void AvatarActionHold::updateActionWorker(float deltaTimeStep) { if (_kinematic) { if (prepareForTractorUpdate(deltaTimeStep)) { doKinematicUpdate(deltaTimeStep); } } else { forceBodyNonStatic(); ObjectActionTractor::updateActionWorker(deltaTimeStep); } }
btTypedConstraint* ObjectConstraintBallSocket::getConstraint() { btPoint2PointConstraint* constraint { nullptr }; QUuid otherEntityID; glm::vec3 pivotInA; glm::vec3 pivotInB; withReadLock([&]{ constraint = static_cast<btPoint2PointConstraint*>(_constraint); pivotInA = _pivotInA; otherEntityID = _otherID; pivotInB = _pivotInB; }); if (constraint) { return constraint; } static QString repeatedBallSocketNoRigidBody = LogHandler::getInstance().addRepeatedMessageRegex( "ObjectConstraintBallSocket::getConstraint -- no rigidBody.*"); btRigidBody* rigidBodyA = getRigidBody(); if (!rigidBodyA) { qCDebug(physics) << "ObjectConstraintBallSocket::getConstraint -- no rigidBodyA"; return nullptr; } if (!otherEntityID.isNull()) { // This constraint is between two entities... find the other rigid body. btRigidBody* rigidBodyB = getOtherRigidBody(otherEntityID); if (!rigidBodyB) { qCDebug(physics) << "ObjectConstraintBallSocket::getConstraint -- no rigidBodyB"; return nullptr; } constraint = new btPoint2PointConstraint(*rigidBodyA, *rigidBodyB, glmToBullet(pivotInA), glmToBullet(pivotInB)); } else { // This constraint is between an entity and the world-frame. constraint = new btPoint2PointConstraint(*rigidBodyA, glmToBullet(pivotInA)); } withWriteLock([&]{ _constraint = constraint; }); // if we don't wake up rigidBodyA, we may not send the dynamicData property over the network forceBodyNonStatic(); activateBody(); updateBallSocket(); return constraint; }
void AvatarActionHold::doKinematicUpdate(float deltaTimeStep) { auto ownerEntity = _ownerEntity.lock(); if (!ownerEntity) { qDebug() << "AvatarActionHold::doKinematicUpdate -- no owning entity"; return; } void* physicsInfo = ownerEntity->getPhysicsInfo(); if (!physicsInfo) { qDebug() << "AvatarActionHold::doKinematicUpdate -- no owning physics info"; return; } ObjectMotionState* motionState = static_cast<ObjectMotionState*>(physicsInfo); btRigidBody* rigidBody = motionState ? motionState->getRigidBody() : nullptr; if (!rigidBody) { qDebug() << "AvatarActionHold::doKinematicUpdate -- no rigidBody"; return; } withWriteLock([&]{ if (_kinematicSetVelocity) { rigidBody->setLinearVelocity(glmToBullet(_linearVelocityTarget)); rigidBody->setAngularVelocity(glmToBullet(_angularVelocityTarget)); } btTransform worldTrans = rigidBody->getWorldTransform(); worldTrans.setOrigin(glmToBullet(_positionalTarget)); worldTrans.setRotation(glmToBullet(_rotationalTarget)); rigidBody->setWorldTransform(worldTrans); motionState->dirtyInternalKinematicChanges(); _previousPositionalTarget = _positionalTarget; _previousRotationalTarget = _rotationalTarget; _previousDeltaTimeStep = deltaTimeStep; _previousSet = true; }); forceBodyNonStatic(); activateBody(true); }
btTypedConstraint* ObjectConstraintSlider::getConstraint() { btSliderConstraint* constraint { nullptr }; QUuid otherEntityID; glm::vec3 pointInA; glm::vec3 axisInA; glm::vec3 pointInB; glm::vec3 axisInB; withReadLock([&]{ constraint = static_cast<btSliderConstraint*>(_constraint); pointInA = _pointInA; axisInA = _axisInA; otherEntityID = _otherID; pointInB = _pointInB; axisInB = _axisInB; }); if (constraint) { return constraint; } static int repeatMessageID = LogHandler::getInstance().newRepeatedMessageID(); btRigidBody* rigidBodyA = getRigidBody(); if (!rigidBodyA) { HIFI_FCDEBUG_ID(physics(), repeatMessageID, "ObjectConstraintSlider::getConstraint -- no rigidBodyA"); return nullptr; } if (glm::length(axisInA) < FLT_EPSILON) { qCWarning(physics) << "slider axis cannot be a zero vector"; axisInA = DEFAULT_SLIDER_AXIS; } else { axisInA = glm::normalize(axisInA); } if (!otherEntityID.isNull()) { // This slider is between two entities... find the other rigid body. if (glm::length(axisInB) < FLT_EPSILON) { qCWarning(physics) << "slider