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

cmake/externals/wasapi/CMakeLists.txt

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

interface/resources/controllers/vive.json

@@ -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"] }
     ]
 }

interface/resources/qml/controls/TabletWebButton.qml

@@ -17,19 +17,20 @@ 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;
@@ -37,7 +38,6 @@ Rectangle {
         }
     }
         
-        
     Rectangle {
         id: indicator
         width: parent.width

interface/resources/qml/controls/TabletWebView.qml

@@ -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: []
 
-    
+    // Manage own browse history because WebEngineView history is wiped when a new URL is loaded via
-    property int currentPage: -1 // used as a model for repeater
+    // onNewViewRequested, e.g., as happens when a social media share button is clicked.
-    property alias pagesModel: pagesModel
+    property var history: []
+    property int historyIndex: -1
 
     Rectangle {
         id: buttons
@@ -51,21 +49,22 @@ Item {
             
             TabletWebButton {
                 id: back
-                enabledColor: hifi.colors.baseGray
+                enabledColor: hifi.colors.darkGray
-                enabled: false
+                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) {
+        if (historyIndex > 0) {
-            forwardList.push(webview.url);
+            historyIndex--;
-            webview.goBack();
+            loadUrl(history[historyIndex]);
-        } 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 = [];
         }
     }
 
@@ -137,19 +115,12 @@ Item {
     }
 
     function goForward() {
-        if (currentPage < pagesModel.count - 1) {
+        if (historyIndex < history.length - 1) {
-            currentPage++;
+            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);
         }
     }

interface/resources/qml/hifi/Pal.qml

@@ -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});
 

interface/src/Application.cpp

@@ -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
+    // FIXME: something else is holding a reference to AudioClient,
-
+    // so it must be explicitly synchronously stopped here
-    // stop the AudioClient, synchronously
     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) {

interface/src/Menu.cpp

@@ -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.

interface/src/Menu.h

@@ -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";

interface/src/avatar/MyAvatar.cpp

@@ -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();
+            _previousCollisionGroup = _characterController.computeCollisionGroup();
-            _characterController.setEnabled(false);
+            _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.setCollisionlessAllowed(collisionlessAllowed);
-            _characterController.setEnabled(true);
-        }
     }
 
     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) {
+    if (state == CharacterController::State::Hover ||
-        // we're flying --> support vertical motion
+            _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;
     }
-
+    setCollisionsEnabled(menu->isOptionChecked(MenuOption::EnableAvatarCollisions));
-    setCharacterControllerEnabled(menu->isOptionChecked(MenuOption::EnableCharacterController));
 }
 
-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;
+    _characterController.setCollisionless(!enabled);
-    auto entityTreeRenderer = qApp->getEntities();
+}
-    if (entityTreeRenderer) {
+
-        std::shared_ptr<ZoneEntityItem> zone = entityTreeRenderer->myAvatarZone();
+bool MyAvatar::getCollisionsEnabled() {
-        if (zone) {
+    // may return 'false' even though the collisionless option was requested
-            ghostingAllowed = zone->getGhostingAllowed();
+    // because the zone may disallow collisionless avatars
-        }
+    return _characterController.computeCollisionGroup() != BULLET_COLLISION_GROUP_COLLISIONLESS;
-    }
+}
-    _characterController.setEnabled(ghostingAllowed ? enabled : true);
+
+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() {

interface/src/avatar/MyAvatar.h

@@ -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 void setCollisionsEnabled(bool enabled);
-    Q_INVOKABLE bool getCharacterControllerEnabled();
+    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;

interface/src/avatar/MyCharacterController.cpp

@@ -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);
+                }
+            }
+        }
+    }
+}

interface/src/avatar/MyCharacterController.h

@@ -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

interface/src/avatar/MySkeletonModel.cpp

@@ -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);
 }
 

libraries/audio-client/src/AudioClient.cpp

@@ -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 BackgroundThread : public QThread {
-class CheckDevicesThread : 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)
+// background thread continuously polling device changes
-        : _audioClient(audioClient) {
+class CheckDevicesThread : public BackgroundThread {
-    }
+public:
-
+    CheckDevicesThread(AudioClient* client) : BackgroundThread(client) {}
-    void beforeAboutToQuit() {
+
-        Lock lock(_checkDevicesMutex);
+    void join() override {
-        _quit = true;
+        _shouldQuit = true;
+        std::unique_lock<std::mutex> lock(_joinMutex);
+        _joinCondition.wait(lock, [&]{ return !_isRunning; });
     }
 
