Merge branch 'master' into ratsteer

BUILD_OSX.md

@@ -7,11 +7,18 @@ Please read the [general build guide](BUILD.md) for information on dependencies
 
 We no longer require install of qt5 via our [homebrew formulas repository](https://github.com/highfidelity/homebrew-formulas). Versions of Qt that are 5.5.x and above provide a mechanism to disable the wireless scanning we previously had a custom patch for.
 
-###Qt
+###OpenSSL and Qt
 
-Assuming you've installed Qt 5 using the homebrew instructions above, you'll need to set QT_CMAKE_PREFIX_PATH so CMake can find your installation of Qt. For Qt 5.5.1 installed via homebrew, set QT_CMAKE_PREFIX_PATH as follows.
+Assuming you've installed OpenSSL or Qt 5 using the homebrew instructions above, you'll need to set OPENSSL_ROOT_DIR and QT_CMAKE_PREFIX_PATH so CMake can find your installations.
+For OpenSSL installed via homebrew, set OPENSSL_ROOT_DIR:
 
-    export QT_CMAKE_PREFIX_PATH=/usr/local/Cellar/qt5/5.5.1/lib/cmake
+    export OPENSSL_ROOT_DIR=/usr/local/Cellar/openssl/1.0.2d_1
+    
+For Qt 5.5.1 installed via homebrew, set QT_CMAKE_PREFIX_PATH as follows.
+
+    export QT_CMAKE_PREFIX_PATH=/usr/local/Cellar/qt5/5.5.1_2/lib/cmake
+
+Not that these use the versions from homebrew formulae at the time of this writing, and the version in the path will likely change.
 
 ###Xcode
 If Xcode is your editor of choice, you can ask CMake to generate Xcode project files instead of Unix Makefiles.

assignment-client/src/Agent.cpp

@@ -67,7 +67,7 @@ Agent::Agent(NLPacket& packet) :
     DependencyManager::set<RecordingScriptingInterface>();
 
     auto& packetReceiver = DependencyManager::get<NodeList>()->getPacketReceiver();
-    
+
     packetReceiver.registerListenerForTypes(
         { PacketType::MixedAudio, PacketType::SilentAudioFrame },
         this, "handleAudioPacket");
@@ -86,7 +86,7 @@ void Agent::handleOctreePacket(QSharedPointer<NLPacket> packet, SharedNodePointe
         if (packet->getPayloadSize() > statsMessageLength) {
             // pull out the piggybacked packet and create a new QSharedPointer<NLPacket> for it
             int piggyBackedSizeWithHeader = packet->getPayloadSize() - statsMessageLength;
-            
+
             auto buffer = std::unique_ptr<char[]>(new char[piggyBackedSizeWithHeader]);
             memcpy(buffer.get(), packet->getPayload() + statsMessageLength, piggyBackedSizeWithHeader);
 
@@ -126,11 +126,11 @@ void Agent::handleAudioPacket(QSharedPointer<NLPacket> packet) {
 const QString AGENT_LOGGING_NAME = "agent";
 
 void Agent::run() {
-    
+
     // make sure we request our script once the agent connects to the domain
     auto nodeList = DependencyManager::get<NodeList>();
     connect(&nodeList->getDomainHandler(), &DomainHandler::connectedToDomain, this, &Agent::requestScript);
-    
+
     ThreadedAssignment::commonInit(AGENT_LOGGING_NAME, NodeType::Agent);
 
     // Setup MessagesClient
@@ -140,7 +140,7 @@ void Agent::run() {
     messagesClient->moveToThread(messagesThread);
     connect(messagesThread, &QThread::started, messagesClient.data(), &MessagesClient::init);
     messagesThread->start();
-    
+
     nodeList->addSetOfNodeTypesToNodeInterestSet({
         NodeType::AudioMixer, NodeType::AvatarMixer, NodeType::EntityServer, NodeType::MessagesMixer, NodeType::AssetServer
     });
@@ -149,7 +149,7 @@ void Agent::run() {
 void Agent::requestScript() {
     auto nodeList = DependencyManager::get<NodeList>();
     disconnect(&nodeList->getDomainHandler(), &DomainHandler::connectedToDomain, this, &Agent::requestScript);
-    
+
     // figure out the URL for the script for this agent assignment
     QUrl scriptURL;
     if (_payload.isEmpty())  {
@@ -160,24 +160,24 @@ void Agent::requestScript() {
     } else {
         scriptURL = QUrl(_payload);
     }
-    
+
     // setup a network access manager and
     QNetworkAccessManager& networkAccessManager = NetworkAccessManager::getInstance();
-    
+
     QNetworkDiskCache* cache = new QNetworkDiskCache();
     QString cachePath = QStandardPaths::writableLocation(QStandardPaths::DataLocation);
     cache->setCacheDirectory(!cachePath.isEmpty() ? cachePath : "agentCache");
     networkAccessManager.setCache(cache);
-    
+
     QNetworkRequest networkRequest = QNetworkRequest(scriptURL);
     networkRequest.setHeader(QNetworkRequest::UserAgentHeader, HIGH_FIDELITY_USER_AGENT);
-    
+
     // setup a timeout for script request
     static const int SCRIPT_TIMEOUT_MS = 10000;
     _scriptRequestTimeout = new QTimer(this);
     connect(_scriptRequestTimeout, &QTimer::timeout, this, &Agent::scriptRequestFinished);
     _scriptRequestTimeout->start(SCRIPT_TIMEOUT_MS);
-    
+
     qDebug() << "Downloading script at" << scriptURL.toString();
     QNetworkReply* reply = networkAccessManager.get(networkRequest);
     connect(reply, &QNetworkReply::finished, this, &Agent::scriptRequestFinished);
@@ -187,11 +187,11 @@ void Agent::scriptRequestFinished() {
     auto reply = qobject_cast<QNetworkReply*>(sender());
 
     _scriptRequestTimeout->stop();
-    
+
     if (reply && reply->error() == QNetworkReply::NoError) {
         _scriptContents = reply->readAll();
         qDebug() << "Downloaded script:" << _scriptContents;
-        
+
         // we could just call executeScript directly - we use a QueuedConnection to allow scriptRequestFinished
         // to return before calling executeScript
         QMetaObject::invokeMethod(this, "executeScript", Qt::QueuedConnection);
@@ -202,38 +202,38 @@ void Agent::scriptRequestFinished() {
         } else {
             qDebug() << "Failed to download script - request timed out. Bailing on assignment.";
         }
-        
+
         setFinished(true);
     }
-    
+
     reply->deleteLater();
 }
 
 void Agent::executeScript() {
     _scriptEngine = std::unique_ptr<ScriptEngine>(new ScriptEngine(_scriptContents, _payload));
     _scriptEngine->setParent(this); // be the parent of the script engine so it gets moved when we do
-    
+
     // setup an Avatar for the script to use
     auto scriptedAvatar = DependencyManager::get<ScriptableAvatar>();
     connect(_scriptEngine.get(), SIGNAL(update(float)), scriptedAvatar.data(), SLOT(update(float)), Qt::ConnectionType::QueuedConnection);
     scriptedAvatar->setForceFaceTrackerConnected(true);
-    
+
     // call model URL setters with empty URLs so our avatar, if user, will have the default models
     scriptedAvatar->setFaceModelURL(QUrl());
     scriptedAvatar->setSkeletonModelURL(QUrl());
     // give this AvatarData object to the script engine
     _scriptEngine->registerGlobalObject("Avatar", scriptedAvatar.data());
-    
+
-    
+
     using namespace recording;
     static const FrameType AVATAR_FRAME_TYPE = Frame::registerFrameType(AvatarData::FRAME_NAME);
     // FIXME how to deal with driving multiple avatars locally?
     Frame::registerFrameHandler(AVATAR_FRAME_TYPE, [this, scriptedAvatar](Frame::ConstPointer frame) {
         AvatarData::fromFrame(frame->data, *scriptedAvatar);
     });
-    
+
     using namespace recording;
-    static const FrameType AUDIO_FRAME_TYPE = Frame::registerFrameType(AudioConstants::AUDIO_FRAME_NAME);
+    static const FrameType AUDIO_FRAME_TYPE = Frame::registerFrameType(AudioConstants::getAudioFrameName());
     Frame::registerFrameHandler(AUDIO_FRAME_TYPE, [this, &scriptedAvatar](Frame::ConstPointer frame) {
         const QByteArray& audio = frame->data;
         static quint16 audioSequenceNumber{ 0 };
@@ -242,49 +242,49 @@ void Agent::executeScript() {
         audioTransform.setRotation(scriptedAvatar->getOrientation());
         AbstractAudioInterface::emitAudioPacket(audio.data(), audio.size(), audioSequenceNumber, audioTransform, PacketType::MicrophoneAudioNoEcho);
     });
-    
+
     auto avatarHashMap = DependencyManager::set<AvatarHashMap>();
     _scriptEngine->registerGlobalObject("AvatarList", avatarHashMap.data());
-    
+
     auto& packetReceiver = DependencyManager::get<NodeList>()->getPacketReceiver();
     packetReceiver.registerListener(PacketType::BulkAvatarData, avatarHashMap.data(), "processAvatarDataPacket");
     packetReceiver.registerListener(PacketType::KillAvatar, avatarHashMap.data(), "processKillAvatar");
     packetReceiver.registerListener(PacketType::AvatarIdentity, avatarHashMap.data(), "processAvatarIdentityPacket");
     packetReceiver.registerListener(PacketType::AvatarBillboard, avatarHashMap.data(), "processAvatarBillboardPacket");
-    
+
     // register ourselves to the script engine
     _scriptEngine->registerGlobalObject("Agent", this);
-    
+
     // FIXME -we shouldn't be calling this directly, it's normally called by run(), not sure why
     // viewers would need this called.
     //_scriptEngine->init(); // must be done before we set up the viewers
-    
+
     _scriptEngine->registerGlobalObject("SoundCache", DependencyManager::get<SoundCache>().data());
-    
+
     QScriptValue webSocketServerConstructorValue = _scriptEngine->newFunction(WebSocketServerClass::constructor);
     _scriptEngine->globalObject().setProperty("WebSocketServer", webSocketServerConstructorValue);
-    
+
     auto entityScriptingInterface = DependencyManager::get<EntityScriptingInterface>();
-    
+
     _scriptEngine->registerGlobalObject("EntityViewer", &_entityViewer);
-    
+
     // we need to make sure that init has been called for our EntityScriptingInterface
     // so that it actually has a jurisdiction listener when we ask it for it next
     entityScriptingInterface->init();
     _entityViewer.setJurisdictionListener(entityScriptingInterface->getJurisdictionListener());
-    
+
     _entityViewer.init();
-    
+
     entityScriptingInterface->setEntityTree(_entityViewer.getTree());
-    
+
     // wire up our additional agent related processing to the update signal
     QObject::connect(_scriptEngine.get(), &ScriptEngine::update, this, &Agent::processAgentAvatarAndAudio);
-    
+
     _scriptEngine->run();
-    
+
     Frame::clearFrameHandler(AUDIO_FRAME_TYPE);
     Frame::clearFrameHandler(AVATAR_FRAME_TYPE);
-    
+
     setFinished(true);
 }
 
