From ca77eb9d1e927445b62c4cb96531ae702791bea9 Mon Sep 17 00:00:00 2001
From: Andrew Meadows <andrew@highfidelity.io>
Date: Fri, 6 Jun 2014 10:51:22 -0700
Subject: [PATCH 001/105] cleanup of avatar collisions, prep for more ragdoll
 collisions

removal of paddle hands
particles use general sphere collision path against avatars
temp removal of skeleton self collision
---
 interface/src/avatar/Avatar.cpp               | 67 +------------------
 interface/src/avatar/Avatar.h                 | 13 +---
 interface/src/avatar/Hand.cpp                 |  2 +
 libraries/avatars/src/AvatarData.h            |  2 +-
 .../particles/src/ParticleCollisionSystem.cpp | 24 +------
 libraries/shared/src/CollisionInfo.cpp        |  3 +-
 libraries/shared/src/CollisionInfo.h          |  1 -
 7 files changed, 10 insertions(+), 102 deletions(-)

diff --git a/interface/src/avatar/Avatar.cpp b/interface/src/avatar/Avatar.cpp
index baf46605fd..1bbe730b40 100644
--- a/interface/src/avatar/Avatar.cpp
+++ b/interface/src/avatar/Avatar.cpp
@@ -579,8 +579,8 @@ bool Avatar::findRayIntersection(const glm::vec3& origin, const glm::vec3& direc
     return false;
 }
 
-bool Avatar::findSphereCollisions(const glm::vec3& penetratorCenter, float penetratorRadius,
-        CollisionList& collisions, int skeletonSkipIndex) {
+bool Avatar::findSphereCollisions(const glm::vec3& penetratorCenter, float penetratorRadius, CollisionList& collisions) {
+    int skeletonSkipIndex = -1;
     return _skeletonModel.findSphereCollisions(penetratorCenter, penetratorRadius, collisions, skeletonSkipIndex);
     // Temporarily disabling collisions against the head because most of its collision proxies are bad.
     //return getHead()->getFaceModel().findSphereCollisions(penetratorCenter, penetratorRadius, collisions);
@@ -613,69 +613,6 @@ bool Avatar::findCollisions(const QVector<const Shape*>& shapes, CollisionList&
     return collided;
 }
 
-bool Avatar::findParticleCollisions(const glm::vec3& particleCenter, float particleRadius, CollisionList& collisions) {
-    if (_collisionGroups & COLLISION_GROUP_PARTICLES) {
-        return false;
-    }
-    bool collided = false;
-    // first do the hand collisions
-    const HandData* handData = getHandData();
-    if (handData) {
-        for (int i = 0; i < NUM_HANDS; i++) {
-            const PalmData* palm = handData->getPalm(i);
-            if (palm && palm->hasPaddle()) {
-                // create a disk collision proxy where the hand is
-                int jointIndex = -1;
-                glm::vec3 handPosition;
-                if (i == 0) {
-                    _skeletonModel.getLeftHandPosition(handPosition);
-                    jointIndex = _skeletonModel.getLeftHandJointIndex();
-                }
-                else {
-                    _skeletonModel.getRightHandPosition(handPosition);
-                    jointIndex = _skeletonModel.getRightHandJointIndex();
-                }
-
-                glm::vec3 fingerAxis = palm->getFingerDirection();
-                glm::vec3 diskCenter = handPosition + HAND_PADDLE_OFFSET * fingerAxis;
-                glm::vec3 diskNormal = palm->getNormal();
-                const float DISK_THICKNESS = 0.08f;
-
-                // collide against the disk
-                glm::vec3 penetration;
-                if (findSphereDiskPenetration(particleCenter, particleRadius, 
-                            diskCenter, HAND_PADDLE_RADIUS, DISK_THICKNESS, diskNormal,
-                            penetration)) {
-                    CollisionInfo* collision = collisions.getNewCollision();
-                    if (collision) {
-                        collision->_type = COLLISION_TYPE_PADDLE_HAND;
-                        collision->_intData = jointIndex;
-                        collision->_penetration = penetration;
-                        collision->_addedVelocity = palm->getVelocity();
-                        collided = true;
-                    } else {
-                        // collisions are full, so we might as well bail now
-                        return collided;
-                    }
-                }
-            }
-        }
-    }
-    // then collide against the models
-    int preNumCollisions = collisions.size();
-    if (_skeletonModel.findSphereCollisions(particleCenter, particleRadius, collisions)) {
-        // the Model doesn't have velocity info, so we have to set it for each new collision
-        int postNumCollisions = collisions.size();
-        for (int i = preNumCollisions; i < postNumCollisions; ++i) {
-            CollisionInfo* collision = collisions.getCollision(i);
-            collision->_penetration /= (float)(TREE_SCALE);
-            collision->_addedVelocity = getVelocity();
-        }
-        collided = true;
-    }
-    return collided;
-}
-
 glm::quat Avatar::getJointRotation(int index) const {
     if (QThread::currentThread() != thread()) {
         return AvatarData::getJointRotation(index);
diff --git a/interface/src/avatar/Avatar.h b/interface/src/avatar/Avatar.h
index f928881068..b37a5205fa 100755
--- a/interface/src/avatar/Avatar.h
+++ b/interface/src/avatar/Avatar.h
@@ -101,14 +101,12 @@ public:
     /// \return true if at least one shape collided with avatar
     bool findCollisions(const QVector<const Shape*>& shapes, CollisionList& collisions);
 
-    /// Checks for penetration between the described sphere and the avatar.
+    /// Checks for penetration between the a sphere and the avatar's models.
     /// \param penetratorCenter the center of the penetration test sphere
     /// \param penetratorRadius the radius of the penetration test sphere
     /// \param collisions[out] a list to which collisions get appended
-    /// \param skeletonSkipIndex if not -1, the index of a joint to skip (along with its descendents) in the skeleton model
     /// \return whether or not the sphere penetrated
-    bool findSphereCollisions(const glm::vec3& penetratorCenter, float penetratorRadius,
-        CollisionList& collisions, int skeletonSkipIndex = -1);
+    bool findSphereCollisions(const glm::vec3& penetratorCenter, float penetratorRadius, CollisionList& collisions);
 
     /// Checks for penetration between the described plane and the avatar.
     /// \param plane the penetration plane
@@ -116,13 +114,6 @@ public:
     /// \return whether or not the plane penetrated
     bool findPlaneCollisions(const glm::vec4& plane, CollisionList& collisions);
 
-    /// Checks for collision between the a spherical particle and the avatar (including paddle hands)
-    /// \param collisionCenter the center of particle's bounding sphere
-    /// \param collisionRadius the radius of particle's bounding sphere
-    /// \param collisions[out] a list to which collisions get appended
-    /// \return whether or not the particle collided
-    bool findParticleCollisions(const glm::vec3& particleCenter, float particleRadius, CollisionList& collisions);
-
     virtual bool isMyAvatar() { return false; }
     
     virtual glm::quat getJointRotation(int index) const;
diff --git a/interface/src/avatar/Hand.cpp b/interface/src/avatar/Hand.cpp
index 3aff984893..ab8e06cfff 100644
--- a/interface/src/avatar/Hand.cpp
+++ b/interface/src/avatar/Hand.cpp
@@ -95,6 +95,7 @@ void Hand::collideAgainstAvatar(Avatar* avatar, bool isMyHand) {
 }
 
 void Hand::collideAgainstOurself() {
+    /* TODO: Andrew to re-implement this
     if (!Menu::getInstance()->isOptionChecked(MenuOption::HandsCollideWithSelf)) {
         return;
     }
@@ -125,6 +126,7 @@ void Hand::collideAgainstOurself() {
             palm.addToPenetration(totalPenetration);
         }
     }
+    */
 }
 
 void Hand::resolvePenetrations() {
diff --git a/libraries/avatars/src/AvatarData.h b/libraries/avatars/src/AvatarData.h
index 8f658678b5..4c7136fd0a 100755
--- a/libraries/avatars/src/AvatarData.h
+++ b/libraries/avatars/src/AvatarData.h
@@ -223,7 +223,7 @@ public:
 
     virtual const glm::vec3& getVelocity() const { return vec3Zero; }
 
-    virtual bool findParticleCollisions(const glm::vec3& particleCenter, float particleRadius, CollisionList& collisions) {
+    virtual bool findSphereCollisions(const glm::vec3& particleCenter, float particleRadius, CollisionList& collisions) {
         return false;
     }
 
diff --git a/libraries/particles/src/ParticleCollisionSystem.cpp b/libraries/particles/src/ParticleCollisionSystem.cpp
index 358c5a1b84..d8d5887d97 100644
--- a/libraries/particles/src/ParticleCollisionSystem.cpp
+++ b/libraries/particles/src/ParticleCollisionSystem.cpp
@@ -202,14 +202,13 @@ void ParticleCollisionSystem::updateCollisionWithAvatars(Particle* particle) {
     foreach (const AvatarSharedPointer& avatarPointer, _avatars->getAvatarHash()) {
         AvatarData* avatar = avatarPointer.data();
 
-        // use a very generous bounding radius since the arms can stretch
-        float totalRadius = 2.f * avatar->getBoundingRadius() + radius;
+        float totalRadius = avatar->getBoundingRadius() + radius;
         glm::vec3 relativePosition = center - avatar->getPosition();
         if (glm::dot(relativePosition, relativePosition) > (totalRadius * totalRadius)) {
             continue;
         }
 
-        if (avatar->findParticleCollisions(center, radius, _collisions)) {
+        if (avatar->findSphereCollisions(center, radius, _collisions)) {
             int numCollisions = _collisions.size();
             for (int i = 0; i < numCollisions; ++i) {
                 CollisionInfo* collision = _collisions.getCollision(i);
@@ -222,25 +221,6 @@ void ParticleCollisionSystem::updateCollisionWithAvatars(Particle* particle) {
                 if (glm::dot(relativeVelocity, collision->_penetration) <= 0.f) {
                     // only collide when particle and collision point are moving toward each other
                     // (doing this prevents some "collision snagging" when particle penetrates the object)
-    
-                    // HACK BEGIN: to allow paddle hands to "hold" particles we attenuate soft collisions against them.
-                    if (collision->_type == COLLISION_TYPE_PADDLE_HAND) {
-                        // NOTE: the physics are wrong (particles cannot roll) but it IS possible to catch a slow moving particle.
-                        // TODO: make this less hacky when we have more per-collision details
-                        float elasticity = ELASTICITY;
-                        float attenuationFactor = glm::length(collision->_addedVelocity) / HALTING_SPEED;
-                        float damping = DAMPING;
-                        if (attenuationFactor < 1.f) {
-                            collision->_addedVelocity *= attenuationFactor;
-                            elasticity *= attenuationFactor;
-                            // NOTE: the math below keeps the damping piecewise continuous,
-                            // while ramping it up to 1 when attenuationFactor = 0
-                            damping = DAMPING + (1.f - attenuationFactor) * (1.f - DAMPING);
-                        }
-                        collision->_damping = damping;
-                    }
-                    // HACK END
-    
                     updateCollisionSound(particle, collision->_penetration, COLLISION_FREQUENCY);
                     collision->_penetration /= (float)(TREE_SCALE);
                     particle->applyHardCollision(*collision);
diff --git a/libraries/shared/src/CollisionInfo.cpp b/libraries/shared/src/CollisionInfo.cpp
index 38e3a4b2db..c58f75a2f4 100644
--- a/libraries/shared/src/CollisionInfo.cpp
+++ b/libraries/shared/src/CollisionInfo.cpp
@@ -38,8 +38,7 @@ CollisionInfo* CollisionList::getLastCollision() {
 }
 
 void CollisionList::clear() {
-    // we rely on the external context to properly set or clear the data members of a collision
-    // whenever it is used.
+    // we rely on the external context to properly set or clear the data members of CollisionInfos
     /*
     for (int i = 0; i < _size; ++i) {
         // we only clear the important stuff
diff --git a/libraries/shared/src/CollisionInfo.h b/libraries/shared/src/CollisionInfo.h
index 52d5298fde..08baabd98c 100644
--- a/libraries/shared/src/CollisionInfo.h
+++ b/libraries/shared/src/CollisionInfo.h
@@ -19,7 +19,6 @@
 
 enum CollisionType {
     COLLISION_TYPE_UNKNOWN = 0,
-    COLLISION_TYPE_PADDLE_HAND,
     COLLISION_TYPE_MODEL,
         // _data = pointer to Model that owns joint
         // _intData = joint index

From 0addf3bae4cc3d29bee2ef8d5a50be3896d1814d Mon Sep 17 00:00:00 2001
From: Andrew Meadows <andrew@highfidelity.io>
Date: Fri, 6 Jun 2014 14:36:05 -0700
Subject: [PATCH 002/105] cleaup: remove some unused collision code

remove CollisionInfo::_type
remove unused Avatar collision response stuff
comment out some code that works but will probably be replaced
---
 interface/src/avatar/Avatar.cpp        | 19 ----------
 interface/src/avatar/Avatar.h          |  3 --
 interface/src/avatar/MyAvatar.cpp      |  7 ----
 interface/src/renderer/Model.cpp       | 51 --------------------------
 interface/src/renderer/Model.h         |  8 ----
 libraries/shared/src/CollisionInfo.cpp |  1 -
 libraries/shared/src/CollisionInfo.h   | 18 +--------
 libraries/shared/src/ShapeCollider.cpp | 14 -------
 8 files changed, 2 insertions(+), 119 deletions(-)

diff --git a/interface/src/avatar/Avatar.cpp b/interface/src/avatar/Avatar.cpp
index 1bbe730b40..7a45512778 100644
--- a/interface/src/avatar/Avatar.cpp
+++ b/interface/src/avatar/Avatar.cpp
@@ -846,25 +846,6 @@ float Avatar::getHeadHeight() const {
     return DEFAULT_HEAD_HEIGHT;
 }
 
-bool Avatar::collisionWouldMoveAvatar(CollisionInfo& collision) const {
-    if (!collision._data || collision._type != COLLISION_TYPE_MODEL) {
-        return false;
-    }
-    Model* model = static_cast<Model*>(collision._data);
-    int jointIndex = collision._intData;
-
-    if (model == &(_skeletonModel) && jointIndex != -1) {
-        // collision response of skeleton is temporarily disabled
-        return false;
-        //return _skeletonModel.collisionHitsMoveableJoint(collision);
-    }
-    if (model == &(getHead()->getFaceModel())) {
-        // ATM we always handle COLLISION_TYPE_MODEL against the face.
-        return true;
-    }
-    return false;
-}
-
 float Avatar::getBoundingRadius() const {
     // TODO: also use head model when computing the avatar's bounding radius
     return _skeletonModel.getBoundingRadius();
diff --git a/interface/src/avatar/Avatar.h b/interface/src/avatar/Avatar.h
index b37a5205fa..8e18aecd26 100755
--- a/interface/src/avatar/Avatar.h
+++ b/interface/src/avatar/Avatar.h
@@ -132,9 +132,6 @@ public:
 
     static void renderJointConnectingCone(glm::vec3 position1, glm::vec3 position2, float radius1, float radius2);
 
-    /// \return true if we expect the avatar would move as a result of the collision
-    bool collisionWouldMoveAvatar(CollisionInfo& collision) const;
-
     virtual void applyCollision(const glm::vec3& contactPoint, const glm::vec3& penetration) { }
 
     /// \return bounding radius of avatar
diff --git a/interface/src/avatar/MyAvatar.cpp b/interface/src/avatar/MyAvatar.cpp
index a14152aa04..bebe2fbec7 100644
--- a/interface/src/avatar/MyAvatar.cpp
+++ b/interface/src/avatar/MyAvatar.cpp
@@ -1461,17 +1461,10 @@ void MyAvatar::updateCollisionWithAvatars(float deltaTime) {
                 }
             }
 
-            // collide our hands against them
-            // TODO: make this work when we can figure out when the other avatar won't yeild
-            // (for example, we're colliding against their chest or leg)
-            //getHand()->collideAgainstAvatar(avatar, true);
-
             // collide their hands against us
             avatar->getHand()->collideAgainstAvatar(this, false);
         }
     }
-    // TODO: uncomment this when we handle collisions that won't affect other avatar
-    //getHand()->resolvePenetrations();
 }
 
 class SortedAvatar {
diff --git a/interface/src/renderer/Model.cpp b/interface/src/renderer/Model.cpp
index 105301054b..42492d64fb 100644
--- a/interface/src/renderer/Model.cpp
+++ b/interface/src/renderer/Model.cpp
@@ -1049,7 +1049,6 @@ bool Model::findSphereCollisions(const glm::vec3& sphereCenter, float sphereRadi
         }
         if (ShapeCollider::collideShapes(&sphere, _jointShapes[i], collisions)) {
             CollisionInfo* collision = collisions.getLastCollision();
-            collision->_type = COLLISION_TYPE_MODEL;
             collision->_data = (void*)(this);
             collision->_intData = i;
             collided = true;
@@ -1065,7 +1064,6 @@ bool Model::findPlaneCollisions(const glm::vec4& plane, CollisionList& collision
     for (int i = 0; i < _jointShapes.size(); i++) {
         if (ShapeCollider::collideShapes(&planeShape, _jointShapes[i], collisions)) {
             CollisionInfo* collision = collisions.getLastCollision();
-            collision->_type = COLLISION_TYPE_MODEL;
             collision->_data = (void*)(this);
             collision->_intData = i;
             collided = true;
@@ -1446,55 +1444,6 @@ void Model::renderBoundingCollisionShapes(float alpha) {
     glPopMatrix();
 }
 
-bool Model::collisionHitsMoveableJoint(CollisionInfo& collision) const {
-    if (collision._type == COLLISION_TYPE_MODEL) {
-        // the joint is pokable by a collision if it exists and is free to move
-        const FBXJoint& joint = _geometry->getFBXGeometry().joints[collision._intData];
-        if (joint.parentIndex == -1 || _jointStates.isEmpty()) {
-            return false;
-        }
-        // an empty freeLineage means the joint can't move
-        const FBXGeometry& geometry = _geometry->getFBXGeometry();
-        int jointIndex = collision._intData;
-        const QVector<int>& freeLineage = geometry.joints.at(jointIndex).freeLineage;
-        return !freeLineage.isEmpty();
-    }
-    return false;
-}
-
-void Model::applyCollision(CollisionInfo& collision) {
-    if (collision._type != COLLISION_TYPE_MODEL) {
-        return;
-    }
-
-    glm::vec3 jointPosition(0.0f);
-    int jointIndex = collision._intData;
-    if (getJointPositionInWorldFrame(jointIndex, jointPosition)) {
-        const FBXJoint& joint = _geometry->getFBXGeometry().joints[jointIndex];
-        if (joint.parentIndex != -1) {
-            // compute the approximate distance (travel) that the joint needs to move
-            glm::vec3 start;
-            getJointPositionInWorldFrame(joint.parentIndex, start);
-            glm::vec3 contactPoint = collision._contactPoint - start;
-            glm::vec3 penetrationEnd = contactPoint + collision._penetration;
-            glm::vec3 axis = glm::cross(contactPoint, penetrationEnd);
-            float travel = glm::length(axis);
-            const float MIN_TRAVEL = 1.0e-8f;
-            if (travel > MIN_TRAVEL) {
-                // compute the new position of the joint
-                float angle = asinf(travel / (glm::length(contactPoint) * glm::length(penetrationEnd)));
-                axis = glm::normalize(axis);
-                glm::vec3 end;
-                getJointPositionInWorldFrame(jointIndex, end);
-                // transform into model-frame
-                glm::vec3 newEnd = glm::inverse(_rotation) * (start + glm::angleAxis(angle, axis) * (end - start) - _translation);
-                // try to move it
-                setJointPosition(jointIndex, newEnd, glm::quat(), false, -1, true);
-            }
-        }
-    }
-}
-
 void Model::setBlendedVertices(const QVector<glm::vec3>& vertices, const QVector<glm::vec3>& normals) {
     if (_blendedVertexBuffers.isEmpty()) {
         return;
diff --git a/interface/src/renderer/Model.h b/interface/src/renderer/Model.h
index 11e6861775..be5b892229 100644
--- a/interface/src/renderer/Model.h
+++ b/interface/src/renderer/Model.h
@@ -156,14 +156,6 @@ public:
 
     bool findPlaneCollisions(const glm::vec4& plane, CollisionList& collisions);
     
-    /// \param collision details about the collisions
-    /// \return true if the collision is against a moveable joint
-    bool collisionHitsMoveableJoint(CollisionInfo& collision) const;
-
-    /// \param collision details about the collision
-    /// Use the collision to affect the model
-    void applyCollision(CollisionInfo& collision);
-
     float getBoundingRadius() const { return _boundingRadius; }
     float getBoundingShapeRadius() const { return _boundingShape.getRadius(); }
 
diff --git a/libraries/shared/src/CollisionInfo.cpp b/libraries/shared/src/CollisionInfo.cpp
index c58f75a2f4..32deb56cd1 100644
--- a/libraries/shared/src/CollisionInfo.cpp
+++ b/libraries/shared/src/CollisionInfo.cpp
@@ -43,7 +43,6 @@ void CollisionList::clear() {
     for (int i = 0; i < _size; ++i) {
         // we only clear the important stuff
         CollisionInfo& collision = _collisions[i];
-        collision._type = COLLISION_TYPE_UNKNOWN;
         //collision._data = NULL;
         //collision._intData = 0;
         //collision._floatDAta = 0.0f;
diff --git a/libraries/shared/src/CollisionInfo.h b/libraries/shared/src/CollisionInfo.h
index 08baabd98c..cf48701a2b 100644
--- a/libraries/shared/src/CollisionInfo.h
+++ b/libraries/shared/src/CollisionInfo.h
@@ -17,16 +17,6 @@
 
 #include <QVector>
 
-enum CollisionType {
-    COLLISION_TYPE_UNKNOWN = 0,
-    COLLISION_TYPE_MODEL,
-        // _data = pointer to Model that owns joint
-        // _intData = joint index
-    COLLISION_TYPE_AACUBE,
-        // _floatData = cube side
-        // _vecData = cube center
-};
-
 const quint32 COLLISION_GROUP_ENVIRONMENT = 1U << 0;
 const quint32 COLLISION_GROUP_AVATARS     = 1U << 1;
 const quint32 COLLISION_GROUP_VOXELS      = 1U << 2;
@@ -41,8 +31,7 @@ const quint32 VALID_COLLISION_GROUPS = 0x0f;
 class CollisionInfo {
 public:
     CollisionInfo() 
-        : _type(0),
-        _data(NULL),
+        : _data(NULL),
         _intData(0),
         _damping(0.f),
         _elasticity(1.f),
@@ -52,8 +41,7 @@ public:
     }
 
     CollisionInfo(qint32 type)
-        : _type(type),
-        _data(NULL),
+        : _data(NULL),
         _intData(0),
         _damping(0.f),
         _elasticity(1.f),
@@ -64,8 +52,6 @@ public:
 
