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overte/interface/src/Avatar.cpp
Philip Rosedale b38c68ab20 remove unused setHeadFromGyros() routine - confusing.
2013-06-05 10:46:55 -07:00

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//
// Avatar.cpp
// interface
//
// Created by Philip Rosedale on 9/11/12.
// Copyright (c) 2013 High Fidelity, Inc. All rights reserved.
#include <glm/glm.hpp>
#include <glm/gtx/quaternion.hpp>
#include <vector>
#include <lodepng.h>
#include <SharedUtil.h>
#include "world.h"
#include "Application.h"
#include "Avatar.h"
#include "Head.h"
#include "Log.h"
#include "ui/TextRenderer.h"
#include <AgentList.h>
#include <AgentTypes.h>
#include <PacketHeaders.h>
#include <OculusManager.h>
using namespace std;
const bool BALLS_ON = false;
const bool USING_AVATAR_GRAVITY = true;
const glm::vec3 DEFAULT_UP_DIRECTION (0.0f, 1.0f, 0.0f);
const float YAW_MAG = 500.0;
const float BODY_SPIN_FRICTION = 5.0;
const float MY_HAND_HOLDING_PULL = 0.2;
const float YOUR_HAND_HOLDING_PULL = 1.0;
const float BODY_SPRING_DEFAULT_TIGHTNESS = 1000.0f;
const float BODY_SPRING_FORCE = 300.0f;
const float BODY_SPRING_DECAY = 16.0f;
const float COLLISION_RADIUS_SCALAR = 1.2; //pertains to avatar-to-avatar collisions
const float COLLISION_BALL_FORCE = 200.0; //pertains to avatar-to-avatar collisions
const float COLLISION_BODY_FORCE = 30.0; //pertains to avatar-to-avatar collisions
const float HEAD_ROTATION_SCALE = 0.70;
const float HEAD_ROLL_SCALE = 0.40;
const float HEAD_MAX_PITCH = 45;
const float HEAD_MIN_PITCH = -45;
const float HEAD_MAX_YAW = 85;
const float HEAD_MIN_YAW = -85;
const float PERIPERSONAL_RADIUS = 1.0f;
const float AVATAR_BRAKING_STRENGTH = 40.0f;
const float MOUSE_RAY_TOUCH_RANGE = 0.01f;
const float FLOATING_HEIGHT = 0.13f;
const bool USING_HEAD_LEAN = false;
const float LEAN_SENSITIVITY = 0.15;
const float LEAN_MAX = 0.45;
const float LEAN_AVERAGING = 10.0;
const float HEAD_RATE_MAX = 50.f;
const float SKIN_COLOR[] = {1.0, 0.84, 0.66};
const float DARK_SKIN_COLOR[] = {0.9, 0.78, 0.63};
const int NUM_BODY_CONE_SIDES = 9;
bool usingBigSphereCollisionTest = true;
float chatMessageScale = 0.0015;
float chatMessageHeight = 0.20;
Avatar::Avatar(Agent* owningAgent) :
AvatarData(owningAgent),
_initialized(false),
_head(this),
_ballSpringsInitialized(false),
_TEST_bigSphereRadius(0.5f),
_TEST_bigSpherePosition(5.0f, _TEST_bigSphereRadius, 5.0f),
_mousePressed(false),
_bodyPitchDelta(0.0f),
_bodyYawDelta(0.0f),
_bodyRollDelta(0.0f),
_movedHandOffset(0.0f, 0.0f, 0.0f),
_mode(AVATAR_MODE_STANDING),
_cameraPosition(0.0f, 0.0f, 0.0f),
_handHoldingPosition(0.0f, 0.0f, 0.0f),
_velocity(0.0f, 0.0f, 0.0f),
_thrust(0.0f, 0.0f, 0.0f),
_speed(0.0f),
_maxArmLength(0.0f),
_pelvisStandingHeight(0.0f),
_pelvisFloatingHeight(0.0f),
_distanceToNearestAvatar(std::numeric_limits<float>::max()),
_gravity(0.0f, -1.0f, 0.0f),
_worldUpDirection(DEFAULT_UP_DIRECTION),
_mouseRayOrigin(0.0f, 0.0f, 0.0f),
_mouseRayDirection(0.0f, 0.0f, 0.0f),
_interactingOther(NULL),
_cumulativeMouseYaw(0.0f),
_isMouseTurningRight(false),
_voxels(this)
{
// give the pointer to our head to inherited _headData variable from AvatarData
_headData = &_head;
for (int i = 0; i < MAX_DRIVE_KEYS; i++) {
_driveKeys[i] = false;
}
_skeleton.initialize();
initializeBodyBalls();
_height = _skeleton.getHeight() + _bodyBall[ BODY_BALL_LEFT_HEEL ].radius + _bodyBall[ BODY_BALL_HEAD_BASE ].radius;
_maxArmLength = _skeleton.getArmLength();
_pelvisStandingHeight = _skeleton.getPelvisStandingHeight() + _bodyBall[ BODY_BALL_LEFT_HEEL ].radius;
_pelvisFloatingHeight = _skeleton.getPelvisFloatingHeight() + _bodyBall[ BODY_BALL_LEFT_HEEL ].radius;
_avatarTouch.setReachableRadius(PERIPERSONAL_RADIUS);
if (BALLS_ON) {
_balls = new Balls(100);
} else {
_balls = NULL;
}
}
void Avatar::initializeBodyBalls() {
_ballSpringsInitialized = false; //this gets set to true on the first update pass...
