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330 lines
10 KiB
C++
330 lines
10 KiB
C++
//
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// Head.cpp
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// interface
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//
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// Created by Philip Rosedale on 9/11/12.
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// Copyright (c) 2012 Physical, Inc.. All rights reserved.
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//
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#include <iostream>
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#include "Head.h"
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#include "Util.h"
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#include "vector_angle.hpp"
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#include "SerialInterface.h"
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float skinColor[] = {1.0, 0.84, 0.66};
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float browColor[] = {210.0/255.0, 105.0/255.0, 30.0/255.0};
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float mouthColor[] = {1, 0, 0};
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float BrowRollAngle[5] = {0, 15, 30, -30, -15};
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float BrowPitchAngle[3] = {-70, -60, -50};
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float eyeColor[3] = {1,1,1};
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float MouthWidthChoices[3] = {0.5, 0.77, 0.3};
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float browWidth = 0.8;
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float browThickness = 0.16;
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const float DECAY = 0.1;
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Head::Head()
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{
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position.x = position.y = position.z = 0;
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PupilSize = 0.10;
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interPupilDistance = 0.6;
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interBrowDistance = 0.75;
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NominalPupilSize = 0.10;
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Yaw = 0.0;
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EyebrowPitch[0] = EyebrowPitch[1] = BrowPitchAngle[0];
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EyebrowRoll[0] = 30;
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EyebrowRoll[1] = -30;
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MouthPitch = 0;
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MouthYaw = 0;
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MouthWidth = 1.0;
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MouthHeight = 0.2;
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EyeballPitch[0] = EyeballPitch[1] = 0;
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EyeballScaleX = 1.2; EyeballScaleY = 1.5; EyeballScaleZ = 1.0;
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EyeballYaw[0] = EyeballYaw[1] = 0;
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PitchTarget = YawTarget = 0;
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NoiseEnvelope = 1.0;
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PupilConverge = 10.0;
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leanForward = 0.0;
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leanSideways = 0.0;
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eyeContact = 1;
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eyeContactTarget = LEFT_EYE;
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setNoise(1);
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}
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void Head::reset()
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{
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Pitch = Yaw = Roll = 0;
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leanForward = leanSideways = 0;
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}
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void Head::UpdatePos(float frametime, SerialInterface * serialInterface, int head_mirror, glm::vec3 * gravity)
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// Using serial data, update avatar/render position and angles
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{
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float measured_pitch_rate = serialInterface->getRelativeValue(PITCH_RATE);
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float measured_yaw_rate = serialInterface->getRelativeValue(YAW_RATE);
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float measured_lateral_accel = serialInterface->getRelativeValue(ACCEL_X);
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float measured_fwd_accel = serialInterface->getRelativeValue(ACCEL_Z);
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float measured_roll_rate = serialInterface->getRelativeValue(ROLL_RATE);
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// Update avatar head position based on measured gyro rates
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const float HEAD_ROTATION_SCALE = 0.80;
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const float HEAD_ROLL_SCALE = 0.80;
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const float HEAD_LEAN_SCALE = 0.01;
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if (head_mirror) {
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addYaw(-measured_yaw_rate * HEAD_ROTATION_SCALE * frametime);
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addPitch(measured_pitch_rate * -HEAD_ROTATION_SCALE * frametime);
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addRoll(-measured_roll_rate * HEAD_ROLL_SCALE * frametime);
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addLean(-measured_lateral_accel * frametime * HEAD_LEAN_SCALE, -measured_fwd_accel*frametime * HEAD_LEAN_SCALE);
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} else {
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addYaw(measured_yaw_rate * -HEAD_ROTATION_SCALE * frametime);
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addPitch(measured_pitch_rate * -HEAD_ROTATION_SCALE * frametime);
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addRoll(-measured_roll_rate * HEAD_ROLL_SCALE * frametime);
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addLean(measured_lateral_accel * frametime * -HEAD_LEAN_SCALE, measured_fwd_accel*frametime * HEAD_LEAN_SCALE);
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}
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}
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void Head::addLean(float x, float z) {
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// Add Body lean as impulse
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leanSideways += x;
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leanForward += z;
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}
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void Head::setLeanForward(float dist){
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leanForward = dist;
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}
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void Head::setLeanSideways(float dist){
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leanSideways = dist;
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}
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// Simulate the head over time
