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Diffstat (limited to 'indra/newview/llphysicsmotion.cpp')
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diff --git a/indra/newview/llphysicsmotion.cpp b/indra/newview/llphysicsmotion.cpp new file mode 100644 index 0000000000..e124916c48 --- /dev/null +++ b/indra/newview/llphysicsmotion.cpp @@ -0,0 +1,732 @@ +/** + * @file llphysicsmotion.cpp + * @brief Implementation of LLPhysicsMotion class. + * + * $LicenseInfo:firstyear=2011&license=viewerlgpl$ + * Second Life Viewer Source Code + * Copyright (C) 2011, Linden Research, Inc. + * + * This library is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; + * version 2.1 of the License only. + * + * This library is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with this library; if not, write to the Free Software + * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA + * + * Linden Research, Inc., 945 Battery Street, San Francisco, CA 94111 USA + * $/LicenseInfo$ + */ + +//----------------------------------------------------------------------------- +// Header Files +//----------------------------------------------------------------------------- +#include "llviewerprecompiledheaders.h" +#include "linden_common.h" + +#include "m3math.h" +#include "v3dmath.h" + +#include "llphysicsmotion.h" +#include "llagent.h" +#include "llcharacter.h" +#include "llviewercontrol.h" +#include "llviewervisualparam.h" +#include "llvoavatarself.h" + +typedef std::map<std::string, std::string> controller_map_t; +typedef std::map<std::string, F32> default_controller_map_t; + +#define MIN_REQUIRED_PIXEL_AREA_AVATAR_PHYSICS_MOTION 0.f +#define TIME_ITERATION_STEP 0.1f + +inline F64 llsgn(const F64 a) +{ + if (a >= 0) + return 1; + return -1; +} + +/* + At a high level, this works by setting temporary parameters that are not stored + in the avatar's list of params, and are not conveyed to other users. We accomplish + this by creating some new temporary driven params inside avatar_lad that are then driven + by the actual params that the user sees and sets. For example, in the old system, + the user sets a param called breast bouyancy, which controls the Z value of the breasts. + In our new system, the user still sets the breast bouyancy, but that param is redefined + as a driver param so that affects a new temporary driven param that the bounce is applied + to. +*/ + +class LLPhysicsMotion +{ +public: + /* + param_driver_name: The param that controls the params that are being affected by the physics. + joint_name: The joint that the body part is attached to. The joint is + used to determine the orientation (rotation) of the body part. + + character: The avatar that this physics affects. + + motion_direction_vec: The direction (in world coordinates) that determines the + motion. For example, (0,0,1) is up-down, and means that up-down motion is what + determines how this joint moves. + + controllers: The various settings (e.g. spring force, mass) that determine how + the body part behaves. + */ + LLPhysicsMotion(const std::string ¶m_driver_name, + const std::string &joint_name, + LLCharacter *character, + const LLVector3 &motion_direction_vec, + const controller_map_t &controllers) : + mParamDriverName(param_driver_name), + mJointName(joint_name), + mMotionDirectionVec(motion_direction_vec), + mParamDriver(NULL), + mParamControllers(controllers), + mCharacter(character), + mLastTime(0), + mPosition_local(0), + mVelocityJoint_local(0), + mPositionLastUpdate_local(0) + { + mJointState = new LLJointState; + } + + BOOL initialize(); + + ~LLPhysicsMotion() {} + + BOOL onUpdate(F32 time); + + LLPointer<LLJointState> getJointState() + { + return mJointState; + } +protected: + F32 getParamValue(const std::string& controller_key) + { + const