Merge pull request #14464 from ctrlaltdavid/M17406

Fix fax grab to near grab transition and haptic pulses

scripts/system/controllers/controllerModules/farParentGrabEntity.js

@@ -61,6 +61,8 @@ Script.include("/~/system/libraries/controllers.js");
         this.reticleMinY = MARGIN;
         this.reticleMaxY = 0;
         this.lastUnexpectedChildrenCheckTime = 0;
+        this.endedGrab = 0;
+        this.MIN_HAPTIC_PULSE_INTERVAL = 500; // ms
 
         var FAR_GRAB_JOINTS = [65527, 65528]; // FARGRAB_LEFTHAND_INDEX, FARGRAB_RIGHTHAND_INDEX
 
@@ -144,7 +146,12 @@ Script.include("/~/system/libraries/controllers.js");
             // compute the mass for the purpose of energy and how quickly to move object
             this.mass = this.getMass(grabbedProperties.dimensions, grabbedProperties.density);
 
-            Controller.triggerHapticPulse(HAPTIC_PULSE_STRENGTH, HAPTIC_PULSE_DURATION, this.hand);
+            // Debounce haptic pules. Can occur as near grab controller module vacillates between being ready or not due to
+            // changing positions and floating point rounding.
+            if (Date.now() - this.endedGrab > this.MIN_HAPTIC_PULSE_INTERVAL) {
+                Controller.triggerHapticPulse(HAPTIC_PULSE_STRENGTH, HAPTIC_PULSE_DURATION, this.hand);
+            }
+
             unhighlightTargetEntity(this.targetEntityID);
             var message = {
                 hand: this.hand,
@@ -256,7 +263,7 @@ Script.include("/~/system/libraries/controllers.js");
         };
 
         this.endFarParentGrab = function (controllerData) {
-            this.hapticTargetID = null;
+            this.endedGrab = Date.now();
             // var endProps = controllerData.nearbyEntityPropertiesByID[this.targetEntityID];
             var endProps = Entities.getEntityProperties(this.targetEntityID, DISPATCHER_PROPERTIES);
             if (this.thisFarGrabJointIsParent(endProps)) {
@@ -410,11 +417,6 @@ Script.include("/~/system/libraries/controllers.js");
             if (targetEntity) {
                 var gtProps = Entities.getEntityProperties(targetEntity, DISPATCHER_PROPERTIES);
                 if (entityIsGrabbable(gtProps)) {
-                    // give haptic feedback
-                    if (gtProps.id !== this.hapticTargetID) {
-                        Controller.triggerHapticPulse(HAPTIC_PULSE_STRENGTH, HAPTIC_PULSE_DURATION, this.hand);
-                        this.hapticTargetID = gtProps.id;
-                    }
                     // if we've attempted to grab a child, roll up to the root of the tree
                     var groupRootProps = findGroupParent(controllerData, gtProps);
                     if (entityIsGrabbable(groupRootProps)) {

scripts/system/controllers/controllerModules/nearActionGrabEntity.js

@@ -24,7 +24,6 @@ Script.include("/~/system/libraries/cloneEntityUtils.js");
         this.hand = hand;
         this.targetEntityID = null;
         this.actionID = null; // action this script created...
-        this.hapticTargetID = null;
 
         this.parameters = makeDispatcherModuleParameters(
             500,
@@ -164,10 +163,6 @@ Script.include("/~/system/libraries/cloneEntityUtils.js");
                     break;
                 }
                 if (entityIsGrabbable(props) || entityIsCloneable(props)) {
-                    if (props.id !== this.hapticTargetID) {
-                        Controller.triggerHapticPulse(HAPTIC_PULSE_STRENGTH, HAPTIC_PULSE_DURATION, this.hand);
-                        this.hapticTargetID = props.id;
-                    }
                     if (!entityIsCloneable(props)) {
                         // if we've attempted to grab a non-cloneable child, roll up to the root of the tree
                         var groupRootProps = findGroupParent(controllerData, props);
@@ -199,7 +194,6 @@ Script.include("/~/system/libraries/cloneEntityUtils.js");
                     return makeRunningValues(true, [this.targetEntityID], []);
                 }
             } else {
-                this.hapticTargetID = null;
                 return makeRunningValues(false, [], []);
             }
         };
@@ -209,7 +203,6 @@ Script.include("/~/system/libraries/cloneEntityUtils.js");
                 if (controllerData.triggerClicks[this.hand] < TRIGGER_OFF_VALUE &&
                     controllerData.secondaryValues[this.hand] < TRIGGER_OFF_VALUE) {
                     this.endNearGrabAction();
-                    this.hapticTargetID = null;
                     return makeRunningValues(false, [], []);
                 }
 

