From ee5971c39ed5593b6a1039d61c41fd7225dde1fa Mon Sep 17 00:00:00 2001
From: Andrew Meadows <andrew@highfidelity.io>
Date: Wed, 22 Feb 2017 23:19:11 -0800
Subject: [PATCH 01/45] no need to calc length of normalized vector

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

diff --git a/libraries/avatars/src/AvatarData.cpp b/libraries/avatars/src/AvatarData.cpp
index c1dd60a3b0..e7ec201aa1 100644
--- a/libraries/avatars/src/AvatarData.cpp
+++ b/libraries/avatars/src/AvatarData.cpp
@@ -2358,7 +2358,7 @@ std::priority_queue<AvatarPriority> AvatarData::sortAvatars(
 
             const glm::vec3& forward = cameraView.getDirection();
             float apparentSize = 2.0f * radius / distance;
-            float cosineAngle = glm::length(glm::dot(offset, forward) * forward) / distance;
+            float cosineAngle = glm::dot(offset, forward) / distance;
             float age = (float)(startTime - getLastUpdated(avatar)) / (float)(USECS_PER_SECOND);
 
             // NOTE: we are adding values of different units to get a single measure of "priority".

From e54812430e871190fca541e2d3d744aee5e997d3 Mon Sep 17 00:00:00 2001
From: Andrew Meadows <andrew@highfidelity.io>
Date: Thu, 23 Feb 2017 07:59:13 -0800
Subject: [PATCH 02/45] avoid unnecessary copy of priority_queue

---
 .../src/avatars/AvatarMixerSlave.cpp          |  4 +--
 interface/src/avatar/AvatarManager.cpp        |  4 +--
 libraries/avatars/src/AvatarData.cpp          | 28 +++++++++----------
 libraries/avatars/src/AvatarData.h            |  3 +-
 4 files changed, 19 insertions(+), 20 deletions(-)

diff --git a/assignment-client/src/avatars/AvatarMixerSlave.cpp b/assignment-client/src/avatars/AvatarMixerSlave.cpp
index 8d9a5e6951..ce0b53bb42 100644
--- a/assignment-client/src/avatars/AvatarMixerSlave.cpp
+++ b/assignment-client/src/avatars/AvatarMixerSlave.cpp
@@ -185,8 +185,8 @@ void AvatarMixerSlave::broadcastAvatarData(const SharedNodePointer& node) {
 
         AvatarSharedPointer thisAvatar = nodeData->getAvatarSharedPointer();
         ViewFrustum cameraView = nodeData->getViewFrustom();
-        std::priority_queue<AvatarPriority> sortedAvatars = AvatarData::sortAvatars(
-                avatarList, cameraView,
+        std::priority_queue<AvatarPriority> sortedAvatars;
+        AvatarData::sortAvatars(avatarList, cameraView, sortedAvatars,
 
                 [&](AvatarSharedPointer avatar)->uint64_t{
                     auto avatarNode = avatarDataToNodes[avatar];
diff --git a/interface/src/avatar/AvatarManager.cpp b/interface/src/avatar/AvatarManager.cpp
index b1a09b46ce..09d7b2a957 100644
--- a/interface/src/avatar/AvatarManager.cpp
+++ b/interface/src/avatar/AvatarManager.cpp
@@ -164,8 +164,8 @@ void AvatarManager::updateOtherAvatars(float deltaTime) {
     ViewFrustum cameraView;
     qApp->copyDisplayViewFrustum(cameraView);
 
-    std::priority_queue<AvatarPriority> sortedAvatars = AvatarData::sortAvatars(
-        avatarList, cameraView,
+    std::priority_queue<AvatarPriority> sortedAvatars;
+    AvatarData::sortAvatars(avatarList, cameraView, sortedAvatars,
 
         [](AvatarSharedPointer avatar)->uint64_t{
             return std::static_pointer_cast<Avatar>(avatar)->getLastRenderUpdateTime();
diff --git a/libraries/avatars/src/AvatarData.cpp b/libraries/avatars/src/AvatarData.cpp
index e7ec201aa1..6e4553ff8a 100644
--- a/libraries/avatars/src/AvatarData.cpp
+++ b/libraries/avatars/src/AvatarData.cpp
@@ -2324,20 +2324,20 @@ float AvatarData::_avatarSortCoefficientSize { 0.5f };
 float AvatarData::_avatarSortCoefficientCenter { 0.25 };
 float AvatarData::_avatarSortCoefficientAge { 1.0f };
 
-std::priority_queue<AvatarPriority> AvatarData::sortAvatars(
-    QList<AvatarSharedPointer> avatarList,
-    const ViewFrustum& cameraView,
-    std::function<uint64_t(AvatarSharedPointer)> getLastUpdated,
-    std::function<float(AvatarSharedPointer)> getBoundingRadius,
-    std::function<bool(AvatarSharedPointer)> shouldIgnore) {
+void AvatarData::sortAvatars(
+        QList<AvatarSharedPointer> avatarList,
+        const ViewFrustum& cameraView,
+        std::priority_queue<AvatarPriority>& sortedAvatarsOut,
+        std::function<uint64_t(AvatarSharedPointer)> getLastUpdated,
+        std::function<float(AvatarSharedPointer)> getBoundingRadius,
+        std::function<bool(AvatarSharedPointer)> shouldIgnore) {
 
-    uint64_t startTime = usecTimestampNow();
-
-    glm::vec3 frustumCenter = cameraView.getPosition();
-
-    std::priority_queue<AvatarPriority> sortedAvatars;
     {
         PROFILE_RANGE(simulation, "sort");
+        uint64_t now = usecTimestampNow();
+
+        glm::vec3 frustumCenter = cameraView.getPosition();
+        const glm::vec3& forward = cameraView.getDirection();
         for (int32_t i = 0; i < avatarList.size(); ++i) {
             const auto& avatar = avatarList.at(i);
 
@@ -2356,10 +2356,9 @@ std::priority_queue<AvatarPriority> AvatarData::sortAvatars(
             // FIXME - AvatarData has something equivolent to this
             float radius = getBoundingRadius(avatar);
 
-            const glm::vec3& forward = cameraView.getDirection();
             float apparentSize = 2.0f * radius / distance;
             float cosineAngle = glm::dot(offset, forward) / distance;
-            float age = (float)(startTime - getLastUpdated(avatar)) / (float)(USECS_PER_SECOND);
+            float age = (float)(now - getLastUpdated(avatar)) / (float)(USECS_PER_SECOND);
 
             // NOTE: we are adding values of different units to get a single measure of "priority".
             // Thus we multiply each component by a conversion "weight" that scales its units relative to the others.
@@ -2375,10 +2374,9 @@ std::priority_queue<AvatarPriority> AvatarData::sortAvatars(
                     priority += OUT_OF_VIEW_PENALTY;
                 }
             }
-            sortedAvatars.push(AvatarPriority(avatar, priority));
+            sortedAvatarsOut.push(AvatarPriority(avatar, priority));
         }
     }
-    return sortedAvatars;
 }
 
 QScriptValue AvatarEntityMapToScriptValue(QScriptEngine* engine, const AvatarEntityMap& value) {
diff --git a/libraries/avatars/src/AvatarData.h b/libraries/avatars/src/AvatarData.h
index 12209d9c31..c2240f400f 100644
--- a/libraries/avatars/src/AvatarData.h
+++ b/libraries/avatars/src/AvatarData.h
@@ -597,9 +597,10 @@ public:
 
     static const float OUT_OF_VIEW_PENALTY;
 
-    static std::priority_queue<AvatarPriority> sortAvatars(
+    static void sortAvatars(
         QList<AvatarSharedPointer> avatarList,
         const ViewFrustum& cameraView,
+        std::priority_queue<AvatarPriority>& sortedAvatarsOut,
         std::function<uint64_t(AvatarSharedPointer)> getLastUpdated,
         std::function<float(AvatarSharedPointer)> getBoundingRadius,
         std::function<bool(AvatarSharedPointer)> shouldIgnore);

From 92a32b46512094c1acd82fcd6c65c1d6ee49713b Mon Sep 17 00:00:00 2001
From: Andrew Meadows <andrew@highfidelity.io>
Date: Thu, 23 Feb 2017 08:01:16 -0800
Subject: [PATCH 03/45] remove unused variable

---
 assignment-client/src/avatars/AvatarMixerSlave.cpp | 2 --
 1 file changed, 2 deletions(-)

diff --git a/assignment-client/src/avatars/AvatarMixerSlave.cpp b/assignment-client/src/avatars/AvatarMixerSlave.cpp
index ce0b53bb42..0351d9545a 100644
--- a/assignment-client/src/avatars/AvatarMixerSlave.cpp
+++ b/assignment-client/src/avatars/AvatarMixerSlave.cpp
@@ -168,7 +168,6 @@ void AvatarMixerSlave::broadcastAvatarData(const SharedNodePointer& node) {
         QList<AvatarSharedPointer> avatarList;
         std::unordered_map<AvatarSharedPointer, SharedNodePointer> avatarDataToNodes;
 
-        int listItem = 0;
         std::for_each(_begin, _end, [&](const SharedNodePointer& otherNode) {
             const AvatarMixerClientData* otherNodeData = reinterpret_cast<const AvatarMixerClientData*>(otherNode->getLinkedData());
 
@@ -176,7 +175,6 @@ void AvatarMixerSlave::broadcastAvatarData(const SharedNodePointer& node) {
             // but not have yet sent data that's linked to the node. Check for that case and don't
             // consider those nodes.
             if (otherNodeData) {
-                listItem++;
                 AvatarSharedPointer otherAvatar = otherNodeData->getAvatarSharedPointer();
                 avatarList << otherAvatar;
                 avatarDataToNodes[otherAvatar] = otherNode;

From 0657ca1e5e4096daa30e28791e10f5aa05ca48c8 Mon Sep 17 00:00:00 2001
From: Andrew Meadows <andrew@highfidelity.io>
Date: Thu, 23 Feb 2017 08:04:28 -0800
Subject: [PATCH 04/45] remove unnecessary context brackets

---
 libraries/avatars/src/AvatarData.cpp | 80 ++++++++++++++--------------
 1 file changed, 39 insertions(+), 41 deletions(-)

diff --git a/libraries/avatars/src/AvatarData.cpp b/libraries/avatars/src/AvatarData.cpp
index 6e4553ff8a..8025c680ca 100644
--- a/libraries/avatars/src/AvatarData.cpp
+++ b/libraries/avatars/src/AvatarData.cpp
@@ -2332,50 +2332,48 @@ void AvatarData::sortAvatars(
         std::function<float(AvatarSharedPointer)> getBoundingRadius,
         std::function<bool(AvatarSharedPointer)> shouldIgnore) {
 
-    {
-        PROFILE_RANGE(simulation, "sort");
-        uint64_t now = usecTimestampNow();
+    PROFILE_RANGE(simulation, "sort");
+    uint64_t now = usecTimestampNow();
 
-        glm::vec3 frustumCenter = cameraView.getPosition();
-        const glm::vec3& forward = cameraView.getDirection();
-        for (int32_t i = 0; i < avatarList.size(); ++i) {
-            const auto& avatar = avatarList.at(i);
+    glm::vec3 frustumCenter = cameraView.getPosition();
+    const glm::vec3& forward = cameraView.getDirection();
+    for (int32_t i = 0; i < avatarList.size(); ++i) {
+        const auto& avatar = avatarList.at(i);
 
-            if (shouldIgnore(avatar)) {
-                continue;
-            }
-
-            // priority = weighted linear combination of:
-            //   (a) apparentSize
-            //   (b) proximity to center of view
-            //   (c) time since last update
-            glm::vec3 avatarPosition = avatar->getPosition();
-            glm::vec3 offset = avatarPosition - frustumCenter;
-            float distance = glm::length(offset) + 0.001f; // add 1mm to avoid divide by zero
-
-            // FIXME - AvatarData has something equivolent to this
-            float radius = getBoundingRadius(avatar);
-
-            float apparentSize = 2.0f * radius / distance;
-            float cosineAngle = glm::dot(offset, forward) / distance;
-            float age = (float)(now - getLastUpdated(avatar)) / (float)(USECS_PER_SECOND);
-
-            // NOTE: we are adding values of different units to get a single measure of "priority".
-            // Thus we multiply each component by a conversion "weight" that scales its units relative to the others.
-            // These weights are pure magic tuning and should be hard coded in the relation below,
-            // but are currently exposed for anyone who would like to explore fine tuning:
-            float priority = _avatarSortCoefficientSize * apparentSize
-                + _avatarSortCoefficientCenter * cosineAngle
-                + _avatarSortCoefficientAge * age;
-
-            // decrement priority of avatars outside keyhole
-            if (distance > cameraView.getCenterRadius()) {
-                if (!cameraView.sphereIntersectsFrustum(avatarPosition, radius)) {
-                    priority += OUT_OF_VIEW_PENALTY;
-                }
-            }
-            sortedAvatarsOut.push(AvatarPriority(avatar, priority));
+        if (shouldIgnore(avatar)) {
+            continue;
         }
+
+        // priority = weighted linear combination of:
+        //   (a) apparentSize
+        //   (b) proximity to center of view
+        //   (c) time since last update
+        glm::vec3 avatarPosition = avatar->getPosition();
+        glm::vec3 offset = avatarPosition - frustumCenter;
+        float distance = glm::length(offset) + 0.001f; // add 1mm to avoid divide by zero
+
+        // FIXME - AvatarData has something equivolent to this
+        float radius = getBoundingRadius(avatar);
+
+        float apparentSize = 2.0f * radius / distance;
+        float cosineAngle = glm::dot(offset, forward) / distance;
+        float age = (float)(now - getLastUpdated(avatar)) / (float)(USECS_PER_SECOND);
+
+        // NOTE: we are adding values of different units to get a single measure of "priority".
+        // Thus we multiply each component by a conversion "weight" that scales its units relative to the others.
+        // These weights are pure magic tuning and should be hard coded in the relation below,
+        // but are currently exposed for anyone who would like to explore fine tuning:
+        float priority = _avatarSortCoefficientSize * apparentSize
+            + _avatarSortCoefficientCenter * cosineAngle
+            + _avatarSortCoefficientAge * age;
+
+        // decrement priority of avatars outside keyhole
+        if (distance > cameraView.getCenterRadius()) {
+            if (!cameraView.sphereIntersectsFrustum(avatarPosition, radius)) {
+                priority += OUT_OF_VIEW_PENALTY;
+            }
+        }
+        sortedAvatarsOut.push(AvatarPriority(avatar, priority));
     }
 }
 

From 14e7392a89e3291891bb00bdb44349995f0aeac1 Mon Sep 17 00:00:00 2001
From: Andrew Meadows <andrew@highfidelity.io>
Date: Thu, 23 Feb 2017 11:14:35 -0800
Subject: [PATCH 05/45] minor cleanup

---
 interface/src/avatar/Avatar.cpp | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/interface/src/avatar/Avatar.cpp b/interface/src/avatar/Avatar.cpp
index 64ecb1dc29..5453a7f3e6 100644
--- a/interface/src/avatar/Avatar.cpp
+++ b/interface/src/avatar/Avatar.cpp
@@ -351,7 +351,6 @@ void Avatar::simulate(float deltaTime, bool inView) {
             _jointDataSimulationRate.increment();
 
             _skeletonModel->simulate(deltaTime, true);
-            _skeletonModelSimulationRate.increment();
 
             locationChanged(); // joints changed, so if there are any children, update them.
             _hasNewJointData = false;
@@ -367,8 +366,8 @@ void Avatar::simulate(float deltaTime, bool inView) {
         } else {
             // a non-full update is still required so that the position, rotation, scale and bounds of the skeletonModel are updated.
             _skeletonModel->simulate(deltaTime, false);
-            _skeletonModelSimulationRate.increment();
         }
+        _skeletonModelSimulationRate.increment();
     }
 
     // update animation for display name fade in/out

From 4bbbcb61be14c8233987941ad1fc89d4a6934e32 Mon Sep 17 00:00:00 2001
From: Andrew Meadows <andrew@highfidelity.io>
Date: Thu, 23 Feb 2017 11:14:52 -0800
Subject: [PATCH 06/45] expand avatar update time budget

---
 interface/src/avatar/AvatarManager.cpp | 22 ++++++----------------
 1 file changed, 6 insertions(+), 16 deletions(-)

diff --git a/interface/src/avatar/AvatarManager.cpp b/interface/src/avatar/AvatarManager.cpp
index 09d7b2a957..011dae9ef2 100644
--- a/interface/src/avatar/AvatarManager.cpp
+++ b/interface/src/avatar/AvatarManager.cpp
@@ -157,7 +157,6 @@ void AvatarManager::updateOtherAvatars(float deltaTime) {
     lock.unlock();
 
     PerformanceTimer perfTimer("otherAvatars");
-    uint64_t startTime = usecTimestampNow();
 
     auto avatarMap = getHashCopy();
     QList<AvatarSharedPointer> avatarList = avatarMap.values();
@@ -194,10 +193,9 @@ void AvatarManager::updateOtherAvatars(float deltaTime) {
         });
 
     render::PendingChanges pendingChanges;
-    const uint64_t RENDER_UPDATE_BUDGET = 1500; // usec
-    const uint64_t MAX_UPDATE_BUDGET = 2000; // usec
-    uint64_t renderExpiry = startTime + RENDER_UPDATE_BUDGET;
-    uint64_t maxExpiry = startTime + MAX_UPDATE_BUDGET;
+    uint64_t startTime = usecTimestampNow();
+    const uint64_t UPDATE_BUDGET = 2000; // usec
+    uint64_t updateExpiry = startTime + UPDATE_BUDGET;
 
     int numAvatarsUpdated = 0;
     int numAVatarsNotUpdated = 0;
@@ -223,7 +221,7 @@ void AvatarManager::updateOtherAvatars(float deltaTime) {
 
         const float OUT_OF_VIEW_THRESHOLD = 0.5f * AvatarData::OUT_OF_VIEW_PENALTY;
         uint64_t now = usecTimestampNow();
-        if (now < renderExpiry) {
+        if (now < updateExpiry) {
             // we're within budget
             bool inView = sortData.priority > OUT_OF_VIEW_THRESHOLD;
             if (inView && avatar->hasNewJointData()) {
@@ -232,21 +230,13 @@ void AvatarManager::updateOtherAvatars(float deltaTime) {
             avatar->simulate(deltaTime, inView);
             avatar->updateRenderItem(pendingChanges);
             avatar->setLastRenderUpdateTime(startTime);
-        } else if (now < maxExpiry) {
-            // we've spent most of our time budget, but we still simulate() the avatar as it if were out of view
-            // --> some avatars may freeze until their priority trickles up
-            bool inView = sortData.priority > OUT_OF_VIEW_THRESHOLD;
-            if (inView && avatar->hasNewJointData()) {
-                numAVatarsNotUpdated++;
-            }
-            avatar->simulate(deltaTime, false);
         } else {
-            // we've spent ALL of our time budget --> bail on the rest of the avatar updates
+            // we've spent our full time budget --> bail on the rest of the avatar updates
             // --> more avatars may freeze until their priority trickles up
             // --> some scale or fade animations may glitch
             // --> some avatar velocity measurements may be a little off
 
-            // HACK: no time simulate, but we will take the time to count how many were tragically missed
+            // no time simulate, but we take the time to count how many were tragically missed
             bool inView = sortData.priority > OUT_OF_VIEW_THRESHOLD;
             if (!inView) {
                 break;

From faa272c67c103e36b5324ecc8eb14bb18e773745 Mon Sep 17 00:00:00 2001
From: Andrew Meadows <andrew@highfidelity.io>
Date: Thu, 23 Feb 2017 11:15:34 -0800
Subject: [PATCH 07/45] don't blend animations for otherAvatars

---
 interface/src/avatar/CauterizedModel.cpp |  6 --
 interface/src/avatar/CauterizedModel.h   |  1 -
 interface/src/avatar/SkeletonModel.cpp   |  6 +-
 libraries/animation/src/Rig.cpp          | 71 ++++++++++++++----------
 4 files changed, 45 insertions(+), 39 deletions(-)

diff --git a/interface/src/avatar/CauterizedModel.cpp b/interface/src/avatar/CauterizedModel.cpp
index 843779dd3b..0c3d863649 100644
--- a/interface/src/avatar/CauterizedModel.cpp
+++ b/interface/src/avatar/CauterizedModel.cpp
@@ -95,12 +95,6 @@ void CauterizedModel::createCollisionRenderItemSet() {
 	Model::createCollisionRenderItemSet();
 }
 
-// Called within Model::simulate call, below.
-void CauterizedModel::updateRig(float deltaTime, glm::mat4 parentTransform) {
-    Model::updateRig(deltaTime, parentTransform);
-    _needsUpdateClusterMatrices = true;
-}
-
 void CauterizedModel::updateClusterMatrices() {
     PerformanceTimer perfTimer("CauterizedModel::updateClusterMatrices");
 
diff --git a/interface/src/avatar/CauterizedModel.h b/interface/src/avatar/CauterizedModel.h
index 01e0b13650..ba12aee32b 100644
--- a/interface/src/avatar/CauterizedModel.h
+++ b/interface/src/avatar/CauterizedModel.h
@@ -37,7 +37,6 @@ public:
 	void createVisibleRenderItemSet() override;
     void createCollisionRenderItemSet() override;
 
-    virtual void updateRig(float deltaTime, glm::mat4 parentTransform) override;
     virtual void updateClusterMatrices() override;
     void updateRenderItems() override;
 
diff --git a/interface/src/avatar/SkeletonModel.cpp b/interface/src/avatar/SkeletonModel.cpp
index 4b77323bba..476abf8d4b 100644
--- a/interface/src/avatar/SkeletonModel.cpp
+++ b/interface/src/avatar/SkeletonModel.cpp
@@ -166,7 +166,7 @@ void SkeletonModel::updateRig(float deltaTime, glm::mat4 parentTransform) {
         _rig->computeMotionAnimationState(deltaTime, position, velocity, orientation, ccState);
 
         // evaluate AnimGraph animation and update jointStates.
-        CauterizedModel::updateRig(deltaTime, parentTransform);
+        Model::updateRig(deltaTime, parentTransform);
 
         Rig::EyeParameters eyeParams;
         eyeParams.worldHeadOrientation = headParams.worldHeadOrientation;
@@ -179,7 +179,9 @@ void SkeletonModel::updateRig(float deltaTime, glm::mat4 parentTransform) {
 
         _rig->updateFromEyeParameters(eyeParams);
     } else {
-        CauterizedModel::updateRig(deltaTime, parentTransform);
+        // no need to call Model::updateRig() because otherAvatars get their joint state
+        // copied directly from AvtarData::_jointData (there are no Rig animations to blend)
+        _needsUpdateClusterMatrices = true;
 
         // This is a little more work than we really want.
         //
diff --git a/libraries/animation/src/Rig.cpp b/libraries/animation/src/Rig.cpp
index 07462e9878..fa5d2fc9f1 100644
--- a/libraries/animation/src/Rig.cpp
+++ b/libraries/animation/src/Rig.cpp
@@ -1274,39 +1274,50 @@ void Rig::copyJointsIntoJointData(QVector<JointData>& jointDataVec) const {
 void Rig::copyJointsFromJointData(const QVector<JointData>& jointDataVec) {
     PerformanceTimer perfTimer("copyJoints");
     PROFILE_RANGE(simulation_animation_detail, "copyJoints");
-    if (_animSkeleton && jointDataVec.size() == (int)_internalPoseSet._relativePoses.size()) {
-        // make a vector of rotations in absolute-geometry-frame
-        const AnimPoseVec& absoluteDefaultPoses = _animSkeleton->getAbsoluteDefaultPoses();
-        std::vector<glm::quat> rotations;
-        rotations.reserve(absoluteDefaultPoses.size());
-        const glm::quat rigToGeometryRot(glmExtractRotation(_rigToGeometryTransform));
-        for (int i = 0; i < jointDataVec.size(); i++) {
-            const JointData& data = jointDataVec.at(i);
-            if (data.rotationSet) {
-                // JointData rotations are in absolute rig-frame so we rotate them to absolute geometry-frame
-                rotations.push_back(rigToGeometryRot * data.rotation);
-            } else {
-                rotations.push_back(absoluteDefaultPoses[i].rot());
-            }
-        }
+    if (!_animSkeleton) {
+        return;
+    }
+    if (jointDataVec.size() != (int)_internalPoseSet._relativePoses.size()) {
+        // animations haven't fully loaded yet.
+        _internalPoseSet._relativePoses = _animSkeleton->getRelativeDefaultPoses();
+    }
 
-        // convert rotations from absolute to parent relative.
-        _animSkeleton->convertAbsoluteRotationsToRelative(rotations);
-
-        // store new relative poses
-        const AnimPoseVec& relativeDefaultPoses = _animSkeleton->getRelativeDefaultPoses();
-        for (int i = 0; i < jointDataVec.size(); i++) {
-            const JointData& data = jointDataVec.at(i);
-            _internalPoseSet._relativePoses[i].scale() = Vectors::ONE;
-            _internalPoseSet._relativePoses[i].rot() = rotations[i];
-            if (data.translationSet) {
-                // JointData translations are in scaled relative-frame so we scale back to regular relative-frame
-                _internalPoseSet._relativePoses[i].trans() = _invGeometryOffset.scale() * data.translation;
-            } else {
-                _internalPoseSet._relativePoses[i].trans() = relativeDefaultPoses[i].trans();
-            }
+    // make a vector of rotations in absolute-geometry-frame
+    const AnimPoseVec& absoluteDefaultPoses = _animSkeleton->getAbsoluteDefaultPoses();
+    std::vector<glm::quat> rotations;
+    rotations.reserve(absoluteDefaultPoses.size());
+    const glm::quat rigToGeometryRot(glmExtractRotation(_rigToGeometryTransform));
+    for (int i = 0; i < jointDataVec.size(); i++) {
+        const JointData& data = jointDataVec.at(i);
+        if (data.rotationSet) {
+            // JointData rotations are in absolute rig-frame so we rotate them to absolute geometry-frame
+            rotations.push_back(rigToGeometryRot * data.rotation);
+        } else {
+            rotations.push_back(absoluteDefaultPoses[i].rot());
         }
     }
+
+    // convert rotations from absolute to parent relative.
+    _animSkeleton->convertAbsoluteRotationsToRelative(rotations);
+
+    // store new relative poses
+    const AnimPoseVec& relativeDefaultPoses = _animSkeleton->getRelativeDefaultPoses();
+    for (int i = 0; i < jointDataVec.size(); i++) {
+        const JointData& data = jointDataVec.at(i);
+        _internalPoseSet._relativePoses[i].scale() = Vectors::ONE;
+        _internalPoseSet._relativePoses[i].rot() = rotations[i];
+        if (data.translationSet) {
+            // JointData translations are in scaled relative-frame so we scale back to regular relative-frame
+            _internalPoseSet._relativePoses[i].trans() = _invGeometryOffset.scale() * data.translation;
+        } else {
+            _internalPoseSet._relativePoses[i].trans() = relativeDefaultPoses[i].trans();
+        }
+    }
+
+    // build absolute poses and copy to externalPoseSet
+    buildAbsoluteRigPoses(_internalPoseSet._relativePoses, _internalPoseSet._absolutePoses);
+    QWriteLocker writeLock(&_externalPoseSetLock);
+    _externalPoseSet = _internalPoseSet;
 }
 
 void Rig::computeAvatarBoundingCapsule(

From b8c7905fa41227895cc1266292c60a528a6334c3 Mon Sep 17 00:00:00 2001
From: Ryan Huffman <ryanhuffman@gmail.com>
Date: Fri, 10 Feb 2017 13:25:11 -0800
Subject: [PATCH 08/45] Cleanup some duplication of code in teleport.js

