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more fixes

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This commit is contained in:
Jeffrey Ventrella 2013-05-31 17:32:30 -07:00
parent d92471860d
commit de49d7fc6c
4 changed files with 115 additions and 114 deletions
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202
interface/src/Avatar.cpp
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@ -99,12 +99,12 @@ Avatar::Avatar(Agent* owningAgent) :
_skeleton.initialize(); _skeleton.initialize();
initializeBalls(); initializeBodyBalls();
_height = _skeleton.getHeight() + _ball[ AVATAR_JOINT_LEFT_HEEL ].radius + _ball[ AVATAR_JOINT_HEAD_BASE ].radius; _height = _skeleton.getHeight() + _bodyBall[ AVATAR_JOINT_LEFT_HEEL ].radius + _bodyBall[ AVATAR_JOINT_HEAD_BASE ].radius;
_maxArmLength = _skeleton.getArmLength(); _maxArmLength = _skeleton.getArmLength();
_pelvisStandingHeight = _skeleton.getPelvisStandingHeight() + _ball[ AVATAR_JOINT_LEFT_HEEL ].radius; _pelvisStandingHeight = _skeleton.getPelvisStandingHeight() + _bodyBall[ AVATAR_JOINT_LEFT_HEEL ].radius;
_pelvisFloatingHeight = _skeleton.getPelvisFloatingHeight() + _ball[ AVATAR_JOINT_LEFT_HEEL ].radius; _pelvisFloatingHeight = _skeleton.getPelvisFloatingHeight() + _bodyBall[ AVATAR_JOINT_LEFT_HEEL ].radius;
_avatarTouch.setReachableRadius(PERIPERSONAL_RADIUS); _avatarTouch.setReachableRadius(PERIPERSONAL_RADIUS);
@ -116,51 +116,51 @@ Avatar::Avatar(Agent* owningAgent) :
} }
void Avatar::initializeBalls() { void Avatar::initializeBodyBalls() {
for (int b=0; b<NUM_AVATAR_JOINTS; b++) { for (int b=0; b<NUM_AVATAR_JOINTS; b++) {
_ball[b].isCollidable = true; _bodyBall[b].isCollidable = true;
_ball[b].position = glm::vec3(0.0, 0.0, 0.0); _bodyBall[b].position = glm::vec3(0.0, 0.0, 0.0);
_ball[b].velocity = glm::vec3(0.0, 0.0, 0.0); _bodyBall[b].velocity = glm::vec3(0.0, 0.0, 0.0);
_ball[b].radius = 0.0; _bodyBall[b].radius = 0.0;
_ball[b].touchForce = 0.0; _bodyBall[b].touchForce = 0.0;
_ball[b].jointTightness = BODY_SPRING_DEFAULT_TIGHTNESS; _bodyBall[b].jointTightness = BODY_SPRING_DEFAULT_TIGHTNESS;
} }
// specify the radii of the joints // specify the radii of the joints
_ball[ AVATAR_JOINT_PELVIS ].radius = 0.07; _bodyBall[ AVATAR_JOINT_PELVIS ].radius = 0.07;
_ball[ AVATAR_JOINT_TORSO ].radius = 0.065; _bodyBall[ AVATAR_JOINT_TORSO ].radius = 0.065;
_ball[ AVATAR_JOINT_CHEST ].radius = 0.08; _bodyBall[ AVATAR_JOINT_CHEST ].radius = 0.08;
_ball[ AVATAR_JOINT_NECK_BASE ].radius = 0.03; _bodyBall[ AVATAR_JOINT_NECK_BASE ].radius = 0.03;
_ball[ AVATAR_JOINT_HEAD_BASE ].radius = 0.07; _bodyBall[ AVATAR_JOINT_HEAD_BASE ].radius = 0.07;
_ball[ AVATAR_JOINT_LEFT_COLLAR ].radius = 0.04; _bodyBall[ AVATAR_JOINT_LEFT_COLLAR ].radius = 0.04;
_ball[ AVATAR_JOINT_LEFT_SHOULDER ].radius = 0.03; _bodyBall[ AVATAR_JOINT_LEFT_SHOULDER ].radius = 0.03;
