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collions with voxels and avatars

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This commit is contained in:
ZappoMan 2014-09-24 17:37:56 -07:00
parent 6b8c9bba42
commit 4b52fddffd
6 changed files with 62 additions and 96 deletions
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64
libraries/entities/src/EntityCollisionSystem.cpp
View file

@ -99,9 +99,6 @@ void EntityCollisionSystem::updateCollisionWithVoxels(EntityItem* entity) {
VoxelDetail* voxelDetails = NULL;
if (_voxels->findSpherePenetration(center, radius, collisionInfo._penetration, (void**)&voxelDetails)) {
// let the Entities run their collision scripts if they have them
//entity->collisionWithVoxel(voxelDetails, collisionInfo._penetration);
// findSpherePenetration() only computes the penetration but we also want some other collision info
// so we compute it ourselves here. Note that we must multiply scale by TREE_SCALE when feeding
// the results to systems outside of this octree reference frame.
@ -112,9 +109,8 @@ void EntityCollisionSystem::updateCollisionWithVoxels(EntityItem* entity) {
// we must scale back down to the octree reference frame before updating the Entity properties
collisionInfo._penetration /= (float)(TREE_SCALE);
collisionInfo._contactPoint /= (float)(TREE_SCALE);
entity->applyHardCollision(collisionInfo);
queueEntityPropertiesUpdate(entity);
applyHardCollision(entity, collisionInfo);
delete voxelDetails; // cleanup returned details
}
}
@ -138,9 +134,6 @@ void EntityCollisionSystem::updateCollisionWithEntities(EntityItem* entityA) {
if (doCollisions) {
quint64 now = usecTimestampNow();
entityA->collisionWithEntity(entityB, penetration);
entityB->collisionWithEntity(entityA, penetration * -1.0f); // the penetration is reversed
CollisionInfo collision;
collision._penetration = penetration;
// for now the contactPoint is the average between the the two paricle centers
@ -188,9 +181,6 @@ void EntityCollisionSystem::updateCollisionWithEntities(EntityItem* entityA) {
void EntityCollisionSystem::updateCollisionWithAvatars(EntityItem* entity) {
// TODO: implement support for colliding with avatars
#if 0
// Entities that are in hand, don't collide with avatars
if (!_avatars) {
return;
@ -200,7 +190,6 @@ void EntityCollisionSystem::updateCollisionWithAvatars(EntityItem* entity) {
float radius = entity->getRadius() * (float)(TREE_SCALE);
const float ELASTICITY = 0.9f;
const float DAMPING = 0.1f;
const float COLLISION_FREQUENCY = 0.5f;
glm::vec3 penetration;
_collisions.clear();
@ -227,22 +216,57 @@ void EntityCollisionSystem::updateCollisionWithAvatars(EntityItem* entity) {
// only collide when Entity and collision point are moving toward each other
// (doing this prevents some "collision snagging" when Entity penetrates the object)
collision->_penetration /= (float)(TREE_SCALE);
entity->applyHardCollision(*collision);
queueEntityPropertiesUpdate(entity);
applyHardCollision(entity, *collision);
}
}
}
}
#endif
}
void EntityCollisionSystem::queueEntityPropertiesUpdate(EntityItem* entity) {
// queue the result for sending to the Entity server
void EntityCollisionSystem::applyHardCollision(EntityItem* entity, const CollisionInfo& collisionInfo) {
// HALTING_* params are determined using expected acceleration of gravity over some timescale.
// This is a HACK for entities that bounce in a 1.0 gravitational field and should eventually be made more universal.
const float HALTING_ENTITY_PERIOD = 0.0167f; // ~1/60th of a second
const float HALTING_ENTITY_SPEED = 9.8 * HALTING_ENTITY_PERIOD / (float)(TREE_SCALE);
//
// Update the entity in response to a hard collision. Position will be reset exactly
// to outside the colliding surface. Velocity will be modified according to elasticity.
//
// if elasticity = 0.0, collision is inelastic (vel normal to collision is lost)
// if elasticity = 1.0, collision is 100% elastic.
//
glm::vec3 position = entity->getPosition();
glm::vec3 velocity = entity->getVelocity();
const float EPSILON = 0.0f;
glm::vec3 relativeVelocity = collisionInfo._addedVelocity - velocity;
float velocityDotPenetration = glm::dot(relativeVelocity, collisionInfo._penetration);
if (velocityDotPenetration < EPSILON) {
// entity is moving into collision surface
//
// TODO: do something smarter here by comparing the mass of the entity vs that of the other thing
// (other's mass could be stored in the Collision Info). The smaller mass should surrender more
// position offset and should slave more to the other's velocity in the static-friction case.
position -= collisionInfo._penetration;
if (glm::length(relativeVelocity) < HALTING_ENTITY_SPEED) {
// static friction kicks in and entities moves with colliding object
velocity = collisionInfo._addedVelocity;
} else {
glm::vec3 direction = glm::normalize(collisionInfo._penetration);
velocity += glm::dot(relativeVelocity, direction) * (1.0f + collisionInfo._elasticity) * direction; // dynamic reflection
velocity += glm::clamp(collisionInfo._damping, 0.0f, 1.0f) * (relativeVelocity - glm::dot(relativeVelocity, direction) * direction); // dynamic friction
}
}
EntityItemProperties properties = entity->getProperties();
EntityItemID entityItemID(entity->getID());
properties.setPosition(entity->getPosition() * (float)TREE_SCALE);
properties.setVelocity(entity->getVelocity() * (float)TREE_SCALE);
properties.setPosition(position * (float)TREE_SCALE);
properties.setVelocity(velocity * (float)TREE_SCALE);
properties.setLastEdited(usecTimestampNow());
_entities->updateEntity(entityItemID, properties);
_packetSender->queueEditEntityMessage(PacketTypeEntityAddOrEdit, entityItemID, properties);
}