+protected:
     void run() override {
-        while (true) {
+        while (!_shouldQuit) {
-            {
+            _client->checkDevices();
-                Lock lock(_checkDevicesMutex);
+
-                if (_quit) {
+            const unsigned long DEVICE_CHECK_INTERVAL_MSECS = 2 * 1000;
-                    break;
-                }
-                _audioClient->checkDevices();
-            }
             QThread::msleep(DEVICE_CHECK_INTERVAL_MSECS);
         }
+        std::lock_guard<std::mutex> lock(_joinMutex);
+        _isRunning = false;
+        _joinCondition.notify_one();
     }
 
 private:
-    AudioClient* _audioClient { nullptr };
+    std::atomic<bool> _shouldQuit { false };
-    Mutex _checkDevicesMutex;
+    bool _isRunning { true };
-    bool _quit { false };
+    std::mutex _joinMutex;
+    std::condition_variable _joinCondition;
 };
 
-void AudioInjectorsThread::prepare() {
+// background thread buffering local injectors
-    _audio->prepareLocalAudioInjectors();
+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");
+    _localInjectorsThread = new LocalInjectorsThread(this);
-    _localAudioThread.start();
+    _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() {
+void AudioClient::customDeleter() {
-    static_cast<CheckDevicesThread*>(_checkDevicesThread)->beforeAboutToQuit();
+    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) {
+        if (!doSynchronously) {
             // unlock between every write to allow device switching
-        Lock lock(_localAudioMutex);
+            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) {
-
+    // check the flag for injectors before attempting to lock
-    QVector<AudioInjector*> injectorsToRemove;
+    if (!_localInjectorsAvailable.load(std::memory_order_acquire)) {
-    
-    // lock the injector vector
-    Lock lock(_injectorsMutex);
-
-    if (_activeLocalAudioInjectors.size() == 0) {
         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;
 }
 
@@ -1328,7 +1369,10 @@ 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";
         }
@@ -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);
+                    int networkPeriod = _localToOutputResampler->getMaxOutput(AudioConstants::NETWORK_FRAME_SAMPLES_STEREO);
-                    _localOutputMixBuffer = new float[_networkPeriod];
+                    _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
+        // - switchOutputToAudioDevice will zero samples count,
-        //   stop the device, so that readData will exhaust the existing buffer or see a zeroed 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
+        //   and start the device - which can then only see a zeroed samples count
-        samplesRequested = std::min(samplesRequested, _audio->_localSamplesAvailable.load(std::memory_order_acquire));
+        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;

libraries/audio-client/src/AudioClient.h

@@ -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 {
+    virtual void customDeleter() override;
-        deleteLater();
-    }
 
 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 };
 };
 
 

libraries/audio/src/AbstractAudioInterface.h

@@ -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;

libraries/avatars-renderer/src/avatars-renderer/Avatar.cpp

@@ -369,7 +369,9 @@ void Avatar::simulate(float deltaTime, bool inView) {
     PerformanceTimer perfTimer("simulate");
     {
         PROFILE_RANGE(simulation, "updateJoints");
-        if (inView && _hasNewJointData) {
+        if (inView) {
+            Head* head = getHead();
+            if (_hasNewJointData) {
                 _skeletonModel->getRig()->copyJointsFromJointData(_jointData);
                 glm::mat4 rootTransform = glm::scale(_skeletonModel->getScale()) * glm::translate(_skeletonModel->getOffset());
                 _skeletonModel->getRig()->computeExternalPoses(rootTransform);
@@ -384,8 +386,8 @@ void Avatar::simulate(float deltaTime, bool inView) {
                 if (!_skeletonModel->getHeadPosition(headPosition)) {
                     headPosition = getPosition();
                 }
-            Head* head = getHead();
                 head->setPosition(headPosition);
+            }
             head->setScale(getUniformScale());
             head->simulate(deltaTime);
         } else {

libraries/avatars-renderer/src/avatars-renderer/SkeletonModel.cpp

@@ -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;
@@ -86,7 +87,6 @@ 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;
@@ -117,10 +117,6 @@ void SkeletonModel::updateRig(float deltaTime, glm::mat4 parentTransform) {
     eyeParams.rightEyeJointIndex = geometry.rightEyeJointIndex;
 