for (int b = 0; b < NUM_AVATAR_BODY_BALLS; b++) {
_bodyBall[b].parentJoint = AVATAR_JOINT_NULL;
_bodyBall[b].parentOffset = glm::vec3(0.0, 0.0, 0.0);
_bodyBall[b].position = glm::vec3(0.0, 0.0, 0.0);
_bodyBall[b].velocity = glm::vec3(0.0, 0.0, 0.0);
_bodyBall[b].radius = 0.0;
_bodyBall[b].touchForce = 0.0;
_bodyBall[b].isCollidable = true;
_bodyBall[b].jointTightness = BODY_SPRING_DEFAULT_TIGHTNESS;
}
// specify the radius of each ball
_bodyBall[ BODY_BALL_PELVIS ].radius = 0.07;
_bodyBall[ BODY_BALL_TORSO ].radius = 0.065;
_bodyBall[ BODY_BALL_CHEST ].radius = 0.08;
_bodyBall[ BODY_BALL_NECK_BASE ].radius = 0.03;
_bodyBall[ BODY_BALL_HEAD_BASE ].radius = 0.07;
_bodyBall[ BODY_BALL_LEFT_COLLAR ].radius = 0.04;
_bodyBall[ BODY_BALL_LEFT_SHOULDER ].radius = 0.03;
_bodyBall[ BODY_BALL_LEFT_ELBOW ].radius = 0.02;
_bodyBall[ BODY_BALL_LEFT_WRIST ].radius = 0.02;
_bodyBall[ BODY_BALL_LEFT_FINGERTIPS ].radius = 0.01;
_bodyBall[ BODY_BALL_RIGHT_COLLAR ].radius = 0.04;
_bodyBall[ BODY_BALL_RIGHT_SHOULDER ].radius = 0.03;
_bodyBall[ BODY_BALL_RIGHT_ELBOW ].radius = 0.02;
_bodyBall[ BODY_BALL_RIGHT_WRIST ].radius = 0.02;
_bodyBall[ BODY_BALL_RIGHT_FINGERTIPS ].radius = 0.01;
_bodyBall[ BODY_BALL_LEFT_HIP ].radius = 0.04;
//_bodyBall[ BODY_BALL_LEFT_MID_THIGH ].radius = 0.03;
_bodyBall[ BODY_BALL_LEFT_KNEE ].radius = 0.025;
_bodyBall[ BODY_BALL_LEFT_HEEL ].radius = 0.025;
_bodyBall[ BODY_BALL_LEFT_TOES ].radius = 0.025;
_bodyBall[ BODY_BALL_RIGHT_HIP ].radius = 0.04;
_bodyBall[ BODY_BALL_RIGHT_KNEE ].radius = 0.025;
_bodyBall[ BODY_BALL_RIGHT_HEEL ].radius = 0.025;
_bodyBall[ BODY_BALL_RIGHT_TOES ].radius = 0.025;
// specify the parent joint for each ball
_bodyBall[ BODY_BALL_PELVIS ].parentJoint = AVATAR_JOINT_PELVIS;
_bodyBall[ BODY_BALL_TORSO ].parentJoint = AVATAR_JOINT_TORSO;
_bodyBall[ BODY_BALL_CHEST ].parentJoint = AVATAR_JOINT_CHEST;
_bodyBall[ BODY_BALL_NECK_BASE ].parentJoint = AVATAR_JOINT_NECK_BASE;
_bodyBall[ BODY_BALL_HEAD_BASE ].parentJoint = AVATAR_JOINT_HEAD_BASE;
_bodyBall[ BODY_BALL_HEAD_TOP ].parentJoint = AVATAR_JOINT_HEAD_TOP;
_bodyBall[ BODY_BALL_LEFT_COLLAR ].parentJoint = AVATAR_JOINT_LEFT_COLLAR;
_bodyBall[ BODY_BALL_LEFT_SHOULDER ].parentJoint = AVATAR_JOINT_LEFT_SHOULDER;
_bodyBall[ BODY_BALL_LEFT_ELBOW ].parentJoint = AVATAR_JOINT_LEFT_ELBOW;
_bodyBall[ BODY_BALL_LEFT_WRIST ].parentJoint = AVATAR_JOINT_LEFT_WRIST;
_bodyBall[ BODY_BALL_LEFT_FINGERTIPS ].parentJoint = AVATAR_JOINT_LEFT_FINGERTIPS;
_bodyBall[ BODY_BALL_RIGHT_COLLAR ].parentJoint = AVATAR_JOINT_RIGHT_COLLAR;
_bodyBall[ BODY_BALL_RIGHT_SHOULDER ].parentJoint = AVATAR_JOINT_RIGHT_SHOULDER;
_bodyBall[ BODY_BALL_RIGHT_ELBOW ].parentJoint = AVATAR_JOINT_RIGHT_ELBOW;
_bodyBall[ BODY_BALL_RIGHT_WRIST ].parentJoint = AVATAR_JOINT_RIGHT_WRIST;
_bodyBall[ BODY_BALL_RIGHT_FINGERTIPS ].parentJoint = AVATAR_JOINT_RIGHT_FINGERTIPS;
_bodyBall[ BODY_BALL_LEFT_HIP ].parentJoint = AVATAR_JOINT_LEFT_HIP;
_bodyBall[ BODY_BALL_LEFT_KNEE ].parentJoint = AVATAR_JOINT_LEFT_KNEE;
_bodyBall[ BODY_BALL_LEFT_HEEL ].parentJoint = AVATAR_JOINT_LEFT_HEEL;
_bodyBall[ BODY_BALL_LEFT_TOES ].parentJoint = AVATAR_JOINT_LEFT_TOES;
_bodyBall[ BODY_BALL_RIGHT_HIP ].parentJoint = AVATAR_JOINT_RIGHT_HIP;
_bodyBall[ BODY_BALL_RIGHT_KNEE ].parentJoint = AVATAR_JOINT_RIGHT_KNEE;
_bodyBall[ BODY_BALL_RIGHT_HEEL ].parentJoint = AVATAR_JOINT_RIGHT_HEEL;
_bodyBall[ BODY_BALL_RIGHT_TOES ].parentJoint = AVATAR_JOINT_RIGHT_TOES;
//_bodyBall[ BODY_BALL_LEFT_MID_THIGH].parentJoint = AVATAR_JOINT_LEFT_HIP;
// specify the parent offset for each ball
_bodyBall[ BODY_BALL_PELVIS ].parentOffset = glm::vec3(0.0, 0.0, 0.0);
_bodyBall[ BODY_BALL_TORSO ].parentOffset = glm::vec3(0.0, 0.0, 0.0);
_bodyBall[ BODY_BALL_CHEST ].parentOffset = glm::vec3(0.0, 0.0, 0.0);
_bodyBall[ BODY_BALL_NECK_BASE ].parentOffset = glm::vec3(0.0, 0.0, 0.0);
_bodyBall[ BODY_BALL_HEAD_BASE ].parentOffset = glm::vec3(0.0, 0.0, 0.0);
_bodyBall[ BODY_BALL_HEAD_TOP ].parentOffset = glm::vec3(0.0, 0.0, 0.0);
_bodyBall[ BODY_BALL_LEFT_COLLAR ].parentOffset = glm::vec3(0.0, 0.0, 0.0);
_bodyBall[ BODY_BALL_LEFT_SHOULDER ].parentOffset = glm::vec3(0.0, 0.0, 0.0);
_bodyBall[ BODY_BALL_LEFT_ELBOW ].parentOffset = glm::vec3(0.0, 0.0, 0.0);
_bodyBall[ BODY_BALL_LEFT_WRIST ].parentOffset = glm::vec3(0.0, 0.0, 0.0);
_bodyBall[ BODY_BALL_LEFT_FINGERTIPS ].parentOffset = glm::vec3(0.0, 0.0, 0.0);
_bodyBall[ BODY_BALL_RIGHT_COLLAR ].parentOffset = glm::vec3(0.0, 0.0, 0.0);
_bodyBall[ BODY_BALL_RIGHT_SHOULDER ].parentOffset = glm::vec3(0.0, 0.0, 0.0);
_bodyBall[ BODY_BALL_RIGHT_ELBOW ].parentOffset = glm::vec3(0.0, 0.0, 0.0);
_bodyBall[ BODY_BALL_RIGHT_WRIST ].parentOffset = glm::vec3(0.0, 0.0, 0.0);
_bodyBall[ BODY_BALL_RIGHT_FINGERTIPS ].parentOffset = glm::vec3(0.0, 0.0, 0.0);
_bodyBall[ BODY_BALL_LEFT_HIP ].parentOffset = glm::vec3(0.0, 0.0, 0.0);
_bodyBall[ BODY_BALL_LEFT_KNEE ].parentOffset = glm::vec3(0.0, 0.0, 0.0);
_bodyBall[ BODY_BALL_LEFT_HEEL ].parentOffset = glm::vec3(0.0, 0.0, 0.0);
_bodyBall[ BODY_BALL_LEFT_TOES ].parentOffset = glm::vec3(0.0, 0.0, 0.0);
_bodyBall[ BODY_BALL_RIGHT_HIP ].parentOffset = glm::vec3(0.0, 0.0, 0.0);
_bodyBall[ BODY_BALL_RIGHT_KNEE ].parentOffset = glm::vec3(0.0, 0.0, 0.0);
_bodyBall[ BODY_BALL_RIGHT_HEEL ].parentOffset = glm::vec3(0.0, 0.0, 0.0);
_bodyBall[ BODY_BALL_RIGHT_TOES ].parentOffset = glm::vec3(0.0, 0.0, 0.0);
