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Merge pull request #160 from Ventrella/master

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made camera first-person prototype and improved avatar collisions
This commit is contained in:
Philip Rosedale 2013-04-27 17:18:22 -07:00
commit bb4500886b
4 changed files with 189 additions and 116 deletions
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2
eve/src/main.cpp
View file

@ -121,7 +121,7 @@ int main(int argc, const char* argv[]) {
// put her hand out so somebody can shake it // put her hand out so somebody can shake it
eve.setHandPosition(glm::vec3(eve.getPosition()[0] - 0.2, eve.setHandPosition(glm::vec3(eve.getPosition()[0] - 0.2,
0.25, 0.32, // this is the same as the pelvis standing height (as of 4/26/13)
eve.getPosition()[2] + 0.1)); eve.getPosition()[2] + 0.1));
// read eve's audio data // read eve's audio data
AudioInjector eveAudioInjector("eve.raw"); AudioInjector eveAudioInjector("eve.raw");

190
interface/src/Avatar.cpp
View file

@ -50,23 +50,22 @@ Avatar::Avatar(bool isMine) {
_orientation.setToIdentity(); _orientation.setToIdentity();
_velocity = glm::vec3( 0.0, 0.0, 0.0 ); _velocity = glm::vec3( 0.0, 0.0, 0.0 );
_thrust = glm::vec3( 0.0, 0.0, 0.0 ); _thrust = glm::vec3( 0.0, 0.0, 0.0 );
_rotation = glm::quat( 0.0f, 0.0f, 0.0f, 0.0f ); _rotation = glm::quat( 0.0f, 0.0f, 0.0f, 0.0f );
_bodyYaw = -90.0; _bodyYaw = -90.0;
_bodyPitch = 0.0; _bodyPitch = 0.0;
_bodyRoll = 0.0; _bodyRoll = 0.0;
_bodyYawDelta = 0.0; _bodyYawDelta = 0.0;
_mousePressed = false; _mousePressed = false;
_mode = AVATAR_MODE_STANDING; _mode = AVATAR_MODE_STANDING;
_isMine = isMine; _isMine = isMine;
_maxArmLength = 0.0; _maxArmLength = 0.0;
//_transmitterTimer = 0; _transmitterHz = 0.0;
_transmitterHz = 0.0; _transmitterPackets = 0;
_transmitterPackets = 0; _speed = 0.0;
_speed = 0.0;
_pelvisStandingHeight = 0.0f; _pelvisStandingHeight = 0.0f;
_displayingHead = true;
_TEST_bigSphereRadius = 0.3f; _TEST_bigSphereRadius = 0.3f;
_TEST_bigSpherePosition = glm::vec3( 0.0f, _TEST_bigSphereRadius, 2.0f ); _TEST_bigSpherePosition = glm::vec3( 0.0f, _TEST_bigSphereRadius, 2.0f );
@ -329,11 +328,7 @@ void Avatar::simulate(float deltaTime) {
Avatar *otherAvatar = (Avatar *)agent->getLinkedData(); Avatar *otherAvatar = (Avatar *)agent->getLinkedData();
// check for collisions with other avatars and respond // check for collisions with other avatars and respond
updateAvatarCollisionDetectionAndResponse(otherAvatar->getPosition(), updateCollisionWithOtherAvatar(otherAvatar, deltaTime );
0.1,
0.1,
otherAvatar->getBodyUpDirection(),
deltaTime);
// test other avatar hand position for proximity // test other avatar hand position for proximity
glm::vec3 v( _bone[ AVATAR_BONE_RIGHT_SHOULDER ].position ); glm::vec3 v( _bone[ AVATAR_BONE_RIGHT_SHOULDER ].position );
@ -382,12 +377,8 @@ void Avatar::simulate(float deltaTime) {
} }
if (usingBigSphereCollisionTest) { if (usingBigSphereCollisionTest) {