_ball[ AVATAR_JOINT_LEFT_ELBOW ].radius = 0.02; _bodyBall[ AVATAR_JOINT_LEFT_ELBOW ].radius = 0.02;
_ball[ AVATAR_JOINT_LEFT_WRIST ].radius = 0.02; _bodyBall[ AVATAR_JOINT_LEFT_WRIST ].radius = 0.02;
_ball[ AVATAR_JOINT_LEFT_FINGERTIPS ].radius = 0.01; _bodyBall[ AVATAR_JOINT_LEFT_FINGERTIPS ].radius = 0.01;
_ball[ AVATAR_JOINT_RIGHT_COLLAR ].radius = 0.04; _bodyBall[ AVATAR_JOINT_RIGHT_COLLAR ].radius = 0.04;
_ball[ AVATAR_JOINT_RIGHT_SHOULDER ].radius = 0.03; _bodyBall[ AVATAR_JOINT_RIGHT_SHOULDER ].radius = 0.03;
_ball[ AVATAR_JOINT_RIGHT_ELBOW ].radius = 0.02; _bodyBall[ AVATAR_JOINT_RIGHT_ELBOW ].radius = 0.02;
_ball[ AVATAR_JOINT_RIGHT_WRIST ].radius = 0.02; _bodyBall[ AVATAR_JOINT_RIGHT_WRIST ].radius = 0.02;
_ball[ AVATAR_JOINT_RIGHT_FINGERTIPS ].radius = 0.01; _bodyBall[ AVATAR_JOINT_RIGHT_FINGERTIPS ].radius = 0.01;
_ball[ AVATAR_JOINT_LEFT_HIP ].radius = 0.04; _bodyBall[ AVATAR_JOINT_LEFT_HIP ].radius = 0.04;
_ball[ AVATAR_JOINT_LEFT_KNEE ].radius = 0.025; _bodyBall[ AVATAR_JOINT_LEFT_KNEE ].radius = 0.025;
_ball[ AVATAR_JOINT_LEFT_HEEL ].radius = 0.025; _bodyBall[ AVATAR_JOINT_LEFT_HEEL ].radius = 0.025;
_ball[ AVATAR_JOINT_LEFT_TOES ].radius = 0.025; _bodyBall[ AVATAR_JOINT_LEFT_TOES ].radius = 0.025;
_ball[ AVATAR_JOINT_RIGHT_HIP ].radius = 0.04; _bodyBall[ AVATAR_JOINT_RIGHT_HIP ].radius = 0.04;
_ball[ AVATAR_JOINT_RIGHT_KNEE ].radius = 0.025; _bodyBall[ AVATAR_JOINT_RIGHT_KNEE ].radius = 0.025;
_ball[ AVATAR_JOINT_RIGHT_HEEL ].radius = 0.025; _bodyBall[ AVATAR_JOINT_RIGHT_HEEL ].radius = 0.025;
_ball[ AVATAR_JOINT_RIGHT_TOES ].radius = 0.025; _bodyBall[ AVATAR_JOINT_RIGHT_TOES ].radius = 0.025;
/* /*
// to aid in hand-shaking and hand-holding, the right hand is not collidable // to aid in hand-shaking and hand-holding, the right hand is not collidable
_ball[ AVATAR_JOINT_RIGHT_ELBOW ].isCollidable = false; _bodyBall[ AVATAR_JOINT_RIGHT_ELBOW ].isCollidable = false;
_ball[ AVATAR_JOINT_RIGHT_WRIST ].isCollidable = false; _bodyBall[ AVATAR_JOINT_RIGHT_WRIST ].isCollidable = false;
_ball[ AVATAR_JOINT_RIGHT_FINGERTIPS].isCollidable = false; _bodyBall[ AVATAR_JOINT_RIGHT_FINGERTIPS].isCollidable = false;
*/ */
} }
@ -296,8 +296,8 @@ void Avatar::simulate(float deltaTime, Transmitter* transmitter) {
updateCollisionWithEnvironment(); updateCollisionWithEnvironment();
} }
// update body springs // update body balls
updateBodySprings(deltaTime); updateBodyBalls(deltaTime);
// test for avatar collision response with the big sphere // test for avatar collision response with the big sphere
if (usingBigSphereCollisionTest) { if (usingBigSphereCollisionTest) {
@ -449,29 +449,29 @@ void Avatar::simulate(float deltaTime, Transmitter* transmitter) {
} }
} }
//apply the head lean values to the springy position... //apply the head lean values to the ball positions...
