Mirrors/overte
3
0
Fork 0
mirror of https://github.com/overte-org/overte.git synced 2025-04-20 03:44:02 +02:00
Code Issues Projects Releases Packages Wiki Activity Actions

fix hover-drive in HMD

Browse source
This commit is contained in:
Andrew Meadows 2016-11-15 11:45:09 -08:00
parent 6bb3dd6830
commit a04b7ae297
2 changed files with 32 additions and 14 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

32
interface/src/avatar/MyAvatar.cpp
View file

@ -465,7 +465,9 @@ void MyAvatar::simulate(float deltaTime) {
// update sensorToWorldMatrix for camera and hand controllers
// before we perform rig animations and IK.
updateSensorToWorldMatrix(_enableVerticalComfortMode ? SensorToWorldUpdateMode::VerticalComfort : SensorToWorldUpdateMode::Vertical);
if (_characterController.getState() != CharacterController::State::Hover) {
updateSensorToWorldMatrix(_enableVerticalComfortMode ? SensorToWorldUpdateMode::VerticalComfort : SensorToWorldUpdateMode::Vertical);
}
{
PerformanceTimer perfTimer("skeleton");
@ -1356,7 +1358,8 @@ void MyAvatar::updateMotors() {
}
if (qApp->isHMDMode()) {
// OUTOFBODY_HACK: motors are applied differently in HMDMode
// OUTOFBODY_HACK: in HMDMode motors are applied differently: a "follow" motor is added
// during the CharacterController's substep
} else {
if (_isPushing || _isBraking || !_isBeingPushed) {
_characterController.addMotor(_actionMotorVelocity, motorRotation, DEFAULT_MOTOR_TIMESCALE, INVALID_MOTOR_TIMESCALE);
@ -1887,12 +1890,17 @@ void MyAvatar::updateActionMotor(float deltaTime) {
}
void MyAvatar::applyVelocityToSensorToWorldMatrix(const glm::vec3& velocity, float deltaTime) {
glm::vec3 horizontalVelocity(velocity.x, 0.0f, velocity.z);
float speed2 = glm::length2(horizontalVelocity);
glm::vec3 newVelocity = velocity;
if (_characterController.getState() != CharacterController::State::Hover) {
newVelocity -= glm::dot(newVelocity, _worldUpDirection);
}
float speed2 = glm::length2(newVelocity);
if (speed2 > MIN_AVATAR_SPEED_SQUARED) {
glm::vec3 position = extractTranslation(_sensorToWorldMatrix) + deltaTime * horizontalVelocity;
glm::vec3 position = extractTranslation(_sensorToWorldMatrix) + deltaTime * newVelocity;
// update the position column of matrix
_sensorToWorldMatrix[3] = glm::vec4(position, 1);
glm::mat4 newSensorToWorldMatrix = _sensorToWorldMatrix;
newSensorToWorldMatrix[3] = glm::vec4(position, 1.0f);
setSensorToWorldMatrix(newSensorToWorldMatrix);
}
}
@ -1929,16 +1937,19 @@ void MyAvatar::updatePosition(float deltaTime) {
}
if (qApp->isHMDMode()) {
// Apply _actionMotorVelocity directly to the sensorToWorld matrix.
glm::quat motorRotation;
glm::vec3 worldVelocity = glm::vec3(0.0f);
if (_motionBehaviors & AVATAR_MOTION_ACTION_MOTOR_ENABLED) {
glm::quat liftRotation;
swingTwistDecomposition(glmExtractRotation(_sensorToWorldMatrix * getHMDSensorMatrix()), _worldUpDirection, liftRotation, motorRotation);
if (_characterController.getState() == CharacterController::State::Hover ||
_characterController.getCollisionGroup() == BULLET_COLLISION_GROUP_COLLISIONLESS) {
motorRotation = glmExtractRotation(_sensorToWorldMatrix * getHMDSensorMatrix());
} else {
glm::quat liftRotation;
swingTwistDecomposition(glmExtractRotation(_sensorToWorldMatrix * getHMDSensorMatrix()), _worldUpDirection, liftRotation, motorRotation);
}
worldVelocity = motorRotation * _actionMotorVelocity;
}
// Apply _scriptedMotorVelocity to the sensorToWorld matrix.
if (_motionBehaviors & AVATAR_MOTION_SCRIPTED_MOTOR_ENABLED) {
if (_scriptedMotorFrame == SCRIPTED_MOTOR_CAMERA_FRAME) {
motorRotation = getHead()->getCameraOrientation() * glm::angleAxis(PI, Vectors::UNIT_Y);
@ -1955,6 +1966,7 @@ void MyAvatar::updatePosition(float deltaTime) {
const float THRUST_DAMPING_FACTOR = 0.25f;
worldVelocity += THRUST_DAMPING_FACTOR * _thrust;
// apply velocity directly to _sensorToWorldMatrix.
if (glm::length2(worldVelocity) > FLT_EPSILON) {
glm::mat4 worldBodyMatrix = _sensorToWorldMatrix * _bodySensorMatrix;
glm::vec3 position = extractTranslation(worldBodyMatrix);

14
libraries/physics/src/CharacterController.cpp
View file

@ -277,10 +277,15 @@ void CharacterController::playerStep(btCollisionWorld* collisionWorld, btScalar
}
vel += _followVelocity;
const float HORIZONTAL_FOLLOW_TIMESCALE = 0.05f;
const float VERTICAL_FOLLOW_TIMESCALE = (_state == State::Hover) ? HORIZONTAL_FOLLOW_TIMESCALE : 20.0f;
float verticalFollowTimescale = 20.0f;
if (_state == State::Hover) {
verticalFollowTimescale = HORIZONTAL_FOLLOW_TIMESCALE;
} else {
// remove vertical component
vel -= vel.dot(_currentUp) * _currentUp;
}
glm::quat worldFrameRotation; // identity
vel.setY(0.0f); // don't allow any vertical component of the follow velocity to enter the _targetVelocity.
addMotor(bulletToGLM(vel), worldFrameRotation, HORIZONTAL_FOLLOW_TIMESCALE, VERTICAL_FOLLOW_TIMESCALE);
addMotor(bulletToGLM(vel), worldFrameRotation, HORIZONTAL_FOLLOW_TIMESCALE, verticalFollowTimescale);
}
// angular part uses incremental teleports
@ -773,7 +778,8 @@ void CharacterController::updateState() {
const btScalar MAX_WALKING_SPEED = 2.5f;
bool flyingFast = _state == State::Hover && actualHorizVelocity.length() > (MAX_WALKING_SPEED * 0.75f);
if ((_floorDistance < MIN_HOVER_HEIGHT) && !jumpButtonHeld && !flyingFast) {
if ((_floorDistance < MIN_HOVER_HEIGHT) &&
!(jumpButtonHeld || flyingFast || (now - _jumpButtonDownStartTime) > JUMP_TO_HOVER_PERIOD)) {
SET_STATE(State::InAir, "near ground");
} else if (((_floorDistance < FLY_TO_GROUND_THRESHOLD) || _hasSupport) && !flyingFast) {
SET_STATE(State::Ground, "touching ground");