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quickfix for velocity spike for Tractor action

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This commit is contained in:
Andrew Meadows 2018-02-06 12:06:27 -08:00
parent 81f75925da
commit 672520f3bf
2 changed files with 24 additions and 16 deletions
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39
libraries/physics/src/ObjectActionTractor.cpp
View file

@ -77,13 +77,18 @@ bool ObjectActionTractor::prepareForTractorUpdate(btScalar deltaTimeStep) {
return false;
}
bool doLinearTraction = _positionalTargetSet && (_linearTimeScale < MAX_TRACTOR_TIMESCALE);
bool doAngularTraction = _rotationalTargetSet && (_angularTimeScale < MAX_TRACTOR_TIMESCALE);
if (!doLinearTraction && !doAngularTraction) {
// nothing to do
return false;
}
glm::quat rotation;
glm::vec3 position;
glm::vec3 angularVelocity;
bool linearValid = false;
int linearTractorCount = 0;
bool angularValid = false;
int angularTractorCount = 0;
QList<EntityDynamicPointer> tractorDerivedActions;
@ -105,7 +110,6 @@ bool ObjectActionTractor::prepareForTractorUpdate(btScalar deltaTimeStep) {
linearTimeScale, angularTimeScale);
if (success) {
if (angularTimeScale < MAX_TRACTOR_TIMESCALE) {
angularValid = true;
angularTractorCount++;
angularVelocity += angularVelocityForAction;
if (tractorAction.get() == this) {
@ -115,41 +119,40 @@ bool ObjectActionTractor::prepareForTractorUpdate(btScalar deltaTimeStep) {
}
if (linearTimeScale < MAX_TRACTOR_TIMESCALE) {
linearValid = true;
linearTractorCount++;
position += positionForAction;
}
}
}
if ((angularValid && angularTractorCount > 0) || (linearValid && linearTractorCount > 0)) {
if (angularTractorCount > 0 || linearTractorCount > 0) {
withWriteLock([&]{
if (linearValid && linearTractorCount > 0) {
if (doLinearTraction && linearTractorCount > 0) {
position /= linearTractorCount;
if (_positionalTargetSet) {
_lastPositionTarget = _positionalTarget;
_positionalTarget = position;
if (deltaTimeStep > EPSILON) {
_lastPositionTarget = _positionalTarget;
_positionalTarget = position;
if (deltaTimeStep > EPSILON) {
if (_havePositionTargetHistory) {
// blend the new velocity with the old (low-pass filter)
glm::vec3 newVelocity = (1.0f / deltaTimeStep) * (_positionalTarget - _lastPositionTarget);
const float blend = 0.25f;
_linearVelocityTarget = (1.0f - blend) * _linearVelocityTarget + blend * newVelocity;
} else {
_havePositionTargetHistory = true;
}
}
_positionalTargetSet = true;
_active = true;
}
if (angularValid && angularTractorCount > 0) {
if (doAngularTraction && angularTractorCount > 0) {
angularVelocity /= angularTractorCount;
_rotationalTarget = rotation;
_angularVelocityTarget = angularVelocity;
_rotationalTargetSet = true;
_active = true;
}
});
}
return linearValid || angularValid;
return true;
}
@ -239,7 +242,9 @@ bool ObjectActionTractor::updateArguments(QVariantMap arguments) {
// targets are required, tractor-constants are optional
bool ok = true;
positionalTarget = EntityDynamicInterface::extractVec3Argument("tractor action", arguments, "targetPosition", ok, false);
if (!ok) {
if (ok) {
_positionalTargetSet = true;
} else {
positionalTarget = _desiredPositionalTarget;
}
ok = true;
@ -250,7 +255,9 @@ bool ObjectActionTractor::updateArguments(QVariantMap arguments) {
ok = true;
rotationalTarget = EntityDynamicInterface::extractQuatArgument("tractor action", arguments, "targetRotation", ok, false);
if (!ok) {
if (ok) {
_rotationalTargetSet = true;
} else {
rotationalTarget = _desiredRotationalTarget;
}

1
libraries/physics/src/ObjectActionTractor.h
View file

@ -39,6 +39,7 @@ protected:
glm::vec3 _lastPositionTarget;
float _linearTimeScale;
bool _positionalTargetSet;
bool _havePositionTargetHistory { false };
glm::quat _rotationalTarget;
glm::quat _desiredRotationalTarget;