (NPC && newNPC != NPC && !isStillFocusedNPC()) {
onWeLostFocus();
previousNPC = NPC;
NPC = false;
}
if (!NPC && newNPC != false) {
NPC = newNPC;
onWeGainedFocus();
}
}
function checkGesture() {
var rotation = Quat.safeEulerAngles(Camera.getOrientation());
var deltaX = Math.abs(rotation.x - baselineX);
if (deltaX > 180) {
deltaX -= 180;
}
var deltaY = Math.abs(rotation.y - baselineY);
if (deltaY > 180) {
deltaY -= 180;
}
if (deltaX >= nodRange && deltaY <= shakeRange) {
callOnNPC("onNodReceived");
} else if (deltaY >= shakeRange && deltaX <= nodRange) {
callOnNPC("onShakeReceived");
}
}
function tick() {
checkFocus();
if (NPC) {
checkGesture();
}
}
function heartbeat() {
callOnNPC("beat");
}
Messages.subscribe("interactionComs");
Messages.messageReceived.connect(function (channel, message, sender) {
if(channel === "interactionComs" && player) {
var codeIndex = message.search('clientexec');
if(codeIndex != -1) {
var code = message.substr(codeIndex+11);
Script.evaluate(code, '');
}
}
});
this.enterEntity = function(id) {
player = true;
print("Something entered me: " + id);
LimitlessSpeechRecognition.setAuthKey("testKey");
if (!ticker) {
ticker = Script.setInterval(tick, 333);
}
if(!heartbeatTimer) {
heartbeatTimer = Script.setInterval(heartbeat, 1000);
}
};
this.leaveEntity = function(id) {
LimitlessSpeechRecognition.setListeningToVoice(false);
player = false;
print("Something left me: " + id);
if (previousNPC)
Messages.sendMessage("interactionComs", previousNPC + ":leftArea");
if (ticker) {
ticker.stop();
ticker = false;
}
if (heartbeatTimer) {
heartbeatTimer.stop();
heartbeatTimer = false;
}
};
this.unload = function() {
print("Okay. I'm Unloading!");
if (ticker) {
ticker.stop();
ticker = false;
}
};
print("finished loading interaction script");
});

179
unpublishedScripts/interaction/NPCHelpers.js Normal file
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@ -0,0 +1,179 @@
//
// NPCHelpers.js
// scripts/interaction
//
// Created by Trevor Berninger on 3/20/17.
// Copyright 2017 High Fidelity Inc.
//
// Distributed under the Apache License, Version 2.0.
// See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
//
var audioInjector = false;
var blocked = false;
var playingResponseAnim = false;
var storyURL = "";
var _qid = "start";
print("TESTTEST");
function strContains(str, sub) {
return str.search(sub) != -1;
}
function callbackOnCondition(conditionFunc, ms, callback, count) {
var thisCount = 0;
if (typeof count !== 'undefined') {
thisCount = count;
}
if (conditionFunc()) {
callback();
} else if (thisCount < 10) {
Script.setTimeout(function() {
callbackOnCondition(conditionFunc, ms, callback, thisCount + 1);
}, ms);
} else {
print("callbackOnCondition timeout");
}
}
function playAnim(animURL, looping, onFinished) {
print("got anim: " + animURL);
print("looping: " + looping);
// Start caching the animation if not already cached.