// test for avatar collision response (using a big sphere :) // test for avatar collision response with the big sphere
updateAvatarCollisionDetectionAndResponse(_TEST_bigSpherePosition, updateCollisionWithSphere( _TEST_bigSpherePosition, _TEST_bigSphereRadius, deltaTime );
_TEST_bigSphereRadius,
_TEST_bigSphereRadius,
glm::vec3( 0.0, 1.0, 0.0 ),
deltaTime);
} }
if ( AVATAR_GRAVITY ) { if ( AVATAR_GRAVITY ) {
@ -541,31 +532,22 @@ void Avatar::simulate(float deltaTime) {
} }
} }
float Avatar::getGirth() {
return COLLISION_BODY_RADIUS;
}
float Avatar::getHeight() { float Avatar::getHeight() {
return COLLISION_HEIGHT; return _height;
} }
// This is a workspace for testing avatar body collision detection and response
void Avatar::updateAvatarCollisionDetectionAndResponse(glm::vec3 collisionPosition, void Avatar::updateCollisionWithSphere( glm::vec3 position, float radius, float deltaTime ) {
float collisionGirth,
float collisionHeight,
glm::vec3 collisionUpVector,
float deltaTime) {
float myBodyApproximateBoundingRadius = 1.0f; float myBodyApproximateBoundingRadius = 1.0f;
glm::vec3 vectorFromMyBodyToBigSphere(_position - collisionPosition); glm::vec3 vectorFromMyBodyToBigSphere(_position - position);
bool jointCollision = false; bool jointCollision = false;
float distanceToBigSphere = glm::length(vectorFromMyBodyToBigSphere); float distanceToBigSphere = glm::length(vectorFromMyBodyToBigSphere);
if ( distanceToBigSphere < myBodyApproximateBoundingRadius + collisionGirth ) { if ( distanceToBigSphere < myBodyApproximateBoundingRadius + radius ) {
for (int b = 0; b < NUM_AVATAR_BONES; b++) { for (int b = 0; b < NUM_AVATAR_BONES; b++) {
glm::vec3 vectorFromJointToBigSphereCenter(_bone[b].springyPosition - collisionPosition); glm::vec3 vectorFromJointToBigSphereCenter(_bone[b].springyPosition - position);
float distanceToBigSphereCenter = glm::length(vectorFromJointToBigSphereCenter); float distanceToBigSphereCenter = glm::length(vectorFromJointToBigSphereCenter);
float combinedRadius = _bone[b].radius + collisionGirth; float combinedRadius = _bone[b].radius + radius;
if ( distanceToBigSphereCenter < combinedRadius ) { if ( distanceToBigSphereCenter < combinedRadius ) {
jointCollision = true; jointCollision = true;
@ -577,7 +559,7 @@ void Avatar::updateAvatarCollisionDetectionAndResponse(glm::vec3 collisionPositi
_bone[b].springyVelocity += collisionForce * 30.0f * deltaTime; _bone[b].springyVelocity += collisionForce * 30.0f * deltaTime;
_velocity += collisionForce * 100.0f * deltaTime; _velocity += collisionForce * 100.0f * deltaTime;
_bone[b].springyPosition = collisionPosition + directionVector * combinedRadius; _bone[b].springyPosition = position + directionVector * combinedRadius;
} }
} }
} }
@ -591,6 +573,50 @@ void Avatar::updateAvatarCollisionDetectionAndResponse(glm::vec3 collisionPositi
} }
} }
//detect collisions with other avatars and respond
void Avatar::updateCollisionWithOtherAvatar( Avatar * otherAvatar, float deltaTime ) {
// check if the bounding spheres of the two avatars are colliding