@@ -317,7 +317,7 @@ void Agent::setIsAvatar(bool isAvatar) {
             delete _avatarIdentityTimer;
             _avatarIdentityTimer = nullptr;
         }
-        
+
         if (_avatarBillboardTimer) {
             _avatarBillboardTimer->stop();
             delete _avatarBillboardTimer;

assignment-client/src/Agent.h

@@ -31,7 +31,7 @@
 
 class Agent : public ThreadedAssignment {
     Q_OBJECT
-    
+
     Q_PROPERTY(bool isAvatar READ isAvatar WRITE setIsAvatar)
     Q_PROPERTY(bool isPlayingAvatarSound READ isPlayingAvatarSound)
     Q_PROPERTY(bool isListeningToAudioStream READ isListeningToAudioStream WRITE setIsListeningToAudioStream)
@@ -40,7 +40,7 @@ class Agent : public ThreadedAssignment {
 
 public:
     Agent(NLPacket& packet);
-    
+
     void setIsAvatar(bool isAvatar);
     bool isAvatar() const { return _isAvatar; }
 
@@ -53,7 +53,7 @@ public:
     QUuid getSessionUUID() const;
 
     virtual void aboutToFinish();
-    
+
 public slots:
     void run();
     void playAvatarSound(Sound* avatarSound) { setAvatarSound(avatarSound); }
@@ -62,7 +62,7 @@ private slots:
     void requestScript();
     void scriptRequestFinished();
     void executeScript();
-    
+
     void handleAudioPacket(QSharedPointer<NLPacket> packet);
     void handleOctreePacket(QSharedPointer<NLPacket> packet, SharedNodePointer senderNode);
     void handleJurisdictionPacket(QSharedPointer<NLPacket> packet, SharedNodePointer senderNode);
@@ -72,7 +72,7 @@ private:
     std::unique_ptr<ScriptEngine> _scriptEngine;
     EntityEditPacketSender _entityEditSender;
     EntityTreeHeadlessViewer _entityViewer;
-    
+
     MixedAudioStream _receivedAudioStream;
     float _lastReceivedAudioLoudness;
 

cmake/externals/bullet/CMakeLists.txt

@@ -18,8 +18,8 @@ if (WIN32)
   ExternalProject_Add(
     ${EXTERNAL_NAME}
     # URL https://bullet.googlecode.com/files/bullet-2.82-r2704.zip
-    URL http://hifi-public.s3.amazonaws.com/dependencies/bullet-2.82-r2704.zip
+    URL http://hifi-public.s3.amazonaws.com/dependencies/bullet-2.82-ccd-fix.zip
-    URL_MD5 f5e8914fc9064ad32e0d62d19d33d977
+    URL_MD5 d95b07eb120de7dd7786361c0b5a8d9f
     CMAKE_ARGS ${PLATFORM_CMAKE_ARGS} -DCMAKE_INSTALL_PREFIX:PATH=<INSTALL_DIR> -DBUILD_EXTRAS=0 -DINSTALL_LIBS=1 -DBUILD_DEMOS=0 -DUSE_GLUT=0 -DUSE_DX11=0
     LOG_DOWNLOAD 1
     LOG_CONFIGURE 1
@@ -30,8 +30,8 @@ else ()
   ExternalProject_Add(
     ${EXTERNAL_NAME}
     #URL http://bullet.googlecode.com/files/bullet-2.82-r2704.tgz
-    URL http://hifi-public.s3.amazonaws.com/dependencies/bullet-2.82-r2704.tgz
+    URL http://hifi-public.s3.amazonaws.com/dependencies/bullet-2.82-ccd-fix.tgz
-    URL_MD5 70b3c8d202dee91a0854b4cbc88173e8
+    URL_MD5 fb140a4983b4109aa1c825a162aa8d64
     CMAKE_ARGS ${PLATFORM_CMAKE_ARGS} -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCMAKE_INSTALL_PREFIX:PATH=<INSTALL_DIR> -DBUILD_EXTRAS=0 -DINSTALL_LIBS=1 -DBUILD_DEMOS=0 -DUSE_GLUT=0
     LOG_DOWNLOAD 1
     LOG_CONFIGURE 1
@@ -80,4 +80,4 @@ endif ()
 
 if (DEFINED ${EXTERNAL_NAME_UPPER}_DYNAMICS_LIBRARY_RELEASE)
   set(${EXTERNAL_NAME_UPPER}_INCLUDE_DIR ${INSTALL_DIR}/include/bullet CACHE PATH "Path to bullet include directory")
-endif ()
+endif ()

cmake/externals/quazip/CMakeLists.txt

@@ -3,12 +3,14 @@ string(TOUPPER ${EXTERNAL_NAME} EXTERNAL_NAME_UPPER)
 cmake_policy(SET CMP0046 OLD)
 
 include(ExternalProject)
+
+string(REPLACE \\ / QT_CMAKE_PREFIX_PATH $ENV{QT_CMAKE_PREFIX_PATH})
 ExternalProject_Add(
   ${EXTERNAL_NAME}
   URL http://s3-us-west-1.amazonaws.com/hifi-production/dependencies/quazip-0.6.2.zip
   URL_MD5 514851970f1a14d815bdc3ad6267af4d
   BINARY_DIR ${EXTERNAL_PROJECT_PREFIX}/build
-  CMAKE_ARGS -DCMAKE_INSTALL_PREFIX:PATH=<INSTALL_DIR> -DCMAKE_PREFIX_PATH=$ENV{QT_CMAKE_PREFIX_PATH} -DCMAKE_INSTALL_NAME_DIR:PATH=<INSTALL_DIR>/lib -DZLIB_ROOT=${ZLIB_ROOT}
+  CMAKE_ARGS -DCMAKE_INSTALL_PREFIX:PATH=<INSTALL_DIR> -DCMAKE_PREFIX_PATH=${QT_CMAKE_PREFIX_PATH} -DCMAKE_INSTALL_NAME_DIR:PATH=<INSTALL_DIR>/lib -DZLIB_ROOT=${ZLIB_ROOT}
   LOG_DOWNLOAD 1
   LOG_CONFIGURE 1
   LOG_BUILD 1

cmake/macros/LinkHifiLibraries.cmake

@@ -21,7 +21,7 @@ macro(LINK_HIFI_LIBRARIES)
     include_directories("${HIFI_LIBRARY_DIR}/${HIFI_LIBRARY}/src")
 
     add_dependencies(${TARGET_NAME} ${HIFI_LIBRARY})
-  
+
     # link the actual library - it is static so don't bubble it up
     target_link_libraries(${TARGET_NAME} ${HIFI_LIBRARY})
     

cmake/macros/SetupHifiProject.cmake

@@ -34,6 +34,13 @@ macro(SETUP_HIFI_PROJECT)
   # find these Qt modules and link them to our own target
   find_package(Qt5 COMPONENTS ${${TARGET_NAME}_DEPENDENCY_QT_MODULES} REQUIRED)
 
+  # disable /OPT:REF and /OPT:ICF for the Debug builds
+  # This will prevent the following linker warnings
+  # LINK : warning LNK4075: ignoring '/INCREMENTAL' due to '/OPT:ICF' specification
+  if (WIN32)
+     set_property(TARGET ${TARGET_NAME} APPEND_STRING PROPERTY LINK_FLAGS_DEBUG "/OPT:NOREF /OPT:NOICF")
+  endif()
+
   foreach(QT_MODULE ${${TARGET_NAME}_DEPENDENCY_QT_MODULES})
     target_link_libraries(${TARGET_NAME} Qt5::${QT_MODULE})
   endforeach()

examples/acScripts/animatedAvatarAgent.js

@@ -14,16 +14,17 @@
 // An assignment client script that animates one avatar at random location within 'spread' meters of 'origin'.
 // In Domain Server Settings, go to scripts and give the url of this script. Press '+', and then 'Save and restart'.
 