     ~CollisionInfo() {}
 
-    int _type;          // type of Collision
-
     // the value of the *Data fields depend on the type 
     void* _data;
     int _intData;       
diff --git a/libraries/shared/src/ShapeCollider.cpp b/libraries/shared/src/ShapeCollider.cpp
index 7c29fbae00..e80d26d860 100644
--- a/libraries/shared/src/ShapeCollider.cpp
+++ b/libraries/shared/src/ShapeCollider.cpp
@@ -132,7 +132,6 @@ bool sphereSphere(const SphereShape* sphereA, const SphereShape* sphereB, Collis
         // penetration points from A into B
         CollisionInfo* collision = collisions.getNewCollision();
         if (collision) {
-            collision->_type = COLLISION_TYPE_UNKNOWN;
             collision->_penetration = BA * (totalRadius - distance);
             // contactPoint is on surface of A
             collision->_contactPoint = sphereA->getPosition() + sphereA->getRadius() * BA;
@@ -180,7 +179,6 @@ bool sphereCapsule(const SphereShape* sphereA, const CapsuleShape* capsuleB, Col
             collision->_penetration = (totalRadius - radialDistance) * radialAxis; // points from A into B
             // contactPoint is on surface of sphereA
             collision->_contactPoint = sphereA->getPosition() + sphereA->getRadius() * radialAxis;
-            collision->_type = COLLISION_TYPE_UNKNOWN;
         } else {
             // A is on B's axis, so the penetration is undefined... 
             if (absAxialDistance > capsuleB->getHalfHeight()) {
@@ -202,7 +200,6 @@ bool sphereCapsule(const SphereShape* sphereA, const CapsuleShape* capsuleB, Col
             collision->_penetration = (sign * (totalRadius + capsuleB->getHalfHeight() - absAxialDistance)) * capsuleAxis;
             // contactPoint is on surface of sphereA
             collision->_contactPoint = sphereA->getPosition() + (sign * sphereA->getRadius()) * capsuleAxis;
-            collision->_type = COLLISION_TYPE_UNKNOWN;
         }
         return true;
     }
@@ -218,7 +215,6 @@ bool spherePlane(const SphereShape* sphereA, const PlaneShape* planeB, Collision
         }
         collision->_penetration = penetration;
         collision->_contactPoint = sphereA->getPosition() + sphereA->getRadius() * glm::normalize(penetration);
-        collision->_type = COLLISION_TYPE_UNKNOWN;
         return true;
     }
     return false;
@@ -268,7 +264,6 @@ bool capsuleSphere(const CapsuleShape* capsuleA, const SphereShape* sphereB, Col
             collision->_penetration = (radialDistance - totalRadius) * radialAxis; // points from A into B
             // contactPoint is on surface of capsuleA
             collision->_contactPoint = closestApproach - capsuleA->getRadius() * radialAxis;
-            collision->_type = COLLISION_TYPE_UNKNOWN;
         } else {
             // A is on B's axis, so the penetration is undefined... 
             if (absAxialDistance > capsuleA->getHalfHeight()) {
@@ -289,7 +284,6 @@ bool capsuleSphere(const CapsuleShape* capsuleA, const SphereShape* sphereB, Col
                 collision->_penetration = (sign * (totalRadius + capsuleA->getHalfHeight() - absAxialDistance)) * capsuleAxis;
                 // contactPoint is on surface of sphereA
                 collision->_contactPoint = closestApproach + (sign * capsuleA->getRadius()) * capsuleAxis;
-                collision->_type = COLLISION_TYPE_UNKNOWN;
             }
         }
         return true;
@@ -361,7 +355,6 @@ bool capsuleCapsule(const CapsuleShape* capsuleA, const CapsuleShape* capsuleB,
             collision->_penetration = BA * (totalRadius - distance);
             // contactPoint is on surface of A
             collision->_contactPoint = centerA + distanceA * axisA + capsuleA->getRadius() * BA;
-            collision->_type = COLLISION_TYPE_UNKNOWN;
             return true;
         }
     } else {
@@ -427,7 +420,6 @@ bool capsuleCapsule(const CapsuleShape* capsuleA, const CapsuleShape* capsuleB,
             // average the internal pair, and then do the math from centerB
             collision->_contactPoint = centerB + (0.5f * (points[1] + points[2])) * axisB 
                 + (capsuleA->getRadius() - distance) * BA;
-            collision->_type = COLLISION_TYPE_UNKNOWN;
             return true;
         }
     }
@@ -447,7 +439,6 @@ bool capsulePlane(const CapsuleShape* capsuleA, const PlaneShape* planeB, Collis
         collision->_penetration = penetration;
         glm::vec3 deepestEnd = (glm::dot(start, glm::vec3(plane)) < glm::dot(end, glm::vec3(plane))) ? start : end;
         collision->_contactPoint = deepestEnd + capsuleA->getRadius() * glm::normalize(penetration);
-        collision->_type = COLLISION_TYPE_UNKNOWN;
         return true;
     }
     return false;
@@ -463,7 +454,6 @@ bool planeSphere(const PlaneShape* planeA, const SphereShape* sphereB, Collision
         collision->_penetration = -penetration;
         collision->_contactPoint = sphereB->getPosition() +
             (sphereB->getRadius() / glm::length(penetration) - 1.0f) * penetration;
-        collision->_type = COLLISION_TYPE_UNKNOWN;
         return true;
     }
     return false;
@@ -482,7 +472,6 @@ bool planeCapsule(const PlaneShape* planeA, const CapsuleShape* capsuleB, Collis
         collision->_penetration = -penetration;
         glm::vec3 deepestEnd = (glm::dot(start, glm::vec3(plane)) < glm::dot(end, glm::vec3(plane))) ? start : end;
         collision->_contactPoint = deepestEnd + (capsuleB->getRadius() / glm::length(penetration) - 1.0f) * penetration;
-        collision->_type = COLLISION_TYPE_UNKNOWN;
         return true;
     }
     return false;
@@ -668,13 +657,11 @@ bool sphereAACube(const glm::vec3& sphereCenter, float sphereRadius, const glm::
             direction /= lengthDirection;
 
             // compute collision details
-            collision->_type = COLLISION_TYPE_AACUBE;
             collision->_floatData = cubeSide;
             collision->_vecData = cubeCenter;
             collision->_penetration = (halfCubeSide * lengthDirection + sphereRadius - maxBA * glm::dot(BA, direction)) * direction;
             collision->_contactPoint = sphereCenter + sphereRadius * direction;
         }
-        collision->_type = COLLISION_TYPE_AACUBE;
         collision->_floatData = cubeSide;
         collision->_vecData = cubeCenter;
         return true;
@@ -688,7 +675,6 @@ bool sphereAACube(const glm::vec3& sphereCenter, float sphereRadius, const glm::
             // contactPoint is on surface of A
             collision->_contactPoint = sphereCenter + collision->_penetration;
 
-            collision->_type = COLLISION_TYPE_AACUBE;
             collision->_floatData = cubeSide;
             collision->_vecData = cubeCenter;
             return true;

From 131a2c27b86084d4076466d4c09527b4f5ebd920 Mon Sep 17 00:00:00 2001
From: Andrew Meadows <andrew@highfidelity.io>
Date: Fri, 6 Jun 2014 15:51:50 -0700
Subject: [PATCH 003/105] move RagDoll to libraries/shared

---
 interface/src/avatar/SkeletonModel.cpp        | 25 ++++++++++-
 interface/src/avatar/SkeletonModel.h          |  3 +-
 .../shared/src}/RagDoll.cpp                   | 45 +++++++------------
 .../shared/src}/RagDoll.h                     | 14 +++---
 4 files changed, 47 insertions(+), 40 deletions(-)
 rename {interface/src/renderer => libraries/shared/src}/RagDoll.cpp (80%)
 rename {interface/src/renderer => libraries/shared/src}/RagDoll.h (88%)

diff --git a/interface/src/avatar/SkeletonModel.cpp b/interface/src/avatar/SkeletonModel.cpp
index ca40ba1d64..4db77b998f 100644
--- a/interface/src/avatar/SkeletonModel.cpp
+++ b/interface/src/avatar/SkeletonModel.cpp
@@ -25,7 +25,19 @@ void SkeletonModel::setJointStates(QVector<JointState> states) {
     Model::setJointStates(states);
 
     if (isActive() && _owningAvatar->isMyAvatar()) {
-        _ragDoll.init(_jointStates);
+        // extract lists of parentIndex and position from _jointStates...
+        QVector<int> parentIndices;
+        QVector<glm::vec3> points;
+        int numJoints = _jointStates.size();
+        parentIndices.reserve(numJoints);
+        points.reserve(numJoints);
+        for (int i = 0; i < numJoints; ++i) {
+            JointState& state = _jointStates[i];
+            parentIndices.push_back(state.getFBXJoint().parentIndex);
+            points.push_back(state.getPosition());
+        }
+        // ... and feed the results to _ragDoll
+        _ragDoll.init(parentIndices, points);
     }
 }
 
@@ -91,8 +103,17 @@ void SkeletonModel::simulate(float deltaTime, bool fullUpdate) {
 }
 
 void SkeletonModel::simulateRagDoll(float deltaTime) {
-    _ragDoll.slaveToSkeleton(_jointStates, 0.1f);   // fraction = 0.1f left intentionally low for demo purposes
+    // move ragdoll points toward joints
+    QVector<glm::vec3>& points = _ragDoll.getPoints();
+    const int numStates = _jointStates.size();
+    assert(numStates == points.size());
+    float fraction = 0.1f; // fraction = 0.1f left intentionally low for demo purposes
+    float oneMinusFraction = 1.0f - fraction;
+    for (int i = 0; i < numStates; ++i) {
+        points[i] = oneMinusFraction * points[i] + fraction * _jointStates[i].getPosition();
+    }
 
+    // enforce the constraints
     float MIN_CONSTRAINT_ERROR = 0.005f; // 5mm
     int MAX_ITERATIONS = 4;
     int iterations = 0;
diff --git a/interface/src/avatar/SkeletonModel.h b/interface/src/avatar/SkeletonModel.h
index 086973807d..9f034b2aa3 100644
--- a/interface/src/avatar/SkeletonModel.h
+++ b/interface/src/avatar/SkeletonModel.h
@@ -13,7 +13,8 @@
 #define hifi_SkeletonModel_h
 
 #include "renderer/Model.h"
-#include "renderer/RagDoll.h"
+
+#include <RagDoll.h>
 
 class Avatar;
 
diff --git a/interface/src/renderer/RagDoll.cpp b/libraries/shared/src/RagDoll.cpp
similarity index 80%
rename from interface/src/renderer/RagDoll.cpp
rename to libraries/shared/src/RagDoll.cpp
index e2654d737f..e6a556a4fd 100644
--- a/interface/src/renderer/RagDoll.cpp
+++ b/libraries/shared/src/RagDoll.cpp
@@ -9,17 +9,13 @@
 //  See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
 //
 
-#include <glm/glm.hpp>
-#include <glm/gtx/quaternion.hpp>
-#include <glm/gtx/transform.hpp>
-
-#include <CollisionInfo.h>
-#include <SharedUtil.h>
-#include <CapsuleShape.h>
-#include <SphereShape.h>
-
 #include "RagDoll.h"
 
+#include "CapsuleShape.h"
+#include "CollisionInfo.h"
+#include "SharedUtil.h"
+#include "SphereShape.h"
+
 // ----------------------------------------------------------------------------
 // FixedConstraint
 // ----------------------------------------------------------------------------
@@ -105,15 +101,17 @@ RagDoll::~RagDoll() {
     clear();
 }
     
-void RagDoll::init(const QVector<JointState>& states) {
+void RagDoll::init(const QVector<int>& parentIndices, const QVector<glm::vec3>& points) {
     clear();
-    const int numStates = states.size();
-    _points.reserve(numStates);
-    for (int i = 0; i < numStates; ++i) {
-        const JointState& state = states[i];
-        _points.push_back(state.getPosition());
-        int parentIndex = state.getFBXJoint().parentIndex;
-        assert(parentIndex < i);
+    const int numPoints = points.size();
+    assert(numPoints == parentIndices.size());
+    _points.reserve(numPoints);
+    for (int i = 0; i < numPoints; ++i) {
+        glm::vec3 position = points[i];
+        _points.push_back(position);
+
+        int parentIndex = parentIndices[i];
+        assert(parentIndex < i && parentIndex >= -1);
         if (parentIndex == -1) {
             FixedConstraint* anchor = new FixedConstraint(&(_points[i]), glm::vec3(0.0f));
             _constraints.push_back(anchor);
@@ -134,19 +132,6 @@ void RagDoll::clear() {
     _points.clear();
 }
 
-float RagDoll::slaveToSkeleton(const QVector<JointState>& states, float fraction) {
-    const int numStates = states.size();
-    assert(numStates == _points.size());
-    fraction = glm::clamp(fraction, 0.0f, 1.0f);
-    float maxDistance = 0.0f;
-    for (int i = 0; i < numStates; ++i) {
-        glm::vec3 oldPoint = _points[i];
-        _points[i] = (1.0f - fraction) * _points[i] + fraction * states[i].getPosition();
-        maxDistance = glm::max(maxDistance, glm::distance(oldPoint, _points[i]));
-    }
-    return maxDistance;
-}
-
 float RagDoll::enforceConstraints() {
     float maxDistance = 0.0f;
     const int numConstraints = _constraints.size();
diff --git a/interface/src/renderer/RagDoll.h b/libraries/shared/src/RagDoll.h
similarity index 88%
rename from interface/src/renderer/RagDoll.h
rename to libraries/shared/src/RagDoll.h
index 60e242d19b..68648f7655 100644
--- a/interface/src/renderer/RagDoll.h
+++ b/libraries/shared/src/RagDoll.h
@@ -12,7 +12,10 @@
 #ifndef hifi_RagDoll_h
 #define hifi_RagDoll_h
 
-#include "renderer/Model.h"
+#include <glm/glm.hpp>
+#include <glm/gtx/quaternion.hpp>
+
+#include <QVector>
 
 class Shape;
 
@@ -66,21 +69,18 @@ public:
     
     /// Create points and constraints based on topology of collection of joints
     /// \param joints list of connected joint states
-    void init(const QVector<JointState>& states);
+    void init(const QVector<int>& parentIndices, const QVector<glm::vec3>& points);
 
     /// Delete all data.
     void clear();
 
-    /// \param states list of joint states
-    /// \param fraction range from 0.0 (no movement) to 1.0 (use joint locations)
-    /// \return max distance of point movement
-    float slaveToSkeleton(const QVector<JointState>& states, float fraction);
-
     /// Enforce contraints.
     /// \return max distance of point movement
     float enforceConstraints();
 
+    // both const and non-const getPoints()
     const QVector<glm::vec3>& getPoints() const { return _points; }
+    QVector<glm::vec3>& getPoints() { return _points; }
 
     /// \param shapes list of shapes to be updated with new positions
     /// \param rotation rotation into shapes' collision frame

From 90c55ad06c7329b7929dfba1f226686121a51c92 Mon Sep 17 00:00:00 2001
From: Andrew Meadows <andrew@highfidelity.io>
Date: Fri, 6 Jun 2014 16:09:21 -0700
Subject: [PATCH 004/105] fix some comments

---
 libraries/shared/src/RagDoll.cpp | 2 +-
 libraries/shared/src/RagDoll.h   | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/shared/src/RagDoll.cpp b/libraries/shared/src/RagDoll.cpp
index e6a556a4fd..d4b78e4732 100644
--- a/libraries/shared/src/RagDoll.cpp
+++ b/libraries/shared/src/RagDoll.cpp
@@ -1,6 +1,6 @@
 //
 //  RagDoll.cpp
-//  interface/src/avatar
+//  libraries/shared/src
 //
 //  Created by Andrew Meadows 2014.05.30
 //  Copyright 2014 High Fidelity, Inc.
diff --git a/libraries/shared/src/RagDoll.h b/libraries/shared/src/RagDoll.h
index 68648f7655..43d9c906c0 100644
--- a/libraries/shared/src/RagDoll.h
+++ b/libraries/shared/src/RagDoll.h
@@ -1,6 +1,6 @@
 //
 //  RagDoll.h
-//  interface/src/avatar
+//  libraries/shared/src
 //
 //  Created by Andrew Meadows 2014.05.30
 //  Copyright 2014 High Fidelity, Inc.

From 8e536ebd9afedc7f964b4aa7159e263469851e9a Mon Sep 17 00:00:00 2001
From: Andrew Meadows <andrew@highfidelity.io>
Date: Mon, 9 Jun 2014 09:35:27 -0700
Subject: [PATCH 005/105] Use NULL Shape* for non-colliding joints in Models

---
 interface/src/avatar/SkeletonModel.cpp | 11 +++--
 interface/src/renderer/Model.cpp       | 58 ++++++++++++++++----------
 interface/src/renderer/Model.h         |  7 ++--
 3 files changed, 48 insertions(+), 28 deletions(-)

diff --git a/interface/src/avatar/SkeletonModel.cpp b/interface/src/avatar/SkeletonModel.cpp
index 4db77b998f..08882cbd42 100644
--- a/interface/src/avatar/SkeletonModel.cpp
+++ b/interface/src/avatar/SkeletonModel.cpp
@@ -135,18 +135,21 @@ void SkeletonModel::getHandShapes(int jointIndex, QVector<const Shape*>& shapes)
         for (int i = 0; i < _jointStates.size(); i++) {
             const FBXJoint& joint = geometry.joints[i];
             int parentIndex = joint.parentIndex;
+            Shape* shape = _jointShapes[i];
             if (i == jointIndex) {
                 // this shape is the hand
-                shapes.push_back(_jointShapes[i]);
-                if (parentIndex != -1) {
+                if (shape) {
+                    shapes.push_back(shape);
+                }
+                if (parentIndex != -1 && _jointShapes[parentIndex]) {
                     // also add the forearm
                     shapes.push_back(_jointShapes[parentIndex]);
                 }
-            } else {
+            } else if (shape) {
                 while (parentIndex != -1) {
                     if (parentIndex == jointIndex) {
                         // this shape is a child of the hand
-                        shapes.push_back(_jointShapes[i]);
+                        shapes.push_back(shape);
                         break;
                     }
                     parentIndex = geometry.joints[parentIndex].parentIndex;
diff --git a/interface/src/renderer/Model.cpp b/interface/src/renderer/Model.cpp
index 42492d64fb..03c1544aab 100644
--- a/interface/src/renderer/Model.cpp
+++ b/interface/src/renderer/Model.cpp
@@ -813,11 +813,8 @@ void Model::rebuildShapes() {
             _jointShapes.push_back(sphere);
         } else {
             // this shape type is not handled and the joint shouldn't collide, 
-            // however we must have a shape for each joint, 
-            // so we make a bogus sphere with zero radius.
-            // TODO: implement collision groups for more control over what collides with what
-            SphereShape* sphere = new SphereShape(0.0f, glm::vec3(0.0f)); 
-            _jointShapes.push_back(sphere);
+            // however we must have a Shape* for each joint, so we push NULL
+            _jointShapes.push_back(NULL);
         }
     }
 
@@ -875,10 +872,13 @@ void Model::computeBoundingShape(const FBXGeometry& geometry) {
     _boundingRadius = 0.0f;
     float uniformScale = extractUniformScale(_scale);
     for (int i = 0; i < _jointShapes.size(); i++) {
+        Shape* shape = _jointShapes[i];
+        if (!shape) {
+            continue;
+        }
         const FBXJoint& joint = geometry.joints[i];
         glm::vec3 jointToShapeOffset = uniformScale * (finalRotations[i] * joint.shapePosition);
         glm::vec3 localPosition = extractTranslation(transforms[i]) + jointToShapeOffset;
-        Shape* shape = _jointShapes[i];
         shape->setPosition(localPosition);
         shape->setRotation(finalRotations[i] * joint.shapeRotation);
         float distance = glm::length(localPosition) + shape->getBoundingRadius();
@@ -890,11 +890,14 @@ void Model::computeBoundingShape(const FBXGeometry& geometry) {
     // compute bounding box
     Extents totalExtents;
     totalExtents.reset();
+    totalExtents.addPoint(glm::vec3(0.0f));
     for (int i = 0; i < _jointShapes.size(); i++) {
+        Shape* shape = _jointShapes[i];
+        if (!shape) {
+            continue;
+        }
         Extents shapeExtents;
         shapeExtents.reset();
-
-        Shape* shape = _jointShapes[i];
         glm::vec3 localPosition = shape->getPosition();
         int type = shape->getType();
         if (type == Shape::CAPSULE_SHAPE) {
@@ -949,8 +952,10 @@ void Model::resetShapePositions() {
     // Then we move them into world frame for rendering at the Model's location.
     for (int i = 0; i < _jointShapes.size(); i++) {
         Shape* shape = _jointShapes[i];
-        shape->setPosition(_translation + _rotation * shape->getPosition());
-        shape->setRotation(_rotation * shape->getRotation());
+        if (shape) {
+            shape->setPosition(_translation + _rotation * shape->getPosition());
+            shape->setRotation(_rotation * shape->getRotation());
+        }
     }
     _boundingShape.setPosition(_translation + _rotation * _boundingShapeLocalOffset);
     _boundingShape.setRotation(_rotation);
@@ -969,11 +974,13 @@ void Model::updateShapePositions() {
             glm::vec3 shapeOffset = uniformScale * (stateRotation * joint.shapePosition);
             glm::vec3 worldPosition = _translation + _rotation * (state.getPosition() + shapeOffset);
             Shape* shape = _jointShapes[i];
-            shape->setPosition(worldPosition);
-            shape->setRotation(_rotation * stateRotation * joint.shapeRotation);
-            float distance = glm::distance(worldPosition, _translation) + shape->getBoundingRadius();
-            if (distance > _boundingRadius) {
-                _boundingRadius = distance;
+            if (shape) {
+                shape->setPosition(worldPosition);
+                shape->setRotation(_rotation * stateRotation * joint.shapeRotation);
+                float distance = glm::distance(worldPosition, _translation) + shape->getBoundingRadius();
+                if (distance > _boundingRadius) {
+                    _boundingRadius = distance;
+                }
             }
             if (joint.parentIndex == -1) {
                 rootPosition = worldPosition;
@@ -1018,9 +1025,12 @@ bool Model::findCollisions(const QVector<const Shape*> shapes, CollisionList& co
     bool collided = false;
     for (int i = 0; i < shapes.size(); ++i) {
         const Shape* theirShape = shapes[i];
+        if (!theirShape) {
+            continue;
+        }
         for (int j = 0; j < _jointShapes.size(); ++j) {
             const Shape* ourShape = _jointShapes[j];
-            if (ShapeCollider::collideShapes(theirShape, ourShape, collisions)) {
+            if (ourShape && ShapeCollider::collideShapes(theirShape, ourShape, collisions)) {
                 collided = true;
             }
         }
@@ -1034,6 +1044,10 @@ bool Model::findSphereCollisions(const glm::vec3& sphereCenter, float sphereRadi
     SphereShape sphere(sphereRadius, sphereCenter);
     const FBXGeometry& geometry = _geometry->getFBXGeometry();
     for (int i = 0; i < _jointShapes.size(); i++) {
+        Shape* shape = _jointShapes[i];
+        if (!shape) {
+            continue;
+        }
         const FBXJoint& joint = geometry.joints[i];
         if (joint.parentIndex != -1) {
             if (skipIndex != -1) {
@@ -1047,7 +1061,7 @@ bool Model::findSphereCollisions(const glm::vec3& sphereCenter, float sphereRadi
                 } while (ancestorIndex != -1);
             }
         }
-        if (ShapeCollider::collideShapes(&sphere, _jointShapes[i], collisions)) {
+        if (ShapeCollider::collideShapes(&sphere, shape, collisions)) {
             CollisionInfo* collision = collisions.getLastCollision();
             collision->_data = (void*)(this);
             collision->_intData = i;
@@ -1062,7 +1076,7 @@ bool Model::findPlaneCollisions(const glm::vec4& plane, CollisionList& collision
     bool collided = false;
     PlaneShape planeShape(plane);
     for (int i = 0; i < _jointShapes.size(); i++) {
-        if (ShapeCollider::collideShapes(&planeShape, _jointShapes[i], collisions)) {
+        if (_jointShapes[i] && ShapeCollider::collideShapes(&planeShape, _jointShapes[i], collisions)) {
             CollisionInfo* collision = collisions.getLastCollision();
             collision->_data = (void*)(this);
             collision->_intData = i;
@@ -1369,10 +1383,12 @@ void Model::renderJointCollisionShapes(float alpha) {
     glPushMatrix();
     Application::getInstance()->loadTranslatedViewMatrix(_translation);
     for (int i = 0; i < _jointShapes.size(); i++) {
-        glPushMatrix();
-
         Shape* shape = _jointShapes[i];
-        
+        if (!shape) {
+            continue;
+        }
+
+        glPushMatrix();
         if (shape->getType() == Shape::SPHERE_SHAPE) {
             // shapes are stored in world-frame, so we have to transform into model frame
             glm::vec3 position = shape->getPosition() - _translation;
diff --git a/interface/src/renderer/Model.h b/interface/src/renderer/Model.h
index be5b892229..e507aee6aa 100644
--- a/interface/src/renderer/Model.h
+++ b/interface/src/renderer/Model.h
@@ -137,10 +137,11 @@ public:
     
     const QList<AnimationHandlePointer>& getRunningAnimations() const { return _runningAnimations; }
     