glm::vec3 vectorBetweenBoundingSpheres(_position - otherAvatar->_position);
if ( glm::length(vectorBetweenBoundingSpheres) < _height * ONE_HALF + otherAvatar->_height * ONE_HALF ) {
// loop through the bones of each avatar to check for every possible collision
for (int b=1; b<NUM_AVATAR_BONES; b++) {
for (int o=b+1; o<NUM_AVATAR_BONES; o++) {
glm::vec3 vectorBetweenJoints(_bone[b].springyPosition - otherAvatar->_bone[o].springyPosition);
float distanceBetweenJoints = glm::length(vectorBetweenJoints);
// to avoid divide by zero
if ( distanceBetweenJoints > 0.0 ) {
float combinedRadius = _bone[b].radius + otherAvatar->_bone[o].radius;
// check for collision
if ( distanceBetweenJoints < combinedRadius * COLLISION_RADIUS_SCALAR) {
glm::vec3 directionVector = vectorBetweenJoints / distanceBetweenJoints;
// push ball away from colliding other ball and puch avatar body (_velocity) as well
_bone[b].springyVelocity += directionVector * COLLISION_BALL_FORCE * deltaTime;
_velocity += directionVector * COLLISION_BODY_FORCE * deltaTime;
// apply fruction to _velocity
float momentum = 1.0 - COLLISION_FRICTION * deltaTime;
if ( momentum < 0.0 ) { momentum = 0.0;}
_velocity *= momentum;
}
}
}
}
}
}
void Avatar::setDisplayingHead( bool displayingHead ) {
_displayingHead = displayingHead;
}
void Avatar::render(bool lookingInMirror) { void Avatar::render(bool lookingInMirror) {
/* /*
@ -618,8 +644,10 @@ void Avatar::render(bool lookingInMirror) {
renderBody(); renderBody();
// render head // render head
renderHead(lookingInMirror); if (_displayingHead) {
renderHead(lookingInMirror);
}
// if this is my avatar, then render my interactions with the other avatar // if this is my avatar, then render my interactions with the other avatar
if ( _isMine ) if ( _isMine )
{ {
@ -959,12 +987,22 @@ void Avatar::initializeSkeleton() {
calculateBoneLengths(); calculateBoneLengths();
_pelvisStandingHeight = _pelvisStandingHeight =
_bone[ AVATAR_BONE_PELVIS_SPINE ].length + _bone[ AVATAR_BONE_LEFT_FOOT ].radius +
_bone[ AVATAR_BONE_LEFT_THIGH ].length +
_bone[ AVATAR_BONE_LEFT_SHIN ].length + _bone[ AVATAR_BONE_LEFT_SHIN ].length +
_bone[ AVATAR_BONE_LEFT_FOOT ].length + _bone[ AVATAR_BONE_LEFT_THIGH ].length +
_bone[ AVATAR_BONE_RIGHT_FOOT ].radius; _bone[ AVATAR_BONE_PELVIS_SPINE ].length;
//printf( "_pelvisStandingHeight = %f\n", _pelvisStandingHeight );
_height =
(
_pelvisStandingHeight +
_bone[ AVATAR_BONE_MID_SPINE ].length +
_bone[ AVATAR_BONE_CHEST_SPINE].length +
_bone[ AVATAR_BONE_NECK ].length +
_bone[ AVATAR_BONE_HEAD ].length +
_bone[ AVATAR_BONE_HEAD ].radius
);
// generate world positions // generate world positions
updateSkeleton(); updateSkeleton();
} }
@ -1131,25 +1169,27 @@ void Avatar::renderBody() {
// Render bone positions as spheres // Render bone positions as spheres
for (int b = 0; b < NUM_AVATAR_BONES; b++) { for (int b = 0; b < NUM_AVATAR_BONES; b++) {
//renderBoneAsBlock( (AvatarBoneID)b);
//render bone orientation if ( b != AVATAR_BONE_HEAD ) { // the head is rendered as a special case in "renderHead"