-var origin = {x: 500, y: 502, z: 500};
+var origin = {x: 500, y: 500, z: 500};
-var spread = 10; // meters
+var spread = 20; // meters
 var animationData = {url: "https://hifi-public.s3.amazonaws.com/ozan/anim/standard_anims/walk_fwd.fbx", lastFrame: 35};
 Avatar.skeletonModelURL = "https://hifi-public.s3.amazonaws.com/marketplace/contents/dd03b8e3-52fb-4ab3-9ac9-3b17e00cd85d/98baa90b3b66803c5d7bd4537fca6993.fst"; //lovejoy
 Avatar.displayName = "'Bot";
 var millisecondsToWaitBeforeStarting = 10 * 1000; // To give the various servers a chance to start.
 
 Agent.isAvatar = true;
+function coord() { return (Math.random() * spread) - (spread / 2); }  // randomly distribute a coordinate zero += spread/2.
 Script.setTimeout(function () {
-    Avatar.position = Vec3.sum(origin, {x: Math.random() * spread, y: 0, z: Math.random() * spread});
+    Avatar.position = Vec3.sum(origin, {x: coord(), y: 0, z: coord()});
     print("Starting at", JSON.stringify(Avatar.position));
     Avatar.startAnimation(animationData.url, animationData.fps || 30, 1, true, false, animationData.firstFrame || 0, animationData.lastFrame);
 }, millisecondsToWaitBeforeStarting);

examples/controllers/handControllerGrab.js

@@ -37,6 +37,7 @@ var BUMPER_ON_VALUE = 0.5;
 var DISTANCE_HOLDING_RADIUS_FACTOR = 5; // multiplied by distance between hand and object
 var DISTANCE_HOLDING_ACTION_TIMEFRAME = 0.1; // how quickly objects move to their new position
 var DISTANCE_HOLDING_ROTATION_EXAGGERATION_FACTOR = 2.0; // object rotates this much more than hand did
+
 var NO_INTERSECT_COLOR = {
     red: 10,
     green: 10,
@@ -86,6 +87,7 @@ var ZERO_VEC = {
     y: 0,
     z: 0
 };
+
 var NULL_ACTION_ID = "{00000000-0000-0000-000000000000}";
 var MSEC_PER_SEC = 1000.0;
 
@@ -95,7 +97,8 @@ var ACTION_TTL = 15; // seconds
 var ACTION_TTL_REFRESH = 5;
 var PICKS_PER_SECOND_PER_HAND = 5;
 var MSECS_PER_SEC = 1000.0;
-var GRABBABLE_PROPERTIES = ["position",
+var GRABBABLE_PROPERTIES = [
+    "position",
     "rotation",
     "gravity",
     "ignoreForCollisions",
@@ -104,7 +107,6 @@ var GRABBABLE_PROPERTIES = ["position",
     "name"
 ];
 
-
 var GRABBABLE_DATA_KEY = "grabbableKey"; // shared with grab.js
 var GRAB_USER_DATA_KEY = "grabKey"; // shared with grab.js
 
@@ -113,8 +115,6 @@ var DEFAULT_GRABBABLE_DATA = {
     invertSolidWhileHeld: false
 };
 
-var disabledHand = 'none';
-
 
 // states for the state machine
 var STATE_OFF = 0;
@@ -307,7 +307,14 @@ function MyController(hand) {
             position: closePoint,
             linePoints: [ZERO_VEC, farPoint],
             color: color,
-            lifetime: 0.1
+            lifetime: 0.1,
+            collisionsWillMove: false,
+            ignoreForCollisions: true,
+            userData: JSON.stringify({
+                grabbableKey: {
+                    grabbable: false
+                }
+            })
         });
     }
 
@@ -322,7 +329,14 @@ function MyController(hand) {
                 position: closePoint,
                 linePoints: [ZERO_VEC, farPoint],
                 color: color,
-                lifetime: LIFETIME
+                lifetime: LIFETIME,
+                collisionsWillMove: false,
+                ignoreForCollisions: true,
+                userData: JSON.stringify({
+                    grabbableKey: {
+                        grabbable: false
+                    }
+                })
             });
         } else {
             var age = Entities.getEntityProperties(this.pointer, "age").age;
@@ -396,11 +410,6 @@ function MyController(hand) {
     this.search = function() {
         this.grabbedEntity = null;
 
-        // if this hand is the one that's disabled, we don't want to search for anything at all
-        if (this.hand === disabledHand) {
-            return;
-        }
-
         if (this.state == STATE_SEARCHING ? this.triggerSmoothedReleased() : this.bumperReleased()) {
             this.setState(STATE_RELEASE);
             return;
@@ -445,17 +454,7 @@ function MyController(hand) {
                 // the ray is intersecting something we can move.
                 var intersectionDistance = Vec3.distance(pickRay.origin, intersection.intersection);
 
-                //this code will disabled the beam for the opposite hand of the one that grabbed it if the entity says so
                 var grabbableData = getEntityCustomData(GRABBABLE_DATA_KEY, intersection.entityID, DEFAULT_GRABBABLE_DATA);
-                if (grabbableData["turnOffOppositeBeam"]) {
-                    if (this.hand === RIGHT_HAND) {
-                        disabledHand = LEFT_HAND;
-                    } else {
-                        disabledHand = RIGHT_HAND;
-                    }
-                } else {
-                    disabledHand = 'none';
-                }
 
                 if (intersection.properties.name == "Grab Debug Entity") {
                     continue;
@@ -526,7 +525,14 @@ function MyController(hand) {
                     green: 255,
                     blue: 0
                 },
-                lifetime: 0.1
+                lifetime: 0.1,
+                collisionsWillMove: false,
+                ignoreForCollisions: true,
+                userData: JSON.stringify({
+                    grabbableKey: {
+                        grabbable: false
+                    }
+                })
             });
         }
 
@@ -540,8 +546,7 @@ function MyController(hand) {
             if (typeof grabbableDataForCandidate.grabbable !== 'undefined' && !grabbableDataForCandidate.grabbable) {
                 continue;
             }
-            var propsForCandidate =
+            var propsForCandidate = Entities.getEntityProperties(nearbyEntities[i], GRABBABLE_PROPERTIES);
-                Entities.getEntityProperties(nearbyEntities[i], GRABBABLE_PROPERTIES);
 
             if (propsForCandidate.type == 'Unknown') {
                 continue;
@@ -737,15 +742,8 @@ function MyController(hand) {
 
     this.nearGrabbing = function() {
         var now = Date.now();
-
         var grabbableData = getEntityCustomData(GRABBABLE_DATA_KEY, this.grabbedEntity, DEFAULT_GRABBABLE_DATA);
 
-        var turnOffOtherHand = grabbableData["turnOffOtherHand"];
-        if (turnOffOtherHand) {
-            //don't activate the second hand grab because the script is handling the second hand logic
-            return;
-        }
-
         if (this.state == STATE_NEAR_GRABBING && this.triggerSmoothedReleased()) {
             this.setState(STATE_RELEASE);
             Entities.callEntityMethod(this.grabbedEntity, "releaseGrab");
@@ -1094,10 +1092,6 @@ function MyController(hand) {
 
     this.release = function() {
 
-        if (this.hand !== disabledHand) {
-            //release the disabled hand when we let go with the main one
-            disabledHand = 'none';
-        }
         this.lineOff();
 
         if (this.grabbedEntity !== null) {
@@ -1218,12 +1212,35 @@ mapping.from([Controller.Standard.LB]).peek().to(leftController.bumperPress);
 
 Controller.enableMapping(MAPPING_NAME);
 
+var handToDisable = 'none';
 
 function update() {
-    rightController.update();
+    if (handToDisable !== LEFT_HAND) {
-    leftController.update();
+        leftController.update();
+    }
+    if (handToDisable !== RIGHT_HAND) {
+        rightController.update();
+    }
 }
 
+Messages.subscribe('Hifi-Hand-Disabler');
+
+handleHandDisablerMessages = function(channel, message, sender) {
+
+    if (sender === MyAvatar.sessionUUID) {
+        handToDisable = message;
+        if (message === 'left') {
+            handToDisable = LEFT_HAND;
+        }
+        if (message === 'right') {
+            handToDisable = RIGHT_HAND;
+        }
+    }
+
+}
+
+Messages.messageReceived.connect(handleHandDisablerMessages);
+
 function cleanup() {
     rightController.cleanup();
     leftController.cleanup();

examples/controllers/squeezeHands.js

@@ -25,8 +25,6 @@ var LAST_FRAME = 15.0;    //  What is the number of the last frame we want to us
 var SMOOTH_FACTOR = 0.75;
 var MAX_FRAMES = 30.0;
 
-var LEFT_HAND_CLICK = Controller.findAction("LEFT_HAND_CLICK");
-var RIGHT_HAND_CLICK = Controller.findAction("RIGHT_HAND_CLICK");
 
 var CONTROLLER_DEAD_SPOT = 0.25;
 
@@ -45,8 +43,8 @@ function normalizeControllerValue(val) {
 }
 
 Script.update.connect(function(deltaTime) {
-    var leftTrigger = normalizeControllerValue(Controller.getActionValue(LEFT_HAND_CLICK));
+    var leftTrigger = normalizeControllerValue(Controller.getValue(Controller.Standard.LT));
-    var rightTrigger = normalizeControllerValue(Controller.getActionValue(RIGHT_HAND_CLICK));
+    var rightTrigger = normalizeControllerValue(Controller.getValue(Controller.Standard.RT));
 