-    void clearShapes();
-    void rebuildShapes();
-    void resetShapePositions();
+    virtual void clearShapes();
+    virtual void rebuildShapes();
+    void resetShapePositions(); // DEBUG method
     virtual void updateShapePositions();
+
     void renderJointCollisionShapes(float alpha);
     void renderBoundingCollisionShapes(float alpha);
     

From b70020595cab238d165a9f43656f0ae3f25431a2 Mon Sep 17 00:00:00 2001
From: Andrew Meadows <andrew@highfidelity.io>
Date: Mon, 9 Jun 2014 09:55:15 -0700
Subject: [PATCH 006/105] clearShapes(), rebuildShapes() need not be virtual

---
 interface/src/renderer/Model.h | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/interface/src/renderer/Model.h b/interface/src/renderer/Model.h
index e507aee6aa..f8d4cf628b 100644
--- a/interface/src/renderer/Model.h
+++ b/interface/src/renderer/Model.h
@@ -137,8 +137,8 @@ public:
     
     const QList<AnimationHandlePointer>& getRunningAnimations() const { return _runningAnimations; }
     
-    virtual void clearShapes();
-    virtual void rebuildShapes();
+    void clearShapes();
+    void rebuildShapes();
     void resetShapePositions(); // DEBUG method
     virtual void updateShapePositions();
 

From 5a76a9b4b1fbfb8f712dc39c66eb47b09b638935 Mon Sep 17 00:00:00 2001
From: Andrew Meadows <andrew@highfidelity.io>
Date: Mon, 9 Jun 2014 11:04:20 -0700
Subject: [PATCH 007/105] RagDoll keeps a pointer to list of shapes

---
 interface/src/avatar/SkeletonModel.cpp |  4 ++--
 libraries/shared/src/RagDoll.cpp       | 16 +++++++++++-----
 libraries/shared/src/RagDoll.h         | 13 +++++++++----
 3 files changed, 22 insertions(+), 11 deletions(-)

diff --git a/interface/src/avatar/SkeletonModel.cpp b/interface/src/avatar/SkeletonModel.cpp
index 08882cbd42..1d1294da03 100644
--- a/interface/src/avatar/SkeletonModel.cpp
+++ b/interface/src/avatar/SkeletonModel.cpp
@@ -37,7 +37,7 @@ void SkeletonModel::setJointStates(QVector<JointState> states) {
             points.push_back(state.getPosition());
         }
         // ... and feed the results to _ragDoll
-        _ragDoll.init(parentIndices, points);
+        _ragDoll.init(&_jointShapes, parentIndices, points);
     }
 }
 
@@ -286,7 +286,7 @@ void SkeletonModel::updateJointState(int index) {
 void SkeletonModel::updateShapePositions() {
     if (isActive() && _owningAvatar->isMyAvatar() && 
             Menu::getInstance()->isOptionChecked(MenuOption::CollideAsRagDoll)) {
-        _ragDoll.updateShapes(_jointShapes, _rotation, _translation);
+        _ragDoll.updateShapes(_rotation, _translation);
     } else {
         Model::updateShapePositions();
     }
diff --git a/libraries/shared/src/RagDoll.cpp b/libraries/shared/src/RagDoll.cpp
index d4b78e4732..0895daffa0 100644
--- a/libraries/shared/src/RagDoll.cpp
+++ b/libraries/shared/src/RagDoll.cpp
@@ -94,15 +94,16 @@ void DistanceConstraint::updateProxyShape(Shape* shape, const glm::quat& rotatio
 // RagDoll
 // ----------------------------------------------------------------------------
 
-RagDoll::RagDoll() {
+RagDoll::RagDoll() : _shapes(NULL) {
 }
 
 RagDoll::~RagDoll() {
     clear();
 }
     
-void RagDoll::init(const QVector<int>& parentIndices, const QVector<glm::vec3>& points) {
+void RagDoll::init(QVector<Shape*>* shapes, const QVector<int>& parentIndices, const QVector<glm::vec3>& points) {
     clear();
+    _shapes = shapes;
     const int numPoints = points.size();
     assert(numPoints == parentIndices.size());
     _points.reserve(numPoints);
@@ -143,10 +144,15 @@ float RagDoll::enforceConstraints() {
     return maxDistance;
 }
 
-void RagDoll::updateShapes(const QVector<Shape*>& shapes, const glm::quat& rotation, const glm::vec3& translation) const {
-    int numShapes = shapes.size();
+void RagDoll::updateShapes(const glm::quat& rotation, const glm::vec3& translation) const {
+    if (!_shapes) {
+        return;
+    }
+    int numShapes = _shapes->size();
     int numConstraints = _constraints.size();
+
+    // NOTE: we assume a one-to-one relationship between shapes and constraints
     for (int i = 0; i < numShapes && i < numConstraints; ++i) {
-        _constraints[i]->updateProxyShape(shapes[i], rotation, translation);
+        _constraints[i]->updateProxyShape((*_shapes)[i], rotation, translation);
     }
 }
diff --git a/libraries/shared/src/RagDoll.h b/libraries/shared/src/RagDoll.h
index 43d9c906c0..bc3786d547 100644
--- a/libraries/shared/src/RagDoll.h
+++ b/libraries/shared/src/RagDoll.h
@@ -69,7 +69,9 @@ public:
     
     /// Create points and constraints based on topology of collection of joints
     /// \param joints list of connected joint states
-    void init(const QVector<int>& parentIndices, const QVector<glm::vec3>& points);
+    void init(QVector<Shape*>* shapes, const QVector<int>& parentIndices, const QVector<glm::vec3>& points);
+
+    void setShapes(QVector<Shape*>* shapes) { _shapes = shapes; }
 
     /// Delete all data.
     void clear();
@@ -82,14 +84,17 @@ public:
     const QVector<glm::vec3>& getPoints() const { return _points; }
     QVector<glm::vec3>& getPoints() { return _points; }
 
-    /// \param shapes list of shapes to be updated with new positions
     /// \param rotation rotation into shapes' collision frame
     /// \param translation translation into shapes' collision frame
-    void updateShapes(const QVector<Shape*>& shapes, const glm::quat& rotation, const glm::vec3& translation) const;
+    /// Moves and modifies elements of _shapes to agree with state of _points
+    void updateShapes(const glm::quat& rotation, const glm::vec3& translation) const;
 
 private:
-    QVector<Constraint*> _constraints;
     QVector<glm::vec3> _points;
+    QVector<Constraint*> _constraints;
+
+    // the RagDoll does NOT own the data in _shapes.
+    QVector<Shape*>* _shapes;
 };
 
 #endif // hifi_RagDoll_h

From 3c51ce76fc7d745f4290213f0f0d6a46862d1603 Mon Sep 17 00:00:00 2001
From: Andrew Meadows <andrew@highfidelity.io>
Date: Tue, 10 Jun 2014 15:24:17 -0700
Subject: [PATCH 008/105] Add simulationID to Model Shape and CollisionInfo

---
 interface/src/renderer/Model.cpp       | 29 ++++++++++++++++++++++++++
 interface/src/renderer/Model.h         |  7 +++++--
 libraries/shared/src/CollisionInfo.cpp |  2 ++
 libraries/shared/src/CollisionInfo.h   |  7 +++++++
 libraries/shared/src/Shape.h           |  7 +++++--
 5 files changed, 48 insertions(+), 4 deletions(-)

diff --git a/interface/src/renderer/Model.cpp b/interface/src/renderer/Model.cpp
index 03c1544aab..3003e29f54 100644
--- a/interface/src/renderer/Model.cpp
+++ b/interface/src/renderer/Model.cpp
@@ -37,6 +37,7 @@ Model::Model(QObject* parent) :
     _scaleToFit(false),
     _scaleToFitLargestDimension(0.0f),
     _scaledToFit(false),
+    _simulationIndex(-1),
     _snapModelToCenter(false),
     _snappedToCenter(false),
     _rootIndex(-1),
@@ -774,6 +775,34 @@ AnimationHandlePointer Model::createAnimationHandle() {
     return handle;
 }
 
+quint8 BITS_FOR_SHAPE_INDEX = 15;
+int MAX_SIMULATION_ID = 1 << (31 - BITS_FOR_SHAPE_INDEX);
+
+void Model::setSimulationIndex(int index) {
+    _simulationIndex = index;
+
+    if (_simulationIndex < 0 || _simulationIndex > MAX_SIMULATION_ID) {
+        // clear simulation ID's of all the shapes
+        for (int i = 0; i < _jointShapes.size(); i++) {
+            Shape* shape = _jointShapes[i];
+            if (shape) {
+                shape->setSimulationID(-1);
+            }
+        }
+    } else {
+        // update the simulation ID's of the shapes
+        // upper bits store this Model's index...
+        int shiftedIndex = _simulationIndex << BITS_FOR_SHAPE_INDEX;
+        for (int i = 0; i < _jointShapes.size(); i++) {
+            Shape* shape = _jointShapes[i];
+            if (shape) {
+                // ... lower bits are for the shape's index
+                shape->setSimulationID(shiftedIndex + i);
+            }
+        }
+    }
+}
+
 void Model::clearShapes() {
     for (int i = 0; i < _jointShapes.size(); ++i) {
         delete _jointShapes[i];
diff --git a/interface/src/renderer/Model.h b/interface/src/renderer/Model.h
index f8d4cf628b..aa0b34d750 100644
--- a/interface/src/renderer/Model.h
+++ b/interface/src/renderer/Model.h
@@ -134,9 +134,10 @@ public:
     QStringList getJointNames() const;
     
     AnimationHandlePointer createAnimationHandle();
-    
+
     const QList<AnimationHandlePointer>& getRunningAnimations() const { return _runningAnimations; }
-    
+   
+    void setSimulationIndex(int index);
     void clearShapes();
     void rebuildShapes();
     void resetShapePositions(); // DEBUG method
@@ -177,6 +178,8 @@ protected:
     bool _scaleToFit; /// If you set scaleToFit, we will calculate scale based on MeshExtents
     float _scaleToFitLargestDimension; /// this is the dimension that scale to fit will use
     bool _scaledToFit; /// have we scaled to fit
+
+    int _simulationIndex;   // set by SimulationEngine (if any)
     
     bool _snapModelToCenter; /// is the model's offset automatically adjusted to center around 0,0,0 in model space
     bool _snappedToCenter; /// are we currently snapped to center
diff --git a/libraries/shared/src/CollisionInfo.cpp b/libraries/shared/src/CollisionInfo.cpp
index 32deb56cd1..a1c3f0b368 100644
--- a/libraries/shared/src/CollisionInfo.cpp
+++ b/libraries/shared/src/CollisionInfo.cpp
@@ -47,6 +47,8 @@ void CollisionList::clear() {
         //collision._intData = 0;
         //collision._floatDAta = 0.0f;
         //collision._vecData = glm::vec3(0.0f);
+        //collision._shapeA = -1;
+        //collision._shapeB = -1;
         //collision._damping;
         //collision._elasticity;
         //collision._contactPoint;
diff --git a/libraries/shared/src/CollisionInfo.h b/libraries/shared/src/CollisionInfo.h
index cf48701a2b..ff228e3863 100644
--- a/libraries/shared/src/CollisionInfo.h
+++ b/libraries/shared/src/CollisionInfo.h
@@ -33,6 +33,8 @@ public:
     CollisionInfo() 
         : _data(NULL),
         _intData(0),
+        _shapeA(-1),
+        _shapeB(-1),
         _damping(0.f),
         _elasticity(1.f),
         _contactPoint(0.f), 
@@ -43,6 +45,8 @@ public:
     CollisionInfo(qint32 type)
         : _data(NULL),
         _intData(0),
+        _shapeA(-1),
+        _shapeB(-1),
         _damping(0.f),
         _elasticity(1.f),
         _contactPoint(0.f), 
@@ -58,6 +62,9 @@ public:
     float _floatData;
     glm::vec3 _vecData;
 
+    int _shapeA;  // ID of shapeA in its SimulationEngine
+    int _shapeB;  // ID of shapeB in its SimulationEngine
+
     float _damping;           // range [0,1] of friction coeficient
     float _elasticity;        // range [0,1] of energy conservation
     glm::vec3 _contactPoint;  // world-frame point on BodyA that is deepest into BodyB
diff --git a/libraries/shared/src/Shape.h b/libraries/shared/src/Shape.h
index 87b84ea73b..a9bddc00df 100644
--- a/libraries/shared/src/Shape.h
+++ b/libraries/shared/src/Shape.h
@@ -23,11 +23,10 @@ public:
         SPHERE_SHAPE,
         CAPSULE_SHAPE,
         PLANE_SHAPE,
-        BOX_SHAPE,
         LIST_SHAPE
     };
 
-    Shape() : _type(UNKNOWN_SHAPE), _boundingRadius(0.f), _position(0.f), _rotation() { }
+    Shape() : _type(UNKNOWN_SHAPE), _simulationID(-1), _boundingRadius(0.f), _position(0.f), _rotation() { }
     virtual ~Shape() {}
 
     int getType() const { return _type; }
@@ -38,6 +37,9 @@ public:
     virtual void setPosition(const glm::vec3& position) { _position = position; }
     virtual void setRotation(const glm::quat& rotation) { _rotation = rotation; }
 
+    void setSimulationID(int id) { _simulationID = id; }
+    int getSimulationID() const { return _simulationID; }
+
 protected:
     // these ctors are protected (used by derived classes only)
     Shape(Type type) : _type(type), _boundingRadius(0.f), _position(0.f), _rotation() {}
@@ -51,6 +53,7 @@ protected:
     void setBoundingRadius(float radius) { _boundingRadius = radius; }
 
     int _type;
+    int _simulationID;    // shape's simulation ID in SimulationEngine
     float _boundingRadius;
     glm::vec3 _position;
     glm::quat _rotation;

From 5be470bcbcbe1c34f9017d7768029257cd976d44 Mon Sep 17 00:00:00 2001
From: Andrew Meadows <andrew@highfidelity.io>
Date: Thu, 12 Jun 2014 13:13:00 -0700
Subject: [PATCH 009/105] add PhysicalEntity class

Model and RagDoll derive from PhysicalEntity
Shape gets back pointer to its Entity (shape sharing not possible)
CollisionInfo gets backpointers the shapes involved
---
 interface/src/renderer/Model.cpp        | 43 +++++++------------------
 interface/src/renderer/Model.h          |  5 +--
 libraries/shared/src/CollisionInfo.cpp  |  4 +--
 libraries/shared/src/CollisionInfo.h    | 17 ++++++----
 libraries/shared/src/PhysicalEntity.cpp | 24 ++++++++++++++
 libraries/shared/src/PhysicalEntity.h   | 43 +++++++++++++++++++++++++
 libraries/shared/src/RagDoll.cpp        |  9 +++++-
 libraries/shared/src/RagDoll.h          |  4 +--
 libraries/shared/src/Shape.h            | 15 +++++----
 libraries/shared/src/ShapeCollider.cpp  | 33 +++++++++++++++++++
 10 files changed, 145 insertions(+), 52 deletions(-)
 create mode 100644 libraries/shared/src/PhysicalEntity.cpp
 create mode 100644 libraries/shared/src/PhysicalEntity.h

diff --git a/interface/src/renderer/Model.cpp b/interface/src/renderer/Model.cpp
index 640b34b090..a1ef53163d 100644
--- a/interface/src/renderer/Model.cpp
+++ b/interface/src/renderer/Model.cpp
@@ -16,15 +16,15 @@
 #include <glm/gtx/transform.hpp>
 #include <glm/gtx/norm.hpp>
 
+#include <CapsuleShape.h>
 #include <GeometryUtil.h>
+#include <PhysicalEntity.h>
+#include <ShapeCollider.h>
+#include <SphereShape.h>
 
 #include "Application.h"
 #include "Model.h"
 
-#include <SphereShape.h>
-#include <CapsuleShape.h>
-#include <ShapeCollider.h>
-
 using namespace std;
 
 static int modelPointerTypeId = qRegisterMetaType<QPointer<Model> >();
@@ -33,6 +33,7 @@ static int vec3VectorTypeId = qRegisterMetaType<QVector<glm::vec3> >();
 
 Model::Model(QObject* parent) :
     QObject(parent),
+    PhysicalEntity(PhysicalEntity::ENTITY_MODEL),
     _scale(1.0f, 1.0f, 1.0f),
     _scaleToFit(false),
     _scaleToFitLargestDimension(0.0f),
@@ -775,34 +776,6 @@ AnimationHandlePointer Model::createAnimationHandle() {
     return handle;
 }
 
-quint8 BITS_FOR_SHAPE_INDEX = 15;
-int MAX_SIMULATION_ID = 1 << (31 - BITS_FOR_SHAPE_INDEX);
-
-void Model::setSimulationIndex(int index) {
-    _simulationIndex = index;
-
-    if (_simulationIndex < 0 || _simulationIndex > MAX_SIMULATION_ID) {
-        // clear simulation ID's of all the shapes
-        for (int i = 0; i < _jointShapes.size(); i++) {
-            Shape* shape = _jointShapes[i];
-            if (shape) {
-                shape->setSimulationID(-1);
-            }
-        }
-    } else {
-        // update the simulation ID's of the shapes
-        // upper bits store this Model's index...
-        int shiftedIndex = _simulationIndex << BITS_FOR_SHAPE_INDEX;
-        for (int i = 0; i < _jointShapes.size(); i++) {
-            Shape* shape = _jointShapes[i];
-            if (shape) {
-                // ... lower bits are for the shape's index
-                shape->setSimulationID(shiftedIndex + i);
-            }
-        }
-    }
-}
-
 void Model::clearShapes() {
     for (int i = 0; i < _jointShapes.size(); ++i) {
         delete _jointShapes[i];
@@ -836,10 +809,12 @@ void Model::rebuildShapes() {
         }
         if (type == Shape::CAPSULE_SHAPE) {
             CapsuleShape* capsule = new CapsuleShape(radius, halfHeight);
+            capsule->setEntity(this);
             _jointShapes.push_back(capsule);
         } else if (type == Shape::SPHERE_SHAPE) {
             SphereShape* sphere = new SphereShape(radius, glm::vec3(0.0f));
             _jointShapes.push_back(sphere);
+            sphere->setEntity(this);
         } else {
             // this shape type is not handled and the joint shouldn't collide, 
             // however we must have a Shape* for each joint, so we push NULL
@@ -1815,6 +1790,10 @@ void Model::renderMeshes(float alpha, RenderMode mode, bool translucent, bool re
     }
 }
 
+void Model::setShapeBackPointers() {
+    PhysicalEntity::setShapeBackPointers(_jointShapes, this);
+}
+
 void AnimationHandle::setURL(const QUrl& url) {
     if (_url != url) {
         _animation = Application::getInstance()->getAnimationCache()->getAnimation(_url = url);
diff --git a/interface/src/renderer/Model.h b/interface/src/renderer/Model.h
index aa0b34d750..cafca9abdd 100644
--- a/interface/src/renderer/Model.h
+++ b/interface/src/renderer/Model.h
@@ -17,6 +17,7 @@
 #include <QUrl>
 
 #include <CapsuleShape.h>
+#include <PhysicalEntity.h>
 
 #include <AnimationCache.h>
 
@@ -33,7 +34,7 @@ typedef QSharedPointer<AnimationHandle> AnimationHandlePointer;
 typedef QWeakPointer<AnimationHandle> WeakAnimationHandlePointer;
 
 /// A generic 3D model displaying geometry loaded from a URL.
-class Model : public QObject {
+class Model : public QObject, public PhysicalEntity {
     Q_OBJECT
     
 public:
@@ -137,7 +138,6 @@ public:
 
     const QList<AnimationHandlePointer>& getRunningAnimations() const { return _runningAnimations; }
    
-    void setSimulationIndex(int index);
     void clearShapes();
     void rebuildShapes();
     void resetShapePositions(); // DEBUG method
@@ -167,6 +167,7 @@ public:
     const CapsuleShape& getBoundingShape() const { return _boundingShape; }
 
 protected:
+    virtual void setShapeBackPointers();
 
     QSharedPointer<NetworkGeometry> _geometry;
     
diff --git a/libraries/shared/src/CollisionInfo.cpp b/libraries/shared/src/CollisionInfo.cpp
index a1c3f0b368..39b49ed90e 100644
--- a/libraries/shared/src/CollisionInfo.cpp
+++ b/libraries/shared/src/CollisionInfo.cpp
@@ -47,8 +47,8 @@ void CollisionList::clear() {
         //collision._intData = 0;
         //collision._floatDAta = 0.0f;
         //collision._vecData = glm::vec3(0.0f);
-        //collision._shapeA = -1;
-        //collision._shapeB = -1;
+        //collision._shapeA = NULL;
+        //collision._shapeB = NULL;
         //collision._damping;
         //collision._elasticity;
         //collision._contactPoint;
diff --git a/libraries/shared/src/CollisionInfo.h b/libraries/shared/src/CollisionInfo.h
index ff228e3863..7f14f6b5dc 100644
--- a/libraries/shared/src/CollisionInfo.h
+++ b/libraries/shared/src/CollisionInfo.h
@@ -17,6 +17,8 @@
 
 #include <QVector>
 
+class Shape;
+
 const quint32 COLLISION_GROUP_ENVIRONMENT = 1U << 0;
 const quint32 COLLISION_GROUP_AVATARS     = 1U << 1;
 const quint32 COLLISION_GROUP_VOXELS      = 1U << 2;
@@ -33,8 +35,8 @@ public:
     CollisionInfo() 
         : _data(NULL),
         _intData(0),
-        _shapeA(-1),
-        _shapeB(-1),
+        _shapeA(NULL),
+        _shapeB(NULL),
         _damping(0.f),
         _elasticity(1.f),
         _contactPoint(0.f), 
@@ -45,8 +47,8 @@ public:
     CollisionInfo(qint32 type)
         : _data(NULL),
         _intData(0),
-        _shapeA(-1),
-        _shapeB(-1),
+        _shapeA(NULL),
+        _shapeB(NULL),
         _damping(0.f),
         _elasticity(1.f),
         _contactPoint(0.f), 
@@ -62,8 +64,11 @@ public:
     float _floatData;
     glm::vec3 _vecData;
 
-    int _shapeA;  // ID of shapeA in its SimulationEngine
-    int _shapeB;  // ID of shapeB in its SimulationEngine
+    Shape* getShapeA() const { return const_cast<Shape*>(_shapeA); }
+    Shape* getShapeB() const { return const_cast<Shape*>(_shapeB); }
+
+    const Shape* _shapeA;  // pointer to shapeA in this collision
+    const Shape* _shapeB;  // pointer to shapeB in this collision
 
     float _damping;           // range [0,1] of friction coeficient
     float _elasticity;        // range [0,1] of energy conservation
diff --git a/libraries/shared/src/PhysicalEntity.cpp b/libraries/shared/src/PhysicalEntity.cpp
new file mode 100644
index 0000000000..43e25b2f1b
--- /dev/null
+++ b/libraries/shared/src/PhysicalEntity.cpp
@@ -0,0 +1,24 @@
+//
+//  PhysicalEntity.cpp
+//  libraries/shared/src
+//
+//  Created by Andrew Meadows 2014.06.11
+//  Copyright 2014 High Fidelity, Inc.
+//
+//  Distributed under the Apache License, Version 2.0.
+//  See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
+//
+
+#include "PhysicalEntity.h"
+#include "Shape.h"
+
+// static 
+void PhysicalEntity::setShapeBackPointers(const QVector<Shape*>& shapes, PhysicalEntity* entity) {
+    for (int i = 0; i < shapes.size(); i++) {
+        Shape* shape = shapes[i];
+        if (shape) {
+            shape->setEntity(entity);
+        }
+    }
+}
+
diff --git a/libraries/shared/src/PhysicalEntity.h b/libraries/shared/src/PhysicalEntity.h
new file mode 100644
index 0000000000..83469d4775
--- /dev/null
+++ b/libraries/shared/src/PhysicalEntity.h
@@ -0,0 +1,43 @@
+//
+//  PhysicalEntity.h
+//  libraries/shared/src
+//
+//  Created by Andrew Meadows 2014.05.30
+//  Copyright 2014 High Fidelity, Inc.
+//
+//  Distributed under the Apache License, Version 2.0.
+//  See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
+//
+
+#ifndef hifi_PhysicalEntity_h
+#define hifi_PhysicalEntity_h
+
+#include <QVector>
+
+class Shape;
+
+// PhysicalEntity is the base class for anything that owns one or more Shapes that collide in a 
+// SimulationEngine.  Each CollisionInfo generated by a SimulationEngine has back pointers to the 
+// two Shapes involved, and those Shapes may (optionally) have valid back pointers to their PhysicalEntity.
+
+class PhysicalEntity {
+
+public:
+    enum EntityType {
+        ENTITY_UNKNOWN,
+        ENTITY_MODEL,
+        ENTITY_RAGDOLL,
+    };
+
+    static void setShapeBackPointers(const QVector<Shape*>& shapes, PhysicalEntity* entity);
+
+    PhysicalEntity(EntityType type = ENTITY_UNKNOWN) : _entityType(type) {}
+    virtual ~PhysicalEntity() {}
+
+    EntityType getEntityType() const { return _entityType; }
+    
+protected:
+    EntityType _entityType;
+};
+
+#endif // hifi_PhysicalEntity_h
diff --git a/libraries/shared/src/RagDoll.cpp b/libraries/shared/src/RagDoll.cpp
index 867011f0f2..67cb368a02 100644
--- a/libraries/shared/src/RagDoll.cpp
+++ b/libraries/shared/src/RagDoll.cpp
@@ -94,7 +94,7 @@ void DistanceConstraint::updateProxyShape(Shape* shape, const glm::quat& rotatio
 // RagDoll
 // ----------------------------------------------------------------------------
 