//renderOrientationDirections( _bone[b].springyPosition, _bone[b].orientation, _bone[b].radius * 2.0 );
//render bone orientation
if ( _usingBodySprings ) { //renderOrientationDirections( _bone[b].springyPosition, _bone[b].orientation, _bone[b].radius * 2.0 );
glColor3fv( skinColor );
glPushMatrix(); if ( _usingBodySprings ) {
glTranslatef( _bone[b].springyPosition.x, _bone[b].springyPosition.y, _bone[b].springyPosition.z ); glColor3fv( skinColor );
glutSolidSphere( _bone[b].radius, 20.0f, 20.0f ); glPushMatrix();
glPopMatrix(); glTranslatef( _bone[b].springyPosition.x, _bone[b].springyPosition.y, _bone[b].springyPosition.z );
} glutSolidSphere( _bone[b].radius, 20.0f, 20.0f );
else { glPopMatrix();
glColor3fv( skinColor ); }
glPushMatrix(); else {
glTranslatef( _bone[b].position.x, _bone[b].position.y, _bone[b].position.z ); glColor3fv( skinColor );
glutSolidSphere( _bone[b].radius, 20.0f, 20.0f ); glPushMatrix();
glPopMatrix(); glTranslatef( _bone[b].position.x, _bone[b].position.y, _bone[b].position.z );
} glutSolidSphere( _bone[b].radius, 20.0f, 20.0f );
glPopMatrix();
}
}
} }
// Render lines connecting the bone positions // Render lines connecting the bone positions
@ -1194,18 +1234,6 @@ void Avatar::renderBody() {
} }
} }
void Avatar::renderBoneAsBlock( AvatarBoneID b ) {
glColor3fv( skinColor );
glPushMatrix();
glTranslatef( _bone[b].springyPosition.x, _bone[b].springyPosition.y, _bone[b].springyPosition.z );
glScalef( _bone[b].radius, _bone[b].length, _bone[b].radius );
glRotatef(_bone[b].yaw, 0, 1, 0 );
glRotatef(_bone[b].pitch, 1, 0, 0 );
glRotatef(_bone[b].roll, 0, 0, 1 );
glutSolidCube(1.0);
glPopMatrix();
}
void Avatar::SetNewHeadTarget(float pitch, float yaw) { void Avatar::SetNewHeadTarget(float pitch, float yaw) {
_head.pitchTarget = pitch; _head.pitchTarget = pitch;
_head.yawTarget = yaw; _head.yawTarget = yaw;

67
interface/src/Avatar.h
View file

@ -32,11 +32,29 @@ const float YAW_MAG = 500.0; //JJV - changed from 300.0;
const float TEST_YAW_DECAY = 5.0; const float TEST_YAW_DECAY = 5.0;
const float LIN_VEL_DECAY = 5.0; const float LIN_VEL_DECAY = 5.0;
const float COLLISION_BODY_RADIUS = 0.1; const float COLLISION_FRICTION = 0.5;
const float COLLISION_HEIGHT = 1.5; const float COLLISION_RADIUS_SCALAR = 1.8;
const float COLLISION_BALL_FORCE = 0.1;
const float COLLISION_BODY_FORCE = 3.0;
enum eyeContactTargets {LEFT_EYE, RIGHT_EYE, MOUTH}; enum eyeContactTargets {LEFT_EYE, RIGHT_EYE, MOUTH};
enum DriveKeys
{
FWD = 0,
BACK,
LEFT,
RIGHT,
UP,
DOWN,
ROT_LEFT,
ROT_RIGHT,
MAX_DRIVE_KEYS
};
/*
#define FWD 0 #define FWD 0
#define BACK 1 #define BACK 1
#define LEFT 2 #define LEFT 2
@ -46,8 +64,9 @@ enum eyeContactTargets {LEFT_EYE, RIGHT_EYE, MOUTH};
#define ROT_LEFT 6 #define ROT_LEFT 6
#define ROT_RIGHT 7 #define ROT_RIGHT 7
#define MAX_DRIVE_KEYS 8 #define MAX_DRIVE_KEYS 8
*/
#define MAX_OTHER_AVATARS 10 // temporary - for testing purposes! //#define MAX_OTHER_AVATARS 10 // temporary - for testing purposes!