     //  Average last few trigger values together for a bit of smoothing
     var smoothLeftTrigger = leftTrigger * (1.0 - SMOOTH_FACTOR) + lastLeftTrigger * SMOOTH_FACTOR;

examples/entityScripts/recordingEntityScript.js

@@ -84,7 +84,7 @@
             overlay = null;
         },
 
-        startRecording: function (entityID) {
+        startRecording: function () {
             if (!isAvatarRecording) {
                 print("RECORDING STARTED");
                 Messages.sendMessage(CLIENTS_TO_MASTER_CHANNEL, PARTICIPATING_MESSAGE);  //tell to master that I'm participating
@@ -94,7 +94,7 @@
             }
         },
 
-        stopRecording: function (entityID) {
+        stopRecording: function () {
             if (isAvatarRecording) {
                 print("RECORDING ENDED");
                 Recording.stopRecording();
@@ -109,7 +109,7 @@
             _this.stopRecording();
             Messages.unsubscribe(MASTER_TO_CLIENTS_CHANNEL);
             Messages.messageReceived.disconnect(receivingMessage);
-            if(overlay !== null){
+            if (overlay !== null) {
                 Overlays.deleteOverlay(overlay);
                 overlay = null;
             }

examples/entityScripts/recordingMaster.js

@@ -29,11 +29,14 @@ var STOP_MESSAGE = "recordingEnded";
 var PARTICIPATING_MESSAGE = "participatingToRecording";
 var TIMEOUT = 20;
 
+
 var toolBar = null;
 var recordIcon;
 var isRecording = false;
 var performanceJSON = { "avatarClips" : [] };
 var responsesExpected = 0;
+var readyToPrintInfo = false;
+var performanceFileURL = null;
 var waitingForPerformanceFile = true;
 var totalWaitingTime = 0;
 var extension = "txt";
@@ -71,9 +74,9 @@ function mousePressEvent(event) {
             print("I'm the master. I want to start recording");
             Messages.sendMessage(MASTER_TO_CLIENTS_CHANNEL, START_MESSAGE);
             isRecording = true;
+            waitingForPerformanceFile = true;
         } else {
             print("I want to stop recording");
-            waitingForPerformanceFile = true;
             Script.update.connect(update);
             Messages.sendMessage(MASTER_TO_CLIENTS_CHANNEL, STOP_MESSAGE);
             isRecording = false;
@@ -108,29 +111,38 @@ function update(deltaTime) {
             }
             //clean things after upload performance file to asset
             waitingForPerformanceFile = false;
-            responsesExpected = 0;
             totalWaitingTime = 0;
             Script.update.disconnect(update);
-            performanceJSON = { "avatarClips" : [] };
         }
+    } else if (readyToPrintInfo == true){
+        Window.prompt("Performance file and clips: ", getUtilityString());
+        responsesExpected = 0;
+        performanceJSON = { "avatarClips" : [] };
+        Script.update.disconnect(update);
     }
 }
 
+function getUtilityString() {
+    var resultString = "JSON:\n" + performanceFileURL + "\n" + responsesExpected + " avatar clips:\n";
+    var avatarClips = performanceJSON.avatarClips;
+    avatarClips.forEach(function(param) {
+        resultString += param + "\n";
+    });
+    return resultString;
+}
+
 function uploadFinished(url){
     //need to print somehow the url here this way the master can copy the url
-    print("PERFORMANCE FILE URL: " + url);
-    Assets.downloadData(url, function (data) {
-        printPerformanceJSON(JSON.parse(data));
-    });
-}
-
-function printPerformanceJSON(obj) {
     print("some info:");
-    print("downloaded performance file from asset and examinating its content...");
+    performanceFileURL = url;
-    var avatarClips = obj.avatarClips;
+    print("PERFORMANCE FILE URL: " + performanceFileURL);
+    print("number of clips obtained:" + responsesExpected);
+    var avatarClips = performanceJSON.avatarClips;
     avatarClips.forEach(function(param) {
         print("clip url obtained: " + param);
     });
+    readyToPrintInfo = true;
+    Script.update.connect(update);
 }
 
 function cleanup() {

examples/example/games/sword.js

@@ -361,8 +361,8 @@ function update() {
 }
 
 function updateControllerState() {
-    rightTriggerValue = Controller.getActionValue(rightHandClick);
+    rightTriggerValue = Controller.getValue(Controller.Standard.RT);
-    leftTriggerValue = Controller.getActionValue(leftHandClick);
+    leftTriggerValue =Controller.getValue(Controller.Standard.LT);
 
     if (rightTriggerValue > TRIGGER_THRESHOLD && !swordHeld) {
         grabSword("right")

examples/painting/closePaint.js

@@ -159,7 +159,8 @@ function MyController(hand, triggerAction) {
     }
 
     this.updateControllerState = function() {
-        this.triggerValue = Controller.getActionValue(this.triggerAction);
+        this.triggerValue = Controller.getValue(this.triggerAction);
+        
         if (this.triggerValue > TRIGGER_ON_VALUE && this.prevTriggerValue <= TRIGGER_ON_VALUE) {
             this.squeeze();
         } else if (this.triggerValue < TRIGGER_ON_VALUE && this.prevTriggerValue >= TRIGGER_ON_VALUE) {
@@ -256,8 +257,8 @@ function MyController(hand, triggerAction) {
     }
 }
 
-var rightController = new MyController(RIGHT_HAND, Controller.findAction("RIGHT_HAND_CLICK"));
+var rightController = new MyController(RIGHT_HAND, Controller.Standard.RT);
-var leftController = new MyController(LEFT_HAND, Controller.findAction("LEFT_HAND_CLICK"));
+var leftController = new MyController(LEFT_HAND, Controller.Standard.LT);
 
 Controller.actionEvent.connect(function(action, state) {
     if (state === 0) {

examples/painting/whiteboard/whiteboardSpawner.js

@@ -247,4 +247,4 @@ function cleanup() {
 
 
 // Uncomment this line to delete whiteboard and all associated entity on script close
-// Script.scriptEnding.connect(cleanup);
+//Script.scriptEnding.connect(cleanup);

examples/toybox/flashlight/createFlashlight.js

@@ -12,10 +12,9 @@
 //  See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
 //
 /*global MyAvatar, Entities, AnimationCache, SoundCache, Scene, Camera, Overlays, HMD, AvatarList, AvatarManager, Controller, UndoStack, Window, Account, GlobalServices, Script, ScriptDiscoveryService, LODManager, Menu, Vec3, Quat, AudioDevice, Paths, Clipboard, Settings, XMLHttpRequest, randFloat, randInt */
-Script.include("https://hifi-public.s3.amazonaws.com/scripts/utilities.js");
+Script.include("../../libraries/utils.js");
 
-
+var scriptURL = Script.resolvePath('flashlight.js');
-var scriptURL = Script.resolvePath('flashlight.js?123123');
 
 var modelURL = "https://hifi-public.s3.amazonaws.com/models/props/flashlight.fbx";
 

examples/toybox/flashlight/flashlight.js

@@ -183,11 +183,14 @@
         },
 
         changeLightWithTriggerPressure: function(flashLightHand) {
-            var handClickString = flashLightHand + "_HAND_CLICK";
 
-            var handClick = Controller.findAction(handClickString);
+            if (flashLightHand === 'LEFT') {
+                this.triggerValue = Controller.getValue(Controller.Standard.LT);
+            }
+            if (flashLightHand === 'RIGHT') {
+                this.triggerValue = Controller.getValue(Controller.Standard.RT);
 
-            this.triggerValue = Controller.getActionValue(handClick);
+            }
 
             if (this.triggerValue < DISABLE_LIGHT_THRESHOLD && this.lightOn === true) {
                 this.turnLightOff();
@@ -266,4 +269,4 @@
 
     // entity scripts always need to return a newly constructed object of our type
     return new Flashlight();
-});
+});

interface/CMakeLists.txt

@@ -100,6 +100,13 @@ else()
   add_executable(${TARGET_NAME} ${INTERFACE_SRCS} ${QM})
 endif()
 
+# disable /OPT:REF and /OPT:ICF for the Debug builds
+# This will prevent the following linker warnings
+# LINK : warning LNK4075: ignoring '/INCREMENTAL' due to '/OPT:ICF' specification
+if (WIN32)
+  set_property(TARGET ${TARGET_NAME} APPEND_STRING PROPERTY LINK_FLAGS_DEBUG "/OPT:NOREF /OPT:NOICF")
+endif()
+
 # link required hifi libraries
 link_hifi_libraries(shared octree environment gpu gl procedural model render 
                     recording fbx networking model-networking entities avatars 

interface/resources/qml/Stats.qml

@@ -256,6 +256,12 @@ Item {
                         visible: root.expanded
                         text: "LOD: " + root.lodStatus;
                     }
+                    Text {
+                        color: root.fontColor;
+                        font.pixelSize: root.fontSize
+                        visible: root.expanded
+                        text: "Renderable avatars: " + root.avatarRenderableCount + " w/in " + root.avatarRenderDistance + "m";
+                    }
                 }
             }
         }

interface/src/Application.cpp

@@ -454,14 +454,14 @@ Application::Application(int& argc, char** argv, QElapsedTimer& startupTimer) :
     audioIO->setOrientationGetter([this]{ return getMyAvatar()->getOrientationForAudio(); });
 
     audioIO->moveToThread(audioThread);
-    recording::Frame::registerFrameHandler(AudioConstants::AUDIO_FRAME_NAME, [=](recording::Frame::ConstPointer frame) {
+    recording::Frame::registerFrameHandler(AudioConstants::getAudioFrameName(), [=](recording::Frame::ConstPointer frame) {
         audioIO->handleRecordedAudioInput(frame->data);
     });
 
     connect(audioIO.data(), &AudioClient::inputReceived, [](const QByteArray& audio){
         static auto recorder = DependencyManager::get<recording::Recorder>();
         if (recorder->isRecording()) {
-            static const recording::FrameType AUDIO_FRAME_TYPE = recording::Frame::registerFrameType(AudioConstants::AUDIO_FRAME_NAME);
+            static const recording::FrameType AUDIO_FRAME_TYPE = recording::Frame::registerFrameType(AudioConstants::getAudioFrameName());
             recorder->recordFrame(AUDIO_FRAME_TYPE, audio);
         }
     });
@@ -1077,8 +1077,10 @@ void Application::paintGL() {
     uint64_t now = usecTimestampNow();
     static uint64_t lastPaintBegin{ now };
     uint64_t diff = now - lastPaintBegin;
+    float instantaneousFps = 0.0f;
     if (diff != 0) {
-        _framesPerSecond.updateAverage((float)USECS_PER_SECOND / (float)diff);
+        instantaneousFps = (float)USECS_PER_SECOND / (float)diff;
+        _framesPerSecond.updateAverage(_lastInstantaneousFps);
     }
 
     lastPaintBegin = now;
@@ -1109,6 +1111,29 @@ void Application::paintGL() {
     _inPaint = true;
     Finally clearFlagLambda([this] { _inPaint = false; });
 