---
 scripts/system/controllers/teleport.js | 169 ++++---------------------
 1 file changed, 25 insertions(+), 144 deletions(-)

diff --git a/scripts/system/controllers/teleport.js b/scripts/system/controllers/teleport.js
index d3284352bf..f5fe895b38 100644
--- a/scripts/system/controllers/teleport.js
+++ b/scripts/system/controllers/teleport.js
@@ -17,6 +17,7 @@ var NUMBER_OF_STEPS = 6;
 
 var TARGET_MODEL_URL = Script.resolvePath("../assets/models/teleport-destination.fbx");
 var TOO_CLOSE_MODEL_URL = Script.resolvePath("../assets/models/teleport-cancel.fbx");
+
 var TARGET_MODEL_DIMENSIONS = {
     x: 1.15,
     y: 0.5,
@@ -51,13 +52,6 @@ function ThumbPad(hand) {
 
     this.buttonPress = function(value) {
         _thisPad.buttonValue = value;
-        if (value === 0) {
-            if (activationTimeout !== null) {
-                Script.clearTimeout(activationTimeout);
-                activationTimeout = null;
-            }
-
-        }
     };
 }
 
@@ -81,12 +75,14 @@ var coolInTimeout = null;
 function Teleporter() {
     var _this = this;
     this.intersection = null;
-    this.rightOverlayLine = null;
+    this.overlayLines = {
+        left: null,
+        right: null,
+    };
     this.leftOverlayLine = null;
     this.targetOverlay = null;
     this.cancelOverlay = null;
     this.updateConnected = null;
-    this.smoothArrivalInterval = null;
     this.teleportHand = null;
     this.tooClose = false;
     this.inCoolIn = false;
@@ -107,7 +103,6 @@ function Teleporter() {
     };
 
     this.enterTeleportMode = function(hand) {
-
         if (inTeleportMode === true) {
             return;
         }
@@ -125,13 +120,6 @@ function Teleporter() {
             _this.inCoolIn = false;
         }, COOL_IN_DURATION)
 
-        if (this.smoothArrivalInterval !== null) {
-            Script.clearInterval(this.smoothArrivalInterval);
-        }
-        if (activationTimeout !== null) {
-            Script.clearInterval(activationTimeout);
-        }
-
         this.teleportHand = hand;
         this.initialize();
         Script.update.connect(this.update);
@@ -230,15 +218,15 @@ function Teleporter() {
     }
 
     this.turnOffOverlayBeams = function() {
-        this.rightOverlayOff();
-        this.leftOverlayOff();
+        for (key in this.overlayLines) {
+            if (this.overlayLines[key] !== null) {
+                Overlays.deleteOverlay(this.overlayLines[key]);
+                this.overlayLines[key] = null;
+            }
+        }
     }
 
     this.exitTeleportMode = function(value) {
-        if (activationTimeout !== null) {
-            Script.clearTimeout(activationTimeout);
-            activationTimeout = null;
-        }
         if (this.updateConnected === true) {
             Script.update.disconnect(this.update);
         }
@@ -317,7 +305,7 @@ function Teleporter() {
             if (this.tooClose === true) {
                 this.hideTargetOverlay();
 
-                this.rightLineOn(rightPickRay.origin, rightIntersection.intersection, COLORS_TELEPORT_TOO_CLOSE);
+                this.handLineOn('right', rightPickRay.origin, rightIntersection.intersection, COLORS_TELEPORT_TOO_CLOSE);
                 if (this.cancelOverlay !== null) {
                     this.updateCancelOverlay(rightIntersection);
                 } else {
@@ -326,7 +314,7 @@ function Teleporter() {
             } else {
                 if (this.inCoolIn === true) {
                     this.hideTargetOverlay();
-                    this.rightLineOn(rightPickRay.origin, rightIntersection.intersection, COLORS_TELEPORT_TOO_CLOSE);
+                    this.handLineOn('right', rightPickRay.origin, rightIntersection.intersection, COLORS_TELEPORT_TOO_CLOSE);
                     if (this.cancelOverlay !== null) {
                         this.updateCancelOverlay(rightIntersection);
                     } else {
@@ -335,7 +323,7 @@ function Teleporter() {
                 } else {
                     this.hideCancelOverlay();
 
-                    this.rightLineOn(rightPickRay.origin, rightIntersection.intersection, COLORS_TELEPORT_CAN_TELEPORT);
+                    this.handLineOn('right', rightPickRay.origin, rightIntersection.intersection, COLORS_TELEPORT_CAN_TELEPORT);
                     if (this.targetOverlay !== null) {
                         this.updateTargetOverlay(rightIntersection);
                     } else {
@@ -349,7 +337,7 @@ function Teleporter() {
         } else {
 
             this.hideTargetOverlay();
-            this.rightLineOn(rightPickRay.origin, location, COLORS_TELEPORT_CANNOT_TELEPORT);
+            this.handLineOn('right', rightPickRay.origin, location, COLORS_TELEPORT_CANNOT_TELEPORT);
         }
     }
 
@@ -373,14 +361,13 @@ function Teleporter() {
 
         var location = Vec3.sum(MyAvatar.position, Vec3.multiply(leftPickRay.direction, 50));
 
-
         var leftIntersection = Entities.findRayIntersection(teleporter.leftPickRay, true, [], [this.targetEntity], true, true);
 
         if (leftIntersection.intersects) {
 
             if (this.tooClose === true) {
                 this.hideTargetOverlay();
-                this.leftLineOn(leftPickRay.origin, leftIntersection.intersection, COLORS_TELEPORT_TOO_CLOSE);
+                this.handLineOn('left', leftPickRay.origin, leftIntersection.intersection, COLORS_TELEPORT_TOO_CLOSE);
                 if (this.cancelOverlay !== null) {
                     this.updateCancelOverlay(leftIntersection);
                 } else {
@@ -389,7 +376,7 @@ function Teleporter() {
             } else {
                 if (this.inCoolIn === true) {
                     this.hideTargetOverlay();
-                    this.leftLineOn(leftPickRay.origin, leftIntersection.intersection, COLORS_TELEPORT_TOO_CLOSE);
+                    this.handLineOn('left', leftPickRay.origin, leftIntersection.intersection, COLORS_TELEPORT_TOO_CLOSE);
                     if (this.cancelOverlay !== null) {
                         this.updateCancelOverlay(leftIntersection);
                     } else {
@@ -397,7 +384,7 @@ function Teleporter() {
                     }
                 } else {
                     this.hideCancelOverlay();
-                    this.leftLineOn(leftPickRay.origin, leftIntersection.intersection, COLORS_TELEPORT_CAN_TELEPORT);
+                    this.handLineOn('left', leftPickRay.origin, leftIntersection.intersection, COLORS_TELEPORT_CAN_TELEPORT);
 
                     if (this.targetOverlay !== null) {
                         this.updateTargetOverlay(leftIntersection);
@@ -413,12 +400,12 @@ function Teleporter() {
         } else {
 
             this.hideTargetOverlay();
-            this.leftLineOn(leftPickRay.origin, location, COLORS_TELEPORT_CANNOT_TELEPORT);
+            this.handLineOn('left', leftPickRay.origin, location, COLORS_TELEPORT_CANNOT_TELEPORT);
         }
     };
 
-    this.rightLineOn = function(closePoint, farPoint, color) {
-        if (this.rightOverlayLine === null) {
+    this.handLineOn = function(hand, closePoint, farPoint, color) {
+        if (this.overlayLines[hand] === null) {
             var lineProperties = {
                 start: closePoint,
                 end: farPoint,
@@ -431,55 +418,16 @@ function Teleporter() {
                 glow: 1.0
             };
 
-            this.rightOverlayLine = Overlays.addOverlay("line3d", lineProperties);
+            this.overlayLines[hand] = Overlays.addOverlay("line3d", lineProperties);
 
         } else {
-            var success = Overlays.editOverlay(this.rightOverlayLine, {
+            var success = Overlays.editOverlay(this.overlayLines[hand], {
                 start: closePoint,
                 end: farPoint,
                 color: color
             });
         }
     };
-
-    this.leftLineOn = function(closePoint, farPoint, color) {
-        if (this.leftOverlayLine === null) {
-            var lineProperties = {
-                ignoreRayIntersection: true,
-                start: closePoint,
-                end: farPoint,
-                color: color,
-                visible: true,
-                alpha: 1,
-                solid: true,
-                glow: 1.0,
-                drawInFront: true
-            };
-
-            this.leftOverlayLine = Overlays.addOverlay("line3d", lineProperties);
-
-        } else {
-            var success = Overlays.editOverlay(this.leftOverlayLine, {
-                start: closePoint,
-                end: farPoint,
-                color: color
-            });
-        }
-    };
-    this.rightOverlayOff = function() {
-        if (this.rightOverlayLine !== null) {
-            Overlays.deleteOverlay(this.rightOverlayLine);
-            this.rightOverlayLine = null;
-        }
-    };
-
-    this.leftOverlayOff = function() {
-        if (this.leftOverlayLine !== null) {
-            Overlays.deleteOverlay(this.leftOverlayLine);
-            this.leftOverlayLine = null;
-        }
-    };
-
     this.updateTargetOverlay = function(intersection) {
         _this.intersection = intersection;
 
@@ -523,11 +471,6 @@ function Teleporter() {
         });
     };
 
-    this.triggerHaptics = function() {
-        var hand = this.teleportHand === 'left' ? 0 : 1;
-        var haptic = Controller.triggerShortHapticPulse(0.2, hand);
-    };
-
     this.teleport = function(value) {
 
         if (value === undefined) {
@@ -543,8 +486,6 @@ function Teleporter() {
             var offset = getAvatarFootOffset();
             this.intersection.intersection.y += offset;
             this.exitTeleportMode();
-            // Disable smooth arrival, possibly temporarily
-            //this.smoothArrival();
             MyAvatar.position = _this.intersection.intersection;
             _this.hideTargetOverlay();
             _this.hideCancelOverlay();
@@ -552,51 +493,6 @@ function Teleporter() {
         }
     };
 
-    this.findMidpoint = function(start, end) {
-        var xy = Vec3.sum(start, end);
-        var midpoint = Vec3.multiply(0.5, xy);
-        return midpoint
-    };
-
-    this.getArrivalPoints = function(startPoint, endPoint) {
-        var arrivalPoints = [];
-        var i;
-        var lastPoint;
-
-        for (i = 0; i < NUMBER_OF_STEPS; i++) {
-            if (i === 0) {
-                lastPoint = startPoint;
-            }
-            var newPoint = _this.findMidpoint(lastPoint, endPoint);
-            lastPoint = newPoint;
-            arrivalPoints.push(newPoint);
-        }
-
-        arrivalPoints.push(endPoint);
-
-        return arrivalPoints;
-    };
-
-    this.smoothArrival = function() {
-
-        _this.arrivalPoints = _this.getArrivalPoints(MyAvatar.position, _this.intersection.intersection);
-        _this.smoothArrivalInterval = Script.setInterval(function() {
-            if (_this.arrivalPoints.length === 0) {
-                Script.clearInterval(_this.smoothArrivalInterval);
-                HMD.centerUI();
-                return;
-            }
-            var landingPoint = _this.arrivalPoints.shift();
-            MyAvatar.position = landingPoint;
-
-            if (_this.arrivalPoints.length === 1 || _this.arrivalPoints.length === 0) {
-                _this.hideTargetOverlay();
-                _this.hideCancelOverlay();
-            }
-
-        }, SMOOTH_ARRIVAL_SPACING);
-    }
-
     this.createTargetOverlay(false);
     this.createCancelOverlay(false);
 
@@ -655,7 +551,6 @@ var rightTrigger = new Trigger('right');
 
 var mappingName, teleportMapping;
 
-var activationTimeout = null;
 var TELEPORT_DELAY = 0;
 
 function isMoving() {
@@ -695,20 +590,13 @@ function registerMappings() {
             if (isDisabled === 'left' || isDisabled === 'both') {
                 return;
             }
-            if (activationTimeout !== null) {
-                return
-            }
             if (leftTrigger.down()) {
                 return;
             }
             if (isMoving() === true) {
                 return;
             }
-            activationTimeout = Script.setTimeout(function() {
-                Script.clearTimeout(activationTimeout);
-                activationTimeout = null;
-                teleporter.enterTeleportMode('left')
-            }, TELEPORT_DELAY)
+            teleporter.enterTeleportMode('left')
             return;
         });
     teleportMapping.from(Controller.Standard.RightPrimaryThumb)
@@ -716,9 +604,6 @@ function registerMappings() {
             if (isDisabled === 'right' || isDisabled === 'both') {
                 return;
             }
-            if (activationTimeout !== null) {
-                return
-            }
             if (rightTrigger.down()) {
                 return;
             }
@@ -726,11 +611,7 @@ function registerMappings() {
                 return;
             }
 
-            activationTimeout = Script.setTimeout(function() {
-                teleporter.enterTeleportMode('right')
-                Script.clearTimeout(activationTimeout);
-                activationTimeout = null;
-            }, TELEPORT_DELAY)
+            teleporter.enterTeleportMode('right')
             return;
         });
 };

From 91978192916938120b595e4e1cfe49b70a6d973f Mon Sep 17 00:00:00 2001
From: Ryan Huffman <ryanhuffman@gmail.com>
Date: Tue, 14 Feb 2017 09:19:46 -0800
Subject: [PATCH 09/45] Cleanup teleport to make use of new TARGET

---
 scripts/system/controllers/teleport.js | 450 ++++++++-----------------
 1 file changed, 148 insertions(+), 302 deletions(-)

diff --git a/scripts/system/controllers/teleport.js b/scripts/system/controllers/teleport.js
index f5fe895b38..4d4ba8f2d5 100644
--- a/scripts/system/controllers/teleport.js
+++ b/scripts/system/controllers/teleport.js
@@ -43,9 +43,17 @@ var COLORS_TELEPORT_TOO_CLOSE = {
 };
 
 var TELEPORT_CANCEL_RANGE = 1;
-var USE_COOL_IN = true;
 var COOL_IN_DURATION = 500;
 
+const handInfo = {
+    right: {
+        controllerInput: Controller.Standard.RightHand
+    },
+    left: {
+        controllerInput: Controller.Standard.LeftHand
+    }
+};
+
 function ThumbPad(hand) {
     this.hand = hand;
     var _thisPad = this;
@@ -61,7 +69,6 @@ function Trigger(hand) {
 
     this.buttonPress = function(value) {
         _this.buttonValue = value;
-
     };
 
     this.down = function() {
@@ -72,152 +79,120 @@ function Trigger(hand) {
 
 var coolInTimeout = null;
 
+var TELEPORTER_STATES = {
+    IDLE: 'idle',
+    COOL_IN: 'cool_in',
+    TARGETTING_INVALID: 'targetting_invalid',
+}
+
+var TARGET = {
+    NONE: 'none',       // Not currently targetting anything
+    INVALID: 'invalid', // The current target is invalid (wall, ceiling, etc.)
+    SURFACE: 'surface', // The current target is a valid surface
+    SEAT: 'seat',       // The current target is a seat
+}
+
 function Teleporter() {
     var _this = this;
-    this.intersection = null;
+    this.state = TELEPORTER_STATES.IDLE;
+    this.currentTarget = TARGET.INVALID;
+
     this.overlayLines = {
         left: null,
         right: null,
     };
-    this.leftOverlayLine = null;
-    this.targetOverlay = null;
-    this.cancelOverlay = null;
     this.updateConnected = null;
-    this.teleportHand = null;
-    this.tooClose = false;
-    this.inCoolIn = false;
+    this.activeHand = null;
 
-    this.initialize = function() {
-        this.createMappings();
-    };
+    this.telporterMappingInternalName = 'Hifi-Teleporter-Internal-Dev-' + Math.random();
+    this.teleportMappingInternal = Controller.newMapping(this.telporterMappingInternalName);
 
-    this.createMappings = function() {
-        teleporter.telporterMappingInternalName = 'Hifi-Teleporter-Internal-Dev-' + Math.random();
-        teleporter.teleportMappingInternal = Controller.newMapping(teleporter.telporterMappingInternalName);
+    // Setup overlays
+    this.cancelOverlay = Overlays.addOverlay("model", {
+        url: TOO_CLOSE_MODEL_URL,
+        dimensions: TARGET_MODEL_DIMENSIONS,
+        visible: false
+    });
+    this.targetOverlay = Overlays.addOverlay("model", {
+        url: TARGET_MODEL_URL,
+        dimensions: TARGET_MODEL_DIMENSIONS,
+        visible: false
+    });
 
-        Controller.enableMapping(teleporter.telporterMappingInternalName);
+    this.enableMappings = function() {
+        Controller.enableMapping(this.telporterMappingInternalName);
     };
 
     this.disableMappings = function() {
         Controller.disableMapping(teleporter.telporterMappingInternalName);
     };
 
+    this.cleanup = function() {
+        this.disableMappings();
+
+        Overlays.deleteOverlay(this.targetOverlay);
+        this.targetOverlay = null;
+
+        Overlays.deleteOverlay(this.cancelOverlay);
+        this.cancelOverlay = null;
+
+        this.hideOverlayBeams();
+        if (this.updateConnected === true) {
+            Script.update.disconnect(this.update);
+        }
+    };
+
     this.enterTeleportMode = function(hand) {
         if (inTeleportMode === true) {
             return;
         }
-        if (isDisabled === 'both') {
+        if (isDisabled === 'both' || isDisabled === hand) {
             return;
         }
 
         inTeleportMode = true;
-        this.inCoolIn = true;
+
         if (coolInTimeout !== null) {
             Script.clearTimeout(coolInTimeout);
-
         }
+
+        this.state = TELEPORTER_STATES.COOL_IN;
         coolInTimeout = Script.setTimeout(function() {
-            _this.inCoolIn = false;
+            if (_this.state === TELEPORTER_STATES.COOL_IN) {
+                _this.state = TELEPORTER_STATES.TARGETTING;
+            }
         }, COOL_IN_DURATION)
 
-        this.teleportHand = hand;
-        this.initialize();
+        this.activeHand = hand;
+        this.enableMappings();
         Script.update.connect(this.update);
         this.updateConnected = true;
-
-
-
     };
 
-    this.createTargetOverlay = function(visible) {
-        if (visible == undefined) {
-            visible = true;
+    this.exitTeleportMode = function(value) {
+        if (this.updateConnected === true) {
+            Script.update.disconnect(this.update);
         }
 
-        if (_this.targetOverlay !== null) {
-            return;
-        }
-        var targetOverlayProps = {
-            url: TARGET_MODEL_URL,
-            dimensions: TARGET_MODEL_DIMENSIONS,
-            visible: visible
-        };
-
-        _this.targetOverlay = Overlays.addOverlay("model", targetOverlayProps);
+        this.disableMappings();
+        this.hideOverlayBeams();
+        this.hideTargetOverlay();
+        this.hideCancelOverlay();
 
+        this.updateConnected = null;
+        this.state = TELEPORTER_STATES.IDLE;
+        inTeleportMode = false;
     };
 
-    this.createCancelOverlay = function(visible) {
-        if (visible == undefined) {
-            visible = true;
-        }
-
-        if (_this.cancelOverlay !== null) {
-            return;
-        }
-
-        var cancelOverlayProps = {
-            url: TOO_CLOSE_MODEL_URL,
-            dimensions: TARGET_MODEL_DIMENSIONS,
-            visible: visible
-        };
-
-        _this.cancelOverlay = Overlays.addOverlay("model", cancelOverlayProps);
-    };
-
-    this.deleteCancelOverlay = function() {
-        if (this.cancelOverlay === null) {
-            return;
-        }
-
-        Overlays.deleteOverlay(this.cancelOverlay);
-        this.cancelOverlay = null;
-    }
-
     this.hideCancelOverlay = function() {
-        if (this.cancelOverlay === null) {
-            return;
-        }
-
-        this.intersection = null;
         Overlays.editOverlay(this.cancelOverlay, { visible: false });
     }
 
-    this.showCancelOverlay = function() {
-        if (this.cancelOverlay === null) {
-            return this.createCancelOverlay();
-        }
-        Overlays.editOverlay(this.cancelOverlay, { visible: true });
-    }
-
-
-    this.deleteTargetOverlay = function() {
-        if (this.targetOverlay === null) {
-            return;
-        }
-
-        Overlays.deleteOverlay(this.targetOverlay);
-        this.intersection = null;
-        this.targetOverlay = null;
-    }
-
     this.hideTargetOverlay = function() {
-        if (this.targetOverlay === null) {
-            return;
-        }
-
-        this.intersection = null;
         Overlays.editOverlay(this.targetOverlay, { visible: false });
     }
 
-    this.showTargetOverlay = function() {
-        if (this.targetOverlay === null) {
-            return this.createTargetOverlay();
-        }
-        Overlays.editOverlay(this.targetOverlay, { visible: true });
-    }
-
-    this.turnOffOverlayBeams = function() {
+    this.hideOverlayBeams = function() {
         for (key in this.overlayLines) {
             if (this.overlayLines[key] !== null) {
                 Overlays.deleteOverlay(this.overlayLines[key]);
@@ -226,185 +201,74 @@ function Teleporter() {
         }
     }
 
-    this.exitTeleportMode = function(value) {
-        if (this.updateConnected === true) {
-            Script.update.disconnect(this.update);
-        }
-
-        this.disableMappings();
-        this.turnOffOverlayBeams();
-
-        this.updateConnected = null;
-        this.inCoolIn = false;
-        inTeleportMode = false;
-    };
-
     this.update = function() {
-        if (isDisabled === 'both') {
+        if (_this.state === TELEPORTER_STATES.IDLE) {
             return;
         }
 
-        if (teleporter.teleportHand === 'left') {
-            if (isDisabled === 'left') {
-                return;
-            }
-            teleporter.leftRay();
-            if ((leftPad.buttonValue === 0) && inTeleportMode === true) {
-                if (_this.inCoolIn === true) {
-                    _this.exitTeleportMode();
-                    _this.hideTargetOverlay();
-                    _this.hideCancelOverlay();
-                } else {
-                    _this.teleport();
-                }
-                return;
-            }
-
-        } else {
-            if (isDisabled === 'right') {
-                return;
-            }
-            teleporter.rightRay();
-            if ((rightPad.buttonValue === 0) && inTeleportMode === true) {
-                if (_this.inCoolIn === true) {
-                    _this.exitTeleportMode();
-                    _this.hideTargetOverlay();
-                    _this.hideCancelOverlay();
-                } else {
-                    _this.teleport();
-                }
-                return;
-            }
-        }
-
-    };
-
-    this.rightRay = function() {
-        var pose = Controller.getPoseValue(Controller.Standard.RightHand);
-        var rightPosition = pose.valid ? Vec3.sum(Vec3.multiplyQbyV(MyAvatar.orientation, pose.translation), MyAvatar.position) : MyAvatar.getHeadPosition();
-        var rightRotation = pose.valid ? Quat.multiply(MyAvatar.orientation, pose.rotation) :
+        // Get current hand pose information so that we can get the direction of the teleport beam
+        var pose = Controller.getPoseValue(handInfo[_this.activeHand].controllerInput);
+        var handPosition = pose.valid ? Vec3.sum(Vec3.multiplyQbyV(MyAvatar.orientation, pose.translation), MyAvatar.position) : MyAvatar.getHeadPosition();
+        var handRotation = pose.valid ? Quat.multiply(MyAvatar.orientation, pose.rotation) :
             Quat.multiply(MyAvatar.headOrientation, Quat.angleAxis(-90, {
                 x: 1,
                 y: 0,
                 z: 0
             }));
 
-        var rightPickRay = {
-            origin: rightPosition,
-            direction: Quat.getUp(rightRotation),
+        var pickRay = {
+            origin: handPosition,
+            direction: Quat.getUp(handRotation),
         };
 
-        this.rightPickRay = rightPickRay;
+        var intersection = Entities.findRayIntersection(pickRay, true, [], [this.targetEntity], true, true);
 
-        var location = Vec3.sum(rightPickRay.origin, Vec3.multiply(rightPickRay.direction, 50));
-
-
-        var rightIntersection = Entities.findRayIntersection(teleporter.rightPickRay, true, [], [this.targetEntity], true, true);
-
-        if (rightIntersection.intersects) {
-            if (this.tooClose === true) {
-                this.hideTargetOverlay();
-
-                this.handLineOn('right', rightPickRay.origin, rightIntersection.intersection, COLORS_TELEPORT_TOO_CLOSE);
-                if (this.cancelOverlay !== null) {
-                    this.updateCancelOverlay(rightIntersection);
-                } else {
-                    this.createCancelOverlay();
-                }
-            } else {
-                if (this.inCoolIn === true) {
-                    this.hideTargetOverlay();
-                    this.handLineOn('right', rightPickRay.origin, rightIntersection.intersection, COLORS_TELEPORT_TOO_CLOSE);
-                    if (this.cancelOverlay !== null) {
-                        this.updateCancelOverlay(rightIntersection);
-                    } else {
-                        this.createCancelOverlay();
-                    }
-                } else {
-                    this.hideCancelOverlay();
-
-                    this.handLineOn('right', rightPickRay.origin, rightIntersection.intersection, COLORS_TELEPORT_CAN_TELEPORT);
-                    if (this.targetOverlay !== null) {
-                        this.updateTargetOverlay(rightIntersection);
-                    } else {
-                        this.createTargetOverlay();
-                    }
-                }
-
-
-            }
-
-        } else {
+        var isValidTeleportLocation = false;
+        var teleportLocationType = getTeleportTargetType(intersection);
 
+        if (teleportLocationType === TARGET.NONE) {
             this.hideTargetOverlay();
-            this.handLineOn('right', rightPickRay.origin, location, COLORS_TELEPORT_CANNOT_TELEPORT);
+            var farPosition = Vec3.sum(pickRay.origin, Vec3.multiply(pickRay.direction, 50));
+            this.updateLineOverlay(_this.activeHand, pickRay.origin, farPosition, COLORS_TELEPORT_CANNOT_TELEPORT);
+        } else if (teleportLocationType === TARGET.INVALID) {
+            this.hideTargetOverlay();
+
+            this.updateLineOverlay(_this.activeHand, pickRay.origin, intersection.intersection, COLORS_TELEPORT_TOO_CLOSE);
+            this.updateCancelOverlay(intersection);
+        } else if (teleportLocationType === TARGET.SURFACE) {
+            if (this.state === TELEPORTER_STATES.COOL_IN) {
+                this.hideTargetOverlay();
+                this.updateLineOverlay(_this.activeHand, pickRay.origin, intersection.intersection, COLORS_TELEPORT_TOO_CLOSE);
+                this.updateCancelOverlay(intersection);
+            } else {
+                this.hideCancelOverlay();
+
+                this.updateLineOverlay(_this.activeHand, pickRay.origin, intersection.intersection, COLORS_TELEPORT_CAN_TELEPORT);
+                this.updateTargetOverlay(intersection);
+            }
+        } else if (teleportLocationType === TARGET.SEAT) {
         }
-    }
 