//_bodyBall[ BODY_BALL_LEFT_MID_THIGH].parentOffset = glm::vec3(-0.1, -0.1, 0.0);
// specify the parent BALL for each ball
_bodyBall[ BODY_BALL_PELVIS ].parentBall = BODY_BALL_NULL;
_bodyBall[ BODY_BALL_TORSO ].parentBall = BODY_BALL_PELVIS;
_bodyBall[ BODY_BALL_CHEST ].parentBall = BODY_BALL_TORSO;
_bodyBall[ BODY_BALL_NECK_BASE ].parentBall = BODY_BALL_CHEST;
_bodyBall[ BODY_BALL_HEAD_BASE ].parentBall = BODY_BALL_NECK_BASE;
_bodyBall[ BODY_BALL_HEAD_TOP ].parentBall = BODY_BALL_HEAD_BASE;
_bodyBall[ BODY_BALL_LEFT_COLLAR ].parentBall = BODY_BALL_CHEST;
_bodyBall[ BODY_BALL_LEFT_SHOULDER ].parentBall = BODY_BALL_LEFT_COLLAR;
_bodyBall[ BODY_BALL_LEFT_ELBOW ].parentBall = BODY_BALL_LEFT_SHOULDER;
_bodyBall[ BODY_BALL_LEFT_WRIST ].parentBall = BODY_BALL_LEFT_ELBOW;
_bodyBall[ BODY_BALL_LEFT_FINGERTIPS ].parentBall = BODY_BALL_LEFT_WRIST;
_bodyBall[ BODY_BALL_RIGHT_COLLAR ].parentBall = BODY_BALL_CHEST;
_bodyBall[ BODY_BALL_RIGHT_SHOULDER ].parentBall = BODY_BALL_RIGHT_COLLAR;
_bodyBall[ BODY_BALL_RIGHT_ELBOW ].parentBall = BODY_BALL_RIGHT_SHOULDER;
_bodyBall[ BODY_BALL_RIGHT_WRIST ].parentBall = BODY_BALL_RIGHT_ELBOW;
_bodyBall[ BODY_BALL_RIGHT_FINGERTIPS ].parentBall = BODY_BALL_RIGHT_WRIST;
_bodyBall[ BODY_BALL_LEFT_HIP ].parentBall = BODY_BALL_PELVIS;
//_bodyBall[ BODY_BALL_LEFT_MID_THIGH ].parentBall = BODY_BALL_LEFT_HIP;
// _bodyBall[ BODY_BALL_LEFT_KNEE ].parentBall = BODY_BALL_LEFT_MID_THIGH;
_bodyBall[ BODY_BALL_LEFT_KNEE ].parentBall = BODY_BALL_LEFT_HIP;
_bodyBall[ BODY_BALL_LEFT_HEEL ].parentBall = BODY_BALL_LEFT_KNEE;
_bodyBall[ BODY_BALL_LEFT_TOES ].parentBall = BODY_BALL_LEFT_HEEL;
_bodyBall[ BODY_BALL_RIGHT_HIP ].parentBall = BODY_BALL_PELVIS;
_bodyBall[ BODY_BALL_RIGHT_KNEE ].parentBall = BODY_BALL_RIGHT_HIP;
_bodyBall[ BODY_BALL_RIGHT_HEEL ].parentBall = BODY_BALL_RIGHT_KNEE;
_bodyBall[ BODY_BALL_RIGHT_TOES ].parentBall = BODY_BALL_RIGHT_HEEL;
/*
// to aid in hand-shaking and hand-holding, the right hand is not collidable
_bodyBall[ BODY_BALL_RIGHT_ELBOW ].isCollidable = false;
_bodyBall[ BODY_BALL_RIGHT_WRIST ].isCollidable = false;
_bodyBall[ BODY_BALL_RIGHT_FINGERTIPS].isCollidable = false;
*/
}
Avatar::~Avatar() {
_headData = NULL;
delete _balls;
}
void Avatar::init() {
_voxels.init();
_initialized = true;
}
void Avatar::reset() {
_head.reset();
}
// Update avatar head rotation with sensor data
void Avatar::updateHeadFromGyros(float deltaTime, SerialInterface* serialInterface) {
const float AMPLIFY_PITCH = 2.f;
const float AMPLIFY_YAW = 2.f;
const float AMPLIFY_ROLL = 2.f;
float measuredPitchRate = serialInterface->getLastPitchRate();
float measuredYawRate = serialInterface->getLastYawRate();
float measuredRollRate = serialInterface->getLastRollRate();
// Update avatar head position based on measured gyro rates
_head.addPitch(measuredPitchRate * AMPLIFY_PITCH * deltaTime);
_head.addYaw(measuredYawRate * AMPLIFY_YAW * deltaTime);
_head.addRoll(measuredRollRate * AMPLIFY_ROLL * deltaTime);
// Update head lean distance based on accelerometer data
glm::vec3 headRotationRates(_head.getPitch(), _head.getYaw(), _head.getRoll());
glm::vec3 leaning = (serialInterface->getLastAcceleration() - serialInterface->getGravity())
* LEAN_SENSITIVITY
* (1.f - fminf(glm::length(headRotationRates), HEAD_RATE_MAX) / HEAD_RATE_MAX);
leaning.y = 0.f;
if (glm::length(leaning) < LEAN_MAX) {
_head.setLeanForward(_head.getLeanForward() * (1.f - LEAN_AVERAGING * deltaTime) +
(LEAN_AVERAGING * deltaTime) * leaning.z * LEAN_SENSITIVITY);
_head.setLeanSideways(_head.getLeanSideways() * (1.f - LEAN_AVERAGING * deltaTime) +
(LEAN_AVERAGING * deltaTime) * leaning.x * LEAN_SENSITIVITY);
}
}
float Avatar::getAbsoluteHeadYaw() const {
return glm::yaw(_head.getOrientation());
}
float Avatar::getAbsoluteHeadPitch() const {
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) {
// Update yaw based on mouse behavior
const float MOUSE_MOVE_RADIUS = 0.15f;
const float MOUSE_ROTATE_SPEED = 3.0f;
const float MOUSE_PITCH_SPEED = 1.5f;
const float MAX_YAW_TO_ADD = 180.f;
const int TITLE_BAR_HEIGHT = 46;
float mouseLocationX = (float)mouseX / (float)screenWidth - 0.5f;
float mouseLocationY = (float)mouseY / (float)screenHeight - 0.5f;
if ((mouseX > 1) && (mouseX < screenWidth) && (mouseY > TITLE_BAR_HEIGHT) && (mouseY < screenHeight)) {
//
// Mouse must be inside screen (not at edge) and not on title bar for movement to happen
//
if (fabs(mouseLocationX) > MOUSE_MOVE_RADIUS) {
// Add Yaw
float mouseYawAdd = (fabs(mouseLocationX) - MOUSE_MOVE_RADIUS) / (0.5f - MOUSE_MOVE_RADIUS) * MOUSE_ROTATE_SPEED;
bool rightTurning = (mouseLocationX > 0.f);
if (_isMouseTurningRight == rightTurning) {
_cumulativeMouseYaw += mouseYawAdd;
} else {
_cumulativeMouseYaw = 0;
_isMouseTurningRight = rightTurning;
}
if (_cumulativeMouseYaw < MAX_YAW_TO_ADD) {
setBodyYaw(getBodyYaw() - (rightTurning ? mouseYawAdd : -mouseYawAdd));
}
} else {
_cumulativeMouseYaw = 0;
}
if (fabs(mouseLocationY) > MOUSE_MOVE_RADIUS) {
float mousePitchAdd = (fabs(mouseLocationY) - MOUSE_MOVE_RADIUS) / (0.5f - MOUSE_MOVE_RADIUS) * MOUSE_PITCH_SPEED;
bool downPitching = (mouseLocationY > 0.f);
_head.setPitch(_head.getPitch() + (downPitching ? -mousePitchAdd : mousePitchAdd));
}
}
return;
}
void Avatar::simulate(float deltaTime, Transmitter* transmitter) {
//figure out if the mouse cursor is over any body spheres...
