diff --git a/avatar-mixer/src/main.cpp b/avatar-mixer/src/main.cpp index 89861ddcc8..f6d78fd8c5 100644 --- a/avatar-mixer/src/main.cpp +++ b/avatar-mixer/src/main.cpp @@ -55,6 +55,14 @@ int main(int argc, const char* argv[]) { AgentList* agentList = AgentList::createInstance(AGENT_TYPE_AVATAR_MIXER, AVATAR_LISTEN_PORT); setvbuf(stdout, NULL, _IOLBF, 0); + // Handle Local Domain testing with the --local command line + const char* local = "--local"; + if (cmdOptionExists(argc, argv, local)) { + printf("Local Domain MODE!\n"); + int ip = getLocalAddress(); + sprintf(DOMAIN_IP,"%d.%d.%d.%d", (ip & 0xFF), ((ip >> 8) & 0xFF),((ip >> 16) & 0xFF), ((ip >> 24) & 0xFF)); + } + agentList->linkedDataCreateCallback = attachAvatarDataToAgent; agentList->startDomainServerCheckInThread(); diff --git a/interface/src/Application.cpp b/interface/src/Application.cpp index bf68798d62..3def951b14 100644 --- a/interface/src/Application.cpp +++ b/interface/src/Application.cpp @@ -288,33 +288,22 @@ void Application::paintGL() { if (_myCamera.getMode() == CAMERA_MODE_MIRROR) { _myCamera.setTightness (100.0f); _myCamera.setTargetPosition(_myAvatar.getSpringyHeadPosition()); - _myCamera.setTargetRotation(_myAvatar.getBodyYaw() - 180.0f, - 0.0f, - 0.0f); + _myCamera.setTargetRotation(_myAvatar.getHead().getWorldAlignedOrientation() * glm::quat(glm::vec3(0.0f, PI, 0.0f))); + } else if (OculusManager::isConnected()) { _myCamera.setUpShift (0.0f); _myCamera.setDistance (0.0f); _myCamera.setTightness (100.0f); _myCamera.setTargetPosition(_myAvatar.getHeadPosition()); - _myCamera.setTargetRotation(_myAvatar.getAbsoluteHeadYaw(), - _myAvatar.getHead().getPitch(), - -_myAvatar.getHead().getRoll()); + _myCamera.setTargetRotation(_myAvatar.getHead().getOrientation()); + } else if (_myCamera.getMode() == CAMERA_MODE_FIRST_PERSON) { _myCamera.setTargetPosition(_myAvatar.getSpringyHeadPosition()); - _myCamera.setTargetRotation(_myAvatar.getAbsoluteHeadYaw(), - _myAvatar.getAbsoluteHeadPitch(), - 0.0f); - // Take a look at whether we are inside head, don't render it if so. - const float HEAD_RENDER_DISTANCE = 0.5; - glm::vec3 distanceToHead(_myCamera.getPosition() - _myAvatar.getSpringyHeadPosition()); + _myCamera.setTargetRotation(_myAvatar.getHead().getWorldAlignedOrientation()); - if (glm::length(distanceToHead) < HEAD_RENDER_DISTANCE) { - } } else if (_myCamera.getMode() == CAMERA_MODE_THIRD_PERSON) { _myCamera.setTargetPosition(_myAvatar.getHeadPosition()); - _myCamera.setTargetRotation(_myAvatar.getAbsoluteHeadYaw(), - _myAvatar.getAbsoluteHeadPitch(), - 0.0f); + _myCamera.setTargetRotation(_myAvatar.getHead().getWorldAlignedOrientation()); } // important... @@ -344,11 +333,12 @@ void Application::paintGL() { if (_viewFrustumFromOffset->isChecked() && _frustumOn->isChecked()) { // set the camera to third-person view but offset so we can see the frustum - _viewFrustumOffsetCamera.setTargetYaw(_viewFrustumOffsetYaw + _myAvatar.getBodyYaw()); - _viewFrustumOffsetCamera.setPitch (_viewFrustumOffsetPitch ); - _viewFrustumOffsetCamera.setRoll (_viewFrustumOffsetRoll ); + _viewFrustumOffsetCamera.setTargetPosition(_myCamera.getTargetPosition()); + _viewFrustumOffsetCamera.setTargetRotation(_myCamera.getTargetRotation() * glm::quat(glm::radians(glm::vec3( + _viewFrustumOffsetPitch, _viewFrustumOffsetYaw, _viewFrustumOffsetRoll)))); _viewFrustumOffsetCamera.setUpShift (_viewFrustumOffsetUp ); _viewFrustumOffsetCamera.setDistance (_viewFrustumOffsetDistance); + _viewFrustumOffsetCamera.initialize(); // force immediate snap to ideal position and orientation _viewFrustumOffsetCamera.update(1.f/_fps); whichCamera = _viewFrustumOffsetCamera; } @@ -1122,7 +1112,7 @@ void Application::initMenu() { _window->setMenuBar(menuBar); QMenu* fileMenu = menuBar->addMenu("File"); - fileMenu->addAction("Quit", this, SLOT(quit()), (Qt::Key_Q || Qt::Key_Control)); + fileMenu->addAction("Quit", this, SLOT(quit()), Qt::CTRL | Qt::Key_Q); QMenu* pairMenu = menuBar->addMenu("Pair"); pairMenu->addAction("Pair", this, SLOT(pair())); @@ -1379,10 +1369,6 @@ void Application::updateAvatar(float deltaTime) { void Application::loadViewFrustum(Camera& camera, ViewFrustum& viewFrustum) { // We will use these below, from either the camera or head vectors calculated above glm::vec3 position; - glm::vec3 direction; - glm::vec3 up; - glm::vec3 right; - float fov, nearClip, farClip; // Camera or Head? if (_cameraFrustum->isChecked()) { @@ -1391,15 +1377,14 @@ void Application::loadViewFrustum(Camera& camera, ViewFrustum& viewFrustum) { position = _myAvatar.getHeadPosition(); } - fov = camera.getFieldOfView(); - nearClip = camera.getNearClip(); - farClip = camera.getFarClip(); + float fov = camera.getFieldOfView(); + float nearClip = camera.getNearClip(); + float farClip = camera.getFarClip(); - Orientation o = camera.getOrientation(); - - direction = o.getFront(); - up = o.getUp(); - right = o.getRight(); + glm::quat rotation = camera.getRotation(); + glm::vec3 direction = rotation * AVATAR_FRONT; + glm::vec3 up = rotation * AVATAR_UP; + glm::vec3 right = rotation * AVATAR_RIGHT; /* printf("position.x=%f, position.y=%f, position.z=%f\n", position.x, position.y, position.z); @@ -1585,11 +1570,10 @@ void Application::displaySide(Camera& whichCamera) { // transform view according to whichCamera // could be myCamera (if in normal mode) // or could be viewFrustumOffsetCamera if in offset mode - // I changed the ordering here - roll is FIRST (JJV) - glRotatef ( whichCamera.getRoll(), IDENTITY_FRONT.x, IDENTITY_FRONT.y, IDENTITY_FRONT.z); - glRotatef ( whichCamera.getPitch(), IDENTITY_RIGHT.x, IDENTITY_RIGHT.y, IDENTITY_RIGHT.z); - glRotatef (180.0 - whichCamera.getYaw(), IDENTITY_UP.x, IDENTITY_UP.y, IDENTITY_UP.z ); + glm::quat rotation = whichCamera.getRotation(); + glm::vec3 axis = glm::axis(rotation); + glRotatef(-glm::angle(rotation), axis.x, axis.y, axis.z); glTranslatef(-whichCamera.getPosition().x, -whichCamera.getPosition().y, -whichCamera.getPosition().z); diff --git a/interface/src/Avatar.cpp b/interface/src/Avatar.cpp index 68fd9b1c8e..7aaee8d62e 100644 --- a/interface/src/Avatar.cpp +++ b/interface/src/Avatar.cpp @@ -51,7 +51,6 @@ const float HEAD_MIN_YAW = -85; const float PERIPERSONAL_RADIUS = 1.0f; const float AVATAR_BRAKING_STRENGTH = 40.0f; const float JOINT_TOUCH_RANGE = 0.0005f; -const float ANGULAR_RIGHTING_SPEED = 45.0f; const float FLOATING_HEIGHT = 0.13f; const bool USING_HEAD_LEAN = false; const float LEAN_SENSITIVITY = 0.15; @@ -78,7 +77,6 @@ Avatar::Avatar(Agent* owningAgent) : _bodyYawDelta(0.0f), _bodyRollDelta(0.0f), _movedHandOffset(0.0f, 0.0f, 0.0f), - _rotation(0.0f, 0.0f, 0.0f, 0.0f), _mode(AVATAR_MODE_STANDING), _cameraPosition(0.0f, 0.0f, 0.0f), _handHoldingPosition(0.0f, 0.0f, 0.0f), @@ -86,11 +84,11 @@ Avatar::Avatar(Agent* owningAgent) : _thrust(0.0f, 0.0f, 0.0f), _speed(0.0f), _maxArmLength(0.0f), - _orientation(), _pelvisStandingHeight(0.0f), _pelvisFloatingHeight(0.0f), _distanceToNearestAvatar(std::numeric_limits::max()), _gravity(0.0f, -1.0f, 0.0f), + _worldUpDirection(0.0f, 1.0f, 0.0), _mouseRayOrigin(0.0f, 0.0f, 0.0f), _mouseRayDirection(0.0f, 0.0f, 0.0f), _interactingOther(NULL), @@ -157,11 +155,19 @@ void Avatar::updateHeadFromGyros(float deltaTime, SerialInterface* serialInterfa } float Avatar::getAbsoluteHeadYaw() const { - return _bodyYaw + _head.getYaw(); + return glm::yaw(_head.getOrientation()); } float Avatar::getAbsoluteHeadPitch() const { - return _bodyPitch + _head.getPitch(); + return glm::pitch(_head.getOrientation()); +} + +glm::quat Avatar::getOrientation() const { + return glm::quat(glm::radians(glm::vec3(_bodyPitch, _bodyYaw, _bodyRoll))); +} + +glm::quat Avatar::getWorldAlignedOrientation () const { + return computeRotationFromBodyToWorldUp() * getOrientation(); } void Avatar::updateFromMouse(int mouseX, int mouseY, int screenWidth, int screenHeight) { @@ -218,9 +224,9 @@ void Avatar::simulate(float deltaTime, Transmitter* transmitter) { // if other avatar, update head position from network data - // update avatar skeleton - updateSkeleton(); - + // update avatar skeleton + updateSkeleton(); + //detect and respond to collisions with other avatars... if (!