 
-    this.leftRay = function() {
-        var pose = Controller.getPoseValue(Controller.Standard.LeftHand);
-        var leftPosition = pose.valid ? Vec3.sum(Vec3.multiplyQbyV(MyAvatar.orientation, pose.translation), MyAvatar.position) : MyAvatar.getHeadPosition();
-        var leftRotation = pose.valid ? Quat.multiply(MyAvatar.orientation, pose.rotation) :
-            Quat.multiply(MyAvatar.headOrientation, Quat.angleAxis(-90, {
-                x: 1,
-                y: 0,
-                z: 0
-            }));
-
-        var leftPickRay = {
-            origin: leftPosition,
-            direction: Quat.getUp(leftRotation),
-        };
-
-        this.leftPickRay = leftPickRay;
-
-        var location = Vec3.sum(MyAvatar.position, Vec3.multiply(leftPickRay.direction, 50));
-
-        var leftIntersection = Entities.findRayIntersection(teleporter.leftPickRay, true, [], [this.targetEntity], true, true);
-
-        if (leftIntersection.intersects) {
-
-            if (this.tooClose === true) {
-                this.hideTargetOverlay();
-                this.handLineOn('left', leftPickRay.origin, leftIntersection.intersection, COLORS_TELEPORT_TOO_CLOSE);
-                if (this.cancelOverlay !== null) {
-                    this.updateCancelOverlay(leftIntersection);
-                } else {
-                    this.createCancelOverlay();
-                }
-            } else {
-                if (this.inCoolIn === true) {
-                    this.hideTargetOverlay();
-                    this.handLineOn('left', leftPickRay.origin, leftIntersection.intersection, COLORS_TELEPORT_TOO_CLOSE);
-                    if (this.cancelOverlay !== null) {
-                        this.updateCancelOverlay(leftIntersection);
-                    } else {
-                        this.createCancelOverlay();
-                    }
-                } else {
-                    this.hideCancelOverlay();
-                    this.handLineOn('left', leftPickRay.origin, leftIntersection.intersection, COLORS_TELEPORT_CAN_TELEPORT);
-
-                    if (this.targetOverlay !== null) {
-                        this.updateTargetOverlay(leftIntersection);
-                    } else {
-                        this.createTargetOverlay();
-                    }
-                }
-
+        if (((_this.activeHand == 'left' ? leftPad : rightPad).buttonValue === 0) && inTeleportMode === true) {
+            _this.exitTeleportMode();
 
+            if (isValidTeleportLocation === true) {
+                _this.exitTeleportMode();
+                _this.hideCancelOverlay();
+                return;
             }
-
-
-        } else {
-
-            this.hideTargetOverlay();
-            this.handLineOn('left', leftPickRay.origin, location, COLORS_TELEPORT_CANNOT_TELEPORT);
+            var offset = getAvatarFootOffset();
+            intersection.intersection.y += offset;
+            _this.exitTeleportMode();
+            _MyAvatar.position = intersection.intersection;
+            _this.hideTargetOverlay();
+            _this.hideCancelOverlay();
+            HMD.centerUI();
         }
     };
 
-    this.handLineOn = function(hand, closePoint, farPoint, color) {
+    this.updateLineOverlay = function(hand, closePoint, farPoint, color) {
         if (this.overlayLines[hand] === null) {
             var lineProperties = {
                 start: closePoint,
@@ -428,9 +292,8 @@ function Teleporter() {
             });
         }
     };
-    this.updateTargetOverlay = function(intersection) {
-        _this.intersection = intersection;
 
+    this.updateTargetOverlay = function(intersection) {
         var rotation = Quat.lookAt(intersection.intersection, MyAvatar.position, Vec3.UP);
         var euler = Quat.safeEulerAngles(rotation);
         var position = {
@@ -439,7 +302,6 @@ function Teleporter() {
             z: intersection.intersection.z
         };
 
-        this.tooClose = isValidTeleportLocation(position, intersection.surfaceNormal);
         var towardUs = Quat.fromPitchYawRollDegrees(0, euler.y, 0);
 
         Overlays.editOverlay(this.targetOverlay, {
@@ -451,8 +313,6 @@ function Teleporter() {
     };
 
     this.updateCancelOverlay = function(intersection) {
-        _this.intersection = intersection;
-
         var rotation = Quat.lookAt(intersection.intersection, MyAvatar.position, Vec3.UP);
         var euler = Quat.safeEulerAngles(rotation);
         var position = {
@@ -461,7 +321,6 @@ function Teleporter() {
             z: intersection.intersection.z
         };
 
-        this.tooClose = isValidTeleportLocation(position, intersection.surfaceNormal);
         var towardUs = Quat.fromPitchYawRollDegrees(0, euler.y, 0);
 
         Overlays.editOverlay(this.cancelOverlay, {
@@ -470,32 +329,6 @@ function Teleporter() {
             rotation: towardUs
         });
     };
-
-    this.teleport = function(value) {
-
-        if (value === undefined) {
-            this.exitTeleportMode();
-        }
-
-        if (this.intersection !== null) {
-            if (this.tooClose === true) {
-                this.exitTeleportMode();
-                this.hideCancelOverlay();
-                return;
-            }
-            var offset = getAvatarFootOffset();
-            this.intersection.intersection.y += offset;
-            this.exitTeleportMode();
-            MyAvatar.position = _this.intersection.intersection;
-            _this.hideTargetOverlay();
-            _this.hideCancelOverlay();
-            HMD.centerUI();
-        }
-    };
-
-    this.createTargetOverlay(false);
-    this.createCancelOverlay(false);
-
 }
 
 //related to repositioning the avatar after you teleport
@@ -563,17 +396,37 @@ function isMoving() {
     }
 };
 
+function parseJSON(json) {
+    try {
+        return JSON.parse(json);
+    } catch (e) {
+        return undefined;
+    }
+}
 // When determininig whether you can teleport to a location, the normal of the
 // point that is being intersected with is looked at. If this normal is more
 // than MAX_ANGLE_FROM_UP_TO_TELEPORT degrees from <0, 1, 0> (straight up), then
 // you can't teleport there.
 var MAX_ANGLE_FROM_UP_TO_TELEPORT = 70;
-function isValidTeleportLocation(position, surfaceNormal) {
+function getTeleportTargetType(intersection) {
+    if (!intersection.intersects) {
+        return TARGET.NONE;
+    }
+
+    var data = Entities.getEntityProperties(intersection.entityID, 'userData').userData;
+    if (data !== undefined && data.seat !== undefined) {
+        return TARGET.SEAT;
+    }
+
     var adj = Math.sqrt(surfaceNormal.x * surfaceNormal.x + surfaceNormal.z * surfaceNormal.z);
     var angleUp = Math.atan2(surfaceNormal.y, adj) * (180 / Math.PI);
-    return angleUp < (90 - MAX_ANGLE_FROM_UP_TO_TELEPORT) ||
-        angleUp > (90 + MAX_ANGLE_FROM_UP_TO_TELEPORT) ||
-        Vec3.distance(MyAvatar.position, position) <= TELEPORT_CANCEL_RANGE;
+    if (angleUp < (90 - MAX_ANGLE_FROM_UP_TO_TELEPORT) ||
+            angleUp > (90 + MAX_ANGLE_FROM_UP_TO_TELEPORT) ||
+            Vec3.distance(MyAvatar.position, intersection.intersection) <= TELEPORT_CANCEL_RANGE) {
+        return TARGET.SURFACE;
+    } else {
+        return TARGET.INVALID;
+    }
 };
 
 function registerMappings() {
@@ -622,18 +475,11 @@ var teleporter = new Teleporter();
 
 Controller.enableMapping(mappingName);
 
-Script.scriptEnding.connect(cleanup);
-
 function cleanup() {
     teleportMapping.disable();
-    teleporter.disableMappings();
-    teleporter.deleteTargetOverlay();
-    teleporter.deleteCancelOverlay();
-    teleporter.turnOffOverlayBeams();
-    if (teleporter.updateConnected !== null) {
-        Script.update.disconnect(teleporter.update);
-    }
+    teleporter.cleanup();
 }
+Script.scriptEnding.connect(cleanup);
 
 var isDisabled = false;
 var handleHandMessages = function(channel, message, sender) {

From c632884aac1e74eaeb8d59c3560b708b3c516a88 Mon Sep 17 00:00:00 2001
From: Ryan Huffman <ryanhuffman@gmail.com>
Date: Tue, 14 Feb 2017 10:33:08 -0800
Subject: [PATCH 10/45] Update teleport script to handle detecting seats

---
 scripts/system/controllers/teleport.js | 91 ++++++++++++++------------
 1 file changed, 50 insertions(+), 41 deletions(-)

diff --git a/scripts/system/controllers/teleport.js b/scripts/system/controllers/teleport.js
index 4d4ba8f2d5..3d95d05b86 100644
--- a/scripts/system/controllers/teleport.js
+++ b/scripts/system/controllers/teleport.js
@@ -24,6 +24,12 @@ var TARGET_MODEL_DIMENSIONS = {
     z: 1.15
 };
 
+var COLORS_TELEPORT_SEAT = {
+    red: 0,
+    green: 0,
+    blue: 255
+}
+
 var COLORS_TELEPORT_CAN_TELEPORT = {
     red: 97,
     green: 247,
@@ -36,7 +42,7 @@ var COLORS_TELEPORT_CANNOT_TELEPORT = {
     blue: 141
 };
 
-var COLORS_TELEPORT_TOO_CLOSE = {
+var COLORS_TELEPORT_CANCEL = {
     red: 255,
     green: 184,
     blue: 73
@@ -94,6 +100,7 @@ var TARGET = {
 
 function Teleporter() {
     var _this = this;
+    this.active = false;
     this.state = TELEPORTER_STATES.IDLE;
     this.currentTarget = TARGET.INVALID;
 
@@ -138,7 +145,7 @@ function Teleporter() {
 
         this.hideOverlayBeams();
         if (this.updateConnected === true) {
-            Script.update.disconnect(this.update);
+            Script.update.disconnect(this, this.update);
         }
     };
 
@@ -165,13 +172,13 @@ function Teleporter() {
 
         this.activeHand = hand;
         this.enableMappings();
-        Script.update.connect(this.update);
+        Script.update.connect(this, this.update);
         this.updateConnected = true;
     };
 
     this.exitTeleportMode = function(value) {
         if (this.updateConnected === true) {
-            Script.update.disconnect(this.update);
+            Script.update.disconnect(this, this.update);
         }
 
         this.disableMappings();
@@ -184,14 +191,6 @@ function Teleporter() {
         inTeleportMode = false;
     };
 
-    this.hideCancelOverlay = function() {
-        Overlays.editOverlay(this.cancelOverlay, { visible: false });
-    }
-
-    this.hideTargetOverlay = function() {
-        Overlays.editOverlay(this.targetOverlay, { visible: false });
-    }
-
     this.hideOverlayBeams = function() {
         for (key in this.overlayLines) {
             if (this.overlayLines[key] !== null) {
@@ -223,22 +222,21 @@ function Teleporter() {
 
         var intersection = Entities.findRayIntersection(pickRay, true, [], [this.targetEntity], true, true);
 
-        var isValidTeleportLocation = false;
         var teleportLocationType = getTeleportTargetType(intersection);
 
         if (teleportLocationType === TARGET.NONE) {
-            this.hideTargetOverlay();
+            _this.hideTargetOverlay();
             var farPosition = Vec3.sum(pickRay.origin, Vec3.multiply(pickRay.direction, 50));
             this.updateLineOverlay(_this.activeHand, pickRay.origin, farPosition, COLORS_TELEPORT_CANNOT_TELEPORT);
         } else if (teleportLocationType === TARGET.INVALID) {
             this.hideTargetOverlay();
 
-            this.updateLineOverlay(_this.activeHand, pickRay.origin, intersection.intersection, COLORS_TELEPORT_TOO_CLOSE);
+            this.updateLineOverlay(_this.activeHand, pickRay.origin, intersection.intersection, COLORS_TELEPORT_CANCEL);
             this.updateCancelOverlay(intersection);
         } else if (teleportLocationType === TARGET.SURFACE) {
             if (this.state === TELEPORTER_STATES.COOL_IN) {
                 this.hideTargetOverlay();
-                this.updateLineOverlay(_this.activeHand, pickRay.origin, intersection.intersection, COLORS_TELEPORT_TOO_CLOSE);
+                this.updateLineOverlay(_this.activeHand, pickRay.origin, intersection.intersection, COLORS_TELEPORT_CANCEL);
                 this.updateCancelOverlay(intersection);
             } else {
                 this.hideCancelOverlay();
@@ -247,24 +245,28 @@ function Teleporter() {
                 this.updateTargetOverlay(intersection);
             }
         } else if (teleportLocationType === TARGET.SEAT) {
+            this.hideCancelOverlay();
+
+            this.updateLineOverlay(_this.activeHand, pickRay.origin, intersection.intersection, COLORS_TELEPORT_SEAT);
+            this.updateTargetOverlay(intersection);
         }
 
 
         if (((_this.activeHand == 'left' ? leftPad : rightPad).buttonValue === 0) && inTeleportMode === true) {
             _this.exitTeleportMode();
-
-            if (isValidTeleportLocation === true) {
-                _this.exitTeleportMode();
-                _this.hideCancelOverlay();
-                return;
-            }
-            var offset = getAvatarFootOffset();
-            intersection.intersection.y += offset;
-            _this.exitTeleportMode();
-            _MyAvatar.position = intersection.intersection;
-            _this.hideTargetOverlay();
             _this.hideCancelOverlay();
-            HMD.centerUI();
+            _this.hideTargetOverlay();
+
+            if (teleportLocationType === TARGET.NONE || teleportLocationType === TARGET.INVALID || this.state === TELEPORTER_STATES.COOL_IN) {
+                // Do nothing
+            } else if (teleportLocationType === TARGET.SEAT) {
+                Entities.callEntityMethod(intersection.entityID, 'sit');
+            } else if (teleportLocationType === TARGET.SURFACE) {
+                var offset = getAvatarFootOffset();
+                intersection.intersection.y += offset;
+                MyAvatar.position = intersection.intersection;
+                HMD.centerUI();
+            }
         }
     };
 
@@ -293,6 +295,14 @@ function Teleporter() {
         }
     };
 
+    this.hideCancelOverlay = function() {
+        Overlays.editOverlay(this.cancelOverlay, { visible: false });
+    };
+
+    this.hideTargetOverlay = function() {
+        Overlays.editOverlay(this.targetOverlay, { visible: false });
+    };
+
     this.updateTargetOverlay = function(intersection) {
         var rotation = Quat.lookAt(intersection.intersection, MyAvatar.position, Vec3.UP);
         var euler = Quat.safeEulerAngles(rotation);
@@ -340,20 +350,16 @@ function getAvatarFootOffset() {
         var jointName = d.joint;
         if (jointName === "RightUpLeg") {
             upperLeg = d.translation.y;
-        }
-        if (jointName === "RightLeg") {
+        } else if (jointName === "RightLeg") {
             lowerLeg = d.translation.y;
-        }
-        if (jointName === "RightFoot") {
+        } else if (jointName === "RightFoot") {
             foot = d.translation.y;
-        }
-        if (jointName === "RightToeBase") {
+        } else if (jointName === "RightToeBase") {
             toe = d.translation.y;
-        }
-        if (jointName === "RightToe_End") {
+        } else if (jointName === "RightToe_End") {
             toeTop = d.translation.y;
         }
-    })
+    });
 
     var offset = upperLeg + lowerLeg + foot + toe + toeTop;
     offset = offset / 100;
@@ -407,25 +413,28 @@ function parseJSON(json) {
 // point that is being intersected with is looked at. If this normal is more
 // than MAX_ANGLE_FROM_UP_TO_TELEPORT degrees from <0, 1, 0> (straight up), then
 // you can't teleport there.
-var MAX_ANGLE_FROM_UP_TO_TELEPORT = 70;
+const MAX_ANGLE_FROM_UP_TO_TELEPORT = 70;
 function getTeleportTargetType(intersection) {
     if (!intersection.intersects) {
         return TARGET.NONE;
     }
 
-    var data = Entities.getEntityProperties(intersection.entityID, 'userData').userData;
+    var userData = Entities.getEntityProperties(intersection.entityID, 'userData').userData;
+    var data = parseJSON(userData);
+    print("Data is:", intersection.entityID, userData);
     if (data !== undefined && data.seat !== undefined) {
         return TARGET.SEAT;
     }
 
+    var surfaceNormal = intersection.surfaceNormal;
     var adj = Math.sqrt(surfaceNormal.x * surfaceNormal.x + surfaceNormal.z * surfaceNormal.z);
     var angleUp = Math.atan2(surfaceNormal.y, adj) * (180 / Math.PI);
     if (angleUp < (90 - MAX_ANGLE_FROM_UP_TO_TELEPORT) ||
             angleUp > (90 + MAX_ANGLE_FROM_UP_TO_TELEPORT) ||
             Vec3.distance(MyAvatar.position, intersection.intersection) <= TELEPORT_CANCEL_RANGE) {
-        return TARGET.SURFACE;
-    } else {
         return TARGET.INVALID;
+    } else {
+        return TARGET.SURFACE;
     }
 };
 

From 40b238c12ed6a057666d66de49df01be5159a22c Mon Sep 17 00:00:00 2001
From: Ryan Huffman <ryanhuffman@gmail.com>
Date: Wed, 15 Feb 2017 15:19:59 -0800
Subject: [PATCH 11/45] Add new teleport seat model + beam

---
 .../system/assets/models/teleport-seat.fbx    | Bin 0 -> 288668 bytes
 scripts/system/controllers/teleport.js        |  69 ++++++++++--------
 2 files changed, 38 insertions(+), 31 deletions(-)
 create mode 100644 scripts/system/assets/models/teleport-seat.fbx

diff --git a/scripts/system/assets/models/teleport-seat.fbx b/scripts/system/assets/models/teleport-seat.fbx
new file mode 100644
index 0000000000000000000000000000000000000000..cd7a9abc7eb64c6283e8ff955e656994103ec0cb
GIT binary patch
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literal 0
HcmV?d00001

diff --git a/scripts/system/controllers/teleport.js b/scripts/system/controllers/teleport.js
index 3d95d05b86..6a7dd17ba7 100644
--- a/scripts/system/controllers/teleport.js
+++ b/scripts/system/controllers/teleport.js
@@ -17,6 +17,7 @@ var NUMBER_OF_STEPS = 6;
 
 var TARGET_MODEL_URL = Script.resolvePath("../assets/models/teleport-destination.fbx");
 var TOO_CLOSE_MODEL_URL = Script.resolvePath("../assets/models/teleport-cancel.fbx");
+var SEAT_MODEL_URL = Script.resolvePath("../assets/models/teleport-seat.fbx");
 
 var TARGET_MODEL_DIMENSIONS = {
     x: 1.15,
@@ -125,6 +126,11 @@ function Teleporter() {
         dimensions: TARGET_MODEL_DIMENSIONS,
         visible: false
     });
+    this.seatOverlay = Overlays.addOverlay("model", {
+        url: SEAT_MODEL_URL,
+        dimensions: TARGET_MODEL_DIMENSIONS,
+        visible: false
+    });
 
     this.enableMappings = function() {
         Controller.enableMapping(this.telporterMappingInternalName);
@@ -143,7 +149,10 @@ function Teleporter() {
         Overlays.deleteOverlay(this.cancelOverlay);
         this.cancelOverlay = null;
 
-        this.hideOverlayBeams();
+        Overlays.deleteOverlay(this.seatOverlay);
+        this.seatOverlay = null;
+
+        this.deleteOverlayBeams();
         if (this.updateConnected === true) {
             Script.update.disconnect(this, this.update);
         }
@@ -182,7 +191,7 @@ function Teleporter() {
         }
 
         this.disableMappings();
-        this.hideOverlayBeams();
+        this.deleteOverlayBeams();
         this.hideTargetOverlay();
         this.hideCancelOverlay();
 
@@ -191,7 +200,7 @@ function Teleporter() {
         inTeleportMode = false;
     };
 
-    this.hideOverlayBeams = function() {
+    this.deleteOverlayBeams = function() {
         for (key in this.overlayLines) {
             if (this.overlayLines[key] !== null) {
                 Overlays.deleteOverlay(this.overlayLines[key]);
@@ -223,39 +232,49 @@ function Teleporter() {
         var intersection = Entities.findRayIntersection(pickRay, true, [], [this.targetEntity], true, true);
 
         var teleportLocationType = getTeleportTargetType(intersection);
+        //print("Teleport location type: ", teleportLocationType);
 
         if (teleportLocationType === TARGET.NONE) {
-            _this.hideTargetOverlay();
+            this.hideTargetOverlay();
+            this.hideCancelOverlay();
+            this.hideSeatOverlay();
+
             var farPosition = Vec3.sum(pickRay.origin, Vec3.multiply(pickRay.direction, 50));
             this.updateLineOverlay(_this.activeHand, pickRay.origin, farPosition, COLORS_TELEPORT_CANNOT_TELEPORT);
         } else if (teleportLocationType === TARGET.INVALID) {
             this.hideTargetOverlay();
+            this.hideSeatOverlay();
 
             this.updateLineOverlay(_this.activeHand, pickRay.origin, intersection.intersection, COLORS_TELEPORT_CANCEL);
-            this.updateCancelOverlay(intersection);
+            this.updateDestinationOverlay(this.cancelOverlay, intersection);
         } else if (teleportLocationType === TARGET.SURFACE) {
             if (this.state === TELEPORTER_STATES.COOL_IN) {
                 this.hideTargetOverlay();
+                this.hideSeatOverlay();
+
                 this.updateLineOverlay(_this.activeHand, pickRay.origin, intersection.intersection, COLORS_TELEPORT_CANCEL);
-                this.updateCancelOverlay(intersection);
+                this.updateDestinationOverlay(this.cancelOverlay, intersection);
             } else {
                 this.hideCancelOverlay();
+                this.hideSeatOverlay();
 
                 this.updateLineOverlay(_this.activeHand, pickRay.origin, intersection.intersection, COLORS_TELEPORT_CAN_TELEPORT);
-                this.updateTargetOverlay(intersection);
+                this.updateDestinationOverlay(this.targetOverlay, intersection);
             }
         } else if (teleportLocationType === TARGET.SEAT) {
             this.hideCancelOverlay();
+            this.hideTargetOverlay();
 
             this.updateLineOverlay(_this.activeHand, pickRay.origin, intersection.intersection, COLORS_TELEPORT_SEAT);
-            this.updateTargetOverlay(intersection);
+            this.updateDestinationOverlay(this.seatOverlay, intersection);
         }
 
 
         if (((_this.activeHand == 'left' ? leftPad : rightPad).buttonValue === 0) && inTeleportMode === true) {
-            _this.exitTeleportMode();
-            _this.hideCancelOverlay();
-            _this.hideTargetOverlay();
+            this.exitTeleportMode();
+            this.hideCancelOverlay();
+            this.hideTargetOverlay();
+            this.hideSeatOverlay();
 
             if (teleportLocationType === TARGET.NONE || teleportLocationType === TARGET.INVALID || this.state === TELEPORTER_STATES.COOL_IN) {
                 // Do nothing
@@ -303,26 +322,11 @@ function Teleporter() {
         Overlays.editOverlay(this.targetOverlay, { visible: false });
     };
 
-    this.updateTargetOverlay = function(intersection) {
-        var rotation = Quat.lookAt(intersection.intersection, MyAvatar.position, Vec3.UP);
-        var euler = Quat.safeEulerAngles(rotation);
-        var position = {
-            x: intersection.intersection.x,
-            y: intersection.intersection.y + TARGET_MODEL_DIMENSIONS.y / 2,
-            z: intersection.intersection.z
-        };
-
-        var towardUs = Quat.fromPitchYawRollDegrees(0, euler.y, 0);
-
-        Overlays.editOverlay(this.targetOverlay, {
-            visible: true,
-            position: position,
-            rotation: towardUs
-        });
-
+    this.hideSeatOverlay = function() {
+        Overlays.editOverlay(this.seatOverlay, { visible: false });
     };
 
-    this.updateCancelOverlay = function(intersection) {
+    this.updateDestinationOverlay = function(overlayID, intersection) {
         var rotation = Quat.lookAt(intersection.intersection, MyAvatar.position, Vec3.UP);
         var euler = Quat.safeEulerAngles(rotation);
         var position = {
@@ -333,11 +337,12 @@ function Teleporter() {
 
         var towardUs = Quat.fromPitchYawRollDegrees(0, euler.y, 0);
 
-        Overlays.editOverlay(this.cancelOverlay, {
+        Overlays.editOverlay(overlayID, {
             visible: true,
             position: position,
             rotation: towardUs
         });
+
     };
 }
 
@@ -421,7 +426,6 @@ function getTeleportTargetType(intersection) {
 
     var userData = Entities.getEntityProperties(intersection.entityID, 'userData').userData;
     var data = parseJSON(userData);
-    print("Data is:", intersection.entityID, userData);
     if (data !== undefined && data.seat !== undefined) {
         return TARGET.SEAT;
     }
@@ -429,6 +433,9 @@ function getTeleportTargetType(intersection) {
     var surfaceNormal = intersection.surfaceNormal;
     var adj = Math.sqrt(surfaceNormal.x * surfaceNormal.x + surfaceNormal.z * surfaceNormal.z);
     var angleUp = Math.atan2(surfaceNormal.y, adj) * (180 / Math.PI);
+
+    //print("distacne is: ", Vec3.distance(MyAvatar.position, intersection.intersection));
+
     if (angleUp < (90 - MAX_ANGLE_FROM_UP_TO_TELEPORT) ||
             angleUp > (90 + MAX_ANGLE_FROM_UP_TO_TELEPORT) ||
             Vec3.distance(MyAvatar.position, intersection.intersection) <= TELEPORT_CANCEL_RANGE) {

From cc5967e8f99d01e5cc13fcfd63af82ad1655c775 Mon Sep 17 00:00:00 2001
From: Atlante45 <clement.brisset@gmail.com>
Date: Wed, 8 Feb 2017 12:38:34 -0800
Subject: [PATCH 12/45] Pull part of the Out Of Body Exp code

