bool EntityMotionState::remoteSimulationOutOfSync(uint32_t simulationStep) {
assert(_body);
// if we've never checked before, our _lastStep will be 0, and we need to initialize our state
if (_lastStep == 0) {
btTransform xform = _body->getWorldTransform();
_serverPosition = bulletToGLM(xform.getOrigin());
_serverRotation = bulletToGLM(xform.getRotation());
_serverVelocity = getBodyLinearVelocityGTSigma();
_serverAngularVelocity = bulletToGLM(_body->getAngularVelocity());
_lastStep = simulationStep;
_serverActionData = _entity->getActionData();
_sentInactive = true;
return false;
}
#ifdef WANT_DEBUG
glm::vec3 wasPosition = _serverPosition;
glm::quat wasRotation = _serverRotation;
glm::vec3 wasAngularVelocity = _serverAngularVelocity;
#endif
int numSteps = simulationStep - _lastStep;
float dt = (float)(numSteps) * PHYSICS_ENGINE_FIXED_SUBSTEP;
const float INACTIVE_UPDATE_PERIOD = 0.5f;
if (_sentInactive) {
// we resend the inactive update every INACTIVE_UPDATE_PERIOD
// until it is removed from the outgoing updates
// (which happens when we don't own the simulation and it isn't touching our simulation)
return (dt > INACTIVE_UPDATE_PERIOD);
}
bool isActive = _body->isActive();
if (!isActive) {
// object has gone inactive but our last send was moving --> send non-moving update immediately
return true;
}
_lastStep = simulationStep;
if (glm::length2(_serverVelocity) > 0.0f) {
_serverVelocity += _serverAcceleration * dt;
_serverVelocity *= powf(1.0f - _body->getLinearDamping(), dt);
_serverPosition += dt * _serverVelocity;
}
if (_entity->actionDataNeedsTransmit()) {
setOutgoingPriority(SCRIPT_EDIT_SIMULATION_PRIORITY);
return true;
}
if (_entity->shouldSuppressLocationEdits()) {
return false;
}
// Else we measure the error between current and extrapolated transform (according to expected behavior
// of remote EntitySimulation) and return true if the error is significant.
// NOTE: math is done in the simulation-frame, which is NOT necessarily the same as the world-frame
// due to _worldOffset.
// TODO: compensate for _worldOffset offset here
// compute position error
btTransform worldTrans = _body->getWorldTransform();
glm::vec3 position = bulletToGLM(worldTrans.getOrigin());
float dx2 = glm::distance2(position, _serverPosition);
const float MAX_POSITION_ERROR_SQUARED = 0.000004f; // Sqrt() - corresponds to 2 millimeters
if (dx2 > MAX_POSITION_ERROR_SQUARED) {
#ifdef WANT_DEBUG
qCDebug(physics) << ".... (dx2 > MAX_POSITION_ERROR_SQUARED) ....";
qCDebug(physics) << "wasPosition:" << wasPosition;
qCDebug(physics) << "bullet position:" << position;
qCDebug(physics) << "_serverPosition:" << _serverPosition;
qCDebug(physics) << "dx2:" << dx2;
#endif
return true;
}
if (glm::length2(_serverAngularVelocity) > 0.0f) {
// compute rotation error
float attenuation = powf(1.0f - _body->getAngularDamping(), dt);
_serverAngularVelocity *= attenuation;
// Bullet caps the effective rotation velocity inside its rotation integration step, therefore
// we must integrate with the same algorithm and timestep in order achieve similar results.