controller_map_t::const_iterator& entry = mParamControllers.find(controller_key); + if (entry == mParamControllers.end()) + { + return sDefaultController[controller_key]; + } + const std::string& param_name = (*entry).second.c_str(); + return mCharacter->getVisualParamWeight(param_name.c_str()); + } + void setParamValue(LLViewerVisualParam *param, + const F32 new_value_local, + F32 behavior_maxeffect); + + F32 toLocal(const LLVector3 &world); + F32 calculateVelocity_local(); + F32 calculateAcceleration_local(F32 velocity_local); +private: + const std::string mParamDriverName; + const std::string mParamControllerName; + const LLVector3 mMotionDirectionVec; + const std::string mJointName; + + F32 mPosition_local; + F32 mVelocityJoint_local; // How fast the joint is moving + F32 mAccelerationJoint_local; // Acceleration on the joint + + F32 mVelocity_local; // How fast the param is moving + F32 mPositionLastUpdate_local; + LLVector3 mPosition_world; + + LLViewerVisualParam *mParamDriver; + const controller_map_t mParamControllers; + + LLPointer<LLJointState> mJointState; + LLCharacter *mCharacter; + + F32 mLastTime; + + static default_controller_map_t sDefaultController; +}; + +default_controller_map_t initDefaultController() +{ + default_controller_map_t controller; + controller["Mass"] = 0.2f; + controller["Gravity"] = 0.0f; + controller["Damping"] = .05f; + controller["Drag"] = 0.15f; + controller["MaxEffect"] = 0.1f; + controller["Spring"] = 0.1f; + controller["Gain"] = 10.0f; + return controller; +} + +default_controller_map_t LLPhysicsMotion::sDefaultController = initDefaultController(); + +BOOL LLPhysicsMotion::initialize() +{ + if (!mJointState->setJoint(mCharacter->getJoint(mJointName.c_str()))) + return FALSE; + mJointState->setUsage(LLJointState::ROT); + + mParamDriver = (LLViewerVisualParam*)mCharacter->getVisualParam(mParamDriverName.c_str()); + if (mParamDriver == NULL) + { + llinfos << "Failure reading in [ " << mParamDriverName << " ]" << llendl; + return FALSE; + } + + return TRUE; +} + +LLPhysicsMotionController::LLPhysicsMotionController(const LLUUID &id) : + LLMotion(id), + mCharacter(NULL) +{ + mName = "breast_motion"; +} + +LLPhysicsMotionController::~LLPhysicsMotionController() +{ + for (motion_vec_t::iterator iter = mMotions.begin(); + iter != mMotions.end(); + ++iter) + { + delete (*iter); + } +} + +BOOL LLPhysicsMotionController::onActivate() +{ + return TRUE; +} + +void LLPhysicsMotionController::onDeactivate() +{ +} + +LLMotion::LLMotionInitStatus LLPhysicsMotionController::onInitialize(LLCharacter *character) +{ + mCharacter = character; + + mMotions.clear(); + + // Breast Cleavage + { + controller_map_t controller; + controller["Mass"] = "Breast_Physics_Mass"; + controller["Gravity"] = "Breast_Physics_Gravity"; + controller["Drag"] = "Breast_Physics_Drag"; + controller["Damping"] = "Breast_Physics_InOut_Damping"; + controller["MaxEffect"] = "Breast_Physics_InOut_Max_Effect"; + controller["Spring"] = "Breast_Physics_InOut_Spring"; + controller["Gain"] = "Breast_Physics_InOut_Gain"; + LLPhysicsMotion *motion = new LLPhysicsMotion("Breast_Physics_InOut_Controller", + "mChest", + character, + LLVector3(-1,0,0), + controller); + if (!motion->initialize()) + { + llassert_always(FALSE); + return STATUS_FAILURE; + } + addMotion(motion); + } + + // Breast Bounce + { + controller_map_t controller; + controller["Mass"] = "Breast_Physics_Mass"; + controller["Gravity"] = "Breast_Physics_Gravity"; + controller["Drag"] = "Breast_Physics_Drag"; + controller["Damping"] = "Breast_Physics_UpDown_Damping"; + controller["MaxEffect"] = "Breast_Physics_UpDown_Max_Effect"; + controller["Spring"] = "Breast_Physics_UpDown_Spring"; + controller["Gain"] = "Breast_Physics_UpDown_Gain"; + LLPhysicsMotion *motion = new