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Merge pull request #2927 from AndrewMeadows/inertia

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Improved detection of floor surfaces
This commit is contained in:
Brad Hefta-Gaub 2014-05-27 09:33:50 -07:00
commit d63374f656
2 changed files with 49 additions and 32 deletions
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79
interface/src/avatar/MyAvatar.cpp
View file

@ -65,6 +65,7 @@ MyAvatar::MyAvatar() :
_distanceToNearestAvatar(std::numeric_limits<float>::max()),
_wasPushing(false),
_isPushing(false),
_isBraking(false),
_trapDuration(0.0f),
_thrust(0.0f),
_motorVelocity(0.0f),
@ -790,6 +791,15 @@ bool MyAvatar::shouldRenderHead(const glm::vec3& cameraPosition, RenderMode rend
(glm::length(cameraPosition - head->calculateAverageEyePosition()) > RENDER_HEAD_CUTOFF_DISTANCE * _scale);
}
float MyAvatar::computeDistanceToFloor(const glm::vec3& startPoint) {
glm::vec3 direction = -_worldUpDirection;
OctreeElement* elementHit; // output from findRayIntersection
float distance = FLT_MAX; // output from findRayIntersection
BoxFace face; // output from findRayIntersection
Application::getInstance()->getVoxelTree()->findRayIntersection(startPoint, direction, elementHit, distance, face);
return distance;
}
void MyAvatar::updateOrientation(float deltaTime) {
// Gather rotation information from keyboard
_bodyYawDelta -= _driveKeys[ROT_RIGHT] * YAW_SPEED * deltaTime;
@ -864,6 +874,8 @@ void MyAvatar::updateOrientation(float deltaTime) {
setOrientation(orientation);
}
const float NEARBY_FLOOR_THRESHOLD = 5.0f;
void MyAvatar::updatePosition(float deltaTime) {
float keyboardInput = fabsf(_driveKeys[FWD] - _driveKeys[BACK]) +
fabsf(_driveKeys[RIGHT] - _driveKeys[LEFT]) +
@ -875,11 +887,11 @@ void MyAvatar::updatePosition(float deltaTime) {
const CapsuleShape& boundingShape = _skeletonModel.getBoundingShape();
glm::vec3 startCap;
boundingShape.getStartPoint(startCap);
glm::vec3 bottomOfBoundingCapsule = startCap - boundingShape.getRadius() * _worldUpDirection;
glm::vec3 bottom = startCap - boundingShape.getRadius() * _worldUpDirection;
if (gravityLength > EPSILON) {
float speedFromGravity = _scale * deltaTime * gravityLength;
float distanceToFall = glm::distance(bottomOfBoundingCapsule, _lastFloorContactPoint);
float distanceToFall = glm::distance(bottom, _lastFloorContactPoint);
walkingOnFloor = (distanceToFall < 2.0f * deltaTime * speedFromGravity);
if (walkingOnFloor) {
@ -896,14 +908,24 @@ void MyAvatar::updatePosition(float deltaTime) {
}
// END HACK
} else {
_velocity -= speedFromGravity * _worldUpDirection;
}
if (_motionBehaviors & AVATAR_MOTION_STAND_ON_NEARBY_FLOORS) {
const float MAX_VERTICAL_FLOOR_DETECTION_SPEED = _scale * MAX_WALKING_SPEED;
if (keyboardInput && glm::dot(_motorVelocity, _worldUpDirection) > 0.0f &&
glm::dot(_velocity, _worldUpDirection) > MAX_VERTICAL_FLOOR_DETECTION_SPEED) {
// disable gravity because we're pushing with keyboard
setLocalGravity(glm::vec3(0.0f));
if (!_isBraking) {
// fall with gravity toward floor
_velocity -= speedFromGravity * _worldUpDirection;
}
if (_motionBehaviors & AVATAR_MOTION_STAND_ON_NEARBY_FLOORS) {
const float MAX_VERTICAL_FLOOR_DETECTION_SPEED = _scale * MAX_WALKING_SPEED;
if (keyboardInput && glm::dot(_motorVelocity, _worldUpDirection) > 0.0f &&