+    // Some LOD-like controls need to know a smoothly varying "potential" frame rate that doesn't
+    // include time waiting for vsync, and which can report a number above target if we've got the headroom.
+    // For example, if we're shooting for 75fps and paintWait is 3.3333ms (= 75% * 13.33ms), our deducedNonVSyncFps
+    // would be 100fps. In principle, a paintWait of zero would have deducedNonVSyncFps=75.
+    // Here we make a guess for deducedNonVSyncFps = 1 / deducedNonVSyncPeriod.
+    //
+    // Time between previous paintGL call and this one, which can vary not only with vSync misses, but also with QT timing.
+    // We're using this as a proxy for the time between vsync and displayEnd, below. (Not exact, but tends to be the same over time.)
+    // This is not the same as update(deltaTime), because the latter attempts to throttle to 60hz and also clamps to 1/4 second.
+    const float actualPeriod = diff / (float)USECS_PER_SECOND; // same as 1/instantaneousFps but easier for compiler to optimize
+    // Note that _lastPaintWait (stored at end of last call) is for the same paint cycle.
+    float deducedNonVSyncPeriod = actualPeriod - _lastPaintWait + _marginForDeducedFramePeriod; // plus a some non-zero time for machinery we can't measure
+    // We don't know how much time to allow for that, but if we went over the target period, we know it's at least the portion
+    // of paintWait up to the next vSync. This gives us enough of a penalty so that when actualPeriod crosses two cycles,
+    // the key part (and not an exagerated part) of _lastPaintWait is accounted for.
+    const float targetPeriod = getTargetFramePeriod();
+    if (_lastPaintWait > EPSILON && actualPeriod > targetPeriod) {
+        // Don't use C++ remainder(). It's authors are mathematically insane.
+        deducedNonVSyncPeriod += fmod(actualPeriod, _lastPaintWait);
+    }
+    _lastDeducedNonVSyncFps = 1.0f / deducedNonVSyncPeriod;
+    _lastInstantaneousFps = instantaneousFps;
+
     auto displayPlugin = getActiveDisplayPlugin();
     displayPlugin->preRender();
     _offscreenContext->makeCurrent();
@@ -1355,6 +1380,7 @@ void Application::paintGL() {
         // Ensure all operations from the previous context are complete before we try to read the fbo
         glWaitSync(sync, 0, GL_TIMEOUT_IGNORED);
         glDeleteSync(sync);
+        uint64_t displayStart = usecTimestampNow();
 
         {
             PROFILE_RANGE(__FUNCTION__ "/pluginDisplay");
@@ -1367,6 +1393,10 @@ void Application::paintGL() {
             PerformanceTimer perfTimer("bufferSwap");
             displayPlugin->finishFrame();
         }
+        uint64_t displayEnd = usecTimestampNow();
+        const float displayPeriodUsec = (float)(displayEnd - displayStart); // usecs
+        _lastPaintWait = displayPeriodUsec / (float)USECS_PER_SECOND;
+
     }
 
     {

interface/src/Application.h

@@ -159,6 +159,14 @@ public:
     bool isForeground() const { return _isForeground; }
     
     float getFps() const { return _fps; }
+    float const HMD_TARGET_FRAME_RATE = 75.0f;
+    float const DESKTOP_TARGET_FRAME_RATE = 60.0f;
+    float getTargetFrameRate() { return isHMDMode() ? HMD_TARGET_FRAME_RATE : DESKTOP_TARGET_FRAME_RATE; }
+    float getTargetFramePeriod() { return isHMDMode() ? 1.0f / HMD_TARGET_FRAME_RATE : 1.0f / DESKTOP_TARGET_FRAME_RATE; } // same as 1/getTargetFrameRate, but w/compile-time division
+    float getLastInstanteousFps() const { return _lastInstantaneousFps; }
+    float getLastPaintWait() const { return _lastPaintWait; };
+    float getLastDeducedNonVSyncFps() const { return _lastDeducedNonVSyncFps; }
+    void setMarginForDeducedFramePeriod(float newValue) { _marginForDeducedFramePeriod = newValue; }
 
     float getFieldOfView() { return _fieldOfView.get(); }
     void setFieldOfView(float fov);
@@ -429,6 +437,10 @@ private:
     float _fps;
     QElapsedTimer _timerStart;
     QElapsedTimer _lastTimeUpdated;
+    float _lastInstantaneousFps { 0.0f };
+    float _lastPaintWait { 0.0f };
+    float _lastDeducedNonVSyncFps { 0.0f };
+    float _marginForDeducedFramePeriod{ 0.002f }; // 2ms, adjustable
 
     ShapeManager _shapeManager;
     PhysicalEntitySimulation _entitySimulation;

interface/src/avatar/Avatar.cpp

@@ -183,9 +183,31 @@ void Avatar::simulate(float deltaTime) {
     if (_shouldRenderBillboard) {
         if (getLODDistance() < BILLBOARD_LOD_DISTANCE * (1.0f - BILLBOARD_HYSTERESIS_PROPORTION)) {
             _shouldRenderBillboard = false;
+            qCDebug(interfaceapp) << "Unbillboarding" << (isMyAvatar() ? "myself" : getSessionUUID()) << "for LOD" << getLODDistance();
         }
     } else if (getLODDistance() > BILLBOARD_LOD_DISTANCE * (1.0f + BILLBOARD_HYSTERESIS_PROPORTION)) {
         _shouldRenderBillboard = true;
+        qCDebug(interfaceapp) << "Billboarding" << (isMyAvatar() ? "myself" : getSessionUUID()) << "for LOD" << getLODDistance();
+    }
+    
+    const bool isControllerLogging = DependencyManager::get<AvatarManager>()->getRenderDistanceControllerIsLogging();
+    float renderDistance = DependencyManager::get<AvatarManager>()->getRenderDistance();
+    const float SKIP_HYSTERESIS_PROPORTION = isControllerLogging ? 0.0f : BILLBOARD_HYSTERESIS_PROPORTION;
+    float distance = glm::distance(qApp->getCamera()->getPosition(), _position);
+    if (_shouldSkipRender) {
+        if (distance < renderDistance * (1.0f - SKIP_HYSTERESIS_PROPORTION)) {
+            _shouldSkipRender = false;
+            _skeletonModel.setVisibleInScene(true, qApp->getMain3DScene());
+            if (!isControllerLogging) {  // Test for isMyAvatar is prophylactic. Never occurs in current code.
+                qCDebug(interfaceapp) << "Rerendering" << (isMyAvatar() ? "myself" : getSessionUUID()) << "for distance" << renderDistance;
+            }
+        }
+    } else if (distance > renderDistance * (1.0f + SKIP_HYSTERESIS_PROPORTION)) {
+        _shouldSkipRender = true;
+        _skeletonModel.setVisibleInScene(false, qApp->getMain3DScene());
+        if (!isControllerLogging) {
+            qCDebug(interfaceapp) << "Unrendering" << (isMyAvatar() ? "myself" : getSessionUUID()) << "for distance" << renderDistance;
+        }
     }
 
     // simple frustum check
@@ -198,7 +220,7 @@ void Avatar::simulate(float deltaTime) {
         getHand()->simulate(deltaTime, false);
     }
 
-    if (!_shouldRenderBillboard && inViewFrustum) {
+    if (!_shouldRenderBillboard && !_shouldSkipRender && inViewFrustum) {
         {
             PerformanceTimer perfTimer("skeleton");
             for (int i = 0; i < _jointData.size(); i++) {

interface/src/avatar/Avatar.h

@@ -140,6 +140,8 @@ public:
     Q_INVOKABLE glm::vec3 getAngularVelocity() const { return _angularVelocity; }
     Q_INVOKABLE glm::vec3 getAngularAcceleration() const { return _angularAcceleration; }
 