     _rig->updateFromEyeParameters(eyeParams);
-     }
-
-    // evaluate AnimGraph animation and update jointStates.
-    Parent::updateRig(deltaTime, parentTransform);
 }
 
 void SkeletonModel::updateAttitude() {

libraries/fbx/src/OBJReader.cpp

@@ -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) {

libraries/physics/src/BulletUtil.h

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

libraries/physics/src/CharacterController.cpp

@@ -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
+            _dynamicsWorld->addRigidBody(_rigidBody, collisionGroup, BULLET_COLLISION_MASK_MY_AVATAR);
-            // 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->addAction(this);
-            // restore gravity settings
+            // restore gravity settings because adding an object to the world overwrites its gravity setting
-            _rigidBody->setGravity(oldGravity);
+            _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);
+        btPersistentManifold* contactManifold = dispatcher->getManifoldByIndexInternal(i);
-        const btCollisionObject* obA = static_cast<const btCollisionObject*>(contactManifold->getBody0());
+        if (_rigidBody == contactManifold->getBody1() || _rigidBody == contactManifold->getBody0()) {
-        const btCollisionObject* obB = static_cast<const btCollisionObject*>(contactManifold->getBody1());
+            bool characterIsFirst = _rigidBody == contactManifold->getBody0();
-        if (obA == _rigidBody || obB == _rigidBody) {
             int numContacts = contactManifold->getNumContacts();
+            int stepContactIndex = -1;
+            float highestStep = _minStepHeight;
             for (int j = 0; j < numContacts; j++) {
-                btManifoldPoint& pt = contactManifold->getContactPoint(j);
+                // 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 hasFloor;
+}
 
-                // check to see if contact point is touching the bottom sphere of the capsule.
+void CharacterController::updateAction(btCollisionWorld* collisionWorld, btScalar deltaTime) {
-                // and the contact normal is not slanted too much.
+    preStep(collisionWorld);
-                float contactPointY = (obA == _rigidBody) ? pt.m_localPointA.getY() : pt.m_localPointB.getY();
+    playerStep(collisionWorld, deltaTime);
-                btVector3 normal = (obA == _rigidBody) ? pt.m_normalWorldOnB : -pt.m_normalWorldOnB;
-                if (contactPointY < -_halfHeight && normal.dot(_currentUp) > COS_PI_OVER_THREE) {
-                    return true;
-                }
-            }
-        }
-    }
-    return false;
 }
 
 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) {
+void CharacterController::updateGravity() {
-    _boxScale = scale;
+    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;
+void CharacterController::setLocalBoundingBox(const glm::vec3& minCorner, const glm::vec3& scale) {
-    float z = _boxScale.z;
+    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);
+    if (glm::abs(radius - _radius) > FLT_EPSILON || glm::abs(halfHeight - _halfHeight) > FLT_EPSILON) {
-    float heightDelta = glm::abs(halfHeight - _halfHeight);
+        _radius = radius;
-    if (radiusDelta < FLT_EPSILON && heightDelta < FLT_EPSILON) {
+        _halfHeight = halfHeight;
-        // shape hasn't changed --> nothing to do
+        const btScalar DEFAULT_MIN_STEP_HEIGHT_FACTOR = 0.005f;
-    } else {
+        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;
     }
-    }
 