LLPhysicsMotion("Breast_Physics_UpDown_Controller", + "mChest", + character, + LLVector3(0,0,1), + controller); + if (!motion->initialize()) + { + llassert_always(FALSE); + return STATUS_FAILURE; + } + addMotion(motion); + } + + // Breast Sway + { + controller_map_t controller; + controller["Mass"] = "Breast_Physics_Mass"; + controller["Gravity"] = "Breast_Physics_Gravity"; + controller["Drag"] = "Breast_Physics_Drag"; + controller["Damping"] = "Breast_Physics_LeftRight_Damping"; + controller["MaxEffect"] = "Breast_Physics_LeftRight_Max_Effect"; + controller["Spring"] = "Breast_Physics_LeftRight_Spring"; + controller["Gain"] = "Breast_Physics_LeftRight_Gain"; + LLPhysicsMotion *motion = new LLPhysicsMotion("Breast_Physics_LeftRight_Controller", + "mChest", + character, + LLVector3(0,-1,0), + controller); + if (!motion->initialize()) + { + llassert_always(FALSE); + return STATUS_FAILURE; + } + addMotion(motion); + } + // Butt Bounce + { + controller_map_t controller; + controller["Mass"] = "Butt_Physics_Mass"; + controller["Gravity"] = "Butt_Physics_Gravity"; + controller["Drag"] = "Butt_Physics_Drag"; + controller["Damping"] = "Butt_Physics_UpDown_Damping"; + controller["MaxEffect"] = "Butt_Physics_UpDown_Max_Effect"; + controller["Spring"] = "Butt_Physics_UpDown_Spring"; + controller["Gain"] = "Butt_Physics_UpDown_Gain"; + LLPhysicsMotion *motion = new LLPhysicsMotion("Butt_Physics_UpDown_Controller", + "mPelvis", + character, + LLVector3(0,0,-1), + controller); + if (!motion->initialize()) + { + llassert_always(FALSE); + return STATUS_FAILURE; + } + addMotion(motion); + } + + // Butt LeftRight + { + controller_map_t controller; + controller["Mass"] = "Butt_Physics_Mass"; + controller["Gravity"] = "Butt_Physics_Gravity"; + controller["Drag"] = "Butt_Physics_Drag"; + controller["Damping"] = "Butt_Physics_LeftRight_Damping"; + controller["MaxEffect"] = "Butt_Physics_LeftRight_Max_Effect"; + controller["Spring"] = "Butt_Physics_LeftRight_Spring"; + controller["Gain"] = "Butt_Physics_LeftRight_Gain"; + LLPhysicsMotion *motion = new LLPhysicsMotion("Butt_Physics_LeftRight_Controller", + "mPelvis", + character, + LLVector3(0,-1,0), + controller); + if (!motion->initialize()) + { + llassert_always(FALSE); + return STATUS_FAILURE; + } + addMotion(motion); + } + + // Belly Bounce + { + controller_map_t controller; + controller["Mass"] = "Belly_Physics_Mass"; + controller["Gravity"] = "Belly_Physics_Gravity"; + controller["Drag"] = "Belly_Physics_Drag"; + controller["Damping"] = "Belly_Physics_UpDown_Damping"; + controller["MaxEffect"] = "Belly_Physics_UpDown_Max_Effect"; + controller["Spring"] = "Belly_Physics_UpDown_Spring"; + controller["Gain"] = "Belly_Physics_UpDown_Gain"; + LLPhysicsMotion *motion = new LLPhysicsMotion("Belly_Physics_UpDown_Controller", + "mPelvis", + character, + LLVector3(0,0,-1), + controller); + if (!motion->initialize()) + { + llassert_always(FALSE); + return STATUS_FAILURE; + } + addMotion(motion); + } + + return STATUS_SUCCESS; +} + +void LLPhysicsMotionController::addMotion(LLPhysicsMotion *motion) +{ + addJointState(motion->getJointState()); + mMotions.push_back(motion); +} + +F32 LLPhysicsMotionController::getMinPixelArea() +{ + return MIN_REQUIRED_PIXEL_AREA_AVATAR_PHYSICS_MOTION; +} + +// Local space means "parameter space". +F32 LLPhysicsMotion::toLocal(const LLVector3 &world) +{ + LLJoint *joint = mJointState->getJoint(); + const LLQuaternion rotation_world = joint->getWorldRotation(); + + LLVector3 dir_world = mMotionDirectionVec * rotation_world; + dir_world.normalize(); + return world * dir_world; +} + +F32 LLPhysicsMotion::calculateVelocity_local() +{ + const F32 world_to_model_scale = 100.0f; + LLJoint *joint = mJointState->getJoint(); + const LLVector3 position_world = joint->getWorldPosition(); + const LLQuaternion