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void Head::simulate(float deltaTime)
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{
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if (!noise)
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{
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// Decay back toward center
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Pitch *= (1.f - DECAY*deltaTime);
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Yaw *= (1.f - DECAY*deltaTime);
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Roll *= (1.f - DECAY*deltaTime);
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}
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else {
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// Move toward new target
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Pitch += (PitchTarget - Pitch)*10*deltaTime; // (1.f - DECAY*deltaTime)*Pitch + ;
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Yaw += (YawTarget - Yaw)*10*deltaTime; // (1.f - DECAY*deltaTime);
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Roll *= (1.f - DECAY*deltaTime);
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}
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leanForward *= (1.f - DECAY*30.f*deltaTime);
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leanSideways *= (1.f - DECAY*30.f*deltaTime);
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// Update where the avatar's eyes are
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//
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// First, decide if we are making eye contact or not
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if (randFloat() < 0.005) {
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eyeContact = !eyeContact;
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eyeContact = 1;
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if (!eyeContact) {
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// If we just stopped making eye contact,move the eyes markedly away
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EyeballPitch[0] = EyeballPitch[1] = EyeballPitch[0] + 5.0 + (randFloat() - 0.5)*10;
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EyeballYaw[0] = EyeballYaw[1] = EyeballYaw[0] + 5.0 + (randFloat()- 0.5)*5;
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} else {
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// If now making eye contact, turn head to look right at viewer
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SetNewHeadTarget(0,0);
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}
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}
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const float DEGREES_BETWEEN_VIEWER_EYES = 3;
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const float DEGREES_TO_VIEWER_MOUTH = 7;
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if (eyeContact) {
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// Should we pick a new eye contact target?
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if (randFloat() < 0.01) {
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// Choose where to look next
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if (randFloat() < 0.1) {
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eyeContactTarget = MOUTH;
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} else {
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if (randFloat() < 0.5) eyeContactTarget = LEFT_EYE; else eyeContactTarget = RIGHT_EYE;
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}
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}
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}
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if (noise)
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{
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Pitch += (randFloat() - 0.5)*0.2*NoiseEnvelope;
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Yaw += (randFloat() - 0.5)*0.3*NoiseEnvelope;
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//PupilSize += (randFloat() - 0.5)*0.001*NoiseEnvelope;
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if (randFloat() < 0.005) MouthWidth = MouthWidthChoices[rand()%3];
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if (!eyeContact) {
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if (randFloat() < 0.01) EyeballPitch[0] = EyeballPitch[1] = (randFloat() - 0.5)*20;
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if (randFloat() < 0.01) EyeballYaw[0] = EyeballYaw[1] = (randFloat()- 0.5)*10;
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} else {
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float eye_target_yaw_adjust = 0;
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float eye_target_pitch_adjust = 0;
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if (eyeContactTarget == LEFT_EYE) eye_target_yaw_adjust = DEGREES_BETWEEN_VIEWER_EYES;
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if (eyeContactTarget == RIGHT_EYE) eye_target_yaw_adjust = -DEGREES_BETWEEN_VIEWER_EYES;
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if (eyeContactTarget == MOUTH) eye_target_pitch_adjust = DEGREES_TO_VIEWER_MOUTH;
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EyeballPitch[0] = EyeballPitch[1] = -Pitch + eye_target_pitch_adjust;
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EyeballYaw[0] = EyeballYaw[1] = -Yaw + eye_target_yaw_adjust;
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}
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if ((randFloat() < 0.005) && (fabs(PitchTarget - Pitch) < 1.0) && (fabs(YawTarget - Yaw) < 1.0))
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{
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SetNewHeadTarget((randFloat()-0.5)*20.0, (randFloat()-0.5)*45.0);
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}
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if (0)
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{
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// Pick new target
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PitchTarget = (randFloat() - 0.5)*45;
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YawTarget = (randFloat() - 0.5)*22;
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}
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if (randFloat() < 0.01)
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{
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EyebrowPitch[0] = EyebrowPitch[1] = BrowPitchAngle[rand()%3];
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EyebrowRoll[0] = EyebrowRoll[1] = BrowRollAngle[rand()%5];
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EyebrowRoll[1]*=-1;
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}
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}
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}
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void Head::render()
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{
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int side = 0;
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glEnable(GL_DEPTH_TEST);
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glTranslatef(leanSideways, 0.f, leanForward);
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glRotatef(Yaw/2.0, 0, 1, 0);
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glRotatef(Pitch/2.0, 1, 0, 0);
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glRotatef(Roll/2.0, 0, 0, 1);
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// Overall scale of head
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glScalef(1.5, 2.0, 2.0);
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glColor3fv(skinColor);