     // 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) {
+void CharacterController::setCollisionless(bool collisionless) {
-    if (enabled != _enabled) {
+    if (collisionless != _collisionless) {
-        if (enabled) {
+        _collisionless = collisionless;
-            // Don't bother clearing REMOVE bit since it might be paired with an UPDATE_SHAPE bit.
+        _pendingFlags |= PENDING_FLAG_UPDATE_COLLISION_GROUP;
-            // Setting the ADD bit here works for all cases so we don't even bother checking other bits.
+    }
-            _pendingFlags |= PENDING_FLAG_ADD_TO_SIMULATION;
+}
+
+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) {
-                _pendingFlags |= PENDING_FLAG_REMOVE_FROM_SIMULATION;
+            _dynamicsWorld->removeRigidBody(_rigidBody);
+            int16_t collisionGroup = computeCollisionGroup();
+            _dynamicsWorld->addRigidBody(_rigidBody, collisionGroup, BULLET_COLLISION_MASK_MY_AVATAR);
         }
-            _pendingFlags &= ~ PENDING_FLAG_ADD_TO_SIMULATION;
+        _pendingFlags &= ~PENDING_FLAG_UPDATE_COLLISION_GROUP;
-        }
+        updateGravity();
-        SET_STATE(State::Hover, "setEnabled");
-        _enabled = enabled;
     }
 }
 
 void CharacterController::updateUpAxis(const glm::quat& rotation) {
-    btVector3 oldUp = _currentUp;
     _currentUp = quatRotate(glmToBullet(rotation), LOCAL_UP_AXIS);
-    if (_state != State::Hover) {
+    if (_state != State::Hover && _rigidBody) {
-        const btScalar MIN_UP_ERROR = 0.01f;
+        _rigidBody->setGravity(_gravity * _currentUp);
-        if (oldUp.distance(_currentUp) > MIN_UP_ERROR) {
-            _rigidBody->setGravity(DEFAULT_CHARACTER_GRAVITY * _currentUp);
-        }
     }
 }
 
 void CharacterController::setPositionAndOrientation(
         const glm::vec3& position,
         const glm::quat& orientation) {
-    // TODO: update gravity if up has changed
     updateUpAxis(orientation);
-
+    _rotation = glmToBullet(orientation);
-    btQuaternion bodyOrientation = glmToBullet(orientation);
+    _position = glmToBullet(position + orientation * _shapeLocalOffset);
-    btVector3 bodyPosition = glmToBullet(position + orientation * _shapeLocalOffset);
-    _characterBodyTransform = btTransform(bodyOrientation, bodyPosition);
 }
 
 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 vMotorVelocity = motorVelocity.dot(up) * up;
-        btVector3 hTargetVelocity = motor.velocity - vTargetVelocity;
+        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) {
@@ -523,45 +631,48 @@ void CharacterController::computeNewVelocity(btScalar dt, glm::vec3& velocity) {
     velocity = bulletToGLM(btVelocity);
 }
 
-void CharacterController::preSimulation() {
+void CharacterController::updateState() {
-    if (_enabled && _dynamicsWorld && _rigidBody) {
+    if (!_dynamicsWorld) {
-        quint64 now = usecTimestampNow();
+        return;
-
+    }
-        // 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 = _characterBodyTransform.getOrigin();
-
-        // 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;
+
-        const quint64 RAY_HIT_START_PERIOD = 500 * MSECS_PER_SECOND;
+    // scan for distant floor
+    // rayStart is at center of bottom sphere
+    btVector3 rayStart = _position;
+
+    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;
 
     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 if ((now - _rayHitStartTime) < RAY_HIT_START_PERIOD) {
+    } else {
+        const quint64 RAY_HIT_START_PERIOD = 500 * MSECS_PER_SECOND;
+        if ((now - _rayHitStartTime) < RAY_HIT_START_PERIOD) {
             rayHasHit = true;
         } else {
             _floorDistance = FLT_MAX;
         }
+    }
 
     // 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;
@@ -569,11 +680,11 @@ void CharacterController::preSimulation() {
         }
     }
 
-        bool jumpButtonHeld = _pendingFlags & PENDING_FLAG_JUMP;
+    btVector3 velocity = _preSimulationVelocity;
-
-        btVector3 actualHorizVelocity = velocity - velocity.dot(_currentUp) * _currentUp;
-        bool flyingFast = _state == State::Hover && actualHorizVelocity.length() > (MAX_WALKING_SPEED * 0.75f);
 