rotation_world = joint->getWorldRotation(); + const LLVector3 last_position_world = mPosition_world; + const LLVector3 positionchange_world = (position_world-last_position_world) * world_to_model_scale; + const LLVector3 velocity_world = positionchange_world; + const F32 velocity_local = toLocal(velocity_world); + return velocity_local; +} + +F32 LLPhysicsMotion::calculateAcceleration_local(const F32 velocity_local) +{ +// const F32 smoothing = getParamValue("Smoothing"); + static const F32 smoothing = 3.0f; // Removed smoothing param since it's probably not necessary + const F32 acceleration_local = velocity_local - mVelocityJoint_local; + + const F32 smoothed_acceleration_local = + acceleration_local * 1.0/smoothing + + mAccelerationJoint_local * (smoothing-1.0)/smoothing; + + return smoothed_acceleration_local; +} + +BOOL LLPhysicsMotionController::onUpdate(F32 time, U8* joint_mask) +{ + // Skip if disabled globally. + if (!gSavedSettings.getBOOL("AvatarPhysics")) + { + return TRUE; + } + + BOOL update_visuals = FALSE; + for (motion_vec_t::iterator iter = mMotions.begin(); + iter != mMotions.end(); + ++iter) + { + LLPhysicsMotion *motion = (*iter); + update_visuals |= motion->onUpdate(time); + } + + if (update_visuals) + mCharacter->updateVisualParams(); + + return TRUE; +} + + +// Return TRUE if character has to update visual params. +BOOL LLPhysicsMotion::onUpdate(F32 time) +{ + // static FILE *mFileWrite = fopen("c:\\temp\\avatar_data.txt","w"); + + if (!mParamDriver) + return FALSE; + + if (!mLastTime) + { + mLastTime = time; + return FALSE; + } + + //////////////////////////////////////////////////////////////////////////////// + // Get all parameters and settings + // + + const F32 time_delta = time - mLastTime; + + // Don't update too frequently, to avoid precision errors from small time slices. + if (time_delta <= .01) + { + return FALSE; + } + + // If less than 1FPS, we don't want to be spending time updating physics at all. + if (time_delta > 1.0) + { + mLastTime = time; + return FALSE; + } + + // Higher LOD is better. This controls the granularity + // and frequency of updates for the motions. + const F32 lod_factor = LLVOAvatar::sPhysicsLODFactor; + if (lod_factor == 0) + { + return TRUE; + } + + LLJoint *joint = mJointState->getJoint(); + + const F32 behavior_mass = getParamValue("Mass"); + const F32 behavior_gravity = getParamValue("Gravity"); + const F32 behavior_spring = getParamValue("Spring"); + const F32 behavior_gain = getParamValue("Gain"); + const F32 behavior_damping = getParamValue("Damping"); + const F32 behavior_drag = getParamValue("Drag"); + const BOOL physics_test = FALSE; // Enable this to simulate bouncing on all parts. + + F32 behavior_maxeffect = getParamValue("MaxEffect"); + if (physics_test) + behavior_maxeffect = 1.0f; + + // Normalize the param position to be from [0,1]. + // We have to use normalized values because there may be more than one driven param, + // and each of these driven params may have its own range. + // This means we'll do all our calculations in normalized [0,1] local coordinates. + const F32 position_user_local = (mParamDriver->getWeight() - mParamDriver->getMinWeight()) / (mParamDriver->getMaxWeight() - mParamDriver->getMinWeight()); + + // + // End parameters and settings + //////////////////////////////////////////////////////////////////////////////// + + + //////////////////////////////////////////////////////////////////////////////// + // Calculate velocity and acceleration in parameter space. + // + + //const F32 velocity_joint_local = calculateVelocity_local(time_iteration_step); + const F32 velocity_joint_local = calculateVelocity_local(); + const F32 acceleration_joint_local = calculateAcceleration_local(velocity_joint_local); + + // + // End velocity and