@ -89,16 +108,8 @@ enum AvatarBoneID
NUM_AVATAR_BONES NUM_AVATAR_BONES
}; };
struct AvatarCollisionElipsoid
{
bool colliding;
glm::vec3 position;
float girth;
float height;
glm::vec3 upVector;
};
struct AvatarHandHolding struct AvatarHandHolding //think of this as one half of a distributed spring :)
{ {
glm::vec3 position; glm::vec3 position;
glm::vec3 velocity; glm::vec3 velocity;
@ -111,7 +122,7 @@ struct AvatarBone
glm::vec3 position; // the position at the "end" of the bone glm::vec3 position; // the position at the "end" of the bone
glm::vec3 defaultPosePosition; // the parent relative position when the avatar is in the "T-pose" glm::vec3 defaultPosePosition; // the parent relative position when the avatar is in the "T-pose"
glm::vec3 springyPosition; // used for special effects (a 'flexible' variant of position) glm::vec3 springyPosition; // used for special effects (a 'flexible' variant of position)
glm::dvec3 springyVelocity; // used for special effects ( the velocity of the springy position) glm::vec3 springyVelocity; // used for special effects ( the velocity of the springy position)
float springBodyTightness; // how tightly the springy position tries to stay on the position float springBodyTightness; // how tightly the springy position tries to stay on the position
glm::quat rotation; // this will eventually replace yaw, pitch and roll (and maybe orientation) glm::quat rotation; // this will eventually replace yaw, pitch and roll (and maybe orientation)
float yaw; // the yaw Euler angle of the bone rotation off the parent float yaw; // the yaw Euler angle of the bone rotation off the parent
@ -181,6 +192,8 @@ public:
float getBodyYaw() {return _bodyYaw;}; float getBodyYaw() {return _bodyYaw;};
void addBodyYaw(float y) {_bodyYaw += y;}; void addBodyYaw(float y) {_bodyYaw += y;};
bool getIsNearInteractingOther() { return _interactingOtherIsNearby; }
float getAbsoluteHeadYaw() const; float getAbsoluteHeadYaw() const;
void setLeanForward(float dist); void setLeanForward(float dist);
void setLeanSideways(float dist); void setLeanSideways(float dist);
@ -208,6 +221,7 @@ public:
void setHandMovementValues( glm::vec3 movement ); void setHandMovementValues( glm::vec3 movement );
void updateHandMovement( float deltaTime ); void updateHandMovement( float deltaTime );
void updateArmIKAndConstraints( float deltaTime ); void updateArmIKAndConstraints( float deltaTime );
void setDisplayingHead( bool displayingHead );
float getAverageLoudness() {return _head.averageLoudness;}; float getAverageLoudness() {return _head.averageLoudness;};
void setAverageLoudness(float al) {_head.averageLoudness = al;}; void setAverageLoudness(float al) {_head.averageLoudness = al;};
@ -260,25 +274,20 @@ private:
Avatar* _interactingOther; Avatar* _interactingOther;
bool _interactingOtherIsNearby; bool _interactingOtherIsNearby;
float _pelvisStandingHeight; float _pelvisStandingHeight;
float _height;
Balls* _balls; Balls* _balls;
AvatarTouch _avatarTouch; AvatarTouch _avatarTouch;
bool _displayingHead; // should be false if in first-person view
// private methods... // private methods...
void initializeSkeleton(); void initializeSkeleton();
void updateSkeleton(); void updateSkeleton();
void initializeBodySprings(); void initializeBodySprings();
void updateBodySprings( float deltaTime ); void updateBodySprings( float deltaTime );
void calculateBoneLengths(); void calculateBoneLengths();
void readSensors(); void readSensors();
void renderBoneAsBlock( AvatarBoneID b ); void updateCollisionWithSphere( glm::vec3 position, float radius, float deltaTime );
void updateAvatarCollisionDetectionAndResponse void updateCollisionWithOtherAvatar( Avatar * other, float deltaTime );
(
glm::vec3 collisionPosition,
float collisionGirth,
float collisionHeight,
glm::vec3 collisionUpVector,
float deltaTime
);
}; };
#endif #endif

46
interface/src/main.cpp
View file

@ -742,9 +742,14 @@ void display(void)
myCamera.setTightness ( 100.0f ); myCamera.setTightness ( 100.0f );