+    Q_INVOKABLE bool getShouldRender() const { return !_shouldSkipRender; }
+
     /// Scales a world space position vector relative to the avatar position and scale
     /// \param vector position to be scaled. Will store the result
     void scaleVectorRelativeToPosition(glm::vec3 &positionToScale) const;
@@ -226,6 +228,7 @@ private:
     bool _initialized;
     NetworkTexturePointer _billboardTexture;
     bool _shouldRenderBillboard;
+    bool _shouldSkipRender { false };
     bool _isLookAtTarget;
 
     void renderBillboard(RenderArgs* renderArgs);

interface/src/avatar/AvatarManager.cpp

@@ -90,6 +90,21 @@ void AvatarManager::init() {
         _myAvatar->addToScene(_myAvatar, scene, pendingChanges);
     }
     scene->enqueuePendingChanges(pendingChanges);
+
+    const float target_fps = qApp->getTargetFrameRate();
+    _renderDistanceController.setMeasuredValueSetpoint(target_fps);
+    const float SMALLEST_REASONABLE_HORIZON = 5.0f; // meters
+    _renderDistanceController.setControlledValueHighLimit(1.0f / SMALLEST_REASONABLE_HORIZON);
+    _renderDistanceController.setControlledValueLowLimit(1.0f / (float) TREE_SCALE);
+    // Advice for tuning parameters:
+    // See PIDController.h. There's a section on tuning in the reference.
+    // Turn on logging with the following (or from js with AvatarList.setRenderDistanceControllerHistory("avatar render", 300))
+    //_renderDistanceController.setHistorySize("avatar render", target_fps * 4);
+    // Note that extra logging/hysteresis is turned off in Avatar.cpp when the above logging is on.
+    _renderDistanceController.setKP(0.0008f); // Usually about 0.6 of largest that doesn't oscillate when other parameters 0.
+    _renderDistanceController.setKI(0.0006f); // Big enough to bring us to target with the above KP.
+    _renderDistanceController.setKD(0.000001f); // A touch of kd increases the speed by which we get there.
+
 }
 
 void AvatarManager::updateMyAvatar(float deltaTime) {
@@ -123,6 +138,17 @@ void AvatarManager::updateOtherAvatars(float deltaTime) {
     PerformanceWarning warn(showWarnings, "Application::updateAvatars()");
 
     PerformanceTimer perfTimer("otherAvatars");
+    
+    _renderDistanceController.setMeasuredValueSetpoint(qApp->getTargetFrameRate()); // No problem updating in flight.
+    // The PID controller raises the controlled value when the measured value goes up.
+    // The measured value is frame rate. When the controlled value (1 / render cutoff distance)
+    // goes up, the render cutoff distance gets closer, the number of rendered avatars is less, and frame rate
+    // goes up.
+    const float deduced = qApp->getLastDeducedNonVSyncFps();
+    const float distance = 1.0f / _renderDistanceController.update(deduced, deltaTime);
+    _renderDistanceAverage.updateAverage(distance);
+    _renderDistance = _renderDistanceAverage.getAverage();
+    int renderableCount = 0;
 
     // simulate avatars
     auto hashCopy = getHashCopy();
@@ -141,10 +167,14 @@ void AvatarManager::updateOtherAvatars(float deltaTime) {
         } else {
             avatar->startUpdate();
             avatar->simulate(deltaTime);
+            if (avatar->getShouldRender()) {
+                renderableCount++;
+            }
             avatar->endUpdate();
             ++avatarIterator;
         }
     }
+    _renderedAvatarCount = renderableCount;
 
     // simulate avatar fades
     simulateAvatarFades(deltaTime);

interface/src/avatar/AvatarManager.h

@@ -18,6 +18,8 @@
 
 #include <AvatarHashMap.h>
 #include <PhysicsEngine.h>
+#include <PIDController.h>
+#include <SimpleMovingAverage.h>
 
 #include "Avatar.h"
 #include "AvatarMotionState.h"
@@ -43,6 +45,7 @@ public:
     void clearOtherAvatars();
    
     bool shouldShowReceiveStats() const { return _shouldShowReceiveStats; }
+    PIDController& getRenderDistanceController()  { return _renderDistanceController; }
 
     class LocalLight {
     public:
@@ -64,6 +67,17 @@ public:
     void handleCollisionEvents(const CollisionEvents& collisionEvents);
 
     void updateAvatarPhysicsShape(Avatar* avatar);
+    
+    // Expose results and parameter-tuning operations to other systems, such as stats and javascript.
+    Q_INVOKABLE float getRenderDistance() { return _renderDistance; }
+    Q_INVOKABLE int getNumberInRenderRange() { return _renderedAvatarCount; }
+    Q_INVOKABLE bool getRenderDistanceControllerIsLogging() { return _renderDistanceController.getIsLogging(); }
+    Q_INVOKABLE void setRenderDistanceControllerHistory(QString label, int size) { return _renderDistanceController.setHistorySize(label, size); }
+    Q_INVOKABLE void setRenderDistanceKP(float newValue) { _renderDistanceController.setKP(newValue); }
+    Q_INVOKABLE void setRenderDistanceKI(float newValue) { _renderDistanceController.setKI(newValue); }
+    Q_INVOKABLE void setRenderDistanceKD(float newValue) { _renderDistanceController.setKD(newValue); }
+    Q_INVOKABLE void setRenderDistanceLowLimit(float newValue) { _renderDistanceController.setControlledValueLowLimit(newValue); }
+    Q_INVOKABLE void setRenderDistanceHighLimit(float newValue) { _renderDistanceController.setControlledValueHighLimit(newValue); }
    
 public slots:
     void setShouldShowReceiveStats(bool shouldShowReceiveStats) { _shouldShowReceiveStats = shouldShowReceiveStats; }
@@ -90,6 +104,10 @@ private:
     QVector<AvatarManager::LocalLight> _localLights;
 
     bool _shouldShowReceiveStats = false;
+    float _renderDistance { (float) TREE_SCALE };
+    int _renderedAvatarCount { 0 };
+    PIDController _renderDistanceController { };
+    SimpleMovingAverage _renderDistanceAverage { 10 };
 
     SetOfAvatarMotionStates _avatarMotionStates;
     SetOfMotionStates _motionStatesToAdd;

interface/src/scripting/WebWindowClass.cpp

@@ -196,5 +196,9 @@ QScriptValue WebWindowClass::constructor(QScriptContext* context, QScriptEngine*
 }
 
 void WebWindowClass::setTitle(const QString& title) {
+    if (QThread::currentThread() != thread()) {
+        QMetaObject::invokeMethod(this, "setTitle", Qt::AutoConnection, Q_ARG(QString, title));
+        return;
+    }
     _windowWidget->setWindowTitle(title);
 }

interface/src/ui/Stats.cpp

@@ -115,6 +115,8 @@ void Stats::updateStats(bool force) {
     auto avatarManager = DependencyManager::get<AvatarManager>();
     // we need to take one avatar out so we don't include ourselves
     STAT_UPDATE(avatarCount, avatarManager->size() - 1);
+    STAT_UPDATE(avatarRenderableCount, avatarManager->getNumberInRenderRange());
+    STAT_UPDATE(avatarRenderDistance, (int) round(avatarManager->getRenderDistance())); // deliberately truncating
     STAT_UPDATE(serverCount, nodeList->size());
     STAT_UPDATE(framerate, (int)qApp->getFps());
     STAT_UPDATE(simrate, (int)qApp->getAverageSimsPerSecond());

interface/src/ui/Stats.h

@@ -36,6 +36,8 @@ class Stats : public QQuickItem {
     STATS_PROPERTY(int, simrate, 0)
     STATS_PROPERTY(int, avatarSimrate, 0)
     STATS_PROPERTY(int, avatarCount, 0)
+    STATS_PROPERTY(int, avatarRenderableCount, 0)
+    STATS_PROPERTY(int, avatarRenderDistance, 0)
     STATS_PROPERTY(int, packetInCount, 0)
     STATS_PROPERTY(int, packetOutCount, 0)
     STATS_PROPERTY(float, mbpsIn, 0)
@@ -117,6 +119,8 @@ signals:
     void simrateChanged();
     void avatarSimrateChanged();
     void avatarCountChanged();
+    void avatarRenderableCountChanged();
+    void avatarRenderDistanceChanged();
     void packetInCountChanged();
     void packetOutCountChanged();
     void mbpsInChanged();

libraries/animation/src/AnimSkeleton.cpp

@@ -49,23 +49,6 @@ const AnimPose& AnimSkeleton::getAbsoluteBindPose(int jointIndex) const {
     return _absoluteBindPoses[jointIndex];
 }
 
-AnimPose AnimSkeleton::getRootAbsoluteBindPoseByChildName(const QString& childName) const {
-    AnimPose pose = AnimPose::identity;
-    int jointIndex = nameToJointIndex(childName);
-    if (jointIndex >= 0) {
-        int numJoints = (int)(_absoluteBindPoses.size());
-        if (jointIndex < numJoints) {
-            int parentIndex = getParentIndex(jointIndex);
-            while (parentIndex != -1 && parentIndex < numJoints) {
-                jointIndex = parentIndex;
-                parentIndex = getParentIndex(jointIndex);
-            }
-            pose = _absoluteBindPoses[jointIndex];
-        }
-    }
-    return pose;
-}
-
 const AnimPose& AnimSkeleton::getRelativeBindPose(int jointIndex) const {
     return _relativeBindPoses[jointIndex];
 }

libraries/animation/src/AnimSkeleton.h

@@ -31,7 +31,6 @@ public:
 
     // absolute pose, not relative to parent
     const AnimPose& getAbsoluteBindPose(int jointIndex) const;
-    AnimPose getRootAbsoluteBindPoseByChildName(const QString& childName) const;
 
     // relative to parent pose
     const AnimPose& getRelativeBindPose(int jointIndex) const;

libraries/animation/src/Rig.cpp

@@ -1306,10 +1306,10 @@ void Rig::updateFromHandParameters(const HandParameters& params, float dt) {
 