axis cannot be a zero vector"; axisInB = DEFAULT_SLIDER_AXIS; } else { axisInB = glm::normalize(axisInB); } glm::quat rotA = glm::rotation(DEFAULT_SLIDER_AXIS, axisInA); glm::quat rotB = glm::rotation(DEFAULT_SLIDER_AXIS, axisInB); btTransform frameInA(glmToBullet(rotA), glmToBullet(pointInA)); btTransform frameInB(glmToBullet(rotB), glmToBullet(pointInB)); btRigidBody* rigidBodyB = getOtherRigidBody(otherEntityID); if (!rigidBodyB) { HIFI_FCDEBUG_ID(physics(), repeatMessageID, "ObjectConstraintSlider::getConstraint -- no rigidBodyB"); return nullptr; } constraint = new btSliderConstraint(*rigidBodyA, *rigidBodyB, frameInA, frameInB, true); } else { // This slider is between an entity and the world-frame. glm::quat rot = glm::rotation(DEFAULT_SLIDER_AXIS, axisInA); btTransform frameInA(glmToBullet(rot), glmToBullet(pointInA)); constraint = new btSliderConstraint(*rigidBodyA, frameInA, true); } withWriteLock([&]{ _constraint = constraint; }); // if we don't wake up rigidBodyA, we may not send the dynamicData property over the network forceBodyNonStatic(); activateBody(); updateSlider(); return constraint; }
void AvatarActionHold::doKinematicUpdate(float deltaTimeStep) { auto ownerEntity = _ownerEntity.lock(); if (!ownerEntity) { qDebug() << "AvatarActionHold::doKinematicUpdate -- no owning entity"; return; } if (ownerEntity->getParentID() != QUuid()) { // if the held entity has been given a parent, stop acting on it. return; } void* physicsInfo = ownerEntity->getPhysicsInfo(); if (!physicsInfo) { qDebug() << "AvatarActionHold::doKinematicUpdate -- no owning physics info"; return; } ObjectMotionState* motionState = static_cast<ObjectMotionState*>(physicsInfo); btRigidBody* rigidBody = motionState ? motionState->getRigidBody() : nullptr; if (!rigidBody) { qDebug() << "AvatarActionHold::doKinematicUpdate -- no rigidBody"; return; } withWriteLock([&]{ if (_previousSet && _positionalTarget != _previousPositionalTarget) { // don't average in a zero velocity if we get the same data glm::vec3 oneFrameVelocity = (_positionalTarget - _previousPositionalTarget) / deltaTimeStep; _measuredLinearVelocities[_measuredLinearVelocitiesIndex++] = oneFrameVelocity; if (_measuredLinearVelocitiesIndex >= AvatarActionHold::velocitySmoothFrames) { _measuredLinearVelocitiesIndex = 0; } } glm::vec3 measuredLinearVelocity; for (int i = 0; i < AvatarActionHold::velocitySmoothFrames; i++) { // there is a bit of lag between when someone releases the trigger and when the software reacts to // the release. we calculate the velocity from previous frames but we don't include several // of the most recent. // // if _measuredLinearVelocitiesIndex is // 0 -- ignore i of 3 4 5 // 1 -- ignore i of 4 5 0 // 2 -- ignore i of 5 0 1 // 3 -- ignore i of 0 1 2 // 4 -- ignore i of 1 2 3 // 5 -- ignore i of 2 3 4 // This code is now disabled, but I'm leaving it commented-out because I suspect it will come back. // if ((i + 1) % AvatarActionHold::velocitySmoothFrames == _measuredLinearVelocitiesIndex || // (i + 2) % AvatarActionHold::velocitySmoothFrames == _measuredLinearVelocitiesIndex || // (i + 3) % AvatarActionHold::velocitySmoothFrames == _measuredLinearVelocitiesIndex) { // continue; // } measuredLinearVelocity += _measuredLinearVelocities[i]; } measuredLinearVelocity /= (float)(AvatarActionHold::velocitySmoothFrames // - 3 // 3 because of the 3 we skipped, above ); if (_kinematicSetVelocity) { rigidBody->setLinearVelocity(glmToBullet(measuredLinearVelocity)); rigidBody->setAngularVelocity(glmToBullet(_angularVelocityTarget)); } btTransform worldTrans = rigidBody->getWorldTransform(); worldTrans.setOrigin(glmToBullet(_positionalTarget)); worldTrans.setRotation(glmToBullet(_rotationalTarget)); rigidBody->setWorldTransform(worldTrans); motionState->dirtyInternalKinematicChanges(); _previousPositionalTarget = _positionalTarget; _previousRotationalTarget = _rotationalTarget; _previousDeltaTimeStep = deltaTimeStep; _previousSet = true; }); forceBodyNonStatic(); activateBody(true); }