2
libraries/entities/src/EntityCollisionSystem.h
View file

@ -58,6 +58,8 @@ signals:
void EntityCollisionWithEntity(const EntityItemID& idA, const EntityItemID& idB, const CollisionInfo& penetration);
private:
void applyHardCollision(EntityItem* entity, const CollisionInfo& collisionInfo);
static bool updateOperation(OctreeElement* element, void* extraData);
void emitGlobalEntityCollisionWithVoxel(EntityItem* Entity, VoxelDetail* voxelDetails, const CollisionInfo& penetration);
void emitGlobalEntityCollisionWithEntity(EntityItem* entityA, EntityItem* entityB, const CollisionInfo& penetration);

73
libraries/entities/src/EntityItem.cpp
View file

@ -903,76 +903,3 @@ float EntityItem::getRadius() const {
return radius;
}
void EntityItem::applyHardCollision(const CollisionInfo& collisionInfo) {
// HALTING_* params are determined using expected acceleration of gravity over some timescale.
// This is a HACK for entities that bounce in a 1.0 gravitational field and should eventually be made more universal.
const float HALTING_ENTITY_PERIOD = 0.0167f; // ~1/60th of a second
const float HALTING_ENTITY_SPEED = 9.8 * HALTING_ENTITY_PERIOD / (float)(TREE_SCALE);
//
// Update the entity in response to a hard collision. Position will be reset exactly
// to outside the colliding surface. Velocity will be modified according to elasticity.
//
// if elasticity = 0.0, collision is inelastic (vel normal to collision is lost)
// if elasticity = 1.0, collision is 100% elastic.
//
glm::vec3 position = getPosition();
glm::vec3 velocity = getVelocity();
const float EPSILON = 0.0f;
glm::vec3 relativeVelocity = collisionInfo._addedVelocity - velocity;
float velocityDotPenetration = glm::dot(relativeVelocity, collisionInfo._penetration);
if (velocityDotPenetration < EPSILON) {
// entity is moving into collision surface
//
// TODO: do something smarter here by comparing the mass of the entity vs that of the other thing
// (other's mass could be stored in the Collision Info). The smaller mass should surrender more
// position offset and should slave more to the other's velocity in the static-friction case.
position -= collisionInfo._penetration;
if (glm::length(relativeVelocity) < HALTING_ENTITY_SPEED) {
// static friction kicks in and entities moves with colliding object
velocity = collisionInfo._addedVelocity;
} else {
glm::vec3 direction = glm::normalize(collisionInfo._penetration);
velocity += glm::dot(relativeVelocity, direction) * (1.0f + collisionInfo._elasticity) * direction; // dynamic reflection
velocity += glm::clamp(collisionInfo._damping, 0.0f, 1.0f) * (relativeVelocity - glm::dot(relativeVelocity, direction) * direction); // dynamic friction
}
}
// TODO: how do we handle fixing up the location in the octree cells?
// change the local entity too...
setPosition(position);
setVelocity(velocity);
}
void EntityItem::collisionWithEntity(EntityItem* other, const glm::vec3& penetration) {
