From 6c4ecb024654aadf9764a8cf427d9f5c3b00c675 Mon Sep 17 00:00:00 2001
From: Andrew Meadows <andrew@highfidelity.io>
Date: Tue, 11 Feb 2014 14:38:31 -0800
Subject: [PATCH 01/15] Splitting hand collisions between other avatars and
 ourself.

---
 interface/src/avatar/Hand.cpp     | 149 ++++++++++++++++--------------
 interface/src/avatar/Hand.h       |   3 +
 interface/src/avatar/MyAvatar.cpp |   3 +
 3 files changed, 88 insertions(+), 67 deletions(-)

diff --git a/interface/src/avatar/Hand.cpp b/interface/src/avatar/Hand.cpp
index 4dac42a02e..b62e88289f 100644
--- a/interface/src/avatar/Hand.cpp
+++ b/interface/src/avatar/Hand.cpp
@@ -167,91 +167,106 @@ void Hand::simulate(float deltaTime, bool isMine) {
 }
 
 void Hand::updateCollisions() {
-    // use position to obtain the left and right palm indices
-    int leftPalmIndex, rightPalmIndex;   
-    getLeftRightPalmIndices(leftPalmIndex, rightPalmIndex);
-    
+    collideAgainstOtherAvatars();
+    collideAgainstOurself();
+}
+
+void Hand::collideAgainstOtherAvatars() {
+    if (!Menu::getInstance()->isOptionChecked(MenuOption::CollideWithAvatars)) {
+        return;
+    }
     ModelCollisionList collisions;
-    // check for collisions
+    float scaledPalmRadius = PALM_COLLISION_RADIUS * _owningAvatar->getScale();
     for (size_t i = 0; i < getNumPalms(); i++) {
         PalmData& palm = getPalms()[i];
         if (!palm.isActive()) {
             continue;
         }        
-        float scaledPalmRadius = PALM_COLLISION_RADIUS * _owningAvatar->getScale();
         glm::vec3 totalPenetration;
-        
-        if (Menu::getInstance()->isOptionChecked(MenuOption::CollideWithAvatars)) {
-            // check other avatars
-            foreach (const AvatarSharedPointer& avatarPointer, Application::getInstance()->getAvatarManager().getAvatarHash()) {
-                Avatar* avatar = static_cast<Avatar*>(avatarPointer.data());
-                if (avatar == _owningAvatar) {
-                    // don't collid with our own hands
-                    continue;
-                }
-                if (Menu::getInstance()->isOptionChecked(MenuOption::PlaySlaps)) {
-                    //  Check for palm collisions
-                    glm::vec3 myPalmPosition = palm.getPosition();
-                    float palmCollisionDistance = 0.1f;
-                    bool wasColliding = palm.getIsCollidingWithPalm();
-                    palm.setIsCollidingWithPalm(false);
-                    //  If 'Play Slaps' is enabled, look for palm-to-palm collisions and make sound
-                    for (size_t j = 0; j < avatar->getHand().getNumPalms(); j++) {
-                        PalmData& otherPalm = avatar->getHand().getPalms()[j];
-                        if (!otherPalm.isActive()) {
-                            continue;
-                        }
-                        glm::vec3 otherPalmPosition = otherPalm.getPosition();
-                        if (glm::length(otherPalmPosition - myPalmPosition) < palmCollisionDistance) {
-                            palm.setIsCollidingWithPalm(true);
-                            if (!wasColliding) {
-                                const float PALM_COLLIDE_VOLUME = 1.f;
-                                const float PALM_COLLIDE_FREQUENCY = 1000.f;
-                                const float PALM_COLLIDE_DURATION_MAX = 0.75f;
-                                const float PALM_COLLIDE_DECAY_PER_SAMPLE = 0.01f;
-                                Application::getInstance()->getAudio()->startDrumSound(PALM_COLLIDE_VOLUME,
-                                                                                    PALM_COLLIDE_FREQUENCY,
-                                                                                    PALM_COLLIDE_DURATION_MAX,
-                                                                                    PALM_COLLIDE_DECAY_PER_SAMPLE);
-                                //  If the other person's palm is in motion, move mine downward to show I was hit
-                                const float MIN_VELOCITY_FOR_SLAP = 0.05f;
-                                if (glm::length(otherPalm.getVelocity()) > MIN_VELOCITY_FOR_SLAP) {
-                                    // add slapback here
-                                }
+        // check other avatars
+        foreach (const AvatarSharedPointer& avatarPointer, Application::getInstance()->getAvatarManager().getAvatarHash()) {
+            Avatar* avatar = static_cast<Avatar*>(avatarPointer.data());
+            if (avatar == _owningAvatar) {
+                // don't collid with our own hands
+                continue;
+            }
+            collisions.clear();
+            if (Menu::getInstance()->isOptionChecked(MenuOption::PlaySlaps)) {
+                //  Check for palm collisions
+                glm::vec3 myPalmPosition = palm.getPosition();
+                float palmCollisionDistance = 0.1f;
+                bool wasColliding = palm.getIsCollidingWithPalm();
+                palm.setIsCollidingWithPalm(false);
+                //  If 'Play Slaps' is enabled, look for palm-to-palm collisions and make sound
+                for (size_t j = 0; j < avatar->getHand().getNumPalms(); j++) {
+                    PalmData& otherPalm = avatar->getHand().getPalms()[j];
+                    if (!otherPalm.isActive()) {
+                        continue;
+                    }
+                    glm::vec3 otherPalmPosition = otherPalm.getPosition();
+                    if (glm::length(otherPalmPosition - myPalmPosition) < palmCollisionDistance) {
+                        palm.setIsCollidingWithPalm(true);
+                        if (!wasColliding) {
+                            const float PALM_COLLIDE_VOLUME = 1.f;
+                            const float PALM_COLLIDE_FREQUENCY = 1000.f;
+                            const float PALM_COLLIDE_DURATION_MAX = 0.75f;
+                            const float PALM_COLLIDE_DECAY_PER_SAMPLE = 0.01f;
+                            Application::getInstance()->getAudio()->startDrumSound(PALM_COLLIDE_VOLUME,
+                                                                                PALM_COLLIDE_FREQUENCY,
+                                                                                PALM_COLLIDE_DURATION_MAX,
+                                                                                PALM_COLLIDE_DECAY_PER_SAMPLE);
+                            //  If the other person's palm is in motion, move mine downward to show I was hit
+                            const float MIN_VELOCITY_FOR_SLAP = 0.05f;
+                            if (glm::length(otherPalm.getVelocity()) > MIN_VELOCITY_FOR_SLAP) {
+                                // add slapback here
                             }
                         }
                     }
                 }
-                if (avatar->findSphereCollisions(palm.getPosition(), scaledPalmRadius, collisions)) {
-                    for (int j = 0; j < collisions.size(); ++j) {
-                        // we don't resolve penetrations that would poke the other avatar
-                        if (!avatar->isPokeable(collisions[j])) {
-                            totalPenetration = addPenetrations(totalPenetration, collisions[j]._penetration);
-                        }
+            }
+            if (avatar->findSphereCollisions(palm.getPosition(), scaledPalmRadius, collisions)) {
+                for (int j = 0; j < collisions.size(); ++j) {
+                    // we don't resolve penetrations that would poke the other avatar
+                    if (!avatar->isPokeable(collisions[j])) {
+                        totalPenetration = addPenetrations(totalPenetration, collisions[j]._penetration);
                     }
                 }
             }
         }
-            
-        if (Menu::getInstance()->isOptionChecked(MenuOption::HandsCollideWithSelf)) {
-            // and the current avatar (ignoring everything below the parent of the parent of the last free joint)
-            collisions.clear();
-            const Model& skeletonModel = _owningAvatar->getSkeletonModel();
-            int skipIndex = skeletonModel.getParentJointIndex(skeletonModel.getParentJointIndex(
-                skeletonModel.getLastFreeJointIndex((i == leftPalmIndex) ? skeletonModel.getLeftHandJointIndex() :
-                    (i == rightPalmIndex) ? skeletonModel.getRightHandJointIndex() : -1)));
-            if (_owningAvatar->findSphereCollisions(palm.getPosition(), scaledPalmRadius, collisions, skipIndex)) {
-                for (int j = 0; j < collisions.size(); ++j) {
-                    totalPenetration = addPenetrations(totalPenetration, collisions[j]._penetration);
-                }
+        // resolve penetration
+        palm.addToPosition(-totalPenetration);
+    }
+}
+
+void Hand::collideAgainstOurself() {
+    if (!Menu::getInstance()->isOptionChecked(MenuOption::HandsCollideWithSelf)) {
+        return;
+    }
+
+    ModelCollisionList collisions;
+    int leftPalmIndex, rightPalmIndex;   
+    getLeftRightPalmIndices(leftPalmIndex, rightPalmIndex);
+    float scaledPalmRadius = PALM_COLLISION_RADIUS * _owningAvatar->getScale();
+    
+    for (size_t i = 0; i < getNumPalms(); i++) {
+        PalmData& palm = getPalms()[i];
+        if (!palm.isActive()) {
+            continue;
+        }        
+        glm::vec3 totalPenetration;
+        // and the current avatar (ignoring everything below the parent of the parent of the last free joint)
+        collisions.clear();
+        const Model& skeletonModel = _owningAvatar->getSkeletonModel();
+        int skipIndex = skeletonModel.getParentJointIndex(skeletonModel.getParentJointIndex(
+            skeletonModel.getLastFreeJointIndex((i == leftPalmIndex) ? skeletonModel.getLeftHandJointIndex() :
+                (i == rightPalmIndex) ? skeletonModel.getRightHandJointIndex() : -1)));
+        if (_owningAvatar->findSphereCollisions(palm.getPosition(), scaledPalmRadius, collisions, skipIndex)) {
+            for (int j = 0; j < collisions.size(); ++j) {
+                totalPenetration = addPenetrations(totalPenetration, collisions[j]._penetration);
             }
         }
-        
-        // un-penetrate
+        // resolve penetration
         palm.addToPosition(-totalPenetration);
-
-        // we recycle the collisions container, so we clear it for the next loop
-        collisions.clear();
     }
 }
 