if (USING_HEAD_LEAN) { if (USING_HEAD_LEAN) {
if (fabs(_head.getLeanSideways() + _head.getLeanForward()) > 0.0f) { if (fabs(_head.getLeanSideways() + _head.getLeanForward()) > 0.0f) {
glm::vec3 headLean = glm::vec3 headLean =
right * _head.getLeanSideways() + right * _head.getLeanSideways() +
front * _head.getLeanForward(); front * _head.getLeanForward();
_ball[ AVATAR_JOINT_TORSO ].position += headLean * 0.1f; _bodyBall[ AVATAR_JOINT_TORSO ].position += headLean * 0.1f;
_ball[ AVATAR_JOINT_CHEST ].position += headLean * 0.4f; _bodyBall[ AVATAR_JOINT_CHEST ].position += headLean * 0.4f;
_ball[ AVATAR_JOINT_NECK_BASE ].position += headLean * 0.7f; _bodyBall[ AVATAR_JOINT_NECK_BASE ].position += headLean * 0.7f;
_ball[ AVATAR_JOINT_HEAD_BASE ].position += headLean * 1.0f; _bodyBall[ AVATAR_JOINT_HEAD_BASE ].position += headLean * 1.0f;
_ball[ AVATAR_JOINT_LEFT_COLLAR ].position += headLean * 0.6f; _bodyBall[ AVATAR_JOINT_LEFT_COLLAR ].position += headLean * 0.6f;
_ball[ AVATAR_JOINT_LEFT_SHOULDER ].position += headLean * 0.6f; _bodyBall[ AVATAR_JOINT_LEFT_SHOULDER ].position += headLean * 0.6f;
_ball[ AVATAR_JOINT_LEFT_ELBOW ].position += headLean * 0.2f; _bodyBall[ AVATAR_JOINT_LEFT_ELBOW ].position += headLean * 0.2f;
_ball[ AVATAR_JOINT_LEFT_WRIST ].position += headLean * 0.1f; _bodyBall[ AVATAR_JOINT_LEFT_WRIST ].position += headLean * 0.1f;
_ball[ AVATAR_JOINT_LEFT_FINGERTIPS ].position += headLean * 0.0f; _bodyBall[ AVATAR_JOINT_LEFT_FINGERTIPS ].position += headLean * 0.0f;
_ball[ AVATAR_JOINT_RIGHT_COLLAR ].position += headLean * 0.6f; _bodyBall[ AVATAR_JOINT_RIGHT_COLLAR ].position += headLean * 0.6f;
_ball[ AVATAR_JOINT_RIGHT_SHOULDER ].position += headLean * 0.6f; _bodyBall[ AVATAR_JOINT_RIGHT_SHOULDER ].position += headLean * 0.6f;
_ball[ AVATAR_JOINT_RIGHT_ELBOW ].position += headLean * 0.2f; _bodyBall[ AVATAR_JOINT_RIGHT_ELBOW ].position += headLean * 0.2f;
_ball[ AVATAR_JOINT_RIGHT_WRIST ].position += headLean * 0.1f; _bodyBall[ AVATAR_JOINT_RIGHT_WRIST ].position += headLean * 0.1f;
_ball[ AVATAR_JOINT_RIGHT_FINGERTIPS ].position += headLean * 0.0f; _bodyBall[ AVATAR_JOINT_RIGHT_FINGERTIPS ].position += headLean * 0.0f;
} }
} }
@ -485,8 +485,8 @@ void Avatar::simulate(float deltaTime, Transmitter* transmitter) {
} }
_head.setBodyRotation (glm::vec3(_bodyPitch, _bodyYaw, _bodyRoll)); _head.setBodyRotation (glm::vec3(_bodyPitch, _bodyYaw, _bodyRoll));
_head.setPosition(_ball[ AVATAR_JOINT_HEAD_BASE ].position); _head.setPosition(_bodyBall[ AVATAR_JOINT_HEAD_BASE ].position);
_head.setScale (_ball[ AVATAR_JOINT_HEAD_BASE ].radius); _head.setScale (_bodyBall[ AVATAR_JOINT_HEAD_BASE ].radius);
_head.setSkinColor(glm::vec3(SKIN_COLOR[0], SKIN_COLOR[1], SKIN_COLOR[2])); _head.setSkinColor(glm::vec3(SKIN_COLOR[0], SKIN_COLOR[1], SKIN_COLOR[2]));
_head.simulate(deltaTime, !_owningAgent); _head.simulate(deltaTime, !_owningAgent);
@ -502,15 +502,15 @@ void Avatar::checkForMouseRayTouching() {
for (int b = 0; b < NUM_AVATAR_JOINTS; b++) { for (int b = 0; b < NUM_AVATAR_JOINTS; b++) {
glm::vec3 directionToBodySphere = glm::normalize(_ball[b].position - _mouseRayOrigin); glm::vec3 directionToBodySphere = glm::normalize(_bodyBall[b].position - _mouseRayOrigin);
float dot = glm::dot(directionToBodySphere, _mouseRayDirection); float dot = glm::dot(directionToBodySphere, _mouseRayDirection);
float range = _ball[b].radius * JOINT_TOUCH_RANGE; float range = _bodyBall[b].radius * JOINT_TOUCH_RANGE;