_owningAgent) { updateAvatarCollisions(deltaTime); @@ -238,7 +244,7 @@ void Avatar::simulate(float deltaTime, Transmitter* transmitter) { updateCollisionWithEnvironment(); } - // update body springs + // update body springs updateBodySprings(deltaTime); // test for avatar collision response with the big sphere @@ -251,18 +257,23 @@ void Avatar::simulate(float deltaTime, Transmitter* transmitter) { updateCollisionWithVoxels(); } + glm::quat orientation = getOrientation(); + glm::vec3 front = orientation * AVATAR_FRONT; + glm::vec3 right = orientation * AVATAR_RIGHT; + glm::vec3 up = orientation * AVATAR_UP; + // driving the avatar around should only apply if this is my avatar (as opposed to an avatar being driven remotely) if (!_owningAgent) { _thrust = glm::vec3(0.0f, 0.0f, 0.0f); // Add Thrusts from keyboard - if (_driveKeys[FWD ]) {_thrust += THRUST_MAG * deltaTime * _orientation.getFront();} - if (_driveKeys[BACK ]) {_thrust -= THRUST_MAG * deltaTime * _orientation.getFront();} - if (_driveKeys[RIGHT ]) {_thrust += THRUST_MAG * deltaTime * _orientation.getRight();} - if (_driveKeys[LEFT ]) {_thrust -= THRUST_MAG * deltaTime * _orientation.getRight();} - if (_driveKeys[UP ]) {_thrust += THRUST_MAG * deltaTime * _orientation.getUp();} - if (_driveKeys[DOWN ]) {_thrust -= THRUST_MAG * deltaTime * _orientation.getUp();} + if (_driveKeys[FWD ]) {_thrust += THRUST_MAG * deltaTime * front;} + if (_driveKeys[BACK ]) {_thrust -= THRUST_MAG * deltaTime * front;} + if (_driveKeys[RIGHT ]) {_thrust += THRUST_MAG * deltaTime * right;} + if (_driveKeys[LEFT ]) {_thrust -= THRUST_MAG * deltaTime * right;} + if (_driveKeys[UP ]) {_thrust += THRUST_MAG * deltaTime * up;} + if (_driveKeys[DOWN ]) {_thrust -= THRUST_MAG * deltaTime * up;} if (_driveKeys[ROT_RIGHT]) {_bodyYawDelta -= YAW_MAG * deltaTime;} if (_driveKeys[ROT_LEFT ]) {_bodyYawDelta += YAW_MAG * deltaTime;} @@ -277,10 +288,10 @@ void Avatar::simulate(float deltaTime, Transmitter* transmitter) { const float TRANSMITTER_LIFT_SCALE = 3.f; const float TOUCH_POSITION_RANGE_HALF = 32767.f; if (fabs(rotation.z) > TRANSMITTER_MIN_RATE) { - _thrust += rotation.z * TRANSMITTER_LATERAL_FORCE_SCALE * deltaTime * _orientation.getRight(); + _thrust += rotation.z * TRANSMITTER_LATERAL_FORCE_SCALE * deltaTime * right; } if (fabs(rotation.x) > TRANSMITTER_MIN_RATE) { - _thrust += -rotation.x * TRANSMITTER_FWD_FORCE_SCALE * deltaTime * _orientation.getFront(); + _thrust += -rotation.x * TRANSMITTER_FWD_FORCE_SCALE * deltaTime * front; } if (fabs(rotation.y) > TRANSMITTER_MIN_YAW_RATE) { _bodyYawDelta += rotation.y * TRANSMITTER_YAW_SCALE * deltaTime; @@ -290,118 +301,103 @@ void Avatar::simulate(float deltaTime, Transmitter* transmitter) { (float)(transmitter->getTouchState()->y - TOUCH_POSITION_RANGE_HALF) / TOUCH_POSITION_RANGE_HALF * TRANSMITTER_LIFT_SCALE * deltaTime * - _orientation.getUp(); + up; } } - } - - // update body yaw by body yaw delta - if (!_owningAgent) { - _bodyPitch += _bodyPitchDelta * deltaTime; - _bodyYaw += _bodyYawDelta * deltaTime; - _bodyRoll += _bodyRollDelta * deltaTime; - } - - // decay body rotation momentum - float bodySpinMomentum = 1.0 - BODY_SPIN_FRICTION * deltaTime; - if (bodySpinMomentum < 0.0f) { bodySpinMomentum = 0.0f; } - _bodyPitchDelta *= bodySpinMomentum; - _bodyYawDelta *= bodySpinMomentum; - _bodyRollDelta *= bodySpinMomentum; - - // add thrust to velocity - _velocity += _thrust * deltaTime; - - // calculate speed - _speed = glm::length(_velocity); - - //pitch and roll the body as a function of forward speed and turning delta - const float BODY_PITCH_WHILE_WALKING = 20.0; - const float BODY_ROLL_WHILE_TURNING = 0.2; - float forwardComponentOfVelocity = glm::dot(_orientation.getFront(), _velocity); - _bodyPitch += BODY_PITCH_WHILE_WALKING * deltaTime * forwardComponentOfVelocity; - _bodyRoll += BODY_ROLL_WHILE_TURNING * deltaTime * _speed * _bodyYawDelta; - - // these forces keep the body upright... - float tiltDecay = 1.0 - BODY_UPRIGHT_FORCE * deltaTime; - if (tiltDecay < 0.0f) {tiltDecay = 0.0f;} - _bodyPitch *= tiltDecay; - _bodyRoll *= tiltDecay; - - //the following will be used to make the avatar upright no matter what gravity is - float gravityLength = glm::length(_gravity); - if (gravityLength > 0.0f) { - glm::vec3 targetUp = _gravity / -gravityLength; - const glm::vec3& currentUp = _righting * glm::vec3(0.0f, 1.0f, 0.0f); - float angle = glm::degrees(acosf(glm::dot(currentUp, targetUp))); - if (angle > 0.0f) { - glm::vec3 axis; - if (angle > 180.0f - EPSILON) { // 180 degree rotation; must use another axis - axis = _orientation.getRight(); - } else { - axis = glm::normalize(glm::cross(currentUp, targetUp)); - } - //_righting = glm::angleAxis(min(deltaTime * ANGULAR_RIGHTING_SPEED, angle), axis) * _righting; - } - } - - // update position by velocity - _position += _velocity * deltaTime; - // decay velocity - float decay = 1.0 - VELOCITY_DECAY * deltaTime; - if ( decay < 0.0 ) { - _velocity = glm::vec3( 0.0f, 0.0f, 0.0f ); - } else { - _velocity *= decay; - } - - // If another avatar is near, dampen velocity as a function of closeness - if (!_owningAgent && (_distanceToNearestAvatar < PERIPERSONAL_RADIUS)) { - float closeness = 1.0f - (_distanceToNearestAvatar / PERIPERSONAL_RADIUS); - float drag = 1.0f - closeness * AVATAR_BRAKING_STRENGTH * deltaTime; - if ( drag > 0.0f ) { - _velocity *= drag; - } else { + // update body yaw by body yaw delta + orientation = orientation * glm::quat(glm::radians( + glm::vec3(_bodyPitchDelta, _bodyYawDelta, _bodyRollDelta) * deltaTime)); + + // decay body rotation momentum + float bodySpinMomentum = 1.0 - BODY_SPIN_FRICTION * deltaTime; + if (bodySpinMomentum < 0.0f) { bodySpinMomentum = 0.0f; } + _bodyPitchDelta *= bodySpinMomentum; + _bodyYawDelta *= bodySpinMomentum; + _bodyRollDelta *= bodySpinMomentum; + + // add thrust to velocity + _velocity += _thrust * deltaTime; + + // calculate speed + _speed = glm::length(_velocity); + + //pitch and roll the body as a function of forward speed and turning delta + const float BODY_PITCH_WHILE_WALKING = -20.0; + const float BODY_ROLL_WHILE_TURNING = 0.2; + float forwardComponentOfVelocity = glm::dot(getBodyFrontDirection(), _velocity); + orientation = orientation * glm::quat(glm::radians(glm::vec3( + BODY_PITCH_WHILE_WALKING * deltaTime * forwardComponentOfVelocity, 0.0f, + BODY_ROLL_WHILE_TURNING * deltaTime * _speed * _bodyYawDelta))); + + // these forces keep the body upright... + float tiltDecay = BODY_UPRIGHT_FORCE * deltaTime; + if (tiltDecay > 1.0f) {tiltDecay = 1.0f;} + + // update the euler angles + setOrientation(orientation); + + //the following will be used to make the avatar upright no matter what gravity is + setOrientation(computeRotationFromBodyToWorldUp(tiltDecay) * orientation); + + // update position by velocity + _position += _velocity * deltaTime; + + // decay velocity + float decay = 1.0 - VELOCITY_DECAY * deltaTime; + if ( decay < 0.0 ) { _velocity = glm::vec3( 0.0f, 0.0f, 0.0f ); + } else { + _velocity *= decay; + } + + // If another avatar is near, dampen velocity as a function of closeness + if (_distanceToNearestAvatar < PERIPERSONAL_RADIUS) { + float