diff --git a/interface/src/avatar/Hand.h b/interface/src/avatar/Hand.h
index 3c8ec2d562..5a8e3d0e6f 100755
--- a/interface/src/avatar/Hand.h
+++ b/interface/src/avatar/Hand.h
@@ -97,6 +97,9 @@ private:
     void renderLeapFingerTrails();
     
     void updateCollisions();
+    void collideAgainstOtherAvatars();
+    void collideAgainstOurself();
+
     void calculateGeometry();
     
     void handleVoxelCollision(PalmData* palm, const glm::vec3& fingerTipPosition, VoxelTreeElement* voxel, float deltaTime);
diff --git a/interface/src/avatar/MyAvatar.cpp b/interface/src/avatar/MyAvatar.cpp
index 5a4512419d..31437182bc 100644
--- a/interface/src/avatar/MyAvatar.cpp
+++ b/interface/src/avatar/MyAvatar.cpp
@@ -1052,6 +1052,9 @@ void MyAvatar::updateCollisionWithAvatars(float deltaTime) {
                 setPosition(_position - 0.5f * penetration);
                 glm::vec3 pushOut = 0.5f * penetration;
             }
+
+            // collide their hands against our movable limbs
+            
         }
     }
 }

From 04bc05cfe65a989994c987dbefcf27246ad97e44 Mon Sep 17 00:00:00 2001
From: Andrew Meadows <andrew@highfidelity.io>
Date: Wed, 12 Feb 2014 08:29:22 -0800
Subject: [PATCH 02/15] Moving hand-avatar collision trigger calls into
 MyAvatar

Also renaming some methods in Model to be more descriptive.
---
 interface/src/avatar/Avatar.cpp   |   9 ++-
 interface/src/avatar/Avatar.h     |   5 +-
 interface/src/avatar/Hand.cpp     | 101 +++++++++++++++---------------
 interface/src/avatar/Hand.h       |   7 +--
 interface/src/avatar/MyAvatar.cpp |   9 ++-
 interface/src/renderer/Model.cpp  |   7 +--
 interface/src/renderer/Model.h    |   8 +--
 7 files changed, 71 insertions(+), 75 deletions(-)

diff --git a/interface/src/avatar/Avatar.cpp b/interface/src/avatar/Avatar.cpp
index 5b2a142ac2..487f72a1e5 100644
--- a/interface/src/avatar/Avatar.cpp
+++ b/interface/src/avatar/Avatar.cpp
@@ -445,20 +445,19 @@ float Avatar::getHeight() const {
     return extents.maximum.y - extents.minimum.y;
 }
 
-bool Avatar::isPokeable(ModelCollisionInfo& collision) const {
+bool Avatar::collisionWouldMoveAvatar(ModelCollisionInfo& collision) const {
     // ATM only the Skeleton is pokeable
     // TODO: make poke affect head
     if (collision._model == &_skeletonModel && collision._jointIndex != -1) {
-        return _skeletonModel.isPokeable(collision);
+        return _skeletonModel.collisionHitsMoveableJoint(collision);
     }
     return false;
 }
 
-bool Avatar::poke(ModelCollisionInfo& collision) {
+void Avatar::applyCollision(ModelCollisionInfo& collision) {
     if (collision._model == &_skeletonModel && collision._jointIndex != -1) {
-        return _skeletonModel.poke(collision);
+        _skeletonModel.applyCollision(collision);
     }
-    return false;
 }
 
 float Avatar::getPelvisFloatingHeight() const {
diff --git a/interface/src/avatar/Avatar.h b/interface/src/avatar/Avatar.h
index 7e8a1d8f64..2fc26a36b5 100755
--- a/interface/src/avatar/Avatar.h
+++ b/interface/src/avatar/Avatar.h
@@ -129,11 +129,10 @@ public:
     float getHeight() const;
 
     /// \return true if we expect the avatar would move as a result of the collision
-    bool isPokeable(ModelCollisionInfo& collision) const;
+    bool collisionWouldMoveAvatar(ModelCollisionInfo& collision) const;
 
     /// \param collision a data structure for storing info about collisions against Models
-    /// \return true if the collision affects the Avatar models
-    bool poke(ModelCollisionInfo& collision);
+    void applyCollision(ModelCollisionInfo& collision);
 
 public slots:
     void updateCollisionFlags();
diff --git a/interface/src/avatar/Hand.cpp b/interface/src/avatar/Hand.cpp
index b62e88289f..7e47b0a0d5 100644
--- a/interface/src/avatar/Hand.cpp
+++ b/interface/src/avatar/Hand.cpp
@@ -84,7 +84,6 @@ void Hand::simulate(float deltaTime, bool isMine) {
     
     if (isMine) {
         _buckyBalls.simulate(deltaTime);
-        updateCollisions();
     }
     
     calculateGeometry();
@@ -166,16 +165,11 @@ void Hand::simulate(float deltaTime, bool isMine) {
     }
 }
 
-void Hand::updateCollisions() {
-    collideAgainstOtherAvatars();
-    collideAgainstOurself();
-}
-
-void Hand::collideAgainstOtherAvatars() {
-    if (!Menu::getInstance()->isOptionChecked(MenuOption::CollideWithAvatars)) {
+void Hand::collideAgainstAvatar(Avatar* avatar, bool isMyHand) {
+    if (!avatar || avatar == _owningAvatar) {
+        // don't collide with our own hands (that is done elsewhere)
         return;
     }
-    ModelCollisionList collisions;
     float scaledPalmRadius = PALM_COLLISION_RADIUS * _owningAvatar->getScale();
     for (size_t i = 0; i < getNumPalms(); i++) {
         PalmData& palm = getPalms()[i];
@@ -183,58 +177,61 @@ void Hand::collideAgainstOtherAvatars() {
             continue;
         }        
         glm::vec3 totalPenetration;
-        // check other avatars
-        foreach (const AvatarSharedPointer& avatarPointer, Application::getInstance()->getAvatarManager().getAvatarHash()) {
-            Avatar* avatar = static_cast<Avatar*>(avatarPointer.data());
-            if (avatar == _owningAvatar) {
-                // don't collid with our own hands
-                continue;
-            }
-            collisions.clear();
-            if (Menu::getInstance()->isOptionChecked(MenuOption::PlaySlaps)) {
-                //  Check for palm collisions
-                glm::vec3 myPalmPosition = palm.getPosition();
-                float palmCollisionDistance = 0.1f;
-                bool wasColliding = palm.getIsCollidingWithPalm();
-                palm.setIsCollidingWithPalm(false);
-                //  If 'Play Slaps' is enabled, look for palm-to-palm collisions and make sound
-                for (size_t j = 0; j < avatar->getHand().getNumPalms(); j++) {
-                    PalmData& otherPalm = avatar->getHand().getPalms()[j];
-                    if (!otherPalm.isActive()) {
-                        continue;
-                    }
-                    glm::vec3 otherPalmPosition = otherPalm.getPosition();
-                    if (glm::length(otherPalmPosition - myPalmPosition) < palmCollisionDistance) {
-                        palm.setIsCollidingWithPalm(true);
-                        if (!wasColliding) {
-                            const float PALM_COLLIDE_VOLUME = 1.f;
-                            const float PALM_COLLIDE_FREQUENCY = 1000.f;
-                            const float PALM_COLLIDE_DURATION_MAX = 0.75f;
-                            const float PALM_COLLIDE_DECAY_PER_SAMPLE = 0.01f;
-                            Application::getInstance()->getAudio()->startDrumSound(PALM_COLLIDE_VOLUME,
-                                                                                PALM_COLLIDE_FREQUENCY,
-                                                                                PALM_COLLIDE_DURATION_MAX,
-                                                                                PALM_COLLIDE_DECAY_PER_SAMPLE);
-                            //  If the other person's palm is in motion, move mine downward to show I was hit
-                            const float MIN_VELOCITY_FOR_SLAP = 0.05f;
-                            if (glm::length(otherPalm.getVelocity()) > MIN_VELOCITY_FOR_SLAP) {
-                                // add slapback here
-                            }
+        ModelCollisionList collisions;
+        if (Menu::getInstance()->isOptionChecked(MenuOption::PlaySlaps)) {
+            //  Check for palm collisions
+            glm::vec3 myPalmPosition = palm.getPosition();
+            float palmCollisionDistance = 0.1f;
+            bool wasColliding = palm.getIsCollidingWithPalm();
+            palm.setIsCollidingWithPalm(false);
+            //  If 'Play Slaps' is enabled, look for palm-to-palm collisions and make sound
+            for (size_t j = 0; j < avatar->getHand().getNumPalms(); j++) {
+                PalmData& otherPalm = avatar->getHand().getPalms()[j];
+                if (!otherPalm.isActive()) {
+                    continue;
+                }
+                glm::vec3 otherPalmPosition = otherPalm.getPosition();
+                if (glm::length(otherPalmPosition - myPalmPosition) < palmCollisionDistance) {
+                    palm.setIsCollidingWithPalm(true);
+                    if (!wasColliding) {
+                        const float PALM_COLLIDE_VOLUME = 1.f;
+                        const float PALM_COLLIDE_FREQUENCY = 1000.f;
+                        const float PALM_COLLIDE_DURATION_MAX = 0.75f;
+                        const float PALM_COLLIDE_DECAY_PER_SAMPLE = 0.01f;
+                        Application::getInstance()->getAudio()->startDrumSound(PALM_COLLIDE_VOLUME,
+                                                                            PALM_COLLIDE_FREQUENCY,
+                                                                            PALM_COLLIDE_DURATION_MAX,
+                                                                            PALM_COLLIDE_DECAY_PER_SAMPLE);
+                        //  If the other person's palm is in motion, move mine downward to show I was hit
+                        const float MIN_VELOCITY_FOR_SLAP = 0.05f;
+                        if (glm::length(otherPalm.getVelocity()) > MIN_VELOCITY_FOR_SLAP) {
+                            // add slapback here
                         }
                     }
                 }
             }
-            if (avatar->findSphereCollisions(palm.getPosition(), scaledPalmRadius, collisions)) {
-                for (int j = 0; j < collisions.size(); ++j) {
-                    // we don't resolve penetrations that would poke the other avatar
-                    if (!avatar->isPokeable(collisions[j])) {
+        }
+        if (avatar->findSphereCollisions(palm.getPosition(), scaledPalmRadius, collisions)) {
+            for (int j = 0; j < collisions.size(); ++j) {
+                if (isMyHand) {
+                    if (!avatar->collisionWouldMoveAvatar(collisions[j])) {
+                        // we resolve the hand from collision when it belongs to MyAvatar AND the other Avatar is 
+                        // not expected to respond to the collision (hand hit unmovable part of their Avatar)
                         totalPenetration = addPenetrations(totalPenetration, collisions[j]._penetration);
                     }
+                } else {
+                    // when this !isMyHand then avatar is MyAvatar and we apply the collision
+                    // which might not do anything (hand hit unmovable part of MyAvatar) however
+                    // we don't resolve the hand's penetration (we expect their simulation
+                    // to do the right thing).
+                    avatar->applyCollision(collisions[j]);
                 }
             }
         }
-        // resolve penetration
-        palm.addToPosition(-totalPenetration);
+        if (isMyHand) {
+            // resolve penetration
+            palm.addToPosition(-totalPenetration);
+        }
     }
 }
 