if (dot > (1.0f - range)) { if (dot > (1.0f - range)) {
_ball[b].touchForce = (dot - (1.0f - range)) / range; _bodyBall[b].touchForce = (dot - (1.0f - range)) / range;
} else { } else {
_ball[b].touchForce = 0.0; _bodyBall[b].touchForce = 0.0;
} }
} }
} }
@ -579,7 +579,7 @@ void Avatar::updateHandMovementAndTouching(float deltaTime) {
_avatarTouch.setHasInteractingOther(true); _avatarTouch.setHasInteractingOther(true);
_avatarTouch.setYourBodyPosition(_interactingOther->_position); _avatarTouch.setYourBodyPosition(_interactingOther->_position);
_avatarTouch.setYourHandPosition(_interactingOther->_ball[ AVATAR_JOINT_RIGHT_FINGERTIPS ].position); _avatarTouch.setYourHandPosition(_interactingOther->_bodyBall[ AVATAR_JOINT_RIGHT_FINGERTIPS ].position);
_avatarTouch.setYourOrientation (_interactingOther->getOrientation()); _avatarTouch.setYourOrientation (_interactingOther->getOrientation());
_avatarTouch.setYourHandState (_interactingOther->_handState); _avatarTouch.setYourHandState (_interactingOther->_handState);
@ -650,7 +650,7 @@ void Avatar::updateHandMovementAndTouching(float deltaTime) {
} }
_avatarTouch.setMyHandState(_handState); _avatarTouch.setMyHandState(_handState);
_avatarTouch.setMyHandPosition(_ball[ AVATAR_JOINT_RIGHT_FINGERTIPS ].position); _avatarTouch.setMyHandPosition(_bodyBall[ AVATAR_JOINT_RIGHT_FINGERTIPS ].position);
} }
} }
@ -662,9 +662,9 @@ void Avatar::updateCollisionWithSphere(glm::vec3 position, float radius, float d
float distanceToBigSphere = glm::length(vectorFromMyBodyToBigSphere); float distanceToBigSphere = glm::length(vectorFromMyBodyToBigSphere);
if (distanceToBigSphere < myBodyApproximateBoundingRadius + radius) { if (distanceToBigSphere < myBodyApproximateBoundingRadius + radius) {
for (int b = 0; b < NUM_AVATAR_JOINTS; b++) { for (int b = 0; b < NUM_AVATAR_JOINTS; b++) {
glm::vec3 vectorFromJointToBigSphereCenter(_ball[b].position - position); glm::vec3 vectorFromJointToBigSphereCenter(_bodyBall[b].position - position);
float distanceToBigSphereCenter = glm::length(vectorFromJointToBigSphereCenter); float distanceToBigSphereCenter = glm::length(vectorFromJointToBigSphereCenter);
float combinedRadius = _ball[b].radius + radius; float combinedRadius = _bodyBall[b].radius + radius;
if (distanceToBigSphereCenter < combinedRadius) { if (distanceToBigSphereCenter < combinedRadius) {
jointCollision = true; jointCollision = true;
@ -674,9 +674,9 @@ void Avatar::updateCollisionWithSphere(glm::vec3 position, float radius, float d
float penetration = 1.0 - (distanceToBigSphereCenter / combinedRadius); float penetration = 1.0 - (distanceToBigSphereCenter / combinedRadius);
glm::vec3 collisionForce = vectorFromJointToBigSphereCenter * penetration; glm::vec3 collisionForce = vectorFromJointToBigSphereCenter * penetration;
_ball[b].velocity += collisionForce * 0.0f * deltaTime; _bodyBall[b].velocity += collisionForce * 0.0f * deltaTime;
_velocity += collisionForce * 40.0f * deltaTime; _velocity += collisionForce * 40.0f * deltaTime;
_ball[b].position = position + directionVector * combinedRadius; _bodyBall[b].position = position + directionVector * combinedRadius;
} }
} }
} }
@ -762,16 +762,16 @@ void Avatar::applyCollisionWithOtherAvatar(Avatar * otherAvatar, float deltaTime
// loop through the joints of each avatar to check for every possible collision // loop through the joints of each avatar to check for every possible collision