checkForMouseRayTouching();
// copy velocity so we can use it later for acceleration
glm::vec3 oldVelocity = getVelocity();
// update balls
if (_balls) { _balls->simulate(deltaTime); }
// update avatar skeleton
_skeleton.update(deltaTime, getOrientation(), _position);
//determine the lengths of the body springs now that we have updated the skeleton at least once
if (!_ballSpringsInitialized) {
for (int b = 0; b < NUM_AVATAR_BODY_BALLS; b++) {
glm::vec3 targetPosition
= _skeleton.joint[_bodyBall[b].parentJoint].position
+ _skeleton.joint[_bodyBall[b].parentJoint].rotation * _bodyBall[b].parentOffset;
glm::vec3 parentTargetPosition
= _skeleton.joint[_bodyBall[b].parentJoint].position
+ _skeleton.joint[_bodyBall[b].parentJoint].rotation * _bodyBall[b].parentOffset;
_bodyBall[b].springLength = glm::length(targetPosition - parentTargetPosition);
}
_ballSpringsInitialized = true;
}
// if this is not my avatar, then hand position comes from transmitted data
if (_owningAgent) {
_skeleton.joint[ AVATAR_JOINT_RIGHT_FINGERTIPS ].position = _handPosition;
}
//detect and respond to collisions with other avatars...
if (!_owningAgent) {
updateAvatarCollisions(deltaTime);
}
//update the movement of the hand and process handshaking with other avatars...
updateHandMovementAndTouching(deltaTime);
_avatarTouch.simulate(deltaTime);
// apply gravity and collision with the ground/floor
if (!_owningAgent && USING_AVATAR_GRAVITY) {
_velocity += _gravity * (GRAVITY_EARTH * deltaTime);
updateCollisionWithEnvironment();
}
// update body balls
updateBodyBalls(deltaTime);
// test for avatar collision response with the big sphere
if (usingBigSphereCollisionTest) {
updateCollisionWithSphere(_TEST_bigSpherePosition, _TEST_bigSphereRadius, deltaTime);
}
// collision response with voxels
if (!_owningAgent) {
updateCollisionWithVoxels();
}
glm::quat orientation = getOrientation();
glm::vec3 front = orientation * IDENTITY_FRONT;
glm::vec3 right = orientation * IDENTITY_RIGHT;
glm::vec3 up = orientation * IDENTITY_UP;
// driving the avatar around should only apply if this is my avatar (as opposed to an avatar being driven remotely)
const float THRUST_MAG = 600.0f;
if (!_owningAgent) {
_thrust = glm::vec3(0.0f, 0.0f, 0.0f);
// Add Thrusts from keyboard
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;}
// Add thrusts from Transmitter
if (transmitter) {
transmitter->checkForLostTransmitter();
glm::vec3 rotation = transmitter->getEstimatedRotation();
const float TRANSMITTER_MIN_RATE = 1.f;
const float TRANSMITTER_MIN_YAW_RATE = 4.f;
const float TRANSMITTER_LATERAL_FORCE_SCALE = 25.f;
const float TRANSMITTER_FWD_FORCE_SCALE = 100.f;
const float TRANSMITTER_YAW_SCALE = 10.0f;
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 * right;
}
if (fabs(rotation.x) > TRANSMITTER_MIN_RATE) {
_thrust += -rotation.x * TRANSMITTER_FWD_FORCE_SCALE * deltaTime * front;
}
if (fabs(rotation.y) > TRANSMITTER_MIN_YAW_RATE) {
_bodyYawDelta += rotation.y * TRANSMITTER_YAW_SCALE * deltaTime;
}
if (transmitter->getTouchState()->state == 'D') {
_thrust += THRUST_MAG *
(float)(transmitter->getTouchState()->y - TOUCH_POSITION_RANGE_HALF) / TOUCH_POSITION_RANGE_HALF *
TRANSMITTER_LIFT_SCALE *
deltaTime *
up;
}
}
// 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...
const float BODY_UPRIGHT_FORCE = 10.0;
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
const float VELOCITY_DECAY = 0.9;
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();
}
}
//apply the head lean values to the ball positions...