---
 .../animation/src/AnimInverseKinematics.cpp   | 52 +++++++++++++++----
 .../animation/src/AnimInverseKinematics.h     |  3 ++
 2 files changed, 45 insertions(+), 10 deletions(-)

diff --git a/libraries/animation/src/AnimInverseKinematics.cpp b/libraries/animation/src/AnimInverseKinematics.cpp
index adeede17ad..3dc80fc764 100644
--- a/libraries/animation/src/AnimInverseKinematics.cpp
+++ b/libraries/animation/src/AnimInverseKinematics.cpp
@@ -486,7 +486,13 @@ const AnimPoseVec& AnimInverseKinematics::overlay(const AnimVariantMap& animVars
                 // measure new _hipsOffset for next frame
                 // by looking for discrepancies between where a targeted endEffector is
                 // and where it wants to be (after IK solutions are done)
-                glm::vec3 newHipsOffset = Vectors::ZERO;
+
+                // OUTOFBODY_HACK:use weighted average between HMD and other targets
+                float HMD_WEIGHT = 10.0f;
+                float OTHER_WEIGHT = 1.0f;
+                float totalWeight = 0.0f;
+
+                glm::vec3 additionalHipsOffset = Vectors::ZERO;
                 for (auto& target: targets) {
                     int targetIndex = target.getIndex();
                     if (targetIndex == _headIndex && _headIndex != -1) {
@@ -497,32 +503,58 @@ const AnimPoseVec& AnimInverseKinematics::overlay(const AnimVariantMap& animVars
                             glm::vec3 under = _skeleton->getAbsolutePose(_headIndex, underPoses).trans();
                             glm::vec3 actual = _skeleton->getAbsolutePose(_headIndex, _relativePoses).trans();
                             const float HEAD_OFFSET_SLAVE_FACTOR = 0.65f;
-                            newHipsOffset += HEAD_OFFSET_SLAVE_FACTOR * (actual - under);
+                            additionalHipsOffset += (OTHER_WEIGHT * HEAD_OFFSET_SLAVE_FACTOR) * (under- actual);
+                            totalWeight += OTHER_WEIGHT;
                         } else if (target.getType() == IKTarget::Type::HmdHead) {
-                            // we want to shift the hips to bring the head to its designated position
                             glm::vec3 actual = _skeleton->getAbsolutePose(_headIndex, _relativePoses).trans();
-                            _hipsOffset += target.getTranslation() - actual;
-                            // and ignore all other targets
-                            newHipsOffset = _hipsOffset;
-                            break;
+                            glm::vec3 thisOffset = target.getTranslation() - actual;
+                            glm::vec3 futureHipsOffset = _hipsOffset + thisOffset;
+                            if (glm::length(glm::vec2(futureHipsOffset.x, futureHipsOffset.z)) < _maxHipsOffsetLength) {
+                                // it is imperative to shift the hips and bring the head to its designated position
+                                // so we slam newHipsOffset here and ignore all other targets
+                                additionalHipsOffset = futureHipsOffset - _hipsOffset;
+                                totalWeight = 0.0f;
+                                break;
+                            } else {
+                                additionalHipsOffset += HMD_WEIGHT * (target.getTranslation() - actual);
+                                totalWeight += HMD_WEIGHT;
+                            }
                         }
                     } else if (target.getType() == IKTarget::Type::RotationAndPosition) {
                         glm::vec3 actualPosition = _skeleton->getAbsolutePose(targetIndex, _relativePoses).trans();
                         glm::vec3 targetPosition = target.getTranslation();
-                        newHipsOffset += targetPosition - actualPosition;
+                        additionalHipsOffset += OTHER_WEIGHT * (targetPosition - actualPosition);
+                        totalWeight += OTHER_WEIGHT;
                     }
                 }
+                if (totalWeight > 1.0f) {
+                    additionalHipsOffset /= totalWeight;
+                }
 
                 // smooth transitions by relaxing _hipsOffset toward the new value
-                const float HIPS_OFFSET_SLAVE_TIMESCALE = 0.15f;
+                const float HIPS_OFFSET_SLAVE_TIMESCALE = 0.10f;
                 float tau = dt < HIPS_OFFSET_SLAVE_TIMESCALE ?  dt / HIPS_OFFSET_SLAVE_TIMESCALE : 1.0f;
-                _hipsOffset += (newHipsOffset - _hipsOffset) * tau;
+                _hipsOffset += additionalHipsOffset * tau;
+
+                // clamp the horizontal component of the hips offset
+                float hipsOffsetLength2D = glm::length(glm::vec2(_hipsOffset.x, _hipsOffset.z));
+                if (hipsOffsetLength2D > _maxHipsOffsetLength) {
+                    _hipsOffset.x *= _maxHipsOffsetLength / hipsOffsetLength2D;
+                    _hipsOffset.z *= _maxHipsOffsetLength / hipsOffsetLength2D;
+                }
+
             }
         }
     }
     return _relativePoses;
 }
 
+void AnimInverseKinematics::setMaxHipsOffsetLength(float maxLength) {
+    // OUTOFBODY_HACK: manually adjust scale here
+    const float METERS_TO_CENTIMETERS = 100.0f;
+    _maxHipsOffsetLength = METERS_TO_CENTIMETERS * maxLength;
+}
+
 void AnimInverseKinematics::clearIKJointLimitHistory() {
     for (auto& pair : _constraints) {
         pair.second->clearHistory();
diff --git a/libraries/animation/src/AnimInverseKinematics.h b/libraries/animation/src/AnimInverseKinematics.h
index c9560c7383..7e4a7e5473 100644
--- a/libraries/animation/src/AnimInverseKinematics.h
+++ b/libraries/animation/src/AnimInverseKinematics.h
@@ -39,6 +39,8 @@ public:
 
     void clearIKJointLimitHistory();
 
+    void setMaxHipsOffsetLength(float maxLength);
+
 protected:
     void computeTargets(const AnimVariantMap& animVars, std::vector<IKTarget>& targets, const AnimPoseVec& underPoses);
     void solveWithCyclicCoordinateDescent(const std::vector<IKTarget>& targets);
@@ -83,6 +85,7 @@ protected:
 
     // experimental data for moving hips during IK
     glm::vec3 _hipsOffset { Vectors::ZERO };
+    float _maxHipsOffsetLength { 1.0f };
     int _headIndex { -1 };
     int _hipsIndex { -1 };
     int _hipsParentIndex { -1 };

From 6821c8621f90b89657dedcf44fa53ba500031016 Mon Sep 17 00:00:00 2001
From: Atlante45 <clement.brisset@gmail.com>
Date: Fri, 10 Feb 2017 16:58:54 -0800
Subject: [PATCH 13/45] More sit work

---
 interface/src/avatar/MyAvatar.cpp |  8 ++++++++
 interface/src/avatar/MyAvatar.h   |  3 +++
 libraries/animation/src/Rig.cpp   | 18 ++++++++++++++++++
 libraries/animation/src/Rig.h     |  3 +++
 4 files changed, 32 insertions(+)

diff --git a/interface/src/avatar/MyAvatar.cpp b/interface/src/avatar/MyAvatar.cpp
index 1ea9891732..fc4ca306af 100644
--- a/interface/src/avatar/MyAvatar.cpp
+++ b/interface/src/avatar/MyAvatar.cpp
@@ -2475,6 +2475,14 @@ glm::vec3 MyAvatar::getAbsoluteJointTranslationInObjectFrame(int index) const {
     }
 }
 
+void MyAvatar::pintJointInWorldSpace(int index, const glm::vec3& position, const glm::quat& orientation) {
+
+}
+
+void MyAvatar::clearPinOnJoint(int index) {
+
+}
+
 // thread-safe
 void MyAvatar::addHoldAction(AvatarActionHold* holdAction) {
     std::lock_guard<std::mutex> guard(_holdActionsMutex);
diff --git a/interface/src/avatar/MyAvatar.h b/interface/src/avatar/MyAvatar.h
index 4f86256a2f..21c40bd370 100644
--- a/interface/src/avatar/MyAvatar.h
+++ b/interface/src/avatar/MyAvatar.h
@@ -216,6 +216,9 @@ public:
     virtual void clearJointData(int index) override;
     virtual void clearJointsData() override;
 
+    Q_INVOKABLE void pintJointInWorldSpace(int index, const glm::vec3& position, const glm::quat& orientation);
+    Q_INVOKABLE void clearPinOnJoint(int index);
+
     Q_INVOKABLE void useFullAvatarURL(const QUrl& fullAvatarURL, const QString& modelName = QString());
     Q_INVOKABLE QUrl getFullAvatarURLFromPreferences() const { return _fullAvatarURLFromPreferences; }
     Q_INVOKABLE QString getFullAvatarModelName() const { return _fullAvatarModelName; }
diff --git a/libraries/animation/src/Rig.cpp b/libraries/animation/src/Rig.cpp
index 07462e9878..311623a002 100644
--- a/libraries/animation/src/Rig.cpp
+++ b/libraries/animation/src/Rig.cpp
@@ -319,6 +319,24 @@ void Rig::clearIKJointLimitHistory() {
     }
 }
 
+void Rig::setMaxHipsOffsetLength(float maxLength) {
+    _maxHipsOffsetLength = maxLength;
+
+    if (_animNode) {
+        _animNode->traverse([&](AnimNode::Pointer node) {
+            auto ikNode = std::dynamic_pointer_cast<AnimInverseKinematics>(node);
+            if (ikNode) {
+                ikNode->setMaxHipsOffsetLength(_maxHipsOffsetLength);
+            }
+            return true;
+        });
+    }
+}
+
+float Rig::getMaxHipsOffsetLength() const {
+    return _maxHipsOffsetLength;
+}
+
 int Rig::getJointParentIndex(int childIndex) const {
     if (_animSkeleton && isIndexValid(childIndex)) {
         return _animSkeleton->getParentIndex(childIndex);
diff --git a/libraries/animation/src/Rig.h b/libraries/animation/src/Rig.h
index 78a669b249..5d1831345b 100644
--- a/libraries/animation/src/Rig.h
+++ b/libraries/animation/src/Rig.h
@@ -104,6 +104,8 @@ public:
     void clearJointAnimationPriority(int index);
 
     void clearIKJointLimitHistory();
+    void setMaxHipsOffsetLength(float maxLength);
+    float getMaxHipsOffsetLength() const;
 
     int getJointParentIndex(int childIndex) const;
 
@@ -318,6 +320,7 @@ protected:
     bool _enabledAnimations { true };
 
     mutable uint32_t _jointNameWarningCount { 0 };
+    float _maxHipsOffsetLength { 1.0f };
 
 private:
     QMap<int, StateHandler> _stateHandlers;

From 7132969083d6be6a146cbd46aae485e0f63b89e6 Mon Sep 17 00:00:00 2001
From: Atlante45 <clement.brisset@gmail.com>
Date: Wed, 15 Feb 2017 15:12:33 -0800
Subject: [PATCH 14/45] Add hips pinning capability to MyAvatar

---
 interface/src/avatar/MyAvatar.cpp | 38 +++++++++++++++++++++++++++++--
 interface/src/avatar/MyAvatar.h   |  6 +++--
 2 files changed, 40 insertions(+), 4 deletions(-)

diff --git a/interface/src/avatar/MyAvatar.cpp b/interface/src/avatar/MyAvatar.cpp
index fc4ca306af..0943d0a057 100644
--- a/interface/src/avatar/MyAvatar.cpp
+++ b/interface/src/avatar/MyAvatar.cpp
@@ -2475,12 +2475,46 @@ glm::vec3 MyAvatar::getAbsoluteJointTranslationInObjectFrame(int index) const {
     }
 }
 
-void MyAvatar::pintJointInWorldSpace(int index, const glm::vec3& position, const glm::quat& orientation) {
+bool MyAvatar::pinJoint(int index, const glm::vec3& position, const glm::quat& orientation) {
+    auto hipsIndex = getJointIndex("Hips");
+    if (index != hipsIndex) {
+        qWarning() << "Pinning is only supported for the hips joint at the moment.";
+        return false;
+    }
 
+    auto jointTranslation = getAbsoluteJointTranslationInObjectFrame(index);
+    auto jointRotation = getAbsoluteJointRotationInObjectFrame(index);
+
+    Transform final(orientation, Vectors::ONE, position);
+    Transform joint(jointRotation, Vectors::ONE, jointTranslation);
+
+    Transform avatarTransform(final.getMatrix() * joint.getInverseMatrix());
+    setPosition(avatarTransform.getTranslation());
+    setOrientation(avatarTransform.getRotation());
+
+    _rig->setMaxHipsOffsetLength(0.0f);
+
+    auto it = std::find(_pinnedJoints.begin(), _pinnedJoints.end(), index);
+    if (it != _pinnedJoints.end()) {
+        _pinnedJoints.push_back(index);
+    }
+
+    return true;
 }
 
-void MyAvatar::clearPinOnJoint(int index) {
+bool MyAvatar::clearPinOnJoint(int index) {
+    auto it = std::find(_pinnedJoints.begin(), _pinnedJoints.end(), index);
+    if (it != _pinnedJoints.end()) {
+        _pinnedJoints.erase(it);
 
+        auto hipsIndex = getJointIndex("Hips");
+        if (index == hipsIndex) {
+            _rig->setMaxHipsOffsetLength(1.0f);
+        }
+
+        return true;
+    }
+    return false;
 }
 
 // thread-safe
diff --git a/interface/src/avatar/MyAvatar.h b/interface/src/avatar/MyAvatar.h
index 21c40bd370..360c6918d9 100644
--- a/interface/src/avatar/MyAvatar.h
+++ b/interface/src/avatar/MyAvatar.h
@@ -216,8 +216,8 @@ public:
     virtual void clearJointData(int index) override;
     virtual void clearJointsData() override;
 
-    Q_INVOKABLE void pintJointInWorldSpace(int index, const glm::vec3& position, const glm::quat& orientation);
-    Q_INVOKABLE void clearPinOnJoint(int index);
+    Q_INVOKABLE bool pinJoint(int index, const glm::vec3& position, const glm::quat& orientation);
+    Q_INVOKABLE bool clearPinOnJoint(int index);
 
     Q_INVOKABLE void useFullAvatarURL(const QUrl& fullAvatarURL, const QString& modelName = QString());
     Q_INVOKABLE QUrl getFullAvatarURLFromPreferences() const { return _fullAvatarURLFromPreferences; }
@@ -530,6 +530,8 @@ private:
     bool didTeleport();
     bool getIsAway() const { return _isAway; }
     void setAway(bool value);
+
+    std::vector<int> _pinnedJoints;
 };
 
 QScriptValue audioListenModeToScriptValue(QScriptEngine* engine, const AudioListenerMode& audioListenerMode);

From 1b2120d7e1fcc50816d14b34220c5ea66db1af54 Mon Sep 17 00:00:00 2001
From: Atlante45 <clement.brisset@gmail.com>
Date: Wed, 15 Feb 2017 15:15:17 -0800
Subject: [PATCH 15/45] Sit script first draft

---
 scripts/tutorials/entity_scripts/sit.js | 64 +++++++++++++++++++++++++
 1 file changed, 64 insertions(+)
 create mode 100644 scripts/tutorials/entity_scripts/sit.js

diff --git a/scripts/tutorials/entity_scripts/sit.js b/scripts/tutorials/entity_scripts/sit.js
new file mode 100644
index 0000000000..e8e31c5f14
--- /dev/null
+++ b/scripts/tutorials/entity_scripts/sit.js
@@ -0,0 +1,64 @@
+(function() {
+  var ANIMATION_URL = "C:/Users/Clement/hifi/build/interface/RelWithDebInfo/resources/avatar/animations/sitting_idle.fbx";
+  var ANIMATION_FPS = 30;
+  var ANIMATION_FIRST_FRAME = 1;
+  var ANIMATION_LAST_FRAME = 10;
+  var RELEASE_KEYS = ['w', 'a', 's', 'd', 'UP', 'LEFT', 'DOWN', 'RIGHT'];
+
+  this.entityID = null;
+  this.timestamp = null;
+
+  this.preload = function(entityID) {
+    this.entityID = entityID;
+  }
+
+  this.keyPressed = function(event) {
+    if (RELEASE_KEYS.indexOf(event.text) !== -1) {
+      this.timestamp = Date.now();
+    }
+  }
+  this.keyReleased = function(event) {
+    if (RELEASE_KEYS.indexOf(event.text) !== -1) {
+      print('Time: ' + (Date.now() - this.timestamp).getMilliseconds());
+      if ((Date.now() - this.timestamp).getMilliseconds() >= 500) {
+        this.sitUp();
+      }
+        this.timestamp = null;
+    }
+  }
+
+  this.sitDown = function(entityID) {
+    print("sitDown");
+    MyAvatar.overrideAnimation(ANIMATION_URL, ANIMATION_FPS, true, ANIMATION_FIRST_FRAME, ANIMATION_LAST_FRAME);
+    MyAvatar.setParentID(entityID);
+    MyAvatar.characterControllerEnabled = false;
+
+    var properties = Entities.getEntityProperties(entityID, ["position", "rotation"]);
+    var index = MyAvatar.getJointIndex("Hips");
+    print("Data: " + index + " " + JSON.stringify(properties));
+    print(MyAvatar.pinJoint(index, properties.position, properties.rotation));
+    // Controller.keyPressEvent.connect(this, this.keyPressed);
+    // Controller.keyReleaseEvent.connect(this, this.keyReleased);
+  }
+
+  this.sitUp = function() {
+    print("sitUp");
+    MyAvatar.restoreAnimation();
+    MyAvatar.setParentID("");
+    MyAvatar.characterControllerEnabled = true;
+
+    var index = MyAvatar.getJointIndex("Hips");
+    print(MyAvatar.clearPinOnJoint(index));
+    // Controller.keyPressEvent.disconnect(this, this.keyPressed);
+    // Controller.keyReleaseEvent.disconnect(this, this.keyReleased);
+  }
+
+  this.clickDownOnEntity = function (entityID) {
+    Vec3.print("pos:", MyAvatar.position);
+    if (MyAvatar.getParentID() !== entityID) {
+      this.sitDown(entityID);
+    } else {
+      this.sitUp();
+    }
+  }
+});

From 9033242584dc373b39f9b04987e0981ddfede837 Mon Sep 17 00:00:00 2001
From: Atlante45 <clement.brisset@gmail.com>
Date: Wed, 15 Feb 2017 18:10:33 -0800
Subject: [PATCH 16/45] More sit script work

---
 scripts/tutorials/entity_scripts/sit.js | 59 ++++++++++++++++++-------
 1 file changed, 43 insertions(+), 16 deletions(-)

diff --git a/scripts/tutorials/entity_scripts/sit.js b/scripts/tutorials/entity_scripts/sit.js
index e8e31c5f14..a091f4bba0 100644
--- a/scripts/tutorials/entity_scripts/sit.js
+++ b/scripts/tutorials/entity_scripts/sit.js
@@ -1,9 +1,11 @@
 (function() {
+  var ROLE = "fly";
   var ANIMATION_URL = "C:/Users/Clement/hifi/build/interface/RelWithDebInfo/resources/avatar/animations/sitting_idle.fbx";
   var ANIMATION_FPS = 30;
   var ANIMATION_FIRST_FRAME = 1;
   var ANIMATION_LAST_FRAME = 10;
   var RELEASE_KEYS = ['w', 'a', 's', 'd', 'UP', 'LEFT', 'DOWN', 'RIGHT'];
+  var RELEASE_TIME = 500;
 
   this.entityID = null;
   this.timestamp = null;
@@ -12,53 +14,78 @@
     this.entityID = entityID;
   }
 
+  this.update = function(dt) {
+    if (MyAvatar.getParentID() === this.entityID) {
+      var properties = Entities.getEntityProperties(this.entityID, ["position"]);
+      if (Vec3.distance(MyAvatar.position, properties.position) > 0.2) {
+        this.sitUp(this.entityID);
+      }
+    }
+  }
+
   this.keyPressed = function(event) {
+    print("press");
     if (RELEASE_KEYS.indexOf(event.text) !== -1) {
       this.timestamp = Date.now();
     }
   }
   this.keyReleased = function(event) {
+    print("release");
     if (RELEASE_KEYS.indexOf(event.text) !== -1) {
-      print('Time: ' + (Date.now() - this.timestamp).getMilliseconds());
-      if ((Date.now() - this.timestamp).getMilliseconds() >= 500) {
+      print('Time: ' + (Date.now() - this.timestamp));
+      if (Date.now() - this.timestamp > RELEASE_TIME) {
         this.sitUp();
       }
-        this.timestamp = null;
+      this.timestamp = null;
     }
   }
 
-  this.sitDown = function(entityID) {
+  this.sitDown = function() {
     print("sitDown");
-    MyAvatar.overrideAnimation(ANIMATION_URL, ANIMATION_FPS, true, ANIMATION_FIRST_FRAME, ANIMATION_LAST_FRAME);
-    MyAvatar.setParentID(entityID);
+    MyAvatar.overrideRoleAnimation(ROLE, ANIMATION_URL, ANIMATION_FPS, true, ANIMATION_FIRST_FRAME, ANIMATION_LAST_FRAME);
+    MyAvatar.setParentID(this.entityID);
     MyAvatar.characterControllerEnabled = false;
+    MyAvatar.hmdLeanRecenterEnabled = false;
 
-    var properties = Entities.getEntityProperties(entityID, ["position", "rotation"]);
+    var properties = Entities.getEntityProperties(this.entityID, ["position", "rotation"]);
     var index = MyAvatar.getJointIndex("Hips");
     print("Data: " + index + " " + JSON.stringify(properties));
     print(MyAvatar.pinJoint(index, properties.position, properties.rotation));
-    // Controller.keyPressEvent.connect(this, this.keyPressed);
-    // Controller.keyReleaseEvent.connect(this, this.keyReleased);
+
+    Script.update.connect(this, this.update);
+    Controller.keyPressEvent.connect(this, this.keyPressed);
+    Controller.keyReleaseEvent.connect(this, this.keyReleased);
+    for (var i in RELEASE_KEYS) {
+      Controller.captureKeyEvents({ text: RELEASE_KEYS[i] });
+    }
   }
 
   this.sitUp = function() {
     print("sitUp");
-    MyAvatar.restoreAnimation();
+    MyAvatar.restoreRoleAnimation(ROLE);
     MyAvatar.setParentID("");
     MyAvatar.characterControllerEnabled = true;
+    MyAvatar.hmdLeanRecenterEnabled = true;
 
     var index = MyAvatar.getJointIndex("Hips");
     print(MyAvatar.clearPinOnJoint(index));
-    // Controller.keyPressEvent.disconnect(this, this.keyPressed);
-    // Controller.keyReleaseEvent.disconnect(this, this.keyReleased);
+
+    Script.update.disconnect(this, this.update);
+    Controller.keyPressEvent.disconnect(this, this.keyPressed);
+    Controller.keyReleaseEvent.disconnect(this, this.keyReleased);
+    for (var i in RELEASE_KEYS) {
+      Controller.releaseKeyEvents({ text: RELEASE_KEYS[i] });
+    }
   }
 
-  this.clickDownOnEntity = function (entityID) {
-    Vec3.print("pos:", MyAvatar.position);
-    if (MyAvatar.getParentID() !== entityID) {
-      this.sitDown(entityID);
+  this.clickDownOnEntity = function () {
+    if (MyAvatar.getParentID() !== this.entityID) {
+      this.sitDown();
     } else {
       this.sitUp();
     }
   }
+  this.sit = function () {
+      this.sitDown();
+  }
 });

From 1dbc133f125584022e87e8a8e20e1dec3391a33b Mon Sep 17 00:00:00 2001
From: Atlante45 <clement.brisset@gmail.com>
Date: Wed, 15 Feb 2017 19:41:06 -0800
Subject: [PATCH 17/45] Add animation state handler to the script

---
 scripts/tutorials/entity_scripts/sit.js | 40 ++++++++++++++-----------
 1 file changed, 22 insertions(+), 18 deletions(-)

diff --git a/scripts/tutorials/entity_scripts/sit.js b/scripts/tutorials/entity_scripts/sit.js
index a091f4bba0..452f189b8f 100644
--- a/scripts/tutorials/entity_scripts/sit.js
+++ b/scripts/tutorials/entity_scripts/sit.js
@@ -5,10 +5,12 @@
   var ANIMATION_FIRST_FRAME = 1;
   var ANIMATION_LAST_FRAME = 10;
   var RELEASE_KEYS = ['w', 'a', 's', 'd', 'UP', 'LEFT', 'DOWN', 'RIGHT'];
-  var RELEASE_TIME = 500;
+  var RELEASE_TIME = 500; // ms
+  var RELEASE_DISTANCE = 0.2; // meters
 
   this.entityID = null;
-  this.timestamp = null;
+  this.timers = {};
+  this.animStateHandlerID = null;
 
   this.preload = function(entityID) {
     this.entityID = entityID;
@@ -17,31 +19,31 @@
   this.update = function(dt) {
     if (MyAvatar.getParentID() === this.entityID) {
       var properties = Entities.getEntityProperties(this.entityID, ["position"]);
-      if (Vec3.distance(MyAvatar.position, properties.position) > 0.2) {
+      if (Vec3.distance(MyAvatar.position, properties.position) > RELEASE_DISTANCE) {
         this.sitUp(this.entityID);
       }
     }
   }
-
   this.keyPressed = function(event) {
-    print("press");
     if (RELEASE_KEYS.indexOf(event.text) !== -1) {
-      this.timestamp = Date.now();
+      var that = this;
+      this.timers[event.text] = Script.setTimeout(function() {
+        print("Timeout");
+        that.sitUp();
+      }, RELEASE_TIME);
     }
   }
   this.keyReleased = function(event) {
-    print("release");
     if (RELEASE_KEYS.indexOf(event.text) !== -1) {
-      print('Time: ' + (Date.now() - this.timestamp));
-      if (Date.now() - this.timestamp > RELEASE_TIME) {
-        this.sitUp();
+      if (this.timers[event.text]) {
+        print("Clear timeout");
+        Script.clearTimeout(this.timers[event.text]);
+        delete this.timers[event.text];
       }
-      this.timestamp = null;
     }
   }
 
   this.sitDown = function() {
-    print("sitDown");
     MyAvatar.overrideRoleAnimation(ROLE, ANIMATION_URL, ANIMATION_FPS, true, ANIMATION_FIRST_FRAME, ANIMATION_LAST_FRAME);
     MyAvatar.setParentID(this.entityID);
     MyAvatar.characterControllerEnabled = false;
@@ -49,8 +51,11 @@
 
     var properties = Entities.getEntityProperties(this.entityID, ["position", "rotation"]);
     var index = MyAvatar.getJointIndex("Hips");
-    print("Data: " + index + " " + JSON.stringify(properties));
-    print(MyAvatar.pinJoint(index, properties.position, properties.rotation));
+    MyAvatar.pinJoint(index, properties.position, properties.rotation);
+
+    this.animStateHandlerID = MyAvatar.addAnimationStateHandler(function(props) {
+      return { headType: 0 };
+    }, ["headType"]);
 
     Script.update.connect(this, this.update);
     Controller.keyPressEvent.connect(this, this.keyPressed);
@@ -61,14 +66,15 @@
   }
 
   this.sitUp = function() {
-    print("sitUp");
     MyAvatar.restoreRoleAnimation(ROLE);
     MyAvatar.setParentID("");
     MyAvatar.characterControllerEnabled = true;
     MyAvatar.hmdLeanRecenterEnabled = true;
 
     var index = MyAvatar.getJointIndex("Hips");
-    print(MyAvatar.clearPinOnJoint(index));
+    MyAvatar.clearPinOnJoint(index);
+
+    MyAvatar.removeAnimationStateHandler(this.animStateHandlerID);
 
     Script.update.disconnect(this, this.update);
     Controller.keyPressEvent.disconnect(this, this.keyPressed);
@@ -81,8 +87,6 @@
   this.clickDownOnEntity = function () {
     if (MyAvatar.getParentID() !== this.entityID) {
       this.sitDown();
-    } else {
-      this.sitUp();
     }
   }
   this.sit = function () {

From 53948b8547722da3c353ce248c8baa1d9360637d Mon Sep 17 00:00:00 2001
From: Atlante45 <clement.brisset@gmail.com>
Date: Thu, 16 Feb 2017 10:59:37 -0800
Subject: [PATCH 18/45] Check other avatar, disable movement in edit mode