for (int b=1; b<NUM_AVATAR_JOINTS; b++) { for (int b=1; b<NUM_AVATAR_JOINTS; b++) {
if (_ball[b].isCollidable) { if (_bodyBall[b].isCollidable) {
for (int o=b+1; o<NUM_AVATAR_JOINTS; o++) { for (int o=b+1; o<NUM_AVATAR_JOINTS; o++) {
if (otherAvatar->_ball[o].isCollidable) { if (otherAvatar->_bodyBall[o].isCollidable) {
glm::vec3 vectorBetweenJoints(_ball[b].position - otherAvatar->_ball[o].position); glm::vec3 vectorBetweenJoints(_bodyBall[b].position - otherAvatar->_bodyBall[o].position);
float distanceBetweenJoints = glm::length(vectorBetweenJoints); float distanceBetweenJoints = glm::length(vectorBetweenJoints);
if (distanceBetweenJoints > 0.0) { // to avoid divide by zero if (distanceBetweenJoints > 0.0) { // to avoid divide by zero
float combinedRadius = _ball[b].radius + otherAvatar->_ball[o].radius; float combinedRadius = _bodyBall[b].radius + otherAvatar->_bodyBall[o].radius;
// check for collision // check for collision
if (distanceBetweenJoints < combinedRadius * COLLISION_RADIUS_SCALAR) { if (distanceBetweenJoints < combinedRadius * COLLISION_RADIUS_SCALAR) {
@ -783,8 +783,8 @@ void Avatar::applyCollisionWithOtherAvatar(Avatar * otherAvatar, float deltaTime
glm::vec3 ballPushForce = directionVector * COLLISION_BALL_FORCE * penetration * deltaTime; glm::vec3 ballPushForce = directionVector * COLLISION_BALL_FORCE * penetration * deltaTime;
bodyPushForce += directionVector * COLLISION_BODY_FORCE * penetration * deltaTime; bodyPushForce += directionVector * COLLISION_BODY_FORCE * penetration * deltaTime;
_ball[b].velocity += ballPushForce; _bodyBall[b].velocity += ballPushForce;
otherAvatar->_ball[o].velocity -= ballPushForce; otherAvatar->_bodyBall[o].velocity -= ballPushForce;
}// check for collision }// check for collision
} // to avoid divide by zero } // to avoid divide by zero
@ -857,7 +857,7 @@ void Avatar::render(bool lookingInMirror) {
} }
glPushMatrix(); glPushMatrix();
glm::vec3 chatPosition = _ball[AVATAR_JOINT_HEAD_BASE].position + getBodyUpDirection() * chatMessageHeight; glm::vec3 chatPosition = _bodyBall[AVATAR_JOINT_HEAD_BASE].position + getBodyUpDirection() * chatMessageHeight;
glTranslatef(chatPosition.x, chatPosition.y, chatPosition.z); glTranslatef(chatPosition.x, chatPosition.y, chatPosition.z);
glm::quat chatRotation = Application::getInstance()->getCamera()->getRotation(); glm::quat chatRotation = Application::getInstance()->getCamera()->getRotation();
glm::vec3 chatAxis = glm::axis(chatRotation); glm::vec3 chatAxis = glm::axis(chatRotation);
@ -892,27 +892,27 @@ void Avatar::render(bool lookingInMirror) {
} }
} }
void Avatar::resetBodySprings() { void Avatar::resetBodyBalls() {
for (int b = 0; b < NUM_AVATAR_JOINTS; b++) { for (int b = 0; b < NUM_AVATAR_JOINTS; b++) {
_ball[b].position = _skeleton.joint[b].position; _bodyBall[b].position = _skeleton.joint[b].position;
_ball[b].velocity = glm::vec3(0.0f, 0.0f, 0.0f); _bodyBall[b].velocity = glm::vec3(0.0f, 0.0f, 0.0f);
} }
} }
void Avatar::updateBodySprings(float deltaTime) { void Avatar::updateBodyBalls(float deltaTime) {
// Check for a large repositioning, and re-initialize body springs if this has happened // Check for a large repositioning, and re-initialize balls if this has happened
const float BEYOND_BODY_SPRING_RANGE = 2.f; const float BEYOND_BODY_SPRING_RANGE = 2.f;