if (USING_HEAD_LEAN) {
if (fabs(_head.getLeanSideways() + _head.getLeanForward()) > 0.0f) {
glm::vec3 headLean =
right * _head.getLeanSideways() +
front * _head.getLeanForward();
_bodyBall[ BODY_BALL_TORSO ].position += headLean * 0.1f;
_bodyBall[ BODY_BALL_CHEST ].position += headLean * 0.4f;
_bodyBall[ BODY_BALL_NECK_BASE ].position += headLean * 0.7f;
_bodyBall[ BODY_BALL_HEAD_BASE ].position += headLean * 1.0f;
_bodyBall[ BODY_BALL_LEFT_COLLAR ].position += headLean * 0.6f;
_bodyBall[ BODY_BALL_LEFT_SHOULDER ].position += headLean * 0.6f;
_bodyBall[ BODY_BALL_LEFT_ELBOW ].position += headLean * 0.2f;
_bodyBall[ BODY_BALL_LEFT_WRIST ].position += headLean * 0.1f;
_bodyBall[ BODY_BALL_LEFT_FINGERTIPS ].position += headLean * 0.0f;
_bodyBall[ BODY_BALL_RIGHT_COLLAR ].position += headLean * 0.6f;
_bodyBall[ BODY_BALL_RIGHT_SHOULDER ].position += headLean * 0.6f;
_bodyBall[ BODY_BALL_RIGHT_ELBOW ].position += headLean * 0.2f;
_bodyBall[ BODY_BALL_RIGHT_WRIST ].position += headLean * 0.1f;
_bodyBall[ BODY_BALL_RIGHT_FINGERTIPS ].position += headLean * 0.0f;
}
}
// set head lookat position
if (!_owningAgent) {
if (_interactingOther) {
_head.setLookAtPosition(_interactingOther->caclulateAverageEyePosition());
} else {
_head.setLookAtPosition(glm::vec3(0.0f, 0.0f, 0.0f)); // 0,0,0 represents NOT looking at anything
}
}
_head.setBodyRotation (glm::vec3(_bodyPitch, _bodyYaw, _bodyRoll));
_head.setPosition(_bodyBall[ BODY_BALL_HEAD_BASE ].position);
_head.setScale (_bodyBall[ BODY_BALL_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;
}
}
void Avatar::checkForMouseRayTouching() {
for (int b = 0; b < NUM_AVATAR_BODY_BALLS; b++) {
glm::vec3 directionToBodySphere = glm::normalize(_bodyBall[b].position - _mouseRayOrigin);
float dot = glm::dot(directionToBodySphere, _mouseRayDirection);
float range = _bodyBall[b].radius * MOUSE_RAY_TOUCH_RANGE;
if (dot > (1.0f - range)) {
_bodyBall[b].touchForce = (dot - (1.0f - range)) / range;
} else {
_bodyBall[b].touchForce = 0.0;
}
}
}
void Avatar::setMouseRay(const glm::vec3 &origin, const glm::vec3 &direction ) {
_mouseRayOrigin = origin;
_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 * IDENTITY_RIGHT;
glm::vec3 up = orientation * IDENTITY_UP;
glm::vec3 front = orientation * IDENTITY_FRONT;
glm::vec3 transformedHandMovement
= right * _movedHandOffset.x * 2.0f
+ up * -_movedHandOffset.y * 2.0f
+ front * -_movedHandOffset.y * 2.0f;
_skeleton.joint[ AVATAR_JOINT_RIGHT_FINGERTIPS ].position += transformedHandMovement;
if (!_owningAgent) {
_avatarTouch.setMyBodyPosition(_position);
_avatarTouch.setMyOrientation(orientation);
float closestDistance = std::numeric_limits<float>::max();
_interactingOther = NULL;
//loop through all the other avatars for potential interactions...
AgentList* agentList = AgentList::getInstance();
for (AgentList::iterator agent = agentList->begin(); agent != agentList->end(); agent++) {
if (agent->getLinkedData() != NULL && agent->getType() == AGENT_TYPE_AVATAR) {
Avatar *otherAvatar = (Avatar *)agent->getLinkedData();
// test whether shoulders are close enough to allow for reaching to touch hands
glm::vec3 v(_position - otherAvatar->_position);
float distance = glm::length(v);
if (distance < closestDistance) {
closestDistance = distance;
if (distance < PERIPERSONAL_RADIUS) {
_interactingOther = otherAvatar;
}
}
}
}
if (_interactingOther) {
_avatarTouch.setHasInteractingOther(true);
_avatarTouch.setYourBodyPosition(_interactingOther->_position);
_avatarTouch.setYourHandPosition(_interactingOther->_bodyBall[ BODY_BALL_RIGHT_FINGERTIPS ].position);
_avatarTouch.setYourOrientation (_interactingOther->getOrientation());
_avatarTouch.setYourHandState (_interactingOther->_handState);
//if hand-holding is initiated by either avatar, turn on hand-holding...
if (_avatarTouch.getHandsCloseEnoughToGrasp()) {
if ((_handState == HAND_STATE_GRASPING ) || (_interactingOther->_handState == HAND_STATE_GRASPING)) {
if (!_avatarTouch.getHoldingHands())
{
_avatarTouch.setHoldingHands(true);
}
}
}
glm::vec3 vectorFromMyHandToYourHand
(
_interactingOther->_skeleton.joint[ AVATAR_JOINT_RIGHT_FINGERTIPS ].position -
_skeleton.joint[ AVATAR_JOINT_RIGHT_FINGERTIPS ].position
);
float distanceBetweenOurHands = glm::length(vectorFromMyHandToYourHand);
/*
// if my arm can no longer reach the other hand, turn off hand-holding
if (!_avatarTouch.getAbleToReachOtherAvatar()) {
_avatarTouch.setHoldingHands(false);
}
if (distanceBetweenOurHands > _maxArmLength) {
_avatarTouch.setHoldingHands(false);
}
*/
// if neither of us are grasping, turn off hand-holding
if ((_handState != HAND_STATE_GRASPING ) && (_interactingOther->_handState != HAND_STATE_GRASPING)) {
_avatarTouch.setHoldingHands(false);
}
//if holding hands, apply the appropriate forces
if (_avatarTouch.getHoldingHands()) {
_skeleton.joint[ AVATAR_JOINT_RIGHT_FINGERTIPS ].position +=
(
_interactingOther->_skeleton.joint[ AVATAR_JOINT_RIGHT_FINGERTIPS ].position
- _skeleton.joint[ AVATAR_JOINT_RIGHT_FINGERTIPS ].position
) * 0.5f;
if (distanceBetweenOurHands > 0.3) {
float force = 10.0f * deltaTime;
if (force > 1.0f) {force = 1.0f;}
_velocity += vectorFromMyHandToYourHand * force;
}
}
} else {
_avatarTouch.setHasInteractingOther(false);
}
}//if (_isMine)
//constrain right arm length and re-adjust elbow position as it bends
// NOTE - the following must be called on all avatars - not just _isMine
updateArmIKAndConstraints(deltaTime);
//Set right hand position and state to be transmitted, and also tell AvatarTouch about it
if (!_owningAgent) {
setHandPosition(_skeleton.joint[ AVATAR_JOINT_RIGHT_FINGERTIPS ].position);
if (_mousePressed) {
_handState = HAND_STATE_GRASPING;
} else {
_handState = HAND_STATE_NULL;