diff --git a/interface/src/avatar/Hand.h b/interface/src/avatar/Hand.h
index 5a8e3d0e6f..9413d024c3 100755
--- a/interface/src/avatar/Hand.h
+++ b/interface/src/avatar/Hand.h
@@ -67,6 +67,9 @@ public:
     glm::vec3 getAndResetGrabDeltaVelocity();
     glm::quat getAndResetGrabRotation();
 
+    void collideAgainstAvatar(Avatar* avatar, bool isMyHand);
+    void collideAgainstOurself();
+
 private:
     // disallow copies of the Hand, copy of owning Avatar is disallowed too
     Hand(const Hand&);
@@ -96,10 +99,6 @@ private:
     void renderLeapHands(bool isMine);
     void renderLeapFingerTrails();
     
-    void updateCollisions();
-    void collideAgainstOtherAvatars();
-    void collideAgainstOurself();
-
     void calculateGeometry();
     
     void handleVoxelCollision(PalmData* palm, const glm::vec3& fingerTipPosition, VoxelTreeElement* voxel, float deltaTime);
diff --git a/interface/src/avatar/MyAvatar.cpp b/interface/src/avatar/MyAvatar.cpp
index 31437182bc..e0d9db43aa 100644
--- a/interface/src/avatar/MyAvatar.cpp
+++ b/interface/src/avatar/MyAvatar.cpp
@@ -344,6 +344,7 @@ void MyAvatar::simulate(float deltaTime) {
     _position += _velocity * deltaTime;
 
     // update avatar skeleton and simulate hand and head
+    _hand.collideAgainstOurself(); 
     _hand.simulate(deltaTime, true);
     _skeletonModel.simulate(deltaTime);
     _head.setBodyRotation(glm::vec3(_bodyPitch, _bodyYaw, _bodyRoll));
@@ -1050,11 +1051,13 @@ void MyAvatar::updateCollisionWithAvatars(float deltaTime) {
                 avatar->getPosition(), theirCapsuleRadius, theirCapsuleHeight, penetration)) {
                 // move the avatar out by half the penetration
                 setPosition(_position - 0.5f * penetration);
-                glm::vec3 pushOut = 0.5f * penetration;
             }
 
-            // collide their hands against our movable limbs
-            
+            // collide our hands against them
+            _hand.collideAgainstAvatar(avatar, true);
+
+            // collide their hands against us
+            avatar->getHand().collideAgainstAvatar(this, false);
         }
     }
 }
diff --git a/interface/src/renderer/Model.cpp b/interface/src/renderer/Model.cpp
index de48be8694..f899e76ef4 100644
--- a/interface/src/renderer/Model.cpp
+++ b/interface/src/renderer/Model.cpp
@@ -722,7 +722,7 @@ void Model::renderCollisionProxies(float alpha) {
     glPopMatrix();
 }
 
-bool Model::isPokeable(ModelCollisionInfo& collision) const {
+bool Model::collisionHitsMoveableJoint(ModelCollisionInfo& collision) const {
     // the joint is pokable by a collision if it exists and is free to move
     const FBXJoint& joint = _geometry->getFBXGeometry().joints[collision._jointIndex];
     if (joint.parentIndex == -1  || 
@@ -736,7 +736,7 @@ bool Model::isPokeable(ModelCollisionInfo& collision) const {
     return !freeLineage.isEmpty();
 }
 
-bool Model::poke(ModelCollisionInfo& collision) {
+void Model::applyCollision(ModelCollisionInfo& collision) {
     // This needs work.  At the moment it can wiggle joints that are free to move (such as arms)
     // but unmovable joints (such as torso) cannot be influenced at all.
     glm::vec3 jointPosition(0.f);
@@ -760,11 +760,10 @@ bool Model::poke(ModelCollisionInfo& collision) {
                 getJointPosition(jointIndex, end);
                 glm::vec3 newEnd = start + glm::angleAxis(glm::degrees(angle), axis) * (end - start);
                 // try to move it
-                return setJointPosition(jointIndex, newEnd, -1, true);
+                setJointPosition(jointIndex, newEnd, -1, true);
             }
         }
     }
-    return false;
 }
 
 void Model::deleteGeometry() {
diff --git a/interface/src/renderer/Model.h b/interface/src/renderer/Model.h
index 003cdfe3e5..bab25bed7a 100644
--- a/interface/src/renderer/Model.h
+++ b/interface/src/renderer/Model.h
@@ -167,12 +167,12 @@ public:
     
     void renderCollisionProxies(float alpha);
 
-    /// \return true if the collision would move the model
-    bool isPokeable(ModelCollisionInfo& collision) const;
+    /// \return true if the collision is against a moveable joint
+    bool collisionHitsMoveableJoint(ModelCollisionInfo& collision) const;
 
     /// \param collisionInfo info about the collision
-    /// \return true if collision affects the Model
-    bool poke(ModelCollisionInfo& collisionInfo);
+    /// Use the collisionInfo to affect the model
+    void  applyCollision(ModelCollisionInfo& collisionInfo);
 
 protected:
 

From 3a8aa0c47e4f9556d9401be67cf551b41b8e147f Mon Sep 17 00:00:00 2001
From: Andrew Meadows <andrew@highfidelity.io>
Date: Thu, 13 Feb 2014 10:02:16 -0800
Subject: [PATCH 03/15] Removing HeadData::findSpherePenetration() as unused
 cruft.

---
 libraries/avatars/src/HeadData.cpp | 7 -------
 libraries/avatars/src/HeadData.h   | 7 -------
 2 files changed, 14 deletions(-)

diff --git a/libraries/avatars/src/HeadData.cpp b/libraries/avatars/src/HeadData.cpp
index f863d6b592..62e8276bd3 100644
--- a/libraries/avatars/src/HeadData.cpp
+++ b/libraries/avatars/src/HeadData.cpp
@@ -45,10 +45,3 @@ void HeadData::addLean(float sideways, float forwards) {
     _leanForward  += forwards;
 }
 
-bool HeadData::findSpherePenetration(const glm::vec3& penetratorCenter, float penetratorRadius, glm::vec3& penetration) const {
-    // we would like to update this to determine collisions/penetrations with the Avatar's head sphere...
-    // but right now it does not appear as if the HeadData has a position and radius.
-    // this is a placeholder for now.
-    return false;
-}
-
diff --git a/libraries/avatars/src/HeadData.h b/libraries/avatars/src/HeadData.h
index fde684bbf1..0f096059c0 100644
--- a/libraries/avatars/src/HeadData.h
+++ b/libraries/avatars/src/HeadData.h
@@ -58,13 +58,6 @@ public:
     void setLookAtPosition(const glm::vec3& lookAtPosition) { _lookAtPosition = lookAtPosition; }
     
     friend class AvatarData;
-
-    /// Checks for penetration between the described sphere and the hand.
-    /// \param penetratorCenter the center of the penetration test sphere
-    /// \param penetratorRadius the radius of the penetration test sphere
-    /// \param penetration[out] the vector in which to store the penetration
-    /// \return whether or not the sphere penetrated
-    bool findSpherePenetration(const glm::vec3& penetratorCenter, float penetratorRadius, glm::vec3& penetration) const;
     
 protected:
     float _yaw;

From e793c207f9fd15f2ad70266a154b51e7d9348ab1 Mon Sep 17 00:00:00 2001
From: Andrew Meadows <andrew@highfidelity.io>
Date: Thu, 13 Feb 2014 10:03:14 -0800
Subject: [PATCH 04/15] Minor whitespace removal.

