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Merge branch 'master' of github.com:highfidelity/hifi into vive-head-input

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This commit is contained in:
Dante Ruiz 2017-05-09 21:12:20 +01:00
commit b70d26d10b
43 changed files with 1126 additions and 304 deletions
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4
cmake/externals/wasapi/CMakeLists.txt vendored
View file

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

7
interface/src/Application.cpp
View file

@ -4331,13 +4331,6 @@ void Application::update(float deltaTime) {
if (nearbyEntitiesAreReadyForPhysics()) {
_physicsEnabled = true;
getMyAvatar()->updateMotionBehaviorFromMenu();
} else {
auto characterController = getMyAvatar()->getCharacterController();
if (characterController) {
// if we have a character controller, disable it here so the avatar doesn't get stuck due to
// a non-loading collision hull.
characterController->setEnabled(false);
}
}
}
} else if (domainLoadingInProgress) {

2
interface/src/Menu.cpp
View file

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

2
interface/src/Menu.h
View file

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

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

@ -150,8 +150,6 @@ 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;
@ -165,12 +163,14 @@ MyAvatar::MyAvatar(QThread* thread, RigPointer rig) :
if (recordingInterface->getPlayFromCurrentLocation()) {
setRecordingBasis();
}
_wasCharacterControllerEnabled = _characterController.isEnabled();
_characterController.setEnabled(false);
_previousCollisionGroup = _characterController.computeCollisionGroup();
_characterController.setCollisionless(true);
} else {
clearRecordingBasis();
useFullAvatarURL(_fullAvatarURLFromPreferences, _fullAvatarModelName);
_characterController.setEnabled(_wasCharacterControllerEnabled);
if (_previousCollisionGroup != BULLET_COLLISION_GROUP_COLLISIONLESS) {
_characterController.setCollisionless(false);
}
}
auto audioIO = DependencyManager::get<AudioClient>();
@ -552,12 +552,12 @@ 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();
@ -588,9 +588,7 @@ void MyAvatar::simulate(float deltaTime) {
}
});
_characterController.setFlyingAllowed(flyingAllowed);
if (!_characterController.isEnabled() && !ghostingAllowed) {
_characterController.setEnabled(true);
}
_characterController.setCollisionlessAllowed(collisionlessAllowed);
}
updateAvatarEntities();
@ -1449,7 +1447,8 @@ 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
@ -1495,6 +1494,7 @@ void MyAvatar::prepareForPhysicsSimulation() {
qDebug() << "Warning: getParentVelocity failed" << getID();
parentVelocity = glm::vec3();
}
_characterController.handleChangedCollisionGroup();
_characterController.setParentVelocity(parentVelocity);
_characterController.setPositionAndOrientation(getPosition(), getOrientation());
@ -1883,8 +1883,9 @@ void MyAvatar::updateActionMotor(float deltaTime) {
glm::vec3 direction = forward + right;
CharacterController::State state = _characterController.getState();
if (state == CharacterController::State::Hover) {
// we're flying --> support vertical motion
if (state == CharacterController::State::Hover ||
_characterController.computeCollisionGroup() == BULLET_COLLISION_GROUP_COLLISIONLESS) {
// we can fly --> support vertical motion
glm::vec3 up = (getDriveKey(TRANSLATE_Y)) * IDENTITY_UP;
direction += up;
}
@ -1906,7 +1907,7 @@ 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) {
@ -1949,9 +1950,17 @@ 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.
@ -2188,30 +2197,33 @@ void MyAvatar::updateMotionBehaviorFromMenu() {
} else {
_motionBehaviors &= ~AVATAR_MOTION_SCRIPTED_MOTOR_ENABLED;
}
setCharacterControllerEnabled(menu->isOptionChecked(MenuOption::EnableCharacterController));
setCollisionsEnabled(menu->isOptionChecked(MenuOption::EnableAvatarCollisions));
}
void MyAvatar::setCharacterControllerEnabled(bool enabled) {
void MyAvatar::setCollisionsEnabled(bool enabled) {
if (QThread::currentThread() != thread()) {
QMetaObject::invokeMethod(this, "setCharacterControllerEnabled", Q_ARG(bool, enabled));
QMetaObject::invokeMethod(this, "setCollisionsEnabled", Q_ARG(bool, enabled));
return;
}
bool ghostingAllowed = true;
auto entityTreeRenderer = qApp->getEntities();
if (entityTreeRenderer) {
std::shared_ptr<ZoneEntityItem> zone = entityTreeRenderer->myAvatarZone();
if (zone) {
ghostingAllowed = zone->getGhostingAllowed();
}
}
_characterController.setEnabled(ghostingAllowed ? enabled : true);
_characterController.setCollisionless(!enabled);
}
bool MyAvatar::getCollisionsEnabled() {
// may return 'false' even though the collisionless option was requested
// because the zone may disallow collisionless avatars
return _characterController.computeCollisionGroup() != BULLET_COLLISION_GROUP_COLLISIONLESS;
}
void MyAvatar::setCharacterControllerEnabled(bool enabled) {
qCDebug(interfaceapp) << "MyAvatar.characterControllerEnabled is deprecated. Use MyAvatar.collisionsEnabled instead.";
setCollisionsEnabled(enabled);
}
bool MyAvatar::getCharacterControllerEnabled() {
return _characterController.isEnabled();
qCDebug(interfaceapp) << "MyAvatar.characterControllerEnabled is deprecated. Use MyAvatar.collisionsEnabled instead.";
return getCollisionsEnabled();
}
void MyAvatar::clearDriveKeys() {