for (int i = 0; i < numSteps; ++i) {
_serverRotation = glm::normalize(computeBulletRotationStep(_serverAngularVelocity,
PHYSICS_ENGINE_FIXED_SUBSTEP) * _serverRotation);
}
}
const float MIN_ROTATION_DOT = 0.99999f; // This corresponds to about 0.5 degrees of rotation
glm::quat actualRotation = bulletToGLM(worldTrans.getRotation());
#ifdef WANT_DEBUG
if ((fabsf(glm::dot(actualRotation, _serverRotation)) < MIN_ROTATION_DOT)) {
qCDebug(physics) << ".... ((fabsf(glm::dot(actualRotation, _serverRotation)) < MIN_ROTATION_DOT)) ....";
qCDebug(physics) << "wasAngularVelocity:" << wasAngularVelocity;
qCDebug(physics) << "_serverAngularVelocity:" << _serverAngularVelocity;
qCDebug(physics) << "length wasAngularVelocity:" << glm::length(wasAngularVelocity);
qCDebug(physics) << "length _serverAngularVelocity:" << glm::length(_serverAngularVelocity);
qCDebug(physics) << "wasRotation:" << wasRotation;
qCDebug(physics) << "bullet actualRotation:" << actualRotation;
qCDebug(physics) << "_serverRotation:" << _serverRotation;
}
#endif
return (fabsf(glm::dot(actualRotation, _serverRotation)) < MIN_ROTATION_DOT);
}
bool ObjectMotionState::shouldSendUpdate(uint32_t simulationFrame) {
assert(_body);
// if we've never checked before, our _sentFrame will be 0, and we need to initialize our state
if (_sentFrame == 0) {
_sentPosition = bulletToGLM(_body->getWorldTransform().getOrigin());
_sentVelocity = bulletToGLM(_body->getLinearVelocity());
_sentRotation = bulletToGLM(_body->getWorldTransform().getRotation());
_sentAngularVelocity = bulletToGLM(_body->getAngularVelocity());
_sentFrame = simulationFrame;
return false;
}
#ifdef WANT_DEBUG
glm::vec3 wasPosition = _sentPosition;
glm::quat wasRotation = _sentRotation;
glm::vec3 wasAngularVelocity = _sentAngularVelocity;
#endif
int numFrames = simulationFrame - _sentFrame;
float dt = (float)(numFrames) * PHYSICS_ENGINE_FIXED_SUBSTEP;
_sentFrame = simulationFrame;
bool isActive = _body->isActive();
if (!isActive) {
if (_sentMoving) {
// this object just went inactive so send an update immediately
return true;
} else {
const float NON_MOVING_UPDATE_PERIOD = 1.0f;
if (dt > NON_MOVING_UPDATE_PERIOD && _numNonMovingUpdates < MAX_NUM_NON_MOVING_UPDATES) {
// RELIABLE_SEND_HACK: since we're not yet using a reliable method for non-moving update packets we repeat these
// at a faster rate than the MAX period above, and only send a limited number of them.
return true;
}
}
}
// Else we measure the error between current and extrapolated transform (according to expected behavior
// of remote EntitySimulation) and return true if the error is significant.
// NOTE: math in done the simulation-frame, which is NOT necessarily the same as the world-frame
// due to _worldOffset.
// compute position error
if (glm::length2(_sentVelocity) > 0.0f) {
_sentVelocity += _sentAcceleration * dt;
_sentVelocity *= powf(1.0f - _linearDamping, dt);
_sentPosition += dt * _sentVelocity;
}
btTransform worldTrans = _body->getWorldTransform();
glm::vec3 position = bulletToGLM(worldTrans.getOrigin());
float dx2 = glm::distance2(position, _sentPosition);
const float MAX_POSITION_ERROR_SQUARED = 0.001f; // 0.001 m^2 ~~> 0.03 m
if (dx2 > MAX_POSITION_ERROR_SQUARED) {
#ifdef WANT_DEBUG
qDebug() << ".... (dx2 > MAX_POSITION_ERROR_SQUARED) ....";
qDebug() << "wasPosition:" << wasPosition;
qDebug() << "bullet position:" << position;
qDebug() << "_sentPosition:" << _sentPosition;
qDebug() << "dx2:" << dx2;
#endif
return true;
}
if (glm::length2(_sentAngularVelocity) > 0.0f) {
// compute rotation error
float attenuation = powf(1.0f - _angularDamping, dt);
_sentAngularVelocity *= attenuation;
// Bullet caps the effective rotation velocity inside its rotation integration step, therefore
// we must integrate with the same algorithm and timestep in order achieve similar results.