closeness = 1.0f - (_distanceToNearestAvatar / PERIPERSONAL_RADIUS); + float drag = 1.0f - closeness * AVATAR_BRAKING_STRENGTH * deltaTime; + if ( drag > 0.0f ) { + _velocity *= drag; + } else { + _velocity = glm::vec3( 0.0f, 0.0f, 0.0f ); + } + } + + // Compute instantaneous acceleration + float acceleration = glm::distance(getVelocity(), oldVelocity) / deltaTime; + const float ACCELERATION_PITCH_DECAY = 0.4f; + const float ACCELERATION_YAW_DECAY = 0.4f; + + const float OCULUS_ACCELERATION_PULL_THRESHOLD = 1.0f; + const int OCULUS_YAW_OFFSET_THRESHOLD = 10; + + // Decay HeadPitch as a function of acceleration, so that you look straight ahead when + // you start moving, but don't do this with an HMD like the Oculus. + if (!OculusManager::isConnected()) { + _head.setPitch(_head.getPitch() * (1.f - acceleration * ACCELERATION_PITCH_DECAY * deltaTime)); + _head.setYaw(_head.getYaw() * (1.f - acceleration * ACCELERATION_YAW_DECAY * deltaTime)); + } else if (fabsf(acceleration) > OCULUS_ACCELERATION_PULL_THRESHOLD + && fabs(_head.getYaw()) > OCULUS_YAW_OFFSET_THRESHOLD) { + // if we're wearing the oculus + // and this acceleration is above the pull threshold + // and the head yaw if off the body by more than OCULUS_YAW_OFFSET_THRESHOLD + + // match the body yaw to the oculus yaw + _bodyYaw = getAbsoluteHeadYaw(); + + // set the head yaw to zero for this draw + _head.setYaw(0); + + // correct the oculus yaw offset + OculusManager::updateYawOffset(); } } - // Compute instantaneous acceleration - float acceleration = glm::distance(getVelocity(), oldVelocity) / deltaTime; - const float ACCELERATION_PITCH_DECAY = 0.4f; - const float ACCELERATION_YAW_DECAY = 0.4f; - - const float OCULUS_ACCELERATION_PULL_THRESHOLD = 1.0f; - const int OCULUS_YAW_OFFSET_THRESHOLD = 10; - - // Decay HeadPitch as a function of acceleration, so that you look straight ahead when - // you start moving, but don't do this with an HMD like the Oculus. - if (!OculusManager::isConnected()) { - _head.setPitch(_head.getPitch() * (1.f - acceleration * ACCELERATION_PITCH_DECAY * deltaTime)); - _head.setYaw(_head.getYaw() * (1.f - acceleration * ACCELERATION_YAW_DECAY * deltaTime)); - } else if (fabsf(acceleration) > OCULUS_ACCELERATION_PULL_THRESHOLD - && fabs(_head.getYaw()) > OCULUS_YAW_OFFSET_THRESHOLD) { - // if we're wearing the oculus - // and this acceleration is above the pull threshold - // and the head yaw if off the body by more than OCULUS_YAW_OFFSET_THRESHOLD - - // match the body yaw to the oculus yaw - _bodyYaw = getAbsoluteHeadYaw(); - - // set the head yaw to zero for this draw - _head.setYaw(0); - - // correct the oculus yaw offset - OculusManager::updateYawOffset(); - } - //apply the head lean values to the springy position... if (USING_HEAD_LEAN) { if (fabs(_head.getLeanSideways() + _head.getLeanForward()) > 0.0f) { glm::vec3 headLean = - _orientation.getRight() * _head.getLeanSideways() + - _orientation.getFront() * _head.getLeanForward(); + right * _head.getLeanSideways() + + front * _head.getLeanForward(); _joint[ AVATAR_JOINT_TORSO ].springyPosition += headLean * 0.1f; _joint[ AVATAR_JOINT_CHEST ].springyPosition += headLean * 0.4f; @@ -431,18 +427,18 @@ void Avatar::simulate(float deltaTime, Transmitter* transmitter) { } } - _head.setBodyRotation (glm::vec3(_bodyPitch, _bodyYaw, _bodyRoll)); + _head.setBodyRotation(glm::vec3(_bodyPitch, _bodyYaw, _bodyRoll)); _head.setPosition(_joint[ AVATAR_JOINT_HEAD_BASE ].springyPosition); _head.setScale (_joint[ AVATAR_JOINT_HEAD_BASE ].radius); _head.setSkinColor(glm::vec3(SKIN_COLOR[0], SKIN_COLOR[1], SKIN_COLOR[2])); _head.simulate(deltaTime, !_owningAgent); // use speed and angular velocity to determine walking vs. standing - if (_speed + fabs(_bodyYawDelta) > 0.2) { - _mode = AVATAR_MODE_WALKING; - } else { - _mode = AVATAR_MODE_INTERACTING; - } + if (_speed + fabs(_bodyYawDelta) > 0.2) { + _mode = AVATAR_MODE_WALKING; + } else { + _mode = AVATAR_MODE_INTERACTING; + } } void Avatar::checkForMouseRayTouching() { @@ -465,19 +461,32 @@ void Avatar::setMouseRay(const glm::vec3 &origin, const glm::vec3 &direction ) { _mouseRayDirection = direction; } +void Avatar::setOrientation(const glm::quat& orientation) { + glm::vec3 eulerAngles = safeEulerAngles(orientation); + _bodyPitch = eulerAngles.x; + _bodyYaw = eulerAngles.y; + _bodyRoll = eulerAngles.z; +} + void Avatar::updateHandMovementAndTouching(float deltaTime) { + glm::quat orientation = getOrientation(); + // reset hand and arm positions according to hand movement + glm::vec3 right = orientation * AVATAR_RIGHT; + glm::vec3 up = orientation * AVATAR_UP; + glm::vec3 front = orientation * AVATAR_FRONT; + glm::vec3 transformedHandMovement - = _orientation.getRight() * _movedHandOffset.x * 2.0f - + _orientation.getUp() * -_movedHandOffset.y * 2.0f - + _orientation.getFront() * -_movedHandOffset.y * 2.0f; + = right * _movedHandOffset.x * 2.0f + + up * -_movedHandOffset.y * 2.0f + + front * -_movedHandOffset.z * 2.0f; _joint[ AVATAR_JOINT_RIGHT_FINGERTIPS ].position += transformedHandMovement; if (!_owningAgent) { _avatarTouch.setMyBodyPosition(_position); - _avatarTouch.setMyOrientation(_orientation); + _avatarTouch.setMyOrientation(orientation); float closestDistance = std::numeric_limits::max(); @@ -492,7 +501,7 @@ void Avatar::updateHandMovementAndTouching(float deltaTime) { //Test: Show angle between your fwd vector and nearest avatar //glm::vec3 vectorBetweenUs = otherAvatar->getJointPosition(AVATAR_JOINT_PELVIS) - // getJointPosition(AVATAR_JOINT_PELVIS); - //printLog("Angle between: %f\n", angleBetween(vectorBetweenUs, _orientation.getFront())); + //printLog("Angle between: %f\n", angleBetween(vectorBetweenUs, getBodyFrontDirection())); // test whether shoulders are close enough to allow for reaching to touch hands glm::vec3 v(_position - otherAvatar->_position); @@ -511,7 +520,7 @@ void Avatar::updateHandMovementAndTouching(float deltaTime) { _avatarTouch.setHasInteractingOther(true); _avatarTouch.setYourBodyPosition(_interactingOther->_position); - _avatarTouch.setYourOrientation (_interactingOther->_orientation); + _avatarTouch.setYourOrientation (_interactingOther->getOrientation()); _avatarTouch.setYourHandPosition(_interactingOther->_joint[ AVATAR_JOINT_RIGHT_FINGERTIPS ].springyPosition); _avatarTouch.setYourHandState (_interactingOther->_handState); @@ -616,11 +625,12 @@ void Avatar::updateCollisionWithSphere(glm::vec3 position, float radius, float d } void Avatar::updateCollisionWithEnvironment() { + glm::vec3 up = getBodyUpDirection(); float radius = _height * 0.125f; glm::vec3 penetration; if (Application::getInstance()->getEnvironment()->findCapsulePenetration( - _position - glm::vec3(0.0f, _pelvisFloatingHeight - radius, 0.0f), - _position + glm::vec3(0.0f, _height - _pelvisFloatingHeight - radius, 0.0f), radius, penetration)) { + _position - up * (_pelvisFloatingHeight - radius), + _position + up * (_height - _pelvisFloatingHeight - radius), radius, penetration)) { applyCollisionWithScene(penetration); } } @@ -740,6 +750,12 @@ static TextRenderer* textRenderer() { void Avatar::setGravity(glm::vec3 gravity) { _gravity = gravity; _head.setGravity(_gravity); + + // use the gravity to determine the new world up direction, if possible + float gravityLength = glm::length(gravity); + if (gravityLength > EPSILON) { + _worldUpDirection = _gravity / -gravityLength; + } } void Avatar::render(bool lookingInMirror, glm::vec3 cameraPosition) { @@ -823,78 +839,74 @@ void Avatar::render(bool lookingInMirror, glm::vec3 cameraPosition) { void Avatar::initializeSkeleton() { - for (int b=0; b 0.0f) { // to avoid divide by zero glm::vec3 