         // TODO: figure out how to obtain the yFlip from where it is actually stored
         glm::quat yFlipHACK = glm::angleAxis(PI, glm::vec3(0.0f, 1.0f, 0.0f));
-        AnimPose rootBindPose = _animSkeleton->getRootAbsoluteBindPoseByChildName("LeftHand");
+        AnimPose hipsBindPose = _animSkeleton->getAbsoluteBindPose(_animSkeleton->nameToJointIndex("Hips"));
         if (params.isLeftEnabled) {
-            _animVars.set("leftHandPosition", rootBindPose.trans + rootBindPose.rot * yFlipHACK * params.leftPosition);
+            _animVars.set("leftHandPosition", hipsBindPose.trans + hipsBindPose.rot * yFlipHACK * params.leftPosition);
-            _animVars.set("leftHandRotation", rootBindPose.rot * yFlipHACK * params.leftOrientation);
+            _animVars.set("leftHandRotation", hipsBindPose.rot * yFlipHACK * params.leftOrientation);
             _animVars.set("leftHandType", (int)IKTarget::Type::RotationAndPosition);
         } else {
             _animVars.unset("leftHandPosition");
@@ -1317,8 +1317,8 @@ void Rig::updateFromHandParameters(const HandParameters& params, float dt) {
             _animVars.set("leftHandType", (int)IKTarget::Type::HipsRelativeRotationAndPosition);
         }
         if (params.isRightEnabled) {
-            _animVars.set("rightHandPosition", rootBindPose.trans + rootBindPose.rot * yFlipHACK * params.rightPosition);
+            _animVars.set("rightHandPosition", hipsBindPose.trans + hipsBindPose.rot * yFlipHACK * params.rightPosition);
-            _animVars.set("rightHandRotation", rootBindPose.rot * yFlipHACK * params.rightOrientation);
+            _animVars.set("rightHandRotation", hipsBindPose.rot * yFlipHACK * params.rightOrientation);
             _animVars.set("rightHandType", (int)IKTarget::Type::RotationAndPosition);
         } else {
             _animVars.unset("rightHandPosition");

libraries/audio/src/AudioConstants.h

@@ -18,10 +18,10 @@
 
 namespace AudioConstants {
     const int SAMPLE_RATE = 24000;
-    
+
     typedef int16_t AudioSample;
 
-    static const char* AUDIO_FRAME_NAME = "com.highfidelity.recording.Audio";
+    inline const char* getAudioFrameName() { return "com.highfidelity.recording.Audio"; }
 
     const int NETWORK_FRAME_BYTES_STEREO = 1024;
     const int NETWORK_FRAME_SAMPLES_STEREO = NETWORK_FRAME_BYTES_STEREO / sizeof(AudioSample);

libraries/entities-renderer/src/RenderablePolyLineEntityItem.cpp

@@ -31,6 +31,7 @@ EntityItemPointer RenderablePolyLineEntityItem::factory(const EntityItemID& enti
 RenderablePolyLineEntityItem::RenderablePolyLineEntityItem(const EntityItemID& entityItemID, const EntityItemProperties& properties) :
 PolyLineEntityItem(entityItemID, properties) {
     _numVertices = 0;
+    _vertices = QVector<glm::vec3>(0.0f);
 
 }
 
@@ -114,13 +115,56 @@ void RenderablePolyLineEntityItem::updateGeometry() {
         _numVertices += 2;
     }
     _pointsChanged = false;
+    _normalsChanged = false;
+    _strokeWidthsChanged = false;
+}
+
+void RenderablePolyLineEntityItem::updateVertices() {
+    // Calculate the minimum vector size out of normals, points, and stroke widths
+    int minVectorSize = _normals.size();
+    if (_points.size() < minVectorSize) {
+        minVectorSize = _points.size();
+    }
+    if (_strokeWidths.size() < minVectorSize) {
+        minVectorSize = _strokeWidths.size();
+    }
+
+    _vertices.clear();
+    glm::vec3 v1, v2, tangent, binormal, point;
+
+    int finalIndex = minVectorSize - 1;
+    for (int i = 0; i < finalIndex; i++) {
+        float width = _strokeWidths.at(i);
+        point = _points.at(i);
+
+        tangent = _points.at(i);
+
+        tangent = _points.at(i + 1) - point; 
+        glm::vec3 normal = _normals.at(i);
+        binormal = glm::normalize(glm::cross(tangent, normal)) * width;
+
+        // Check to make sure binormal is not a NAN. If it is, don't add to vertices vector
+        if (binormal.x != binormal.x) {
+            continue;
+        }
+        v1 = point + binormal;
+        v2 = point - binormal;
+        _vertices << v1 << v2;
+    }
+
+    // For last point we can assume binormals are the same since it represents the last two vertices of quad
+    point = _points.at(finalIndex);
+    v1 = point + binormal;
+    v2 = point - binormal;
+    _vertices << v1 << v2;
+
 
 }
 
 
 void RenderablePolyLineEntityItem::render(RenderArgs* args) {
     QWriteLocker lock(&_quadReadWriteLock);
-    if (_points.size() < 2 || _normals.size () < 2 || _vertices.size() < 2) {
+    if (_points.size() < 2 || _normals.size () < 2 || _strokeWidths.size() < 2) {
         return;
     }
 
@@ -139,7 +183,8 @@ void RenderablePolyLineEntityItem::render(RenderArgs* args) {
     Q_ASSERT(getType() == EntityTypes::PolyLine);
 
     Q_ASSERT(args->_batch);
-    if (_pointsChanged) {
+    if (_pointsChanged || _strokeWidthsChanged || _normalsChanged) {
+        updateVertices();
         updateGeometry();
     }
 

libraries/entities-renderer/src/RenderablePolyLineEntityItem.h

@@ -40,8 +40,10 @@ public:
     
 protected:
     void updateGeometry();
+    void updateVertices();
     gpu::BufferPointer _verticesBuffer;
     unsigned int _numVertices;
+    QVector<glm::vec3> _vertices;
 
 };
 

libraries/entities/src/PolyLineEntityItem.cpp

@@ -34,8 +34,9 @@ PolyLineEntityItem::PolyLineEntityItem(const EntityItemID& entityItemID, const E
 EntityItem(entityItemID),
 _lineWidth(DEFAULT_LINE_WIDTH),
 _pointsChanged(true),
+_normalsChanged(true),
+_strokeWidthsChanged(true),
 _points(QVector<glm::vec3>(0.0f)),
-_vertices(QVector<glm::vec3>(0.0f)),
 _normals(QVector<glm::vec3>(0.0f)),
 _strokeWidths(QVector<float>(0.0f)),
 _textures("")
@@ -106,47 +107,13 @@ bool PolyLineEntityItem::appendPoint(const glm::vec3& point) {
 
 bool PolyLineEntityItem::setStrokeWidths(const QVector<float>& strokeWidths) {
     _strokeWidths = strokeWidths;
+    _strokeWidthsChanged = true;
     return true;
 }
 
 bool PolyLineEntityItem::setNormals(const QVector<glm::vec3>& normals) {
     _normals = normals;
-    if (_points.size() < 2 || _normals.size() < 2 || _strokeWidths.size() < 2) {
+    _normalsChanged = true;
-        return false;
-    }
-
-    int minVectorSize = _normals.size();
-    if (_points.size() < minVectorSize) {
-        minVectorSize = _points.size();
-    }
-    if (_strokeWidths.size() < minVectorSize) {
-        minVectorSize = _strokeWidths.size();
-    }
-
-    _vertices.clear();
-    glm::vec3 v1, v2, tangent, binormal, point;
-
-    int finalIndex = minVectorSize -1;
-    for (int i = 0; i < finalIndex; i++) {
-        float width = _strokeWidths.at(i);
-        point = _points.at(i);
-
-        tangent = _points.at(i + 1) - point;
-        glm::vec3 normal = normals.at(i);
-        binormal = glm::normalize(glm::cross(tangent, normal)) * width;
-
-        //This checks to make sure binormal is not a NAN
-        assert(binormal.x == binormal.x);
-        v1 = point + binormal;
-        v2 = point - binormal;
-        _vertices << v1 << v2;
-    }
-    //for last point we can just assume binormals are same since it represents last two vertices of quad
-    point = _points.at(finalIndex);
-    v1 = point + binormal;
-    v2 = point - binormal;
-    _vertices << v1 << v2;
-
     return true;
 }
 

libraries/entities/src/PolyLineEntityItem.h

@@ -93,8 +93,9 @@ class PolyLineEntityItem : public EntityItem {
     rgbColor _color;
     float _lineWidth;
     bool _pointsChanged;
+    bool _normalsChanged;
+    bool _strokeWidthsChanged;
     QVector<glm::vec3> _points;
-    QVector<glm::vec3> _vertices;
     QVector<glm::vec3> _normals;
     QVector<float> _strokeWidths;
     QString _textures;

libraries/physics/src/ObjectMotionState.cpp

@@ -123,6 +123,31 @@ void ObjectMotionState::setMotionType(MotionType motionType) {
     _motionType = motionType;
 }
 