---
 scripts/tutorials/entity_scripts/sit.js | 16 +++++++++++++++-
 1 file changed, 15 insertions(+), 1 deletion(-)

diff --git a/scripts/tutorials/entity_scripts/sit.js b/scripts/tutorials/entity_scripts/sit.js
index 452f189b8f..2875bb9b56 100644
--- a/scripts/tutorials/entity_scripts/sit.js
+++ b/scripts/tutorials/entity_scripts/sit.js
@@ -1,4 +1,6 @@
 (function() {
+  Script.include("/~/system/libraries/utils.js");
+
   var ROLE = "fly";
   var ANIMATION_URL = "C:/Users/Clement/hifi/build/interface/RelWithDebInfo/resources/avatar/animations/sitting_idle.fbx";
   var ANIMATION_FPS = 30;
@@ -25,10 +27,13 @@
     }
   }
   this.keyPressed = function(event) {
+    if (isInEditMode()) {
+      return;
+    }
+
     if (RELEASE_KEYS.indexOf(event.text) !== -1) {
       var that = this;
       this.timers[event.text] = Script.setTimeout(function() {
-        print("Timeout");
         that.sitUp();
       }, RELEASE_TIME);
     }
@@ -44,6 +49,15 @@
   }
 
   this.sitDown = function() {
+    var avatarIdentifiers = AvatarList.getAvatarIdentifiers();
+    for (var i in avatarIdentifiers) {
+      var avatar = AvatarList.getAvatar(avatarIdentifiers[i]);
+      if (avatar && avatar.getParentID() === this.entityID) {
+        print("Someone is already sitting in that chair.");
+        return;
+      }
+    }
+
     MyAvatar.overrideRoleAnimation(ROLE, ANIMATION_URL, ANIMATION_FPS, true, ANIMATION_FIRST_FRAME, ANIMATION_LAST_FRAME);
     MyAvatar.setParentID(this.entityID);
     MyAvatar.characterControllerEnabled = false;

From 69ce0a383e1684068b4cd609c75477c18a568e88 Mon Sep 17 00:00:00 2001
From: Atlante45 <clement.brisset@gmail.com>
Date: Thu, 16 Feb 2017 11:07:00 -0800
Subject: [PATCH 19/45] Add sitting animations

---
 .../resources/avatar/animations/sitting.fbx    | Bin 0 -> 827968 bytes
 .../avatar/animations/sitting_idle.fbx         | Bin 0 -> 649728 bytes
 2 files changed, 0 insertions(+), 0 deletions(-)
 create mode 100644 interface/resources/avatar/animations/sitting.fbx
 create mode 100644 interface/resources/avatar/animations/sitting_idle.fbx

diff --git a/interface/resources/avatar/animations/sitting.fbx b/interface/resources/avatar/animations/sitting.fbx
new file mode 100644
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From 8e9fc8375904f5dcc3255bfa8df7b2228944ac54 Mon Sep 17 00:00:00 2001
From: Atlante45 <clement.brisset@gmail.com>
Date: Thu, 16 Feb 2017 11:12:11 -0800
Subject: [PATCH 20/45] Fix sit anim reference

---
 scripts/tutorials/entity_scripts/sit.js | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/scripts/tutorials/entity_scripts/sit.js b/scripts/tutorials/entity_scripts/sit.js
index 2875bb9b56..1a9b867c16 100644
--- a/scripts/tutorials/entity_scripts/sit.js
+++ b/scripts/tutorials/entity_scripts/sit.js
@@ -2,7 +2,7 @@
   Script.include("/~/system/libraries/utils.js");
 
   var ROLE = "fly";
-  var ANIMATION_URL = "C:/Users/Clement/hifi/build/interface/RelWithDebInfo/resources/avatar/animations/sitting_idle.fbx";
+  var ANIMATION_URL = "https://s3-us-west-1.amazonaws.com/hifi-content/clement/production/animations/sitting_idle.fbx";
   var ANIMATION_FPS = 30;
   var ANIMATION_FIRST_FRAME = 1;
   var ANIMATION_LAST_FRAME = 10;

From 187cd0d5cf54284c7bee392287aafcb63554b945 Mon Sep 17 00:00:00 2001
From: Atlante45 <clement.brisset@gmail.com>
Date: Thu, 16 Feb 2017 17:49:17 -0800
Subject: [PATCH 21/45] Get IK error and stand up based on it

---
 interface/src/avatar/MyAvatar.cpp                 |  4 ++++
 interface/src/avatar/MyAvatar.h                   |  2 ++
 libraries/animation/src/AnimInverseKinematics.cpp |  1 +
 libraries/animation/src/AnimInverseKinematics.h   |  4 ++++
 libraries/animation/src/Rig.cpp                   | 15 +++++++++++++++
 libraries/animation/src/Rig.h                     |  3 +++
 scripts/tutorials/entity_scripts/sit.js           |  6 +++++-
 7 files changed, 34 insertions(+), 1 deletion(-)

diff --git a/interface/src/avatar/MyAvatar.cpp b/interface/src/avatar/MyAvatar.cpp
index 0943d0a057..9f2f3eabac 100644
--- a/interface/src/avatar/MyAvatar.cpp
+++ b/interface/src/avatar/MyAvatar.cpp
@@ -2517,6 +2517,10 @@ bool MyAvatar::clearPinOnJoint(int index) {
     return false;
 }
 
+float MyAvatar::getIKErrorOnLastSolve() const {
+    return _rig->getIKErrorOnLastSolve();
+}
+
 // thread-safe
 void MyAvatar::addHoldAction(AvatarActionHold* holdAction) {
     std::lock_guard<std::mutex> guard(_holdActionsMutex);
diff --git a/interface/src/avatar/MyAvatar.h b/interface/src/avatar/MyAvatar.h
index 360c6918d9..edba2929e8 100644
--- a/interface/src/avatar/MyAvatar.h
+++ b/interface/src/avatar/MyAvatar.h
@@ -219,6 +219,8 @@ public:
     Q_INVOKABLE bool pinJoint(int index, const glm::vec3& position, const glm::quat& orientation);
     Q_INVOKABLE bool clearPinOnJoint(int index);
 
+    Q_INVOKABLE float getIKErrorOnLastSolve() const;
+
     Q_INVOKABLE void useFullAvatarURL(const QUrl& fullAvatarURL, const QString& modelName = QString());
     Q_INVOKABLE QUrl getFullAvatarURLFromPreferences() const { return _fullAvatarURLFromPreferences; }
     Q_INVOKABLE QString getFullAvatarModelName() const { return _fullAvatarModelName; }
diff --git a/libraries/animation/src/AnimInverseKinematics.cpp b/libraries/animation/src/AnimInverseKinematics.cpp
index 3dc80fc764..1cf70bcc14 100644
--- a/libraries/animation/src/AnimInverseKinematics.cpp
+++ b/libraries/animation/src/AnimInverseKinematics.cpp
@@ -189,6 +189,7 @@ void AnimInverseKinematics::solveWithCyclicCoordinateDescent(const std::vector<I
             }
         }
     }
+    _maxErrorOnLastSolve = maxError;
 
     // finally set the relative rotation of each tip to agree with absolute target rotation
     for (auto& target: targets) {
diff --git a/libraries/animation/src/AnimInverseKinematics.h b/libraries/animation/src/AnimInverseKinematics.h
index 7e4a7e5473..6b8d9847f3 100644
--- a/libraries/animation/src/AnimInverseKinematics.h
+++ b/libraries/animation/src/AnimInverseKinematics.h
@@ -41,6 +41,8 @@ public:
 
     void setMaxHipsOffsetLength(float maxLength);
 
+    float getMaxErrorOnLastSolve() { return _maxErrorOnLastSolve; }
+
 protected:
     void computeTargets(const AnimVariantMap& animVars, std::vector<IKTarget>& targets, const AnimPoseVec& underPoses);
     void solveWithCyclicCoordinateDescent(const std::vector<IKTarget>& targets);
@@ -93,6 +95,8 @@ protected:
     // _maxTargetIndex is tracked to help optimize the recalculation of absolute poses
     // during the the cyclic coordinate descent algorithm
     int _maxTargetIndex { 0 };
+
+    float _maxErrorOnLastSolve { FLT_MAX };
 };
 
 #endif // hifi_AnimInverseKinematics_h
diff --git a/libraries/animation/src/Rig.cpp b/libraries/animation/src/Rig.cpp
index 311623a002..c47da7c0b0 100644
--- a/libraries/animation/src/Rig.cpp
+++ b/libraries/animation/src/Rig.cpp
@@ -337,6 +337,21 @@ float Rig::getMaxHipsOffsetLength() const {
     return _maxHipsOffsetLength;
 }
 
+float Rig::getIKErrorOnLastSolve() const {
+    float result = 0.0f;
+
+    if (_animNode) {
+        _animNode->traverse([&](AnimNode::Pointer node) {
+            auto ikNode = std::dynamic_pointer_cast<AnimInverseKinematics>(node);
+            if (ikNode) {
+                result = ikNode->getMaxErrorOnLastSolve();
+            }
+            return true;
+        });
+    }
+    return result;
+}
+
 int Rig::getJointParentIndex(int childIndex) const {
     if (_animSkeleton && isIndexValid(childIndex)) {
         return _animSkeleton->getParentIndex(childIndex);
diff --git a/libraries/animation/src/Rig.h b/libraries/animation/src/Rig.h
index 5d1831345b..f1c87d0d3e 100644
--- a/libraries/animation/src/Rig.h
+++ b/libraries/animation/src/Rig.h
@@ -107,6 +107,8 @@ public:
     void setMaxHipsOffsetLength(float maxLength);
     float getMaxHipsOffsetLength() const;
 
+    float getIKErrorOnLastSolve() const;
+
     int getJointParentIndex(int childIndex) const;
 
     // geometry space
@@ -321,6 +323,7 @@ protected:
 
     mutable uint32_t _jointNameWarningCount { 0 };
     float _maxHipsOffsetLength { 1.0f };
+    float _maxErrorOnLastSolve { 0.0f };
 
 private:
     QMap<int, StateHandler> _stateHandlers;
diff --git a/scripts/tutorials/entity_scripts/sit.js b/scripts/tutorials/entity_scripts/sit.js
index 1a9b867c16..6eebaf6496 100644
--- a/scripts/tutorials/entity_scripts/sit.js
+++ b/scripts/tutorials/entity_scripts/sit.js
@@ -9,6 +9,7 @@
   var RELEASE_KEYS = ['w', 'a', 's', 'd', 'UP', 'LEFT', 'DOWN', 'RIGHT'];
   var RELEASE_TIME = 500; // ms
   var RELEASE_DISTANCE = 0.2; // meters
+  var MAX_IK_ERROR = 15;
 
   this.entityID = null;
   this.timers = {};
@@ -21,7 +22,10 @@
   this.update = function(dt) {
     if (MyAvatar.getParentID() === this.entityID) {
       var properties = Entities.getEntityProperties(this.entityID, ["position"]);
-      if (Vec3.distance(MyAvatar.position, properties.position) > RELEASE_DISTANCE) {
+      var avatarDistance = Vec3.distance(MyAvatar.position, properties.position);
+      var ikError = MyAvatar.getIKErrorOnLastSolve();
+      print("IK error: " + ikError);
+      if (avatarDistance > RELEASE_DISTANCE || ikError > MAX_IK_ERROR) {
         this.sitUp(this.entityID);
       }
     }

From bf3a69a0b3a3c99e6a651d4d6f504b9ab92b6e98 Mon Sep 17 00:00:00 2001
From: Atlante45 <clement.brisset@gmail.com>
Date: Fri, 17 Feb 2017 11:43:09 -0800
Subject: [PATCH 22/45] Add 2D UI when close to the seat

---
 scripts/tutorials/entity_scripts/sit.js | 279 ++++++++++++++++--------
 1 file changed, 187 insertions(+), 92 deletions(-)

diff --git a/scripts/tutorials/entity_scripts/sit.js b/scripts/tutorials/entity_scripts/sit.js
index 6eebaf6496..be99c691f2 100644
--- a/scripts/tutorials/entity_scripts/sit.js
+++ b/scripts/tutorials/entity_scripts/sit.js
@@ -1,113 +1,208 @@
 (function() {
-  Script.include("/~/system/libraries/utils.js");
+    Script.include("/~/system/libraries/utils.js");
 
-  var ROLE = "fly";
-  var ANIMATION_URL = "https://s3-us-west-1.amazonaws.com/hifi-content/clement/production/animations/sitting_idle.fbx";
-  var ANIMATION_FPS = 30;
-  var ANIMATION_FIRST_FRAME = 1;
-  var ANIMATION_LAST_FRAME = 10;
-  var RELEASE_KEYS = ['w', 'a', 's', 'd', 'UP', 'LEFT', 'DOWN', 'RIGHT'];
-  var RELEASE_TIME = 500; // ms
-  var RELEASE_DISTANCE = 0.2; // meters
-  var MAX_IK_ERROR = 15;
+    var ROLE = "fly";
+    var ANIMATION_URL = "https://s3-us-west-1.amazonaws.com/hifi-content/clement/production/animations/sitting_idle.fbx";
+    var ANIMATION_FPS = 30;
+    var ANIMATION_FIRST_FRAME = 1;
+    var ANIMATION_LAST_FRAME = 10;
+    var RELEASE_KEYS = ['w', 'a', 's', 'd', 'UP', 'LEFT', 'DOWN', 'RIGHT'];
+    var RELEASE_TIME = 500; // ms
+    var RELEASE_DISTANCE = 0.2; // meters
+    var MAX_IK_ERROR = 15;
+    var DESKTOP_UI_CHECK_INTERVAL = 250;
+    var DESKTOP_MAX_DISTANCE = 5;
 
-  this.entityID = null;
-  this.timers = {};
-  this.animStateHandlerID = null;
+    this.entityID = null;
+    this.timers = {};
+    this.animStateHandlerID = null;
 
-  this.preload = function(entityID) {
-    this.entityID = entityID;
-  }
-
-  this.update = function(dt) {
-    if (MyAvatar.getParentID() === this.entityID) {
-      var properties = Entities.getEntityProperties(this.entityID, ["position"]);
-      var avatarDistance = Vec3.distance(MyAvatar.position, properties.position);
-      var ikError = MyAvatar.getIKErrorOnLastSolve();
-      print("IK error: " + ikError);
-      if (avatarDistance > RELEASE_DISTANCE || ikError > MAX_IK_ERROR) {
-        this.sitUp(this.entityID);
-      }
+    this.preload = function(entityID) {
+        this.entityID = entityID;
     }
-  }
-  this.keyPressed = function(event) {
-    if (isInEditMode()) {
-      return;
+    this.unload = function() {
+        if (MyAvatar.getParentID() === this.entityID) {
+            this.sitUp(this.entityID);
+        }
+        if (this.interval) {
+            Script.clearInterval(this.interval);
+            this.interval = null;
+        }
+        this.cleanupOverlay();
     }
 
-    if (RELEASE_KEYS.indexOf(event.text) !== -1) {
-      var that = this;
-      this.timers[event.text] = Script.setTimeout(function() {
-        that.sitUp();
-      }, RELEASE_TIME);
-    }
-  }
-  this.keyReleased = function(event) {
-    if (RELEASE_KEYS.indexOf(event.text) !== -1) {
-      if (this.timers[event.text]) {
-        print("Clear timeout");
-        Script.clearTimeout(this.timers[event.text]);
-        delete this.timers[event.text];
-      }
-    }
-  }
-
-  this.sitDown = function() {
-    var avatarIdentifiers = AvatarList.getAvatarIdentifiers();
-    for (var i in avatarIdentifiers) {
-      var avatar = AvatarList.getAvatar(avatarIdentifiers[i]);
-      if (avatar && avatar.getParentID() === this.entityID) {
-        print("Someone is already sitting in that chair.");
-        return;
-      }
+    this.checkSeatForAvatar = function() {
+        var avatarIdentifiers = AvatarList.getAvatarIdentifiers();
+        for (var i in avatarIdentifiers) {
+            var avatar = AvatarList.getAvatar(avatarIdentifiers[i]);
+            if (avatar && avatar.getParentID() === this.entityID) {
+                return true;
+            }
+        }
+        return false;
     }
 
-    MyAvatar.overrideRoleAnimation(ROLE, ANIMATION_URL, ANIMATION_FPS, true, ANIMATION_FIRST_FRAME, ANIMATION_LAST_FRAME);
-    MyAvatar.setParentID(this.entityID);
-    MyAvatar.characterControllerEnabled = false;
-    MyAvatar.hmdLeanRecenterEnabled = false;
+    this.sitDown = function() {
+        if (this.checkSeatForAvatar()) {
+            print("Someone is already sitting in that chair.");
+            return;
+        }
 
-    var properties = Entities.getEntityProperties(this.entityID, ["position", "rotation"]);
-    var index = MyAvatar.getJointIndex("Hips");
-    MyAvatar.pinJoint(index, properties.position, properties.rotation);
+        MyAvatar.overrideRoleAnimation(ROLE, ANIMATION_URL, ANIMATION_FPS, true, ANIMATION_FIRST_FRAME, ANIMATION_LAST_FRAME);
+        MyAvatar.setParentID(this.entityID);
+        MyAvatar.characterControllerEnabled = false;
+        MyAvatar.hmdLeanRecenterEnabled = false;
 
-    this.animStateHandlerID = MyAvatar.addAnimationStateHandler(function(props) {
-      return { headType: 0 };
-    }, ["headType"]);
+        var properties = Entities.getEntityProperties(this.entityID, ["position", "rotation"]);
+        var index = MyAvatar.getJointIndex("Hips");
+        MyAvatar.pinJoint(index, properties.position, properties.rotation);
 
-    Script.update.connect(this, this.update);
-    Controller.keyPressEvent.connect(this, this.keyPressed);
-    Controller.keyReleaseEvent.connect(this, this.keyReleased);
-    for (var i in RELEASE_KEYS) {
-      Controller.captureKeyEvents({ text: RELEASE_KEYS[i] });
+        this.animStateHandlerID = MyAvatar.addAnimationStateHandler(function(props) {
+            return { headType: 0 };
+        }, ["headType"]);
+
+        Script.update.connect(this, this.update);
+        Controller.keyPressEvent.connect(this, this.keyPressed);
+        Controller.keyReleaseEvent.connect(this, this.keyReleased);
+        for (var i in RELEASE_KEYS) {
+            Controller.captureKeyEvents({ text: RELEASE_KEYS[i] });
+        }
     }
-  }
 
-  this.sitUp = function() {
-    MyAvatar.restoreRoleAnimation(ROLE);
-    MyAvatar.setParentID("");
-    MyAvatar.characterControllerEnabled = true;
-    MyAvatar.hmdLeanRecenterEnabled = true;
+    this.sitUp = function() {
+        MyAvatar.restoreRoleAnimation(ROLE);
+        MyAvatar.setParentID("");
+        MyAvatar.characterControllerEnabled = true;
+        MyAvatar.hmdLeanRecenterEnabled = true;
 
-    var index = MyAvatar.getJointIndex("Hips");
-    MyAvatar.clearPinOnJoint(index);
+        var index = MyAvatar.getJointIndex("Hips");
+        MyAvatar.clearPinOnJoint(index);
 
-    MyAvatar.removeAnimationStateHandler(this.animStateHandlerID);
+        MyAvatar.removeAnimationStateHandler(this.animStateHandlerID);
 
-    Script.update.disconnect(this, this.update);
-    Controller.keyPressEvent.disconnect(this, this.keyPressed);
-    Controller.keyReleaseEvent.disconnect(this, this.keyReleased);
-    for (var i in RELEASE_KEYS) {
-      Controller.releaseKeyEvents({ text: RELEASE_KEYS[i] });
+        Script.update.disconnect(this, this.update);
+        Controller.keyPressEvent.disconnect(this, this.keyPressed);
+        Controller.keyReleaseEvent.disconnect(this, this.keyReleased);
+        for (var i in RELEASE_KEYS) {
+            Controller.releaseKeyEvents({ text: RELEASE_KEYS[i] });
+        }
     }
-  }
 
-  this.clickDownOnEntity = function () {
-    if (MyAvatar.getParentID() !== this.entityID) {
-      this.sitDown();
+    this.sit = function () {
+        this.sitDown();
+    }
+
+    this.createOverlay = function() {
+        var text = "Click to sit";
+        var textMargin = 0.05;
+        var lineHeight = 0.15;
+
+        this.overlay = Overlays.addOverlay("text3d", {
+            position: { x: 0.0, y: 0.0, z: 0.0},
+            dimensions: { x: 0.1, y: 0.1 },
+            backgroundColor: { red: 0, green: 0, blue: 0 },
+            color: { red: 255, green: 255, blue: 255 },
+            topMargin: textMargin,
+            leftMargin: textMargin,
+            bottomMargin: textMargin,
+            rightMargin: textMargin,
+            text: text,
+            lineHeight: lineHeight,
+            alpha: 0.9,
+            backgroundAlpha: 0.9,
+            ignoreRayIntersection: true,
+            visible: true,
+            isFacingAvatar: true
+        });
+        var textSize = Overlays.textSize(this.overlay, text);
+        var overlayDimensions = {
+            x: textSize.width + 2 * textMargin,
+            y: textSize.height + 2 * textMargin
+        }
+        var props = Entities.getEntityProperties(this.entityID, ["position", "registrationPoint", "dimensions"]);
+        var yOffset = (1.0 - props.registrationPoint.y) * props.dimensions.y + (overlayDimensions.y / 2.0);
+        var overlayPosition = Vec3.sum(props.position, { x: 0, y: yOffset, z: 0 });
+        Overlays.editOverlay(this.overlay, {
+            position: overlayPosition,
+            dimensions: overlayDimensions
+        });
+    }
+    this.cleanupOverlay = function() {
+        if (this.overlay !== null) {
+            Overlays.deleteOverlay(this.overlay);
+            this.overlay = null;
+        }
+    }
+
+
+    this.update = function(dt) {
+        if (MyAvatar.getParentID() === this.entityID) {
+            var properties = Entities.getEntityProperties(this.entityID, ["position"]);
+            var avatarDistance = Vec3.distance(MyAvatar.position, properties.position);
+            var ikError = MyAvatar.getIKErrorOnLastSolve();
+            print("IK error: " + ikError);
+            if (avatarDistance > RELEASE_DISTANCE || ikError > MAX_IK_ERROR) {
+                this.sitUp(this.entityID);
+            }
+        }
+    }
+    this.keyPressed = function(event) {
+        if (isInEditMode()) {
+            return;
+        }
+
+        if (RELEASE_KEYS.indexOf(event.text) !== -1) {
+            var that = this;
+            this.timers[event.text] = Script.setTimeout(function() {
+                that.sitUp();
+            }, RELEASE_TIME);
+        }
+    }
+    this.keyReleased = function(event) {
+        if (RELEASE_KEYS.indexOf(event.text) !== -1) {
+            if (this.timers[event.text]) {
+                Script.clearTimeout(this.timers[event.text]);
+                delete this.timers[event.text];
+            }
+        }
+    }
+
+    this.canSitDesktop = function() {
+        var props = Entities.getEntityProperties(this.entityID, ["position"]);
+        var distanceFromSeat = Vec3.distance(MyAvatar.position, props.position);
+        return distanceFromSeat < DESKTOP_MAX_DISTANCE && !this.checkSeatForAvatar();
+    }
+
+    this.hoverEnterEntity = function(event) {
+        if (isInEditMode() || (MyAvatar.getParentID() === this.entityID)) {
+            return;
+        }
+
+        var that = this;
+        this.interval = Script.setInterval(function() {
+            if (that.overlay === null) {
+                if (that.canSitDesktop()) {
+                    that.createOverlay();
+                }
+            } else if (!that.canSitDesktop()) {
+                that.cleanupOverlay();
+            }
+        }, DESKTOP_UI_CHECK_INTERVAL);
+    }
+    this.hoverLeaveEntity = function(event) {
+        if (this.interval) {
+            Script.clearInterval(this.interval);
+            this.interval = null;
+        }
+        this.cleanupOverlay();
+    }
+
+    this.clickDownOnEntity = function () {
+        if (isInEditMode() || (MyAvatar.getParentID() === this.entityID)) {
+            return;
+        }
+        if (this.canSitDesktop()) {
+            this.sitDown();
+        }
     }
-  }
-  this.sit = function () {
-      this.sitDown();
-  }
 });

From 8c232b5abb4bbd15f899def5a9f5d974e4e24e87 Mon Sep 17 00:00:00 2001
From: Atlante45 <clement.brisset@gmail.com>
Date: Fri, 17 Feb 2017 15:46:10 -0800
Subject: [PATCH 23/45] Initialize max offset to infinity

---
 interface/src/avatar/MyAvatar.cpp               | 2 +-
 libraries/animation/src/AnimInverseKinematics.h | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/interface/src/avatar/MyAvatar.cpp b/interface/src/avatar/MyAvatar.cpp
index 9f2f3eabac..0782d0c018 100644
--- a/interface/src/avatar/MyAvatar.cpp
+++ b/interface/src/avatar/MyAvatar.cpp
@@ -2509,7 +2509,7 @@ bool MyAvatar::clearPinOnJoint(int index) {
 
         auto hipsIndex = getJointIndex("Hips");
         if (index == hipsIndex) {
-            _rig->setMaxHipsOffsetLength(1.0f);
+            _rig->setMaxHipsOffsetLength(FLT_MAX);
         }
 
         return true;
diff --git a/libraries/animation/src/AnimInverseKinematics.h b/libraries/animation/src/AnimInverseKinematics.h
index 6b8d9847f3..892a5616b2 100644
--- a/libraries/animation/src/AnimInverseKinematics.h
+++ b/libraries/animation/src/AnimInverseKinematics.h
@@ -87,7 +87,7 @@ protected:
 
     // experimental data for moving hips during IK
     glm::vec3 _hipsOffset { Vectors::ZERO };
-    float _maxHipsOffsetLength { 1.0f };
+    float _maxHipsOffsetLength{ FLT_MAX };
     int _headIndex { -1 };
     int _hipsIndex { -1 };
     int _hipsParentIndex { -1 };

From aa94106229ca27e26d1b4cc66eaa9c47fbade0ed Mon Sep 17 00:00:00 2001
From: Ryan Huffman <ryanhuffman@gmail.com>
Date: Fri, 17 Feb 2017 15:47:12 -0800
Subject: [PATCH 24/45] Update teleport to sit in invisible seats

---
 scripts/system/controllers/teleport.js | 37 ++++++++++++++++++--------
 1 file changed, 26 insertions(+), 11 deletions(-)

diff --git a/scripts/system/controllers/teleport.js b/scripts/system/controllers/teleport.js
index 6a7dd17ba7..bdca1c4df4 100644
--- a/scripts/system/controllers/teleport.js
+++ b/scripts/system/controllers/teleport.js
@@ -93,10 +93,11 @@ var TELEPORTER_STATES = {
 }
 
 var TARGET = {
-    NONE: 'none',       // Not currently targetting anything
-    INVALID: 'invalid', // The current target is invalid (wall, ceiling, etc.)
-    SURFACE: 'surface', // The current target is a valid surface
-    SEAT: 'seat',       // The current target is a seat
+    NONE: 'none',            // Not currently targetting anything
+    INVISIBLE: 'invisible',  // The current target is an invvsible surface
+    INVALID: 'invalid',      // The current target is invalid (wall, ceiling, etc.)
+    SURFACE: 'surface',      // The current target is a valid surface
+    SEAT: 'seat',            // The current target is a seat
 }
 
 function Teleporter() {
@@ -229,10 +230,22 @@ function Teleporter() {
             direction: Quat.getUp(handRotation),
         };
 