AnimationCache.getAnimation(animURL);
// Tell the avatar to animate so that we can tell if the animation is ready without crashing
Avatar.startAnimation(animURL, 30, 1, false, false, 0, 1);
// Continually check if the animation is ready
callbackOnCondition(function(){
var details = Avatar.getAnimationDetails();
// if we are running the request animation and are past the first frame, the anim is loaded properly
print("running: " + details.running);
print("url and animURL: " + details.url.trim().replace(/ /g, "%20") + " | " + animURL.trim().replace(/ /g, "%20"));
print("currentFrame: " + details.currentFrame);
return details.running && details.url.trim().replace(/ /g, "%20") == animURL.trim().replace(/ /g, "%20") && details.currentFrame > 0;
}, 250, function(){
var timeOfAnim = ((AnimationCache.getAnimation(animURL).frames.length / 30) * 1000) + 100; // frames to miliseconds plus a small buffer
print("animation loaded. length: " + timeOfAnim);
// Start the animation again but this time with frame information
Avatar.startAnimation(animURL, 30, 1, looping, true, 0, AnimationCache.getAnimation(animURL).frames.length);
if (typeof onFinished !== 'undefined') {
print("onFinished defined. setting the timeout with timeOfAnim");
timers.push(Script.setTimeout(onFinished, timeOfAnim));
}
});
}
function playSound(soundURL, onFinished) {
callbackOnCondition(function() {
return SoundCache.getSound(soundURL).downloaded;
}, 250, function() {
if (audioInjector) {
audioInjector.stop();
}
audioInjector = Audio.playSound(SoundCache.getSound(soundURL), {position: Avatar.position, volume: 1.0});
if (typeof onFinished !== 'undefined') {
audioInjector.finished.connect(onFinished);
}
});
}
function npcRespond(soundURL, animURL, onFinished) {
if (typeof soundURL !== 'undefined' && soundURL != '') {
print("npcRespond got soundURL!");
playSound(soundURL, function(){
print("sound finished");
var animDetails = Avatar.getAnimationDetails();
print("animDetails.lastFrame: " + animDetails.lastFrame);
print("animDetails.currentFrame: " + animDetails.currentFrame);
if (animDetails.lastFrame < animDetails.currentFrame + 1 || !playingResponseAnim) {
onFinished();
}
audioInjector = false;
});
}
if (typeof animURL !== 'undefined' && animURL != '') {
print("npcRespond got animURL!");
playingResponseAnim = true;
playAnim(animURL, false, function() {
print("anim finished");
playingResponseAnim = false;
print("injector: " + audioInjector);
if (!audioInjector || !audioInjector.isPlaying()) {
print("resetting Timer");
print("about to call onFinished");
onFinished();
}
});
}
}
function npcRespondBlocking(soundURL, animURL, onFinished) {
print("blocking response requested");
if (!blocked) {
print("not already blocked");
blocked = true;
npcRespond(soundURL, animURL, function(){
if (onFinished){
onFinished();
}blocked = false;
});
}
}
function npcContinueStory(soundURL, animURL, nextID, onFinished) {
if (!nextID) {
nextID = _qid;
}
npcRespondBlocking(soundURL, animURL, function(){
if (onFinished){
onFinished();
}setQid(nextID);
});
}
function setQid(newQid) {
print("setting quid");
print("_qid: " + _qid);
_qid = newQid;
print("_qid: " + _qid);
doActionFromServer("init");
}
function runOnClient(code) {
Messages.sendMessage("interactionComs", "clientexec:" + code);
}
function doActionFromServer(action, data, useServerCache) {
if (action == "start") {
ignoreCount = 0;
_qid = "start";
}
var xhr = new XMLHttpRequest();
xhr.open("POST", "http://gserv_devel.studiolimitless.com/story", true);
xhr.onreadystatechange = function(){
if (xhr.readyState == 4){
if (xhr.status == 200) {
print("200!");
print("evaluating: " + xhr.responseText);
Script.evaluate(xhr.responseText, "");
} else if (xhr.status == 444) {
print("Limitless Serv 444: API error: " + xhr.responseText);
} else {
print("HTTP Code: " + xhr.status + ": " + xhr.responseText);
}
}
};
xhr.setRequestHeader("Content-Type", "application/x-www-form-urlencoded");
var postData = "url=" + storyURL + "&action=" + action + "&qid=" + _qid;
if (typeof data !== 'undefined' && data != '') {
postData += "&data=" + data;
}
if (typeof useServerCache !== 'undefined' && !useServerCache) {
postData += "&nocache=true";
}
print("Sending: " + postData);
xhr.send(postData);
}

102
unpublishedScripts/interaction/NPC_AC.js Normal file
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@ -0,0 +1,102 @@
//
// NPC_AC.js
// scripts/interaction
//
// Created by Trevor Berninger on 3/20/17.
// Copyright 2017 High Fidelity Inc.
//
// Distributed under the Apache License, Version 2.0.