---
 interface/src/avatar/MyAvatar.cpp | 2 --
 1 file changed, 2 deletions(-)

diff --git a/interface/src/avatar/MyAvatar.cpp b/interface/src/avatar/MyAvatar.cpp
index e0d9db43aa..560f1a6fd4 100644
--- a/interface/src/avatar/MyAvatar.cpp
+++ b/interface/src/avatar/MyAvatar.cpp
@@ -837,7 +837,6 @@ void MyAvatar::updateThrust(float deltaTime) {
                 }
             }
         }
-
     }
 
     //  Update speed brake status
@@ -903,7 +902,6 @@ void MyAvatar::updateCollisionWithEnvironment(float deltaTime, float radius) {
     }
 }
 
-
 void MyAvatar::updateCollisionWithVoxels(float deltaTime, float radius) {
     const float VOXEL_ELASTICITY = 0.4f;
     const float VOXEL_DAMPING = 0.0f;

From 9523ea7d03a3b402a860b294b0b2883251f9818f Mon Sep 17 00:00:00 2001
From: Andrew Meadows <andrew@highfidelity.io>
Date: Thu, 13 Feb 2014 10:03:39 -0800
Subject: [PATCH 05/15] Only do slaps for MyAvatar.

---
 interface/src/avatar/Hand.cpp | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/interface/src/avatar/Hand.cpp b/interface/src/avatar/Hand.cpp
index 7e47b0a0d5..5749da5f14 100644
--- a/interface/src/avatar/Hand.cpp
+++ b/interface/src/avatar/Hand.cpp
@@ -178,7 +178,7 @@ void Hand::collideAgainstAvatar(Avatar* avatar, bool isMyHand) {
         }        
         glm::vec3 totalPenetration;
         ModelCollisionList collisions;
-        if (Menu::getInstance()->isOptionChecked(MenuOption::PlaySlaps)) {
+        if (isMyHand && Menu::getInstance()->isOptionChecked(MenuOption::PlaySlaps)) {
             //  Check for palm collisions
             glm::vec3 myPalmPosition = palm.getPosition();
             float palmCollisionDistance = 0.1f;
@@ -220,10 +220,10 @@ void Hand::collideAgainstAvatar(Avatar* avatar, bool isMyHand) {
                         totalPenetration = addPenetrations(totalPenetration, collisions[j]._penetration);
                     }
                 } else {
-                    // when this !isMyHand then avatar is MyAvatar and we apply the collision
+                    // when !isMyHand then avatar is MyAvatar and we apply the collision
                     // which might not do anything (hand hit unmovable part of MyAvatar) however
-                    // we don't resolve the hand's penetration (we expect their simulation
-                    // to do the right thing).
+                    // we don't resolve the hand's penetration because we expect the remote 
+                    // simulation to do the right thing.
                     avatar->applyCollision(collisions[j]);
                 }
             }

From 312bc7521f5d13a698773c99351b0a2aebbc234a Mon Sep 17 00:00:00 2001
From: Andrew Meadows <andrew@highfidelity.io>
Date: Thu, 13 Feb 2014 10:04:58 -0800
Subject: [PATCH 06/15] Making arm restoration rate independent of FPS and
 easier to tune.

---
 interface/src/avatar/SkeletonModel.cpp | 9 +++++----
 1 file changed, 5 insertions(+), 4 deletions(-)

diff --git a/interface/src/avatar/SkeletonModel.cpp b/interface/src/avatar/SkeletonModel.cpp
index ac08c52b49..ff4de8c41e 100644
--- a/interface/src/avatar/SkeletonModel.cpp
+++ b/interface/src/avatar/SkeletonModel.cpp
@@ -36,23 +36,24 @@ void SkeletonModel::simulate(float deltaTime) {
     HandData& hand = _owningAvatar->getHand();
     hand.getLeftRightPalmIndices(leftPalmIndex, rightPalmIndex);
 
-    const float HAND_RESTORATION_RATE = 0.25f;
+    const float HAND_RESTORATION_PERIOD = 1.f;  // seconds
+    float handRestorePercent = glm::clamp(deltaTime / HAND_RESTORATION_PERIOD, 0.f, 1.f);
 
     const FBXGeometry& geometry = _geometry->getFBXGeometry();
     if (leftPalmIndex == -1) {
         // no Leap data; set hands from mouse
         if (_owningAvatar->getHandState() == HAND_STATE_NULL) {
-            restoreRightHandPosition(HAND_RESTORATION_RATE);
+            restoreRightHandPosition(handRestorePercent);
         } else {
             applyHandPosition(geometry.rightHandJointIndex, _owningAvatar->getHandPosition());
         }
-        restoreLeftHandPosition(HAND_RESTORATION_RATE);
+        restoreLeftHandPosition(handRestorePercent);
 
     } else if (leftPalmIndex == rightPalmIndex) {
         // right hand only
         applyPalmData(geometry.rightHandJointIndex, geometry.rightFingerJointIndices, geometry.rightFingertipJointIndices,
             hand.getPalms()[leftPalmIndex]);
-        restoreLeftHandPosition(HAND_RESTORATION_RATE);
+        restoreLeftHandPosition(handRestorePercent);
 
     } else {
         applyPalmData(geometry.leftHandJointIndex, geometry.leftFingerJointIndices, geometry.leftFingertipJointIndices,

From 6d75efd2b01d56fe8d236de1985fc9de824927d6 Mon Sep 17 00:00:00 2001
From: ZappoMan <bradh@konamoxt.com>
Date: Thu, 13 Feb 2014 10:46:28 -0800
Subject: [PATCH 07/15] tweaks to default menus for alpha, make Gravity false
 so we don't fall into abyss

---
 interface/src/Menu.cpp        | 8 ++++----
 interface/src/Menu.h          | 2 +-
 interface/src/avatar/Hand.cpp | 2 +-
 3 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/interface/src/Menu.cpp b/interface/src/Menu.cpp
index 7eb5807c6f..2e026f216f 100644
--- a/interface/src/Menu.cpp
+++ b/interface/src/Menu.cpp
@@ -161,7 +161,7 @@ Menu::Menu() :
     #endif
 
     addDisabledActionAndSeparator(editMenu, "Physics");
-    addCheckableActionToQMenuAndActionHash(editMenu, MenuOption::Gravity, Qt::SHIFT | Qt::Key_G, true);
+    addCheckableActionToQMenuAndActionHash(editMenu, MenuOption::Gravity, Qt::SHIFT | Qt::Key_G, false);
 
     
     addCheckableActionToQMenuAndActionHash(editMenu, MenuOption::ClickToFly);
@@ -339,14 +339,14 @@ Menu::Menu() :
     addCheckableActionToQMenuAndActionHash(avatarOptionsMenu, MenuOption::Avatars, 0, true);
     addCheckableActionToQMenuAndActionHash(avatarOptionsMenu, MenuOption::CollisionProxies);
 
-    addCheckableActionToQMenuAndActionHash(avatarOptionsMenu, MenuOption::LookAtVectors, 0, true);
+    addCheckableActionToQMenuAndActionHash(avatarOptionsMenu, MenuOption::LookAtVectors, 0, false);
     addCheckableActionToQMenuAndActionHash(avatarOptionsMenu,
                                            MenuOption::FaceshiftTCP,
                                            0,
                                            false,
                                            appInstance->getFaceshift(),
                                            SLOT(setTCPEnabled(bool)));
-    addCheckableActionToQMenuAndActionHash(avatarOptionsMenu, MenuOption::ChatCircling, 0, true);
+    addCheckableActionToQMenuAndActionHash(avatarOptionsMenu, MenuOption::ChatCircling, 0, false);
 
     QMenu* handOptionsMenu = developerMenu->addMenu("Hand Options");
 
