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avatars collide again again

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This commit is contained in:
Andrew Meadows 2018-06-18 13:17:32 -07:00
parent 4880492d05
commit 085130e3c9
6 changed files with 54 additions and 23 deletions
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47
interface/src/avatar/AvatarMotionState.cpp
View file

@ -21,6 +21,17 @@ AvatarMotionState::AvatarMotionState(AvatarSharedPointer avatar, const btCollisi
_type = MOTIONSTATE_TYPE_AVATAR;
}
void AvatarMotionState::handleEasyChanges(uint32_t& flags) {
ObjectMotionState::handleEasyChanges(flags);
if (flags & Simulation::DIRTY_PHYSICS_ACTIVATION && !_body->isActive()) {
_body->activate();
}
}
bool AvatarMotionState::handleHardAndEasyChanges(uint32_t& flags, PhysicsEngine* engine) {
return ObjectMotionState::handleHardAndEasyChanges(flags, engine);
}
AvatarMotionState::~AvatarMotionState() {
assert(_avatar);
_avatar = nullptr;
@ -46,6 +57,9 @@ PhysicsMotionType AvatarMotionState::computePhysicsMotionType() const {
const btCollisionShape* AvatarMotionState::computeNewShape() {
ShapeInfo shapeInfo;
std::static_pointer_cast<Avatar>(_avatar)->computeShapeInfo(shapeInfo);
glm::vec3 halfExtents = shapeInfo.getHalfExtents();
halfExtents.y = 0.0f;
_diameter = 2.0f * glm::length(halfExtents);
return getShapeManager()->getShape(shapeInfo);
}
@ -60,25 +74,31 @@ void AvatarMotionState::getWorldTransform(btTransform& worldTrans) const {
worldTrans.setRotation(glmToBullet(getObjectRotation()));
if (_body) {
_body->setLinearVelocity(glmToBullet(getObjectLinearVelocity()));
_body->setAngularVelocity(glmToBullet(getObjectLinearVelocity()));
_body->setAngularVelocity(glmToBullet(getObjectAngularVelocity()));
}
}
// virtual
void AvatarMotionState::setWorldTransform(const btTransform& worldTrans) {
// HACK: The PhysicsEngine does not actually move OTHER avatars -- instead it slaves their local RigidBody to the transform
// as specified by a remote simulation. However, to give the remote simulation time to respond to our own objects we tie
// the other avatar's body to its true position with a simple spring. This is a HACK that will have to be improved later.
const float SPRING_TIMESCALE = 0.5f;
float tau = PHYSICS_ENGINE_FIXED_SUBSTEP / SPRING_TIMESCALE;
btVector3 currentPosition = worldTrans.getOrigin();
btVector3 targetPosition = glmToBullet(getObjectPosition());
btTransform newTransform;
newTransform.setOrigin((1.0f - tau) * currentPosition + tau * targetPosition);
newTransform.setRotation(glmToBullet(getObjectRotation()));
_body->setWorldTransform(newTransform);
_body->setLinearVelocity(glmToBullet(getObjectLinearVelocity()));
_body->setAngularVelocity(glmToBullet(getObjectLinearVelocity()));
btVector3 offsetToTarget = glmToBullet(getObjectPosition()) - currentPosition;
float distance = offsetToTarget.length();
if ((1.0f - tau) * distance > _diameter) {
// the avatar body is far from its target --> slam position
btTransform newTransform;
newTransform.setOrigin(currentPosition + offsetToTarget);
newTransform.setRotation(glmToBullet(getObjectRotation()));
_body->setWorldTransform(newTransform);
_body->setLinearVelocity(glmToBullet(getObjectLinearVelocity()));
_body->setAngularVelocity(glmToBullet(getObjectAngularVelocity()));
} else {
// the avatar body is near its target --> slam velocity
btVector3 velocity = glmToBullet(getObjectLinearVelocity()) + (1.0f / SPRING_TIMESCALE) * offsetToTarget;
_body->setLinearVelocity(velocity);
_body->setAngularVelocity(glmToBullet(getObjectAngularVelocity()));
}
}
// These pure virtual methods must be implemented for each MotionState type
@ -145,3 +165,8 @@ void AvatarMotionState::computeCollisionGroupAndMask(int32_t& group, int32_t& ma
mask = Physics::getDefaultCollisionMask(group);
}
// virtual
float AvatarMotionState::getMass() const {
return std::static_pointer_cast<Avatar>(_avatar)->computeMass();
}

