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new method -- ObjectMotionState::getBodyLinearVelocityGTSigma

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This commit is contained in:
Seth Alves 2015-10-19 13:56:30 -07:00
parent 113321184d
commit 6f30a3c178
3 changed files with 17 additions and 19 deletions
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22
libraries/physics/src/EntityMotionState.cpp
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@ -32,11 +32,6 @@ static const quint8 STEPS_TO_DECIDE_BALLISTIC = 4;
const uint32_t LOOPS_FOR_SIMULATION_ORPHAN = 50;
const quint64 USECS_BETWEEN_OWNERSHIP_BIDS = USECS_PER_SECOND / 5;
// NOTE: the threshold to use here relates to the linear displacement threshold (dX) for sending updates
// to objects that are tracked server-side (e.g. entities which use dX = 2mm). Hence an object moving
// just under this velocity threshold would trigger an update about V/dX times per second.
const float MIN_LINEAR_SPEED_SQUARED = 0.0036f; // 6 mm/sec
#ifdef WANT_DEBUG_ENTITY_TREE_LOCKS
bool EntityMotionState::entityTreeIsLocked() const {
EntityTreeElementPointer element = _entity ? _entity->getElement() : nullptr;
@ -253,11 +248,7 @@ bool EntityMotionState::remoteSimulationOutOfSync(uint32_t simulationStep) {
btTransform xform = _body->getWorldTransform();
_serverPosition = bulletToGLM(xform.getOrigin());
_serverRotation = bulletToGLM(xform.getRotation());
_serverVelocity = getBodyLinearVelocity();
if (glm::length2(_serverVelocity) < MIN_LINEAR_SPEED_SQUARED) {
_serverVelocity *= 0.0f;
}
_serverVelocity = getBodyLinearVelocityGTSigma();
_serverAngularVelocity = bulletToGLM(_body->getAngularVelocity());
_lastStep = simulationStep;
_serverActionData = _entity->getActionData();
@ -556,11 +547,7 @@ void EntityMotionState::bump(quint8 priority) {
void EntityMotionState::resetMeasuredBodyAcceleration() {
_lastMeasureStep = ObjectMotionState::getWorldSimulationStep();
if (_body) {
_lastVelocity = getBodyLinearVelocity();
// if _lastVelocity is too slow, set it to zero
if (glm::length2(_lastVelocity) < MIN_LINEAR_SPEED_SQUARED) {
_lastVelocity *= 0.0f;
}
_lastVelocity = getBodyLinearVelocityGTSigma();
} else {
_lastVelocity = glm::vec3(0.0f);
}
@ -579,10 +566,7 @@ void EntityMotionState::measureBodyAcceleration() {
// Note: the integration equation for velocity uses damping: v1 = (v0 + a * dt) * (1 - D)^dt
// hence the equation for acceleration is: a = (v1 / (1 - D)^dt - v0) / dt
glm::vec3 velocity = getBodyLinearVelocity();
if (glm::length2(velocity) < MIN_LINEAR_SPEED_SQUARED) {
velocity *= 0.0f;
}
glm::vec3 velocity = getBodyLinearVelocityGTSigma();
_measuredAcceleration = (velocity / powf(1.0f - _body->getLinearDamping(), dt) - _lastVelocity) * invDt;
_lastVelocity = velocity;

13
libraries/physics/src/ObjectMotionState.cpp
View file

@ -83,6 +83,19 @@ glm::vec3 ObjectMotionState::getBodyLinearVelocity() const {
return bulletToGLM(_body->getLinearVelocity());
}
glm::vec3 ObjectMotionState::getBodyLinearVelocityGTSigma() const {
// NOTE: the threshold to use here relates to the linear displacement threshold (dX) for sending updates
// to objects that are tracked server-side (e.g. entities which use dX = 2mm). Hence an object moving
// just under this velocity threshold would trigger an update about V/dX times per second.
const float MIN_LINEAR_SPEED_SQUARED = 0.0036f; // 6 mm/sec
glm::vec3 velocity = bulletToGLM(_body->getLinearVelocity());
if (glm::length2(velocity) < MIN_LINEAR_SPEED_SQUARED) {
velocity *= 0.0f;
}
return velocity;
}
glm::vec3 ObjectMotionState::getObjectLinearVelocityChange() const {
return glm::vec3(0.0f); // Subclasses override where meaningful.
}

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

@ -89,6 +89,7 @@ public:
void setBodyGravity(const glm::vec3& gravity) const;
glm::vec3 getBodyLinearVelocity() const;
glm::vec3 getBodyLinearVelocityGTSigma() const;
glm::vec3 getBodyAngularVelocity() const;
virtual glm::vec3 getObjectLinearVelocityChange() const;