glm::dot(_velocity, _worldUpDirection) > MAX_VERTICAL_FLOOR_DETECTION_SPEED) {
// disable local gravity when flying up
setLocalGravity(glm::vec3(0.0f));
} else {
const float maxFloorDistance = _scale * NEARBY_FLOOR_THRESHOLD;
if (computeDistanceToFloor(bottom) > maxFloorDistance) {
// disable local gravity when floor is too far
setLocalGravity(glm::vec3(0.0f));
}
}
}
}
} else {
@ -911,15 +933,10 @@ void MyAvatar::updatePosition(float deltaTime) {
_motionBehaviors & AVATAR_MOTION_STAND_ON_NEARBY_FLOORS) {
const float MIN_FLOOR_DETECTION_SPEED = _scale * 1.0f;
if (glm::length(_velocity) < MIN_FLOOR_DETECTION_SPEED ) {
// scan for floor
glm::vec3 direction = -_worldUpDirection;
OctreeElement* elementHit; // output from findRayIntersection
float distance; // output from findRayIntersection
BoxFace face; // output from findRayIntersection
Application::getInstance()->getVoxelTree()->findRayIntersection(bottomOfBoundingCapsule, direction, elementHit, distance, face);
const float NEARBY_FLOOR_THRESHOLD = _scale * 2.0f;
if (elementHit && distance < NEARBY_FLOOR_THRESHOLD) {
// turn on local gravity
// scan for floor under avatar
const float maxFloorDistance = _scale * NEARBY_FLOOR_THRESHOLD;
if (computeDistanceToFloor(bottom) < maxFloorDistance) {
// enable local gravity
setLocalGravity(-_worldUpDirection);
}
}
@ -1005,32 +1022,30 @@ float MyAvatar::computeMotorTimescale() {
// (1) braking --> short timescale (aggressive motor assertion)
// (2) pushing --> medium timescale (mild motor assertion)
// (3) inactive --> long timescale (gentle friction for low speeds)
//
// TODO: recover extra braking behavior when flying close to nearest avatar
float MIN_MOTOR_TIMESCALE = 0.125f;
float MAX_MOTOR_TIMESCALE = 0.5f;
float MIN_BRAKE_SPEED = 0.4f;
float timescale = MAX_MOTOR_TIMESCALE;
float speed = glm::length(_velocity);
bool areThrusting = (glm::length2(_thrust) > EPSILON);
if (_wasPushing && !(_isPushing || areThrusting) && speed > MIN_BRAKE_SPEED) {
// we don't change _wasPushing for this case -->
// keeps the brakes on until we go below MIN_BRAKE_SPEED
timescale = MIN_MOTOR_TIMESCALE;
bool isThrust = (glm::length2(_thrust) > EPSILON);
if (_isPushing || isThrust) {
timescale = _motorTimescale;
_isBraking = false;
} else {
if (_isPushing) {
timescale = _motorTimescale;
}
_wasPushing = _isPushing || areThrusting;
float speed = glm::length(_velocity);
_isBraking = _wasPushing || (_isBraking && speed > MIN_BRAKE_SPEED);
if (_isBraking) {
timescale = MIN_MOTOR_TIMESCALE;
}
}
_wasPushing = _isPushing || isThrust;
_isPushing = false;
return timescale;
}
void MyAvatar::applyMotor(float deltaTime) {
// TODO: recover extra braking behavior when flying close to nearest avatar
if (!( _motionBehaviors & AVATAR_MOTION_MOTOR_ENABLED)) {
// nothing to do --> early exit
return;

2
interface/src/avatar/MyAvatar.h
View file

@ -154,6 +154,7 @@ private:
bool _wasPushing;
bool _isPushing;
bool _isBraking;
float _trapDuration; // seconds that avatar has been trapped by collisions
glm::vec3 _thrust; // final acceleration from outside sources for the current frame
@ -173,6 +174,7 @@ private:
QList<AnimationHandlePointer> _animationHandles;
// private methods
float computeDistanceToFloor(const glm::vec3& startPoint);
void updateOrientation(float deltaTime);
void updatePosition(float deltaTime);
void updateMotorFromKeyboard(float deltaTime, bool walking);