put avatar body in right spot, and give it mass

interface/src/avatar/AvatarMotionState.cpp

@@ -9,11 +9,17 @@
 //  See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
 //
 
+#include <PhysicsHelpers.h>
+
 #include "Avatar.h"
 #include "AvatarMotionState.h"
 #include "BulletUtil.h"
 
 AvatarMotionState::AvatarMotionState(Avatar* avatar, btCollisionShape* shape) : ObjectMotionState(shape), _avatar(avatar) {
+    assert(_avatar);
+    if (_shape) {
+        _mass = 100.0f; // HACK
+    }
 }
 
 AvatarMotionState::~AvatarMotionState() {
@@ -35,7 +41,7 @@ MotionType AvatarMotionState::computeObjectMotionType() const {
     return MOTION_TYPE_DYNAMIC;
 }
 
-// virtual
+// virtual and protected
 btCollisionShape* AvatarMotionState::computeNewShape() {
     if (_avatar) {
         ShapeInfo shapeInfo;
@@ -68,10 +74,15 @@ void AvatarMotionState::setWorldTransform(const btTransform& worldTrans) {
     if (!_avatar) {
         return;
     }
-    // The PhysicsEngine does not move other Avatars.  
-    // Instead we enforce the current transform of the Avatar
+    // 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(glmToBullet(getObjectPosition()));
+    newTransform.setOrigin((1.0f - tau) * currentPosition + tau * targetPosition);
     newTransform.setRotation(glmToBullet(getObjectRotation()));
     _body->setWorldTransform(newTransform);
     _body->setLinearVelocity(glmToBullet(getObjectLinearVelocity()));
@@ -103,7 +114,7 @@ float AvatarMotionState::getObjectAngularDamping() const {
 
 // virtual
 glm::vec3 AvatarMotionState::getObjectPosition() const {
-    return glm::vec3(0.0f);
+    return _avatar->getPosition();
 }
 
 // virtual

interface/src/avatar/AvatarMotionState.h

@@ -28,7 +28,6 @@ public:
     virtual uint32_t getAndClearIncomingDirtyFlags();
 
     virtual MotionType computeObjectMotionType() const;
-    virtual btCollisionShape* computeNewShape();
 
     virtual bool isMoving() const;
 
@@ -65,6 +64,7 @@ public:
     friend class AvatarManager;
 
 protected:
+    virtual btCollisionShape* computeNewShape();
     virtual void clearObjectBackPointer();
     Avatar* _avatar;
     uint32_t _dirtyFlags;

libraries/physics/src/DynamicCharacterController.cpp

@@ -311,9 +311,11 @@ void DynamicCharacterController::updateShapeIfNecessary() {
             // create new shape
             _shape = new btCapsuleShape(_radius, 2.0f * _halfHeight);
 
+            // HACK: use some simple mass property defaults for now
+            float mass = 100.0f;
+            btVector3 inertia(30.0f, 8.0f, 30.0f);
+
             // create new body
-            float mass = 1.0f;
-            btVector3 inertia(1.0f, 1.0f, 1.0f);
             _rigidBody = new btRigidBody(mass, nullptr, _shape, inertia);
             _rigidBody->setSleepingThresholds(0.0f, 0.0f);
             _rigidBody->setAngularFactor(0.0f);

libraries/physics/src/EntityMotionState.cpp

@@ -40,7 +40,8 @@ EntityMotionState::EntityMotionState(btCollisionShape* shape, EntityItem* entity
     _loopsWithoutOwner(0)
 {
     _type = MOTIONSTATE_TYPE_ENTITY;
-    assert(entity != nullptr);
+    assert(_entity != nullptr);
+    setMass(_entity->computeMass());
 }
 
 EntityMotionState::~EntityMotionState() {
@@ -176,6 +177,7 @@ void EntityMotionState::setWorldTransform(const btTransform& worldTrans) {
     #endif
 }
 
+// virtual and protected
 btCollisionShape* EntityMotionState::computeNewShape() {
     if (_entity) {
         ShapeInfo shapeInfo;

libraries/physics/src/EntityMotionState.h

@@ -43,8 +43,6 @@ public:
     // this relays outgoing position/rotation to the EntityItem
     virtual void setWorldTransform(const btTransform& worldTrans);
 
-    virtual btCollisionShape* computeNewShape();
-
     bool isCandidateForOwnership(const QUuid& sessionID) const;
     bool remoteSimulationOutOfSync(uint32_t simulationStep);
     bool shouldSendUpdate(uint32_t simulationStep, const QUuid& sessionID);
@@ -82,6 +80,7 @@ public:
     friend class PhysicalEntitySimulation;
 
 protected:
+    virtual btCollisionShape* computeNewShape();
     virtual void clearObjectBackPointer();
     virtual void setMotionType(MotionType motionType);
 

libraries/physics/src/ObjectMotionState.cpp

@@ -163,7 +163,6 @@ void ObjectMotionState::handleHardAndEasyChanges(uint32_t flags, PhysicsEngine*
         }
         getShapeManager()->releaseShape(_shape);
         if (_shape != newShape) {
-            // huh... the shape didn't actually change, so we remove the DIRTY_SHAPE flag
             _shape = newShape;
             _body->setCollisionShape(_shape);
             flags &= ~EntityItem::DIRTY_SHAPE;

libraries/physics/src/ObjectMotionState.h

@@ -94,7 +94,6 @@ public:
     virtual uint32_t getAndClearIncomingDirtyFlags() = 0;
 
     virtual MotionType computeObjectMotionType() const = 0;
-    virtual btCollisionShape* computeNewShape() = 0;
 
     btCollisionShape* getShape() const { return _shape; }
     btRigidBody* getRigidBody() const { return _body; }
@@ -127,6 +126,7 @@ public:
     friend class PhysicsEngine;
 
 protected:
+    virtual btCollisionShape* computeNewShape() = 0;
     void setMotionType(MotionType motionType);
 
     // clearObjectBackPointer() overrrides should call the base method, then actually clear the object back pointer.

libraries/physics/src/PhysicalEntitySimulation.cpp

@@ -156,12 +156,10 @@ VectorOfMotionStates& PhysicalEntitySimulation::getObjectsToAdd() {
             if (shape) {
                 EntityMotionState* motionState = new EntityMotionState(shape, entity);
                 entity->setPhysicsInfo(static_cast<void*>(motionState));
-                motionState->setMass(entity->computeMass());
                 _physicalObjects.insert(motionState);
                 _tempVector.push_back(motionState);
                 entityItr = _pendingAdds.erase(entityItr);
             } else {
-                // TODO: Seth to look into why this case is hit.
                 //qDebug() << "Warning!  Failed to generate new shape for entity." << entity->getName();
                 ++entityItr;
             }