@@ -356,7 +356,7 @@ Menu::Menu() :
                                            true,
                                            appInstance->getSixenseManager(),
                                            SLOT(setFilter(bool)));
-    addCheckableActionToQMenuAndActionHash(handOptionsMenu, MenuOption::DisplayLeapHands, 0, true);
+    addCheckableActionToQMenuAndActionHash(handOptionsMenu, MenuOption::DisplayHands, 0, true);
     addCheckableActionToQMenuAndActionHash(handOptionsMenu, MenuOption::DisplayHandTargets, 0, false);
     addCheckableActionToQMenuAndActionHash(handOptionsMenu, MenuOption::VoxelDrumming, 0, false);
     addCheckableActionToQMenuAndActionHash(handOptionsMenu, MenuOption::PlaySlaps, 0, false);
diff --git a/interface/src/Menu.h b/interface/src/Menu.h
index 742b9fc66f..2f0c65413c 100644
--- a/interface/src/Menu.h
+++ b/interface/src/Menu.h
@@ -183,7 +183,7 @@ namespace MenuOption {
     const QString DisableDeltaSending = "Disable Delta Sending";
     const QString DisableLowRes = "Disable Lower Resolution While Moving";
     const QString DisplayFrustum = "Display Frustum";
-    const QString DisplayLeapHands = "Display Leap Hands";
+    const QString DisplayHands = "Display Hands";
     const QString DisplayHandTargets = "Display Hand Targets";
     const QString FilterSixense = "Smooth Sixense Movement";
     const QString DontRenderVoxels = "Don't call _voxels.render()";
diff --git a/interface/src/avatar/Hand.cpp b/interface/src/avatar/Hand.cpp
index 8edb455a75..1239e38818 100644
--- a/interface/src/avatar/Hand.cpp
+++ b/interface/src/avatar/Hand.cpp
@@ -304,7 +304,7 @@ void Hand::render(bool isMine) {
         }
     }
     
-    if (Menu::getInstance()->isOptionChecked(MenuOption::DisplayLeapHands)) {
+    if (Menu::getInstance()->isOptionChecked(MenuOption::DisplayHands)) {
         renderLeapHands(isMine);
     }
 

From 156fa6dc5aaa57465c585b6b6cda7dfc0a98c9a3 Mon Sep 17 00:00:00 2001
From: ZappoMan <bradh@konamoxt.com>
Date: Thu, 13 Feb 2014 11:03:35 -0800
Subject: [PATCH 08/15] more tweaks, removed old clouds

---
 interface/src/Application.cpp | 14 ------
 interface/src/Application.h   |  4 --
 interface/src/Cloud.cpp       | 85 -----------------------------------
 interface/src/Cloud.h         | 32 -------------
 interface/src/Menu.cpp        | 17 +++----
 interface/src/Menu.h          |  1 -
 6 files changed, 5 insertions(+), 148 deletions(-)
 delete mode 100644 interface/src/Cloud.cpp
 delete mode 100644 interface/src/Cloud.h

diff --git a/interface/src/Application.cpp b/interface/src/Application.cpp
index 004b71074b..f51360cca1 100644
--- a/interface/src/Application.cpp
+++ b/interface/src/Application.cpp
@@ -2146,15 +2146,6 @@ void Application::updateThreads(float deltaTime) {
     }
 }
 
-void Application::updateParticles(float deltaTime) {
-    bool showWarnings = Menu::getInstance()->isOptionChecked(MenuOption::PipelineWarnings);
-    PerformanceWarning warn(showWarnings, "Application::updateParticles()");
-
-    if (Menu::getInstance()->isOptionChecked(MenuOption::ParticleCloud)) {
-        _cloud.simulate(deltaTime);
-    }
-}
-
 void Application::updateMetavoxels(float deltaTime) {
     bool showWarnings = Menu::getInstance()->isOptionChecked(MenuOption::PipelineWarnings);
     PerformanceWarning warn(showWarnings, "Application::updateMetavoxels()");
@@ -2276,7 +2267,6 @@ void Application::update(float deltaTime) {
     updateMyAvatar(deltaTime); // Sample hardware, update view frustum if needed, and send avatar data to mixer/nodes
     updateThreads(deltaTime); // If running non-threaded, then give the threads some time to process...
     _avatarManager.updateOtherAvatars(deltaTime); //loop through all the other avatars and simulate them...
-    updateParticles(deltaTime); // Simulate particle cloud movements
     updateMetavoxels(deltaTime); // update metavoxels
     updateCamera(deltaTime); // handle various camera tweaks like off axis projection
     updateDialogs(deltaTime); // update various stats dialogs if present
@@ -2711,10 +2701,6 @@ void Application::displaySide(Camera& whichCamera, bool selfAvatarOnly) {
         // disable specular lighting for ground and voxels
         glMaterialfv(GL_FRONT, GL_SPECULAR, NO_SPECULAR_COLOR);
 
-        //  Draw Cloud Particles
-        if (Menu::getInstance()->isOptionChecked(MenuOption::ParticleCloud)) {
-            _cloud.render();
-        }
         //  Draw voxels
         if (Menu::getInstance()->isOptionChecked(MenuOption::Voxels)) {
             PerformanceWarning warn(Menu::getInstance()->isOptionChecked(MenuOption::PipelineWarnings),
diff --git a/interface/src/Application.h b/interface/src/Application.h
index ff6e08758b..c5aafc4e9d 100644
--- a/interface/src/Application.h
+++ b/interface/src/Application.h
@@ -32,7 +32,6 @@
 
 #include "BandwidthMeter.h"
 #include "Camera.h"
-#include "Cloud.h"
 #include "DatagramProcessor.h"
 #include "Environment.h"
 #include "GLCanvas.h"
@@ -284,7 +283,6 @@ private:
     void updateSixense(float deltaTime);
     void updateSerialDevices(float deltaTime);
     void updateThreads(float deltaTime);
-    void updateParticles(float deltaTime);
     void updateMetavoxels(float deltaTime);
     void updateCamera(float deltaTime);
     void updateDialogs(float deltaTime);
@@ -351,8 +349,6 @@ private:
 
     Stars _stars;
 
-    Cloud _cloud;
-
     VoxelSystem _voxels;
     VoxelTree _clipboard; // if I copy/paste
     VoxelImporter* _voxelImporter;
diff --git a/interface/src/Cloud.cpp b/interface/src/Cloud.cpp
deleted file mode 100644
index a89ee04810..0000000000
--- a/interface/src/Cloud.cpp
+++ /dev/null
@@ -1,85 +0,0 @@
-//
-//  Cloud.cpp
-//  interface
-//
-//  Created by Philip Rosedale on 11/17/12.
-//  Copyright (c) 2012 High Fidelity, Inc. All rights reserved.
-//
-
-#include <iostream>
-#include <InterfaceConfig.h>
-#include "Cloud.h"
-#include "Util.h"
-#include "Field.h"
-
-const int NUM_PARTICLES = 100000;
-const float FIELD_COUPLE = 0.001f;
-const bool RENDER_FIELD = false;
-
-Cloud::Cloud() {
-    glm::vec3 box = glm::vec3(PARTICLE_WORLD_SIZE);
-    _bounds = box;
-    _count = NUM_PARTICLES;
-    _particles = new Particle[_count];
-    _field = new Field(PARTICLE_WORLD_SIZE, FIELD_COUPLE);
-    
-    for (unsigned int i = 0; i < _count; i++) {
-        _particles[i].position = randVector() * box;
-        const float INIT_VEL_SCALE = 0.03f;
-        _particles[i].velocity = randVector() * ((float)PARTICLE_WORLD_SIZE * INIT_VEL_SCALE);
-        _particles[i].color = randVector();
-     }
-}
-
-void Cloud::render() {
-    if (RENDER_FIELD) {
-        _field->render();
-    }
-    
-    glPointSize(3.0f);
-    glDisable(GL_TEXTURE_2D);
-    glEnable(GL_POINT_SMOOTH);
-    
-    glEnableClientState(GL_VERTEX_ARRAY);
-    glEnableClientState(GL_COLOR_ARRAY);
-    glVertexPointer(3, GL_FLOAT, 3 * sizeof(glm::vec3), &_particles[0].position);
-    glColorPointer(3, GL_FLOAT, 3 * sizeof(glm::vec3), &_particles[0].color);
-    glDrawArrays(GL_POINTS, 0, NUM_PARTICLES);
-    glDisableClientState(GL_VERTEX_ARRAY);
-    glDisableClientState(GL_COLOR_ARRAY);
-     
-}
-
-void Cloud::simulate (float deltaTime) {
-    unsigned int i;
-    _field->simulate(deltaTime);
-    for (i = 0; i < _count; ++i) {
-        
-        // Update position 
-        _particles[i].position += _particles[i].velocity * deltaTime;
-
-        // Decay Velocity (Drag)
-        const float CONSTANT_DAMPING = 0.15f;
-        _particles[i].velocity *= (1.f - CONSTANT_DAMPING * deltaTime);
-                
-        // Interact with Field
-        _field->interact(deltaTime, _particles[i].position, _particles[i].velocity);
-                      
-        //  Update color to velocity 
-        _particles[i].color = (glm::normalize(_particles[i].velocity) * 0.5f) + 0.5f;
-        
-        // Bounce at bounds
-        if ((_particles[i].position.x > _bounds.x) || (_particles[i].position.x < 0.f)) {
-            _particles[i].position.x = glm::clamp(_particles[i].position.x, 0.f, _bounds.x);
-            _particles[i].velocity.x *= -1.f;
-        }
-        if ((_particles[i].position.y > _bounds.y) || (_particles[i].position.y < 0.f)) {
-            _particles[i].position.y = glm::clamp(_particles[i].position.y, 0.f, _bounds.y);
-            _particles[i].velocity.y *= -1.f;
-        }
-        if ((_particles[i].position.z > _bounds.z) || (_particles[i].position.z < 0.f)) {
-            _particles[i].position.z = glm::clamp(_particles[i].position.z, 0.f, _bounds.z);
-            _particles[i].velocity.z *= -1.f;
-        }
-    }
- }
diff --git a/interface/src/Cloud.h b/interface/src/Cloud.h
deleted file mode 100644
index fcf414b62e..0000000000
--- a/interface/src/Cloud.h
+++ /dev/null
@@ -1,32 +0,0 @@
-//
-//  Cloud.h
-//  interface
-//
-//  Created by Philip Rosedale on 11/17/12.
-//  Copyright (c) 2012 High Fidelity, Inc. All rights reserved.
-//
-
-#ifndef __interface__Cloud__
-#define __interface__Cloud__
-
-#include "Field.h"
-
-#define PARTICLE_WORLD_SIZE 256.0
-
-class Cloud {
-public:
-    Cloud();
-    void simulate(float deltaTime);
-    void render();
-    
-private:
-    struct Particle {
-        glm::vec3 position, velocity, color;
-       }* _particles;
-    
-    unsigned int _count;
-    glm::vec3 _bounds;
-    Field* _field;
-};
-
-#endif
diff --git a/interface/src/Menu.cpp b/interface/src/Menu.cpp
index 2e026f216f..4a3733f760 100644
--- a/interface/src/Menu.cpp
+++ b/interface/src/Menu.cpp
@@ -238,9 +238,9 @@ Menu::Menu() :
                                            SLOT(setFullscreen(bool)));
     addCheckableActionToQMenuAndActionHash(viewMenu, MenuOption::FirstPerson, Qt::Key_P, true,
                                             appInstance,SLOT(cameraMenuChanged()));
-    addCheckableActionToQMenuAndActionHash(viewMenu, MenuOption::Mirror, Qt::SHIFT | Qt::Key_H);
-    addCheckableActionToQMenuAndActionHash(viewMenu, MenuOption::FullscreenMirror, Qt::Key_H,false,
-                                            appInstance,SLOT(cameraMenuChanged()));
+    addCheckableActionToQMenuAndActionHash(viewMenu, MenuOption::Mirror, Qt::SHIFT | Qt::Key_H, true);
+    addCheckableActionToQMenuAndActionHash(viewMenu, MenuOption::FullscreenMirror, Qt::Key_H, false,
+                                            appInstance, SLOT(cameraMenuChanged()));
                                             