-RagDoll::RagDoll() : _shapes(NULL) {
+RagDoll::RagDoll() : PhysicalEntity(PhysicalEntity::ENTITY_RAGDOLL), _shapes(NULL) {
 }
 
 RagDoll::~RagDoll() {
@@ -121,6 +121,9 @@ void RagDoll::init(QVector<Shape*>* shapes, const QVector<int>& parentIndices, c
             _constraints.push_back(stick);
         }
     }
+    if (_shapes) {
+        PhysicalEntity::setShapeBackPointers(*_shapes, this);
+    }
 }
 
 /// Delete all data.
@@ -131,6 +134,10 @@ void RagDoll::clear() {
     }
     _constraints.clear();
     _points.clear();
+    if (_shapes) {
+        PhysicalEntity::setShapeBackPointers(*_shapes, NULL);
+    }
+    _shapes = NULL;
 }
 
 float RagDoll::enforceConstraints() {
diff --git a/libraries/shared/src/RagDoll.h b/libraries/shared/src/RagDoll.h
index bc3786d547..5a7387102a 100644
--- a/libraries/shared/src/RagDoll.h
+++ b/libraries/shared/src/RagDoll.h
@@ -17,7 +17,7 @@
 
 #include <QVector>
 
-class Shape;
+#include "PhysicalEntity.h"
 
 class Constraint {
 public:
@@ -61,7 +61,7 @@ private:
     glm::vec3* _points[2];
 };
 
-class RagDoll {
+class RagDoll : public PhysicalEntity {
 public:
 
     RagDoll();
diff --git a/libraries/shared/src/Shape.h b/libraries/shared/src/Shape.h
index a9bddc00df..7c8a3abc76 100644
--- a/libraries/shared/src/Shape.h
+++ b/libraries/shared/src/Shape.h
@@ -15,6 +15,7 @@
 #include <glm/glm.hpp>
 #include <glm/gtc/quaternion.hpp>
 
+class PhysicalEntity;
 
 class Shape {
 public:
@@ -26,7 +27,7 @@ public:
         LIST_SHAPE
     };
 
-    Shape() : _type(UNKNOWN_SHAPE), _simulationID(-1), _boundingRadius(0.f), _position(0.f), _rotation() { }
+    Shape() : _type(UNKNOWN_SHAPE), _owningEntity(NULL), _boundingRadius(0.f), _position(0.f), _rotation() { }
     virtual ~Shape() {}
 
     int getType() const { return _type; }
@@ -37,23 +38,23 @@ public:
     virtual void setPosition(const glm::vec3& position) { _position = position; }
     virtual void setRotation(const glm::quat& rotation) { _rotation = rotation; }
 
-    void setSimulationID(int id) { _simulationID = id; }
-    int getSimulationID() const { return _simulationID; }
+    void setEntity(PhysicalEntity* entity) { _owningEntity = entity; }
+    PhysicalEntity* getEntity() const { return _owningEntity; }
 
 protected:
     // these ctors are protected (used by derived classes only)
-    Shape(Type type) : _type(type), _boundingRadius(0.f), _position(0.f), _rotation() {}
+    Shape(Type type) : _type(type), _owningEntity(NULL), _boundingRadius(0.f), _position(0.f), _rotation() {}
 
     Shape(Type type, const glm::vec3& position) 
-        : _type(type), _boundingRadius(0.f), _position(position), _rotation() {}
+        : _type(type), _owningEntity(NULL), _boundingRadius(0.f), _position(position), _rotation() {}
 
     Shape(Type type, const glm::vec3& position, const glm::quat& rotation) 
-        : _type(type), _boundingRadius(0.f), _position(position), _rotation(rotation) {}
+        : _type(type), _owningEntity(NULL), _boundingRadius(0.f), _position(position), _rotation(rotation) {}
 
     void setBoundingRadius(float radius) { _boundingRadius = radius; }
 
     int _type;
-    int _simulationID;    // shape's simulation ID in SimulationEngine
+    PhysicalEntity* _owningEntity;
     float _boundingRadius;
     glm::vec3 _position;
     glm::quat _rotation;
diff --git a/libraries/shared/src/ShapeCollider.cpp b/libraries/shared/src/ShapeCollider.cpp
index e80d26d860..5c7acbb6a6 100644
--- a/libraries/shared/src/ShapeCollider.cpp
+++ b/libraries/shared/src/ShapeCollider.cpp
@@ -87,6 +87,9 @@ bool collideShapesCoarse(const QVector<const Shape*>& shapesA, const QVector<con
         }
         collision._penetration = totalPenetration;
         collision._contactPoint = averageContactPoint / (float)(tempCollisions.size());
+        // there are no valid shape pointers for this collision so we set them NULL
+        collision._shapeA = NULL;
+        collision._shapeB = NULL;
         return true;
     }
     return false;
@@ -135,6 +138,8 @@ bool sphereSphere(const SphereShape* sphereA, const SphereShape* sphereB, Collis
             collision->_penetration = BA * (totalRadius - distance);
             // contactPoint is on surface of A
             collision->_contactPoint = sphereA->getPosition() + sphereA->getRadius() * BA;
+            collision->_shapeA = sphereA;
+            collision->_shapeB = sphereB;
             return true;
         }
     }
@@ -179,6 +184,8 @@ bool sphereCapsule(const SphereShape* sphereA, const CapsuleShape* capsuleB, Col
             collision->_penetration = (totalRadius - radialDistance) * radialAxis; // points from A into B
             // contactPoint is on surface of sphereA
             collision->_contactPoint = sphereA->getPosition() + sphereA->getRadius() * radialAxis;
+            collision->_shapeA = sphereA;
+            collision->_shapeB = capsuleB;
         } else {
             // A is on B's axis, so the penetration is undefined... 
             if (absAxialDistance > capsuleB->getHalfHeight()) {
@@ -200,6 +207,8 @@ bool sphereCapsule(const SphereShape* sphereA, const CapsuleShape* capsuleB, Col
             collision->_penetration = (sign * (totalRadius + capsuleB->getHalfHeight() - absAxialDistance)) * capsuleAxis;
             // contactPoint is on surface of sphereA
             collision->_contactPoint = sphereA->getPosition() + (sign * sphereA->getRadius()) * capsuleAxis;
+            collision->_shapeA = sphereA;
+            collision->_shapeB = capsuleB;
         }
         return true;
     }
@@ -215,6 +224,8 @@ bool spherePlane(const SphereShape* sphereA, const PlaneShape* planeB, Collision
         }
         collision->_penetration = penetration;
         collision->_contactPoint = sphereA->getPosition() + sphereA->getRadius() * glm::normalize(penetration);
+        collision->_shapeA = sphereA;
+        collision->_shapeB = planeB;
         return true;
     }
     return false;
@@ -264,6 +275,8 @@ bool capsuleSphere(const CapsuleShape* capsuleA, const SphereShape* sphereB, Col
             collision->_penetration = (radialDistance - totalRadius) * radialAxis; // points from A into B
             // contactPoint is on surface of capsuleA
             collision->_contactPoint = closestApproach - capsuleA->getRadius() * radialAxis;
+            collision->_shapeA = capsuleA;
+            collision->_shapeB = sphereB;
         } else {
             // A is on B's axis, so the penetration is undefined... 
             if (absAxialDistance > capsuleA->getHalfHeight()) {
@@ -284,6 +297,8 @@ bool capsuleSphere(const CapsuleShape* capsuleA, const SphereShape* sphereB, Col
                 collision->_penetration = (sign * (totalRadius + capsuleA->getHalfHeight() - absAxialDistance)) * capsuleAxis;
                 // contactPoint is on surface of sphereA
                 collision->_contactPoint = closestApproach + (sign * capsuleA->getRadius()) * capsuleAxis;
+                collision->_shapeA = capsuleA;
+                collision->_shapeB = sphereB;
             }
         }
         return true;
@@ -355,6 +370,8 @@ bool capsuleCapsule(const CapsuleShape* capsuleA, const CapsuleShape* capsuleB,
             collision->_penetration = BA * (totalRadius - distance);
             // contactPoint is on surface of A
             collision->_contactPoint = centerA + distanceA * axisA + capsuleA->getRadius() * BA;
+            collision->_shapeA = capsuleA;
+            collision->_shapeB = capsuleB;
             return true;
         }
     } else {
@@ -420,6 +437,8 @@ bool capsuleCapsule(const CapsuleShape* capsuleA, const CapsuleShape* capsuleB,
             // average the internal pair, and then do the math from centerB
             collision->_contactPoint = centerB + (0.5f * (points[1] + points[2])) * axisB 
                 + (capsuleA->getRadius() - distance) * BA;
+            collision->_shapeA = capsuleA;
+            collision->_shapeB = capsuleB;
             return true;
         }
     }
@@ -439,6 +458,8 @@ bool capsulePlane(const CapsuleShape* capsuleA, const PlaneShape* planeB, Collis
         collision->_penetration = penetration;
         glm::vec3 deepestEnd = (glm::dot(start, glm::vec3(plane)) < glm::dot(end, glm::vec3(plane))) ? start : end;
         collision->_contactPoint = deepestEnd + capsuleA->getRadius() * glm::normalize(penetration);
+        collision->_shapeA = capsuleA;
+        collision->_shapeB = planeB;
         return true;
     }
     return false;
@@ -454,6 +475,8 @@ bool planeSphere(const PlaneShape* planeA, const SphereShape* sphereB, Collision
         collision->_penetration = -penetration;
         collision->_contactPoint = sphereB->getPosition() +
             (sphereB->getRadius() / glm::length(penetration) - 1.0f) * penetration;
+        collision->_shapeA = planeA;
+        collision->_shapeB = sphereB;
         return true;
     }
     return false;
@@ -472,6 +495,8 @@ bool planeCapsule(const PlaneShape* planeA, const CapsuleShape* capsuleB, Collis
         collision->_penetration = -penetration;
         glm::vec3 deepestEnd = (glm::dot(start, glm::vec3(plane)) < glm::dot(end, glm::vec3(plane))) ? start : end;
         collision->_contactPoint = deepestEnd + (capsuleB->getRadius() / glm::length(penetration) - 1.0f) * penetration;
+        collision->_shapeA = planeA;
+        collision->_shapeB = capsuleB;
         return true;
     }
     return false;
@@ -664,6 +689,8 @@ bool sphereAACube(const glm::vec3& sphereCenter, float sphereRadius, const glm::
         }
         collision->_floatData = cubeSide;
         collision->_vecData = cubeCenter;
+        collision->_shapeA = NULL;
+        collision->_shapeB = NULL;
         return true;
     } else if (sphereRadius + halfCubeSide > distance) {
         // NOTE: for cocentric approximation we collide sphere and cube as two spheres which means 
@@ -677,6 +704,8 @@ bool sphereAACube(const glm::vec3& sphereCenter, float sphereRadius, const glm::
 
             collision->_floatData = cubeSide;
             collision->_vecData = cubeCenter;
+            collision->_shapeA = NULL;
+            collision->_shapeB = NULL;
             return true;
         }
     }
@@ -712,6 +741,8 @@ bool sphereAACube_StarkAngles(const glm::vec3& sphereCenter, float sphereRadius,
                 collision->_penetration = glm::dot(surfaceAB, direction) * direction;
                 // contactPoint is on surface of A
                 collision->_contactPoint = sphereCenter + sphereRadius * direction;
+                collision->_shapeA = NULL;
+                collision->_shapeB = NULL;
                 return true;
             }
         }
@@ -724,6 +755,8 @@ bool sphereAACube_StarkAngles(const glm::vec3& sphereCenter, float sphereRadius,
             collision->_penetration = (sphereRadius + 0.5f * cubeSide) * glm::vec3(0.0f, -1.0f, 0.0f);
             // contactPoint is on surface of A
             collision->_contactPoint = sphereCenter + collision->_penetration;
+            collision->_shapeA = NULL;
+            collision->_shapeB = NULL;
             return true;
         }
     }

From fb7f5707c87a8ec573b4a32debf395c86fc9a1dc Mon Sep 17 00:00:00 2001
From: Andrew Meadows <andrew@highfidelity.io>
Date: Thu, 12 Jun 2014 18:15:20 -0700
Subject: [PATCH 010/105] add SimulationEngine, MyAvatar has one.

---
 interface/src/avatar/MyAvatar.cpp         |  3 +-
 interface/src/avatar/MyAvatar.h           |  3 +
 libraries/shared/src/SimulationEngine.cpp | 77 +++++++++++++++++++++++
 libraries/shared/src/SimulationEngine.h   | 44 +++++++++++++
 4 files changed, 126 insertions(+), 1 deletion(-)
 create mode 100644 libraries/shared/src/SimulationEngine.cpp
 create mode 100644 libraries/shared/src/SimulationEngine.h

diff --git a/interface/src/avatar/MyAvatar.cpp b/interface/src/avatar/MyAvatar.cpp
index bebe2fbec7..842308ecbb 100644
--- a/interface/src/avatar/MyAvatar.cpp
+++ b/interface/src/avatar/MyAvatar.cpp
@@ -76,7 +76,8 @@ MyAvatar::MyAvatar() :
     _lastFloorContactPoint(0.0f),
     _lookAtTargetAvatar(),
     _shouldRender(true),
-    _billboardValid(false)
+    _billboardValid(false),
+    _simulationEngine()
 {
     for (int i = 0; i < MAX_DRIVE_KEYS; i++) {
         _driveKeys[i] = 0.0f;
diff --git a/interface/src/avatar/MyAvatar.h b/interface/src/avatar/MyAvatar.h
index d99102c356..b2b6dee7fd 100644
--- a/interface/src/avatar/MyAvatar.h
+++ b/interface/src/avatar/MyAvatar.h
@@ -14,6 +14,8 @@
 
 #include <QSettings>
 
+#include <SimulationEngine.h>
+
 #include "Avatar.h"
 
 enum AvatarHandState
@@ -172,6 +174,7 @@ private:
     float _oculusYawOffset;
 
     QList<AnimationHandlePointer> _animationHandles;
+    SimulationEngine _simulationEngine;
 
 	// private methods
     float computeDistanceToFloor(const glm::vec3& startPoint);
diff --git a/libraries/shared/src/SimulationEngine.cpp b/libraries/shared/src/SimulationEngine.cpp
new file mode 100644
index 0000000000..e21364b17c
--- /dev/null
+++ b/libraries/shared/src/SimulationEngine.cpp
@@ -0,0 +1,77 @@
+//
+//  SimulationEngine.cpp
+//  interface/src/avatar
+//
+//  Created by Andrew Meadows 2014.06.06
+//  Copyright 2014 High Fidelity, Inc.
+//
+//  Distributed under the Apache License, Version 2.0.
+//  See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
+//
+
+#include <glm/glm.hpp>
+
+#include "SimulationEngine.h"
+
+int MAX_DOLLS_PER_ENGINE = 32;
+int MAX_COLLISIONS_PER_ENGINE = 256;
+
+const int NUM_SHAPE_BITS = 6;
+const int SHAPE_INDEX_MASK = (1 << (NUM_SHAPE_BITS + 1)) - 1;
+
+SimulationEngine::SimulationEngine() : _collisionList(MAX_COLLISIONS_PER_ENGINE) {
+}
+
+SimulationEngine::~SimulationEngine() {
+    _dolls.clear();
+}
+
+bool SimulationEngine::addRagDoll(RagDoll* doll) {
+    int numDolls = _dolls.size();
+    if (numDolls < MAX_DOLLS_PER_ENGINE) {
+        for (int i = 0; i < numDolls; ++i) {
+            if (doll == _dolls[i]) {
+                // already in list
+                return true;
+            }
+        }
+        _dolls.push_back(doll);
+        return true;
+    }
+    return false;
+}
+
+void SimulationEngine::removeRagDoll(RagDoll* doll) {
+    int numDolls = _dolls.size();
+    for (int i = 0; i < numDolls; ++i) {
+        if (doll == _dolls[i]) {
+            if (i == numDolls - 1) {
+                // remove it
+                _dolls.pop_back();
+            } else {
+                // swap the last for this one
+                RagDoll* lastDoll = _dolls[numDolls - 1];
+                _dolls.pop_back();
+                _dolls[i] = lastDoll;
+            }
+            break;
+        }
+    }
+}
+
+float SimulationEngine::enforceConstraints() {
+    float maxMovement = 0.0f;
+    int numDolls = _dolls.size();
+    for (int i = 0; i < numDolls; ++i) {
+        maxMovement = glm::max(maxMovement, _dolls[i]->enforceConstraints());
+    }
+    return maxMovement;
+}
+
+int SimulationEngine::computeCollisions() {
+    return 0.0f;
+}
+
+void SimulationEngine::processCollisions() {
+}
+
diff --git a/libraries/shared/src/SimulationEngine.h b/libraries/shared/src/SimulationEngine.h
new file mode 100644
index 0000000000..6b6a225542
--- /dev/null
+++ b/libraries/shared/src/SimulationEngine.h
@@ -0,0 +1,44 @@
+//
+//  SimulationEngine.h
+//  interface/src/avatar
+//
+//  Created by Andrew Meadows 2014.06.06
+//  Copyright 2014 High Fidelity, Inc.
+//
+//  Distributed under the Apache License, Version 2.0.
+//  See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
+//
+
+#ifndef hifi_SimulationEngine_h
+#define hifi_SimulationEngine_h
+
+#include <QVector>
+
+#include "CollisionInfo.h"
+#include "RagDoll.h"
+
+class SimulationEngine {
+public:
+
+    SimulationEngine();
+    ~SimulationEngine();
+
+    /// \return true if doll was added to, or already in the list
+    bool addRagDoll(RagDoll* doll);
+
+    void removeRagDoll(RagDoll* doll);
+
+    /// \return distance of largest movement
+    float enforceConstraints();
+
+    /// \return number of collisions
+    int computeCollisions();
+
+    void processCollisions();
+
+private:
+    CollisionList _collisionList;
+    QVector<RagDoll*> _dolls;
+};
+
+#endif // hifi_SimulationEngine_h

From 718b98f70ace823bbd326ab43e53e12d86ac064e Mon Sep 17 00:00:00 2001
From: Andrew Meadows <andrew@highfidelity.io>
Date: Thu, 12 Jun 2014 18:15:44 -0700
Subject: [PATCH 011/105] Only build shapes for models that need them

---
 interface/src/avatar/SkeletonModel.cpp |  2 ++
 interface/src/renderer/Model.cpp       | 44 +++++++++++++++++++++++---
 interface/src/renderer/Model.h         |  4 +--
 3 files changed, 43 insertions(+), 7 deletions(-)

diff --git a/interface/src/avatar/SkeletonModel.cpp b/interface/src/avatar/SkeletonModel.cpp
index df69ceb356..dc2c1e9112 100644
--- a/interface/src/avatar/SkeletonModel.cpp
+++ b/interface/src/avatar/SkeletonModel.cpp
@@ -37,6 +37,8 @@ void SkeletonModel::setJointStates(QVector<JointState> states) {
             points.push_back(state.getPosition());
         }
         // ... and feed the results to _ragDoll
+        // It is OK that_jointShapes is probably empty at this stage: _ragDoll keeps a
+        // pointer to it and things will start working as soon as the list is populated.
         _ragDoll.init(&_jointShapes, parentIndices, points);
     }
 }
diff --git a/interface/src/renderer/Model.cpp b/interface/src/renderer/Model.cpp
index a1ef53163d..03e0cac620 100644
--- a/interface/src/renderer/Model.cpp
+++ b/interface/src/renderer/Model.cpp
@@ -117,6 +117,19 @@ Model::SkinLocations Model::_skinCascadedShadowSpecularMapLocations;
 Model::SkinLocations Model::_skinCascadedShadowNormalSpecularMapLocations;
 Model::SkinLocations Model::_skinShadowLocations;
 
+void Model::setTranslation(const glm::vec3& translation) { 
+    if (_translation != translation) {
+        _shapesAreDirty = !_jointShapes.isEmpty();
+        _translation = translation; 
+    }
+}
+void Model::setRotation(const glm::quat& rotation) { 
+    if (_rotation != rotation) {
+        _shapesAreDirty = !_jointShapes.isEmpty();
+        _rotation = rotation;
+    }
+}
+
 void Model::setScale(const glm::vec3& scale) {
     setScaleInternal(scale);
     // if anyone sets scale manually, then we are no longer scaled to fit
@@ -131,7 +144,9 @@ void Model::setScaleInternal(const glm::vec3& scale) {
     const float ONE_PERCENT = 0.01f;
     if (relativeDeltaScale > ONE_PERCENT || scaleLength < EPSILON) {
         _scale = scale;
-        rebuildShapes();
+        if (_jointShapes.size() > 0) {
+            rebuildShapes();
+        }
     }
 }
 
@@ -553,7 +568,9 @@ bool Model::updateGeometry() {
             model->setURL(attachment.url);
             _attachments.append(model);
         }
-        rebuildShapes();
+        if (!_jointShapes.isEmpty()) {
+            rebuildShapes();
+        }
         needFullUpdate = true;
     }
     return needFullUpdate;
@@ -562,6 +579,18 @@ bool Model::updateGeometry() {
 // virtual
 void Model::setJointStates(QVector<JointState> states) {
     _jointStates = states;
+
+    // compute an approximate bounding radius for broadphase collision queries
+    // against SimulationEngine boundaries
+    int numJoints = _jointStates.size();
+    float radius = 0.0f;
+    for (int i = 0; i < numJoints; ++i) {
+        float distance = glm::length(_jointStates[i].getPosition());
+        if (distance > radius) {
+            radius = distance;
+        }
+    }
+    _boundingRadius = radius;
 }
 
 bool Model::render(float alpha, RenderMode mode, bool receiveShadows) {
@@ -940,7 +969,7 @@ void Model::resetShapePositions() {
     // Moves shapes to the joint default locations for debug visibility into
     // how the bounding shape is computed.
 