-        var intersection = Entities.findRayIntersection(pickRay, true, [], [this.targetEntity], true, true);
+        // We do up to 2 ray picks to find a teleport location.
+        // There are 2 types of teleport locations we are interested in:
+        //   1. A visible floor. This can be any entity surface that points within some degree of "up"
+        //   2. A seat. The seat can be visible or invisible.
+        //
+        //  * In the first pass we pick against visible and invisible entities so that we can find invisible seats.
+        //    We might hit an invisible entity that is not a seat, so we need to do a second pass.
+        //  * In the second pass we pick against visible entities only.
+        //
+        var intersection = Entities.findRayIntersection(pickRay, true, [], [this.targetEntity], false, true);
 
         var teleportLocationType = getTeleportTargetType(intersection);
-        //print("Teleport location type: ", teleportLocationType);
+        if (teleportLocationType === TARGET.INVISIBLE) {
+            intersection = Entities.findRayIntersection(pickRay, true, [], [this.targetEntity], true, true);
+            teleportLocationType = getTeleportTargetType(intersection);
+        }
 
         if (teleportLocationType === TARGET.NONE) {
             this.hideTargetOverlay();
@@ -241,7 +254,7 @@ function Teleporter() {
 
             var farPosition = Vec3.sum(pickRay.origin, Vec3.multiply(pickRay.direction, 50));
             this.updateLineOverlay(_this.activeHand, pickRay.origin, farPosition, COLORS_TELEPORT_CANNOT_TELEPORT);
-        } else if (teleportLocationType === TARGET.INVALID) {
+        } else if (teleportLocationType === TARGET.INVALID || teleportLocationType === TARGET.INVISIBLE) {
             this.hideTargetOverlay();
             this.hideSeatOverlay();
 
@@ -424,18 +437,20 @@ function getTeleportTargetType(intersection) {
         return TARGET.NONE;
     }
 
-    var userData = Entities.getEntityProperties(intersection.entityID, 'userData').userData;
-    var data = parseJSON(userData);
+    var props = Entities.getEntityProperties(intersection.entityID, ['userData', 'visible']);
+    var data = parseJSON(props.userData);
     if (data !== undefined && data.seat !== undefined) {
         return TARGET.SEAT;
     }
 
+    if (!props.visible) {
+        return TARGET.INVISIBLE;
+    }
+
     var surfaceNormal = intersection.surfaceNormal;
     var adj = Math.sqrt(surfaceNormal.x * surfaceNormal.x + surfaceNormal.z * surfaceNormal.z);
     var angleUp = Math.atan2(surfaceNormal.y, adj) * (180 / Math.PI);
 
-    //print("distacne is: ", Vec3.distance(MyAvatar.position, intersection.intersection));
-
     if (angleUp < (90 - MAX_ANGLE_FROM_UP_TO_TELEPORT) ||
             angleUp > (90 + MAX_ANGLE_FROM_UP_TO_TELEPORT) ||
             Vec3.distance(MyAvatar.position, intersection.intersection) <= TELEPORT_CANCEL_RANGE) {

From f5f7cc52665f097635c15fb35a51affb126badc5 Mon Sep 17 00:00:00 2001
From: Ryan Huffman <ryanhuffman@gmail.com>
Date: Fri, 17 Feb 2017 16:43:17 -0800
Subject: [PATCH 25/45] Fix teleport seat beam color to match model

---
 scripts/system/controllers/teleport.js | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/scripts/system/controllers/teleport.js b/scripts/system/controllers/teleport.js
index bdca1c4df4..c058f046db 100644
--- a/scripts/system/controllers/teleport.js
+++ b/scripts/system/controllers/teleport.js
@@ -26,9 +26,9 @@ var TARGET_MODEL_DIMENSIONS = {
 };
 
 var COLORS_TELEPORT_SEAT = {
-    red: 0,
+    red: 255,
     green: 0,
-    blue: 255
+    blue: 170
 }
 
 var COLORS_TELEPORT_CAN_TELEPORT = {

From 0440e2fd60b77e9694da46cf10d5ad7a0d1304cf Mon Sep 17 00:00:00 2001
From: Atlante45 <clement.brisset@gmail.com>
Date: Fri, 17 Feb 2017 18:17:54 -0800
Subject: [PATCH 26/45] Set higher tolerance

---
 scripts/tutorials/entity_scripts/sit.js | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/scripts/tutorials/entity_scripts/sit.js b/scripts/tutorials/entity_scripts/sit.js
index be99c691f2..a9a839b915 100644
--- a/scripts/tutorials/entity_scripts/sit.js
+++ b/scripts/tutorials/entity_scripts/sit.js
@@ -9,7 +9,7 @@
     var RELEASE_KEYS = ['w', 'a', 's', 'd', 'UP', 'LEFT', 'DOWN', 'RIGHT'];
     var RELEASE_TIME = 500; // ms
     var RELEASE_DISTANCE = 0.2; // meters
-    var MAX_IK_ERROR = 15;
+    var MAX_IK_ERROR = 20;
     var DESKTOP_UI_CHECK_INTERVAL = 250;
     var DESKTOP_MAX_DISTANCE = 5;
 
@@ -140,8 +140,8 @@
             var properties = Entities.getEntityProperties(this.entityID, ["position"]);
             var avatarDistance = Vec3.distance(MyAvatar.position, properties.position);
             var ikError = MyAvatar.getIKErrorOnLastSolve();
-            print("IK error: " + ikError);
             if (avatarDistance > RELEASE_DISTANCE || ikError > MAX_IK_ERROR) {
+                print("IK error: " + ikError + ", distance from chair: " + avatarDistance);
                 this.sitUp(this.entityID);
             }
         }

From e503542b6acfdb978fc8fb1914377d2f62c0b2a0 Mon Sep 17 00:00:00 2001
From: Atlante45 <clement.brisset@gmail.com>
Date: Fri, 17 Feb 2017 18:29:00 -0800
Subject: [PATCH 27/45] Fix transform computation

---
 interface/src/avatar/MyAvatar.cpp | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/interface/src/avatar/MyAvatar.cpp b/interface/src/avatar/MyAvatar.cpp
index 0782d0c018..d3fc42cdf2 100644
--- a/interface/src/avatar/MyAvatar.cpp
+++ b/interface/src/avatar/MyAvatar.cpp
@@ -2481,21 +2481,21 @@ bool MyAvatar::pinJoint(int index, const glm::vec3& position, const glm::quat& o
         qWarning() << "Pinning is only supported for the hips joint at the moment.";
         return false;
     }
+    qApp->getActiveDisplayPlugin()->resetSensors();
 
     auto jointTranslation = getAbsoluteJointTranslationInObjectFrame(index);
     auto jointRotation = getAbsoluteJointRotationInObjectFrame(index);
 
-    Transform final(orientation, Vectors::ONE, position);
-    Transform joint(jointRotation, Vectors::ONE, jointTranslation);
+    auto targetOrientation = orientation * glm::conjugate(glm::normalize(jointRotation));
+    auto targetPosition = position - orientation * jointTranslation;
 
-    Transform avatarTransform(final.getMatrix() * joint.getInverseMatrix());
-    setPosition(avatarTransform.getTranslation());
-    setOrientation(avatarTransform.getRotation());
+    setPosition(targetPosition);
+    setOrientation(targetOrientation);
 
     _rig->setMaxHipsOffsetLength(0.0f);
 
     auto it = std::find(_pinnedJoints.begin(), _pinnedJoints.end(), index);
-    if (it != _pinnedJoints.end()) {
+    if (it == _pinnedJoints.end()) {
         _pinnedJoints.push_back(index);
     }
 

From 0629c6dbf7dde4606cf50d1275bc5a1838a62943 Mon Sep 17 00:00:00 2001
From: Atlante45 <clement.brisset@gmail.com>
Date: Tue, 21 Feb 2017 14:01:51 -0800
Subject: [PATCH 28/45] Cancel body pitch/roll when getting out of the chair.

---
 scripts/tutorials/entity_scripts/sit.js | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/scripts/tutorials/entity_scripts/sit.js b/scripts/tutorials/entity_scripts/sit.js
index a9a839b915..56d1ab2928 100644
--- a/scripts/tutorials/entity_scripts/sit.js
+++ b/scripts/tutorials/entity_scripts/sit.js
@@ -80,6 +80,9 @@
 
         MyAvatar.removeAnimationStateHandler(this.animStateHandlerID);
 
+        MyAvatar.bodyPitch = 0.0;
+        MyAvatar.bodyRoll = 0.0;
+
         Script.update.disconnect(this, this.update);
         Controller.keyPressEvent.disconnect(this, this.keyPressed);
         Controller.keyReleaseEvent.disconnect(this, this.keyReleased);

From cbaaaa21c6a7eb2fdb7c9e3f1450c5f61c2c7836 Mon Sep 17 00:00:00 2001
From: Atlante45 <clement.brisset@gmail.com>
Date: Tue, 21 Feb 2017 18:39:41 -0800
Subject: [PATCH 29/45] Use head orientation for sitting

---
 interface/src/avatar/MyAvatar.cpp       |  6 +++-
 interface/src/avatar/MyAvatar.h         |  1 +
 scripts/tutorials/entity_scripts/sit.js | 46 +++++++++++++++----------
 3 files changed, 33 insertions(+), 20 deletions(-)

diff --git a/interface/src/avatar/MyAvatar.cpp b/interface/src/avatar/MyAvatar.cpp
index d3fc42cdf2..0b69544527 100644
--- a/interface/src/avatar/MyAvatar.cpp
+++ b/interface/src/avatar/MyAvatar.cpp
@@ -260,6 +260,11 @@ QByteArray MyAvatar::toByteArrayStateful(AvatarDataDetail dataDetail) {
     return AvatarData::toByteArrayStateful(dataDetail);
 }
 
+void MyAvatar::resetSensorsAndBody() {
+    qApp->getActiveDisplayPlugin()->resetSensors();
+    reset(true, false, true);
+}
+
 void MyAvatar::centerBody() {
     if (QThread::currentThread() != thread()) {
         QMetaObject::invokeMethod(this, "centerBody");
@@ -2481,7 +2486,6 @@ bool MyAvatar::pinJoint(int index, const glm::vec3& position, const glm::quat& o
         qWarning() << "Pinning is only supported for the hips joint at the moment.";
         return false;
     }
-    qApp->getActiveDisplayPlugin()->resetSensors();
 
     auto jointTranslation = getAbsoluteJointTranslationInObjectFrame(index);
     auto jointRotation = getAbsoluteJointRotationInObjectFrame(index);
diff --git a/interface/src/avatar/MyAvatar.h b/interface/src/avatar/MyAvatar.h
index edba2929e8..3cc665b533 100644
--- a/interface/src/avatar/MyAvatar.h
+++ b/interface/src/avatar/MyAvatar.h
@@ -99,6 +99,7 @@ public:
 
     void reset(bool andRecenter = false, bool andReload = true, bool andHead = true);
 
+    Q_INVOKABLE void resetSensorsAndBody();
     Q_INVOKABLE void centerBody(); // thread-safe
     Q_INVOKABLE void clearIKJointLimitHistory(); // thread-safe
 
diff --git a/scripts/tutorials/entity_scripts/sit.js b/scripts/tutorials/entity_scripts/sit.js
index 56d1ab2928..5c010c1906 100644
--- a/scripts/tutorials/entity_scripts/sit.js
+++ b/scripts/tutorials/entity_scripts/sit.js
@@ -12,6 +12,7 @@
     var MAX_IK_ERROR = 20;
     var DESKTOP_UI_CHECK_INTERVAL = 250;
     var DESKTOP_MAX_DISTANCE = 5;
+    var SIT_DELAY = 20
 
     this.entityID = null;
     this.timers = {};
@@ -48,40 +49,47 @@
             return;
         }
 
-        MyAvatar.overrideRoleAnimation(ROLE, ANIMATION_URL, ANIMATION_FPS, true, ANIMATION_FIRST_FRAME, ANIMATION_LAST_FRAME);
-        MyAvatar.setParentID(this.entityID);
-        MyAvatar.characterControllerEnabled = false;
-        MyAvatar.hmdLeanRecenterEnabled = false;
+        MyAvatar.resetSensors();
 
-        var properties = Entities.getEntityProperties(this.entityID, ["position", "rotation"]);
-        var index = MyAvatar.getJointIndex("Hips");
-        MyAvatar.pinJoint(index, properties.position, properties.rotation);
+        var that = this;
+        Script.setTimeout(function() {
+            MyAvatar.setParentID(that.entityID);
+            MyAvatar.characterControllerEnabled = false;
+            MyAvatar.hmdLeanRecenterEnabled = false;
+            MyAvatar.overrideRoleAnimation(ROLE, ANIMATION_URL, ANIMATION_FPS, true, ANIMATION_FIRST_FRAME, ANIMATION_LAST_FRAME);
 
-        this.animStateHandlerID = MyAvatar.addAnimationStateHandler(function(props) {
-            return { headType: 0 };
-        }, ["headType"]);
+            var properties = Entities.getEntityProperties(that.entityID, ["position", "rotation"]);
+            var index = MyAvatar.getJointIndex("Hips");
+            MyAvatar.pinJoint(index, properties.position, properties.rotation);
 
-        Script.update.connect(this, this.update);
-        Controller.keyPressEvent.connect(this, this.keyPressed);
-        Controller.keyReleaseEvent.connect(this, this.keyReleased);
-        for (var i in RELEASE_KEYS) {
-            Controller.captureKeyEvents({ text: RELEASE_KEYS[i] });
-        }
+            that.animStateHandlerID = MyAvatar.addAnimationStateHandler(function(props) {
+                return { headType: 0 };
+            }, ["headType"]);
+
+            Script.update.connect(that, that.update);
+            Controller.keyPressEvent.connect(that, that.keyPressed);
+            Controller.keyReleaseEvent.connect(that, that.keyReleased);
+            for (var i in RELEASE_KEYS) {
+                Controller.captureKeyEvents({ text: RELEASE_KEYS[i] });
+            }
+        }, SIT_DELAY);
     }
 
     this.sitUp = function() {
+        MyAvatar.bodyPitch = 0.0;
+        MyAvatar.bodyRoll = 0.0;
+
         MyAvatar.restoreRoleAnimation(ROLE);
-        MyAvatar.setParentID("");
         MyAvatar.characterControllerEnabled = true;
         MyAvatar.hmdLeanRecenterEnabled = true;
+        MyAvatar.setParentID("");
 
         var index = MyAvatar.getJointIndex("Hips");
         MyAvatar.clearPinOnJoint(index);
 
         MyAvatar.removeAnimationStateHandler(this.animStateHandlerID);
 
-        MyAvatar.bodyPitch = 0.0;
-        MyAvatar.bodyRoll = 0.0;
+        MyAvatar.resetSensors();
 
         Script.update.disconnect(this, this.update);
         Controller.keyPressEvent.disconnect(this, this.keyPressed);

From 68e3e23bfc00f704c8e32d352d019c528e9765bc Mon Sep 17 00:00:00 2001
From: Atlante45 <clement.brisset@gmail.com>
Date: Wed, 22 Feb 2017 11:32:07 -0800
Subject: [PATCH 30/45] Remove Avatar parenting to chair

---
 scripts/tutorials/entity_scripts/sit.js | 54 +++++++++++++++++++------
 1 file changed, 41 insertions(+), 13 deletions(-)

diff --git a/scripts/tutorials/entity_scripts/sit.js b/scripts/tutorials/entity_scripts/sit.js
index 5c010c1906..799800a8e3 100644
--- a/scripts/tutorials/entity_scripts/sit.js
+++ b/scripts/tutorials/entity_scripts/sit.js
@@ -22,7 +22,7 @@
         this.entityID = entityID;
     }
     this.unload = function() {
-        if (MyAvatar.getParentID() === this.entityID) {
+        if (MyAvatar.sessionUUID === this.getSeatUser()) {
             this.sitUp(this.entityID);
         }
         if (this.interval) {
@@ -32,11 +32,39 @@
         this.cleanupOverlay();
     }
 
+    this.setSeatUser = function(user) {
+        var userData = Entities.getEntityProperties(this.entityID, ["userData"]).userData;
+        userData = JSON.parse(userData);
+
+        if (user) {
+            userData.seat.user = user;
+        } else {
+            delete userData.seat.user;
+        }
+
+        Entities.editEntity(this.entityID, {
+            userData: JSON.stringify(userData)
+        });
+    }
+    this.getSeatUser = function() {
+        var properties = Entities.getEntityProperties(this.entityID, ["userData", "position"]);
+        var userData = JSON.parse(properties.userData);
+
+        if (userData.seat.user && userData.seat.user !== MyAvatar.sessionUUID) {
+            var avatar = AvatarList.getAvatar(userData.seat.user);
+            if (avatar && Vec3.distance(avatar.position, properties.position) > RELEASE_DISTANCE) {
+                return null;
+            }
+        }
+        return userData.seat.user;
+    }
+
     this.checkSeatForAvatar = function() {
+        var seatUser = this.getSeatUser();
         var avatarIdentifiers = AvatarList.getAvatarIdentifiers();
         for (var i in avatarIdentifiers) {
             var avatar = AvatarList.getAvatar(avatarIdentifiers[i]);
-            if (avatar && avatar.getParentID() === this.entityID) {
+            if (avatar && avatar.sessionUUID === seatUser) {
                 return true;
             }
         }
@@ -53,7 +81,7 @@
 
         var that = this;
         Script.setTimeout(function() {
-            MyAvatar.setParentID(that.entityID);
+            that.setSeatUser(MyAvatar.sessionUUID);
             MyAvatar.characterControllerEnabled = false;
             MyAvatar.hmdLeanRecenterEnabled = false;
             MyAvatar.overrideRoleAnimation(ROLE, ANIMATION_URL, ANIMATION_FPS, true, ANIMATION_FIRST_FRAME, ANIMATION_LAST_FRAME);
@@ -62,7 +90,7 @@
             var index = MyAvatar.getJointIndex("Hips");
             MyAvatar.pinJoint(index, properties.position, properties.rotation);
 
-            that.animStateHandlerID = MyAvatar.addAnimationStateHandler(function(props) {
+            that.animStateHandlerID = MyAvatar.addAnimationStateHandler(function(properties) {
                 return { headType: 0 };
             }, ["headType"]);
 
@@ -82,7 +110,7 @@
         MyAvatar.restoreRoleAnimation(ROLE);
         MyAvatar.characterControllerEnabled = true;
         MyAvatar.hmdLeanRecenterEnabled = true;
-        MyAvatar.setParentID("");
+        this.setSeatUser(null);
 
         var index = MyAvatar.getJointIndex("Hips");
         MyAvatar.clearPinOnJoint(index);
@@ -130,9 +158,9 @@
             x: textSize.width + 2 * textMargin,
             y: textSize.height + 2 * textMargin
         }
-        var props = Entities.getEntityProperties(this.entityID, ["position", "registrationPoint", "dimensions"]);
-        var yOffset = (1.0 - props.registrationPoint.y) * props.dimensions.y + (overlayDimensions.y / 2.0);
-        var overlayPosition = Vec3.sum(props.position, { x: 0, y: yOffset, z: 0 });
+        var properties = Entities.getEntityProperties(this.entityID, ["position", "registrationPoint", "dimensions"]);
+        var yOffset = (1.0 - properties.registrationPoint.y) * properties.dimensions.y + (overlayDimensions.y / 2.0);
+        var overlayPosition = Vec3.sum(properties.position, { x: 0, y: yOffset, z: 0 });
         Overlays.editOverlay(this.overlay, {
             position: overlayPosition,
             dimensions: overlayDimensions
@@ -147,7 +175,7 @@
 
 
     this.update = function(dt) {
-        if (MyAvatar.getParentID() === this.entityID) {
+        if (MyAvatar.sessionUUID === this.getSeatUser()) {
             var properties = Entities.getEntityProperties(this.entityID, ["position"]);
             var avatarDistance = Vec3.distance(MyAvatar.position, properties.position);
             var ikError = MyAvatar.getIKErrorOnLastSolve();
@@ -179,13 +207,13 @@
     }
 
     this.canSitDesktop = function() {
-        var props = Entities.getEntityProperties(this.entityID, ["position"]);
-        var distanceFromSeat = Vec3.distance(MyAvatar.position, props.position);
+        var properties = Entities.getEntityProperties(this.entityID, ["position"]);
+        var distanceFromSeat = Vec3.distance(MyAvatar.position, properties.position);
         return distanceFromSeat < DESKTOP_MAX_DISTANCE && !this.checkSeatForAvatar();
     }
 
     this.hoverEnterEntity = function(event) {
-        if (isInEditMode() || (MyAvatar.getParentID() === this.entityID)) {
+        if (isInEditMode() || (MyAvatar.sessionUUID === this.getSeatUser())) {
             return;
         }
 
@@ -209,7 +237,7 @@
     }
 
     this.clickDownOnEntity = function () {
-        if (isInEditMode() || (MyAvatar.getParentID() === this.entityID)) {
+        if (isInEditMode() || (MyAvatar.sessionUUID === this.getSeatUser())) {
             return;
         }
         if (this.canSitDesktop()) {

From 834755588a3b9d681258d39f46c4d73cf464a84c Mon Sep 17 00:00:00 2001
From: Atlante45 <clement.brisset@gmail.com>
Date: Wed, 22 Feb 2017 12:13:22 -0800
Subject: [PATCH 31/45] Reset sensors and body

---
 scripts/tutorials/entity_scripts/sit.js | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/scripts/tutorials/entity_scripts/sit.js b/scripts/tutorials/entity_scripts/sit.js
index 799800a8e3..aab5d27800 100644
--- a/scripts/tutorials/entity_scripts/sit.js
+++ b/scripts/tutorials/entity_scripts/sit.js
@@ -77,7 +77,7 @@
             return;
         }
 
-        MyAvatar.resetSensors();
+        MyAvatar.resetSensorsAndBody();
 
         var that = this;
         Script.setTimeout(function() {
@@ -117,7 +117,9 @@
 
         MyAvatar.removeAnimationStateHandler(this.animStateHandlerID);
 
-        MyAvatar.resetSensors();
+        Script.setTimeout(function() {
+            MyAvatar.resetSensorsAndBody();
+        }, SIT_DELAY);
 
         Script.update.disconnect(this, this.update);
         Controller.keyPressEvent.disconnect(this, this.keyPressed);

From e9316d30d0705b9d693ac54049e4cfccd3a4bc3d Mon Sep 17 00:00:00 2001
From: Atlante45 <clement.brisset@gmail.com>
Date: Fri, 24 Feb 2017 18:40:36 -0800
Subject: [PATCH 32/45] More IK smoothing experimentation

---
 interface/src/avatar/MyAvatar.cpp             |  2 +-
 .../animation/src/AnimInverseKinematics.cpp   | 20 +++++++++++--------
 scripts/tutorials/entity_scripts/sit.js       |  2 +-
 3 files changed, 14 insertions(+), 10 deletions(-)

diff --git a/interface/src/avatar/MyAvatar.cpp b/interface/src/avatar/MyAvatar.cpp
index 0b69544527..a91cd33827 100644
--- a/interface/src/avatar/MyAvatar.cpp
+++ b/interface/src/avatar/MyAvatar.cpp
@@ -2496,7 +2496,7 @@ bool MyAvatar::pinJoint(int index, const glm::vec3& position, const glm::quat& o
     setPosition(targetPosition);
     setOrientation(targetOrientation);
 
-    _rig->setMaxHipsOffsetLength(0.0f);
+    _rig->setMaxHipsOffsetLength(0.05f);
 
     auto it = std::find(_pinnedJoints.begin(), _pinnedJoints.end(), index);
     if (it == _pinnedJoints.end()) {
diff --git a/libraries/animation/src/AnimInverseKinematics.cpp b/libraries/animation/src/AnimInverseKinematics.cpp
index 1cf70bcc14..c22819f22d 100644
--- a/libraries/animation/src/AnimInverseKinematics.cpp
+++ b/libraries/animation/src/AnimInverseKinematics.cpp
@@ -262,14 +262,14 @@ int AnimInverseKinematics::solveTargetWithCCD(const IKTarget& target, AnimPoseVe
     glm::vec3 tipPosition = absolutePoses[tipIndex].trans();
 
     // descend toward root, pivoting each joint to get tip closer to target position
-    while (pivotIndex != _hipsIndex && pivotsParentIndex != -1) {
+    while (pivotIndex != -1) {
         // compute the two lines that should be aligned
         glm::vec3 jointPosition = absolutePoses[pivotIndex].trans();
         glm::vec3 leverArm = tipPosition - jointPosition;
 
         glm::quat deltaRotation;
         if (targetType == IKTarget::Type::RotationAndPosition ||
-                targetType == IKTarget::Type::HipsRelativeRotationAndPosition) {
+            targetType == IKTarget::Type::HipsRelativeRotationAndPosition) {
             // compute the swing that would get get tip closer
             glm::vec3 targetLine = target.getTranslation() - jointPosition;
 
@@ -338,10 +338,15 @@ int AnimInverseKinematics::solveTargetWithCCD(const IKTarget& target, AnimPoseVe
             deltaRotation = glm::normalize(glm::lerp(glm::quat(), dotSign * deltaRotation, ANGLE_DISTRIBUTION_FACTOR));
         }
 
+        glm::quat parentRotation;
+        if (pivotsParentIndex != -1) {
+            parentRotation = absolutePoses[pivotsParentIndex].rot();
+        }
+
         // compute joint's new parent-relative rotation after swing
         // Q' = dQ * Q   and   Q = Qp * q   -->   q' = Qp^ * dQ * Q
         glm::quat newRot = glm::normalize(glm::inverse(
-                absolutePoses[pivotsParentIndex].rot()) *
+                parentRotation) *
                 deltaRotation *
                 absolutePoses[pivotIndex].rot());
 
@@ -353,7 +358,7 @@ int AnimInverseKinematics::solveTargetWithCCD(const IKTarget& target, AnimPoseVe
                 // the constraint will modify the local rotation of the tip so we must
                 // compute the corresponding model-frame deltaRotation
                 // Q' = Qp^ * dQ * Q  -->  dQ =   Qp * Q' * Q^
-                deltaRotation = absolutePoses[pivotsParentIndex].rot() * newRot * glm::inverse(absolutePoses[pivotIndex].rot());
+                deltaRotation = parentRotation * newRot * glm::inverse(absolutePoses[pivotIndex].rot());
             }
         }
 
@@ -538,10 +543,9 @@ const AnimPoseVec& AnimInverseKinematics::overlay(const AnimVariantMap& animVars
                 _hipsOffset += additionalHipsOffset * tau;
 
                 // clamp the horizontal component of the hips offset
-                float hipsOffsetLength2D = glm::length(glm::vec2(_hipsOffset.x, _hipsOffset.z));
-                if (hipsOffsetLength2D > _maxHipsOffsetLength) {
-                    _hipsOffset.x *= _maxHipsOffsetLength / hipsOffsetLength2D;
-                    _hipsOffset.z *= _maxHipsOffsetLength / hipsOffsetLength2D;
+                float hipsOffsetLength = glm::length(_hipsOffset);
+                if (hipsOffsetLength > _maxHipsOffsetLength) {
+                    _hipsOffset *= _maxHipsOffsetLength / hipsOffsetLength;
                 }
 
             }
diff --git a/scripts/tutorials/entity_scripts/sit.js b/scripts/tutorials/entity_scripts/sit.js
index aab5d27800..174024f5d8 100644
--- a/scripts/tutorials/entity_scripts/sit.js
+++ b/scripts/tutorials/entity_scripts/sit.js
@@ -12,7 +12,7 @@
     var MAX_IK_ERROR = 20;
     var DESKTOP_UI_CHECK_INTERVAL = 250;
     var DESKTOP_MAX_DISTANCE = 5;
-    var SIT_DELAY = 20
+    var SIT_DELAY = 25
 
     this.entityID = null;
     this.timers = {};

From 36dc2dc49d3bad4c8f3b9613d63b3fdc72ef4eb2 Mon Sep 17 00:00:00 2001
From: Atlante45 <clement.brisset@gmail.com>
Date: Sun, 26 Feb 2017 10:18:37 -0800
Subject: [PATCH 33/45] Compute spine length on skeleton load

---
 libraries/animation/src/AnimInverseKinematics.cpp | 12 ++++++++++++
 libraries/animation/src/AnimInverseKinematics.h   |  1 +
 2 files changed, 13 insertions(+)

diff --git a/libraries/animation/src/AnimInverseKinematics.cpp b/libraries/animation/src/AnimInverseKinematics.cpp
index c22819f22d..65de35ce5f 100644
--- a/libraries/animation/src/AnimInverseKinematics.cpp
+++ b/libraries/animation/src/AnimInverseKinematics.cpp
@@ -938,10 +938,22 @@ void AnimInverseKinematics::setSkeletonInternal(AnimSkeleton::ConstPointer skele
         } else {
             _hipsParentIndex = -1;
         }
+
+        auto currentJointIndex = _headIndex;
+        auto parentJointIndex = _skeleton->getParentIndex(currentJointIndex);
+        _spineLength = 0.0f;
+        while (currentJointIndex != _hipsIndex && parentJointIndex != -1) {
+            _spineLength += glm::distance(_skeleton->getAbsoluteDefaultPose(currentJointIndex).trans(),
+                                          _skeleton->getAbsoluteDefaultPose(parentJointIndex).trans());
+
+            currentJointIndex = parentJointIndex;
+            parentJointIndex = _skeleton->getParentIndex(currentJointIndex);
+        }
     } else {
         clearConstraints();
         _headIndex = -1;
         _hipsIndex = -1;
         _hipsParentIndex = -1;
+        _spineLength = 0.0f;
     }
 }
diff --git a/libraries/animation/src/AnimInverseKinematics.h b/libraries/animation/src/AnimInverseKinematics.h
index 892a5616b2..ad5018b0b8 100644
--- a/libraries/animation/src/AnimInverseKinematics.h
+++ b/libraries/animation/src/AnimInverseKinematics.h
@@ -91,6 +91,7 @@ protected:
     int _headIndex { -1 };
     int _hipsIndex { -1 };
     int _hipsParentIndex { -1 };
+    float _spineLength { 0.0f };
 
     // _maxTargetIndex is tracked to help optimize the recalculation of absolute poses
     // during the the cyclic coordinate descent algorithm

From fcc924ce8ea759d42e211eae6fd93062273101fa Mon Sep 17 00:00:00 2001
From: Atlante45 <clement.brisset@gmail.com>
Date: Sun, 26 Feb 2017 13:21:14 -0800
Subject: [PATCH 34/45] Add downward force on the hips to strech the spine.

