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Merge pull request #7181 from sethalves/fix-grab-action

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fix avatarActionHold
This commit is contained in:
Seth Alves 2016-02-24 16:28:17 -08:00
commit cfdaf643a1
2 changed files with 30 additions and 9 deletions
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36
interface/src/avatar/AvatarActionHold.cpp
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@ -93,7 +93,7 @@ void AvatarActionHold::prepareForPhysicsSimulation() {
activateBody(true); activateBody(true);
} }
std::shared_ptr<Avatar> AvatarActionHold::getTarget(glm::quat& rotation, glm::vec3& position, std::shared_ptr<Avatar> AvatarActionHold::getTarget(float deltaTimeStep, glm::quat& rotation, glm::vec3& position,
glm::vec3& linearVelocity, glm::vec3& angularVelocity) { glm::vec3& linearVelocity, glm::vec3& angularVelocity) {
auto avatarManager = DependencyManager::get<AvatarManager>(); auto avatarManager = DependencyManager::get<AvatarManager>();
auto holdingAvatar = std::static_pointer_cast<Avatar>(avatarManager->getAvatarBySessionID(_holderID)); auto holdingAvatar = std::static_pointer_cast<Avatar>(avatarManager->getAvatarBySessionID(_holderID));
@ -106,16 +106,16 @@ std::shared_ptr<Avatar> AvatarActionHold::getTarget(glm::quat& rotation, glm::ve
bool isRightHand = (_hand == "right"); bool isRightHand = (_hand == "right");
glm::vec3 palmPosition; glm::vec3 palmPosition;
glm::quat palmRotation; glm::quat palmRotation;
glm::vec3 palmLinearVelocity;
glm::vec3 palmAngularVelocity;
PalmData palmData = holdingAvatar->getHand()->getCopyOfPalmData(isRightHand ? HandData::RightHand : HandData::LeftHand); PalmData palmData = holdingAvatar->getHand()->getCopyOfPalmData(isRightHand ? HandData::RightHand : HandData::LeftHand);
// TODO: adjust according to _relativePosition and _relativeRotation? if (palmData.isValid()) {
linearVelocity = palmData.getVelocity(); // TODO: adjust according to _relativePosition and _relativeRotation?
angularVelocity = palmData.getAngularVelocity(); linearVelocity = palmData.getVelocity();
angularVelocity = palmData.getAngularVelocity();
}
if (_ignoreIK && holdingAvatar->isMyAvatar()) { if (_ignoreIK && holdingAvatar->isMyAvatar() && palmData.isValid()) {
// We cannot ignore other avatars IK and this is not the point of this option // We cannot ignore other avatars IK and this is not the point of this option
// This is meant to make the grabbing behavior more reactive. // This is meant to make the grabbing behavior more reactive.
palmPosition = palmData.getPosition(); palmPosition = palmData.getPosition();
@ -153,6 +153,25 @@ std::shared_ptr<Avatar> AvatarActionHold::getTarget(glm::quat& rotation, glm::ve
palmPosition = holdingAvatar->getLeftPalmPosition(); palmPosition = holdingAvatar->getLeftPalmPosition();
palmRotation = holdingAvatar->getLeftPalmRotation(); palmRotation = holdingAvatar->getLeftPalmRotation();
} }
// In this case we are simulating the grab of another avatar.
// Because the hand controller velocity for their palms is not transmitted over the
// network, we have to synthesize our own.
if (_previousSet) {
// smooth linear velocity over two frames
glm::vec3 positionalDelta = palmPosition - _previousPositionalTarget;
linearVelocity = (positionalDelta + _previousPositionalDelta) / (deltaTimeStep + _previousDeltaTimeStep);
glm::quat deltaRotation = palmRotation * glm::inverse(_previousRotationalTarget);
float rotationAngle = glm::angle(deltaRotation);
if (rotationAngle > EPSILON) {
angularVelocity = glm::normalize(glm::axis(deltaRotation));
angularVelocity *= (rotationAngle / deltaTimeStep);
}
_previousPositionalDelta = positionalDelta;
_previousDeltaTimeStep = deltaTimeStep;
}
} }
rotation = palmRotation * _relativeRotation; rotation = palmRotation * _relativeRotation;
@ -183,7 +202,7 @@ void AvatarActionHold::updateActionWorker(float deltaTimeStep) {
glm::quat rotationForAction; glm::quat rotationForAction;
glm::vec3 positionForAction; glm::vec3 positionForAction;
glm::vec3 linearVelocityForAction, angularVelocityForAction; glm::vec3 linearVelocityForAction, angularVelocityForAction;
std::shared_ptr<Avatar> holdingAvatar = holdAction->getTarget(rotationForAction, positionForAction, linearVelocityForAction, angularVelocityForAction); std::shared_ptr<Avatar> holdingAvatar = holdAction->getTarget(deltaTimeStep, rotationForAction, positionForAction, linearVelocityForAction, angularVelocityForAction);
if (holdingAvatar) { if (holdingAvatar) {
holdCount ++; holdCount ++;
if (holdAction.get() == this) { if (holdAction.get() == this) {
@ -254,6 +273,7 @@ void AvatarActionHold::doKinematicUpdate(float deltaTimeStep) {
_previousPositionalTarget = _positionalTarget; _previousPositionalTarget = _positionalTarget;
_previousRotationalTarget = _rotationalTarget; _previousRotationalTarget = _rotationalTarget;
_previousDeltaTimeStep = deltaTimeStep;
_previousSet = true; _previousSet = true;
}); });

3
interface/src/avatar/AvatarActionHold.h
View file

@ -36,7 +36,7 @@ public:
virtual bool shouldSuppressLocationEdits() override { return _active && !_ownerEntity.expired(); } virtual bool shouldSuppressLocationEdits() override { return _active && !_ownerEntity.expired(); }
bool getAvatarRigidBodyLocation(glm::vec3& avatarRigidBodyPosition, glm::quat& avatarRigidBodyRotation); bool getAvatarRigidBodyLocation(glm::vec3& avatarRigidBodyPosition, glm::quat& avatarRigidBodyRotation);
std::shared_ptr<Avatar> getTarget(glm::quat& rotation, glm::vec3& position, std::shared_ptr<Avatar> getTarget(float deltaTimeStep, glm::quat& rotation, glm::vec3& position,
glm::vec3& linearVelocity, glm::vec3& angularVelocity); glm::vec3& linearVelocity, glm::vec3& angularVelocity);
virtual void prepareForPhysicsSimulation() override; virtual void prepareForPhysicsSimulation() override;
@ -61,6 +61,7 @@ private:
glm::vec3 _previousPositionalTarget; glm::vec3 _previousPositionalTarget;
glm::quat _previousRotationalTarget; glm::quat _previousRotationalTarget;
float _previousDeltaTimeStep { 0.0f };
glm::vec3 _previousPositionalDelta; glm::vec3 _previousPositionalDelta;
glm::vec3 _palmOffsetFromRigidBody; glm::vec3 _palmOffsetFromRigidBody;