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transmitter tweaks

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This commit is contained in:
Philip Rosedale 2013-03-08 15:58:49 -08:00
parent 26fd44f030
commit f014fcd0ac
4 changed files with 47 additions and 6 deletions
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45
interface/src/Hand.cpp
View file

@ -20,7 +20,7 @@ Hand::Hand(glm::vec3 initcolor)
{
color = initcolor;
reset();
noise = 0.2;
noise = 0.0; //0.2;
scale.x = 0.07;
scale.y = scale.x * 5.0;
scale.z = scale.y * 1.0;
@ -42,7 +42,7 @@ void Hand::reset()
void Hand::render()
{
const float POINTER_LENGTH = 10.0;
const float POINTER_LENGTH = 20.0;
glPushMatrix();
glTranslatef(position.x, position.y, position.z);
glRotatef(yaw, 0, 1, 0);
@ -60,8 +60,27 @@ void Hand::render()
glVertex3f(0.4,0,0);
glVertex3f(0,0,-POINTER_LENGTH);
glEnd();
glPushMatrix();
glTranslatef(0,0,-POINTER_LENGTH);
glutSolidCube(1.0);
glPopMatrix();
}
glPopMatrix();
if (1) {
// Render debug info from the transmitter
/*
glPushMatrix();
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
//gluOrtho2D(0, WIDTH, HEIGHT, 0);
glDisable(GL_DEPTH_TEST);
glDisable(GL_LIGHTING);
glPopMatrix();
*/
}
}
void Hand::addAngularVelocity (float pRate, float yRate, float rRate) {
@ -100,11 +119,16 @@ void Hand::processTransmitterData(char *packetData, int numBytes) {
}
// Add rotational forces to the hand
const float ANG_VEL_SENSITIVITY = 4.0;
const float ANG_VEL_THRESHOLD = 0.0;
float angVelScale = ANG_VEL_SENSITIVITY*(1.0/getTransmitterHz());
addAngularVelocity(gyrX*angVelScale,gyrZ*angVelScale,-gyrY*angVelScale);
//addAngularVelocity(gyrX*angVelScale,gyrZ*angVelScale,-gyrY*angVelScale);
addAngularVelocity(0,
fabs(gyrZ*angVelScale)>ANG_VEL_THRESHOLD?gyrZ*angVelScale:0,
0);
// Add linear forces to the hand
const float LINEAR_VEL_SENSITIVITY = 50.0;
//const float LINEAR_VEL_SENSITIVITY = 50.0;
const float LINEAR_VEL_SENSITIVITY = 0.0;
float linVelScale = LINEAR_VEL_SENSITIVITY*(1.0/getTransmitterHz());
glm::vec3 linVel(linX*linVelScale, linZ*linVelScale, -linY*linVelScale);
addVelocity(linVel);
@ -137,6 +161,8 @@ void Hand::simulate(float deltaTime)
yaw += yawRate;
roll += rollRate;
// The spring method
if (0) {
// Use a linear spring to attempt to return the hand to the target position
glm::vec3 springForce = target - position;
springForce *= LINEAR_SPRING_CONSTANT;
@ -156,5 +182,16 @@ void Hand::simulate(float deltaTime)
addAngularVelocity(-pitchRate*ANGULAR_DAMPING_COEFFICIENT*deltaTime,
-yawRate*ANGULAR_DAMPING_COEFFICIENT*deltaTime,
-rollRate*ANGULAR_DAMPING_COEFFICIENT*deltaTime);
}
// The absolute threshold method
if (1) {
const float YAW_LIMIT = 20;
if (yaw > YAW_LIMIT) { yaw = YAW_LIMIT; yawRate = 0.0; }
if (yaw < -YAW_LIMIT) { yaw = -YAW_LIMIT; yawRate = 0.0; }
// Damp Yaw Rate
yawRate *= 0.99;
}
}

2
interface/src/VoxelSystem.cpp
View file

@ -244,6 +244,8 @@ void VoxelSystem::render() {
glBindBuffer(GL_ARRAY_BUFFER, vboColorsID);
glColorPointer(3, GL_FLOAT, 0, 0);
glNormal3f(0, 1, 0);
glDrawElements(GL_TRIANGLES, 36 * voxelsRendered, GL_UNSIGNED_INT, 0);
// deactivate vertex and color arrays after drawing

2
interface/src/main.cpp
View file

@ -101,7 +101,7 @@ ParticleSystem balls(0,
0.0 // Gravity
);
Cloud cloud(0, // Particles
Cloud cloud(0, // Particles
box, // Bounding Box
false // Wrap
);

4
shared/src/AgentList.cpp
View file

@ -55,13 +55,15 @@ void AgentList::processAgentData(sockaddr *senderAddress, void *packetData, size
case 'P':
{
// ping from another agent
//std::cout << "Got ping from " << inet_ntoa(((sockaddr_in *)senderAddress)->sin_addr) << "\n";
char reply[] = "R";
agentSocket.send(senderAddress, reply, 1);
agentSocket.send(senderAddress, reply, 1);
break;
}
case 'R':
{
// ping reply from another agent
//std::cout << "Got ping reply from " << inet_ntoa(((sockaddr_in *)senderAddress)->sin_addr) << "\n";
handlePingReply(senderAddress);
break;
}