-    if (!_geometry || _rootIndex == -1) {
+    if (!_geometry || _rootIndex == -1 || _jointShapes.isEmpty()) {
         // geometry or joints have not yet been created
         return;
     }
@@ -1213,7 +1242,7 @@ void Model::simulateInternal(float deltaTime) {
     for (int i = 0; i < _jointStates.size(); i++) {
         updateJointState(i);
     }
-    _shapesAreDirty = true;
+    _shapesAreDirty = ! _jointShapes.isEmpty();
     
     // update the attachment transforms and simulate them
     const FBXGeometry& geometry = _geometry->getFBXGeometry();
@@ -1348,7 +1377,7 @@ bool Model::setJointPosition(int jointIndex, const glm::vec3& position, const gl
     for (int j = freeLineage.size() - 1; j >= 0; j--) {
         updateJointState(freeLineage.at(j));
     }
-    _shapesAreDirty = true;
+    _shapesAreDirty = !_jointShapes.isEmpty();
         
     return true;
 }
@@ -1435,6 +1464,11 @@ void Model::renderJointCollisionShapes(float alpha) {
 }
 
 void Model::renderBoundingCollisionShapes(float alpha) {
+    if (_jointShapes.isEmpty()) {
+        // the bounding shape has not been propery computed
+        // so no need to render it
+        return;
+    }
     glPushMatrix();
 
     Application::getInstance()->loadTranslatedViewMatrix(_translation);
diff --git a/interface/src/renderer/Model.h b/interface/src/renderer/Model.h
index cafca9abdd..64868c6751 100644
--- a/interface/src/renderer/Model.h
+++ b/interface/src/renderer/Model.h
@@ -42,10 +42,10 @@ public:
     Model(QObject* parent = NULL);
     virtual ~Model();
     
-    void setTranslation(const glm::vec3& translation) { _translation = translation; }
+    void setTranslation(const glm::vec3& translation);
     const glm::vec3& getTranslation() const { return _translation; }
     
-    void setRotation(const glm::quat& rotation) { _rotation = rotation; }
+    void setRotation(const glm::quat& rotation);
     const glm::quat& getRotation() const { return _rotation; }
     
     /// enables/disables scale to fit behavior, the model will be automatically scaled to the specified largest dimension

From 417a7def075187ecbc0d2c0c0bb0e6089675d549 Mon Sep 17 00:00:00 2001
From: Andrew Meadows <andrew@highfidelity.io>
Date: Fri, 13 Jun 2014 11:10:32 -0700
Subject: [PATCH 012/105] SimulationEngine::enforceConstraints() takes args

...for limiting simulation costs
---
 libraries/shared/src/SimulationEngine.cpp | 28 +++++++++++++++++------
 libraries/shared/src/SimulationEngine.h   | 14 +++++++++++-
 2 files changed, 34 insertions(+), 8 deletions(-)

diff --git a/libraries/shared/src/SimulationEngine.cpp b/libraries/shared/src/SimulationEngine.cpp
index e21364b17c..5cc7cbcc5a 100644
--- a/libraries/shared/src/SimulationEngine.cpp
+++ b/libraries/shared/src/SimulationEngine.cpp
@@ -11,6 +11,7 @@
 
 #include <glm/glm.hpp>
 
+#include "SharedUtil.h"
 #include "SimulationEngine.h"
 
 int MAX_DOLLS_PER_ENGINE = 32;
@@ -59,13 +60,26 @@ void SimulationEngine::removeRagDoll(RagDoll* doll) {
     }
 }
 
-float SimulationEngine::enforceConstraints() {
-    float maxMovement = 0.0f;
-    int numDolls = _dolls.size();
-    for (int i = 0; i < numDolls; ++i) {
-        maxMovement = glm::max(maxMovement, _dolls[i]->enforceConstraints());
-    }
-    return maxMovement;
+void SimulationEngine::enforceConstraints(float minError, int maxIterations, quint64 maxUsec) {
+    // enforce the constraints
+    int iterations = 0;
+    float delta = 0.0f;
+    quint64 now = usecTimestampNow();
+    quint64 startTime = now;
+    quint64 expiry = now + maxUsec;
+    float error = 0.0f;
+    do {
+        error = 0.0f;
+        int numDolls = _dolls.size();
+        for (int i = 0; i < numDolls; ++i) {
+            error = glm::max(error, _dolls[i]->enforceConstraints());
+        }
+        ++iterations;
+        now = usecTimestampNow();
+    } while (iterations < maxIterations && delta > minError && now < expiry);
+    _enforcementIterations = iterations;
+    _enforcementError = delta;
+    _enforcementTime = now - startTime;
 }
 
 int SimulationEngine::computeCollisions() {
diff --git a/libraries/shared/src/SimulationEngine.h b/libraries/shared/src/SimulationEngine.h
index 6b6a225542..d7e4468392 100644
--- a/libraries/shared/src/SimulationEngine.h
+++ b/libraries/shared/src/SimulationEngine.h
@@ -28,8 +28,15 @@ public:
 
     void removeRagDoll(RagDoll* doll);
 
+    /// \param minError constraint motion below this value is considered "close enough"
+    /// \param maxIterations max number of iterations before giving up
+    /// \param maxUsec max number of usec to spend enforcing constraints
     /// \return distance of largest movement
-    float enforceConstraints();
+    void enforceConstraints(float minError, int maxIterations, quint64 maxUsec);
+
+    int getEnforementIterations() const { return _enforcementIterations; }
+    float getEnforcementError() const { return _enforcementError; }
+    quint64 getEnforcementTime() const { return _enforcementTime; }
 
     /// \return number of collisions
     int computeCollisions();
@@ -39,6 +46,11 @@ public:
 private:
     CollisionList _collisionList;
     QVector<RagDoll*> _dolls;
+
+    // some stats for performance queries
+    int _enforcementIterations;
+    float _enforcementError;
+    quint64 _enforcementTime;
 };
 
 #endif // hifi_SimulationEngine_h

From 5bd37acdb86ad31333ef52aff307e5ccdb60c799 Mon Sep 17 00:00:00 2001
From: Andrew Meadows <andrew@highfidelity.io>
Date: Fri, 13 Jun 2014 11:55:39 -0700
Subject: [PATCH 013/105] Changed RagDoll to Ragdoll

---
 interface/src/Menu.cpp                         |  2 +-
 interface/src/Menu.h                           |  2 +-
 interface/src/avatar/SkeletonModel.cpp         | 10 +++++-----
 interface/src/avatar/SkeletonModel.h           |  8 ++++----
 .../shared/src/{RagDoll.cpp => Ragdoll.cpp}    | 18 +++++++++---------
 libraries/shared/src/{RagDoll.h => Ragdoll.h}  | 16 ++++++++--------
 libraries/shared/src/SimulationEngine.cpp      |  6 +++---
 libraries/shared/src/SimulationEngine.h        |  8 ++++----
 8 files changed, 35 insertions(+), 35 deletions(-)
 rename libraries/shared/src/{RagDoll.cpp => Ragdoll.cpp} (94%)
 rename libraries/shared/src/{RagDoll.h => Ragdoll.h} (92%)

diff --git a/interface/src/Menu.cpp b/interface/src/Menu.cpp
index f791d20588..d6257ef8d6 100644
--- a/interface/src/Menu.cpp
+++ b/interface/src/Menu.cpp
@@ -353,7 +353,7 @@ Menu::Menu() :
     addCheckableActionToQMenuAndActionHash(avatarOptionsMenu, MenuOption::RenderSkeletonCollisionShapes);
     addCheckableActionToQMenuAndActionHash(avatarOptionsMenu, MenuOption::RenderHeadCollisionShapes);
     addCheckableActionToQMenuAndActionHash(avatarOptionsMenu, MenuOption::RenderBoundingCollisionShapes);
-    addCheckableActionToQMenuAndActionHash(avatarOptionsMenu, MenuOption::CollideAsRagDoll);
+    addCheckableActionToQMenuAndActionHash(avatarOptionsMenu, MenuOption::CollideAsRagdoll);
 
     addCheckableActionToQMenuAndActionHash(avatarOptionsMenu, MenuOption::LookAtVectors, 0, false);
     addCheckableActionToQMenuAndActionHash(avatarOptionsMenu,
diff --git a/interface/src/Menu.h b/interface/src/Menu.h
index 69015a938b..e8be04f3e2 100644
--- a/interface/src/Menu.h
+++ b/interface/src/Menu.h
@@ -311,7 +311,7 @@ namespace MenuOption {
     const QString CascadedShadows = "Cascaded";
     const QString Chat = "Chat...";
     const QString ChatCircling = "Chat Circling";
-    const QString CollideAsRagDoll = "Collide As RagDoll";
+    const QString CollideAsRagdoll = "Collide As Ragdoll";
     const QString CollideWithAvatars = "Collide With Avatars";
     const QString CollideWithEnvironment = "Collide With World Boundaries";
     const QString CollideWithParticles = "Collide With Particles";
diff --git a/interface/src/avatar/SkeletonModel.cpp b/interface/src/avatar/SkeletonModel.cpp
index dc2c1e9112..ad8f4cfcaf 100644
--- a/interface/src/avatar/SkeletonModel.cpp
+++ b/interface/src/avatar/SkeletonModel.cpp
@@ -101,10 +101,10 @@ void SkeletonModel::simulate(float deltaTime, bool fullUpdate) {
         applyPalmData(geometry.rightHandJointIndex, hand->getPalms()[rightPalmIndex]);
     }
     
-    simulateRagDoll(deltaTime);
+    simulateRagdoll(deltaTime);
 }
 
-void SkeletonModel::simulateRagDoll(float deltaTime) {
+void SkeletonModel::simulateRagdoll(float deltaTime) {
     // move ragdoll points toward joints
     QVector<glm::vec3>& points = _ragDoll.getPoints();
     const int numStates = _jointStates.size();
@@ -171,7 +171,7 @@ void SkeletonModel::renderIKConstraints() {
     renderJointConstraints(getRightHandJointIndex());
     renderJointConstraints(getLeftHandJointIndex());
     //if (isActive() && _owningAvatar->isMyAvatar()) {
-    //    renderRagDoll();
+    //    renderRagdoll();
     //}
 }
 
@@ -272,7 +272,7 @@ void SkeletonModel::updateJointState(int index) {
 
 void SkeletonModel::updateShapePositions() {
     if (isActive() && _owningAvatar->isMyAvatar() && 
-            Menu::getInstance()->isOptionChecked(MenuOption::CollideAsRagDoll)) {
+            Menu::getInstance()->isOptionChecked(MenuOption::CollideAsRagdoll)) {
         _ragDoll.updateShapes(_rotation, _translation);
     } else {
         Model::updateShapePositions();
@@ -498,7 +498,7 @@ bool SkeletonModel::getEyePositions(glm::vec3& firstEyePosition, glm::vec3& seco
     return false;
 }
 
-void SkeletonModel::renderRagDoll() {
+void SkeletonModel::renderRagdoll() {
     const int BALL_SUBDIVISIONS = 6;
     glDisable(GL_DEPTH_TEST);
     glDisable(GL_LIGHTING);
diff --git a/interface/src/avatar/SkeletonModel.h b/interface/src/avatar/SkeletonModel.h
index 9f034b2aa3..cf59adc5ce 100644
--- a/interface/src/avatar/SkeletonModel.h
+++ b/interface/src/avatar/SkeletonModel.h
@@ -14,7 +14,7 @@
 
 #include "renderer/Model.h"
 
-#include <RagDoll.h>
+#include <Ragdoll.h>
 
 class Avatar;
 
@@ -29,7 +29,7 @@ public:
     void setJointStates(QVector<JointState> states);
 
     void simulate(float deltaTime, bool fullUpdate = true);
-    void simulateRagDoll(float deltaTime);
+    void simulateRagdoll(float deltaTime);
     void updateShapePositions();
 
     /// \param jointIndex index of hand joint
@@ -95,7 +95,7 @@ public:
     /// \return whether or not both eye meshes were found
     bool getEyePositions(glm::vec3& firstEyePosition, glm::vec3& secondEyePosition) const;
     
-    void renderRagDoll();
+    void renderRagdoll();
 protected:
 
     /// \param jointIndex index of joint in model
@@ -121,7 +121,7 @@ private:
     void setHandPosition(int jointIndex, const glm::vec3& position, const glm::quat& rotation);
     
     Avatar* _owningAvatar;
-    RagDoll _ragDoll;
+    Ragdoll _ragDoll;
 };
 
 #endif // hifi_SkeletonModel_h
diff --git a/libraries/shared/src/RagDoll.cpp b/libraries/shared/src/Ragdoll.cpp
similarity index 94%
rename from libraries/shared/src/RagDoll.cpp
rename to libraries/shared/src/Ragdoll.cpp
index 67cb368a02..30806db7c8 100644
--- a/libraries/shared/src/RagDoll.cpp
+++ b/libraries/shared/src/Ragdoll.cpp
@@ -1,5 +1,5 @@
 //
-//  RagDoll.cpp
+//  Ragdoll.cpp
 //  libraries/shared/src
 //
 //  Created by Andrew Meadows 2014.05.30
@@ -9,7 +9,7 @@
 //  See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
 //
 
-#include "RagDoll.h"
+#include "Ragdoll.h"
 
 #include "CapsuleShape.h"
 #include "CollisionInfo.h"
@@ -91,17 +91,17 @@ void DistanceConstraint::updateProxyShape(Shape* shape, const glm::quat& rotatio
 }
 
 // ----------------------------------------------------------------------------
-// RagDoll
+// Ragdoll
 // ----------------------------------------------------------------------------
 
-RagDoll::RagDoll() : PhysicalEntity(PhysicalEntity::ENTITY_RAGDOLL), _shapes(NULL) {
+Ragdoll::Ragdoll() : PhysicalEntity(PhysicalEntity::ENTITY_RAGDOLL), _shapes(NULL) {
 }
 
-RagDoll::~RagDoll() {
+Ragdoll::~Ragdoll() {
     clear();
 }
     
-void RagDoll::init(QVector<Shape*>* shapes, const QVector<int>& parentIndices, const QVector<glm::vec3>& points) {
+void Ragdoll::init(QVector<Shape*>* shapes, const QVector<int>& parentIndices, const QVector<glm::vec3>& points) {
     clear();
     _shapes = shapes;
     const int numPoints = points.size();
@@ -127,7 +127,7 @@ void RagDoll::init(QVector<Shape*>* shapes, const QVector<int>& parentIndices, c
 }
 
 /// Delete all data.
-void RagDoll::clear() {
+void Ragdoll::clear() {
     int numConstraints = _constraints.size();
     for (int i = 0; i < numConstraints; ++i) {
         delete _constraints[i];
@@ -140,7 +140,7 @@ void RagDoll::clear() {
     _shapes = NULL;
 }
 
-float RagDoll::enforceConstraints() {
+float Ragdoll::enforceConstraints() {
     float maxDistance = 0.0f;
     const int numConstraints = _constraints.size();
     for (int i = 0; i < numConstraints; ++i) {
@@ -151,7 +151,7 @@ float RagDoll::enforceConstraints() {
     return maxDistance;
 }
 
-void RagDoll::updateShapes(const glm::quat& rotation, const glm::vec3& translation) const {
+void Ragdoll::updateShapes(const glm::quat& rotation, const glm::vec3& translation) const {
     if (!_shapes) {
         return;
     }
diff --git a/libraries/shared/src/RagDoll.h b/libraries/shared/src/Ragdoll.h
similarity index 92%
rename from libraries/shared/src/RagDoll.h
rename to libraries/shared/src/Ragdoll.h
index 5a7387102a..edc6efc649 100644
--- a/libraries/shared/src/RagDoll.h
+++ b/libraries/shared/src/Ragdoll.h
@@ -1,5 +1,5 @@
 //
-//  RagDoll.h
+//  Ragdoll.h
 //  libraries/shared/src
 //
 //  Created by Andrew Meadows 2014.05.30
@@ -9,8 +9,8 @@
 //  See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
 //
 
-#ifndef hifi_RagDoll_h
-#define hifi_RagDoll_h
+#ifndef hifi_Ragdoll_h
+#define hifi_Ragdoll_h
 
 #include <glm/glm.hpp>
 #include <glm/gtx/quaternion.hpp>
@@ -61,11 +61,11 @@ private:
     glm::vec3* _points[2];
 };
 
-class RagDoll : public PhysicalEntity {
+class Ragdoll : public PhysicalEntity {
 public:
 
-    RagDoll();
-    virtual ~RagDoll();
+    Ragdoll();
+    virtual ~Ragdoll();
     
     /// Create points and constraints based on topology of collection of joints
     /// \param joints list of connected joint states
@@ -93,8 +93,8 @@ private:
     QVector<glm::vec3> _points;
     QVector<Constraint*> _constraints;
 
-    // the RagDoll does NOT own the data in _shapes.
+    // the Ragdoll does NOT own the data in _shapes.
     QVector<Shape*>* _shapes;
 };
 
-#endif // hifi_RagDoll_h
+#endif // hifi_Ragdoll_h
diff --git a/libraries/shared/src/SimulationEngine.cpp b/libraries/shared/src/SimulationEngine.cpp
index 5cc7cbcc5a..c314ba1bc0 100644
--- a/libraries/shared/src/SimulationEngine.cpp
+++ b/libraries/shared/src/SimulationEngine.cpp
@@ -27,7 +27,7 @@ SimulationEngine::~SimulationEngine() {
     _dolls.clear();
 }
 
-bool SimulationEngine::addRagDoll(RagDoll* doll) {
+bool SimulationEngine::addRagdoll(Ragdoll* doll) {
     int numDolls = _dolls.size();
     if (numDolls < MAX_DOLLS_PER_ENGINE) {
         for (int i = 0; i < numDolls; ++i) {
@@ -42,7 +42,7 @@ bool SimulationEngine::addRagDoll(RagDoll* doll) {
     return false;
 }
 
-void SimulationEngine::removeRagDoll(RagDoll* doll) {
+void SimulationEngine::removeRagdoll(Ragdoll* doll) {
     int numDolls = _dolls.size();
     for (int i = 0; i < numDolls; ++i) {
         if (doll == _dolls[i]) {
@@ -51,7 +51,7 @@ void SimulationEngine::removeRagDoll(RagDoll* doll) {
                 _dolls.pop_back();
             } else {
                 // swap the last for this one
-                RagDoll* lastDoll = _dolls[numDolls - 1];
+                Ragdoll* lastDoll = _dolls[numDolls - 1];
                 _dolls.pop_back();
                 _dolls[i] = lastDoll;
             }
diff --git a/libraries/shared/src/SimulationEngine.h b/libraries/shared/src/SimulationEngine.h
index d7e4468392..9dfad79d3f 100644
--- a/libraries/shared/src/SimulationEngine.h
+++ b/libraries/shared/src/SimulationEngine.h
@@ -15,7 +15,7 @@
 #include <QVector>
 
 #include "CollisionInfo.h"
-#include "RagDoll.h"
+#include "Ragdoll.h"
 
 class SimulationEngine {
 public:
@@ -24,9 +24,9 @@ public:
     ~SimulationEngine();
 
     /// \return true if doll was added to, or already in the list
-    bool addRagDoll(RagDoll* doll);
+    bool addRagdoll(Ragdoll* doll);
 
-    void removeRagDoll(RagDoll* doll);
+    void removeRagdoll(Ragdoll* doll);
 
     /// \param minError constraint motion below this value is considered "close enough"
     /// \param maxIterations max number of iterations before giving up
@@ -45,7 +45,7 @@ public:
 
 private:
     CollisionList _collisionList;
-    QVector<RagDoll*> _dolls;
+    QVector<Ragdoll*> _dolls;
 
     // some stats for performance queries
     int _enforcementIterations;

From 158c7de76e8b540c0b2be3d20c8a14bbdd3d8559 Mon Sep 17 00:00:00 2001
From: Andrew Meadows <andrew@highfidelity.io>
Date: Fri, 13 Jun 2014 12:27:58 -0700
Subject: [PATCH 014/105] Ragdoll not an Entity.  SkeletonModel is a Ragdoll

---
 interface/src/avatar/SkeletonModel.cpp | 26 ++++++++++++--------------
 interface/src/avatar/SkeletonModel.h   |  5 ++---
 libraries/shared/src/PhysicalEntity.h  |  1 -
 libraries/shared/src/Ragdoll.cpp       | 10 ++--------
 libraries/shared/src/Ragdoll.h         | 10 ++++------
 5 files changed, 20 insertions(+), 32 deletions(-)

diff --git a/interface/src/avatar/SkeletonModel.cpp b/interface/src/avatar/SkeletonModel.cpp
index ad8f4cfcaf..16aae47cdc 100644
--- a/interface/src/avatar/SkeletonModel.cpp
+++ b/interface/src/avatar/SkeletonModel.cpp
@@ -17,7 +17,9 @@
 #include "Menu.h"
 #include "SkeletonModel.h"
 
-SkeletonModel::SkeletonModel(Avatar* owningAvatar) : 
+SkeletonModel::SkeletonModel(Avatar* owningAvatar, QObject* parent) : 
+    Model(parent),
+    Ragdoll(),
     _owningAvatar(owningAvatar) {
 }
 
@@ -36,10 +38,8 @@ void SkeletonModel::setJointStates(QVector<JointState> states) {
             parentIndices.push_back(state.getFBXJoint().parentIndex);
             points.push_back(state.getPosition());
         }
-        // ... and feed the results to _ragDoll
-        // It is OK that_jointShapes is probably empty at this stage: _ragDoll keeps a
-        // pointer to it and things will start working as soon as the list is populated.
-        _ragDoll.init(&_jointShapes, parentIndices, points);
+        // ... and feed the results to Ragdoll
+        initShapesAndPoints(&_jointShapes, parentIndices, points);
     }
 }
 
@@ -105,14 +105,13 @@ void SkeletonModel::simulate(float deltaTime, bool fullUpdate) {
 }
 
 void SkeletonModel::simulateRagdoll(float deltaTime) {
-    // move ragdoll points toward joints
-    QVector<glm::vec3>& points = _ragDoll.getPoints();
+    // move ragdoll _points toward joints
     const int numStates = _jointStates.size();
-    assert(numStates == points.size());
+    assert(numStates == _points.size());
     float fraction = 0.1f; // fraction = 0.1f left intentionally low for demo purposes
     float oneMinusFraction = 1.0f - fraction;
     for (int i = 0; i < numStates; ++i) {
-        points[i] = oneMinusFraction * points[i] + fraction * _jointStates[i].getPosition();
+        _points[i] = oneMinusFraction * _points[i] + fraction * _jointStates[i].getPosition();
     }
 
     // enforce the constraints
@@ -121,7 +120,7 @@ void SkeletonModel::simulateRagdoll(float deltaTime) {
     int iterations = 0;
     float delta = 0.0f;
     do {
-        delta = _ragDoll.enforceConstraints();
+        delta = enforceConstraints();
         ++iterations;
     } while (delta > MIN_CONSTRAINT_ERROR && iterations < MAX_ITERATIONS);
 }
@@ -273,7 +272,7 @@ void SkeletonModel::updateJointState(int index) {
 void SkeletonModel::updateShapePositions() {
     if (isActive() && _owningAvatar->isMyAvatar() && 
             Menu::getInstance()->isOptionChecked(MenuOption::CollideAsRagdoll)) {
-        _ragDoll.updateShapes(_rotation, _translation);
+        updateShapes(_rotation, _translation);
     } else {
         Model::updateShapePositions();
     }
@@ -505,15 +504,14 @@ void SkeletonModel::renderRagdoll() {
     glPushMatrix();
 
     Application::getInstance()->loadTranslatedViewMatrix(_translation);
-    QVector<glm::vec3> points = _ragDoll.getPoints();
-    int numPoints = points.size();
+    int numPoints = _points.size();
     float alpha = 0.3f;
     float radius1 = 0.008f;
     float radius2 = 0.01f;
     for (int i = 0; i < numPoints; ++i) {
         glPushMatrix();
         // draw each point as a yellow hexagon with black border
-        glm::vec3 position = _rotation * points[i];
+        glm::vec3 position = _rotation * _points[i];
         glTranslatef(position.x, position.y, position.z);
         glColor4f(0.0f, 0.0f, 0.0f, alpha);
         glutSolidSphere(radius2, BALL_SUBDIVISIONS, BALL_SUBDIVISIONS);
diff --git a/interface/src/avatar/SkeletonModel.h b/interface/src/avatar/SkeletonModel.h
index cf59adc5ce..f0982e6dd7 100644
--- a/interface/src/avatar/SkeletonModel.h
+++ b/interface/src/avatar/SkeletonModel.h
@@ -19,12 +19,12 @@
 class Avatar;
 