+    // 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 (_rigidBody) {
-    if (_enabled && _dynamicsWorld && _rigidBody) {
+        _velocityChange = _rigidBody->getLinearVelocity() - _preSimulationVelocity;
-        btVector3 velocity = _rigidBody->getLinearVelocity();
-        _velocityChange = velocity - _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;
+    }
+}

libraries/physics/src/CharacterController.h

@@ -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
+#ifndef hifi_CharacterController_h
-#define hifi_CharacterControllerInterface_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 uint32_t PENDING_FLAG_UPDATE_COLLISION_GROUP = 1U << 4;
-const float DEFAULT_CHARACTER_GRAVITY = -5.0f;
+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 {
+    virtual void updateAction(btCollisionWorld* collisionWorld, btScalar deltaTime) override;
-        preStep(collisionWorld);
-        playerStep(collisionWorld, deltaTime);
-    }
     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
+    bool isEnabledAndReady() const { return _dynamicsWorld; }
-    void setEnabled(bool enabled);
+
-    bool isEnabledAndReady() const { return _enabled && _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;
+    // data for walking up steps
-    btScalar _radius;
+    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

libraries/physics/src/CharacterGhostObject.cpp

@@ -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;
+    }
+}

libraries/physics/src/CharacterGhostObject.h

@@ -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

libraries/physics/src/CharacterGhostShape.cpp

@@ -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;
+}

libraries/physics/src/CharacterGhostShape.h

@@ -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

libraries/physics/src/CharacterRayResult.cpp

@@ -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);
+}

libraries/physics/src/CharacterRayResult.h

@@ -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

libraries/physics/src/CharacterSweepResult.cpp

@@ -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);
+}

libraries/physics/src/CharacterSweepResult.h

@@ -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

libraries/physics/src/CollisionRenderMeshCache.cpp

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

libraries/physics/src/CollisionRenderMeshCache.h

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

libraries/physics/src/ContactInfo.cpp

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

libraries/physics/src/ContactInfo.h

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

libraries/physics/src/ObjectAction.cpp

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

libraries/physics/src/ObjectAction.h

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

libraries/physics/src/ObjectMotionState.cpp

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

libraries/physics/src/ObjectMotionState.h

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

libraries/physics/src/PhysicalEntitySimulation.cpp

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

libraries/physics/src/PhysicalEntitySimulation.h

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

libraries/physics/src/PhysicsEngine.cpp

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

libraries/physics/src/PhysicsEngine.h

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

libraries/physics/src/ShapeFactory.cpp

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

libraries/physics/src/ShapeFactory.h

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

libraries/physics/src/ShapeManager.cpp

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

libraries/physics/src/ShapeManager.h

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

libraries/script-engine/src/TabletScriptingInterface.cpp

@@ -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) {

libraries/shared/src/BackgroundMode.h

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

libraries/shared/src/ShapeInfo.cpp

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

libraries/shared/src/ShapeInfo.h

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

plugins/openvr/src/ViveControllerManager.cpp

@@ -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) &&
@@ -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) {
@@ -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"),

plugins/openvr/src/ViveControllerManager.h

@@ -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;

scripts/system/makeUserConnection.js

@@ -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 (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
-                if (state !== STATES.MAKING_CONNECTION && connectingId === senderID) {
                     clearConnecting();
                     if (state !== STATES.INACTIVE) {
                         startHandshake();

scripts/system/pal.js

@@ -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.
+        callback(connectionsData.users);
-        // 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);
     });
 }
-
+function getInfoAboutUser(specificUsername, callback) {
-function getConnectionData(domain) { // Update all the usernames that I am entitled to see, using my login but not dependent on canKick.
+    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) {
@@ -397,10 +394,19 @@ 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 || ''
         };
     }
+    if (specificUsername) {
+        getInfoAboutUser(specificUsername, function (user) {
+            if (user) {
+                updateUser(frob(user));
+            } else {
+                print('Error: Unable to find information about ' + specificUsername + ' in connectionsData!');
+            }
+        });
+    } else {
         getAvailableConnections(domain, function (users) {
             if (domain) {
                 users.forEach(function (user) {
@@ -410,6 +416,7 @@ function getConnectionData(domain) { // Update all the usernames that I am entit
                 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) {

unpublishedScripts/interaction/Interaction.js

@@ -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");
+});

unpublishedScripts/interaction/NPCHelpers.js

@@ -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);
+}

unpublishedScripts/interaction/NPC_AC.js

@@ -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);
+}

unpublishedScripts/interaction/Sphinx.json

@@ -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": ""
+		}
+	]
+}