// See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
//
var currentlyUsedIndices = [];
var timers = [];
var currentlyEngaged = false;
var questionNumber = 0;
var heartbeatTimeout = false;
function getRandomRiddle() {
var randIndex = null;
do {
randIndex = Math.floor(Math.random() * 15) + 1;
} while (randIndex in currentlyUsedIndices);
currentlyUsedIndices.push(randIndex);
return randIndex.toString();
}
Script.include("https://raw.githubusercontent.com/Delamare2112/hifi/Interaction/unpublishedScripts/interaction/NPCHelpers.js", function(){
print("NPCHelpers included.");main();
});
var idleAnim = "https://storage.googleapis.com/limitlessserv-144100.appspot.com/hifi%20assets/idle.fbx";
var FST = "https://s3.amazonaws.com/hifi-public/tony/fixed-sphinx/sphinx.fst";
Agent.isAvatar = true;
Avatar.skeletonModelURL = FST;
Avatar.displayName = "NPC";
Avatar.position = {x: 0.3, y: -23.4, z: 8.0};
Avatar.orientation = {x: 0, y: 1, z: 0, w: 0};
// Avatar.position = {x: 1340.3555, y: 4.078, z: -420.1562};
// Avatar.orientation = {x: 0, y: -0.707, z: 0, w: 0.707};
Avatar.scale = 2;
Messages.subscribe("interactionComs");
function endInteraction() {
print("ending interaction");
blocked = false;
currentlyEngaged = false;
if(audioInjector)
audioInjector.stop();
for (var t in timers) {
Script.clearTimeout(timers[t]);
}
if(_qid != "Restarting") {
npcRespondBlocking(
'https://storage.googleapis.com/limitlessserv-144100.appspot.com/hifi%20assets/ScratchDialogue/EarlyExit_0' + (Math.floor(Math.random() * 2) + 1).toString() + '.wav',
'https://storage.googleapis.com/limitlessserv-144100.appspot.com/hifi%20assets/Animation/reversedSphinx.fbx',
function(){
Avatar.startAnimation('https://storage.googleapis.com/limitlessserv-144100.appspot.com/hifi%20assets/Animation/Hifi_Sphinx_Anim_Entrance_Kneel_Combined_with_Intro.fbx', 0);
}
);
}
}
function main() {
storyURL = "https://storage.googleapis.com/limitlessserv-144100.appspot.com/hifi%20assets/Sphinx.json";
Messages.messageReceived.connect(function (channel, message, sender) {
if(!strContains(message, 'beat'))
print(sender + " -> NPC @" + Agent.sessionUUID + ": " + message);
if (channel === "interactionComs" && strContains(message, Agent.sessionUUID)) {
if (strContains(message, 'beat')) {
if(heartbeatTimeout) {
Script.clearTimeout(heartbeatTimeout);
heartbeatTimeout = false;
}
heartbeatTimeout = Script.setTimeout(endInteraction, 1500);
}
else if (strContains(message, "onFocused") && !currentlyEngaged) {
blocked = false;
currentlyEngaged = true;
currentlyUsedIndices = [];
doActionFromServer("start");
} else if (strContains(message, "leftArea")) {
} else if (strContains(message, "speaking")) {
} else {
var voiceDataIndex = message.search("voiceData");
if (voiceDataIndex != -1) {
var words = message.substr(voiceDataIndex+10);
if (!isNaN(_qid) && (strContains(words, "repeat") || (strContains(words, "say") && strContains(words, "again")))) {
doActionFromServer("init");
} else {
doActionFromServer("words", words);
}
}
}
}
});
// Script.update.connect(updateGem);
Avatar.startAnimation("https://storage.googleapis.com/limitlessserv-144100.appspot.com/hifi%20assets/Animation/Hifi_Sphinx_Anim_Entrance_Kneel_Combined_with_Intro.fbx", 0);
}

159
unpublishedScripts/interaction/Sphinx.json Normal file
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@ -0,0 +1,159 @@
{
"Name": "10 Questions",
"Defaults":
{
"Actions":
{
"positive": "var x=function(){if(questionNumber>=2){setQid('Finished');return;}var suffix=['A', 'B'][questionNumber++] + '_0' + (Math.floor(Math.random() * 2) + 2).toString() + '.wav';npcContinueStory('https://storage.googleapis.com/limitlessserv-144100.appspot.com/hifi%20assets/ScratchDialogue/RightAnswer'+suffix, 'https://storage.googleapis.com/limitlessserv-144100.appspot.com/hifi%20assets/Animation/RightAnswerB_02.fbx', getRandomRiddle());};x();",