     addCheckableActionToQMenuAndActionHash(viewMenu, MenuOption::Enable3DTVMode, 0,
                                            false,
@@ -266,14 +266,8 @@ Menu::Menu() :
                                   appInstance->getAvatar(),
                                   SLOT(resetSize()));
 
-    addCheckableActionToQMenuAndActionHash(viewMenu,
-                                           MenuOption::OffAxisProjection,
-                                           0,
-                                           true);
-    addCheckableActionToQMenuAndActionHash(viewMenu,
-                                           MenuOption::TurnWithHead,
-                                           0,
-                                           true);
+    addCheckableActionToQMenuAndActionHash(viewMenu, MenuOption::OffAxisProjection, 0, false);
+    addCheckableActionToQMenuAndActionHash(viewMenu, MenuOption::TurnWithHead, 0, false);
     addCheckableActionToQMenuAndActionHash(viewMenu, MenuOption::MoveWithLean, 0, false);
     addCheckableActionToQMenuAndActionHash(viewMenu, MenuOption::HeadMouse, 0, false);
 
@@ -298,7 +292,6 @@ Menu::Menu() :
                                   appInstance->getGlowEffect(),
                                   SLOT(cycleRenderMode()));
 
-    addCheckableActionToQMenuAndActionHash(renderOptionsMenu, MenuOption::ParticleCloud, 0, false);
     addCheckableActionToQMenuAndActionHash(renderOptionsMenu, MenuOption::Shadows, 0, false);
     addCheckableActionToQMenuAndActionHash(renderOptionsMenu, MenuOption::Metavoxels, 0, false);
 
diff --git a/interface/src/Menu.h b/interface/src/Menu.h
index 2f0c65413c..19e9fbf49f 100644
--- a/interface/src/Menu.h
+++ b/interface/src/Menu.h
@@ -223,7 +223,6 @@ namespace MenuOption {
     const QString KillLocalVoxels = "Kill Local Voxels";
     const QString GoHome = "Go Home";
     const QString Gravity = "Use Gravity";
-    const QString ParticleCloud = "Particle Cloud";
     const QString LodTools = "LOD Tools";
     const QString Log = "Log";
     const QString Login = "Login";

From d9b50359a6818434ea7a6c22a3bb1642efb6a7f3 Mon Sep 17 00:00:00 2001
From: Andrew Meadows <andrew@highfidelity.io>
Date: Thu, 13 Feb 2014 12:21:28 -0800
Subject: [PATCH 09/15] Hand-face collisions now work (sorta).

---
 interface/src/avatar/Avatar.cpp | 25 ++++++++++++++++++++++---
 interface/src/avatar/Head.cpp   | 28 ++++++++++++++++++++++++++++
 interface/src/avatar/Head.h     |  2 ++
 3 files changed, 52 insertions(+), 3 deletions(-)

diff --git a/interface/src/avatar/Avatar.cpp b/interface/src/avatar/Avatar.cpp
index 487f72a1e5..f36c03cba6 100644
--- a/interface/src/avatar/Avatar.cpp
+++ b/interface/src/avatar/Avatar.cpp
@@ -162,6 +162,7 @@ void Avatar::render(bool forceRenderHead) {
         // render body
         if (Menu::getInstance()->isOptionChecked(MenuOption::CollisionProxies)) {
             _skeletonModel.renderCollisionProxies(1.f);
+            //_head.getFaceModel().renderCollisionProxies(0.5f);
         }
 
         if (Menu::getInstance()->isOptionChecked(MenuOption::Avatars)) {
@@ -276,11 +277,14 @@ bool Avatar::findSphereCollisions(const glm::vec3& penetratorCenter, float penet
     bool didPenetrate = false;
     glm::vec3 skeletonPenetration;
     ModelCollisionInfo collisionInfo;
+    /* Temporarily disabling collisions against the skeleton because the collision proxies up
+     * near the neck are bad and prevent the hand from hitting the face.
     if (_skeletonModel.findSphereCollision(penetratorCenter, penetratorRadius, collisionInfo, 1.0f, skeletonSkipIndex)) {
         collisionInfo._model = &_skeletonModel;
         collisions.push_back(collisionInfo);
         didPenetrate = true; 
     }
+    */
     if (_head.getFaceModel().findSphereCollision(penetratorCenter, penetratorRadius, collisionInfo)) {
         collisionInfo._model = &(_head.getFaceModel());
         collisions.push_back(collisionInfo);
@@ -448,16 +452,31 @@ float Avatar::getHeight() const {
 bool Avatar::collisionWouldMoveAvatar(ModelCollisionInfo& collision) const {
     // ATM only the Skeleton is pokeable
     // TODO: make poke affect head
+    if (!collision._model) {
+        return false;
+    }
     if (collision._model == &_skeletonModel && collision._jointIndex != -1) {
-        return _skeletonModel.collisionHitsMoveableJoint(collision);
+        // collision response of skeleton is temporarily disabled
+        return false;
+        //return _skeletonModel.collisionHitsMoveableJoint(collision);
+    }
+    if (collision._model == &(_head.getFaceModel())) {
+        return true;
     }
     return false;
 }
 
 void Avatar::applyCollision(ModelCollisionInfo& collision) {
-    if (collision._model == &_skeletonModel && collision._jointIndex != -1) {
-        _skeletonModel.applyCollision(collision);
+    if (!collision._model) {
+        return;
     }
+    if (collision._model == &(_head.getFaceModel())) {
+        _head.applyCollision(collision);
+    }
+    // TODO: make skeleton respond to collisions
+    //if (collision._model == &_skeletonModel && collision._jointIndex != -1) {
+    //    _skeletonModel.applyCollision(collision);
+    //}
 }
 
 float Avatar::getPelvisFloatingHeight() const {
diff --git a/interface/src/avatar/Head.cpp b/interface/src/avatar/Head.cpp
index e5d4724bb5..bb88530aa7 100644
--- a/interface/src/avatar/Head.cpp
+++ b/interface/src/avatar/Head.cpp
@@ -219,6 +219,34 @@ float Head::getTweakedRoll() const {
     return glm::clamp(_roll + _tweakedRoll, MIN_HEAD_ROLL, MAX_HEAD_ROLL);
 }
 
+void Head::applyCollision(ModelCollisionInfo& collisionInfo) {
+    // HACK: the collision proxies for the FaceModel are bad.  As a temporary workaround
+    // we collide against a hard coded collision proxy.
+    // TODO: get a better collision proxy here.
+    const float HEAD_RADIUS = 0.15f;
+    const glm::vec3 HEAD_CENTER = _position;
+
+    // collide the contactPoint against the collision proxy to obtain a new penetration
+    // NOTE: that penetration is in opposite direction (points the way out for the point, not the sphere)
+    glm::vec3 penetration;
+    if (findPointSpherePenetration(collisionInfo._contactPoint, HEAD_CENTER, HEAD_RADIUS, penetration)) {
+        // compute lean angles
+        Avatar* owningAvatar = static_cast<Avatar*>(_owningAvatar);
+        glm::quat bodyRotation = owningAvatar->getOrientation();
+        glm::vec3 neckPosition;
+        if (owningAvatar->getSkeletonModel().getNeckPosition(neckPosition)) {
+            glm::vec3 xAxis = bodyRotation * glm::vec3(1.f, 0.f, 0.f);
+            glm::vec3 zAxis = bodyRotation * glm::vec3(0.f, 0.f, 1.f);
+            float neckLength = glm::length(_position - neckPosition);
+            if (neckLength > 0.f) {
+                float forward = glm::dot(collisionInfo._penetration, zAxis) / neckLength;
+                float sideways = - glm::dot(collisionInfo._penetration, xAxis) / neckLength;
+                addLean(sideways, forward);
+            }
+        }
+    } 
+}
+
 void Head::renderLookatVectors(glm::vec3 leftEyePosition, glm::vec3 rightEyePosition, glm::vec3 lookatPosition) {
 