if (glm::length(_position - _ball[AVATAR_JOINT_PELVIS].position) > BEYOND_BODY_SPRING_RANGE) { if (glm::length(_position - _bodyBall[AVATAR_JOINT_PELVIS].position) > BEYOND_BODY_SPRING_RANGE) {
resetBodySprings(); resetBodyBalls();
} }
for (int b = 0; b < NUM_AVATAR_JOINTS; b++) { for (int b = 0; b < NUM_AVATAR_JOINTS; b++) {
glm::vec3 springVector(_ball[b].position); glm::vec3 springVector(_bodyBall[b].position);
if (_skeleton.joint[b].parent == AVATAR_JOINT_NULL) { if (_skeleton.joint[b].parent == AVATAR_JOINT_NULL) {
springVector -= _position; springVector -= _position;
} }
else { else {
springVector -= _ball[ _skeleton.joint[b].parent ].position; springVector -= _bodyBall[ _skeleton.joint[b].parent ].position;
} }
float length = glm::length(springVector); float length = glm::length(springVector);
@ -921,23 +921,23 @@ void Avatar::updateBodySprings(float deltaTime) {
glm::vec3 springDirection = springVector / length; glm::vec3 springDirection = springVector / length;
float force = (length - _skeleton.joint[b].length) * BODY_SPRING_FORCE * deltaTime; float force = (length - _skeleton.joint[b].length) * BODY_SPRING_FORCE * deltaTime;
_ball[b].velocity -= springDirection * force; _bodyBall[b].velocity -= springDirection * force;
if (_skeleton.joint[b].parent != AVATAR_JOINT_NULL) { if (_skeleton.joint[b].parent != AVATAR_JOINT_NULL) {
_ball[_skeleton.joint[b].parent].velocity += springDirection * force; _bodyBall[_skeleton.joint[b].parent].velocity += springDirection * force;
} }
} }
// apply tightness force - (causing springy position to be close to rigid body position) // apply tightness force - (causing ball position to be close to skeleton joint position)
_ball[b].velocity += (_skeleton.joint[b].position - _ball[b].position) * _ball[b].jointTightness * deltaTime; _bodyBall[b].velocity += (_skeleton.joint[b].position - _bodyBall[b].position) * _bodyBall[b].jointTightness * deltaTime;
// apply decay // apply decay
float decay = 1.0 - BODY_SPRING_DECAY * deltaTime; float decay = 1.0 - BODY_SPRING_DECAY * deltaTime;
if (decay > 0.0) { if (decay > 0.0) {
_ball[b].velocity *= decay; _bodyBall[b].velocity *= decay;
} }
else { else {
_ball[b].velocity = glm::vec3(0.0f, 0.0f, 0.0f); _bodyBall[b].velocity = glm::vec3(0.0f, 0.0f, 0.0f);
} }
/* /*
@ -948,7 +948,7 @@ void Avatar::updateBodySprings(float deltaTime) {
*/ */
//update position by velocity... //update position by velocity...
_ball[b].position += _ball[b].velocity * deltaTime; _bodyBall[b].position += _bodyBall[b].velocity * deltaTime;
} }
} }
@ -1033,21 +1033,21 @@ void Avatar::renderBody(bool lookingInMirror) {
if (_owningAgent || b == AVATAR_JOINT_RIGHT_ELBOW if (_owningAgent || b == AVATAR_JOINT_RIGHT_ELBOW
|| b == AVATAR_JOINT_RIGHT_WRIST || b == AVATAR_JOINT_RIGHT_WRIST
|| b == AVATAR_JOINT_RIGHT_FINGERTIPS ) { || b == AVATAR_JOINT_RIGHT_FINGERTIPS ) {
glColor3f(SKIN_COLOR[0] + _ball[b].touchForce * 0.3f, glColor3f(SKIN_COLOR[0] + _bodyBall[b].touchForce * 0.3f,
SKIN_COLOR[1] - _ball[b].touchForce * 0.2f, SKIN_COLOR[1] - _bodyBall[b].touchForce * 0.2f,
SKIN_COLOR[2] - _ball[b].touchForce * 0.1f); SKIN_COLOR[2] - _bodyBall[b].touchForce * 0.1f);
} else { } else {
glColor4f(SKIN_COLOR[0] + _ball[b].touchForce * 0.3f, glColor4f(SKIN_COLOR[0] + _bodyBall[b].touchForce * 0.3f,
SKIN_COLOR[1] - _ball[b].touchForce * 0.2f, SKIN_COLOR[1] - _bodyBall[b].touchForce * 0.2f,
SKIN_COLOR[2] - _ball[b].touchForce * 0.1f, SKIN_COLOR[2] - _bodyBall[b].touchForce * 0.1f,