// TODO: how do we want to handle collision related scripts for entities?
/*
// Only run this particle script if there's a script attached directly to the entity.
if (!_script.isEmpty()) {
ScriptEngine engine(_script);
ParticleScriptObject particleScriptable(this);
startParticleScriptContext(engine, particleScriptable);
ParticleScriptObject otherParticleScriptable(other);
particleScriptable.emitCollisionWithParticle(&otherParticleScriptable, penetration);
endParticleScriptContext(engine, particleScriptable);
}
*/
}
void EntityItem::collisionWithVoxel(VoxelDetail* voxelDetails, const glm::vec3& penetration) {
// TODO: how do we want to handle collision related scripts for entities?
/*
// Only run this entity script if there's a script attached directly to the entity.
if (!_script.isEmpty()) {
ScriptEngine engine(_script);
ParticleScriptObject particleScriptable(this);
startParticleScriptContext(engine, particleScriptable);
particleScriptable.emitCollisionWithVoxel(*voxelDetails, penetration);
endParticleScriptContext(engine, particleScriptable);
}
*/
}

2
libraries/entities/src/EntityItem.h
View file

@ -229,8 +229,6 @@ public:
float getRadius() const;
void applyHardCollision(const CollisionInfo& collisionInfo);
void collisionWithEntity(EntityItem* other, const glm::vec3& penetration);
void collisionWithVoxel(VoxelDetail* voxelDetails, const glm::vec3& penetration);
protected:
virtual void initFromEntityItemID(const EntityItemID& entityItemID); // maybe useful to allow subclasses to init

15
libraries/voxels/src/VoxelDetail.h
View file

@ -51,4 +51,19 @@ Q_DECLARE_METATYPE(RayToVoxelIntersectionResult)
QScriptValue rayToVoxelIntersectionResultToScriptValue(QScriptEngine* engine, const RayToVoxelIntersectionResult& results);
void rayToVoxelIntersectionResultFromScriptValue(const QScriptValue& object, RayToVoxelIntersectionResult& results);
inline QDebug operator<<(QDebug debug, const VoxelDetail& details) {
const int TREE_SCALE = 16384; // ~10 miles.. This is the number of meters of the 0.0 to 1.0 voxel universe
debug << "VoxelDetail[ ("
<< details.x * (float)TREE_SCALE << "," << details.y * (float)TREE_SCALE << "," << details.z * (float)TREE_SCALE
<< " ) to ("
<< details.x + details.s * (float)TREE_SCALE << "," << details.y + details.s * (float)TREE_SCALE
<< "," << details.z + details.s * (float)TREE_SCALE << ") size: ("
<< details.s * (float)TREE_SCALE << "," << details.s * (float)TREE_SCALE << "," << details.s * (float)TREE_SCALE << ")"
<< " in meters]";
return debug;
}
#endif // hifi_VoxelDetail_h

2
tests/octree/CMakeLists.txt
View file

@ -5,6 +5,6 @@ setup_hifi_project(Script Network)
include_glm()
# link in the shared libraries
link_hifi_libraries(animation avatars fbx entities networking octree shared voxels)
link_hifi_libraries(shared octree voxels fbx metavoxels networking particles entities avatars audio animation script-engine)
link_shared_dependencies()