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

@ -96,7 +96,7 @@ class MyAvatar : public Avatar {
* @property rightHandTipPose {Pose} READ-ONLY. Returns a pose offset 30 cm from MyAvatar.rightHandPose
* @property hmdLeanRecenterEnabled {bool} This can be used disable the hmd lean recenter behavior. This behavior is what causes your avatar
* to follow your HMD as you walk around the room, in room scale VR. Disabling this is useful if you desire to pin the avatar to a fixed location.
* @property characterControllerEnabled {bool} This can be used to disable collisions between the avatar and the world.
* @property collisionsEnabled {bool} This can be used to disable collisions between the avatar and the world.
* @property useAdvancedMovementControls {bool} Stores the user preference only, does not change user mappings, this is done in the defaultScript
* "scripts/system/controllers/toggleAdvancedMovementForHandControllers.js".
*/
@ -128,6 +128,7 @@ class MyAvatar : public Avatar {
Q_PROPERTY(float isAway READ getIsAway WRITE setAway)
Q_PROPERTY(bool hmdLeanRecenterEnabled READ getHMDLeanRecenterEnabled WRITE setHMDLeanRecenterEnabled)
Q_PROPERTY(bool collisionsEnabled READ getCollisionsEnabled WRITE setCollisionsEnabled)
Q_PROPERTY(bool characterControllerEnabled READ getCharacterControllerEnabled WRITE setCharacterControllerEnabled)
Q_PROPERTY(bool useAdvancedMovementControls READ useAdvancedMovementControls WRITE setUseAdvancedMovementControls)
@ -470,8 +471,10 @@ public:
bool hasDriveInput() const;
Q_INVOKABLE void setCharacterControllerEnabled(bool enabled);
Q_INVOKABLE bool getCharacterControllerEnabled();
Q_INVOKABLE void setCollisionsEnabled(bool enabled);
Q_INVOKABLE bool getCollisionsEnabled();
Q_INVOKABLE void setCharacterControllerEnabled(bool enabled); // deprecated
Q_INVOKABLE bool getCharacterControllerEnabled(); // deprecated
virtual glm::quat getAbsoluteJointRotationInObjectFrame(int index) const override;
virtual glm::vec3 getAbsoluteJointTranslationInObjectFrame(int index) const override;
@ -614,7 +617,7 @@ private:
SharedSoundPointer _collisionSound;
MyCharacterController _characterController;
bool _wasCharacterControllerEnabled { true };
int16_t _previousCollisionGroup { BULLET_COLLISION_GROUP_MY_AVATAR };
AvatarWeakPointer _lookAtTargetAvatar;
glm::vec3 _targetAvatarPosition;

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

2
libraries/shared/src/BackgroundMode.h
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@ -1,6 +1,6 @@
//
// BackgroundMode.h
// libraries/physcis/src
// libraries/physics/src
//
// Copyright 2015 High Fidelity, Inc.
//

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

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

23
scripts/system/makeUserConnection.js
View file

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

18
scripts/system/pal.js
View file

@ -369,21 +369,7 @@ function getAvailableConnections(domain, callback) { // callback([{usename, loca
url += 'filter=connections'; // regardless of whether online
}
requestJSON(url, function (connectionsData) {
// The back end doesn't include the profile picture data, but we can add that here.
// For our current purposes, there's no need to be fancy and try to reduce latency by doing some number of requests in parallel,
// so these requests are all sequential.
var users = connectionsData.users;
function addPicture(index) {
if (index >= users.length) {
return callback(users);
}
var user = users[index];
getProfilePicture(user.username, function (url) {
user.profileUrl = url;
addPicture(index + 1);
});
}
addPicture(0);
callback(connectionsData.users);
});
}
@ -397,7 +383,7 @@ 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 || ''
};
}