for (int i = 0; i < numFrames; ++i) {
_sentRotation = glm::normalize(computeBulletRotationStep(_sentAngularVelocity, PHYSICS_ENGINE_FIXED_SUBSTEP) * _sentRotation);
}
}
const float MIN_ROTATION_DOT = 0.99f; // 0.99 dot threshold coresponds to about 16 degrees of slop
glm::quat actualRotation = bulletToGLM(worldTrans.getRotation());
#ifdef WANT_DEBUG
if ((fabsf(glm::dot(actualRotation, _sentRotation)) < MIN_ROTATION_DOT)) {
qDebug() << ".... ((fabsf(glm::dot(actualRotation, _sentRotation)) < MIN_ROTATION_DOT)) ....";
qDebug() << "wasAngularVelocity:" << wasAngularVelocity;
qDebug() << "_sentAngularVelocity:" << _sentAngularVelocity;
qDebug() << "length wasAngularVelocity:" << glm::length(wasAngularVelocity);
qDebug() << "length _sentAngularVelocity:" << glm::length(_sentAngularVelocity);
qDebug() << "wasRotation:" << wasRotation;
qDebug() << "bullet actualRotation:" << actualRotation;
qDebug() << "_sentRotation:" << _sentRotation;
}
#endif
return (fabsf(glm::dot(actualRotation, _sentRotation)) < MIN_ROTATION_DOT);
}
bool EntityMotionState::remoteSimulationOutOfSync(uint32_t simulationStep) {
// NOTE: this method is only ever called when the entity simulation is locally owned
DETAILED_PROFILE_RANGE(simulation_physics, "CheckOutOfSync");
// Since we own the simulation: make sure _bidPriority is not less than current owned priority
// because: a _bidPriority of zero indicates that we should drop ownership in the send.
// TODO: need to be able to detect when logic dictates we *decrease* priority
// WIP: print info whenever _bidPriority mismatches what is known to the entity
int numSteps = simulationStep - _lastStep;
float dt = (float)(numSteps) * PHYSICS_ENGINE_FIXED_SUBSTEP;
if (_numInactiveUpdates > 0) {
if (_numInactiveUpdates > MAX_NUM_INACTIVE_UPDATES) {
// clear local ownership (stop sending updates) and let the server clear itself
_entity->clearSimulationOwnership();
return false;
}
// we resend the inactive update with a growing delay: every INACTIVE_UPDATE_PERIOD * _numInactiveUpdates
// until it is removed from the owned list
// (which happens when we no longer own the simulation)
const float INACTIVE_UPDATE_PERIOD = 0.5f;
return (dt > INACTIVE_UPDATE_PERIOD * (float)_numInactiveUpdates);
}
if (!_body->isActive()) {
// object has gone inactive but our last send was moving --> send non-moving update immediately
return true;
}
if (usecTimestampNow() > _entity->getSimulationOwnershipExpiry()) {
// send update every so often else server will revoke our ownership
return true;
}
if (_body->isStaticOrKinematicObject()) {
return false;
}
_lastStep = simulationStep;
if (glm::length2(_serverVelocity) > 0.0f) {
// the entity-server doesn't know where avatars are, so it doesn't do simple extrapolation for children of
// avatars. We are trying to guess what values the entity server has, so we don't do it here, either. See
// related code in EntitySimulation::moveSimpleKinematics.
bool ancestryIsKnown;
_entity->getMaximumAACube(ancestryIsKnown);
bool hasAvatarAncestor = _entity->hasAncestorOfType(NestableType::Avatar);
if (ancestryIsKnown && !hasAvatarAncestor) {
_serverVelocity += _serverAcceleration * dt;
_serverVelocity *= powf(1.0f - _body->getLinearDamping(), dt);
// NOTE: we ignore the second-order acceleration term when integrating
// the position forward because Bullet also does this.
_serverPosition += dt * _serverVelocity;
}
}
// Else we measure the error between current and extrapolated transform (according to expected behavior
// of remote EntitySimulation) and return true if the error is significant.
// NOTE: math is done in the simulation-frame, which is NOT necessarily the same as the world-frame
// due to _worldOffset.
// TODO: compensate for _worldOffset offset here
// compute position error
bool parentTransformSuccess;
Transform localToWorld = _entity->getParentTransform(parentTransformSuccess);
Transform worldToLocal;
if (parentTransformSuccess) {
localToWorld.evalInverse(worldToLocal);
}
btTransform worldTrans = _body->getWorldTransform();
glm::vec3 position = worldToLocal.transform(bulletToGLM(worldTrans.getOrigin()));
float dx2 = glm::distance2(position, _serverPosition);
const float MAX_POSITION_ERROR_SQUARED = 0.000004f; // corresponds to 2mm
if (dx2 > MAX_POSITION_ERROR_SQUARED) {
// we don't mind larger position error when the object has high speed
// so we divide by speed and check again
float speed2 = glm::length2(_serverVelocity);
const float MIN_ERROR_RATIO_SQUARED = 0.0025f; // corresponds to 5% error in 1 second
const float MIN_SPEED_SQUARED = 1.0e-6f; // corresponds to 1mm/sec
if (speed2 < MIN_SPEED_SQUARED || dx2 / speed2 > MIN_ERROR_RATIO_SQUARED) {
return true;
}
}
if (glm::length2(_serverAngularVelocity) > 0.0f) {
// compute rotation error
//
// Bullet caps the effective rotation velocity inside its rotation integration step, therefore
// we must integrate with the same algorithm and timestep in order achieve similar results.