acceleration + //////////////////////////////////////////////////////////////////////////////// + + BOOL update_visuals = FALSE; + + // Break up the physics into a bunch of iterations so that differing framerates will show + // roughly the same behavior. + for (F32 time_iteration = 0; time_iteration <= time_delta; time_iteration += TIME_ITERATION_STEP) + { + F32 time_iteration_step = TIME_ITERATION_STEP; + if (time_iteration + TIME_ITERATION_STEP > time_delta) + { + time_iteration_step = time_delta-time_iteration; + } + + // mPositon_local should be in normalized 0,1 range already. Just making sure... + const F32 position_current_local = llclamp(mPosition_local, + 0.0f, + 1.0f); + // If the effect is turned off then don't process unless we need one more update + // to set the position to the default (i.e. user) position. + if ((behavior_maxeffect == 0) && (position_current_local == position_user_local)) + { + return update_visuals; + } + + //////////////////////////////////////////////////////////////////////////////// + // Calculate the total force + // + + // Spring force is a restoring force towards the original user-set breast position. + // F = kx + const F32 spring_length = position_current_local - position_user_local; + const F32 force_spring = -spring_length * behavior_spring; + + // Acceleration is the force that comes from the change in velocity of the torso. + // F = ma + const F32 force_accel = behavior_gain * (acceleration_joint_local * behavior_mass); + + // Gravity always points downward in world space. + // F = mg + const LLVector3 gravity_world(0,0,1); + const F32 force_gravity = (toLocal(gravity_world) * behavior_gravity * behavior_mass); + + // Damping is a restoring force that opposes the current velocity. + // F = -kv + const F32 force_damping = -behavior_damping * mVelocity_local; + + // Drag is a force imparted by velocity (intuitively it is similar to wind resistance) + // F = .5kv^2 + const F32 force_drag = .5*behavior_drag*velocity_joint_local*velocity_joint_local*llsgn(velocity_joint_local); + + const F32 force_net = (force_accel + + force_gravity + + force_spring + + force_damping + + force_drag); + + // + // End total force + //////////////////////////////////////////////////////////////////////////////// + + + //////////////////////////////////////////////////////////////////////////////// + // Calculate new params + // + + // Calculate the new acceleration based on the net force. + // a = F/m + const F32 acceleration_new_local = force_net / behavior_mass; + static const F32 max_velocity = 100.0f; // magic number, used to be customizable. + F32 velocity_new_local = mVelocity_local + acceleration_new_local*time_iteration_step; + velocity_new_local = llclamp(velocity_new_local, + -max_velocity, max_velocity); + + // Temporary debugging setting to cause all avatars to move, for profiling purposes. + if (physics_test) + { + velocity_new_local = sin(time*4.0); + } + // Calculate the new parameters, or remain unchanged if max speed is 0. + F32 position_new_local = position_current_local + velocity_new_local*time_iteration_step; + if (behavior_maxeffect == 0) + position_new_local = position_user_local; + + // Zero out the velocity if the param is being pushed beyond its limits. + if ((position_new_local < 0 && velocity_new_local < 0) || + (position_new_local > 1 && velocity_new_local > 0)) + { + velocity_new_local = 0; + } + + // Check for NaN values. A NaN value is detected if the variables doesn't equal itself. + // If NaN, then reset everything. + if ((mPosition_local != mPosition_local) || + (mVelocity_local != mVelocity_local) || + (position_new_local != position_new_local)) + { + position_new_local = 0; + mVelocity_local = 0; + mVelocityJoint_local = 0; + mAccelerationJoint_local = 0; + mPosition_local = 0; + mPosition_world = LLVector3(0,0,0); + } + + const F32 position_new_local_clamped = llclamp(position_new_local, + 0.0f, + 1.0f); + + LLDriverParam *driver_param = dynamic_cast<LLDriverParam *>(mParamDriver); + llassert_always(driver_param); + if (driver_param) + { + // If this is one of our "hidden" driver params, then make sure it's + // the default value. + if ((driver_param->getGroup() != VISUAL_PARAM_GROUP_TWEAKABLE) && + (driver_param->getGroup() != VISUAL_PARAM_GROUP_TWEAKABLE_NO_TRANSMIT)) + { + mCharacter->setVisualParamWeight(driver_param, + 0, + FALSE); + } + for (LLDriverParam::entry_list_t::iterator iter = driver_param->mDriven.begin(); + iter != driver_param->mDriven.end(); + ++iter) + { + LLDrivenEntry &entry = (*iter); + LLViewerVisualParam *driven_param = entry.mParam; + setParamValue(driven_param,position_new_local_clamped, behavior_maxeffect); + } + } + + // + // End calculate new params + //////////////////////////////////////////////////////////////////////////////// + + //////////////////////////////////////////////////////////////////////////////// + // Conditionally update the visual params + // + + // Updating the visual params (i.e. what the user sees) is fairly expensive. + // So only update if the params have changed enough, and also take into account + // the graphics LOD settings. + + // For non-self, if the avatar is small enough visually, then don't update. + const F32 area_for_max_settings = 0.0; + const F32 area_for_min_settings = 1400.0; + const F32 area_for_this_setting = area_for_max_settings + (area_for_min_settings-area_for_max_settings)*(1.0-lod_factor); + const F32 pixel_area = sqrtf(mCharacter->getPixelArea()); + + const BOOL is_self = (dynamic_cast<LLVOAvatarSelf *>(mCharacter) != NULL); + if ((pixel_area > area_for_this_setting) || is_self) + { + const F32 position_diff_local = llabs(mPositionLastUpdate_local-position_new_local_clamped); + const F32 min_delta = (1.0001f-lod_factor)*0.4f; + if (llabs(position_diff_local) > min_delta) + { + update_visuals = TRUE; + mPositionLastUpdate_local = position_new_local; + } + } + + // + // End update visual params + //////////////////////////////////////////////////////////////////////////////// + + mVelocity_local = velocity_new_local; + mAccelerationJoint_local = acceleration_joint_local; + mPosition_local = position_new_local; + } + mLastTime = time; + mPosition_world = joint->getWorldPosition(); + mVelocityJoint_local = velocity_joint_local; + + + /* + // Write out debugging info into a spreadsheet. + if (mFileWrite != NULL && is_self) + { + fprintf(mFileWrite,"%f\t%f\t%f \t\t%f \t\t%f\t%f\t%f\t \t\t%f\t%f\t%f\t%f\t%f \t\t%f\t%f\t%f\n", + position_new_local, + velocity_new_local, + acceleration_new_local, + + time_delta, + + mPosition_world[0], + mPosition_world[1], + mPosition_world[2], + + force_net, + force_spring, + force_accel, + force_damping, + force_drag, + + spring_length, + velocity_joint_local, + acceleration_joint_local + ); + } + */ + + return update_visuals; +} + +// Range of new_value_local is assumed to be [0 , 1] normalized. +void LLPhysicsMotion::setParamValue(LLViewerVisualParam *param, + F32 new_value_normalized, + F32 behavior_maxeffect) +{ + const F32 value_min_local = param->getMinWeight(); + const F32 value_max_local = param->getMaxWeight(); + const F32 min_val = 0.5f-behavior_maxeffect/2.0; + const F32 max_val = 0.5f+behavior_maxeffect/2.0; + + // Scale from [0,1] to [min_val,max_val] + const F32 new_value_rescaled = min_val + (max_val-min_val) * new_value_normalized; + + // Scale from [0,1] to [value_min_local,value_max_local] + const F32 new_value_local = value_min_local + (value_max_local-value_min_local) * new_value_rescaled; + + mCharacter->setVisualParamWeight(param, + new_value_local, + FALSE); +} |