---
 libraries/animation/src/AnimInverseKinematics.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/libraries/animation/src/AnimInverseKinematics.cpp b/libraries/animation/src/AnimInverseKinematics.cpp
index 65de35ce5f..06fd9ddb63 100644
--- a/libraries/animation/src/AnimInverseKinematics.cpp
+++ b/libraries/animation/src/AnimInverseKinematics.cpp
@@ -537,6 +537,10 @@ const AnimPoseVec& AnimInverseKinematics::overlay(const AnimVariantMap& animVars
                     additionalHipsOffset /= totalWeight;
                 }
 
+                // Add downward pressure on the hips
+                additionalHipsOffset *= 0.95f;
+                additionalHipsOffset -= 1.0f;
+
                 // smooth transitions by relaxing _hipsOffset toward the new value
                 const float HIPS_OFFSET_SLAVE_TIMESCALE = 0.10f;
                 float tau = dt < HIPS_OFFSET_SLAVE_TIMESCALE ?  dt / HIPS_OFFSET_SLAVE_TIMESCALE : 1.0f;

From b82817e54c1b5ae0c0f0fdde53a8fa9f25cebcd1 Mon Sep 17 00:00:00 2001
From: Atlante45 <clement.brisset@gmail.com>
Date: Sun, 26 Feb 2017 15:02:44 -0800
Subject: [PATCH 35/45] Alternative sit script

---
 scripts/tutorials/entity_scripts/sit2.js | 249 +++++++++++++++++++++++
 1 file changed, 249 insertions(+)
 create mode 100644 scripts/tutorials/entity_scripts/sit2.js

diff --git a/scripts/tutorials/entity_scripts/sit2.js b/scripts/tutorials/entity_scripts/sit2.js
new file mode 100644
index 0000000000..a9f64969e8
--- /dev/null
+++ b/scripts/tutorials/entity_scripts/sit2.js
@@ -0,0 +1,249 @@
+(function() {
+    Script.include("/~/system/libraries/utils.js");
+
+    var ROLE = "fly";
+    var ANIMATION_URL = "https://s3-us-west-1.amazonaws.com/hifi-content/clement/production/animations/sitting_idle.fbx";
+    var ANIMATION_FPS = 30;
+    var ANIMATION_FIRST_FRAME = 1;
+    var ANIMATION_LAST_FRAME = 10;
+    var RELEASE_KEYS = ['w', 'a', 's', 'd', 'UP', 'LEFT', 'DOWN', 'RIGHT'];
+    var RELEASE_TIME = 500; // ms
+    var RELEASE_DISTANCE = 0.2; // meters
+    var MAX_IK_ERROR = 20;
+    var DESKTOP_UI_CHECK_INTERVAL = 250;
+    var DESKTOP_MAX_DISTANCE = 5;
+    var SIT_DELAY = 25
+
+    this.entityID = null;
+    this.timers = {};
+    this.animStateHandlerID = null;
+
+    this.preload = function(entityID) {
+        this.entityID = entityID;
+    }
+    this.unload = function() {
+        if (MyAvatar.sessionUUID === this.getSeatUser()) {
+            this.sitUp(this.entityID);
+        }
+        if (this.interval) {
+            Script.clearInterval(this.interval);
+            this.interval = null;
+        }
+        this.cleanupOverlay();
+    }
+
+    this.setSeatUser = function(user) {
+        var userData = Entities.getEntityProperties(this.entityID, ["userData"]).userData;
+        userData = JSON.parse(userData);
+
+        if (user) {
+            userData.seat.user = user;
+        } else {
+            delete userData.seat.user;
+        }
+
+        Entities.editEntity(this.entityID, {
+            userData: JSON.stringify(userData)
+        });
+    }
+    this.getSeatUser = function() {
+        var properties = Entities.getEntityProperties(this.entityID, ["userData", "position"]);
+        var userData = JSON.parse(properties.userData);
+
+        if (userData.seat.user && userData.seat.user !== MyAvatar.sessionUUID) {
+            var avatar = AvatarList.getAvatar(userData.seat.user);
+            if (avatar && Vec3.distance(avatar.position, properties.position) > RELEASE_DISTANCE) {
+                return null;
+            }
+        }
+        return userData.seat.user;
+    }
+
+    this.checkSeatForAvatar = function() {
+        var seatUser = this.getSeatUser();
+        var avatarIdentifiers = AvatarList.getAvatarIdentifiers();
+        for (var i in avatarIdentifiers) {
+            var avatar = AvatarList.getAvatar(avatarIdentifiers[i]);
+            if (avatar && avatar.sessionUUID === seatUser) {
+                return true;
+            }
+        }
+        return false;
+    }
+
+    this.sitDown = function() {
+        if (this.checkSeatForAvatar()) {
+            print("Someone is already sitting in that chair.");
+            return;
+        }
+
+        MyAvatar.resetSensorsAndBody();
+
+        var that = this;
+        Script.setTimeout(function() {
+            that.setSeatUser(MyAvatar.sessionUUID);
+            MyAvatar.characterControllerEnabled = false;
+            MyAvatar.hmdLeanRecenterEnabled = false;
+            MyAvatar.overrideRoleAnimation(ROLE, ANIMATION_URL, ANIMATION_FPS, true, ANIMATION_FIRST_FRAME, ANIMATION_LAST_FRAME);
+
+            var properties = Entities.getEntityProperties(that.entityID, ["position", "rotation"]);
+            var index = MyAvatar.getJointIndex("Hips");
+            MyAvatar.pinJoint(index, properties.position, properties.rotation);
+
+            that.animStateHandlerID = MyAvatar.addAnimationStateHandler(function(properties) {
+                return {  };
+            }, ["headType"]);
+
+            Script.update.connect(that, that.update);
+            Controller.keyPressEvent.connect(that, that.keyPressed);
+            Controller.keyReleaseEvent.connect(that, that.keyReleased);
+            for (var i in RELEASE_KEYS) {
+                Controller.captureKeyEvents({ text: RELEASE_KEYS[i] });
+            }
+        }, SIT_DELAY);
+    }
+
+    this.sitUp = function() {
+        MyAvatar.bodyPitch = 0.0;
+        MyAvatar.bodyRoll = 0.0;
+
+        MyAvatar.restoreRoleAnimation(ROLE);
+        MyAvatar.characterControllerEnabled = true;
+        MyAvatar.hmdLeanRecenterEnabled = true;
+        this.setSeatUser(null);
+
+        var index = MyAvatar.getJointIndex("Hips");
+        MyAvatar.clearPinOnJoint(index);
+
+        MyAvatar.removeAnimationStateHandler(this.animStateHandlerID);
+
+        Script.setTimeout(function() {
+            MyAvatar.resetSensorsAndBody();
+        }, SIT_DELAY);
+
+        Script.update.disconnect(this, this.update);
+        Controller.keyPressEvent.disconnect(this, this.keyPressed);
+        Controller.keyReleaseEvent.disconnect(this, this.keyReleased);
+        for (var i in RELEASE_KEYS) {
+            Controller.releaseKeyEvents({ text: RELEASE_KEYS[i] });
+        }
+    }
+
+    this.sit = function () {
+        this.sitDown();
+    }
+
+    this.createOverlay = function() {
+        var text = "Click to sit";
+        var textMargin = 0.05;
+        var lineHeight = 0.15;
+
+        this.overlay = Overlays.addOverlay("text3d", {
+            position: { x: 0.0, y: 0.0, z: 0.0},
+            dimensions: { x: 0.1, y: 0.1 },
+            backgroundColor: { red: 0, green: 0, blue: 0 },
+            color: { red: 255, green: 255, blue: 255 },
+            topMargin: textMargin,
+            leftMargin: textMargin,
+            bottomMargin: textMargin,
+            rightMargin: textMargin,
+            text: text,
+            lineHeight: lineHeight,
+            alpha: 0.9,
+            backgroundAlpha: 0.9,
+            ignoreRayIntersection: true,
+            visible: true,
+            isFacingAvatar: true
+        });
+        var textSize = Overlays.textSize(this.overlay, text);
+        var overlayDimensions = {
+            x: textSize.width + 2 * textMargin,
+            y: textSize.height + 2 * textMargin
+        }
+        var properties = Entities.getEntityProperties(this.entityID, ["position", "registrationPoint", "dimensions"]);
+        var yOffset = (1.0 - properties.registrationPoint.y) * properties.dimensions.y + (overlayDimensions.y / 2.0);
+        var overlayPosition = Vec3.sum(properties.position, { x: 0, y: yOffset, z: 0 });
+        Overlays.editOverlay(this.overlay, {
+            position: overlayPosition,
+            dimensions: overlayDimensions
+        });
+    }
+    this.cleanupOverlay = function() {
+        if (this.overlay !== null) {
+            Overlays.deleteOverlay(this.overlay);
+            this.overlay = null;
+        }
+    }
+
+
+    this.update = function(dt) {
+        if (MyAvatar.sessionUUID === this.getSeatUser()) {
+            var properties = Entities.getEntityProperties(this.entityID, ["position"]);
+            var avatarDistance = Vec3.distance(MyAvatar.position, properties.position);
+            var ikError = MyAvatar.getIKErrorOnLastSolve();
+            if (avatarDistance > RELEASE_DISTANCE || ikError > MAX_IK_ERROR) {
+                print("IK error: " + ikError + ", distance from chair: " + avatarDistance);
+                this.sitUp(this.entityID);
+            }
+        }
+    }
+    this.keyPressed = function(event) {
+        if (isInEditMode()) {
+            return;
+        }
+
+        if (RELEASE_KEYS.indexOf(event.text) !== -1) {
+            var that = this;
+            this.timers[event.text] = Script.setTimeout(function() {
+                that.sitUp();
+            }, RELEASE_TIME);
+        }
+    }
+    this.keyReleased = function(event) {
+        if (RELEASE_KEYS.indexOf(event.text) !== -1) {
+            if (this.timers[event.text]) {
+                Script.clearTimeout(this.timers[event.text]);
+                delete this.timers[event.text];
+            }
+        }
+    }
+
+    this.canSitDesktop = function() {
+        var properties = Entities.getEntityProperties(this.entityID, ["position"]);
+        var distanceFromSeat = Vec3.distance(MyAvatar.position, properties.position);
+        return distanceFromSeat < DESKTOP_MAX_DISTANCE && !this.checkSeatForAvatar();
+    }
+
+    this.hoverEnterEntity = function(event) {
+        if (isInEditMode() || (MyAvatar.sessionUUID === this.getSeatUser())) {
+            return;
+        }
+
+        var that = this;
+        this.interval = Script.setInterval(function() {
+            if (that.overlay === null) {
+                if (that.canSitDesktop()) {
+                    that.createOverlay();
+                }
+            } else if (!that.canSitDesktop()) {
+                that.cleanupOverlay();
+            }
+        }, DESKTOP_UI_CHECK_INTERVAL);
+    }
+    this.hoverLeaveEntity = function(event) {
+        if (this.interval) {
+            Script.clearInterval(this.interval);
+            this.interval = null;
+        }
+        this.cleanupOverlay();
+    }
+
+    this.clickDownOnEntity = function () {
+        if (isInEditMode() || (MyAvatar.sessionUUID === this.getSeatUser())) {
+            return;
+        }
+        if (this.canSitDesktop()) {
+            this.sitDown();
+        }
+    }
+});

From d9e2b3a20d56c6da80e15312259821357b65110e Mon Sep 17 00:00:00 2001
From: Atlante45 <clement.brisset@gmail.com>
Date: Sun, 26 Feb 2017 16:06:35 -0800
Subject: [PATCH 36/45] Remove lower spine constrain while sitting, losen head

---
 libraries/animation/src/AnimInverseKinematics.cpp | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/libraries/animation/src/AnimInverseKinematics.cpp b/libraries/animation/src/AnimInverseKinematics.cpp
index 06fd9ddb63..48de7747f8 100644
--- a/libraries/animation/src/AnimInverseKinematics.cpp
+++ b/libraries/animation/src/AnimInverseKinematics.cpp
@@ -275,7 +275,7 @@ int AnimInverseKinematics::solveTargetWithCCD(const IKTarget& target, AnimPoseVe
 
             const float MIN_AXIS_LENGTH = 1.0e-4f;
             RotationConstraint* constraint = getConstraint(pivotIndex);
-            if (constraint && constraint->isLowerSpine()) {
+            if (constraint && constraint->isLowerSpine() && tipIndex != _headIndex) {
                 // for these types of targets we only allow twist at the lower-spine
                 // (this prevents the hand targets from bending the spine too much and thereby driving the hips too far)
                 glm::vec3 twistAxis = absolutePoses[pivotIndex].trans() - absolutePoses[pivotsParentIndex].trans();
@@ -817,11 +817,11 @@ void AnimInverseKinematics::initConstraints() {
         } else if (0 == baseName.compare("Head", Qt::CaseSensitive)) {
             SwingTwistConstraint* stConstraint = new SwingTwistConstraint();
             stConstraint->setReferenceRotation(_defaultRelativePoses[i].rot());
-            const float MAX_HEAD_TWIST = PI / 9.0f;
+            const float MAX_HEAD_TWIST = PI / 6.0f;
             stConstraint->setTwistLimits(-MAX_HEAD_TWIST, MAX_HEAD_TWIST);
 
             std::vector<float> minDots;
-            const float MAX_HEAD_SWING = PI / 10.0f;
+            const float MAX_HEAD_SWING = PI / 6.0f;
             minDots.push_back(cosf(MAX_HEAD_SWING));
             stConstraint->setSwingLimits(minDots);
 

From 6991970044aa5ddae053510063744a9cabface40 Mon Sep 17 00:00:00 2001
From: Andrew Meadows <andrew@highfidelity.io>
Date: Sun, 26 Feb 2017 16:05:56 -0800
Subject: [PATCH 37/45] relax lower spine for head IK when sitting

also: fix crash bug for bad parentJointIndex
also: reduce limit leakage for IK rotation
---
 libraries/animation/src/AnimInverseKinematics.cpp | 11 ++++++-----
 1 file changed, 6 insertions(+), 5 deletions(-)

diff --git a/libraries/animation/src/AnimInverseKinematics.cpp b/libraries/animation/src/AnimInverseKinematics.cpp
index 48de7747f8..324e184b53 100644
--- a/libraries/animation/src/AnimInverseKinematics.cpp
+++ b/libraries/animation/src/AnimInverseKinematics.cpp
@@ -263,6 +263,7 @@ int AnimInverseKinematics::solveTargetWithCCD(const IKTarget& target, AnimPoseVe
 
     // descend toward root, pivoting each joint to get tip closer to target position
     while (pivotIndex != -1) {
+        pivotsParentIndex = _skeleton->getParentIndex(pivotIndex);
         // compute the two lines that should be aligned
         glm::vec3 jointPosition = absolutePoses[pivotIndex].trans();
         glm::vec3 leverArm = tipPosition - jointPosition;
@@ -301,8 +302,8 @@ int AnimInverseKinematics::solveTargetWithCCD(const IKTarget& target, AnimPoseVe
                 const float MIN_ADJUSTMENT_ANGLE = 1.0e-4f;
                 if (angle > MIN_ADJUSTMENT_ANGLE) {
                     // reduce angle by a fraction (for stability)
-                    const float FRACTION = 0.5f;
-                    angle *= FRACTION;
+                    const float STABILITY_FRACTION = 0.5f;
+                    angle *= STABILITY_FRACTION;
                     deltaRotation = glm::angleAxis(angle, axis);
 
                     // The swing will re-orient the tip but there will tend to be be a non-zero delta between the tip's
@@ -324,7 +325,8 @@ int AnimInverseKinematics::solveTargetWithCCD(const IKTarget& target, AnimPoseVe
                             glm::vec3 axis = glm::normalize(deltaRotation * leverArm);
                             swingTwistDecomposition(missingRotation, axis, swingPart, twistPart);
                             float dotSign = copysignf(1.0f, twistPart.w);
-                            deltaRotation = glm::normalize(glm::lerp(glm::quat(), dotSign * twistPart, FRACTION)) * deltaRotation;
+                            const float LIMIT_LEAK_FRACTION = 0.1f;
+                            deltaRotation = glm::normalize(glm::lerp(glm::quat(), dotSign * twistPart, LIMIT_LEAK_FRACTION)) * deltaRotation;
                         }
                     }
                 }
@@ -376,7 +378,6 @@ int AnimInverseKinematics::solveTargetWithCCD(const IKTarget& target, AnimPoseVe
         tipParentOrientation = glm::normalize(deltaRotation * tipParentOrientation);
 
         pivotIndex = pivotsParentIndex;
-        pivotsParentIndex = _skeleton->getParentIndex(pivotIndex);
     }
     return lowestMovedIndex;
 }
@@ -781,7 +782,7 @@ void AnimInverseKinematics::initConstraints() {
             stConstraint->setTwistLimits(-MAX_SPINE_TWIST, MAX_SPINE_TWIST);
 
             std::vector<float> minDots;
-            const float MAX_SPINE_SWING = PI / 14.0f;
+            const float MAX_SPINE_SWING = PI / 10.0f;
             minDots.push_back(cosf(MAX_SPINE_SWING));
             stConstraint->setSwingLimits(minDots);
             if (0 == baseName.compare("Spine1", Qt::CaseSensitive)

From 2d8b71810e3c1cff92076dc39671048b2bacb74c Mon Sep 17 00:00:00 2001
From: Atlante45 <clement.brisset@gmail.com>
Date: Sun, 26 Feb 2017 17:15:31 -0800
Subject: [PATCH 38/45] remove hips swing

---
 libraries/animation/src/AnimInverseKinematics.cpp | 13 ++++---------
 1 file changed, 4 insertions(+), 9 deletions(-)

diff --git a/libraries/animation/src/AnimInverseKinematics.cpp b/libraries/animation/src/AnimInverseKinematics.cpp
index 324e184b53..1eda4db2c0 100644
--- a/libraries/animation/src/AnimInverseKinematics.cpp
+++ b/libraries/animation/src/AnimInverseKinematics.cpp
@@ -262,8 +262,7 @@ int AnimInverseKinematics::solveTargetWithCCD(const IKTarget& target, AnimPoseVe
     glm::vec3 tipPosition = absolutePoses[tipIndex].trans();
 
     // descend toward root, pivoting each joint to get tip closer to target position
-    while (pivotIndex != -1) {
-        pivotsParentIndex = _skeleton->getParentIndex(pivotIndex);
+    while (pivotIndex != _hipsIndex && pivotsParentIndex != -1) {
         // compute the two lines that should be aligned
         glm::vec3 jointPosition = absolutePoses[pivotIndex].trans();
         glm::vec3 leverArm = tipPosition - jointPosition;
@@ -340,15 +339,10 @@ int AnimInverseKinematics::solveTargetWithCCD(const IKTarget& target, AnimPoseVe
             deltaRotation = glm::normalize(glm::lerp(glm::quat(), dotSign * deltaRotation, ANGLE_DISTRIBUTION_FACTOR));
         }
 
-        glm::quat parentRotation;
-        if (pivotsParentIndex != -1) {
-            parentRotation = absolutePoses[pivotsParentIndex].rot();
-        }
-
         // compute joint's new parent-relative rotation after swing
         // Q' = dQ * Q   and   Q = Qp * q   -->   q' = Qp^ * dQ * Q
         glm::quat newRot = glm::normalize(glm::inverse(
-                parentRotation) *
+                absolutePoses[pivotsParentIndex].rot()) *
                 deltaRotation *
                 absolutePoses[pivotIndex].rot());
 
@@ -360,7 +354,7 @@ int AnimInverseKinematics::solveTargetWithCCD(const IKTarget& target, AnimPoseVe
                 // the constraint will modify the local rotation of the tip so we must
                 // compute the corresponding model-frame deltaRotation
                 // Q' = Qp^ * dQ * Q  -->  dQ =   Qp * Q' * Q^
-                deltaRotation = parentRotation * newRot * glm::inverse(absolutePoses[pivotIndex].rot());
+                deltaRotation = absolutePoses[pivotsParentIndex].rot() * newRot * glm::inverse(absolutePoses[pivotIndex].rot());
             }
         }
 
@@ -378,6 +372,7 @@ int AnimInverseKinematics::solveTargetWithCCD(const IKTarget& target, AnimPoseVe
         tipParentOrientation = glm::normalize(deltaRotation * tipParentOrientation);
 
         pivotIndex = pivotsParentIndex;
+        pivotsParentIndex = _skeleton->getParentIndex(pivotIndex);
     }
     return lowestMovedIndex;
 }

From 40fdc4ea41a1989c40312fe7b2605ccf0a7e3b21 Mon Sep 17 00:00:00 2001
From: Atlante45 <clement.brisset@gmail.com>
Date: Mon, 27 Feb 2017 15:03:15 -0800
Subject: [PATCH 39/45] Remove extra script

---
 scripts/tutorials/entity_scripts/sit.js  |  19 +-
 scripts/tutorials/entity_scripts/sit2.js | 249 -----------------------
 2 files changed, 9 insertions(+), 259 deletions(-)
 delete mode 100644 scripts/tutorials/entity_scripts/sit2.js

diff --git a/scripts/tutorials/entity_scripts/sit.js b/scripts/tutorials/entity_scripts/sit.js
index 174024f5d8..c5bc0c42cc 100644
--- a/scripts/tutorials/entity_scripts/sit.js
+++ b/scripts/tutorials/entity_scripts/sit.js
@@ -77,17 +77,17 @@
             return;
         }
 
+        that.setSeatUser(MyAvatar.sessionUUID);
+        MyAvatar.characterControllerEnabled = false;
+        MyAvatar.hmdLeanRecenterEnabled = false;
+        MyAvatar.overrideRoleAnimation(ROLE, ANIMATION_URL, ANIMATION_FPS, true, ANIMATION_FIRST_FRAME, ANIMATION_LAST_FRAME);
         MyAvatar.resetSensorsAndBody();
 
+        var properties = Entities.getEntityProperties(that.entityID, ["position", "rotation"]);
+        var index = MyAvatar.getJointIndex("Hips");
+
         var that = this;
         Script.setTimeout(function() {
-            that.setSeatUser(MyAvatar.sessionUUID);
-            MyAvatar.characterControllerEnabled = false;
-            MyAvatar.hmdLeanRecenterEnabled = false;
-            MyAvatar.overrideRoleAnimation(ROLE, ANIMATION_URL, ANIMATION_FPS, true, ANIMATION_FIRST_FRAME, ANIMATION_LAST_FRAME);
-
-            var properties = Entities.getEntityProperties(that.entityID, ["position", "rotation"]);
-            var index = MyAvatar.getJointIndex("Hips");
             MyAvatar.pinJoint(index, properties.position, properties.rotation);
 
             that.animStateHandlerID = MyAvatar.addAnimationStateHandler(function(properties) {
@@ -104,9 +104,6 @@
     }
 
     this.sitUp = function() {
-        MyAvatar.bodyPitch = 0.0;
-        MyAvatar.bodyRoll = 0.0;
-
         MyAvatar.restoreRoleAnimation(ROLE);
         MyAvatar.characterControllerEnabled = true;
         MyAvatar.hmdLeanRecenterEnabled = true;
@@ -118,6 +115,8 @@
         MyAvatar.removeAnimationStateHandler(this.animStateHandlerID);
 