}
_avatarTouch.setMyHandState(_handState);
_avatarTouch.setMyHandPosition(_bodyBall[ BODY_BALL_RIGHT_FINGERTIPS ].position);
}
}
void Avatar::updateCollisionWithSphere(glm::vec3 position, float radius, float deltaTime) {
float myBodyApproximateBoundingRadius = 1.0f;
glm::vec3 vectorFromMyBodyToBigSphere(_position - position);
float distanceToBigSphere = glm::length(vectorFromMyBodyToBigSphere);
if (distanceToBigSphere < myBodyApproximateBoundingRadius + radius) {
for (int b = 0; b < NUM_AVATAR_BODY_BALLS; b++) {
glm::vec3 vectorFromBallToBigSphereCenter(_bodyBall[b].position - position);
float distanceToBigSphereCenter = glm::length(vectorFromBallToBigSphereCenter);
float combinedRadius = _bodyBall[b].radius + radius;
if (distanceToBigSphereCenter < combinedRadius) {
if (distanceToBigSphereCenter > 0.0) {
glm::vec3 directionVector = vectorFromBallToBigSphereCenter / distanceToBigSphereCenter;
float penetration = 1.0 - (distanceToBigSphereCenter / combinedRadius);
glm::vec3 collisionForce = vectorFromBallToBigSphereCenter * penetration;
_velocity += collisionForce * 40.0f * deltaTime;
_bodyBall[b].position = position + directionVector * combinedRadius;
}
}
}
}
}
void Avatar::updateCollisionWithEnvironment() {
glm::vec3 up = getBodyUpDirection();
float radius = _height * 0.125f;
glm::vec3 penetration;
if (Application::getInstance()->getEnvironment()->findCapsulePenetration(
_position - up * (_pelvisFloatingHeight - radius),
_position + up * (_height - _pelvisFloatingHeight - radius), radius, penetration)) {
applyCollisionWithScene(penetration);
}
}
void Avatar::updateCollisionWithVoxels() {
float radius = _height * 0.125f;
glm::vec3 penetration;
if (Application::getInstance()->getVoxels()->findCapsulePenetration(
_position - glm::vec3(0.0f, _pelvisFloatingHeight - radius, 0.0f),
_position + glm::vec3(0.0f, _height - _pelvisFloatingHeight - radius, 0.0f), radius, penetration)) {
applyCollisionWithScene(penetration);
}
}
void Avatar::applyCollisionWithScene(const glm::vec3& penetration) {
_position -= penetration;
static float STATIC_FRICTION_VELOCITY = 0.15f;
static float STATIC_FRICTION_DAMPING = 0.0f;
static float KINETIC_FRICTION_DAMPING = 0.95f;
const float BOUNCE = 0.3f;
// reflect the velocity component in the direction of penetration
float penetrationLength = glm::length(penetration);
if (penetrationLength > EPSILON) {
glm::vec3 direction = penetration / penetrationLength;
_velocity -= 2.0f * glm::dot(_velocity, direction) * direction * BOUNCE;
_velocity *= KINETIC_FRICTION_DAMPING;
// If velocity is quite low, apply static friction that takes away energy
if (glm::length(_velocity) < STATIC_FRICTION_VELOCITY) {
_velocity *= STATIC_FRICTION_DAMPING;
}
}
}
void Avatar::updateAvatarCollisions(float deltaTime) {
// Reset detector for nearest avatar
_distanceToNearestAvatar = std::numeric_limits<float>::max();
// loop through all the other avatars for potential interactions...
AgentList* agentList = AgentList::getInstance();
for (AgentList::iterator agent = agentList->begin(); agent != agentList->end(); agent++) {
if (agent->getLinkedData() != NULL && agent->getType() == AGENT_TYPE_AVATAR) {
Avatar *otherAvatar = (Avatar *)agent->getLinkedData();
// check if the bounding spheres of the two avatars are colliding
glm::vec3 vectorBetweenBoundingSpheres(_position - otherAvatar->_position);
if (glm::length(vectorBetweenBoundingSpheres) < _height * ONE_HALF + otherAvatar->_height * ONE_HALF) {
// apply forces from collision
applyCollisionWithOtherAvatar(otherAvatar, deltaTime);
}
// test other avatar hand position for proximity
glm::vec3 v(_skeleton.joint[ AVATAR_JOINT_RIGHT_SHOULDER ].position);
v -= otherAvatar->getPosition();
float distance = glm::length(v);
if (distance < _distanceToNearestAvatar) {
_distanceToNearestAvatar = distance;
}
}
}
}
// detect collisions with other avatars and respond
void Avatar::applyCollisionWithOtherAvatar(Avatar * otherAvatar, float deltaTime) {
glm::vec3 bodyPushForce = glm::vec3(0.0f, 0.0f, 0.0f);
// loop through the body balls of each avatar to check for every possible collision
for (int b = 1; b < NUM_AVATAR_BODY_BALLS; b++) {
if (_bodyBall[b].isCollidable) {
for (int o = b+1; o < NUM_AVATAR_BODY_BALLS; o++) {
if (otherAvatar->_bodyBall[o].isCollidable) {
glm::vec3 vectorBetweenBalls(_bodyBall[b].position - otherAvatar->_bodyBall[o].position);
float distanceBetweenBalls = glm::length(vectorBetweenBalls);
if (distanceBetweenBalls > 0.0) { // to avoid divide by zero
float combinedRadius = _bodyBall[b].radius + otherAvatar->_bodyBall[o].radius;
// check for collision
if (distanceBetweenBalls < combinedRadius * COLLISION_RADIUS_SCALAR) {
glm::vec3 directionVector = vectorBetweenBalls / distanceBetweenBalls;
// push balls away from each other and apply friction
float penetration = 1.0f - (distanceBetweenBalls / (combinedRadius * COLLISION_RADIUS_SCALAR));
glm::vec3 ballPushForce = directionVector * COLLISION_BALL_FORCE * penetration * deltaTime;
bodyPushForce += directionVector * COLLISION_BODY_FORCE * penetration * deltaTime;
_bodyBall[b].velocity += ballPushForce;
otherAvatar->_bodyBall[o].velocity -= ballPushForce;
}// check for collision
} // to avoid divide by zero
} // o loop
} // collidable
} // b loop
} // collidable
// apply force on the whole body
_velocity += bodyPushForce;
}
static TextRenderer* textRenderer() {
static TextRenderer* renderer = new TextRenderer(SANS_FONT_FAMILY, 24, -1, false, TextRenderer::SHADOW_EFFECT);
return renderer;
}
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;
} else {
_worldUpDirection = DEFAULT_UP_DIRECTION;
}
}
void Avatar::render(bool lookingInMirror) {
_cameraPosition = Application::getInstance()->getCamera()->getPosition();