float attenuation = powf(1.0f - _body->getAngularDamping(), PHYSICS_ENGINE_FIXED_SUBSTEP);
_serverAngularVelocity *= attenuation;
glm::quat rotation = computeBulletRotationStep(_serverAngularVelocity, PHYSICS_ENGINE_FIXED_SUBSTEP);
for (int i = 1; i < numSteps; ++i) {
_serverAngularVelocity *= attenuation;
rotation = computeBulletRotationStep(_serverAngularVelocity, PHYSICS_ENGINE_FIXED_SUBSTEP) * rotation;
}
_serverRotation = glm::normalize(rotation * _serverRotation);
const float MIN_ROTATION_DOT = 0.99999f; // This corresponds to about 0.5 degrees of rotation
glm::quat actualRotation = worldToLocal.getRotation() * bulletToGLM(worldTrans.getRotation());
return (fabsf(glm::dot(actualRotation, _serverRotation)) < MIN_ROTATION_DOT);
}
return false;
}
bool EntityMotionState::remoteSimulationOutOfSync(uint32_t simulationStep) {
// NOTE: we only get here if we think we own the simulation
assert(_body);
bool parentTransformSuccess;
Transform localToWorld = _entity->getParentTransform(parentTransformSuccess);
Transform worldToLocal;
Transform worldVelocityToLocal;
if (parentTransformSuccess) {
localToWorld.evalInverse(worldToLocal);
worldVelocityToLocal = worldToLocal;
worldVelocityToLocal.setTranslation(glm::vec3(0.0f));
}
// if we've never checked before, our _lastStep will be 0, and we need to initialize our state
if (_lastStep == 0) {
btTransform xform = _body->getWorldTransform();
_serverPosition = worldToLocal.transform(bulletToGLM(xform.getOrigin()));
_serverRotation = worldToLocal.getRotation() * bulletToGLM(xform.getRotation());
_serverVelocity = worldVelocityToLocal.transform(getBodyLinearVelocityGTSigma());
_serverAcceleration = Vectors::ZERO;
_serverAngularVelocity = worldVelocityToLocal.transform(bulletToGLM(_body->getAngularVelocity()));
_lastStep = simulationStep;
_serverActionData = _entity->getActionData();
_numInactiveUpdates = 1;
return false;
}
#ifdef WANT_DEBUG
glm::vec3 wasPosition = _serverPosition;
glm::quat wasRotation = _serverRotation;
glm::vec3 wasAngularVelocity = _serverAngularVelocity;
#endif
int numSteps = simulationStep - _lastStep;
float dt = (float)(numSteps) * PHYSICS_ENGINE_FIXED_SUBSTEP;
if (_numInactiveUpdates > 0) {
const uint8_t MAX_NUM_INACTIVE_UPDATES = 20;
if (_numInactiveUpdates > MAX_NUM_INACTIVE_UPDATES) {
// clear local ownership (stop sending updates) and let the server clear itself
_entity->clearSimulationOwnership();
return false;
}
// we resend the inactive update every INACTIVE_UPDATE_PERIOD
// until it is removed from the outgoing updates
// (which happens when we don't own the simulation and it isn't touching our simulation)
const float INACTIVE_UPDATE_PERIOD = 0.5f;
return (dt > INACTIVE_UPDATE_PERIOD * (float)_numInactiveUpdates);
}
if (!_body->isActive()) {
// object has gone inactive but our last send was moving --> send non-moving update immediately
return true;
}
_lastStep = simulationStep;
if (glm::length2(_serverVelocity) > 0.0f) {
// the entity-server doesn't know where avatars are, so it doesn't do simple extrapolation for children of
// avatars. We are trying to guess what values the entity server has, so we don't do it here, either. See
// related code in EntitySimulation::moveSimpleKinematics.
bool ancestryIsKnown;
_entity->getMaximumAACube(ancestryIsKnown);
bool hasAvatarAncestor = _entity->hasAncestorOfType(NestableType::Avatar);
if (ancestryIsKnown && !hasAvatarAncestor) {
_serverVelocity += _serverAcceleration * dt;
_serverVelocity *= powf(1.0f - _body->getLinearDamping(), dt);
// NOTE: we ignore the second-order acceleration term when integrating
// the position forward because Bullet also does this.