+// Update the Continuous Collision Detection (CCD) configuration settings of our RigidBody so that
+// CCD will be enabled automatically when its speed surpasses a certain threshold.
+void ObjectMotionState::updateCCDConfiguration() {
+    if (_body) {
+        if (_shape) {
+            // If this object moves faster than its bounding radius * RADIUS_MOTION_THRESHOLD_MULTIPLIER,
+            // CCD will be enabled for this object.
+            const auto RADIUS_MOTION_THRESHOLD_MULTIPLIER = 0.5f;
+
+            btVector3 center;
+            btScalar radius;
+            _shape->getBoundingSphere(center, radius);
+            _body->setCcdMotionThreshold(radius * RADIUS_MOTION_THRESHOLD_MULTIPLIER);
+
+            // TODO: Ideally the swept sphere radius would be contained by the object. Using the bounding sphere
+            // radius works well for spherical objects, but may cause issues with other shapes. For arbitrary
+            // objects we may want to consider a different approach, such as grouping rigid bodies together.
+            _body->setCcdSweptSphereRadius(radius);
+        } else {
+            // Disable CCD
+            _body->setCcdMotionThreshold(0);
+        }
+    }
+}
+
 void ObjectMotionState::setRigidBody(btRigidBody* body) {
     // give the body a (void*) back-pointer to this ObjectMotionState
     if (_body != body) {
@@ -133,6 +158,7 @@ void ObjectMotionState::setRigidBody(btRigidBody* body) {
         if (_body) {
             _body->setUserPointer(this);
         }
+        updateCCDConfiguration();
     }
 }
 
@@ -232,6 +258,8 @@ bool ObjectMotionState::handleHardAndEasyChanges(uint32_t& flags, PhysicsEngine*
         if (_shape != newShape) {
             _shape = newShape;
             _body->setCollisionShape(_shape);
+
+            updateCCDConfiguration();
         } else {
             // huh... the shape didn't actually change, so we clear the DIRTY_SHAPE flag
             flags &= ~Simulation::DIRTY_SHAPE;

libraries/physics/src/ObjectMotionState.h

@@ -151,6 +151,7 @@ protected:
     virtual bool isReadyToComputeShape() = 0;
     virtual btCollisionShape* computeNewShape() = 0;
     void setMotionType(MotionType motionType);
+    void updateCCDConfiguration();
 
     // clearObjectBackPointer() overrrides should call the base method, then actually clear the object back pointer.
     virtual void clearObjectBackPointer() { _type = MOTIONSTATE_TYPE_INVALID; }

libraries/shared/src/PIDController.cpp

@@ -0,0 +1,78 @@
+//
+//  PIDController.cpp
+//  libraries/shared/src
+//
+//  Created by Howard Stearns 11/13/15.
+//  Copyright 2015 High Fidelity, Inc.
+//
+//  Distributed under the Apache License, Version 2.0.
+//  See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
+//
+
+#include <glm/glm.hpp>
+#include <QDebug>
+#include "SharedLogging.h"
+#include "PIDController.h"
+
+float PIDController::update(float measuredValue, float dt, bool resetAccumulator) {
+    const float error = getMeasuredValueSetpoint() - measuredValue;   // Sign is the direction we want measuredValue to go. Positive means go higher.
+
+    const float p = getKP() * error; // term is Proportional to error
+
+    const float accumulatedError = glm::clamp(error * dt + (resetAccumulator ? 0 : _lastAccumulation),  // integrate error
+        getAccumulatedValueLowLimit(),   // but clamp by anti-windup limits
+        getAccumulatedValueHighLimit());
+    const float i = getKI() * accumulatedError; // term is Integral of error
+
+    const float changeInError = (error - _lastError) / dt;  // positive value denotes increasing deficit
+    const float d = getKD() * changeInError; // term is Derivative of Error
+
+    const float computedValue = glm::clamp(p + i + d,
+        getControlledValueLowLimit(),
+        getControlledValueHighLimit());
+
+    if (getIsLogging()) {  // if logging/reporting
+        updateHistory(measuredValue, dt, error, accumulatedError, changeInError, p, i, d, computedValue);
+    }
+    Q_ASSERT(!isnan(computedValue));
+    
+    // update state for next time
+    _lastError = error;
+    _lastAccumulation = accumulatedError;
+    return computedValue;
+}
+
+// Just for logging/reporting. Used when picking/verifying the operational parameters.
+void PIDController::updateHistory(float measuredValue, float dt, float error, float accumulatedError, float changeInError, float p, float i, float d, float computedValue) {
+    // Don't report each update(), as the I/O messes with the results a lot.
+    // Instead, add to history, and then dump out at once when full.
+    // Typically, the first few values reported in each batch should be ignored.
+    const int n = _history.size();
+    _history.resize(n + 1);
+    Row& next = _history[n];
+    next.measured = measuredValue;
+    next.dt = dt;
+    next.error = error;
+    next.accumulated = accumulatedError;
+    next.changed = changeInError;
+    next.p = p;
+    next.i = i;
+    next.d = d;
+    next.computed = computedValue;
+    if (_history.size() == _history.capacity()) { // report when buffer is full
+        reportHistory();
+        _history.resize(0);
+    }
+}
+void PIDController::reportHistory() {
+    qCDebug(shared) << _label << "measured dt FIXME || error accumulated changed || p i d controlled";
+    for (int i = 0; i < _history.size(); i++) {
+        Row& row = _history[i];
+        qCDebug(shared) << row.measured << row.dt <<
+            "||" << row.error << row.accumulated << row.changed <<
+            "||" << row.p << row.i << row.d << row.computed << 1.0f/row.computed;
+    }
+    qCDebug(shared) << "Limits: setpoint" << getMeasuredValueSetpoint() << "accumulate" << getAccumulatedValueLowLimit() << getAccumulatedValueHighLimit() <<
+        "controlled" << getControlledValueLowLimit() << getControlledValueHighLimit() <<
+        "kp/ki/kd" << getKP() << getKI() << getKD();
+}

libraries/shared/src/PIDController.h

@@ -0,0 +1,89 @@
+//
+//  PIDController.h
+//  libraries/shared/src
+//
+//  Given a measure of system performance (such as frame rate, where bigger denotes more system work),
+//  compute a value that the system can take as input to control the amount of work done (such as an 1/LOD-distance,
+//  where bigger tends to give a higher measured system performance value). The controller's job is to compute a
+//  controlled value such that the measured value stays near the specified setpoint, even as system load changes.
+//  See http://www.wetmachine.com/inventing-the-future/mostly-reliable-performance-of-software-processes-by-dynamic-control-of-quality-parameters/
+//
+//  Created by Howard Stearns 11/13/15.
+//  Copyright 2015 High Fidelity, Inc.
+//
+//  Distributed under the Apache License, Version 2.0.
+//  See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
+//
+
+#ifndef hifi_PIDController_h
+#define hifi_PIDController_h
+
+#include <limits>
+#include <QVector>
+
+// Although our coding standard shuns abbreviations, the control systems literature uniformly uses p, i, d, and dt rather than
+// proportionalTerm, integralTerm, derivativeTerm, and deltaTime. Here we will be consistent with the literature.
+class PIDController {
+
+public:
+    // These are the main interfaces:
+    void setMeasuredValueSetpoint(float newValue) { _measuredValueSetpoint = newValue; }
+    float update(float measuredValue, float dt, bool resetAccumulator = false); // returns the new computedValue
+    void setHistorySize(QString label = QString(""), int size = 0) { _history.reserve(size); _history.resize(0); _label = label; } // non-empty does logging
+
+    bool getIsLogging() { return _history.capacity(); }
+    float getMeasuredValueSetpoint() const { return _measuredValueSetpoint; }
+    // In normal operation (where we can easily reach setpoint), controlledValue is typcially pinned at max.
+    // Defaults to [0, max float], but for 1/LODdistance, it might be, say, [0, 0.2 or 0.1]
+    float getControlledValueLowLimit() const { return _controlledValueLowLimit; }
+    float getControlledValueHighLimit() const { return _controlledValueHighLimit; }
+    float getAntiWindupFactor() const { return _antiWindupFactor; } // default 10
+    float getKP() const { return _kp; }  // proportional to error. See comment above class.
+    float getKI() const { return _ki; }  // to time integral of error
+    float getKD() const { return _kd; }  // to time derivative of error
+    float getAccumulatedValueHighLimit() const { return getAntiWindupFactor() * getMeasuredValueSetpoint(); }
+    float getAccumulatedValueLowLimit() const { return -getAntiWindupFactor() * getMeasuredValueSetpoint(); }
+
+    // There are several values that rarely change and might be thought of as "constants", but which do change during tuning, debugging, or other
+    // special-but-expected circumstances. Thus the instance vars are not const.
+    void setControlledValueLowLimit(float newValue) { _controlledValueLowLimit = newValue; }
+    void setControlledValueHighLimit(float newValue) { _controlledValueHighLimit = newValue; }
+    void setAntiWindupFactor(float newValue) { _antiWindupFactor = newValue; }
+    void setKP(float newValue) { _kp = newValue; }
+    void setKI(float newValue) { _ki = newValue; }
+    void setKD(float newValue) { _kd = newValue; }
+
+    class Row { // one row of accumulated history, used only for logging (if at all)
+    public:
+        float measured;
+        float dt;
+        float error;
+        float accumulated;
+        float changed;
+        float p;
+        float i;
+        float d;
+        float computed;
+    };
+protected:
+    void reportHistory();
+    void updateHistory(float measured, float dt, float error, float accumulatedError, float changeInErro, float p, float i, float d, float computedValue);
+    float _measuredValueSetpoint { 0.0f };
+    float _controlledValueLowLimit { 0.0f };
+    float _controlledValueHighLimit { std::numeric_limits<float>::max() };
+    float _antiWindupFactor { 10.0f };
+    float _kp { 0.0f };
+    float _ki { 0.0f };
+    float _kd { 0.0f };
+
+    // Controller operating state
+    float _lastError{ 0.0f };
+    float _lastAccumulation{ 0.0f };
+
+    // reporting
+    QVector<Row> _history{};
+    QString _label{ "" };
+
+};
+
+#endif // hifi_PIDController_h