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capsule projection and distance tests now work for non-vertical capsules

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This commit is contained in:
Anthony J. Thibault 2016-09-23 16:55:38 -07:00
parent 9567ec11af
commit f4c4b3474b
4 changed files with 39 additions and 37 deletions
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13
interface/src/avatar/MyAvatar.cpp
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@ -2300,16 +2300,11 @@ void MyAvatar::FollowHelper::prePhysicsUpdate(MyAvatar& myAvatar, const glm::mat
} }
void MyAvatar::FollowHelper::postPhysicsUpdate(MyAvatar& myAvatar) { void MyAvatar::FollowHelper::postPhysicsUpdate(MyAvatar& myAvatar) {
// get HMD position from sensor space into world space, and back into rig space
glm::mat4 worldHMDMat = myAvatar.getSensorToWorldMatrix() * myAvatar.getHMDSensorMatrix(); glm::mat4 worldHMDMat = myAvatar.getSensorToWorldMatrix() * myAvatar.getHMDSensorMatrix();
glm::mat4 rigToWorld = createMatFromQuatAndPos(myAvatar.getRotation() * Quaternions::Y_180, myAvatar.getPosition()); glm::vec3 worldHMDPosition = extractTranslation(worldHMDMat);
glm::mat4 worldToRig = glm::inverse(rigToWorld); glm::vec3 capsuleStart = myAvatar.getPosition() + Vectors::UNIT_Y * (TRUNCATE_IK_CAPSULE_LENGTH / 2.0f);
glm::mat4 rigHMDMat = worldToRig * worldHMDMat; glm::vec3 capsuleEnd = myAvatar.getPosition() - Vectors::UNIT_Y * (TRUNCATE_IK_CAPSULE_LENGTH / 2.0f);
glm::vec3 rigHMDPosition = extractTranslation(rigHMDMat); _isOutOfBody = !pointIsInsideCapsule(worldHMDPosition, capsuleStart, capsuleEnd, TRUNCATE_IK_CAPSULE_RADIUS);
// detect if the rig head position is too far from the avatar's position.
_isOutOfBody = !pointIsInsideCapsule(rigHMDPosition, TRUNCATE_IK_CAPSULE_POSITION, TRUNCATE_IK_CAPSULE_LENGTH, TRUNCATE_IK_CAPSULE_RADIUS);
} }
float MyAvatar::getAccelerationEnergy() { float MyAvatar::getAccelerationEnergy() {

6
interface/src/avatar/SkeletonModel.cpp
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@ -124,10 +124,12 @@ void SkeletonModel::updateRig(float deltaTime, glm::mat4 parentTransform) {
hmdPositionInRigSpace = extractTranslation(rigHMDMat); hmdPositionInRigSpace = extractTranslation(rigHMDMat);
glm::vec3 capsuleStart = Vectors::UNIT_Y * (TRUNCATE_IK_CAPSULE_LENGTH / 2.0f);
glm::vec3 capsuleEnd = -Vectors::UNIT_Y * (TRUNCATE_IK_CAPSULE_LENGTH / 2.0f);
// truncate head IK target if it's out of body // truncate head IK target if it's out of body
if (myAvatar->isOutOfBody()) { if (myAvatar->isOutOfBody()) {
truncatedHMDPositionInRigSpace = projectPointOntoCapsule(hmdPositionInRigSpace, TRUNCATE_IK_CAPSULE_POSITION, truncatedHMDPositionInRigSpace = projectPointOntoCapsule(hmdPositionInRigSpace, capsuleStart, capsuleEnd, TRUNCATE_IK_CAPSULE_RADIUS);
TRUNCATE_IK_CAPSULE_LENGTH, TRUNCATE_IK_CAPSULE_RADIUS);
} else { } else {
truncatedHMDPositionInRigSpace = hmdPositionInRigSpace; truncatedHMDPositionInRigSpace = hmdPositionInRigSpace;
} }