 /// A skeleton loaded from a model.
-class SkeletonModel : public Model {
+class SkeletonModel : public Model, public Ragdoll {
     Q_OBJECT
     
 public:
 
-    SkeletonModel(Avatar* owningAvatar);
+    SkeletonModel(Avatar* owningAvatar, QObject* parent = NULL);
    
     void setJointStates(QVector<JointState> states);
 
@@ -121,7 +121,6 @@ private:
     void setHandPosition(int jointIndex, const glm::vec3& position, const glm::quat& rotation);
     
     Avatar* _owningAvatar;
-    Ragdoll _ragDoll;
 };
 
 #endif // hifi_SkeletonModel_h
diff --git a/libraries/shared/src/PhysicalEntity.h b/libraries/shared/src/PhysicalEntity.h
index 83469d4775..d1d11a0d6c 100644
--- a/libraries/shared/src/PhysicalEntity.h
+++ b/libraries/shared/src/PhysicalEntity.h
@@ -26,7 +26,6 @@ public:
     enum EntityType {
         ENTITY_UNKNOWN,
         ENTITY_MODEL,
-        ENTITY_RAGDOLL,
     };
 
     static void setShapeBackPointers(const QVector<Shape*>& shapes, PhysicalEntity* entity);
diff --git a/libraries/shared/src/Ragdoll.cpp b/libraries/shared/src/Ragdoll.cpp
index 30806db7c8..ee67f94b10 100644
--- a/libraries/shared/src/Ragdoll.cpp
+++ b/libraries/shared/src/Ragdoll.cpp
@@ -94,14 +94,14 @@ void DistanceConstraint::updateProxyShape(Shape* shape, const glm::quat& rotatio
 // Ragdoll
 // ----------------------------------------------------------------------------
 
-Ragdoll::Ragdoll() : PhysicalEntity(PhysicalEntity::ENTITY_RAGDOLL), _shapes(NULL) {
+Ragdoll::Ragdoll() : _shapes(NULL) {
 }
 
 Ragdoll::~Ragdoll() {
     clear();
 }
     
-void Ragdoll::init(QVector<Shape*>* shapes, const QVector<int>& parentIndices, const QVector<glm::vec3>& points) {
+void Ragdoll::initShapesAndPoints(QVector<Shape*>* shapes, const QVector<int>& parentIndices, const QVector<glm::vec3>& points) {
     clear();
     _shapes = shapes;
     const int numPoints = points.size();
@@ -121,9 +121,6 @@ void Ragdoll::init(QVector<Shape*>* shapes, const QVector<int>& parentIndices, c
             _constraints.push_back(stick);
         }
     }
-    if (_shapes) {
-        PhysicalEntity::setShapeBackPointers(*_shapes, this);
-    }
 }
 
 /// Delete all data.
@@ -134,9 +131,6 @@ void Ragdoll::clear() {
     }
     _constraints.clear();
     _points.clear();
-    if (_shapes) {
-        PhysicalEntity::setShapeBackPointers(*_shapes, NULL);
-    }
     _shapes = NULL;
 }
 
diff --git a/libraries/shared/src/Ragdoll.h b/libraries/shared/src/Ragdoll.h
index edc6efc649..7a5115142d 100644
--- a/libraries/shared/src/Ragdoll.h
+++ b/libraries/shared/src/Ragdoll.h
@@ -17,7 +17,7 @@
 
 #include <QVector>
 
-#include "PhysicalEntity.h"
+class Shape;
 
 class Constraint {
 public:
@@ -61,7 +61,7 @@ private:
     glm::vec3* _points[2];
 };
 
-class Ragdoll : public PhysicalEntity {
+class Ragdoll {
 public:
 
     Ragdoll();
@@ -69,9 +69,7 @@ public:
     
     /// Create points and constraints based on topology of collection of joints
     /// \param joints list of connected joint states
-    void init(QVector<Shape*>* shapes, const QVector<int>& parentIndices, const QVector<glm::vec3>& points);
-
-    void setShapes(QVector<Shape*>* shapes) { _shapes = shapes; }
+    void initShapesAndPoints(QVector<Shape*>* shapes, const QVector<int>& parentIndices, const QVector<glm::vec3>& points);
 
     /// Delete all data.
     void clear();
@@ -89,7 +87,7 @@ public:
     /// Moves and modifies elements of _shapes to agree with state of _points
     void updateShapes(const glm::quat& rotation, const glm::vec3& translation) const;
 
-private:
+protected:
     QVector<glm::vec3> _points;
     QVector<Constraint*> _constraints;
 

From 6d279872264bfb21b27c73c5c3487737ae216628 Mon Sep 17 00:00:00 2001
From: Andrew Meadows <andrew@highfidelity.io>
Date: Sun, 15 Jun 2014 17:56:02 -0700
Subject: [PATCH 015/105] Add shape vs list-of-shapes collision method

and list-of-shapes vs list-of-shapes
---
 libraries/shared/src/ShapeCollider.cpp | 40 +++++++++++++++++++++++++-
 libraries/shared/src/ShapeCollider.h   |  5 ++++
 2 files changed, 44 insertions(+), 1 deletion(-)

diff --git a/libraries/shared/src/ShapeCollider.cpp b/libraries/shared/src/ShapeCollider.cpp
index 5c7acbb6a6..f29be3d00e 100644
--- a/libraries/shared/src/ShapeCollider.cpp
+++ b/libraries/shared/src/ShapeCollider.cpp
@@ -74,7 +74,7 @@ bool collideShapesCoarse(const QVector<const Shape*>& shapesA, const QVector<con
     tempCollisions.clear();
     foreach (const Shape* shapeA, shapesA) {
         foreach (const Shape* shapeB, shapesB) {
-            ShapeCollider::collideShapes(shapeA, shapeB, tempCollisions);
+            collideShapes(shapeA, shapeB, tempCollisions);
         }
     }
     if (tempCollisions.size() > 0) {
@@ -95,6 +95,44 @@ bool collideShapesCoarse(const QVector<const Shape*>& shapesA, const QVector<con
     return false;
 }
 
+bool collideShapeWithShapes(const Shape* shapeA, const QVector<Shape*>& shapes, int startIndex, CollisionList& collisions) {
+    bool collided = false;
+    if (shapeA) {
+        int numShapes = shapes.size();
+        for (int i = startIndex; i < numShapes; ++i) {
+            const Shape* shapeB = shapes.at(i);
+            if (!shapeB) {
+                continue;
+            }
+            if (collideShapes(shapeA, shapeB, collisions)) {
+                collided = true;
+                if (collisions.isFull()) {
+                    break;
+                }
+            }
+        }
+    }
+    return collided;
+}
+
+bool collideShapesWithShapes(const QVector<Shape*>& shapesA, const QVector<Shape*>& shapesB, CollisionList& collisions) {
+    bool collided = false;
+    int numShapesA = shapesA.size();
+    for (int i = 0; i < numShapesA; ++i) {
+        Shape* shapeA = shapesA.at(i);
+        if (!shapeA) {
+            continue;
+        }
+        if (collideShapeWithShapes(shapeA, shapesB, 0, collisions)) {
+            collided = true;
+            if (collisions.isFull()) {
+                break;
+            }
+        }
+    }
+    return collided;
+}
+
 bool collideShapeWithAACube(const Shape* shapeA, const glm::vec3& cubeCenter, float cubeSide, CollisionList& collisions) {
     int typeA = shapeA->getType();
     if (typeA == Shape::SPHERE_SHAPE) {
diff --git a/libraries/shared/src/ShapeCollider.h b/libraries/shared/src/ShapeCollider.h
index 9e83e31571..b76697e77e 100644
--- a/libraries/shared/src/ShapeCollider.h
+++ b/libraries/shared/src/ShapeCollider.h
@@ -12,6 +12,8 @@
 #ifndef hifi_ShapeCollider_h
 #define hifi_ShapeCollider_h
 
+#include <QVector>
+
 #include "CapsuleShape.h"
 #include "CollisionInfo.h"
 #include "ListShape.h"
@@ -33,6 +35,9 @@ namespace ShapeCollider {
     /// \return true if any shapes collide
     bool collideShapesCoarse(const QVector<const Shape*>& shapesA, const QVector<const Shape*>& shapesB, CollisionInfo& collision);
 
+    bool collideShapeWithShapes(const Shape* shapeA, const QVector<Shape*>& shapes, int startIndex, CollisionList& collisions);
+    bool collideShapesWithShapes(const QVector<Shape*>& shapesA, const QVector<Shape*>& shapesB, CollisionList& collisions);
+
     /// \param shapeA a pointer to a shape
     /// \param cubeCenter center of cube
     /// \param cubeSide lenght of side of cube

From 7530f8ec1e82f11c7819362e2951d43bf1d927ec Mon Sep 17 00:00:00 2001
From: Andrew Meadows <andrew@highfidelity.io>
Date: Sun, 15 Jun 2014 17:57:42 -0700
Subject: [PATCH 016/105] add way to enable Model for collisions

---
 interface/src/renderer/Model.cpp | 14 +++++++++++++-
 interface/src/renderer/Model.h   |  6 +++++-
 2 files changed, 18 insertions(+), 2 deletions(-)

diff --git a/interface/src/renderer/Model.cpp b/interface/src/renderer/Model.cpp
index 03e0cac620..6bd04d18cf 100644
--- a/interface/src/renderer/Model.cpp
+++ b/interface/src/renderer/Model.cpp
@@ -43,6 +43,7 @@ Model::Model(QObject* parent) :
     _snappedToCenter(false),
     _rootIndex(-1),
     _shapesAreDirty(true),
+    _enableCollisionShapes(false),
     _boundingRadius(0.0f),
     _boundingShape(),
     _boundingShapeLocalOffset(0.0f),
@@ -201,6 +202,17 @@ QVector<JointState> Model::createJointStates(const FBXGeometry& geometry) {
     return jointStates;
 }
 
+void Model::setEnableCollisionShapes(bool enable) {
+    if (enable != _enableCollisionShapes) {
+        _enableCollisionShapes = enable;
+        if (_enableCollisionShapes) {
+            rebuildShapes();
+        } else {
+            clearShapes();
+        }
+    }
+}
+
 void Model::init() {
     if (!_program.isLinked()) {
         _program.addShaderFromSourceFile(QGLShader::Vertex, Application::resourcesPath() + "shaders/model.vert");
@@ -568,7 +580,7 @@ bool Model::updateGeometry() {
             model->setURL(attachment.url);
             _attachments.append(model);
         }
-        if (!_jointShapes.isEmpty()) {
+        if (_enableCollisionShapes) {
             rebuildShapes();
         }
         needFullUpdate = true;
diff --git a/interface/src/renderer/Model.h b/interface/src/renderer/Model.h
index 64868c6751..04c457f265 100644
--- a/interface/src/renderer/Model.h
+++ b/interface/src/renderer/Model.h
@@ -68,6 +68,8 @@ public:
     
     void setBlendshapeCoefficients(const QVector<float>& coefficients) { _blendshapeCoefficients = coefficients; }
     const QVector<float>& getBlendshapeCoefficients() const { return _blendshapeCoefficients; }
+
+    void setEnableCollisionShapes(bool enable);
     
     bool isActive() const { return _geometry && _geometry->isLoaded(); }
     
@@ -186,8 +188,10 @@ protected:
     bool _snappedToCenter; /// are we currently snapped to center
     int _rootIndex;
     
-    bool _shapesAreDirty;
     QVector<JointState> _jointStates;
+
+    bool _shapesAreDirty;
+    bool _enableCollisionShapes; /// build collision shapes for joints
     QVector<Shape*> _jointShapes;
     
     float _boundingRadius;

From 6f4a4ace0d1f4b4a4c608fa7b98d947877a7868b Mon Sep 17 00:00:00 2001
From: Andrew Meadows <andrew@highfidelity.io>
Date: Sun, 15 Jun 2014 17:58:27 -0700
Subject: [PATCH 017/105] add API stubs to RagDoll for SimulationEngine
 stepForward

---
 libraries/shared/src/Ragdoll.h | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/libraries/shared/src/Ragdoll.h b/libraries/shared/src/Ragdoll.h
index 7a5115142d..996e65d954 100644
--- a/libraries/shared/src/Ragdoll.h
+++ b/libraries/shared/src/Ragdoll.h
@@ -74,6 +74,9 @@ public:
     /// Delete all data.
     void clear();
 
+    // TODO: Andrew to implement this
+    void stepForward(float deltaTime) {}
+
     /// Enforce contraints.
     /// \return max distance of point movement
     float enforceConstraints();
@@ -87,6 +90,8 @@ public:
     /// Moves and modifies elements of _shapes to agree with state of _points
     void updateShapes(const glm::quat& rotation, const glm::vec3& translation) const;
 
+    const QVector<Shape*>* getShapes() const { return _shapes; }
+
 protected:
     QVector<glm::vec3> _points;
     QVector<Constraint*> _constraints;

From d7a28e1441bf6db1e24a19093de79c1c5dacecb8 Mon Sep 17 00:00:00 2001
From: Andrew Meadows <andrew@highfidelity.io>
Date: Sun, 15 Jun 2014 18:07:47 -0700
Subject: [PATCH 018/105] enable shape collisions for MyAvatar skeleton

also some stubbery for main simulation loop
---
 interface/src/avatar/MyAvatar.cpp         | 11 ++++
 interface/src/avatar/SkeletonModel.cpp    |  3 +-
 libraries/shared/src/SimulationEngine.cpp | 76 ++++++++++++++++++-----
 libraries/shared/src/SimulationEngine.h   |  2 +-
 4 files changed, 76 insertions(+), 16 deletions(-)

diff --git a/interface/src/avatar/MyAvatar.cpp b/interface/src/avatar/MyAvatar.cpp
index 842308ecbb..8bd3288ee7 100644
--- a/interface/src/avatar/MyAvatar.cpp
+++ b/interface/src/avatar/MyAvatar.cpp
@@ -82,6 +82,8 @@ MyAvatar::MyAvatar() :
     for (int i = 0; i < MAX_DRIVE_KEYS; i++) {
         _driveKeys[i] = 0.0f;
     }
+    _skeletonModel.setEnableCollisionShapes(true);
+    _simulationEngine.addRagdoll(&_skeletonModel);
 }
 
 MyAvatar::~MyAvatar() {
@@ -190,6 +192,14 @@ void MyAvatar::simulate(float deltaTime) {
         head->simulate(deltaTime, true);
     }
 
+    if (!Menu::getInstance()->isOptionChecked(MenuOption::CollideAsRagdoll)) {
+        PerformanceTimer perfTimer("MyAvatar::simulate/head Simulate");
+        const int minError = 0.005f;
+        const float maxIterations = 4;
+        const quint64 maxUsec = 500;
+        _simulationEngine.stepForward(deltaTime, minError, maxIterations, maxUsec);
+    }
+    /* TODO: Andrew to make this work again
     // now that we're done stepping the avatar forward in time, compute new collisions
     if (_collisionGroups != 0) {
         PerformanceTimer perfTimer("MyAvatar::simulate/_collisionGroups");
@@ -216,6 +226,7 @@ void MyAvatar::simulate(float deltaTime) {
             updateCollisionWithAvatars(deltaTime);
         }
     }
+    */
 
     // consider updating our billboard
     maybeUpdateBillboard();
diff --git a/interface/src/avatar/SkeletonModel.cpp b/interface/src/avatar/SkeletonModel.cpp
index 16aae47cdc..74625cf6b2 100644
--- a/interface/src/avatar/SkeletonModel.cpp
+++ b/interface/src/avatar/SkeletonModel.cpp
@@ -272,7 +272,8 @@ void SkeletonModel::updateJointState(int index) {
 void SkeletonModel::updateShapePositions() {
     if (isActive() && _owningAvatar->isMyAvatar() && 
             Menu::getInstance()->isOptionChecked(MenuOption::CollideAsRagdoll)) {
-        updateShapes(_rotation, _translation);
+        // TODO: Andrew to move shape updates to SimulationEngine
+        //updateShapes(_rotation, _translation);
     } else {
         Model::updateShapePositions();
     }
diff --git a/libraries/shared/src/SimulationEngine.cpp b/libraries/shared/src/SimulationEngine.cpp
index c314ba1bc0..cf3baebec0 100644
--- a/libraries/shared/src/SimulationEngine.cpp
+++ b/libraries/shared/src/SimulationEngine.cpp
@@ -12,6 +12,7 @@
 #include <glm/glm.hpp>
 
 #include "SharedUtil.h"
+#include "ShapeCollider.h"
 #include "SimulationEngine.h"
 
 int MAX_DOLLS_PER_ENGINE = 32;
@@ -28,18 +29,23 @@ SimulationEngine::~SimulationEngine() {
 }
 
 bool SimulationEngine::addRagdoll(Ragdoll* doll) {
-    int numDolls = _dolls.size();
-    if (numDolls < MAX_DOLLS_PER_ENGINE) {
-        for (int i = 0; i < numDolls; ++i) {
-            if (doll == _dolls[i]) {
-                // already in list
-                return true;
-            }
-        }
-        _dolls.push_back(doll);
-        return true;
+    if (!doll) {
+        return false;
     }
-    return false;
+    int numDolls = _dolls.size();
+    if (numDolls > MAX_DOLLS_PER_ENGINE) {
+        // list is full
+        return false;
+    }
+    for (int i = 0; i < numDolls; ++i) {
+        if (doll == _dolls[i]) {
+            // already in list
+            return true;
+        }
+    }
+    // add to list
+    _dolls.push_back(doll);
+    return true;
 }
 
 void SimulationEngine::removeRagdoll(Ragdoll* doll) {
@@ -60,17 +66,59 @@ void SimulationEngine::removeRagdoll(Ragdoll* doll) {
     }
 }
 
-void SimulationEngine::enforceConstraints(float minError, int maxIterations, quint64 maxUsec) {
-    // enforce the constraints
+void SimulationEngine::stepForward(float deltaTime, float minError, int maxIterations, quint64 maxUsec) {
     int iterations = 0;
     float delta = 0.0f;
     quint64 now = usecTimestampNow();
     quint64 startTime = now;
     quint64 expiry = now + maxUsec;
+
+    int numDolls = _dolls.size();
+    for (int i = 0; i < numDolls; ++i) {
+        // TODO: need to implement:
+        // (1) joints pull points (SpecialCapsuleShape would help solve this)
+        // (2) points slam shapes (SpecialCapsuleShape would help solve this)
+        // (3) shapes collide with pairwise collision bypass
+        // (4) collisions move points (SpecialCapsuleShape would help solve this)
+        // (5) enforce constraints
+        // (6) add and enforce angular contraints for joints
+        _dolls.at(i)->stepForward(deltaTime);
+    }
+
+    
+    // collide
+    _collisionList.clear();
+    // TODO: keep track of QSet<PhysicalEntity*> collidedEntities;
+    for (int i = 0; i < numDolls; ++i) {
+        const QVector<Shape*>* shapesA = _dolls.at(i)->getShapes();
+        if (!shapesA) {
+            continue;
+        }
+        int numShapesA = shapesA->size();
+        // collide with self
+        for (int j = 0; j < numShapesA; ++j) {
+            const Shape* shapeA = shapesA->at(j);
+            if (!shapeA) {
+                continue;
+            }
+            // TODO: check for pairwise collision bypass here
+            ShapeCollider::collideShapeWithShapes(shapeA, *shapesA, j+1, _collisionList);
+        }
+
+        // collide with others
+        for (int j = i+1; j < numDolls; ++j) {
+            const QVector<Shape*>* shapesB = _dolls.at(j)->getShapes();
+            if (!shapesB) {
+                continue;
+            }
+            ShapeCollider::collideShapesWithShapes(*shapesA, *shapesB, _collisionList);
+        }
+    }
+
+    // enforce constraints
     float error = 0.0f;
     do {
         error = 0.0f;
-        int numDolls = _dolls.size();
         for (int i = 0; i < numDolls; ++i) {
             error = glm::max(error, _dolls[i]->enforceConstraints());
         }
diff --git a/libraries/shared/src/SimulationEngine.h b/libraries/shared/src/SimulationEngine.h
index 9dfad79d3f..f2775259cc 100644
--- a/libraries/shared/src/SimulationEngine.h
+++ b/libraries/shared/src/SimulationEngine.h
@@ -32,7 +32,7 @@ public:
     /// \param maxIterations max number of iterations before giving up
     /// \param maxUsec max number of usec to spend enforcing constraints
     /// \return distance of largest movement
-    void enforceConstraints(float minError, int maxIterations, quint64 maxUsec);
+    void stepForward(float deltaTime, float minError, int maxIterations, quint64 maxUsec);
 
     int getEnforementIterations() const { return _enforcementIterations; }
     float getEnforcementError() const { return _enforcementError; }

From 92159a7ed5fe99d020317eb21f0222f91a48e8e6 Mon Sep 17 00:00:00 2001
From: Andrew Meadows <andrew@highfidelity.io>
Date: Mon, 16 Jun 2014 08:43:27 -0700
Subject: [PATCH 019/105] Shape::get/setCenter() instead of get/setPosition()

---
 interface/src/avatar/MyAvatar.cpp         |  4 +-
 interface/src/renderer/Model.cpp          | 14 ++---
 libraries/octree/src/Octree.cpp           |  2 +-
 libraries/shared/src/ListShape.cpp        |  4 +-
 libraries/shared/src/ListShape.h          |  1 +
 libraries/shared/src/Ragdoll.cpp          |  2 +-
 libraries/shared/src/Shape.h              |  7 ++-
 libraries/shared/src/ShapeCollider.cpp    | 36 ++++++------
 libraries/shared/src/SimulationEngine.cpp |  2 +-
 tests/physics/src/ShapeColliderTests.cpp  | 68 +++++++++++------------
 10 files changed, 72 insertions(+), 68 deletions(-)

diff --git a/interface/src/avatar/MyAvatar.cpp b/interface/src/avatar/MyAvatar.cpp
index 8bd3288ee7..403d0596c0 100644
--- a/interface/src/avatar/MyAvatar.cpp
+++ b/interface/src/avatar/MyAvatar.cpp
@@ -1245,7 +1245,7 @@ void MyAvatar::updateCollisionWithVoxels(float deltaTime, float radius) {
         float capsuleHalfHeight = boundingShape.getHalfHeight();
         const float MAX_STEP_HEIGHT = capsuleRadius + capsuleHalfHeight;
         const float MIN_STEP_HEIGHT = 0.0f;
-        glm::vec3 footBase = boundingShape.getPosition() - (capsuleRadius + capsuleHalfHeight) * _worldUpDirection;
+        glm::vec3 footBase = boundingShape.getCenter() - (capsuleRadius + capsuleHalfHeight) * _worldUpDirection;
         float highestStep = 0.0f;
         float lowestStep = MAX_STEP_HEIGHT;
         glm::vec3 floorPoint;
@@ -1262,7 +1262,7 @@ void MyAvatar::updateCollisionWithVoxels(float deltaTime, float radius) {
             if (horizontalDepth > capsuleRadius || fabsf(verticalDepth) > MAX_STEP_HEIGHT) {
                 isTrapped = true;
                 if (_trapDuration > MAX_TRAP_PERIOD) {
-                    float distance = glm::dot(boundingShape.getPosition() - cubeCenter, _worldUpDirection);
+                    float distance = glm::dot(boundingShape.getCenter() - cubeCenter, _worldUpDirection);
                     if (distance < 0.0f) {
                         distance = fabsf(distance) + 0.5f * cubeSide;
                     }
diff --git a/interface/src/renderer/Model.cpp b/interface/src/renderer/Model.cpp
index 6bd04d18cf..c0ed002b69 100644
--- a/interface/src/renderer/Model.cpp
+++ b/interface/src/renderer/Model.cpp
@@ -924,7 +924,7 @@ void Model::computeBoundingShape(const FBXGeometry& geometry) {
         const FBXJoint& joint = geometry.joints[i];
         glm::vec3 jointToShapeOffset = uniformScale * (finalRotations[i] * joint.shapePosition);
         glm::vec3 localPosition = extractTranslation(transforms[i]) + jointToShapeOffset;
-        shape->setPosition(localPosition);
+        shape->setCenter(localPosition);
         shape->setRotation(finalRotations[i] * joint.shapeRotation);
         float distance = glm::length(localPosition) + shape->getBoundingRadius();
         if (distance > _boundingRadius) {
@@ -943,7 +943,7 @@ void Model::computeBoundingShape(const FBXGeometry& geometry) {
         }
         Extents shapeExtents;
         shapeExtents.reset();
-        glm::vec3 localPosition = shape->getPosition();
+        glm::vec3 localPosition = shape->getCenter();
         int type = shape->getType();
         if (type == Shape::CAPSULE_SHAPE) {
             // add the two furthest surface points of the capsule
@@ -998,11 +998,11 @@ void Model::resetShapePositions() {
     for (int i = 0; i < _jointShapes.size(); i++) {
         Shape* shape = _jointShapes[i];
         if (shape) {
-            shape->setPosition(_translation + _rotation * shape->getPosition());
+            shape->setCenter(_translation + _rotation * shape->getCenter());
             shape->setRotation(_rotation * shape->getRotation());
         }
     }
-    _boundingShape.setPosition(_translation + _rotation * _boundingShapeLocalOffset);
+    _boundingShape.setCenter(_translation + _rotation * _boundingShapeLocalOffset);
     _boundingShape.setRotation(_rotation);
 }
 