alpha); alpha);
} }
if ((b != AVATAR_JOINT_HEAD_TOP ) if ((b != AVATAR_JOINT_HEAD_TOP )
&& (b != AVATAR_JOINT_HEAD_BASE )) { && (b != AVATAR_JOINT_HEAD_BASE )) {
glPushMatrix(); glPushMatrix();
glTranslatef(_ball[b].position.x, _ball[b].position.y, _ball[b].position.z); glTranslatef(_bodyBall[b].position.x, _bodyBall[b].position.y, _bodyBall[b].position.z);
glutSolidSphere(_ball[b].radius, 20.0f, 20.0f); glutSolidSphere(_bodyBall[b].radius, 20.0f, 20.0f);
glPopMatrix(); glPopMatrix();
} }
@ -1064,15 +1064,15 @@ void Avatar::renderBody(bool lookingInMirror) {
&& (b != AVATAR_JOINT_RIGHT_SHOULDER)) { && (b != AVATAR_JOINT_RIGHT_SHOULDER)) {
glColor3fv(DARK_SKIN_COLOR); glColor3fv(DARK_SKIN_COLOR);
float r1 = _ball[_skeleton.joint[b].parent ].radius * 0.8; float r1 = _bodyBall[_skeleton.joint[b].parent ].radius * 0.8;
float r2 = _ball[b ].radius * 0.8; float r2 = _bodyBall[b ].radius * 0.8;
if (b == AVATAR_JOINT_HEAD_BASE) { if (b == AVATAR_JOINT_HEAD_BASE) {
r1 *= 0.5f; r1 *= 0.5f;
} }
renderJointConnectingCone renderJointConnectingCone
( (
_ball[_skeleton.joint[b].parent ].position, _bodyBall[_skeleton.joint[b].parent ].position,
_ball[b ].position, r2, r2 _bodyBall[b ].position, r2, r2
); );
} }
} }

12
interface/src/Avatar.h
View file

@ -69,8 +69,8 @@ public:
float getBodyYaw () const { return _bodyYaw;} float getBodyYaw () const { return _bodyYaw;}
bool getIsNearInteractingOther() const { return _avatarTouch.getAbleToReachOtherAvatar();} bool getIsNearInteractingOther() const { return _avatarTouch.getAbleToReachOtherAvatar();}
const glm::vec3& getHeadPosition () const { return _skeleton.joint[ AVATAR_JOINT_HEAD_BASE ].position;} const glm::vec3& getHeadPosition () const { return _skeleton.joint[ AVATAR_JOINT_HEAD_BASE ].position;}
const glm::vec3& getSpringyHeadPosition () const { return _ball[ AVATAR_JOINT_HEAD_BASE ].position;} const glm::vec3& getSpringyHeadPosition () const { return _bodyBall[ AVATAR_JOINT_HEAD_BASE ].position;}
const glm::vec3& getJointPosition (AvatarJointID j) const { return _ball[j].position;} const glm::vec3& getJointPosition (AvatarJointID j) const { return _bodyBall[j].position;}
glm::vec3 getBodyRightDirection () const { return getOrientation() * AVATAR_RIGHT; } glm::vec3 getBodyRightDirection () const { return getOrientation() * AVATAR_RIGHT; }
glm::vec3 getBodyUpDirection () const { return getOrientation() * AVATAR_UP; } glm::vec3 getBodyUpDirection () const { return getOrientation() * AVATAR_UP; }
@ -124,7 +124,7 @@ private:
float _bodyRollDelta; float _bodyRollDelta;
glm::vec3 _movedHandOffset; glm::vec3 _movedHandOffset;
glm::quat _rotation; // the rotation of the avatar body as a whole expressed as a quaternion glm::quat _rotation; // the rotation of the avatar body as a whole expressed as a quaternion
AvatarBall _ball[ NUM_AVATAR_JOINTS ]; AvatarBall _bodyBall[ NUM_AVATAR_JOINTS ];
AvatarMode _mode; AvatarMode _mode;
glm::vec3 _cameraPosition; glm::vec3 _cameraPosition;
glm::vec3 _handHoldingPosition; glm::vec3 _handHoldingPosition;
@ -152,9 +152,9 @@ private:
glm::vec3 caclulateAverageEyePosition() { return _head.caclulateAverageEyePosition(); } // get the position smack-dab between the eyes (for lookat) glm::vec3 caclulateAverageEyePosition() { return _head.caclulateAverageEyePosition(); } // get the position smack-dab between the eyes (for lookat)