         Script.setTimeout(function() {
+            MyAvatar.bodyPitch = 0.0;
+            MyAvatar.bodyRoll = 0.0;
             MyAvatar.resetSensorsAndBody();
         }, SIT_DELAY);
 
diff --git a/scripts/tutorials/entity_scripts/sit2.js b/scripts/tutorials/entity_scripts/sit2.js
deleted file mode 100644
index a9f64969e8..0000000000
--- a/scripts/tutorials/entity_scripts/sit2.js
+++ /dev/null
@@ -1,249 +0,0 @@
-(function() {
-    Script.include("/~/system/libraries/utils.js");
-
-    var ROLE = "fly";
-    var ANIMATION_URL = "https://s3-us-west-1.amazonaws.com/hifi-content/clement/production/animations/sitting_idle.fbx";
-    var ANIMATION_FPS = 30;
-    var ANIMATION_FIRST_FRAME = 1;
-    var ANIMATION_LAST_FRAME = 10;
-    var RELEASE_KEYS = ['w', 'a', 's', 'd', 'UP', 'LEFT', 'DOWN', 'RIGHT'];
-    var RELEASE_TIME = 500; // ms
-    var RELEASE_DISTANCE = 0.2; // meters
-    var MAX_IK_ERROR = 20;
-    var DESKTOP_UI_CHECK_INTERVAL = 250;
-    var DESKTOP_MAX_DISTANCE = 5;
-    var SIT_DELAY = 25
-
-    this.entityID = null;
-    this.timers = {};
-    this.animStateHandlerID = null;
-
-    this.preload = function(entityID) {
-        this.entityID = entityID;
-    }
-    this.unload = function() {
-        if (MyAvatar.sessionUUID === this.getSeatUser()) {
-            this.sitUp(this.entityID);
-        }
-        if (this.interval) {
-            Script.clearInterval(this.interval);
-            this.interval = null;
-        }
-        this.cleanupOverlay();
-    }
-
-    this.setSeatUser = function(user) {
-        var userData = Entities.getEntityProperties(this.entityID, ["userData"]).userData;
-        userData = JSON.parse(userData);
-
-        if (user) {
-            userData.seat.user = user;
-        } else {
-            delete userData.seat.user;
-        }
-
-        Entities.editEntity(this.entityID, {
-            userData: JSON.stringify(userData)
-        });
-    }
-    this.getSeatUser = function() {
-        var properties = Entities.getEntityProperties(this.entityID, ["userData", "position"]);
-        var userData = JSON.parse(properties.userData);
-
-        if (userData.seat.user && userData.seat.user !== MyAvatar.sessionUUID) {
-            var avatar = AvatarList.getAvatar(userData.seat.user);
-            if (avatar && Vec3.distance(avatar.position, properties.position) > RELEASE_DISTANCE) {
-                return null;
-            }
-        }
-        return userData.seat.user;
-    }
-
-    this.checkSeatForAvatar = function() {
-        var seatUser = this.getSeatUser();
-        var avatarIdentifiers = AvatarList.getAvatarIdentifiers();
-        for (var i in avatarIdentifiers) {
-            var avatar = AvatarList.getAvatar(avatarIdentifiers[i]);
-            if (avatar && avatar.sessionUUID === seatUser) {
-                return true;
-            }
-        }
-        return false;
-    }
-
-    this.sitDown = function() {
-        if (this.checkSeatForAvatar()) {
-            print("Someone is already sitting in that chair.");
-            return;
-        }
-
-        MyAvatar.resetSensorsAndBody();
-
-        var that = this;
-        Script.setTimeout(function() {
-            that.setSeatUser(MyAvatar.sessionUUID);
-            MyAvatar.characterControllerEnabled = false;
-            MyAvatar.hmdLeanRecenterEnabled = false;
-            MyAvatar.overrideRoleAnimation(ROLE, ANIMATION_URL, ANIMATION_FPS, true, ANIMATION_FIRST_FRAME, ANIMATION_LAST_FRAME);
-
-            var properties = Entities.getEntityProperties(that.entityID, ["position", "rotation"]);
-            var index = MyAvatar.getJointIndex("Hips");
-            MyAvatar.pinJoint(index, properties.position, properties.rotation);
-
-            that.animStateHandlerID = MyAvatar.addAnimationStateHandler(function(properties) {
-                return {  };
-            }, ["headType"]);
-
-            Script.update.connect(that, that.update);
-            Controller.keyPressEvent.connect(that, that.keyPressed);
-            Controller.keyReleaseEvent.connect(that, that.keyReleased);
-            for (var i in RELEASE_KEYS) {
-                Controller.captureKeyEvents({ text: RELEASE_KEYS[i] });
-            }
-        }, SIT_DELAY);
-    }
-
-    this.sitUp = function() {
-        MyAvatar.bodyPitch = 0.0;
-        MyAvatar.bodyRoll = 0.0;
-
-        MyAvatar.restoreRoleAnimation(ROLE);
-        MyAvatar.characterControllerEnabled = true;
-        MyAvatar.hmdLeanRecenterEnabled = true;
-        this.setSeatUser(null);
-
-        var index = MyAvatar.getJointIndex("Hips");
-        MyAvatar.clearPinOnJoint(index);
-
-        MyAvatar.removeAnimationStateHandler(this.animStateHandlerID);
-
-        Script.setTimeout(function() {
-            MyAvatar.resetSensorsAndBody();
-        }, SIT_DELAY);
-
-        Script.update.disconnect(this, this.update);
-        Controller.keyPressEvent.disconnect(this, this.keyPressed);
-        Controller.keyReleaseEvent.disconnect(this, this.keyReleased);
-        for (var i in RELEASE_KEYS) {
-            Controller.releaseKeyEvents({ text: RELEASE_KEYS[i] });
-        }
-    }
-
-    this.sit = function () {
-        this.sitDown();
-    }
-
-    this.createOverlay = function() {
-        var text = "Click to sit";
-        var textMargin = 0.05;
-        var lineHeight = 0.15;
-
-        this.overlay = Overlays.addOverlay("text3d", {
-            position: { x: 0.0, y: 0.0, z: 0.0},
-            dimensions: { x: 0.1, y: 0.1 },
-            backgroundColor: { red: 0, green: 0, blue: 0 },
-            color: { red: 255, green: 255, blue: 255 },
-            topMargin: textMargin,
-            leftMargin: textMargin,
-            bottomMargin: textMargin,
-            rightMargin: textMargin,
-            text: text,
-            lineHeight: lineHeight,
-            alpha: 0.9,
-            backgroundAlpha: 0.9,
-            ignoreRayIntersection: true,
-            visible: true,
-            isFacingAvatar: true
-        });
-        var textSize = Overlays.textSize(this.overlay, text);
-        var overlayDimensions = {
-            x: textSize.width + 2 * textMargin,
-            y: textSize.height + 2 * textMargin
-        }
-        var properties = Entities.getEntityProperties(this.entityID, ["position", "registrationPoint", "dimensions"]);
-        var yOffset = (1.0 - properties.registrationPoint.y) * properties.dimensions.y + (overlayDimensions.y / 2.0);
-        var overlayPosition = Vec3.sum(properties.position, { x: 0, y: yOffset, z: 0 });
-        Overlays.editOverlay(this.overlay, {
-            position: overlayPosition,
-            dimensions: overlayDimensions
-        });
-    }
-    this.cleanupOverlay = function() {
-        if (this.overlay !== null) {
-            Overlays.deleteOverlay(this.overlay);
-            this.overlay = null;
-        }
-    }
-
-
-    this.update = function(dt) {
-        if (MyAvatar.sessionUUID === this.getSeatUser()) {
-            var properties = Entities.getEntityProperties(this.entityID, ["position"]);
-            var avatarDistance = Vec3.distance(MyAvatar.position, properties.position);
-            var ikError = MyAvatar.getIKErrorOnLastSolve();
-            if (avatarDistance > RELEASE_DISTANCE || ikError > MAX_IK_ERROR) {
-                print("IK error: " + ikError + ", distance from chair: " + avatarDistance);
-                this.sitUp(this.entityID);
-            }
-        }
-    }
-    this.keyPressed = function(event) {
-        if (isInEditMode()) {
-            return;
-        }
-
-        if (RELEASE_KEYS.indexOf(event.text) !== -1) {
-            var that = this;
-            this.timers[event.text] = Script.setTimeout(function() {
-                that.sitUp();
-            }, RELEASE_TIME);
-        }
-    }
-    this.keyReleased = function(event) {
-        if (RELEASE_KEYS.indexOf(event.text) !== -1) {
-            if (this.timers[event.text]) {
-                Script.clearTimeout(this.timers[event.text]);
-                delete this.timers[event.text];
-            }
-        }
-    }
-
-    this.canSitDesktop = function() {
-        var properties = Entities.getEntityProperties(this.entityID, ["position"]);
-        var distanceFromSeat = Vec3.distance(MyAvatar.position, properties.position);
-        return distanceFromSeat < DESKTOP_MAX_DISTANCE && !this.checkSeatForAvatar();
-    }
-
-    this.hoverEnterEntity = function(event) {
-        if (isInEditMode() || (MyAvatar.sessionUUID === this.getSeatUser())) {
-            return;
-        }
-
-        var that = this;
-        this.interval = Script.setInterval(function() {
-            if (that.overlay === null) {
-                if (that.canSitDesktop()) {
-                    that.createOverlay();
-                }
-            } else if (!that.canSitDesktop()) {
-                that.cleanupOverlay();
-            }
-        }, DESKTOP_UI_CHECK_INTERVAL);
-    }
-    this.hoverLeaveEntity = function(event) {
-        if (this.interval) {
-            Script.clearInterval(this.interval);
-            this.interval = null;
-        }
-        this.cleanupOverlay();
-    }
-
-    this.clickDownOnEntity = function () {
-        if (isInEditMode() || (MyAvatar.sessionUUID === this.getSeatUser())) {
-            return;
-        }
-        if (this.canSitDesktop()) {
-            this.sitDown();
-        }
-    }
-});

From 9ce10742ec0ae8f62bbcdfc078e0e12ceaa5ca3b Mon Sep 17 00:00:00 2001
From: Atlante45 <clement.brisset@gmail.com>
Date: Mon, 27 Feb 2017 16:31:32 -0800
Subject: [PATCH 40/45] Move avatar not joint

---
 interface/src/avatar/MyAvatar.cpp | 10 ++--------
 1 file changed, 2 insertions(+), 8 deletions(-)

diff --git a/interface/src/avatar/MyAvatar.cpp b/interface/src/avatar/MyAvatar.cpp
index a91cd33827..51e04e86b9 100644
--- a/interface/src/avatar/MyAvatar.cpp
+++ b/interface/src/avatar/MyAvatar.cpp
@@ -2487,14 +2487,8 @@ bool MyAvatar::pinJoint(int index, const glm::vec3& position, const glm::quat& o
         return false;
     }
 
-    auto jointTranslation = getAbsoluteJointTranslationInObjectFrame(index);
-    auto jointRotation = getAbsoluteJointRotationInObjectFrame(index);
-
-    auto targetOrientation = orientation * glm::conjugate(glm::normalize(jointRotation));
-    auto targetPosition = position - orientation * jointTranslation;
-
-    setPosition(targetPosition);
-    setOrientation(targetOrientation);
+    setPosition(position);
+    setOrientation(orientation);
 
     _rig->setMaxHipsOffsetLength(0.05f);
 

From cd10b828ddd57e6939026e717b73792ad57c85ec Mon Sep 17 00:00:00 2001
From: Atlante45 <clement.brisset@gmail.com>
Date: Mon, 27 Feb 2017 16:32:34 -0800
Subject: [PATCH 41/45] Store whether avatar is sitting in a setting

---
 scripts/tutorials/entity_scripts/sit.js | 51 +++++++++++++++----------
 1 file changed, 31 insertions(+), 20 deletions(-)

diff --git a/scripts/tutorials/entity_scripts/sit.js b/scripts/tutorials/entity_scripts/sit.js
index c5bc0c42cc..339dcde357 100644
--- a/scripts/tutorials/entity_scripts/sit.js
+++ b/scripts/tutorials/entity_scripts/sit.js
@@ -1,6 +1,7 @@
 (function() {
     Script.include("/~/system/libraries/utils.js");
 
+    var SETTING_KEY = "com.highfidelity.avatar.isSitting";
     var ROLE = "fly";
     var ANIMATION_URL = "https://s3-us-west-1.amazonaws.com/hifi-content/clement/production/animations/sitting_idle.fbx";
     var ANIMATION_FPS = 30;
@@ -77,23 +78,28 @@
             return;
         }
 
-        that.setSeatUser(MyAvatar.sessionUUID);
-        MyAvatar.characterControllerEnabled = false;
-        MyAvatar.hmdLeanRecenterEnabled = false;
-        MyAvatar.overrideRoleAnimation(ROLE, ANIMATION_URL, ANIMATION_FPS, true, ANIMATION_FIRST_FRAME, ANIMATION_LAST_FRAME);
-        MyAvatar.resetSensorsAndBody();
+        this.setSeatUser(MyAvatar.sessionUUID);
 
-        var properties = Entities.getEntityProperties(that.entityID, ["position", "rotation"]);
-        var index = MyAvatar.getJointIndex("Hips");
+        var previousValue = Settings.getValue(SETTING_KEY);
+        Settings.setValue(SETTING_KEY, this.entityID);
+        if (previousValue === "") {
+            MyAvatar.characterControllerEnabled = false;
+            MyAvatar.hmdLeanRecenterEnabled = false;
+            MyAvatar.overrideRoleAnimation(ROLE, ANIMATION_URL, ANIMATION_FPS, true, ANIMATION_FIRST_FRAME, ANIMATION_LAST_FRAME);
+        }
+        MyAvatar.resetSensorsAndBody();
+        MyAvatar.bodyRoll = 0.0;
+        MyAvatar.bodyPitch = 0.0;
 
         var that = this;
         Script.setTimeout(function() {
+            var properties = Entities.getEntityProperties(that.entityID, ["position", "rotation"]);
+            var index = MyAvatar.getJointIndex("Hips");
             MyAvatar.pinJoint(index, properties.position, properties.rotation);
 
             that.animStateHandlerID = MyAvatar.addAnimationStateHandler(function(properties) {
                 return { headType: 0 };
             }, ["headType"]);
-
             Script.update.connect(that, that.update);
             Controller.keyPressEvent.connect(that, that.keyPressed);
             Controller.keyReleaseEvent.connect(that, that.keyReleased);
@@ -104,22 +110,27 @@
     }
 
     this.sitUp = function() {
-        MyAvatar.restoreRoleAnimation(ROLE);
-        MyAvatar.characterControllerEnabled = true;
-        MyAvatar.hmdLeanRecenterEnabled = true;
         this.setSeatUser(null);
 
-        var index = MyAvatar.getJointIndex("Hips");
-        MyAvatar.clearPinOnJoint(index);
+        if (Settings.getValue(SETTING_KEY) === this.entityID) {
+            MyAvatar.restoreRoleAnimation(ROLE);
+            MyAvatar.characterControllerEnabled = true;
+            MyAvatar.hmdLeanRecenterEnabled = true;
+
+            var index = MyAvatar.getJointIndex("Hips");
+            MyAvatar.clearPinOnJoint(index);
+
+            MyAvatar.resetSensorsAndBody();
+
+            Script.setTimeout(function() {
+                MyAvatar.bodyPitch = 0.0;
+                MyAvatar.bodyRoll = 0.0;
+            }, SIT_DELAY);
+
+            Settings.setValue(SETTING_KEY, "");
+        }
 
         MyAvatar.removeAnimationStateHandler(this.animStateHandlerID);
-
-        Script.setTimeout(function() {
-            MyAvatar.bodyPitch = 0.0;
-            MyAvatar.bodyRoll = 0.0;
-            MyAvatar.resetSensorsAndBody();
-        }, SIT_DELAY);
-
         Script.update.disconnect(this, this.update);
         Controller.keyPressEvent.disconnect(this, this.keyPressed);
         Controller.keyReleaseEvent.disconnect(this, this.keyReleased);

From 38317a23c93b574758737c5b44eb4fe9c68cfdbf Mon Sep 17 00:00:00 2001
From: Atlante45 <clement.brisset@gmail.com>
Date: Mon, 27 Feb 2017 17:33:26 -0800
Subject: [PATCH 42/45] Keep orientation while seated

---
 scripts/tutorials/entity_scripts/sit.js | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

diff --git a/scripts/tutorials/entity_scripts/sit.js b/scripts/tutorials/entity_scripts/sit.js
index 339dcde357..2ba19231e0 100644
--- a/scripts/tutorials/entity_scripts/sit.js
+++ b/scripts/tutorials/entity_scripts/sit.js
@@ -86,10 +86,8 @@
             MyAvatar.characterControllerEnabled = false;
             MyAvatar.hmdLeanRecenterEnabled = false;
             MyAvatar.overrideRoleAnimation(ROLE, ANIMATION_URL, ANIMATION_FPS, true, ANIMATION_FIRST_FRAME, ANIMATION_LAST_FRAME);
+            MyAvatar.resetSensorsAndBody();
         }
-        MyAvatar.resetSensorsAndBody();
-        MyAvatar.bodyRoll = 0.0;
-        MyAvatar.bodyPitch = 0.0;
 
         var that = this;
         Script.setTimeout(function() {

From e03368414e1196a5809cf87297ad0acd8150be8b Mon Sep 17 00:00:00 2001
From: Atlante45 <clement.brisset@gmail.com>
Date: Mon, 27 Feb 2017 18:57:44 -0800
Subject: [PATCH 43/45] CR

---
 .../animation/src/AnimInverseKinematics.cpp    | 18 +++---------------
 .../animation/src/AnimInverseKinematics.h      |  1 -
 2 files changed, 3 insertions(+), 16 deletions(-)

diff --git a/libraries/animation/src/AnimInverseKinematics.cpp b/libraries/animation/src/AnimInverseKinematics.cpp
index 1eda4db2c0..173af3fdf6 100644
--- a/libraries/animation/src/AnimInverseKinematics.cpp
+++ b/libraries/animation/src/AnimInverseKinematics.cpp
@@ -489,7 +489,7 @@ const AnimPoseVec& AnimInverseKinematics::overlay(const AnimVariantMap& animVars
                 // by looking for discrepancies between where a targeted endEffector is
                 // and where it wants to be (after IK solutions are done)
 
-                // OUTOFBODY_HACK:use weighted average between HMD and other targets
+                // use weighted average between HMD and other targets
                 float HMD_WEIGHT = 10.0f;
                 float OTHER_WEIGHT = 1.0f;
                 float totalWeight = 0.0f;
@@ -542,7 +542,7 @@ const AnimPoseVec& AnimInverseKinematics::overlay(const AnimVariantMap& animVars
                 float tau = dt < HIPS_OFFSET_SLAVE_TIMESCALE ?  dt / HIPS_OFFSET_SLAVE_TIMESCALE : 1.0f;
                 _hipsOffset += additionalHipsOffset * tau;
 
-                // clamp the horizontal component of the hips offset
+                // clamp the hips offset
                 float hipsOffsetLength = glm::length(_hipsOffset);
                 if (hipsOffsetLength > _maxHipsOffsetLength) {
                     _hipsOffset *= _maxHipsOffsetLength / hipsOffsetLength;
@@ -555,7 +555,7 @@ const AnimPoseVec& AnimInverseKinematics::overlay(const AnimVariantMap& animVars
 }
 
 void AnimInverseKinematics::setMaxHipsOffsetLength(float maxLength) {
-    // OUTOFBODY_HACK: manually adjust scale here
+    // manually adjust scale here
     const float METERS_TO_CENTIMETERS = 100.0f;
     _maxHipsOffsetLength = METERS_TO_CENTIMETERS * maxLength;
 }
@@ -938,22 +938,10 @@ void AnimInverseKinematics::setSkeletonInternal(AnimSkeleton::ConstPointer skele
         } else {
             _hipsParentIndex = -1;
         }
-
-        auto currentJointIndex = _headIndex;
-        auto parentJointIndex = _skeleton->getParentIndex(currentJointIndex);
-        _spineLength = 0.0f;
-        while (currentJointIndex != _hipsIndex && parentJointIndex != -1) {
-            _spineLength += glm::distance(_skeleton->getAbsoluteDefaultPose(currentJointIndex).trans(),
-                                          _skeleton->getAbsoluteDefaultPose(parentJointIndex).trans());
-
-            currentJointIndex = parentJointIndex;
-            parentJointIndex = _skeleton->getParentIndex(currentJointIndex);
-        }
     } else {
         clearConstraints();
         _headIndex = -1;
         _hipsIndex = -1;
         _hipsParentIndex = -1;
-        _spineLength = 0.0f;
     }
 }
diff --git a/libraries/animation/src/AnimInverseKinematics.h b/libraries/animation/src/AnimInverseKinematics.h
index ad5018b0b8..892a5616b2 100644
--- a/libraries/animation/src/AnimInverseKinematics.h
+++ b/libraries/animation/src/AnimInverseKinematics.h
@@ -91,7 +91,6 @@ protected:
     int _headIndex { -1 };
     int _hipsIndex { -1 };
     int _hipsParentIndex { -1 };
-    float _spineLength { 0.0f };
 
     // _maxTargetIndex is tracked to help optimize the recalculation of absolute poses
     // during the the cyclic coordinate descent algorithm

From f0f2b8c4dafa62048bddd6aae51b7513feb5016e Mon Sep 17 00:00:00 2001
From: Dante Ruiz <dante@highfidelity.io>
Date: Tue, 28 Feb 2017 21:30:25 +0000
Subject: [PATCH 44/45] fix comboBox and PushOntoStack

---
 .../qml/controls-uit/TabletComboBox.qml       | 15 ++++-----
 .../qml/hifi/tablet/NewModelDialog.qml        | 31 +++++++++++++------
 .../src/TabletScriptingInterface.cpp          | 20 ++++++++++--
 3 files changed, 46 insertions(+), 20 deletions(-)

diff --git a/interface/resources/qml/controls-uit/TabletComboBox.qml b/interface/resources/qml/controls-uit/TabletComboBox.qml
index e5dec315e5..86a5f6b5cc 100644
--- a/interface/resources/qml/controls-uit/TabletComboBox.qml
+++ b/interface/resources/qml/controls-uit/TabletComboBox.qml
@@ -14,7 +14,7 @@ import QtQuick.Controls.Styles 1.4
 
 import "../styles-uit"
 import "../controls-uit" as HifiControls
-import "." as VrControls
+//import "." as VrControls
 
 FocusScope {
     id: root
@@ -119,14 +119,14 @@ FocusScope {
     }
 
     function showList() {
-        var r = 20//desktop.mapFromItem(root, 0, 0, root.width, root.height);
-        var y = 200;
-        var bottom = 0 + scrollView.height;
+        var r = mapFromItem(root, 0, 0, root.width, root.height);
+        var y = r.y + r.height;
+        var bottom = y + scrollView.height;
         if (bottom > 720) {
-           y -= bottom - 720 + 8;
+           y -= bottom - tabletRoot.height + 8;
         }
-        scrollView.x = 0;
-        scrollView.y = 0;
+        scrollView.x = r.x;
+        scrollView.y = y;
         popup.visible = true;
         popup.forceActiveFocus();
         listView.currentIndex = root.currentIndex;
@@ -141,6 +141,7 @@ FocusScope {
 
     FocusScope {
         id: popup
+        z: 12
         parent: parent
         anchors.fill: parent
         visible: false
diff --git a/interface/resources/qml/hifi/tablet/NewModelDialog.qml b/interface/resources/qml/hifi/tablet/NewModelDialog.qml
index 13c0d963ea..d57ffdc72f 100644
--- a/interface/resources/qml/hifi/tablet/NewModelDialog.qml
+++ b/interface/resources/qml/hifi/tablet/NewModelDialog.qml
@@ -11,12 +11,15 @@
 
 import QtQuick 2.5
 import QtQuick.Controls 1.4
+import "../../styles-uit"
+import "../../controls-uit"
 
 Rectangle {
     id: newModelDialog
     // width: parent.width
     // height: parent.height
-
+    HifiConstants { id: hifi }
+    color: hifi.colors.baseGray;
     property var eventBridge;
     signal sendToScript(var message);
 
@@ -32,6 +35,7 @@ Rectangle {
         Text {
             id: text1
             text: qsTr("Model URL")
+            color: "#ffffff"
             font.pixelSize: 12
         }
 
@@ -64,6 +68,7 @@ Rectangle {
                 CheckBox {
                     id: dynamic
                     text: qsTr("Dynamic")
+                    
                 }
 
                 Row {
@@ -82,6 +87,7 @@ Rectangle {
                     Text {
                         id: text2
                         width: 160
+                        color: "#ffffff"
                         text: qsTr("Models with automatic collisions set to 'Exact' cannot be dynamic")
                         wrapMode: Text.WordWrap
                         font.pixelSize: 12
@@ -97,30 +103,34 @@ Rectangle {
                 Text {
                     id: text3
                     text: qsTr("Automatic Collisions")
+                    color: "#ffffff"
                     font.pixelSize: 12
                 }
 
-                ComboBox {
+                TabletComboBox {
                     id: collisionType
                     width: 200
+                    z: 100
                     transformOrigin: Item.Center
-                    model: ListModel {
-                        id: collisionDropdown
-                        ListElement { text: "No Collision" }
-                        ListElement { text: "Basic - Whole model" }
-                        ListElement { text: "Good - Sub-meshes" }
-                        ListElement { text: "Exact - All polygons" }
-                    }
+                    model: ["No Collision",
+                            "Basic - Whole model",
+                            "Good - Sub-meshes",
+                            "Exact - All polygons"]
                 }
 
                 Row {
                     id: row3
                     width: 200
                     height: 400
-
+                    spacing: 5
+                    
+                    anchors {
+                        rightMargin: 15
+                    }
                     Button {
                         id: button1
                         text: qsTr("Add")
+                        z: -1
                         onClicked: {
                             newModelDialog.sendToScript({
                                 method: "newModelDialogAdd",
@@ -135,6 +145,7 @@ Rectangle {
 
                     Button {
                         id: button2
+                        z: -1
                         text: qsTr("Cancel")
                         onClicked: {
                             newModelDialog.sendToScript({method: "newModelDialogCancel"})
diff --git a/libraries/script-engine/src/TabletScriptingInterface.cpp b/libraries/script-engine/src/TabletScriptingInterface.cpp
index 04e170a8d7..61851e33b0 100644
--- a/libraries/script-engine/src/TabletScriptingInterface.cpp
+++ b/libraries/script-engine/src/TabletScriptingInterface.cpp
@@ -344,8 +344,15 @@ void TabletProxy::pushOntoStack(const QVariant& path) {
         } else {
             qCDebug(scriptengine) << "tablet cannot push QML because _qmlTabletRoot doesn't have child stack";
         }
+    } else if (_desktopWindow) {
+        auto stack = _desktopWindow->asQuickItem()->findChild<QQuickItem*>("stack");
+        if (stack) {
+            QMetaObject::invokeMethod(stack, "pushSource", Q_ARG(const QVariant&, path));
+        } else {
+            qCDebug(scriptengine) << "tablet cannot push QML because _desktopWindow doesn't have child stack";
+        }
     } else {
-        qCDebug(scriptengine) << "tablet cannot push QML because _qmlTabletRoot is null";
+        qCDebug(scriptengine) << "tablet cannot push QML because _qmlTabletRoot or _desktopWindow is null";
     }
 }
 
@@ -355,10 +362,17 @@ void TabletProxy::popFromStack() {
         if (stack) {
             QMetaObject::invokeMethod(stack, "popSource");
         } else {
-            qCDebug(scriptengine) << "tablet cannot pop QML because _qmlTabletRoot doesn't have child stack";
+            qCDebug(scriptengine) << "tablet cannot push QML because _qmlTabletRoot doesn't have child stack";
+        }
+    } else if (_desktopWindow) {
+        auto stack = _desktopWindow->asQuickItem()->findChild<QQuickItem*>("stack");
+        if (stack) {
+            QMetaObject::invokeMethod(stack, "popSource");
+        } else { 
+            qCDebug(scriptengine) << "tablet cannot pop QML because _desktopWindow doesn't have child stack";
         }
     } else {
-        qCDebug(scriptengine) << "tablet cannot pop QML because _qmlTabletRoot is null";
+        qCDebug(scriptengine) << "tablet cannot pop QML because _qmlTabletRoot or _desktopWindow is null";
     }
 }
 

From 16d3f22e77fa3f9d9d43cd404a65f5b4514c521a Mon Sep 17 00:00:00 2001
From: Dante Ruiz <dante@highfidelity.io>
Date: Tue, 28 Feb 2017 21:39:33 +0000
Subject: [PATCH 45/45] remove uncommented code

---
 interface/resources/qml/controls-uit/TabletComboBox.qml | 1 -
 1 file changed, 1 deletion(-)

diff --git a/interface/resources/qml/controls-uit/TabletComboBox.qml b/interface/resources/qml/controls-uit/TabletComboBox.qml
index 86a5f6b5cc..7361833a45 100644
--- a/interface/resources/qml/controls-uit/TabletComboBox.qml
+++ b/interface/resources/qml/controls-uit/TabletComboBox.qml
@@ -14,7 +14,6 @@ import QtQuick.Controls.Styles 1.4
 
 import "../styles-uit"
 import "../controls-uit" as HifiControls
-//import "." as VrControls
 
 FocusScope {
     id: root