springDirection = springVector / length; - + float force = (length - _joint[b].length) * BODY_SPRING_FORCE * deltaTime; - + _joint[b].springyVelocity -= springDirection * force; if (_joint[b].parent != AVATAR_JOINT_NULL) { @@ -1051,7 +1055,7 @@ void Avatar::updateBodySprings(float deltaTime) { } // apply tightness force - (causing springy position to be close to rigid body position) - _joint[b].springyVelocity += (_joint[b].position - _joint[b].springyPosition) * _joint[b].springBodyTightness * deltaTime; + _joint[b].springyVelocity += (_joint[b].position - _joint[b].springyPosition) * _joint[b].springBodyTightness * deltaTime; // apply decay float decay = 1.0 - BODY_SPRING_DECAY * deltaTime; @@ -1082,7 +1086,7 @@ void Avatar::updateArmIKAndConstraints(float deltaTime) { // test to see if right hand is being dragged beyond maximum arm length float distance = glm::length(armVector); - + // don't let right hand get dragged beyond maximum arm length... if (distance > _maxArmLength) { // reset right hand to be constrained to maximum arm length @@ -1099,7 +1103,7 @@ void Avatar::updateArmIKAndConstraints(float deltaTime) { glm::vec3 newElbowPosition = _joint[ AVATAR_JOINT_RIGHT_SHOULDER ].position; newElbowPosition += armVector * ONE_HALF; - glm::vec3 perpendicular = glm::cross(_orientation.getFront(), armVector); + glm::vec3 perpendicular = glm::cross(getBodyFrontDirection(), armVector); newElbowPosition += perpendicular * (1.0f - (_maxArmLength / distance)) * ONE_HALF; _joint[ AVATAR_JOINT_RIGHT_ELBOW ].position = newElbowPosition; @@ -1111,6 +1115,21 @@ void Avatar::updateArmIKAndConstraints(float deltaTime) { _joint[ AVATAR_JOINT_RIGHT_WRIST ].position = newWristPosition; } +glm::quat Avatar::computeRotationFromBodyToWorldUp(float proportion) const { + glm::quat orientation = getOrientation(); + glm::vec3 currentUp = orientation * AVATAR_UP; + float angle = glm::degrees(acosf(glm::clamp(glm::dot(currentUp, _worldUpDirection), -1.0f, 1.0f))); + if (angle < EPSILON) { + return glm::quat(); + } + glm::vec3 axis; + if (angle > 179.99f) { // 180 degree rotation; must use another axis + axis = orientation * AVATAR_RIGHT; + } else { + axis = glm::normalize(glm::cross(currentUp, _worldUpDirection)); + } + return glm::angleAxis(angle * proportion, axis); +} void Avatar::renderBody(bool lookingInMirror) { @@ -1121,7 +1140,8 @@ void Avatar::renderBody(bool lookingInMirror) { for (int b = 0; b < NUM_AVATAR_JOINTS; b++) { float distanceToCamera = glm::length(_cameraPosition - _joint[b].position); - float alpha = glm::clamp((distanceToCamera - RENDER_TRANSLUCENT_BEYOND) / (RENDER_OPAQUE_BEYOND - RENDER_TRANSLUCENT_BEYOND), 0.f, 1.f); + float alpha = lookingInMirror ? 1.0f : glm::clamp((distanceToCamera - RENDER_TRANSLUCENT_BEYOND) / + (RENDER_OPAQUE_BEYOND - RENDER_TRANSLUCENT_BEYOND), 0.f, 1.f); if (lookingInMirror || _owningAgent) { alpha = 1.0f; @@ -1228,7 +1248,7 @@ void Avatar::writeAvatarDataToFile() { FILE* avatarFile = fopen(AVATAR_DATA_FILENAME, "w"); if (avatarFile) { - fprintf(avatarFile, "%f,%f,%f %f", _position.x, _position.y, _position.z, _bodyYaw); + fprintf(avatarFile, "%f,%f,%f %f,%f,%f", _position.x, _position.y, _position.z, _bodyYaw, _bodyPitch, _bodyRoll); fclose(avatarFile); } } @@ -1238,13 +1258,17 @@ void Avatar::readAvatarDataFromFile() { if (avatarFile) { glm::vec3 readPosition; - float readYaw; - fscanf(avatarFile, "%f,%f,%f %f", &readPosition.x, &readPosition.y, &readPosition.z, &readYaw); + float readYaw, readPitch, readRoll; + fscanf(avatarFile, "%f,%f,%f %f,%f,%f", &readPosition.x, &readPosition.y, &readPosition.z, + &readYaw, &readPitch, &readRoll); // make sure these values are sane - if (!isnan(readPosition.x) && !isnan(readPosition.y) && !isnan(readPosition.z) && !isnan(readYaw)) { + if (!isnan(readPosition.x) && !isnan(readPosition.y) && !isnan(readPosition.z) && + !isnan(readYaw) && !isnan(readPitch) && !isnan(readRoll)) { _position = readPosition; _bodyYaw = readYaw; + _bodyPitch = readPitch; + _bodyRoll = readRoll; } fclose(avatarFile); } diff --git a/interface/src/Avatar.h b/interface/src/Avatar.h index 1ef5675d9b..262051655e 100644 --- a/interface/src/Avatar.h +++ b/interface/src/Avatar.h @@ -11,7 +11,6 @@ #include #include #include -#include #include "world.h" #include "AvatarTouch.h" #include "InterfaceConfig.h" @@ -31,15 +30,15 @@ enum DriveKeys DOWN, ROT_LEFT, ROT_RIGHT, - MAX_DRIVE_KEYS + MAX_DRIVE_KEYS }; enum AvatarMode { - AVATAR_MODE_STANDING = 0, - AVATAR_MODE_WALKING, - AVATAR_MODE_INTERACTING, - NUM_AVATAR_MODES + AVATAR_MODE_STANDING = 0, + AVATAR_MODE_WALKING, + AVATAR_MODE_INTERACTING, + NUM_AVATAR_MODES }; class Avatar : public AvatarData { @@ -62,22 +61,27 @@ public: void setDisplayingLookatVectors(bool displayingLookatVectors) { _head.setRenderLookatVectors(displayingLookatVectors);} void setGravity (glm::vec3 gravity); void setMouseRay (const glm::vec3 &origin, const glm::vec3 &direction); + void setOrientation (const glm::quat& orientation); //getters - float getHeadYawRate () const { return _head.yawRate;} - float getBodyYaw () const { return _bodyYaw;} - bool getIsNearInteractingOther() const { return _avatarTouch.getAbleToReachOtherAvatar();} - const glm::vec3& getHeadPosition () const { return _joint[ AVATAR_JOINT_HEAD_BASE ].position;} - const glm::vec3& getSpringyHeadPosition () const { return _joint[ AVATAR_JOINT_HEAD_BASE ].springyPosition;} - const glm::vec3& getJointPosition (AvatarJointID j) const { return _joint[j].springyPosition;} - const glm::vec3& getBodyUpDirection () const { return _orientation.getUp();} - const glm::vec3& getVelocity () const { return _velocity;} - float getSpeed () const { return _speed;} - float getHeight () const { return _height;} - AvatarMode getMode () const { return _mode;} - float getAbsoluteHeadYaw () const; - float getAbsoluteHeadPitch () const; - Head& getHead () {return _head; } + float getHeadYawRate () const { return _head.yawRate;} + float getBodyYaw () const { return _bodyYaw;} + bool getIsNearInteractingOther () const { return _avatarTouch.getAbleToReachOtherAvatar();} + const glm::vec3& getHeadPosition () const { return _joint[ AVATAR_JOINT_HEAD_BASE ].position;} + const glm::vec3& getSpringyHeadPosition () const { return _joint[ AVATAR_JOINT_HEAD_BASE ].springyPosition;} + const glm::vec3& getJointPosition (AvatarJointID j) const { return _joint[j].springyPosition;} + glm::vec3 getBodyRightDirection () const { return getOrientation() * AVATAR_RIGHT; } + glm::vec3 getBodyUpDirection () const { return getOrientation() * AVATAR_UP; } + glm::vec3 getBodyFrontDirection () const { return getOrientation() * AVATAR_FRONT; } + const glm::vec3& getVelocity () const { return _velocity;} + float getSpeed () const { return _speed;} + float getHeight () const { return _height;} + AvatarMode getMode () const { return _mode;} + float getAbsoluteHeadYaw () const; + float getAbsoluteHeadPitch () const; + Head& getHead () { return _head; } + glm::quat getOrientation () const; + glm::quat getWorldAlignedOrientation () const; // Set what driving keys are being pressed to control thrust levels void setDriveKeys(int key, bool val) { _driveKeys[key] = val; }; @@ -99,19 +103,15 @@ private: struct AvatarJoint { AvatarJointID parent; // which joint is this joint connected to? - glm::vec3 position; // the position at the "end" of the joint - in global space - glm::vec3 defaultPosePosition; // the parent relative position when the avatar is in the "T-pose" - glm::vec3 springyPosition; // used for special effects (a 'flexible' variant of position) - glm::vec3 springyVelocity; // used for special effects ( the velocity of the springy position) - float