glm::quat computeRotationFromBodyToWorldUp(float proportion = 1.0f) const; glm::quat computeRotationFromBodyToWorldUp(float proportion = 1.0f) const;
void renderBody(bool lookingInMirror); void renderBody(bool lookingInMirror);
void initializeBalls(); void initializeBodyBalls();
void resetBodySprings(); void resetBodyBalls();
void updateBodySprings( float deltaTime ); void updateBodyBalls( float deltaTime );
void calculateBoneLengths(); void calculateBoneLengths();
void readSensors(); void readSensors();
void updateHandMovementAndTouching(float deltaTime); void updateHandMovementAndTouching(float deltaTime);

8
interface/src/AvatarTouch.cpp
View file

@ -43,6 +43,10 @@ void AvatarTouch::simulate (float deltaTime) {
glm::vec3 vectorBetweenBodies = _yourBodyPosition - _myBodyPosition; glm::vec3 vectorBetweenBodies = _yourBodyPosition - _myBodyPosition;
float distanceBetweenBodies = glm::length(vectorBetweenBodies); float distanceBetweenBodies = glm::length(vectorBetweenBodies);
//KEEP THIS - it is another variation that we are considering getting rid of
//the following code take into account of the two avatars are facing each other
/*
glm::vec3 directionBetweenBodies = vectorBetweenBodies / distanceBetweenBodies; glm::vec3 directionBetweenBodies = vectorBetweenBodies / distanceBetweenBodies;
bool facingEachOther = false; bool facingEachOther = false;
@ -50,13 +54,13 @@ void AvatarTouch::simulate (float deltaTime) {
glm::vec3 myFront = _myOrientation * AVATAR_FRONT; glm::vec3 myFront = _myOrientation * AVATAR_FRONT;
glm::vec3 yourFront = _yourOrientation * AVATAR_FRONT; glm::vec3 yourFront = _yourOrientation * AVATAR_FRONT;
if (( glm::dot(myFront, yourFront) < -AVATAR_FACING_THRESHOLD) // we're facing each other if (( glm::dot(myFront, yourFront ) < -AVATAR_FACING_THRESHOLD) // we're facing each other
&& ( glm::dot(myFront, directionBetweenBodies ) > AVATAR_FACING_THRESHOLD)) { // I'm facing you && ( glm::dot(myFront, directionBetweenBodies ) > AVATAR_FACING_THRESHOLD)) { // I'm facing you
facingEachOther = true; facingEachOther = true;
} }
*/
if (distanceBetweenBodies < _reachableRadius) if (distanceBetweenBodies < _reachableRadius)
//&& (facingEachOther))
{ {
_canReachToOtherAvatar = true; _canReachToOtherAvatar = true;

5
interface/src/Skeleton.cpp
View file

@ -83,10 +83,9 @@ void Skeleton::initialize() {
} }
} }
// calculate positions and rotations of all bones by traversing the skeleton tree:
void Skeleton::update(float deltaTime, const glm::quat& orientation, glm::vec3 position) { void Skeleton::update(float deltaTime, const glm::quat& orientation, glm::vec3 position) {
// calculate positions of all bones by traversing the skeleton tree:
for (int b = 0; b < NUM_AVATAR_JOINTS; b++) { for (int b = 0; b < NUM_AVATAR_JOINTS; b++) {
if (joint[b].parent == AVATAR_JOINT_NULL) { if (joint[b].parent == AVATAR_JOINT_NULL) {
joint[b].rotation = orientation; joint[b].rotation = orientation;
@ -97,9 +96,7 @@ void Skeleton::update(float deltaTime, const glm::quat& orientation, glm::vec3 p
joint[b].position = joint[ joint[b].parent ].position; joint[b].position = joint[ joint[b].parent ].position;
} }
// the following will be replaced by a proper rotation...close
glm::vec3 rotatedJointVector = joint[b].rotation * joint[b].defaultPosePosition; glm::vec3 rotatedJointVector = joint[b].rotation * joint[b].defaultPosePosition;
joint[b].position += rotatedJointVector; joint[b].position += rotatedJointVector;
} }
} }