} else { } else {
//float firstPersonPitch = 20.0f;
//float firstPersonUpShift = 0.0f;
//float firstPersonDistance = 0.0f;
//float firstPersonTightness = 100.0f;
float firstPersonPitch = 20.0f; float firstPersonPitch = 20.0f;
float firstPersonUpShift = 0.1f; float firstPersonUpShift = 0.1f;
float firstPersonDistance = 0.0f; float firstPersonDistance = 0.4f;
float firstPersonTightness = 100.0f; float firstPersonTightness = 100.0f;
float thirdPersonPitch = 0.0f; float thirdPersonPitch = 0.0f;
@ -753,14 +758,44 @@ void display(void)
float thirdPersonTightness = 8.0f; float thirdPersonTightness = 8.0f;
if ( USING_FIRST_PERSON_EFFECT ) { if ( USING_FIRST_PERSON_EFFECT ) {
float ff = 0.0;
float min = 0.1;
float max = 0.5;
if ( myAvatar.getIsNearInteractingOther()){
if ( myAvatar.getSpeed() < max ) {
float s = (myAvatar.getSpeed()- min)/max ;
ff = 1.0 - s;
}
}
/*
if ( ff < 0.8 ) {
myAvatar.setDisplayingHead( true );
} else {
myAvatar.setDisplayingHead( false );
}
*/
//printf( "ff = %f\n", ff );
myCamera.setPitch ( thirdPersonPitch + ff * ( firstPersonPitch - thirdPersonPitch ));
myCamera.setUpShift ( thirdPersonUpShift + ff * ( firstPersonUpShift - thirdPersonUpShift ));
myCamera.setDistance ( thirdPersonDistance + ff * ( firstPersonDistance - thirdPersonDistance ));
myCamera.setTightness ( thirdPersonTightness + ff * ( firstPersonTightness - thirdPersonTightness ));
// this version uses a ramp-up/ramp-down timer in the camera to determine shift between first and thirs-person view
/*
if ( myAvatar.getSpeed() < 0.02 ) { if ( myAvatar.getSpeed() < 0.02 ) {
if (myCamera.getMode() != CAMERA_MODE_FIRST_PERSON ) { if (myCamera.getMode() != CAMERA_MODE_FIRST_PERSON ) {
myCamera.setMode(CAMERA_MODE_FIRST_PERSON); myCamera.setMode(CAMERA_MODE_FIRST_PERSON);
} }
printf( "myCamera.getModeShift() = %f\n", myCamera.getModeShift()); //printf( "myCamera.getModeShift() = %f\n", myCamera.getModeShift());
myCamera.setPitch ( thirdPersonPitch + myCamera.getModeShift() * ( firstPersonPitch - thirdPersonPitch )); myCamera.setPitch ( thirdPersonPitch + myCamera.getModeShift() * ( firstPersonPitch - thirdPersonPitch ));
myCamera.setUpShift ( thirdPersonUpShift + myCamera.getModeShift() * ( firstPersonUpShift - thirdPersonUpShift )); myCamera.setUpShift ( thirdPersonUpShift + myCamera.getModeShift() * ( firstPersonUpShift - thirdPersonUpShift ));
myCamera.setDistance ( thirdPersonDistance + myCamera.getModeShift() * ( firstPersonDistance - thirdPersonDistance )); myCamera.setDistance ( thirdPersonDistance + myCamera.getModeShift() * ( firstPersonDistance - thirdPersonDistance ));
@ -770,13 +805,14 @@ void display(void)
myCamera.setMode(CAMERA_MODE_THIRD_PERSON); myCamera.setMode(CAMERA_MODE_THIRD_PERSON);
} }
printf( "myCamera.getModeShift() = %f\n", myCamera.getModeShift()); //printf( "myCamera.getModeShift() = %f\n", myCamera.getModeShift());
myCamera.setPitch ( firstPersonPitch + myCamera.getModeShift() * ( thirdPersonPitch - firstPersonPitch )); myCamera.setPitch ( firstPersonPitch + myCamera.getModeShift() * ( thirdPersonPitch - firstPersonPitch ));
myCamera.setUpShift ( firstPersonUpShift + myCamera.getModeShift() * ( thirdPersonUpShift - firstPersonUpShift )); myCamera.setUpShift ( firstPersonUpShift + myCamera.getModeShift() * ( thirdPersonUpShift - firstPersonUpShift ));
myCamera.setDistance ( firstPersonDistance + myCamera.getModeShift() * ( thirdPersonDistance - firstPersonDistance )); myCamera.setDistance ( firstPersonDistance + myCamera.getModeShift() * ( thirdPersonDistance - firstPersonDistance ));
myCamera.setTightness ( firstPersonTightness + myCamera.getModeShift() * ( thirdPersonTightness - firstPersonTightness )); myCamera.setTightness ( firstPersonTightness + myCamera.getModeShift() * ( thirdPersonTightness - firstPersonTightness ));
} }
*/
} else { } else {
myCamera.setPitch (thirdPersonPitch ); myCamera.setPitch (thirdPersonPitch );
myCamera.setUpShift (thirdPersonUpShift ); myCamera.setUpShift (thirdPersonUpShift );