6
interface/src/avatar/AvatarMotionState.h
View file

@ -23,6 +23,9 @@ class AvatarMotionState : public ObjectMotionState {
public:
AvatarMotionState(AvatarSharedPointer avatar, const btCollisionShape* shape);
virtual void handleEasyChanges(uint32_t& flags) override;
virtual bool handleHardAndEasyChanges(uint32_t& flags, PhysicsEngine* engine) override;
virtual PhysicsMotionType getMotionType() const override { return _motionType; }
virtual uint32_t getIncomingDirtyFlags() override;
@ -64,6 +67,8 @@ public:
virtual void computeCollisionGroupAndMask(int32_t& group, int32_t& mask) const override;
virtual float getMass() const override;
friend class AvatarManager;
friend class Avatar;
@ -76,6 +81,7 @@ protected:
virtual const btCollisionShape* computeNewShape() override;
AvatarSharedPointer _avatar;
float _diameter { 0.0f };
uint32_t _dirtyFlags;
};

13
libraries/avatars-renderer/src/avatars-renderer/Avatar.cpp
View file

@ -861,7 +861,6 @@ bool Avatar::shouldRenderHead(const RenderArgs* renderArgs) const {
return true;
}
// virtual
void Avatar::simulateAttachments(float deltaTime) {
assert(_attachmentModels.size() == _attachmentModelsTexturesLoaded.size());
PerformanceTimer perfTimer("attachments");
@ -1544,12 +1543,13 @@ void Avatar::updateDisplayNameAlpha(bool showDisplayName) {
}
}
// virtual
void Avatar::computeShapeInfo(ShapeInfo& shapeInfo) {
float uniformScale = getModelScale();
shapeInfo.setCapsuleY(uniformScale * _skeletonModel->getBoundingCapsuleRadius(),
0.5f * uniformScale * _skeletonModel->getBoundingCapsuleHeight());
shapeInfo.setOffset(uniformScale * _skeletonModel->getBoundingCapsuleOffset());
float radius = glm::max(MIN_AVATAR_RADIUS, uniformScale * _skeletonModel->getBoundingCapsuleRadius());
float height = glm::max(MIN_AVATAR_HEIGHT, uniformScale * _skeletonModel->getBoundingCapsuleHeight());
shapeInfo.setCapsuleY(radius, 0.5f * height);
glm::vec3 offset = uniformScale * _skeletonModel->getBoundingCapsuleOffset();
shapeInfo.setOffset(offset);
}
void Avatar::getCapsule(glm::vec3& start, glm::vec3& end, float& radius) {
@ -1572,9 +1572,8 @@ float Avatar::computeMass() {
return _density * TWO_PI * radius * radius * (glm::length(end - start) + 2.0f * radius / 3.0f);
}
// virtual
void Avatar::rebuildCollisionShape() {
addPhysicsFlags(Simulation::DIRTY_SHAPE);
addPhysicsFlags(Simulation::DIRTY_SHAPE | Simulation::DIRTY_MASS);
}
void Avatar::setPhysicsCallback(AvatarPhysicsCallback cb) {

4
libraries/physics/src/ObjectMotionState.h
View file

@ -110,8 +110,8 @@ public:
MotionStateType getType() const { return _type; }
virtual PhysicsMotionType getMotionType() const { return _motionType; }
void setMass(float mass);
float getMass() const;
virtual void setMass(float mass);
virtual float getMass() const;
void setBodyLinearVelocity(const glm::vec3& velocity) const;
void setBodyAngularVelocity(const glm::vec3& velocity) const;

6
libraries/physics/src/PhysicsEngine.cpp
View file

@ -105,9 +105,9 @@ void PhysicsEngine::addObjectToDynamicsWorld(ObjectMotionState* motionState) {
}
case MOTION_TYPE_DYNAMIC: {
mass = motionState->getMass();
if (mass != mass || mass < 1.0f) {
qCDebug(physics) << "mass is too low, setting to 1.0 Kg --" << mass;
mass = 1.0f;
const float MIN_DYNAMIC_MASS = 0.01f;
if (mass != mass || mass < MIN_DYNAMIC_MASS) {
mass = MIN_DYNAMIC_MASS;
}
btCollisionShape* shape = const_cast<btCollisionShape*>(motionState->getShape());
assert(shape);

1
libraries/shared/src/AvatarConstants.h
View file

@ -69,6 +69,7 @@ static const float MIN_AVATAR_SCALE = 0.005f;
static const float MAX_AVATAR_HEIGHT = 1000.0f * DEFAULT_AVATAR_HEIGHT; // meters
static const float MIN_AVATAR_HEIGHT = 0.005f * DEFAULT_AVATAR_HEIGHT; // meters
static const float MIN_AVATAR_RADIUS = 0.5f * MIN_AVATAR_HEIGHT;
static const float AVATAR_WALK_SPEED_SCALAR = 1.0f;
static const float AVATAR_SPRINT_SPEED_SCALAR = 3.0f;