scripts/system/controllers/controllerModules/nearParentGrabEntity.js

@@ -11,7 +11,7 @@
    TRIGGER_OFF_VALUE, makeDispatcherModuleParameters, entityIsGrabbable, makeRunningValues, NEAR_GRAB_RADIUS,
    findGroupParent, Vec3, cloneEntity, entityIsCloneable, propsAreCloneDynamic, HAPTIC_PULSE_STRENGTH,
    HAPTIC_PULSE_DURATION, BUMPER_ON_VALUE, findHandChildEntities, TEAR_AWAY_DISTANCE, MSECS_PER_SEC, TEAR_AWAY_CHECK_TIME,
-   TEAR_AWAY_COUNT, distanceBetweenPointAndEntityBoundingBox, print, Uuid,
+   TEAR_AWAY_COUNT, distanceBetweenPointAndEntityBoundingBox, print, Uuid, NEAR_GRAB_DISTANCE,
    distanceBetweenEntityLocalPositionAndBoundingBox, getGrabbableData, getGrabPointSphereOffset, DISPATCHER_PROPERTIES
 */
 
@@ -24,15 +24,6 @@ Script.include("/~/system/libraries/controllers.js");
     // XXX this.ignoreIK = (grabbableData.ignoreIK !== undefined) ? grabbableData.ignoreIK : true;
     // XXX this.kinematicGrab = (grabbableData.kinematic !== undefined) ? grabbableData.kinematic : NEAR_GRABBING_KINEMATIC;
 
-    // this offset needs to match the one in libraries/display-plugins/src/display-plugins/hmd/HmdDisplayPlugin.cpp:378
-    var GRAB_POINT_SPHERE_OFFSET = { x: 0.04, y: 0.13, z: 0.039 };  // x = upward, y = forward, z = lateral
-
-    function getGrabOffset(handController) {
-        var offset = getGrabPointSphereOffset(handController, true);
-        offset.y = -offset.y;
-        return Vec3.multiply(MyAvatar.sensorToWorldScale, offset);
-    }
-
     function NearParentingGrabEntity(hand) {
         this.hand = hand;
         this.targetEntityID = null;
@@ -40,7 +31,6 @@ Script.include("/~/system/libraries/controllers.js");
         this.previousParentID = {};
         this.previousParentJointIndex = {};
         this.previouslyUnhooked = {};
-        this.hapticTargetID = null;
         this.lastUnequipCheckTime = 0;
         this.autoUnequipCounter = 0;
         this.lastUnexpectedChildrenCheckTime = 0;
@@ -138,7 +128,6 @@ Script.include("/~/system/libraries/controllers.js");
         };
 