_serverPosition += dt * _serverVelocity;
}
}
if (_entity->actionDataNeedsTransmit()) {
_outgoingPriority = _entity->hasActions() ? SCRIPT_GRAB_SIMULATION_PRIORITY : SCRIPT_POKE_SIMULATION_PRIORITY;
return true;
}
if (_entity->shouldSuppressLocationEdits()) {
return false;
}
// Else we measure the error between current and extrapolated transform (according to expected behavior
// of remote EntitySimulation) and return true if the error is significant.
// NOTE: math is done in the simulation-frame, which is NOT necessarily the same as the world-frame
// due to _worldOffset.
// TODO: compensate for _worldOffset offset here
// compute position error
btTransform worldTrans = _body->getWorldTransform();
glm::vec3 position = worldToLocal.transform(bulletToGLM(worldTrans.getOrigin()));
float dx2 = glm::distance2(position, _serverPosition);
const float MAX_POSITION_ERROR_SQUARED = 0.000004f; // corresponds to 2mm
if (dx2 > MAX_POSITION_ERROR_SQUARED) {
// we don't mind larger position error when the object has high speed
// so we divide by speed and check again
float speed2 = glm::length2(_serverVelocity);
const float MIN_ERROR_RATIO_SQUARED = 0.0025f; // corresponds to 5% error in 1 second
const float MIN_SPEED_SQUARED = 1.0e-6f; // corresponds to 1mm/sec
if (speed2 < MIN_SPEED_SQUARED || dx2 / speed2 > MIN_ERROR_RATIO_SQUARED) {
#ifdef WANT_DEBUG
qCDebug(physics) << ".... (dx2 > MAX_POSITION_ERROR_SQUARED) ....";
qCDebug(physics) << "wasPosition:" << wasPosition;
qCDebug(physics) << "bullet position:" << position;
qCDebug(physics) << "_serverPosition:" << _serverPosition;
qCDebug(physics) << "dx2:" << dx2;
#endif
return true;
}
}
if (glm::length2(_serverAngularVelocity) > 0.0f) {
// compute rotation error
float attenuation = powf(1.0f - _body->getAngularDamping(), dt);
_serverAngularVelocity *= attenuation;
// Bullet caps the effective rotation velocity inside its rotation integration step, therefore
// we must integrate with the same algorithm and timestep in order achieve similar results.
for (int i = 0; i < numSteps; ++i) {
_serverRotation = glm::normalize(computeBulletRotationStep(_serverAngularVelocity,
PHYSICS_ENGINE_FIXED_SUBSTEP) * _serverRotation);
}
}
const float MIN_ROTATION_DOT = 0.99999f; // This corresponds to about 0.5 degrees of rotation
glm::quat actualRotation = worldToLocal.getRotation() * bulletToGLM(worldTrans.getRotation());
#ifdef WANT_DEBUG
if ((fabsf(glm::dot(actualRotation, _serverRotation)) < MIN_ROTATION_DOT)) {
qCDebug(physics) << ".... ((fabsf(glm::dot(actualRotation, _serverRotation)) < MIN_ROTATION_DOT)) ....";
qCDebug(physics) << "wasAngularVelocity:" << wasAngularVelocity;
qCDebug(physics) << "_serverAngularVelocity:" << _serverAngularVelocity;
qCDebug(physics) << "length wasAngularVelocity:" << glm::length(wasAngularVelocity);
qCDebug(physics) << "length _serverAngularVelocity:" << glm::length(_serverAngularVelocity);
qCDebug(physics) << "wasRotation:" << wasRotation;
qCDebug(physics) << "bullet actualRotation:" << actualRotation;
qCDebug(physics) << "_serverRotation:" << _serverRotation;
}
#endif
return (fabsf(glm::dot(actualRotation, _serverRotation)) < MIN_ROTATION_DOT);
}