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// Head
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glutSolidSphere(1, 30, 30);
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// Ears
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glPushMatrix();
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glTranslatef(1, 0, 0);
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for(side = 0; side < 2; side++)
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{
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glPushMatrix();
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glScalef(0.5, 0.75, 1.0);
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glutSolidSphere(0.5, 30, 30);
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glPopMatrix();
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glTranslatef(-2, 0, 0);
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}
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glPopMatrix();
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// Eyebrows
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glPushMatrix();
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glTranslatef(-interBrowDistance/2.0,0.4,0.45);
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for(side = 0; side < 2; side++)
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{
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glColor3fv(browColor);
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glPushMatrix();
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glTranslatef(0, 0.4, 0);
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glRotatef(EyebrowPitch[side]/2.0, 1, 0, 0);
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glRotatef(EyebrowRoll[side]/2.0, 0, 0, 1);
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glScalef(browWidth, browThickness, 1);
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glutSolidCube(0.5);
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glPopMatrix();
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glTranslatef(interBrowDistance, 0, 0);
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}
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glPopMatrix();
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// Mouth
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glPushMatrix();
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glTranslatef(0,-0.3,0.75);
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glColor3fv(mouthColor);
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glRotatef(MouthPitch, 1, 0, 0);
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glRotatef(MouthYaw, 0, 0, 1);
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glScalef(MouthWidth, MouthHeight, 1);
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glutSolidCube(0.5);
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glPopMatrix();
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glTranslatef(0, 1.0, 0);
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glTranslatef(-interPupilDistance/2.0,-0.68,0.7);
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// Right Eye
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glRotatef(-10, 1, 0, 0);
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glColor3fv(eyeColor);
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glPushMatrix();
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{
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glTranslatef(interPupilDistance/10.0, 0, 0.05);
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glRotatef(20, 0, 0, 1);
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glScalef(EyeballScaleX, EyeballScaleY, EyeballScaleZ);
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glutSolidSphere(0.25, 30, 30);
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}
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glPopMatrix();
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// Right Pupil
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glPushMatrix();
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glRotatef(EyeballPitch[1], 1, 0, 0);
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glRotatef(EyeballYaw[1] + PupilConverge, 0, 1, 0);
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glTranslatef(0,0,.35);
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if (!eyeContact) glColor3f(0,0,0); else glColor3f(0.1,0.1,1.0);
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//glRotatef(90,0,1,0);
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glutSolidSphere(PupilSize, 15, 15);
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glPopMatrix();
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// Left Eye
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glColor3fv(eyeColor);
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glTranslatef(interPupilDistance, 0, 0);
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glPushMatrix();
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{
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glTranslatef(-interPupilDistance/10.0, 0, .05);
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glRotatef(-20, 0, 0, 1);
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glScalef(EyeballScaleX, EyeballScaleY, EyeballScaleZ);
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glutSolidSphere(0.25, 30, 30);
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}
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glPopMatrix();
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// Left Pupil
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glPushMatrix();
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glRotatef(EyeballPitch[0], 1, 0, 0);
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glRotatef(EyeballYaw[0] - PupilConverge, 0, 1, 0);
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glTranslatef(0,0,.35);
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if (!eyeContact) glColor3f(0,0,0); else glColor3f(0.1,0.1,1.0);
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//glRotatef(90,0,1,0);
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glutSolidSphere(PupilSize, 15, 15);
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glPopMatrix();
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}
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// Transmit data to agents requesting it
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int Head::getBroadcastData(char* data)
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{
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// Copy data for transmission to the buffer, return length of data
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sprintf(data, "H%f,%f,%f,%f,%f,%f", Pitch, Yaw, Roll, position.x, position.y, position.z);
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return strlen(data);
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}
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void Head::recvBroadcastData(char * data, int size)
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{
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sscanf(data, "H%f,%f,%f,%f,%f,%f", &Pitch, &Yaw, &Roll, &position.x, &position.y, &position.z);
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}
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void Head::SetNewHeadTarget(float pitch, float yaw)
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{
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PitchTarget = pitch;
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YawTarget = yaw;
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}
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