@@ -1020,7 +1020,7 @@ void Model::updateShapePositions() {
             glm::vec3 worldPosition = _translation + _rotation * (state.getPosition() + shapeOffset);
             Shape* shape = _jointShapes[i];
             if (shape) {
-                shape->setPosition(worldPosition);
+                shape->setCenter(worldPosition);
                 shape->setRotation(_rotation * stateRotation * joint.shapeRotation);
                 float distance = glm::distance(worldPosition, _translation) + shape->getBoundingRadius();
                 if (distance > _boundingRadius) {
@@ -1032,7 +1032,7 @@ void Model::updateShapePositions() {
             }
         }
         _shapesAreDirty = false;
-        _boundingShape.setPosition(rootPosition + _rotation * _boundingShapeLocalOffset);
+        _boundingShape.setCenter(rootPosition + _rotation * _boundingShapeLocalOffset);
         _boundingShape.setRotation(_rotation);
     }
 }
@@ -1436,7 +1436,7 @@ void Model::renderJointCollisionShapes(float alpha) {
         glPushMatrix();
         if (shape->getType() == Shape::SPHERE_SHAPE) {
             // shapes are stored in world-frame, so we have to transform into model frame
-            glm::vec3 position = shape->getPosition() - _translation;
+            glm::vec3 position = shape->getCenter() - _translation;
             glTranslatef(position.x, position.y, position.z);
             const glm::quat& rotation = shape->getRotation();
             glm::vec3 axis = glm::axis(rotation);
diff --git a/libraries/octree/src/Octree.cpp b/libraries/octree/src/Octree.cpp
index cbdc4753dc..f43921e0d1 100644
--- a/libraries/octree/src/Octree.cpp
+++ b/libraries/octree/src/Octree.cpp
@@ -757,7 +757,7 @@ bool findShapeCollisionsOp(OctreeElement* element, void* extraData) {
     // coarse check against bounds
     AACube cube = element->getAACube();
     cube.scale(TREE_SCALE);
-    if (!cube.expandedContains(args->shape->getPosition(), args->shape->getBoundingRadius())) {
+    if (!cube.expandedContains(args->shape->getCenter(), args->shape->getBoundingRadius())) {
         return false;
     }
     if (!element->isLeaf()) {
diff --git a/libraries/shared/src/ListShape.cpp b/libraries/shared/src/ListShape.cpp
index dcea97826e..162ee111c7 100644
--- a/libraries/shared/src/ListShape.cpp
+++ b/libraries/shared/src/ListShape.cpp
@@ -14,7 +14,7 @@
 // ListShapeEntry
 
 void ListShapeEntry::updateTransform(const glm::vec3& rootPosition, const glm::quat& rootRotation) {
-    _shape->setPosition(rootPosition + rootRotation * _localPosition);
+    _shape->setCenter(rootPosition + rootRotation * _localPosition);
     _shape->setRotation(_localRotation * rootRotation);
 }
 
@@ -26,7 +26,7 @@ ListShape::~ListShape() {
 
 void ListShape::setPosition(const glm::vec3& position) {
     _subShapeTransformsAreDirty = true;
-    Shape::setPosition(position);
+    Shape::setCenter(position);
 }
 
 void ListShape::setRotation(const glm::quat& rotation) {
diff --git a/libraries/shared/src/ListShape.h b/libraries/shared/src/ListShape.h
index 7ba2410a23..87464779ce 100644
--- a/libraries/shared/src/ListShape.h
+++ b/libraries/shared/src/ListShape.h
@@ -43,6 +43,7 @@ public:
     ~ListShape();
 
     void setPosition(const glm::vec3& position);
+    glm::vec3 getPosition() const { return _position; }
     void setRotation(const glm::quat& rotation);
 
     const Shape* getSubShape(int index) const;
diff --git a/libraries/shared/src/Ragdoll.cpp b/libraries/shared/src/Ragdoll.cpp
index ee67f94b10..61e90fa39c 100644
--- a/libraries/shared/src/Ragdoll.cpp
+++ b/libraries/shared/src/Ragdoll.cpp
@@ -76,7 +76,7 @@ void DistanceConstraint::updateProxyShape(Shape* shape, const glm::quat& rotatio
         case Shape::SPHERE_SHAPE: {
             // sphere collides at endPoint
             SphereShape* sphere = static_cast<SphereShape*>(shape);
-            sphere->setPosition(translation + rotation * (*_points[1]));
+            sphere->setCenter(translation + rotation * (*_points[1]));
         }
         break;
         case Shape::CAPSULE_SHAPE: {
diff --git a/libraries/shared/src/Shape.h b/libraries/shared/src/Shape.h
index 7c8a3abc76..f1a36adfb6 100644
--- a/libraries/shared/src/Shape.h
+++ b/libraries/shared/src/Shape.h
@@ -32,15 +32,18 @@ public:
 
     int getType() const { return _type; }
     float getBoundingRadius() const { return _boundingRadius; }
-    const glm::vec3& getPosition() const { return _position; }
+//    const glm::vec3& getPosition() const { return _position; }
     const glm::quat& getRotation() const { return _rotation; }
 
-    virtual void setPosition(const glm::vec3& position) { _position = position; }
+//    virtual void setPosition(const glm::vec3& position) { _position = position; }
     virtual void setRotation(const glm::quat& rotation) { _rotation = rotation; }
 
     void setEntity(PhysicalEntity* entity) { _owningEntity = entity; }
     PhysicalEntity* getEntity() const { return _owningEntity; }
 
+    virtual void setCenter(const glm::vec3& center) { _position = center; }
+    virtual glm::vec3 getCenter() const { return _position; }
+
 protected:
     // these ctors are protected (used by derived classes only)
     Shape(Type type) : _type(type), _owningEntity(NULL), _boundingRadius(0.f), _position(0.f), _rotation() {}
diff --git a/libraries/shared/src/ShapeCollider.cpp b/libraries/shared/src/ShapeCollider.cpp
index f29be3d00e..83105bb6bf 100644
--- a/libraries/shared/src/ShapeCollider.cpp
+++ b/libraries/shared/src/ShapeCollider.cpp
@@ -157,7 +157,7 @@ bool collideShapeWithAACube(const Shape* shapeA, const glm::vec3& cubeCenter, fl
 }
 
 bool sphereSphere(const SphereShape* sphereA, const SphereShape* sphereB, CollisionList& collisions) {
-    glm::vec3 BA = sphereB->getPosition() - sphereA->getPosition();
+    glm::vec3 BA = sphereB->getCenter() - sphereA->getCenter();
     float distanceSquared = glm::dot(BA, BA);
     float totalRadius = sphereA->getRadius() + sphereB->getRadius();
     if (distanceSquared < totalRadius * totalRadius) {
@@ -175,7 +175,7 @@ bool sphereSphere(const SphereShape* sphereA, const SphereShape* sphereB, Collis
         if (collision) {
             collision->_penetration = BA * (totalRadius - distance);
             // contactPoint is on surface of A
-            collision->_contactPoint = sphereA->getPosition() + sphereA->getRadius() * BA;
+            collision->_contactPoint = sphereA->getCenter() + sphereA->getRadius() * BA;
             collision->_shapeA = sphereA;
             collision->_shapeB = sphereB;
             return true;
@@ -186,7 +186,7 @@ bool sphereSphere(const SphereShape* sphereA, const SphereShape* sphereB, Collis
 
 bool sphereCapsule(const SphereShape* sphereA, const CapsuleShape* capsuleB, CollisionList& collisions) {
     // find sphereA's closest approach to axis of capsuleB
-    glm::vec3 BA = capsuleB->getPosition() - sphereA->getPosition();
+    glm::vec3 BA = capsuleB->getCenter() - sphereA->getCenter();
     glm::vec3 capsuleAxis; 
     capsuleB->computeNormalizedAxis(capsuleAxis);
     float axialDistance = - glm::dot(BA, capsuleAxis);
@@ -221,7 +221,7 @@ bool sphereCapsule(const SphereShape* sphereA, const CapsuleShape* capsuleB, Col
             // penetration points from A into B
             collision->_penetration = (totalRadius - radialDistance) * radialAxis; // points from A into B
             // contactPoint is on surface of sphereA
-            collision->_contactPoint = sphereA->getPosition() + sphereA->getRadius() * radialAxis;
+            collision->_contactPoint = sphereA->getCenter() + sphereA->getRadius() * radialAxis;
             collision->_shapeA = sphereA;
             collision->_shapeB = capsuleB;
         } else {
@@ -244,7 +244,7 @@ bool sphereCapsule(const SphereShape* sphereA, const CapsuleShape* capsuleB, Col
             float sign = (axialDistance > 0.0f) ? -1.0f : 1.0f;
             collision->_penetration = (sign * (totalRadius + capsuleB->getHalfHeight() - absAxialDistance)) * capsuleAxis;
             // contactPoint is on surface of sphereA
-            collision->_contactPoint = sphereA->getPosition() + (sign * sphereA->getRadius()) * capsuleAxis;
+            collision->_contactPoint = sphereA->getCenter() + (sign * sphereA->getRadius()) * capsuleAxis;
             collision->_shapeA = sphereA;
             collision->_shapeB = capsuleB;
         }
@@ -255,13 +255,13 @@ bool sphereCapsule(const SphereShape* sphereA, const CapsuleShape* capsuleB, Col
 
 bool spherePlane(const SphereShape* sphereA, const PlaneShape* planeB, CollisionList& collisions) {
     glm::vec3 penetration;
-    if (findSpherePlanePenetration(sphereA->getPosition(), sphereA->getRadius(), planeB->getCoefficients(), penetration)) {
+    if (findSpherePlanePenetration(sphereA->getCenter(), sphereA->getRadius(), planeB->getCoefficients(), penetration)) {
         CollisionInfo* collision = collisions.getNewCollision();
         if (!collision) {
             return false; // collision list is full
         }
         collision->_penetration = penetration;
-        collision->_contactPoint = sphereA->getPosition() + sphereA->getRadius() * glm::normalize(penetration);
+        collision->_contactPoint = sphereA->getCenter() + sphereA->getRadius() * glm::normalize(penetration);
         collision->_shapeA = sphereA;
         collision->_shapeB = planeB;
         return true;
@@ -271,7 +271,7 @@ bool spherePlane(const SphereShape* sphereA, const PlaneShape* planeB, Collision
 
 bool capsuleSphere(const CapsuleShape* capsuleA, const SphereShape* sphereB, CollisionList& collisions) {
     // find sphereB's closest approach to axis of capsuleA
-    glm::vec3 AB = capsuleA->getPosition() - sphereB->getPosition();
+    glm::vec3 AB = capsuleA->getCenter() - sphereB->getCenter();
     glm::vec3 capsuleAxis;
     capsuleA->computeNormalizedAxis(capsuleAxis);
     float axialDistance = - glm::dot(AB, capsuleAxis);
@@ -287,14 +287,14 @@ bool capsuleSphere(const CapsuleShape* capsuleA, const SphereShape* sphereB, Col
         }
 
         // closestApproach = point on capsuleA's axis that is closest to sphereB's center
-        glm::vec3 closestApproach = capsuleA->getPosition() + axialDistance * capsuleAxis;
+        glm::vec3 closestApproach = capsuleA->getCenter() + axialDistance * capsuleAxis;
 
         if (absAxialDistance > capsuleA->getHalfHeight()) {
             // sphere hits capsule on a cap 
             // --> recompute radialAxis and closestApproach
             float sign = (axialDistance > 0.0f) ? 1.0f : -1.0f;
-            closestApproach = capsuleA->getPosition() + (sign * capsuleA->getHalfHeight()) * capsuleAxis;
-            radialAxis = closestApproach - sphereB->getPosition();
+            closestApproach = capsuleA->getCenter() + (sign * capsuleA->getHalfHeight()) * capsuleAxis;
+            radialAxis = closestApproach - sphereB->getCenter();
             radialDistance2 = glm::length2(radialAxis);
             if (radialDistance2 > totalRadius2) {
                 return false;
@@ -349,8 +349,8 @@ bool capsuleCapsule(const CapsuleShape* capsuleA, const CapsuleShape* capsuleB,
     capsuleA->computeNormalizedAxis(axisA);
     glm::vec3 axisB;
     capsuleB->computeNormalizedAxis(axisB);
-    glm::vec3 centerA = capsuleA->getPosition();
-    glm::vec3 centerB = capsuleB->getPosition();
+    glm::vec3 centerA = capsuleA->getCenter();
+    glm::vec3 centerB = capsuleB->getCenter();
 
     // NOTE: The formula for closest approach between two lines is:
     // d = [(B - A) . (a - (a.b)b)] / (1 - (a.b)^2)
@@ -505,13 +505,13 @@ bool capsulePlane(const CapsuleShape* capsuleA, const PlaneShape* planeB, Collis
 
 bool planeSphere(const PlaneShape* planeA, const SphereShape* sphereB, CollisionList& collisions) {
     glm::vec3 penetration;
-    if (findSpherePlanePenetration(sphereB->getPosition(), sphereB->getRadius(), planeA->getCoefficients(), penetration)) {
+    if (findSpherePlanePenetration(sphereB->getCenter(), sphereB->getRadius(), planeA->getCoefficients(), penetration)) {
         CollisionInfo* collision = collisions.getNewCollision();
         if (!collision) {
             return false; // collision list is full
         }
         collision->_penetration = -penetration;
-        collision->_contactPoint = sphereB->getPosition() +
+        collision->_contactPoint = sphereB->getCenter() +
             (sphereB->getRadius() / glm::length(penetration) - 1.0f) * penetration;
         collision->_shapeA = planeA;
         collision->_shapeB = sphereB;
@@ -803,21 +803,21 @@ bool sphereAACube_StarkAngles(const glm::vec3& sphereCenter, float sphereRadius,
 */
 
 bool sphereAACube(const SphereShape* sphereA, const glm::vec3& cubeCenter, float cubeSide, CollisionList& collisions) {
-    return sphereAACube(sphereA->getPosition(), sphereA->getRadius(), cubeCenter, cubeSide, collisions);
+    return sphereAACube(sphereA->getCenter(), sphereA->getRadius(), cubeCenter, cubeSide, collisions);
 }
 
 bool capsuleAACube(const CapsuleShape* capsuleA, const glm::vec3& cubeCenter, float cubeSide, CollisionList& collisions) {
     // find nerest approach of capsule line segment to cube
     glm::vec3 capsuleAxis;
     capsuleA->computeNormalizedAxis(capsuleAxis);
-    float offset = glm::dot(cubeCenter - capsuleA->getPosition(), capsuleAxis);
+    float offset = glm::dot(cubeCenter - capsuleA->getCenter(), capsuleAxis);
     float halfHeight = capsuleA->getHalfHeight();
     if (offset > halfHeight) {
         offset = halfHeight;
     } else if (offset < -halfHeight) {
         offset = -halfHeight;
     }
-    glm::vec3 nearestApproach = capsuleA->getPosition() + offset * capsuleAxis;
+    glm::vec3 nearestApproach = capsuleA->getCenter() + offset * capsuleAxis;
     // collide nearest approach like a sphere at that point
     return sphereAACube(nearestApproach, capsuleA->getRadius(), cubeCenter, cubeSide, collisions);
 }
diff --git a/libraries/shared/src/SimulationEngine.cpp b/libraries/shared/src/SimulationEngine.cpp
index cf3baebec0..d1f773eee7 100644
--- a/libraries/shared/src/SimulationEngine.cpp
+++ b/libraries/shared/src/SimulationEngine.cpp
@@ -75,7 +75,7 @@ void SimulationEngine::stepForward(float deltaTime, float minError, int maxItera
 
     int numDolls = _dolls.size();
     for (int i = 0; i < numDolls; ++i) {
-        // TODO: need to implement:
+        // TODO: Andrew need to implement:
         // (1) joints pull points (SpecialCapsuleShape would help solve this)
         // (2) points slam shapes (SpecialCapsuleShape would help solve this)
         // (3) shapes collide with pairwise collision bypass
diff --git a/tests/physics/src/ShapeColliderTests.cpp b/tests/physics/src/ShapeColliderTests.cpp
index 7b3d956065..fc1ad59925 100644
--- a/tests/physics/src/ShapeColliderTests.cpp
+++ b/tests/physics/src/ShapeColliderTests.cpp
@@ -122,8 +122,8 @@ void ShapeColliderTests::sphereTouchesSphere() {
         }
     
         // contactPoint is on surface of sphereA
-        glm::vec3 AtoB = sphereB.getPosition() - sphereA.getPosition();
-        glm::vec3 expectedContactPoint = sphereA.getPosition() + radiusA * glm::normalize(AtoB);
+        glm::vec3 AtoB = sphereB.getCenter() - sphereA.getCenter();
+        glm::vec3 expectedContactPoint = sphereA.getCenter() + radiusA * glm::normalize(AtoB);
         inaccuracy = glm::length(collision->_contactPoint - expectedContactPoint);
         if (fabs(inaccuracy) > EPSILON) {
             std::cout << __FILE__ << ":" << __LINE__
@@ -152,8 +152,8 @@ void ShapeColliderTests::sphereTouchesSphere() {
         }
     
         // contactPoint is on surface of sphereA
-        glm::vec3 BtoA = sphereA.getPosition() - sphereB.getPosition();
-        glm::vec3 expectedContactPoint = sphereB.getPosition() + radiusB * glm::normalize(BtoA);
+        glm::vec3 BtoA = sphereA.getCenter() - sphereB.getCenter();
+        glm::vec3 expectedContactPoint = sphereB.getCenter() + radiusB * glm::normalize(BtoA);
         inaccuracy = glm::length(collision->_contactPoint - expectedContactPoint);
         if (fabs(inaccuracy) > EPSILON) {
             std::cout << __FILE__ << ":" << __LINE__
@@ -181,7 +181,7 @@ void ShapeColliderTests::sphereMissesCapsule() {
     glm::quat rotation = glm::angleAxis(angle, axis);
     glm::vec3 translation(15.1f, -27.1f, -38.6f);
     capsuleB.setRotation(rotation);
-    capsuleB.setPosition(translation);
+    capsuleB.setCenter(translation);
 
     CollisionList collisions(16);
 
@@ -192,7 +192,7 @@ void ShapeColliderTests::sphereMissesCapsule() {
     for (int i = 0; i < numberOfSteps; ++i) {
         // translate sphereA into world-frame
         glm::vec3 localPosition = localStartPosition + ((float)i * delta) * yAxis;
-        sphereA.setPosition(rotation * localPosition + translation);
+        sphereA.setCenter(rotation * localPosition + translation);
 
         // sphereA agains capsuleB
         if (ShapeCollider::collideShapes(&sphereA, &capsuleB, collisions))
@@ -235,7 +235,7 @@ void ShapeColliderTests::sphereTouchesCapsule() {
     int numCollisions = 0;
 
     {   // sphereA collides with capsuleB's cylindrical wall
-        sphereA.setPosition(radialOffset * xAxis);
+        sphereA.setCenter(radialOffset * xAxis);
 
         if (!ShapeCollider::collideShapes(&sphereA, &capsuleB, collisions))
         {
@@ -257,7 +257,7 @@ void ShapeColliderTests::sphereTouchesCapsule() {
         }
     
         // contactPoint is on surface of sphereA
-        glm::vec3 expectedContactPoint = sphereA.getPosition() - radiusA * xAxis;
+        glm::vec3 expectedContactPoint = sphereA.getCenter() - radiusA * xAxis;
         inaccuracy = glm::length(collision->_contactPoint - expectedContactPoint);
         if (fabs(inaccuracy) > EPSILON) {
             std::cout << __FILE__ << ":" << __LINE__
@@ -286,8 +286,8 @@ void ShapeColliderTests::sphereTouchesCapsule() {
         }
     
         // contactPoint is on surface of capsuleB
-        glm::vec3 BtoA = sphereA.getPosition() - capsuleB.getPosition();
-        glm::vec3 closestApproach = capsuleB.getPosition() + glm::dot(BtoA, yAxis) * yAxis;
+        glm::vec3 BtoA = sphereA.getCenter() - capsuleB.getCenter();
+        glm::vec3 closestApproach = capsuleB.getCenter() + glm::dot(BtoA, yAxis) * yAxis;
         expectedContactPoint = closestApproach + radiusB * glm::normalize(BtoA - closestApproach);
         inaccuracy = glm::length(collision->_contactPoint - expectedContactPoint);
         if (fabs(inaccuracy) > EPSILON) {
@@ -298,7 +298,7 @@ void ShapeColliderTests::sphereTouchesCapsule() {
     }
     {   // sphereA hits end cap at axis
         glm::vec3 axialOffset = (halfHeightB + alpha * radiusA + beta * radiusB) * yAxis;
-        sphereA.setPosition(axialOffset * yAxis);
+        sphereA.setCenter(axialOffset * yAxis);
         
         if (!ShapeCollider::collideShapes(&sphereA, &capsuleB, collisions))
         {
@@ -320,7 +320,7 @@ void ShapeColliderTests::sphereTouchesCapsule() {
         }
     
         // contactPoint is on surface of sphereA
-        glm::vec3 expectedContactPoint = sphereA.getPosition() - radiusA * yAxis;
+        glm::vec3 expectedContactPoint = sphereA.getCenter() - radiusA * yAxis;
         inaccuracy = glm::length(collision->_contactPoint - expectedContactPoint);
         if (fabs(inaccuracy) > EPSILON) {
             std::cout << __FILE__ << ":" << __LINE__
@@ -361,7 +361,7 @@ void ShapeColliderTests::sphereTouchesCapsule() {
     }
     {   // sphereA hits start cap at axis
         glm::vec3 axialOffset = - (halfHeightB + alpha * radiusA + beta * radiusB) * yAxis;
-        sphereA.setPosition(axialOffset * yAxis);
+        sphereA.setCenter(axialOffset * yAxis);
         
         if (!ShapeCollider::collideShapes(&sphereA, &capsuleB, collisions))
         {
@@ -383,7 +383,7 @@ void ShapeColliderTests::sphereTouchesCapsule() {
         }
     
         // contactPoint is on surface of sphereA
-        glm::vec3 expectedContactPoint = sphereA.getPosition() + radiusA * yAxis;
+        glm::vec3 expectedContactPoint = sphereA.getCenter() + radiusA * yAxis;
         inaccuracy = glm::length(collision->_contactPoint - expectedContactPoint);
         if (fabs(inaccuracy) > EPSILON) {
             std::cout << __FILE__ << ":" << __LINE__
@@ -445,7 +445,7 @@ void ShapeColliderTests::capsuleMissesCapsule() {
     CollisionList collisions(16);
 
     // side by side
-    capsuleB.setPosition((1.01f * totalRadius) * xAxis);
+    capsuleB.setCenter((1.01f * totalRadius) * xAxis);
     if (ShapeCollider::collideShapes(&capsuleA, &capsuleB, collisions))
     {
         std::cout << __FILE__ << ":" << __LINE__
@@ -460,7 +460,7 @@ void ShapeColliderTests::capsuleMissesCapsule() {
     }
 
