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) {
if (_previousSet) {
glm::vec3 positionalVelocity = (_positionalTarget - _previousPositionalTarget) / deltaTimeStep;
rigidBody->setLinearVelocity(glmToBullet(positionalVelocity));
}
}
btTransform worldTrans = rigidBody->getWorldTransform();
worldTrans.setOrigin(glmToBullet(_positionalTarget));
worldTrans.setRotation(glmToBullet(_rotationalTarget));
rigidBody->setWorldTransform(worldTrans);
motionState->dirtyInternalKinematicChanges();
_previousPositionalTarget = _positionalTarget;
_previousRotationalTarget = _rotationalTarget;
_previousSet = true;
});
activateBody();
}
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);
}