"unknown": "var suffix=(Math.floor(Math.random() * 3) + 1).toString();npcContinueStory('https://storage.googleapis.com/limitlessserv-144100.appspot.com/hifi%20assets/ScratchDialogue/WrongAnswer_0' + suffix + '.wav','https://storage.googleapis.com/limitlessserv-144100.appspot.com/hifi%20assets/Animation/WrongAnswer_0' + suffix + '.fbx', getRandomRiddle());",
"hint": "var suffix=(Math.floor(Math.random() * 2) + 1).toString();npcContinueStory('https://storage.googleapis.com/limitlessserv-144100.appspot.com/hifi%20assets/ScratchDialogue/Hint_0' + suffix + '.wav','https://storage.googleapis.com/limitlessserv-144100.appspot.com/hifi%20assets/Animation/Hint_0' + suffix + '.fbx')"
},
"Responses":
{
"positive": ["yes","yup","yeah","yahoo","sure","affirmative","okay","aye","right","exactly","course","naturally","unquestionably","positively","yep","definitely","certainly","fine","absolutely","positive","love","fantastic"],
"thinking": ["oh", "think about", "i know", "what was", "well", "not sure", "one before", "hold", "one moment", "one second", "1 second", "1 sec", "one sec"],
"hint": ["hint", "heads"]
}
},
"Story":
[
{
"QID": "start",
"init": "questionNumber=0;npcContinueStory('https://storage.googleapis.com/limitlessserv-144100.appspot.com/hifi%20assets/ScratchDialogue/HiFi_Sphinx_Anim_Combined_Entrance_Audio.wav', 'https://storage.googleapis.com/limitlessserv-144100.appspot.com/hifi%20assets/Animation/Hifi_Sphinx_Anim_Entrance_Kneel_Combined_with_Intro.fbx', getRandomRiddle());"
},
{
"QID": "1",
"init": "npcRespondBlocking('https://storage.googleapis.com/limitlessserv-144100.appspot.com/hifi%20assets/ScratchDialogue/Riddle_Blackboard.wav', 'https://storage.googleapis.com/limitlessserv-144100.appspot.com/hifi%20assets/Animation/Riddle_Blackboard.fbx');",
"responses":
{
"positive": ["blackboard", "chalkboard", "chalk board", "slate"]
}
},
{
"QID": "2",
"init": "npcRespondBlocking('https://storage.googleapis.com/limitlessserv-144100.appspot.com/hifi%20assets/ScratchDialogue/Riddle_Breath.wav', 'https://storage.googleapis.com/limitlessserv-144100.appspot.com/hifi%20assets/Animation/Riddle_Breath.fbx');",
"responses":
{
"positive": ["breath", "death"]
}
},
{
"QID": "3",
"init": "npcRespondBlocking('https://storage.googleapis.com/limitlessserv-144100.appspot.com/hifi%20assets/ScratchDialogue/Riddle_Clock.wav', 'https://storage.googleapis.com/limitlessserv-144100.appspot.com/hifi%20assets/Animation/Riddle_Clock.fbx');",
"responses":
{
"positive": ["clock", "cock"]
}
},
{
"QID": "4",
"init": "npcRespondBlocking('https://storage.googleapis.com/limitlessserv-144100.appspot.com/hifi%20assets/ScratchDialogue/Riddle_Coffin.wav', 'https://storage.googleapis.com/limitlessserv-144100.appspot.com/hifi%20assets/Animation/Riddle_Coffin.fbx');",
"responses":
{
"positive": ["coffin", "casket", "possum"]
}
},
{
"QID": "5",
"init": "npcRespondBlocking('https://storage.googleapis.com/limitlessserv-144100.appspot.com/hifi%20assets/ScratchDialogue/Riddle_Coin.wav', 'https://storage.googleapis.com/limitlessserv-144100.appspot.com/hifi%20assets/Animation/Riddle_Coin.fbx');",
"responses":
{
"positive": ["coin", "boing", "coinage", "coin piece", "change", "join"]
}
},
{
"QID": "6",
"init": "npcRespondBlocking('https://storage.googleapis.com/limitlessserv-144100.appspot.com/hifi%20assets/ScratchDialogue/Riddle_Corn.wav', 'https://storage.googleapis.com/limitlessserv-144100.appspot.com/hifi%20assets/Animation/Riddle_Corn.fbx');",
"responses":
{
"positive": ["corn", "born", "maize", "maze", "means", "torn", "horn", "worn", "porn"]
}
},
{
"QID": "7",