     Application::getInstance()->getGlowEffect()->begin();
diff --git a/interface/src/avatar/Head.h b/interface/src/avatar/Head.h
index 19f9efd8e6..eae8223903 100644
--- a/interface/src/avatar/Head.h
+++ b/interface/src/avatar/Head.h
@@ -79,6 +79,8 @@ public:
     float getTweakedPitch() const;
     float getTweakedYaw() const;
     float getTweakedRoll() const;
+
+    void  applyCollision(ModelCollisionInfo& collisionInfo);
     
 private:
     // disallow copies of the Head, copy of owning Avatar is disallowed too

From b75de42802ca858c9e9ce7c398fc2aba3ec2b931 Mon Sep 17 00:00:00 2001
From: Andrew Meadows <andrew@highfidelity.io>
Date: Thu, 13 Feb 2014 12:22:40 -0800
Subject: [PATCH 10/15] Making the lean recovery use more tuneable parameters.

---
 interface/src/avatar/MyAvatar.cpp | 33 +++++++++----------------------
 interface/src/avatar/MyAvatar.h   |  2 +-
 2 files changed, 10 insertions(+), 25 deletions(-)

diff --git a/interface/src/avatar/MyAvatar.cpp b/interface/src/avatar/MyAvatar.cpp
index 560f1a6fd4..8a4d734072 100644
--- a/interface/src/avatar/MyAvatar.cpp
+++ b/interface/src/avatar/MyAvatar.cpp
@@ -112,23 +112,7 @@ void MyAvatar::updateTransmitter(float deltaTime) {
 void MyAvatar::update(float deltaTime) {
     updateTransmitter(deltaTime);
 
-    // TODO: resurrect touch interactions between avatars
-    //// rotate body yaw for yaw received from multitouch
-    //setOrientation(getOrientation() * glm::quat(glm::vec3(0, _yawFromTouch, 0)));
-    //_yawFromTouch = 0.f;
-    //
-    //// apply pitch from touch
-    //_head.setPitch(_head.getPitch() + _pitchFromTouch);
-    //_pitchFromTouch = 0.0f;
-    //
-    //float TOUCH_YAW_SCALE = -0.25f;
-    //float TOUCH_PITCH_SCALE = -12.5f;
-    //float FIXED_TOUCH_TIMESTEP = 0.016f;
-    //_yawFromTouch += ((_touchAvgX - _lastTouchAvgX) * TOUCH_YAW_SCALE * FIXED_TOUCH_TIMESTEP);
-    //_pitchFromTouch += ((_touchAvgY - _lastTouchAvgY) * TOUCH_PITCH_SCALE * FIXED_TOUCH_TIMESTEP);
-
-    // Update my avatar's state from gyros
-    updateFromGyros(Menu::getInstance()->isOptionChecked(MenuOption::TurnWithHead));
+    updateFromGyros(deltaTime);
 
     // Update head mouse from faceshift if active
     Faceshift* faceshift = Application::getInstance()->getFaceshift();
@@ -364,7 +348,7 @@ void MyAvatar::simulate(float deltaTime) {
 const float MAX_PITCH = 90.0f;
 
 //  Update avatar head rotation with sensor data
-void MyAvatar::updateFromGyros(bool turnWithHead) {
+void MyAvatar::updateFromGyros(float deltaTime) {
     Faceshift* faceshift = Application::getInstance()->getFaceshift();
     glm::vec3 estimatedPosition, estimatedRotation;
 
@@ -372,7 +356,7 @@ void MyAvatar::updateFromGyros(bool turnWithHead) {
         estimatedPosition = faceshift->getHeadTranslation();
         estimatedRotation = safeEulerAngles(faceshift->getHeadRotation());
         //  Rotate the body if the head is turned beyond the screen
-        if (turnWithHead) {
+        if (Menu::getInstance()->isOptionChecked(MenuOption::TurnWithHead)) {
             const float FACESHIFT_YAW_TURN_SENSITIVITY = 0.5f;
             const float FACESHIFT_MIN_YAW_TURN = 15.f;
             const float FACESHIFT_MAX_YAW_TURN = 50.f;
@@ -387,11 +371,12 @@ void MyAvatar::updateFromGyros(bool turnWithHead) {
         }
     } else {
         // restore rotation, lean to neutral positions
-        const float RESTORE_RATE = 0.05f;
-        _head.setYaw(glm::mix(_head.getYaw(), 0.0f, RESTORE_RATE));
-        _head.setRoll(glm::mix(_head.getRoll(), 0.0f, RESTORE_RATE));
-        _head.setLeanSideways(glm::mix(_head.getLeanSideways(), 0.0f, RESTORE_RATE));
-        _head.setLeanForward(glm::mix(_head.getLeanForward(), 0.0f, RESTORE_RATE));
+        const float RESTORE_PERIOD = 1.f;   // seconds
+        float restorePercentage = glm::clamp(deltaTime/RESTORE_PERIOD, 0.f, 1.f);
+        _head.setYaw(glm::mix(_head.getYaw(), 0.0f, restorePercentage));
+        _head.setRoll(glm::mix(_head.getRoll(), 0.0f, restorePercentage));
+        _head.setLeanSideways(glm::mix(_head.getLeanSideways(), 0.0f, restorePercentage));
+        _head.setLeanForward(glm::mix(_head.getLeanForward(), 0.0f, restorePercentage));
         return;
     }
 
diff --git a/interface/src/avatar/MyAvatar.h b/interface/src/avatar/MyAvatar.h
index b912f6b0a7..0130cc9ca2 100644
--- a/interface/src/avatar/MyAvatar.h
+++ b/interface/src/avatar/MyAvatar.h
@@ -34,7 +34,7 @@ public:
     void reset();
     void update(float deltaTime);
     void simulate(float deltaTime);
-    void updateFromGyros(bool turnWithHead);
+    void updateFromGyros(float deltaTime);
     void updateTransmitter(float deltaTime);
 
     void render(bool forceRenderHead);

From ee4733d0bd8ce8801e5ea7622b62ea0a198f4b95 Mon Sep 17 00:00:00 2001
From: Andrew Meadows <andrew@highfidelity.io>
Date: Thu, 13 Feb 2014 12:41:23 -0800
Subject: [PATCH 11/15] Fixing a comment.

---
 libraries/avatars/src/AvatarHashMap.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/avatars/src/AvatarHashMap.cpp b/libraries/avatars/src/AvatarHashMap.cpp
index 72ada7d421..82485691c5 100644
--- a/libraries/avatars/src/AvatarHashMap.cpp
+++ b/libraries/avatars/src/AvatarHashMap.cpp
@@ -2,7 +2,7 @@
 //  AvatarHashMap.cpp
 //  hifi
 //
-//  Created by Stephen AndrewMeadows on 1/28/2014.
+//  Created by AndrewMeadows on 1/28/2014.
 //  Copyright (c) 2014 HighFidelity, Inc. All rights reserved.
 //
 

From 50d864901e742ba3cb7e0b338855474dbf13af10 Mon Sep 17 00:00:00 2001
From: Andrew Meadows <andrew@highfidelity.io>
Date: Thu, 13 Feb 2014 14:02:25 -0800
Subject: [PATCH 12/15] Improved comment about limitation of collision check.