if (!_owningAgent && usingBigSphereCollisionTest) {
// show TEST big sphere
glColor4f(0.5f, 0.6f, 0.8f, 0.7);
glPushMatrix();
glTranslatef(_TEST_bigSpherePosition.x, _TEST_bigSpherePosition.y, _TEST_bigSpherePosition.z);
glScalef(_TEST_bigSphereRadius, _TEST_bigSphereRadius, _TEST_bigSphereRadius);
glutSolidSphere(1, 20, 20);
glPopMatrix();
}
// render a simple round on the ground projected down from the avatar's position
renderDiskShadow(_position, glm::vec3(0.0f, 1.0f, 0.0f), 0.1f, 0.2f);
// render body
renderBody(lookingInMirror);
// if this is my avatar, then render my interactions with the other avatar
if (!_owningAgent) {
_avatarTouch.render(getCameraPosition());
}
// Render the balls
if (_balls) {
glPushMatrix();
glTranslatef(_position.x, _position.y, _position.z);
_balls->render();
glPopMatrix();
}
if (!_chatMessage.empty()) {
int width = 0;
int lastWidth;
for (string::iterator it = _chatMessage.begin(); it != _chatMessage.end(); it++) {
width += (lastWidth = textRenderer()->computeWidth(*it));
}
glPushMatrix();
glm::vec3 chatPosition = _bodyBall[BODY_BALL_HEAD_BASE].position + getBodyUpDirection() * chatMessageHeight;
glTranslatef(chatPosition.x, chatPosition.y, chatPosition.z);
glm::quat chatRotation = Application::getInstance()->getCamera()->getRotation();
glm::vec3 chatAxis = glm::axis(chatRotation);
glRotatef(glm::angle(chatRotation), chatAxis.x, chatAxis.y, chatAxis.z);
glColor3f(0, 0.8, 0);
glRotatef(180, 0, 1, 0);
glRotatef(180, 0, 0, 1);
glScalef(chatMessageScale, chatMessageScale, 1.0f);
glDisable(GL_LIGHTING);
glDepthMask(false);
if (_keyState == NO_KEY_DOWN) {
textRenderer()->draw(-width/2, 0, _chatMessage.c_str());
} else {
// rather than using substr and allocating a new string, just replace the last
// character with a null, then restore it
int lastIndex = _chatMessage.size() - 1;
char lastChar = _chatMessage[lastIndex];
_chatMessage[lastIndex] = '\0';
textRenderer()->draw(-width/2, 0, _chatMessage.c_str());
_chatMessage[lastIndex] = lastChar;
glColor3f(0, 1, 0);
textRenderer()->draw(width/2 - lastWidth, 0, _chatMessage.c_str() + lastIndex);
}
glEnable(GL_LIGHTING);
glDepthMask(true);
glPopMatrix();
}
}
void Avatar::resetBodyBalls() {
for (int b = 0; b < NUM_AVATAR_BODY_BALLS; b++) {
glm::vec3 targetPosition
= _skeleton.joint[_bodyBall[b].parentJoint].position
+ _skeleton.joint[_bodyBall[b].parentJoint].rotation * _bodyBall[b].parentOffset;
_bodyBall[b].position = targetPosition; // put ball on target position
_bodyBall[b].velocity = glm::vec3(0.0f, 0.0f, 0.0f);
}
}
void Avatar::updateBodyBalls(float deltaTime) {
// Check for a large repositioning, and re-initialize balls if this has happened
const float BEYOND_BODY_SPRING_RANGE = 2.f;
if (glm::length(_position - _bodyBall[BODY_BALL_PELVIS].position) > BEYOND_BODY_SPRING_RANGE) {
resetBodyBalls();
}
glm::quat orientation = getOrientation();
glm::vec3 jointDirection = orientation * JOINT_DIRECTION;
for (int b = 0; b < NUM_AVATAR_BODY_BALLS; b++) {
glm::vec3 springVector;
float length = 0.0f;
if (_ballSpringsInitialized) {
// apply spring forces
springVector = _bodyBall[b].position;
if (b == BODY_BALL_PELVIS) {
springVector -= _position;
} else {
springVector -= _bodyBall[_bodyBall[b].parentBall].position;
}
length = glm::length(springVector);
if (length > 0.0f) { // to avoid divide by zero
glm::vec3 springDirection = springVector / length;
float force = (length - _skeleton.joint[b].length) * BODY_SPRING_FORCE * deltaTime;
_bodyBall[b].velocity -= springDirection * force;
if (_bodyBall[b].parentBall != BODY_BALL_NULL) {
_bodyBall[_bodyBall[b].parentBall].velocity += springDirection * force;
}
}
}
// apply tightness force - (causing ball position to be close to skeleton joint position)
glm::vec3 targetPosition
= _skeleton.joint[_bodyBall[b].parentJoint].position
+ _skeleton.joint[_bodyBall[b].parentJoint].rotation * _bodyBall[b].parentOffset;
_bodyBall[b].velocity += (targetPosition - _bodyBall[b].position) * _bodyBall[b].jointTightness * deltaTime;
// apply decay
float decay = 1.0 - BODY_SPRING_DECAY * deltaTime;
if (decay > 0.0) {
_bodyBall[b].velocity *= decay;
} else {
_bodyBall[b].velocity = glm::vec3(0.0f, 0.0f, 0.0f);
}
/*
// apply forces from touch...
if (_bodyBall[b].touchForce > 0.0) {
_bodyBall[b].velocity += _mouseRayDirection * _bodyBall[b].touchForce * 0.7f;
}
*/
// update position by velocity...
_bodyBall[b].position += _bodyBall[b].velocity * deltaTime;
// update rotation
const float SMALL_SPRING_LENGTH = 0.001f; // too-small springs can change direction rapidly
if (_skeleton.joint[b].parent == AVATAR_JOINT_NULL || length < SMALL_SPRING_LENGTH) {
_bodyBall[b].rotation = orientation * _skeleton.joint[_bodyBall[b].parentJoint].absoluteBindPoseRotation;
} else {
_bodyBall[b].rotation = rotationBetween(jointDirection, springVector) * orientation;
}
}
}
void Avatar::updateArmIKAndConstraints(float deltaTime) {
// determine the arm vector
glm::vec3 armVector = _skeleton.joint[ AVATAR_JOINT_RIGHT_FINGERTIPS ].position;
armVector -= _skeleton.joint[ AVATAR_JOINT_RIGHT_SHOULDER ].position;
// 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
_skeleton.joint[ AVATAR_JOINT_RIGHT_FINGERTIPS ].position = _skeleton.joint[ AVATAR_JOINT_RIGHT_SHOULDER ].position;
glm::vec3 armNormal = armVector / distance;
armVector = armNormal * _maxArmLength;
distance = _maxArmLength;
glm::vec3 constrainedPosition = _skeleton.joint[ AVATAR_JOINT_RIGHT_SHOULDER ].position;
constrainedPosition += armVector;
_skeleton.joint[ AVATAR_JOINT_RIGHT_FINGERTIPS ].position = constrainedPosition;
}
// set elbow position
glm::vec3 newElbowPosition = _skeleton.joint[ AVATAR_JOINT_RIGHT_SHOULDER ].position + armVector * ONE_HALF;