"init": "npcRespondBlocking('https://storage.googleapis.com/limitlessserv-144100.appspot.com/hifi%20assets/ScratchDialogue/Riddle_Darkness.wav', 'https://storage.googleapis.com/limitlessserv-144100.appspot.com/hifi%20assets/Animation/Riddle_Darkness.fbx');",
"responses":
{
"positive": ["darkness", "dark", "blackness"]
}
},
{
"QID": "8",
"init": "npcRespondBlocking('https://storage.googleapis.com/limitlessserv-144100.appspot.com/hifi%20assets/ScratchDialogue/Riddle_Gloves.wav', 'https://storage.googleapis.com/limitlessserv-144100.appspot.com/hifi%20assets/Animation/Riddle_Gloves.fbx');",
"responses":
{
"positive": ["gloves", "love"]
}
},
{
"QID": "9",
"init": "npcRespondBlocking('https://storage.googleapis.com/limitlessserv-144100.appspot.com/hifi%20assets/ScratchDialogue/Riddle_Gold.wav', 'https://storage.googleapis.com/limitlessserv-144100.appspot.com/hifi%20assets/Animation/Riddle_Gold.fbx');",
"responses":
{
"positive": ["gold", "old", "bold", "cold", "told"]
}
},
{
"QID": "10",
"init": "npcRespondBlocking('https://storage.googleapis.com/limitlessserv-144100.appspot.com/hifi%20assets/ScratchDialogue/Riddle_River.wav', 'https://storage.googleapis.com/limitlessserv-144100.appspot.com/hifi%20assets/Animation/Riddle_River.fbx');",
"responses":
{
"positive": ["river", "bigger", "stream", "creek", "brook"]
}
},
{
"QID": "11",
"init": "npcRespondBlocking('https://storage.googleapis.com/limitlessserv-144100.appspot.com/hifi%20assets/ScratchDialogue/Riddle_Secret.wav', 'https://storage.googleapis.com/limitlessserv-144100.appspot.com/hifi%20assets/Animation/Riddle_Secret.fbx');",
"responses":
{
"positive": ["secret"]
}
},
{
"QID": "12",
"init": "npcRespondBlocking('https://storage.googleapis.com/limitlessserv-144100.appspot.com/hifi%20assets/ScratchDialogue/Riddle_Shadow.wav', 'https://storage.googleapis.com/limitlessserv-144100.appspot.com/hifi%20assets/Animation/Riddle_Shadow.fbx');",
"responses":
{
"positive": ["shadow"]
}
},
{
"QID": "13",
"init": "npcRespondBlocking('https://storage.googleapis.com/limitlessserv-144100.appspot.com/hifi%20assets/ScratchDialogue/Riddle_Silence.wav', 'https://storage.googleapis.com/limitlessserv-144100.appspot.com/hifi%20assets/Animation/Riddle_Silence.fbx');",
"responses":
{
"positive": ["silence", "lance", "quiet"]
}
},
{
"QID": "14",
"init": "npcRespondBlocking('https://storage.googleapis.com/limitlessserv-144100.appspot.com/hifi%20assets/ScratchDialogue/Riddle_Stairs.wav', 'https://storage.googleapis.com/limitlessserv-144100.appspot.com/hifi%20assets/Animation/Riddle_Stairs.fbx');",
"responses":
{
"positive": ["stairs", "steps", "stair", "stairwell", "there's", "stairway"]
}
},
{
"QID": "15",
"init": "npcRespondBlocking('https://storage.googleapis.com/limitlessserv-144100.appspot.com/hifi%20assets/ScratchDialogue/Riddle_Umbrella.wav', 'https://storage.googleapis.com/limitlessserv-144100.appspot.com/hifi%20assets/Animation/Riddle_Umbrella.fbx');",
"responses":
{
"positive": ["umbrella"]
}
},
{
"QID": "Finished",
"init": "Script.clearTimeout(heartbeatTimeout);heartbeatTimeout = false;npcRespondBlocking('https://storage.googleapis.com/limitlessserv-144100.appspot.com/hifi%20assets/ScratchDialogue/ConclusionRight_02.wav', 'https://storage.googleapis.com/limitlessserv-144100.appspot.com/hifi%20assets/Animation/ConclusionRight_02.fbx', function(){runOnClient('MyAvatar.goToLocation({x: 5, y: -29, z: -63}, true, true);');setQid('Restarting');});",
"positive": "",
"negative": "",
"unknown": ""
},
{
"QID": "Restarting",
"init": "npcRespondBlocking('', 'https://storage.googleapis.com/limitlessserv-144100.appspot.com/hifi%20assets/Animation/reversedSphinx.fbx', function(){Avatar.startAnimation('https://storage.googleapis.com/limitlessserv-144100.appspot.com/hifi%20assets/Animation/Hifi_Sphinx_Anim_Entrance_Kneel_Combined_with_Intro.fbx', 0);_qid='';});",
"positive": "",
"negative": "",
"unknown": ""
}
]
}