         this.endNearParentingGrabEntity = function (controllerData) {
-            this.hapticTargetID = null;
             var props = controllerData.nearbyEntityPropertiesByID[this.targetEntityID];
             if (this.thisHandIsParent(props) && !this.robbed) {
                 Entities.editEntity(this.targetEntityID, {
@@ -169,8 +158,10 @@ Script.include("/~/system/libraries/controllers.js");
                 this.lastUnequipCheckTime = now;
                 if (props.parentID === MyAvatar.SELF_ID) {
                     var tearAwayDistance = TEAR_AWAY_DISTANCE * MyAvatar.sensorToWorldScale;
-                    var controllerIndex = (this.hand === LEFT_HAND ? Controller.Standard.LeftHand : Controller.Standard.RightHand);
+                    var controllerIndex =
-                    var controllerGrabOffset = getGrabOffset(controllerIndex);
+                        this.hand === LEFT_HAND ? Controller.Standard.LeftHand : Controller.Standard.RightHand;
+                    var controllerGrabOffset = getGrabPointSphereOffset(controllerIndex, true);
+                    controllerGrabOffset = Vec3.multiply(-MyAvatar.sensorToWorldScale, controllerGrabOffset);
                     var distance = distanceBetweenEntityLocalPositionAndBoundingBox(props, controllerGrabOffset);
                     if (distance > tearAwayDistance) {
                         this.autoUnequipCounter++;
@@ -233,21 +224,18 @@ Script.include("/~/system/libraries/controllers.js");
             // nearbyEntityProperties is already sorted by length from controller
             var nearbyEntityProperties = controllerData.nearbyEntityProperties[this.hand];
             var sensorScaleFactor = MyAvatar.sensorToWorldScale;
+            var nearGrabDistance = NEAR_GRAB_DISTANCE * sensorScaleFactor;
+            var nearGrabRadius = NEAR_GRAB_RADIUS * sensorScaleFactor;
             for (var i = 0; i < nearbyEntityProperties.length; i++) {
                 var props = nearbyEntityProperties[i];
-                var handPosition = controllerData.controllerLocations[this.hand].position;
+                var grabPosition = controllerData.controllerLocations[this.hand].position; // Is offset from hand position.
-                var dist = distanceBetweenPointAndEntityBoundingBox(handPosition, props);
+                var dist = distanceBetweenPointAndEntityBoundingBox(grabPosition, props);
-                var distance = Vec3.distance(handPosition, props.position);
+                var distance = Vec3.distance(grabPosition, props.position);
-                if ((dist > TEAR_AWAY_DISTANCE) ||
+                if ((dist > nearGrabDistance) ||
-                    (distance > NEAR_GRAB_RADIUS * sensorScaleFactor)) {
+                    (distance > nearGrabRadius)) { // Only smallish entities can be near grabbed.
                     continue;
                 }
                 if (entityIsGrabbable(props) || entityIsCloneable(props)) {
-                    // give haptic feedback
-                    if (props.id !== this.hapticTargetID) {
-                        Controller.triggerHapticPulse(HAPTIC_PULSE_STRENGTH, HAPTIC_PULSE_DURATION, this.hand);
-                        this.hapticTargetID = props.id;
-                    }
                     if (!entityIsCloneable(props)) {
                         // if we've attempted to grab a non-cloneable child, roll up to the root of the tree
                         var groupRootProps = findGroupParent(controllerData, props);
@@ -284,7 +272,6 @@ Script.include("/~/system/libraries/controllers.js");
                     return makeRunningValues(true, [this.targetEntityID], []);
                 }
             } else {
-                this.hapticTargetID = null;
                 this.robbed = false;
                 return makeRunningValues(false, [], []);
             }
@@ -303,7 +290,6 @@ Script.include("/~/system/libraries/controllers.js");
                     // entity was deleted
                     this.grabbing = false;
                     this.targetEntityID = null;
-                    this.hapticTargetID = null;
                     this.robbed = false;
                     return makeRunningValues(false, [], []);
                 }

scripts/system/libraries/controllerDispatcherUtils.js

@@ -53,6 +53,7 @@
    TEAR_AWAY_DISTANCE:true,
    TEAR_AWAY_COUNT:true,
    TEAR_AWAY_CHECK_TIME:true,
+   NEAR_GRAB_DISTANCE: true,
    distanceBetweenPointAndEntityBoundingBox:true,
    entityIsEquipped:true,
    entityIsFarGrabbedByOther:true,
@@ -99,6 +100,10 @@ NEAR_GRAB_RADIUS = 1.0;
 TEAR_AWAY_DISTANCE = 0.15; // ungrab an entity if its bounding-box moves this far from the hand
 TEAR_AWAY_COUNT = 2; // multiply by TEAR_AWAY_CHECK_TIME to know how long the item must be away
 TEAR_AWAY_CHECK_TIME = 0.15; // seconds, duration between checks
+
+NEAR_GRAB_DISTANCE = 0.14; // Grab an entity if its bounding box is within this distance.
+// Smaller than TEAR_AWAY_DISTANCE for hysteresis.
+
 DISPATCHER_HOVERING_LIST = "dispactherHoveringList";
 DISPATCHER_HOVERING_STYLE = {
     isOutlineSmooth: true,