springBodyTightness; // how tightly the springy position tries to stay on the position - glm::quat rotation; // this will eventually replace yaw, pitch and roll (and maybe orientation) - float yaw; // the yaw Euler angle of the joint rotation off the parent - float pitch; // the pitch Euler angle of the joint rotation off the parent - float roll; // the roll Euler angle of the joint rotation off the parent - Orientation orientation; // three orthogonal normals determined by yaw, pitch, roll - float length; // the length of vector connecting the joint and its parent - float radius; // used for detecting collisions for certain physical effects - bool isCollidable; // when false, the joint position will not register a collision + glm::vec3 position; // the position at the "end" of the joint - in global space + glm::vec3 defaultPosePosition; // the parent relative position when the avatar is in the "T-pose" + glm::vec3 springyPosition; // used for special effects (a 'flexible' variant of position) + glm::vec3 springyVelocity; // used for special effects ( the velocity of the springy position) + float springBodyTightness; // how tightly the springy position tries to stay on the position + glm::quat orientation; // this will eventually replace yaw, pitch and roll (and maybe orientation) + float length; // the length of vector connecting the joint and its parent + float radius; // used for detecting collisions for certain physical effects + bool isCollidable; // when false, the joint position will not register a collision float touchForce; // if being touched, what's the degree of influence? (0 to 1) }; @@ -124,16 +124,14 @@ private: float _bodyYawDelta; float _bodyRollDelta; glm::vec3 _movedHandOffset; - glm::quat _rotation; // the rotation of the avatar body as a whole expressed as a quaternion - AvatarJoint _joint[ NUM_AVATAR_JOINTS ]; + AvatarJoint _joint[ NUM_AVATAR_JOINTS ]; AvatarMode _mode; glm::vec3 _cameraPosition; glm::vec3 _handHoldingPosition; glm::vec3 _velocity; - glm::vec3 _thrust; + glm::vec3 _thrust; float _speed; - float _maxArmLength; - Orientation _orientation; + float _maxArmLength; glm::quat _righting; int _driveKeys[MAX_DRIVE_KEYS]; float _pelvisStandingHeight; @@ -143,6 +141,7 @@ private: AvatarTouch _avatarTouch; float _distanceToNearestAvatar; // How close is the nearest avatar? glm::vec3 _gravity; + glm::vec3 _worldUpDirection; glm::vec3 _mouseRayOrigin; glm::vec3 _mouseRayDirection; Avatar* _interactingOther; @@ -151,6 +150,7 @@ private: // private methods... glm::vec3 caclulateAverageEyePosition() { return _head.caclulateAverageEyePosition(); } // get the position smack-dab between the eyes (for lookat) + glm::quat computeRotationFromBodyToWorldUp(float proportion = 1.0f) const; void renderBody(bool lookingInMirror); void initializeSkeleton(); void updateSkeleton(); diff --git a/interface/src/AvatarTouch.cpp b/interface/src/AvatarTouch.cpp index 644c802d1f..2415d030c8 100644 --- a/interface/src/AvatarTouch.cpp +++ b/interface/src/AvatarTouch.cpp @@ -29,8 +29,6 @@ AvatarTouch::AvatarTouch() { _canReachToOtherAvatar = false; _handsCloseEnoughToGrasp = false; _hasInteractingOther = false; - _myOrientation.setToIdentity(); - _yourOrientation.setToIdentity(); for (int p=0; p AVATAR_FACING_THRESHOLD)) { // I'm facing you + glm::vec3 myFront = _myOrientation * AVATAR_FRONT; + glm::vec3 yourFront = _yourOrientation * AVATAR_FRONT; + + if (( glm::dot(myFront, yourFront) < -AVATAR_FACING_THRESHOLD) // we're facing each other + && ( glm::dot(myFront, directionBetweenBodies ) > AVATAR_FACING_THRESHOLD)) { // I'm facing you facingEachOther = true; } diff --git a/interface/src/AvatarTouch.h b/interface/src/AvatarTouch.h index 1361e930eb..da550432eb 100644 --- a/interface/src/AvatarTouch.h +++ b/interface/src/AvatarTouch.h @@ -9,7 +9,9 @@ #define __interface__AvatarTouch__ #include -#include "Orientation.h" +#include + +#include enum AvatarHandState { @@ -31,8 +33,8 @@ public: void setHasInteractingOther(bool hasInteractingOther) { _hasInteractingOther = hasInteractingOther;} void setMyHandPosition (glm::vec3 position ) { _myHandPosition = position;} void setYourHandPosition (glm::vec3 position ) { _yourHandPosition = position;} - void setMyOrientation (Orientation orientation ) { _myOrientation = orientation;} - void setYourOrientation (Orientation orientation ) { _yourOrientation = orientation;} + void setMyOrientation (glm::quat orientation ) { _myOrientation = orientation;} + void setYourOrientation (glm::quat orientation ) { _yourOrientation = orientation;} void setMyBodyPosition (glm::vec3 position ) { _myBodyPosition = position;} void setYourBodyPosition (glm::vec3 position ) { _yourBodyPosition = position;} void setMyHandState (int state ) { _myHandState = state;} @@ -55,8 +57,8 @@ private: glm::vec3 _yourBodyPosition; glm::vec3 _myHandPosition; glm::vec3 _yourHandPosition; - Orientation _myOrientation; - Orientation _yourOrientation; + glm::quat _myOrientation; + glm::quat _yourOrientation; glm::vec3 _vectorBetweenHands; int _myHandState; int _yourHandState; diff --git a/interface/src/Camera.cpp b/interface/src/Camera.cpp index fa0744bf49..21e60c0cc5 100644 --- a/interface/src/Camera.cpp +++ b/interface/src/Camera.cpp @@ -4,12 +4,14 @@ // // Copyright (c) 2013 High Fidelity, Inc. All rights reserved. +#include #include #include #include -// #include "Log.h" +#include "Log.h" #include "Camera.h" +#include "Util.h" const float CAMERA_MINIMUM_MODE_SHIFT_RATE = 0.5f; @@ -38,9 +40,6 @@ Camera::Camera() { _fieldOfView = 60.0f; // default _nearClip = 0.08f; // default _farClip = 50.0f * TREE_SCALE; // default - _yaw = 0.0f; - _pitch = 0.0f; - _roll = 0.0f; _upShift = 0.0f; _distance = 0.0f; _previousUpShift = 0.0f; @@ -49,13 +48,9 @@ Camera::Camera() { _newUpShift = 0.0f; _newDistance = 0.0f; _newTightness = 0.0f; - _idealYaw = 0.0f; - _idealPitch = 0.0f; - _idealRoll = 0.0f; _targetPosition = glm::vec3(0.0f, 0.0f, 0.0f); _position = glm::vec3(0.0f, 0.0f, 0.0f); _idealPosition = glm::vec3(0.0f, 0.0f, 0.0f); - _orientation.setToIdentity(); } void Camera::update(float deltaTime) { @@ -64,17 +59,6 @@ void Camera::update(float deltaTime) { // use iterative forces to push the camera towards the target position and angle updateFollowMode(deltaTime); } - - // do this AFTER making any changes to yaw pitch and roll.... - generateOrientation(); -} - -// generate the ortho-normals for the orientation based on the three Euler angles -void Camera::generateOrientation() { - _orientation.setToIdentity(); - _orientation.pitch(_pitch); - _orientation.yaw (_yaw ); - _orientation.roll (_roll ); } // use iterative forces to keep the camera at the desired position and angle @@ -104,26 +88,15 @@ void Camera::updateFollowMode(float deltaTime) { t = 1.0; } - // update Euler angles (before position!) + // update rotation (before position!) if (_needsToInitialize || OculusManager::isConnected()) { - _yaw = _idealYaw; - _pitch = _idealPitch; - _roll = _idealRoll; + _rotation = _targetRotation; } else { - // pull Euler angles towards ideal Euler angles - _yaw += (_idealYaw - _yaw ) * t; - _pitch += (_idealPitch - _pitch) * t; - _roll += (_idealRoll - _roll ) * t; + // pull rotation towards ideal + _rotation = safeMix(_rotation, _targetRotation, t); } - float radian = (_yaw / 180.0) * PIE; - - // update _position - double x = -_distance * sin(radian); - double z = -_distance * cos(radian); - double y = _upShift; - - _idealPosition = _targetPosition + glm::vec3(x, y, z); + _idealPosition = _targetPosition + _rotation * glm::vec3(0.0f, _upShift, _distance); if (_needsToInitialize) { _position = _idealPosition; @@ -171,10 +144,8 @@ void Camera::setMode(CameraMode