glm::vec3 perpendicular = glm::cross(getBodyRightDirection(), armVector);
newElbowPosition += perpendicular * (1.0f - (_maxArmLength / distance)) * ONE_HALF;
_skeleton.joint[ AVATAR_JOINT_RIGHT_ELBOW ].position = newElbowPosition;
// set wrist position
glm::vec3 vv(_skeleton.joint[ AVATAR_JOINT_RIGHT_FINGERTIPS ].position);
vv -= _skeleton.joint[ AVATAR_JOINT_RIGHT_ELBOW ].position;
glm::vec3 newWristPosition = _skeleton.joint[ AVATAR_JOINT_RIGHT_ELBOW ].position + vv * 0.7f;
_skeleton.joint[ AVATAR_JOINT_RIGHT_WRIST ].position = newWristPosition;
}
glm::quat Avatar::computeRotationFromBodyToWorldUp(float proportion) const {
glm::quat orientation = getOrientation();
glm::vec3 currentUp = orientation * IDENTITY_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 * IDENTITY_RIGHT;
} else {
axis = glm::normalize(glm::cross(currentUp, _worldUpDirection));
}
return glm::angleAxis(angle * proportion, axis);
}
void Avatar::renderBody(bool lookingInMirror) {
const float RENDER_OPAQUE_BEYOND = 1.0f; // Meters beyond which body is shown opaque
const float RENDER_TRANSLUCENT_BEYOND = 0.5f;
// Render the body's voxels
_voxels.render(false);
// Render the body as balls and cones
for (int b = 0; b < NUM_AVATAR_BODY_BALLS; b++) {
float distanceToCamera = glm::length(_cameraPosition - _bodyBall[b].position);
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;
}
// Always render other people, and render myself when beyond threshold distance
if (b == BODY_BALL_HEAD_BASE) { // the head is rendered as a special
if (lookingInMirror || _owningAgent || distanceToCamera > RENDER_OPAQUE_BEYOND * 0.5) {
_head.render(lookingInMirror, _cameraPosition, alpha);
}
} else if (_owningAgent || distanceToCamera > RENDER_TRANSLUCENT_BEYOND
|| b == BODY_BALL_RIGHT_ELBOW
|| b == BODY_BALL_RIGHT_WRIST
|| b == BODY_BALL_RIGHT_FINGERTIPS ) {
// Render the body ball sphere
if (_owningAgent || b == BODY_BALL_RIGHT_ELBOW
|| b == BODY_BALL_RIGHT_WRIST
|| b == BODY_BALL_RIGHT_FINGERTIPS ) {
glColor3f(SKIN_COLOR[0] + _bodyBall[b].touchForce * 0.3f,
SKIN_COLOR[1] - _bodyBall[b].touchForce * 0.2f,
SKIN_COLOR[2] - _bodyBall[b].touchForce * 0.1f);
} else {
glColor4f(SKIN_COLOR[0] + _bodyBall[b].touchForce * 0.3f,
SKIN_COLOR[1] - _bodyBall[b].touchForce * 0.2f,
SKIN_COLOR[2] - _bodyBall[b].touchForce * 0.1f,
alpha);
}
if ((b != BODY_BALL_HEAD_TOP )
&& (b != BODY_BALL_HEAD_BASE )) {
glPushMatrix();
glTranslatef(_bodyBall[b].position.x, _bodyBall[b].position.y, _bodyBall[b].position.z);
glutSolidSphere(_bodyBall[b].radius, 20.0f, 20.0f);
glPopMatrix();
}
// Render the cone connecting this ball to its parent
if (_bodyBall[b].parentBall != BODY_BALL_NULL) {
if ((b != BODY_BALL_HEAD_TOP )
&& (b != BODY_BALL_HEAD_BASE )
&& (b != BODY_BALL_PELVIS )
&& (b != BODY_BALL_TORSO )
&& (b != BODY_BALL_CHEST )
&& (b != BODY_BALL_LEFT_COLLAR )
&& (b != BODY_BALL_LEFT_SHOULDER )
&& (b != BODY_BALL_RIGHT_COLLAR )
&& (b != BODY_BALL_RIGHT_SHOULDER)) {
glColor3fv(DARK_SKIN_COLOR);
float r1 = _bodyBall[_bodyBall[b].parentBall ].radius * 0.8;
float r2 = _bodyBall[b].radius * 0.8;
if (b == BODY_BALL_HEAD_BASE) {
r1 *= 0.5f;
}
renderJointConnectingCone
(
_bodyBall[_bodyBall[b].parentBall].position,
_bodyBall[b].position, r2, r2
);
}
}
}
}
}
void Avatar::loadData(QSettings* set) {
set->beginGroup("Avatar");
_bodyYaw = set->value("bodyYaw", _bodyYaw).toFloat();
_bodyPitch = set->value("bodyPitch", _bodyPitch).toFloat();
_bodyRoll = set->value("bodyRoll", _bodyRoll).toFloat();
_position.x = set->value("position_x", _position.x).toFloat();
_position.y = set->value("position_y", _position.y).toFloat();
_position.z = set->value("position_z", _position.z).toFloat();
set->endGroup();
}
void Avatar::getBodyBallTransform(AvatarJointID jointID, glm::vec3& position, glm::quat& rotation) const {
position = _bodyBall[jointID].position;
rotation = _bodyBall[jointID].rotation;
}
void Avatar::saveData(QSettings* set) {
set->beginGroup("Avatar");
set->setValue("bodyYaw", _bodyYaw);
set->setValue("bodyPitch", _bodyPitch);
set->setValue("bodyRoll", _bodyRoll);
set->setValue("position_x", _position.x);
set->setValue("position_y", _position.y);
set->setValue("position_z", _position.z);
set->endGroup();
}
// render a makeshift cone section that serves as a body part connecting joint spheres
void Avatar::renderJointConnectingCone(glm::vec3 position1, glm::vec3 position2, float radius1, float radius2) {
glBegin(GL_TRIANGLES);
glm::vec3 axis = position2 - position1;
float length = glm::length(axis);
if (length > 0.0f) {
axis /= length;
glm::vec3 perpSin = glm::vec3(1.0f, 0.0f, 0.0f);
glm::vec3 perpCos = glm::normalize(glm::cross(axis, perpSin));
perpSin = glm::cross(perpCos, axis);
float anglea = 0.0;
float angleb = 0.0;
for (int i = 0; i < NUM_BODY_CONE_SIDES; i ++) {
// the rectangles that comprise the sides of the cone section are
// referenced by "a" and "b" in one dimension, and "1", and "2" in the other dimension.
anglea = angleb;
angleb = ((float)(i+1) / (float)NUM_BODY_CONE_SIDES) * PI * 2.0f;
float sa = sinf(anglea);
float sb = sinf(angleb);
float ca = cosf(anglea);
float cb = cosf(angleb);
glm::vec3 p1a = position1 + perpSin * sa * radius1 + perpCos * ca * radius1;
glm::vec3 p1b = position1 + perpSin * sb * radius1 + perpCos * cb * radius1;
glm::vec3 p2a = position2 + perpSin * sa * radius2 + perpCos * ca * radius2;
glm::vec3 p2b = position2 + perpSin * sb * radius2 + perpCos * cb * radius2;
glVertex3f(p1a.x, p1a.y, p1a.z);
glVertex3f(p1b.x, p1b.y, p1b.z);
glVertex3f(p2a.x, p2a.y, p2a.z);
glVertex3f(p1b.x, p1b.y, p1b.z);
glVertex3f(p2a.x, p2a.y, p2a.z);
glVertex3f(p2b.x, p2b.y, p2b.z);
}
}
glEnd();
}
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