---
 interface/src/renderer/Model.cpp | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/interface/src/renderer/Model.cpp b/interface/src/renderer/Model.cpp
index ce11ee3d71..7686b1ac7f 100644
--- a/interface/src/renderer/Model.cpp
+++ b/interface/src/renderer/Model.cpp
@@ -477,7 +477,10 @@ bool Model::findSphereCollision(const glm::vec3& penetratorCenter, float penetra
         if (findSphereCapsuleConePenetration(relativeCenter, penetratorRadius, start, end,
                 startRadius, endRadius, bonePenetration)) {
             totalPenetration = addPenetrations(totalPenetration, bonePenetration);
-            // TODO: Andrew to try to keep the joint furthest toward the root
+            // BUG: we currently overwrite the jointIndex with the last one found
+            // which can cause incorrect collisions when colliding against more than
+            // one joint.
+            // TODO: fix this.
             jointIndex = i;
         }
         outerContinue: ;

From 9d841ce918f505a82a2f83f68d471f5ec78df268 Mon Sep 17 00:00:00 2001
From: ZappoMan <bradh@konamoxt.com>
Date: Thu, 13 Feb 2014 18:19:20 -0800
Subject: [PATCH 13/15] add Stop All Scripts and Reload All Scripts

---
 interface/src/Application.cpp | 24 ++++++++++++++++++++++++
 interface/src/Application.h   |  2 ++
 interface/src/Menu.cpp        |  2 ++
 interface/src/Menu.h          |  6 ++++--
 4 files changed, 32 insertions(+), 2 deletions(-)

diff --git a/interface/src/Application.cpp b/interface/src/Application.cpp
index f51360cca1..80c2dc7feb 100644
--- a/interface/src/Application.cpp
+++ b/interface/src/Application.cpp
@@ -3984,6 +3984,30 @@ void Application::saveScripts() {
     settings->endArray();
 }
 
+void Application::stopAllScripts() {
+    // stops all current running scripts
+    QList<QAction*> scriptActions = Menu::getInstance()->getActiveScriptsMenu()->actions();
+    foreach (QAction* scriptAction, scriptActions) {
+        scriptAction->activate(QAction::Trigger);
+        qDebug() << "stopping script..." << scriptAction->text();
+    }
+}
+
+void Application::reloadAllScripts() {
+    // reloads all current running scripts
+    QList<QAction*> scriptActions = Menu::getInstance()->getActiveScriptsMenu()->actions();
+    foreach (QAction* scriptAction, scriptActions) {
+        scriptAction->activate(QAction::Trigger);
+        qDebug() << "stopping script..." << scriptAction->text();
+    }
+    QStringList reloadList = _activeScripts;
+    _activeScripts.clear();
+    foreach (QString scriptName, reloadList){
+        qDebug() << "reloading script..." << scriptName;
+        loadScript(scriptName);
+    }
+}
+
 void Application::removeScriptName(const QString& fileNameString) {
   _activeScripts.removeOne(fileNameString);
 }
diff --git a/interface/src/Application.h b/interface/src/Application.h
index c5aafc4e9d..3153150457 100644
--- a/interface/src/Application.h
+++ b/interface/src/Application.h
@@ -231,6 +231,8 @@ public slots:
     void loadDialog();
     void toggleLogDialog();
     void initAvatarAndViewFrustum();
+    void stopAllScripts();
+    void reloadAllScripts();
 
 private slots:
     void timer();
diff --git a/interface/src/Menu.cpp b/interface/src/Menu.cpp
index 4a3733f760..f16a276653 100644
--- a/interface/src/Menu.cpp
+++ b/interface/src/Menu.cpp
@@ -93,6 +93,8 @@ Menu::Menu() :
 
     addDisabledActionAndSeparator(fileMenu, "Scripts");
     addActionToQMenuAndActionHash(fileMenu, MenuOption::LoadScript, Qt::CTRL | Qt::Key_O, appInstance, SLOT(loadDialog()));
+    addActionToQMenuAndActionHash(fileMenu, MenuOption::StopAllScripts, 0, appInstance, SLOT(stopAllScripts()));
+    addActionToQMenuAndActionHash(fileMenu, MenuOption::ReloadAllScripts, 0, appInstance, SLOT(reloadAllScripts()));
     _activeScriptsMenu = fileMenu->addMenu("Running Scripts");
 
     addDisabledActionAndSeparator(fileMenu, "Voxels");
diff --git a/interface/src/Menu.h b/interface/src/Menu.h
index 19e9fbf49f..31b19a64c6 100644
--- a/interface/src/Menu.h
+++ b/interface/src/Menu.h
@@ -243,8 +243,10 @@ namespace MenuOption {
     const QString PasteVoxels = "Paste";
     const QString PasteToVoxel = "Paste to Voxel...";
     const QString PipelineWarnings = "Show Render Pipeline Warnings";
+    const QString PlaySlaps = "Play Slaps";
     const QString Preferences = "Preferences...";
     const QString RandomizeVoxelColors = "Randomize Voxel TRUE Colors";
+    const QString ReloadAllScripts = "Reload All Scripts";
     const QString ResetAvatarSize = "Reset Avatar Size";
     const QString ResetSwatchColors = "Reset Swatch Colors";
     const QString RunTimingTests = "Run Timing Tests";
@@ -253,11 +255,10 @@ namespace MenuOption {
     const QString SettingsExport = "Export Settings";
     const QString ShowAllLocalVoxels = "Show All Local Voxels";
     const QString ShowTrueColors = "Show TRUE Colors";
-    const QString VoxelDrumming = "Voxel Drumming";
-    const QString PlaySlaps = "Play Slaps";
     const QString SuppressShortTimings = "Suppress Timings Less than 10ms";
     const QString Stars = "Stars";
     const QString Stats = "Stats";
+    const QString StopAllScripts = "Stop All Scripts";
     const QString TestPing = "Test Ping";
     const QString TreeStats = "Calculate Tree Stats";
     const QString TransmitterDrive = "Transmitter Drive";
@@ -268,6 +269,7 @@ namespace MenuOption {
     const QString VoxelAddMode = "Add Voxel Mode";
     const QString VoxelColorMode = "Color Voxel Mode";
     const QString VoxelDeleteMode = "Delete Voxel Mode";
+    const QString VoxelDrumming = "Voxel Drumming";
     const QString VoxelGetColorMode = "Get Color Mode";
     const QString VoxelMode = "Cycle Voxel Mode";
     const QString VoxelPaintColor = "Voxel Paint Color";

From dbd6cb71c9aadc491fa667becf566be2a6fc3d06 Mon Sep 17 00:00:00 2001
From: ZappoMan <bradh@konamoxt.com>
Date: Thu, 13 Feb 2014 20:55:16 -0800
Subject: [PATCH 14/15] fixed crash on shutdown with multiple scripts

---
 libraries/octree/src/OctreeScriptingInterface.cpp | 13 +++++++++++--
 libraries/octree/src/OctreeScriptingInterface.h   |  1 +
 2 files changed, 12 insertions(+), 2 deletions(-)

diff --git a/libraries/octree/src/OctreeScriptingInterface.cpp b/libraries/octree/src/OctreeScriptingInterface.cpp
index 553ab961df..89bf5ceb62 100644
--- a/libraries/octree/src/OctreeScriptingInterface.cpp
+++ b/libraries/octree/src/OctreeScriptingInterface.cpp
@@ -11,13 +11,19 @@
 #include "OctreeScriptingInterface.h"
 
 OctreeScriptingInterface::OctreeScriptingInterface(OctreeEditPacketSender* packetSender, 
-                JurisdictionListener* jurisdictionListener)
+                JurisdictionListener* jurisdictionListener) :
+    _packetSender(NULL),
+    _jurisdictionListener(NULL),
+    _managedPacketSender(false), 
+    _managedJurisdictionListener(false),
+    _initialized(false)
 {
     setPacketSender(packetSender);
     setJurisdictionListener(jurisdictionListener);
 }
 
 OctreeScriptingInterface::~OctreeScriptingInterface() {
+qDebug() << "OctreeScriptingInterface::~OctreeScriptingInterface() this=" << this;
     cleanupManagedObjects();
 }
 
@@ -45,6 +51,9 @@ void OctreeScriptingInterface::setJurisdictionListener(JurisdictionListener* jur
 }
 
 void OctreeScriptingInterface::init() {
+    if (_initialized) {
+        return;
+    }
     if (_jurisdictionListener) {
         _managedJurisdictionListener = false;
     } else {
@@ -64,5 +73,5 @@ void OctreeScriptingInterface::init() {
     if (QCoreApplication::instance()) {
         connect(QCoreApplication::instance(), SIGNAL(aboutToQuit()), this, SLOT(cleanupManagedObjects()));
     }
-
+    _initialized = true;
 }
diff --git a/libraries/octree/src/OctreeScriptingInterface.h b/libraries/octree/src/OctreeScriptingInterface.h
index 34eddd8bed..3c832cbae8 100644
--- a/libraries/octree/src/OctreeScriptingInterface.h
+++ b/libraries/octree/src/OctreeScriptingInterface.h
@@ -93,6 +93,7 @@ protected:
     JurisdictionListener* _jurisdictionListener;
     bool _managedPacketSender;
     bool _managedJurisdictionListener;
+    bool _initialized;
 };
 
 #endif /* defined(__hifi__OctreeScriptingInterface__) */

From cd137b2b12bca1c450fb9eb23db4326e670cfdcf Mon Sep 17 00:00:00 2001
From: ZappoMan <bradh@konamoxt.com>
Date: Thu, 13 Feb 2014 21:00:20 -0800
Subject: [PATCH 15/15] tweak to reload scripts

---
 interface/src/Application.cpp | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/interface/src/Application.cpp b/interface/src/Application.cpp
index 80c2dc7feb..96ace9076a 100644
--- a/interface/src/Application.cpp
+++ b/interface/src/Application.cpp
@@ -3991,16 +3991,18 @@ void Application::stopAllScripts() {
         scriptAction->activate(QAction::Trigger);
         qDebug() << "stopping script..." << scriptAction->text();
     }
+    _activeScripts.clear();
 }
 
 void Application::reloadAllScripts() {
+    // remember all the current scripts so we can reload them
+    QStringList reloadList = _activeScripts;
     // reloads all current running scripts
     QList<QAction*> scriptActions = Menu::getInstance()->getActiveScriptsMenu()->actions();
     foreach (QAction* scriptAction, scriptActions) {
         scriptAction->activate(QAction::Trigger);
         qDebug() << "stopping script..." << scriptAction->text();
     }
-    QStringList reloadList = _activeScripts;
     _activeScripts.clear();
     foreach (QString scriptName, reloadList){
         qDebug() << "reloading script..." << scriptName;