m) { } -void Camera::setTargetRotation( float yaw, float pitch, float roll ) { - _idealYaw = yaw; - _idealPitch = pitch; - _idealRoll = roll; +void Camera::setTargetRotation( const glm::quat& targetRotation ) { + _targetRotation = targetRotation; } void Camera::setFieldOfView(float f) { diff --git a/interface/src/Camera.h b/interface/src/Camera.h index ae3e3ef7b2..4d56774326 100644 --- a/interface/src/Camera.h +++ b/interface/src/Camera.h @@ -30,40 +30,36 @@ public: void update( float deltaTime ); - void setYaw ( float y ) { _yaw = y; } - void setPitch ( float p ) { _pitch = p; } - void setRoll ( float r ) { _roll = r; } - void setUpShift ( float u ) { _upShift = u; } - void setDistance ( float d ) { _distance = d; } - void setTargetPosition( glm::vec3 t ) { _targetPosition = t; } - void setTargetYaw ( float y ) { _idealYaw = y; } - void setPosition ( glm::vec3 p ) { _position = p; } - void setTightness ( float t ) { _tightness = t; } - void setTargetRotation( float yaw, float pitch, float roll ); + void setUpShift ( float u ) { _upShift = u; } + void setDistance ( float d ) { _distance = d; } + void setTargetPosition( const glm::vec3& t ) { _targetPosition = t; } + void setPosition ( const glm::vec3& p ) { _position = p; } + void setTightness ( float t ) { _tightness = t; } + void setTargetRotation( const glm::quat& rotation ); - void setMode ( CameraMode m ); - void setModeShiftRate ( float r ); - void setFieldOfView ( float f ); - void setAspectRatio ( float a ); - void setNearClip ( float n ); - void setFarClip ( float f ); - void setEyeOffsetPosition ( const glm::vec3& p); - void setEyeOffsetOrientation ( const glm::quat& o); - - float getYaw () { return _yaw; } - float getPitch () { return _pitch; } - float getRoll () { return _roll; } - glm::vec3 getPosition () { return _position; } - Orientation getOrientation() { return _orientation; } - CameraMode getMode () { return _mode; } - float getFieldOfView() { return _fieldOfView; } - float getAspectRatio() { return _aspectRatio; } - float getNearClip () { return _nearClip; } - float getFarClip () { return _farClip; } - glm::vec3 getEyeOffsetPosition () { return _eyeOffsetPosition; } - glm::quat getEyeOffsetOrientation () { return _eyeOffsetOrientation; } - bool getFrustumNeedsReshape(); // call to find out if the view frustum needs to be reshaped - void setFrustumWasReshaped(); // call this after reshaping the view frustum. + void setMode ( CameraMode m ); + void setModeShiftRate ( float r ); + void setFieldOfView ( float f ); + void setAspectRatio ( float a ); + void setNearClip ( float n ); + void setFarClip ( float f ); + void setEyeOffsetPosition ( const glm::vec3& p ); + void setEyeOffsetOrientation( const glm::quat& o ); + + const glm::vec3& getTargetPosition () { return _targetPosition; } + const glm::vec3& getPosition () { return _position; } + const glm::quat& getTargetRotation () { return _targetRotation; } + const glm::quat& getRotation () { return _rotation; } + CameraMode getMode () { return _mode; } + float getFieldOfView () { return _fieldOfView; } + float getAspectRatio () { return _aspectRatio; } + float getNearClip () { return _nearClip; } + float getFarClip () { return _farClip; } + const glm::vec3& getEyeOffsetPosition () { return _eyeOffsetPosition; } + const glm::quat& getEyeOffsetOrientation () { return _eyeOffsetOrientation; } + + bool getFrustumNeedsReshape(); // call to find out if the view frustum needs to be reshaped + void setFrustumWasReshaped(); // call this after reshaping the view frustum. private: @@ -79,12 +75,8 @@ private: float _farClip; glm::vec3 _eyeOffsetPosition; glm::quat _eyeOffsetOrientation; - float _yaw; - float _pitch; - float _roll; - float _idealYaw; - float _idealPitch; - float _idealRoll; + glm::quat _rotation; + glm::quat _targetRotation; float _upShift; float _distance; float _tightness; @@ -94,12 +86,10 @@ private: float _newUpShift; float _newDistance; float _newTightness; - Orientation _orientation; float _modeShift; float _linearModeShift; float _modeShiftRate; - void generateOrientation(); void updateFollowMode( float deltaTime ); }; diff --git a/interface/src/Environment.cpp b/interface/src/Environment.cpp index fec4ba0529..f762aaeed1 100644 --- a/interface/src/Environment.cpp +++ b/interface/src/Environment.cpp @@ -71,7 +71,8 @@ glm::vec3 Environment::getGravity (const glm::vec3& position) { foreach (const ServerData& serverData, _data) { foreach (const EnvironmentData& environmentData, serverData) { glm::vec3 vector = environmentData.getAtmosphereCenter() - position; - if (glm::length(vector) < environmentData.getAtmosphereOuterRadius()) { + const float GRAVITY_RADIUS_MULTIPLIER = 1.5f; + if (glm::length(vector) < environmentData.getAtmosphereOuterRadius() * GRAVITY_RADIUS_MULTIPLIER) { gravity += glm::normalize(vector) * environmentData.getGravity(); } } diff --git a/interface/src/Head.cpp b/interface/src/Head.cpp index 65d6c71860..d1ee699dc8 100644 --- a/interface/src/Head.cpp +++ b/interface/src/Head.cpp @@ -4,6 +4,8 @@ // // Copyright (c) 2013 High Fidelity, Inc. All rights reserved. +#include +#include "Avatar.h" #include "Head.h" #include "Util.h" #include @@ -62,6 +64,7 @@ Head::Head(Avatar* owningAvatar) : _audioAttack(0.0f), _returnSpringScale(1.0f), _bodyRotation(0.0f, 0.0f, 0.0f), + _lookingInMirror(false), _renderLookatVectors(false), _mohawkTriangleFan(NULL), _mohawkColors(NULL) @@ -84,13 +87,14 @@ void Head::reset() { void Head::resetHairPhysics() { + glm::vec3 up = getUpDirection(); for (int t = 0; t < NUM_HAIR_TUFTS; t ++) { _hairTuft[t].length = HAIR_LENGTH; _hairTuft[t].thickness = HAIR_THICKNESS; - _hairTuft[t].basePosition = _position + _orientation.getUp() * _scale * 0.9f; - _hairTuft[t].midPosition = _hairTuft[t].basePosition + _orientation.getUp() * _hairTuft[t].length * ONE_HALF; - _hairTuft[t].endPosition = _hairTuft[t].midPosition + _orientation.getUp() * _hairTuft[t].length * ONE_HALF; + _hairTuft[t].basePosition = _position + up * _scale * 0.9f; + _hairTuft[t].midPosition = _hairTuft[t].basePosition + up * _hairTuft[t].length * ONE_HALF; + _hairTuft[t].endPosition = _hairTuft[t].midPosition + up * _hairTuft[t].length * ONE_HALF; _hairTuft[t].midVelocity = glm::vec3(0.0f, 0.0f, 0.0f); _hairTuft[t].endVelocity = glm::vec3(0.0f, 0.0f, 0.0f); } @@ -156,7 +160,7 @@ void Head::determineIfLookingAtSomething() { _lookingAtSomething = false; } else { glm::vec3 targetLookatAxis = glm::normalize(_lookAtPosition - caclulateAverageEyePosition()); - float dot = glm::dot(targetLookatAxis, _orientation.getFront()); + float dot = glm::dot(targetLookatAxis, getFrontDirection()); if (dot < MINIMUM_EYE_ROTATION_DOT) { // too far off from center for the eyes to rotate _lookingAtSomething = false; } else { @@ -165,57 +169,48 @@ void Head::determineIfLookingAtSomething() { } } -void Head::calculateGeometry(bool lookingInMirror) { - //generate orientation directions based on Euler angles... - - float pitch = _pitch; - float yaw = _yaw; - float roll = _roll; - - if (lookingInMirror) { - yaw = -_yaw; - roll = -_roll; - } - - _orientation.setToIdentity(); - _orientation.roll (_bodyRotation.z + roll ); - _orientation.pitch(_bodyRotation.x + pitch); - _orientation.yaw (_bodyRotation.y + yaw ); +void Head::calculateGeometry() { + //generate orientation directions + glm::quat orientation = getOrientation(); + glm::vec3 right = orientation * AVATAR_RIGHT; + glm::vec3 up = orientation * AVATAR_UP; + glm::vec3 front = orientation * AVATAR_FRONT; //calculate the eye positions _leftEyePosition = _position - - _orientation.getRight() * _scale * EYE_RIGHT_OFFSET - + _orientation.getUp () * _scale * EYE_UP_OFFSET - + _orientation.getFront() * _scale * EYE_FRONT_OFFSET; + - right * _scale * EYE_RIGHT_OFFSET + + up * _scale * EYE_UP_OFFSET + + front * _scale * EYE_FRONT_OFFSET; _rightEyePosition = _position - + _orientation.getRight() * _scale * EYE_RIGHT_OFFSET - + _orientation.getUp () * _scale * EYE_UP_OFFSET - + _orientation.getFront() * _scale * EYE_FRONT_OFFSET; + + right * _scale * EYE_RIGHT_OFFSET + + up * _scale * EYE_UP_OFFSET + + front * _scale * EYE_FRONT_OFFSET; //calculate the eyebrow positions _leftEyeBrowPosition = _leftEyePosition; _rightEyeBrowPosition = _rightEyePosition; //calculate the ear positions - _leftEarPosition = _position - _orientation.getRight() * _scale * EAR_RIGHT_OFFSET; - _rightEarPosition = _position + _orientation.getRight() * _scale * EAR_RIGHT_OFFSET; + _leftEarPosition = _position - right * _scale * EAR_RIGHT_OFFSET; + _rightEarPosition = _position + right * _scale * EAR_RIGHT_OFFSET; //calculate the mouth position - _mouthPosition = _position + _orientation.getUp () * _scale * MOUTH_UP_OFFSET - + _orientation.getFront() * _scale; + _mouthPosition = _position + up * _scale * MOUTH_UP_OFFSET + + front * _scale; } void Head::render(bool lookingInMirror, glm::vec3 cameraPosition, float alpha) { _renderAlpha = alpha; + _lookingInMirror = lookingInMirror; - calculateGeometry(lookingInMirror); + calculateGeometry(); glEnable(GL_DEPTH_TEST); glEnable(GL_RESCALE_NORMAL); - renderMohawk(lookingInMirror, cameraPosition); + renderMohawk(cameraPosition); renderHeadSphere(); renderEyeBalls(); renderEars(); @@ -259,7 +254,7 @@ void Head::createMohawk() { } } -void Head::renderMohawk(bool lookingInMirror, glm::vec3 cameraPosition) { +void Head::renderMohawk(glm::vec3 cameraPosition) { if (!_mohawkTriangleFan) { createMohawk(); @@ -297,8 +292,8 @@ void Head::renderMohawk(bool lookingInMirror, glm::vec3 cameraPosition) { } else { glPushMatrix(); glTranslatef(_position.x, _position.y, _position.z); - glRotatef((lookingInMirror ? (_bodyRotation.y - _yaw) : (_bodyRotation.y + _yaw)), 0, 1, 0); - glRotatef(lookingInMirror ? _roll: -_roll, 0, 0, 1); + glRotatef((_lookingInMirror ? (_bodyRotation.y - _yaw) : (_bodyRotation.y + _yaw)), 0, 1, 0); + glRotatef(_lookingInMirror ? _roll: -_roll, 0, 0, 1); glRotatef(-_pitch - _bodyRotation.x, 1, 0, 0); glBegin(GL_TRIANGLE_FAN); @@ -312,6 +307,16 @@ void Head::renderMohawk(bool lookingInMirror, glm::vec3 cameraPosition) { } } +glm::quat Head::getOrientation() const { + return glm::quat(glm::radians(_bodyRotation)) * glm::quat(glm::radians(_lookingInMirror ? + glm::vec3(_pitch, -_yaw, -_roll) : glm::vec3(_pitch, _yaw, _roll))); +} + +glm::quat Head::getWorldAlignedOrientation () const { + Avatar* owningAvatar = static_cast(_owningAvatar); + return owningAvatar->getWorldAlignedOrientation() * glm::quat(glm::radians(_lookingInMirror ? + glm::vec3(_pitch, -_yaw, -_roll) : glm::vec3(_pitch, _yaw, _roll))); +} void Head::renderHeadSphere() { glPushMatrix(); @@ -341,9 +346,14 @@ void Head::renderMouth() { float s = sqrt(_averageLoudness); - glm::vec3 r = _orientation.getRight() * _scale * (0.30f + s * 0.0014f ); - glm::vec3 u = _orientation.getUp () * _scale * (0.05f + s * 0.0040f ); - glm::vec3 f = _orientation.getFront() * _scale * 0.09f; + glm::quat orientation = getOrientation(); + glm::vec3 right = orientation * AVATAR_RIGHT; + glm::vec3 up = orientation * AVATAR_UP; + glm::vec3 front = orientation * AVATAR_FRONT; + + glm::vec3 r = right * _scale * (0.30f + s * 0.0014f ); + glm::vec3 u = up * _scale * (0.05f + s * 0.0040f ); + glm::vec3 f = front * _scale * 0.09f; glm::vec3 middle = _mouthPosition; glm::vec3 leftCorner = _mouthPosition - r * 1.0f; @@ -403,11 +413,16 @@ void Head::renderEyeBrows() { glm::vec3 rightTop = _leftEyePosition; glm::vec3 leftBottom = _leftEyePosition; glm::vec3 rightBottom = _leftEyePosition; - - glm::vec3 r = _orientation.getRight() * length; - glm::vec3 u = _orientation.getUp() * height; - glm::vec3 t = _orientation.getUp() * (height + width); - glm::vec3 f = _orientation.getFront() * _scale * -0.1f; + + glm::quat orientation = getOrientation(); + glm::vec3 right = orientation * AVATAR_RIGHT; + glm::vec3 up = orientation * AVATAR_UP; + glm::vec3 front = orientation * AVATAR_FRONT; + + glm::vec3 r = right * length; + glm::vec3 u = up * height; + glm::vec3 t = up * (height + width); + glm::vec3 f = front * _scale * -0.1f; for (int i = 0; i < 2; i++) { @@ -475,6 +490,8 @@ void Head::renderEyeBalls() { gluSphere(irisQuadric, EYEBALL_RADIUS, 30, 30); glPopMatrix(); + glm::vec3 front = getFrontDirection(); + // render left iris glPushMatrix(); { glTranslatef(_leftEyePosition.x, _leftEyePosition.y, _leftEyePosition.z); //translate to eyeball position @@ -485,20 +502,20 @@ void Head::renderEyeBalls() { //rotate the eyeball to aim towards the lookat position glm::vec3 targetLookatAxis = glm::normalize(_lookAtPosition - _leftEyePosition); // the lookat direction - glm::vec3 rotationAxis = glm::cross(targetLookatAxis, IDENTITY_UP); - float angle = 180.0f - angleBetween(targetLookatAxis, IDENTITY_UP); + glm::vec3 rotationAxis = glm::cross(targetLookatAxis, AVATAR_UP); + float angle = 180.0f - angleBetween(targetLookatAxis, AVATAR_UP); glRotatef(angle, rotationAxis.x, rotationAxis.y, rotationAxis.z); glRotatef(180.0, 0.0f, 1.0f, 0.0f); //adjust roll to correct after previous rotations } else { //rotate the eyeball to aim straight ahead - glm::vec3 rotationAxisToHeadFront = glm::cross(_orientation.getFront(), IDENTITY_UP); - float angleToHeadFront = 180.0f - angleBetween(_orientation.getFront(), IDENTITY_UP); + glm::vec3 rotationAxisToHeadFront = glm::cross(front, AVATAR_UP); + float angleToHeadFront = 180.0f - angleBetween(front, AVATAR_UP); glRotatef(angleToHeadFront, rotationAxisToHeadFront.x, rotationAxisToHeadFront.y, rotationAxisToHeadFront.z); //set the amount of roll (for correction after previous rotations) - float rollRotation = angleBetween(_orientation.getFront(), IDENTITY_FRONT); - float dot = glm::dot(_orientation.getFront(), -IDENTITY_RIGHT); + float rollRotation = angleBetween(front, AVATAR_FRONT); + float dot = glm::dot(front, -AVATAR_RIGHT); if ( dot < 0.0f ) { rollRotation = -rollRotation; } glRotatef(rollRotation, 0.0f, 1.0f, 0.0f); //roll the iris or correct roll about the lookat vector } @@ -529,21 +546,21 @@ void Head::renderEyeBalls() { //rotate the eyeball to aim towards the lookat position glm::vec3 targetLookatAxis = glm::normalize(_lookAtPosition - _rightEyePosition); - glm::vec3 rotationAxis = glm::cross(targetLookatAxis, IDENTITY_UP); - float angle = 180.0f - angleBetween(targetLookatAxis, IDENTITY_UP); + glm::vec3 rotationAxis = glm::cross(targetLookatAxis, AVATAR_UP); + float angle = 180.0f - angleBetween(targetLookatAxis, AVATAR_UP); glRotatef(angle, rotationAxis.x, rotationAxis.y, rotationAxis.z); glRotatef(180.0f, 0.0f, 1.0f, 0.0f); //adjust roll to correct after previous rotations } else { //rotate the eyeball to aim straight ahead - glm::vec3 rotationAxisToHeadFront = glm::cross(_orientation.getFront(), IDENTITY_UP); - float angleToHeadFront = 180.0f - angleBetween(_orientation.getFront(), IDENTITY_UP); + glm::vec3 rotationAxisToHeadFront = glm::cross(front, AVATAR_UP); + float angleToHeadFront = 180.0f - angleBetween(front, AVATAR_UP); glRotatef(angleToHeadFront, rotationAxisToHeadFront.x, rotationAxisToHeadFront.y, rotationAxisToHeadFront.z); //set the amount of roll (for correction after previous rotations) - float rollRotation = angleBetween(_orientation.getFront(), IDENTITY_FRONT); - float dot = glm::dot(_orientation.getFront(), -IDENTITY_RIGHT); + float rollRotation = angleBetween(front, AVATAR_FRONT); + float dot = glm::dot(front, -AVATAR_RIGHT); if ( dot < 0.0f ) { rollRotation = -rollRotation; } glRotatef(rollRotation, 0.0f, 1.0f, 0.0f); //roll the iris or correct roll about the lookat vector } @@ -578,6 +595,11 @@ void Head::renderLookatVectors(glm::vec3 leftEyePosition, glm::vec3 rightEyePosi void Head::updateHairPhysics(float deltaTime) { + glm::quat orientation = getOrientation(); + glm::vec3 right = orientation * AVATAR_RIGHT; + glm::vec3 up = orientation * AVATAR_UP; + glm::vec3 front = orientation * AVATAR_FRONT; + for (int t = 0; t < NUM_HAIR_TUFTS; t ++) { float fraction = (float)t / (float)(NUM_HAIR_TUFTS - 1); @@ -586,8 +608,8 @@ void Head::updateHairPhysics(float deltaTime) { float radian = angle * PI_OVER_180; glm::vec3 baseDirection - = _orientation.getFront() * sinf(radian) - + _orientation.getUp() * cosf(radian); + = front * sinf(radian) + + up * cosf(radian); _hairTuft[t].basePosition = _position + _scale * 0.9f * baseDirection; @@ -603,13 +625,13 @@ void Head::updateHairPhysics(float deltaTime) { if (midLength > 0.0f) { midDirection = midAxis / midLength; } else { - midDirection = _orientation.getUp(); + midDirection = up; } if (endLength > 0.0f) { endDirection = endAxis / endLength; } else { - endDirection = _orientation.getUp(); + endDirection = up; } // add spring force @@ -654,13 +676,13 @@ void Head::updateHairPhysics(float deltaTime) { if (newMidLength > 0.0f) { newMidDirection = newMidVector/newMidLength; } else { - newMidDirection = _orientation.getUp(); + newMidDirection = up; } if (newEndLength > 0.0f) { newEndDirection = newEndVector/newEndLength; } else { - newEndDirection = _orientation.getUp(); + newEndDirection = up; } _hairTuft[t].endPosition = _hairTuft[t].midPosition + newEndDirection * _hairTuft[t].length * ONE_HALF; diff --git a/interface/src/Head.h b/interface/src/Head.h index b98fa8c6b6..f49e127caf 100644 --- a/interface/src/Head.h +++ b/interface/src/Head.h @@ -14,7 +14,6 @@ #include "world.h" #include "InterfaceConfig.h" #include "SerialInterface.h" -#include "Orientation.h" #include enum eyeContactTargets @@ -35,7 +34,7 @@ public: void reset(); void simulate(float deltaTime, bool isMine); void render(bool lookingInMirror, glm::vec3 cameraPosition, float alpha); - void renderMohawk(bool lookingInMirror, glm::vec3 cameraPosition); + void renderMohawk(glm::vec3 cameraPosition); void setScale (float scale ) { _scale = scale; } void setPosition (glm::vec3 position ) { _position = position; } @@ -46,7 +45,14 @@ public: void setAverageLoudness(float averageLoudness ) { _averageLoudness = averageLoudness; } void setReturnToCenter (bool returnHeadToCenter) { _returnHeadToCenter = returnHeadToCenter; } void setRenderLookatVectors(bool onOff ) { _renderLookatVectors = onOff; } - + + glm::quat getOrientation() const; + glm::quat getWorldAlignedOrientation () const; + + glm::vec3 getRightDirection() const { return getOrientation() * AVATAR_RIGHT; } + glm::vec3 getUpDirection () const { return getOrientation() * AVATAR_UP; } + glm::vec3 getFrontDirection() const { return getOrientation() * AVATAR_FRONT; } + const bool getReturnToCenter() const { return _returnHeadToCenter; } // Do you want head to try to return to center (depends on interface detected) float getAverageLoudness() {return _averageLoudness;}; glm::vec3 caclulateAverageEyePosition() { return _leftEyePosition + (_rightEyePosition - _leftEyePosition ) * ONE_HALF; } @@ -91,8 +97,8 @@ private: float _averageLoudness; float _audioAttack; float _returnSpringScale; //strength of return springs - Orientation _orientation; glm::vec3 _bodyRotation; + bool _lookingInMirror; bool _renderLookatVectors; HairTuft _hairTuft[NUM_HAIR_TUFTS]; glm::vec3* _mohawkTriangleFan; @@ -106,7 +112,7 @@ private: void renderEars(); void renderMouth(); void renderLookatVectors(glm::vec3 leftEyePosition, glm::vec3 rightEyePosition, glm::vec3 lookatPosition); - void calculateGeometry( bool lookingInMirror); + void calculateGeometry(); void determineIfLookingAtSomething(); void resetHairPhysics(); void updateHairPhysics(float deltaTime); diff --git a/interface/src/Util.cpp b/interface/src/Util.cpp index 2df1196a86..41b25ea776 100644 --- a/interface/src/Util.cpp +++ b/interface/src/Util.cpp @@ -13,6 +13,7 @@ #include #include #include +#include #include #include "Log.h" @@ -71,6 +72,65 @@ float angleBetween(const glm::vec3& v1, const glm::vec3& v2) { return acos((glm::dot(v1, v2)) / (glm::length(v1) * glm::length(v2))) * 180.f / PI; } +// Safe version of glm::eulerAngles; uses the factorization method described in David Eberly's +// http://www.geometrictools.com/Documentation/EulerAngles.pdf (via Clyde, +// https://github.com/threerings/clyde/blob/master/src/main/java/com/threerings/math/Quaternion.java) +glm::vec3 safeEulerAngles(const glm::quat& q) { + float sy = 2.0f * (q.y * q.w - q.x * q.z); + if (sy < 1.0f - EPSILON) { + if (sy > -1.0f + EPSILON) { + return glm::degrees(glm::vec3( + atan2f(q.y * q.z + q.x * q.w, 0.5f - (q.x * q.x + q.y * q.y)), + asinf(sy), + atan2f(q.x * q.y + q.z * q.w, 0.5f - (q.y * q.y + q.z * q.z)))); + + } else { + // not a unique solution; x + z = atan2(-m21, m11) + return glm::degrees(glm::vec3( + 0.0f, + PIf * -0.5f, + atan2f(q.x * q.w - q.y * q.z, 0.5f - (q.x * q.x + q.z * q.z)))); + } + } else { + // not a unique solution; x - z = atan2(-m21, m11) + return glm::degrees(glm::vec3( + 0.0f, + PIf * 0.5f, + -atan2f(q.x * q.w - q.y * q.z, 0.5f - (q.x * q.x + q.z * q.z)))); + } +} + +// Safe version of glm::mix; based on the code in Nick Bobick's article, +// http://www.gamasutra.com/features/19980703/quaternions_01.htm (via Clyde, +// https://github.com/threerings/clyde/blob/master/src/main/java/com/threerings/math/Quaternion.java) +glm::quat safeMix(const glm::quat& q1, const glm::quat& q2, float proportion) { + float cosa = q1.x * q2.x + q1.y * q2.y + q1.z * q2.z + q1.w * q2.w; + float ox = q2.x, oy = q2.y, oz = q2.z, ow = q2.w, s0, s1; + + // adjust signs if necessary + if (cosa < 0.0f) { + cosa = -cosa; + ox = -ox; + oy = -oy; + oz = -oz; + ow = -ow; + } + + // calculate coefficients; if the angle is too close to zero, we must fall back + // to linear interpolation + if ((1.0f - cosa) > EPSILON) { + float angle = acosf(cosa), sina = sinf(angle); + s0 = sinf((1.0f - proportion) * angle) / sina; + s1 = sinf(proportion * angle) / sina; + + } else { + s0 = 1.0f - proportion; + s1 = proportion; + } + + return glm::normalize(glm::quat(s0 * q1.w + s1 * ow, s0 * q1.x + s1 * ox, s0 * q1.y + s1 * oy, s0 * q1.z + s1 * oz)); +} + // Draw a 3D vector floating in space void drawVector(glm::vec3 * vector) { glDisable(GL_LIGHTING); diff --git a/interface/src/Util.h b/interface/src/Util.h index 3264039067..d93267f175 100644 --- a/interface/src/Util.h +++ b/interface/src/Util.h @@ -46,6 +46,10 @@ void drawVector(glm::vec3* vector); float angleBetween(const glm::vec3& v1, const glm::vec3& v2); +glm::vec3 safeEulerAngles(const glm::quat& q); + +glm::quat safeMix(const glm::quat& q1, const glm::quat& q2, float alpha); + double diffclock(timeval *clock1,timeval *clock2); void drawGroundPlaneGrid(float size); diff --git a/libraries/avatars/src/AvatarData.h b/libraries/avatars/src/AvatarData.h index 18bbacf810..49a31a7e6a 100644 --- a/libraries/avatars/src/AvatarData.h +++ b/libraries/avatars/src/AvatarData.h @@ -20,6 +20,11 @@ const int WANT_RESIN_AT_BIT = 0; const int WANT_COLOR_AT_BIT = 1; const int WANT_DELTA_AT_BIT = 2; +// this is where the coordinate system is represented +const glm::vec3 AVATAR_RIGHT = glm::vec3(1.0f, 0.0f, 0.0f); +const glm::vec3 AVATAR_UP = glm::vec3(0.0f, 1.0f, 0.0f); +const glm::vec3 AVATAR_FRONT = glm::vec3(0.0f, 0.0f, -1.0f); + enum KeyState { NO_KEY_DOWN,