50
libraries/shared/src/GeometryUtil.cpp
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@ -579,33 +579,37 @@ float coneSphereAngle(const glm::vec3& coneCenter, const glm::vec3& coneDirectio
return glm::max(0.0f, theta - phi); return glm::max(0.0f, theta - phi);
} }
bool pointIsInsideCapsule(const glm::vec3& point, const glm::vec3& capsulePosition, float capsuleLength, float capsuleRadius) { glm::vec3 nearestPointOnLineSegment(const glm::vec3& point, const glm::vec3& segmentStart, const glm::vec3& segmentEnd) {
glm::vec3 top = capsulePosition.y + glm::vec3(0.0f, capsuleLength / 2.0f, 0.0f); glm::vec3 n = segmentEnd - segmentStart;
glm::vec3 bottom = capsulePosition.y - glm::vec3(0.0f, capsuleLength / 2.0f, 0.0f); float len = glm::length(n);
if (point.y > top.y + capsuleRadius) { if (len < EPSILON) {
return false; return segmentStart;
} else if (point.y > top.y) {
return glm::length(point - top) < capsuleRadius;
} else if (point.y < bottom.y - capsuleRadius) {
return false;
} else if (point.y < bottom.y) {
return glm::length(point - bottom) < capsuleRadius;
} else { } else {
return glm::length(glm::vec2(point.x, point.z) - glm::vec2(capsulePosition.x, capsulePosition.z)) < capsuleRadius; n /= len;
float projection = glm::dot(point - segmentStart, n);
projection = glm::clamp(projection, 0.0f, len);
return segmentStart + n * projection;
} }
} }
glm::vec3 projectPointOntoCapsule(const glm::vec3& point, const glm::vec3& capsulePosition, float capsuleLength, float capsuleRadius) { float distanceFromLineSegment(const glm::vec3& point, const glm::vec3& segmentStart, const glm::vec3& segmentEnd) {
glm::vec3 top = capsulePosition.y + glm::vec3(0.0f, capsuleLength / 2.0f, 0.0f); return glm::length(point - nearestPointOnLineSegment(point, segmentStart, segmentEnd));
glm::vec3 bottom = capsulePosition.y - glm::vec3(0.0f, capsuleLength / 2.0f, 0.0f); }
if (point.y > top.y) {
return capsuleRadius * glm::normalize(point - top) + top; bool pointIsInsideCapsule(const glm::vec3& point, const glm::vec3& capsuleStart, const glm::vec3& capsuleEnd, float capsuleRadius) {
} else if (point.y < bottom.y) { return distanceFromLineSegment(point, capsuleStart, capsuleEnd) < capsuleRadius;
return capsuleRadius * glm::normalize(point - bottom) + bottom; }
glm::vec3 projectPointOntoCapsule(const glm::vec3& point, const glm::vec3& capsuleStart, const glm::vec3& capsuleEnd, float capsuleRadius) {
glm::vec3 nearestPoint = nearestPointOnLineSegment(point, capsuleStart, capsuleEnd);
glm::vec3 d = point - nearestPoint;
float dLen = glm::length(d);
if (dLen > EPSILON) {
return nearestPoint; // TODO: maybe we should pick a point actually on the surface...
} else { } else {
glm::vec2 capsulePosition2D(capsulePosition.x, capsulePosition.z); return nearestPoint + d * (capsuleRadius / dLen);
glm::vec2 point2D(point.x, point.z);
glm::vec2 projectedPoint2D = capsuleRadius * glm::normalize(point2D - capsulePosition2D) + capsulePosition2D;
return glm::vec3(projectedPoint2D.x, point.y, projectedPoint2D.y);
} }
} }

7
libraries/shared/src/GeometryUtil.h
View file

@ -160,8 +160,9 @@ private:
static void copyCleanArray(int& lengthA, glm::vec2* vertexArrayA, int& lengthB, glm::vec2* vertexArrayB); static void copyCleanArray(int& lengthA, glm::vec2* vertexArrayA, int& lengthB, glm::vec2* vertexArrayB);
}; };
// vertical capsule glm::vec3 nearestPointOnLineSegment(const glm::vec3& point, const glm::vec3& segmentStart, const glm::vec3& segmentEnd);
bool pointIsInsideCapsule(const glm::vec3& point, const glm::vec3& capsulePosition, float capsuleLength, float capsuleRadius); float distanceFromLineSegment(const glm::vec3& point, const glm::vec3& segmentStart, const glm::vec3& segmentEnd);
glm::vec3 projectPointOntoCapsule(const glm::vec3& point, const glm::vec3& capsulePosition, float capsuleLength, float capsuleRadius); bool pointIsInsideCapsule(const glm::vec3& point, const glm::vec3& capsuleStart, const glm::vec3& capsuleEnd, float capsuleRadius);
glm::vec3 projectPointOntoCapsule(const glm::vec3& point, const glm::vec3& capsuleStart, const glm::vec3& capsuleEnd, float capsuleRadius);
#endif // hifi_GeometryUtil_h #endif // hifi_GeometryUtil_h