     // end to end
-    capsuleB.setPosition((1.01f * totalHalfLength) * xAxis);
+    capsuleB.setCenter((1.01f * totalHalfLength) * xAxis);
     if (ShapeCollider::collideShapes(&capsuleA, &capsuleB, collisions))
     {
         std::cout << __FILE__ << ":" << __LINE__
@@ -477,7 +477,7 @@ void ShapeColliderTests::capsuleMissesCapsule() {
     // rotate B and move it to the side
     glm::quat rotation = glm::angleAxis(PI_OVER_TWO, zAxis);
     capsuleB.setRotation(rotation);
-    capsuleB.setPosition((1.01f * (totalRadius + capsuleB.getHalfHeight())) * xAxis);
+    capsuleB.setCenter((1.01f * (totalRadius + capsuleB.getHalfHeight())) * xAxis);
     if (ShapeCollider::collideShapes(&capsuleA, &capsuleB, collisions))
     {
         std::cout << __FILE__ << ":" << __LINE__
@@ -515,7 +515,7 @@ void ShapeColliderTests::capsuleTouchesCapsule() {
     int numCollisions = 0;
 
     { // side by side
-        capsuleB.setPosition((0.99f * totalRadius) * xAxis);
+        capsuleB.setCenter((0.99f * totalRadius) * xAxis);
         if (!ShapeCollider::collideShapes(&capsuleA, &capsuleB, collisions))
         {
             std::cout << __FILE__ << ":" << __LINE__
@@ -535,7 +535,7 @@ void ShapeColliderTests::capsuleTouchesCapsule() {
     }
 
     { // end to end
-        capsuleB.setPosition((0.99f * totalHalfLength) * yAxis);
+        capsuleB.setCenter((0.99f * totalHalfLength) * yAxis);
 
         if (!ShapeCollider::collideShapes(&capsuleA, &capsuleB, collisions))
         {
@@ -558,7 +558,7 @@ void ShapeColliderTests::capsuleTouchesCapsule() {
     { // rotate B and move it to the side
         glm::quat rotation = glm::angleAxis(PI_OVER_TWO, zAxis);
         capsuleB.setRotation(rotation);
-        capsuleB.setPosition((0.99f * (totalRadius + capsuleB.getHalfHeight())) * xAxis);
+        capsuleB.setCenter((0.99f * (totalRadius + capsuleB.getHalfHeight())) * xAxis);
 
         if (!ShapeCollider::collideShapes(&capsuleA, &capsuleB, collisions))
         {
@@ -583,7 +583,7 @@ void ShapeColliderTests::capsuleTouchesCapsule() {
         glm::quat rotation = glm::angleAxis(PI_OVER_TWO, zAxis);
         capsuleB.setRotation(rotation);
         glm::vec3 positionB = ((totalRadius + capsuleB.getHalfHeight()) - overlap) * xAxis;
-        capsuleB.setPosition(positionB);
+        capsuleB.setCenter(positionB);
 
         // capsuleA vs capsuleB
         if (!ShapeCollider::collideShapes(&capsuleA, &capsuleB, collisions))
@@ -604,7 +604,7 @@ void ShapeColliderTests::capsuleTouchesCapsule() {
                 << " actual = " << collision->_penetration;
         }
     
-        glm::vec3 expectedContactPoint = capsuleA.getPosition() + radiusA * xAxis;
+        glm::vec3 expectedContactPoint = capsuleA.getCenter() + radiusA * xAxis;
         inaccuracy = glm::length(collision->_contactPoint - expectedContactPoint);
         if (fabs(inaccuracy) > EPSILON) {
             std::cout << __FILE__ << ":" << __LINE__
@@ -632,7 +632,7 @@ void ShapeColliderTests::capsuleTouchesCapsule() {
                 << std::endl;
         }
     
-        expectedContactPoint = capsuleB.getPosition() - (radiusB + halfHeightB) * xAxis;
+        expectedContactPoint = capsuleB.getCenter() - (radiusB + halfHeightB) * xAxis;
         inaccuracy = glm::length(collision->_contactPoint - expectedContactPoint);
         if (fabs(inaccuracy) > EPSILON) {
             std::cout << __FILE__ << ":" << __LINE__
@@ -648,7 +648,7 @@ void ShapeColliderTests::capsuleTouchesCapsule() {
         glm::quat rotation = glm::angleAxis(PI_OVER_TWO, zAxis);
         capsuleB.setRotation(rotation);
         glm::vec3 positionB = (totalRadius - overlap) * zAxis + shift * yAxis;
-        capsuleB.setPosition(positionB);
+        capsuleB.setCenter(positionB);
 
         // capsuleA vs capsuleB
         if (!ShapeCollider::collideShapes(&capsuleA, &capsuleB, collisions))
@@ -670,7 +670,7 @@ void ShapeColliderTests::capsuleTouchesCapsule() {
                 << std::endl;
         }
     
-        glm::vec3 expectedContactPoint = capsuleA.getPosition() + radiusA * zAxis + shift * yAxis;
+        glm::vec3 expectedContactPoint = capsuleA.getCenter() + radiusA * zAxis + shift * yAxis;
         inaccuracy = glm::length(collision->_contactPoint - expectedContactPoint);
         if (fabs(inaccuracy) > EPSILON) {
             std::cout << __FILE__ << ":" << __LINE__
@@ -707,7 +707,7 @@ void ShapeColliderTests::sphereTouchesAACubeFaces() {
             float overlap = 0.25f;
             float sphereOffset = 0.5f * cubeSide + sphereRadius - overlap;
             sphereCenter = cubeCenter + sphereOffset * axis;
-            sphere.setPosition(sphereCenter);
+            sphere.setCenter(sphereCenter);
     
             if (!ShapeCollider::sphereAACube(&sphere, cubeCenter, cubeSide, collisions)){
                 std::cout << __FILE__ << ":" << __LINE__ << " ERROR: sphere should collide with cube.  axis = " << axis << std::endl;
@@ -740,7 +740,7 @@ void ShapeColliderTests::sphereTouchesAACubeFaces() {
             float overlap = 1.25f * sphereRadius;
             float sphereOffset = 0.5f * cubeSide + sphereRadius - overlap;
             sphereCenter = cubeCenter + sphereOffset * axis;
-            sphere.setPosition(sphereCenter);
+            sphere.setCenter(sphereCenter);
     
             if (!ShapeCollider::sphereAACube(&sphere, cubeCenter, cubeSide, collisions)){
                 std::cout << __FILE__ << ":" << __LINE__ << " ERROR: sphere should collide with cube." 
@@ -814,7 +814,7 @@ void ShapeColliderTests::sphereTouchesAACubeEdges() {
         float overlap = 0.25f;
     
         sphereCenter = cubeCenter + (lengthAxis * 0.5f * cubeSide + sphereRadius - overlap) * axis;
-        sphere.setPosition(sphereCenter);
+        sphere.setCenter(sphereCenter);
     
         if (!ShapeCollider::sphereAACube(&sphere, cubeCenter, cubeSide, collisions)){
             std::cout << __FILE__ << ":" << __LINE__ << " ERROR: sphere should collide with cube.  axis = " << axis << std::endl;
@@ -856,42 +856,42 @@ void ShapeColliderTests::sphereMissesAACube() {
 
     // top
     sphereCenter = cubeCenter + sphereOffset * yAxis;
-    sphere.setPosition(sphereCenter);
+    sphere.setCenter(sphereCenter);
     if (ShapeCollider::sphereAACube(&sphere, cubeCenter, cubeSide, collisions)){
         std::cout << __FILE__ << ":" << __LINE__ << " ERROR: sphere should NOT collide with cube" << std::endl;
     }
     
     // bottom
     sphereCenter = cubeCenter - sphereOffset * yAxis;
-    sphere.setPosition(sphereCenter);
+    sphere.setCenter(sphereCenter);
     if (ShapeCollider::sphereAACube(&sphere, cubeCenter, cubeSide, collisions)){
         std::cout << __FILE__ << ":" << __LINE__ << " ERROR: sphere should NOT collide with cube" << std::endl;
     }
 
     // left
     sphereCenter = cubeCenter + sphereOffset * xAxis;
-    sphere.setPosition(sphereCenter);
+    sphere.setCenter(sphereCenter);
     if (ShapeCollider::sphereAACube(&sphere, cubeCenter, cubeSide, collisions)){
         std::cout << __FILE__ << ":" << __LINE__ << " ERROR: sphere should NOT collide with cube" << std::endl;
     }
 
     // right
     sphereCenter = cubeCenter - sphereOffset * xAxis;
-    sphere.setPosition(sphereCenter);
+    sphere.setCenter(sphereCenter);
     if (ShapeCollider::sphereAACube(&sphere, cubeCenter, cubeSide, collisions)){
         std::cout << __FILE__ << ":" << __LINE__ << " ERROR: sphere should NOT collide with cube" << std::endl;
     }
 
     // forward
     sphereCenter = cubeCenter + sphereOffset * zAxis;
-    sphere.setPosition(sphereCenter);
+    sphere.setCenter(sphereCenter);
     if (ShapeCollider::sphereAACube(&sphere, cubeCenter, cubeSide, collisions)){
         std::cout << __FILE__ << ":" << __LINE__ << " ERROR: sphere should NOT collide with cube" << std::endl;
     }
 
     // back
     sphereCenter = cubeCenter - sphereOffset * zAxis;
-    sphere.setPosition(sphereCenter);
+    sphere.setCenter(sphereCenter);
     if (ShapeCollider::sphereAACube(&sphere, cubeCenter, cubeSide, collisions)){
         std::cout << __FILE__ << ":" << __LINE__ << " ERROR: sphere should NOT collide with cube" << std::endl;
     }

From 3fd4ee02fffe489610f42ab413c7a16dd86ef32e Mon Sep 17 00:00:00 2001
From: Andrew Meadows <andrew@highfidelity.io>
Date: Mon, 16 Jun 2014 08:55:08 -0700
Subject: [PATCH 020/105] Shape uses "center" instead of "position"

---
 libraries/shared/src/CapsuleShape.cpp |  6 +++---
 libraries/shared/src/ListShape.cpp    |  6 +++---
 libraries/shared/src/ListShape.h      |  5 +++--
 libraries/shared/src/PlaneShape.cpp   |  4 ++--
 libraries/shared/src/Shape.h          | 16 ++++++++--------
 5 files changed, 19 insertions(+), 18 deletions(-)

diff --git a/libraries/shared/src/CapsuleShape.cpp b/libraries/shared/src/CapsuleShape.cpp
index 8e887107dc..7313f3ee7e 100644
--- a/libraries/shared/src/CapsuleShape.cpp
+++ b/libraries/shared/src/CapsuleShape.cpp
@@ -38,12 +38,12 @@ CapsuleShape::CapsuleShape(float radius, const glm::vec3& startPoint, const glm:
 
 /// \param[out] startPoint is the center of start cap
 void CapsuleShape::getStartPoint(glm::vec3& startPoint) const {
-    startPoint = _position - _rotation * glm::vec3(0.0f, _halfHeight, 0.0f);
+    startPoint = _center - _rotation * glm::vec3(0.0f, _halfHeight, 0.0f);
 }
 
 /// \param[out] endPoint is the center of the end cap
 void CapsuleShape::getEndPoint(glm::vec3& endPoint) const {
-    endPoint = _position + _rotation * glm::vec3(0.0f, _halfHeight, 0.0f);
+    endPoint = _center + _rotation * glm::vec3(0.0f, _halfHeight, 0.0f);
 }
 
 void CapsuleShape::computeNormalizedAxis(glm::vec3& axis) const {
@@ -69,7 +69,7 @@ void CapsuleShape::setRadiusAndHalfHeight(float radius, float halfHeight) {
 
 void CapsuleShape::setEndPoints(const glm::vec3& startPoint, const glm::vec3& endPoint) {
     glm::vec3 axis = endPoint - startPoint;
-    _position = 0.5f * (endPoint + startPoint);
+    _center = 0.5f * (endPoint + startPoint);
     float height = glm::length(axis);
     if (height > EPSILON) {
         _halfHeight = 0.5f * height;
diff --git a/libraries/shared/src/ListShape.cpp b/libraries/shared/src/ListShape.cpp
index 162ee111c7..4876111054 100644
--- a/libraries/shared/src/ListShape.cpp
+++ b/libraries/shared/src/ListShape.cpp
@@ -24,9 +24,9 @@ ListShape::~ListShape() {
     clear();
 }
 
-void ListShape::setPosition(const glm::vec3& position) {
+void ListShape::setCenter(const glm::vec3& center) {
     _subShapeTransformsAreDirty = true;
-    Shape::setCenter(position);
+    Shape::setCenter(center);
 }
 
 void ListShape::setRotation(const glm::quat& rotation) {
@@ -44,7 +44,7 @@ const Shape* ListShape::getSubShape(int index) const {
 void ListShape::updateSubTransforms() {
     if (_subShapeTransformsAreDirty) {
         for (int i = 0; i < _subShapeEntries.size(); ++i) {
-            _subShapeEntries[i].updateTransform(_position, _rotation);
+            _subShapeEntries[i].updateTransform(_center, _rotation);
         }
         _subShapeTransformsAreDirty = false;
     }
diff --git a/libraries/shared/src/ListShape.h b/libraries/shared/src/ListShape.h
index 87464779ce..b819c404c9 100644
--- a/libraries/shared/src/ListShape.h
+++ b/libraries/shared/src/ListShape.h
@@ -42,8 +42,9 @@ public:
 
     ~ListShape();
 
-    void setPosition(const glm::vec3& position);
-    glm::vec3 getPosition() const { return _position; }
+    void setCenter(const glm::vec3& center);
+//    void setPosition(const glm::vec3& position);
+//    glm::vec3 getPosition() const { return _position; }
     void setRotation(const glm::quat& rotation);
 
     const Shape* getSubShape(int index) const;
diff --git a/libraries/shared/src/PlaneShape.cpp b/libraries/shared/src/PlaneShape.cpp
index a8b4468c93..abe97c68b2 100644
--- a/libraries/shared/src/PlaneShape.cpp
+++ b/libraries/shared/src/PlaneShape.cpp
@@ -18,7 +18,7 @@ PlaneShape::PlaneShape(const glm::vec4& coefficients) :
     Shape(Shape::PLANE_SHAPE) {
     
     glm::vec3 normal = glm::vec3(coefficients);
-    _position = -normal * coefficients.w;
+    _center = -normal * coefficients.w;
     
     float angle = acosf(glm::dot(normal, UNROTATED_NORMAL));
     if (angle > EPSILON) {
@@ -32,5 +32,5 @@ PlaneShape::PlaneShape(const glm::vec4& coefficients) :
 
 glm::vec4 PlaneShape::getCoefficients() const {
     glm::vec3 normal = _rotation * UNROTATED_NORMAL;
-    return glm::vec4(normal.x, normal.y, normal.z, -glm::dot(normal, _position));
+    return glm::vec4(normal.x, normal.y, normal.z, -glm::dot(normal, _center));
 }
diff --git a/libraries/shared/src/Shape.h b/libraries/shared/src/Shape.h
index f1a36adfb6..f366814620 100644
--- a/libraries/shared/src/Shape.h
+++ b/libraries/shared/src/Shape.h
@@ -27,7 +27,7 @@ public:
         LIST_SHAPE
     };
 
-    Shape() : _type(UNKNOWN_SHAPE), _owningEntity(NULL), _boundingRadius(0.f), _position(0.f), _rotation() { }
+    Shape() : _type(UNKNOWN_SHAPE), _owningEntity(NULL), _boundingRadius(0.f), _center(0.f), _rotation() { }
     virtual ~Shape() {}
 
     int getType() const { return _type; }
@@ -35,31 +35,31 @@ public:
 //    const glm::vec3& getPosition() const { return _position; }
     const glm::quat& getRotation() const { return _rotation; }
 
-//    virtual void setPosition(const glm::vec3& position) { _position = position; }
+//    virtual void setPosition(const glm::vec3& position) { _center = position; }
     virtual void setRotation(const glm::quat& rotation) { _rotation = rotation; }
 
     void setEntity(PhysicalEntity* entity) { _owningEntity = entity; }
     PhysicalEntity* getEntity() const { return _owningEntity; }
 
-    virtual void setCenter(const glm::vec3& center) { _position = center; }
-    virtual glm::vec3 getCenter() const { return _position; }
+    virtual void setCenter(const glm::vec3& center) { _center = center; }
+    virtual glm::vec3 getCenter() const { return _center; }
 
 protected:
     // these ctors are protected (used by derived classes only)
-    Shape(Type type) : _type(type), _owningEntity(NULL), _boundingRadius(0.f), _position(0.f), _rotation() {}
+    Shape(Type type) : _type(type), _owningEntity(NULL), _boundingRadius(0.f), _center(0.f), _rotation() {}
 
     Shape(Type type, const glm::vec3& position) 
-        : _type(type), _owningEntity(NULL), _boundingRadius(0.f), _position(position), _rotation() {}
+        : _type(type), _owningEntity(NULL), _boundingRadius(0.f), _center(position), _rotation() {}
 
     Shape(Type type, const glm::vec3& position, const glm::quat& rotation) 
-        : _type(type), _owningEntity(NULL), _boundingRadius(0.f), _position(position), _rotation(rotation) {}
+        : _type(type), _owningEntity(NULL), _boundingRadius(0.f), _center(position), _rotation(rotation) {}
 
     void setBoundingRadius(float radius) { _boundingRadius = radius; }
 
     int _type;
     PhysicalEntity* _owningEntity;
     float _boundingRadius;
-    glm::vec3 _position;
+    glm::vec3 _center;
     glm::quat _rotation;
 };
 

From 3a2f322ca39600be2b8e12cc63a3e4e141bde771 Mon Sep 17 00:00:00 2001
From: Andrew Meadows <andrew@highfidelity.io>
Date: Mon, 16 Jun 2014 12:23:18 -0700
Subject: [PATCH 021/105] SphereShape, CapsuleShape support derived classes

---
 libraries/shared/src/CapsuleShape.h | 18 +++++++++++-------
 libraries/shared/src/SphereShape.h  |  2 ++
 2 files changed, 13 insertions(+), 7 deletions(-)

diff --git a/libraries/shared/src/CapsuleShape.h b/libraries/shared/src/CapsuleShape.h
index 756ae18911..6f7a064d96 100644
--- a/libraries/shared/src/CapsuleShape.h
+++ b/libraries/shared/src/CapsuleShape.h
@@ -23,24 +23,28 @@ public:
     CapsuleShape(float radius, float halfHeight, const glm::vec3& position, const glm::quat& rotation);
     CapsuleShape(float radius, const glm::vec3& startPoint, const glm::vec3& endPoint);
 
+    virtual ~CapsuleShape() {}
+
     float getRadius() const { return _radius; }
     float getHalfHeight() const { return _halfHeight; }
 
     /// \param[out] startPoint is the center of start cap
-    void getStartPoint(glm::vec3& startPoint) const;
+    virtual void getStartPoint(glm::vec3& startPoint) const;
 
     /// \param[out] endPoint is the center of the end cap
-    void getEndPoint(glm::vec3& endPoint) const;
+    virtual void getEndPoint(glm::vec3& endPoint) const;
 
-    void computeNormalizedAxis(glm::vec3& axis) const;
+    virtual void computeNormalizedAxis(glm::vec3& axis) const;
 
     void setRadius(float radius);
-    void setHalfHeight(float height);
-    void setRadiusAndHalfHeight(float radius, float height);
-    void setEndPoints(const glm::vec3& startPoint, const glm::vec3& endPoint);
+    virtual void setHalfHeight(float height);
+    virtual void setRadiusAndHalfHeight(float radius, float height);
+
+    /// Sets the endpoints and updates center, rotation, and halfHeight to agree.
+    virtual void setEndPoints(const glm::vec3& startPoint, const glm::vec3& endPoint);
 
 protected:
-    void updateBoundingRadius() { _boundingRadius = _radius + _halfHeight; }
+    virtual void updateBoundingRadius() { _boundingRadius = _radius + getHalfHeight(); }
 
     float _radius;
     float _halfHeight;
diff --git a/libraries/shared/src/SphereShape.h b/libraries/shared/src/SphereShape.h
index 62783ab340..8feeb5e5b8 100644
--- a/libraries/shared/src/SphereShape.h
+++ b/libraries/shared/src/SphereShape.h
@@ -26,6 +26,8 @@ public:
         _boundingRadius = radius;
     }
 
+    virtual ~SphereShape() {}
+
     float getRadius() const { return _boundingRadius; }
 
     void setRadius(float radius) { _boundingRadius = radius; }

From 1496e6c8b2b0f7b8b7d826969f7e723ea32ae587 Mon Sep 17 00:00:00 2001
From: Andrew Meadows <andrew@highfidelity.io>
Date: Mon, 16 Jun 2014 12:29:41 -0700
Subject: [PATCH 022/105] add VirletSphereShape and VirletCapsuleShape

---
 libraries/shared/src/VerletCapsuleShape.cpp | 76 +++++++++++++++++++++
 libraries/shared/src/VerletCapsuleShape.h   | 55 +++++++++++++++
 libraries/shared/src/VerletSphereShape.cpp  | 32 +++++++++
 libraries/shared/src/VerletSphereShape.h    | 34 +++++++++
 4 files changed, 197 insertions(+)
 create mode 100644 libraries/shared/src/VerletCapsuleShape.cpp
 create mode 100644 libraries/shared/src/VerletCapsuleShape.h
 create mode 100644 libraries/shared/src/VerletSphereShape.cpp
 create mode 100644 libraries/shared/src/VerletSphereShape.h

diff --git a/libraries/shared/src/VerletCapsuleShape.cpp b/libraries/shared/src/VerletCapsuleShape.cpp
new file mode 100644
index 0000000000..9cae13ba2d
--- /dev/null
+++ b/libraries/shared/src/VerletCapsuleShape.cpp
@@ -0,0 +1,76 @@
+//
+//  VerletCapsuleShape.cpp
+//  libraries/shared/src
+//
+//  Created by Andrew Meadows on 2014.06.16
+//  Copyright 2014 High Fidelity, Inc.
+//
+//  Distributed under the Apache License, Version 2.0.
+//  See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
+//
+
+#include "VerletCapsuleShape.h"
+#include "SharedUtil.h"
+
+VerletCapsuleShape::VerletCapsuleShape(glm::vec3* startPoint, glm::vec3* endPoint) : 
+        CapsuleShape(), _startPoint(startPoint), _endPoint(endPoint) {
+    assert(startPoint);
+    assert(endPoint);
+    _halfHeight = 0.5f * glm::distance(*_startPoint, *_endPoint);
+    updateBoundingRadius();
+}
+
+VerletCapsuleShape::VerletCapsuleShape(float radius, glm::vec3* startPoint, glm::vec3* endPoint) :
+        CapsuleShape(radius, 1.0f), _startPoint(startPoint), _endPoint(endPoint) {
+    assert(startPoint);
+    assert(endPoint);
+    _halfHeight = 0.5f * glm::distance(*_startPoint, *_endPoint);
+    updateBoundingRadius();
+}
+
+// virtual
+float VerletCapsuleShape::getHalfHeight() const {
+    return 0.5f * glm::distance(*_startPoint, *_endPoint);
+}
+
+// virtual
+void VerletCapsuleShape::getStartPoint(glm::vec3& startPoint) const {
+    startPoint = *_startPoint;
+}
+
+// virtual
+void VerletCapsuleShape::getEndPoint(glm::vec3& endPoint) const {
+    endPoint = *_endPoint;
+}
+
+// virtual
+void VerletCapsuleShape::computeNormalizedAxis(glm::vec3& axis) const {
+    glm::vec3 unormalizedAxis = *_endPoint - *_startPoint;
+    float fullLength = glm::length(unormalizedAxis);
+    if (fullLength > EPSILON) {
+        axis = unormalizedAxis / fullLength;
+    } else {
+        // the axis is meaningless, but we fill it with a normalized direction
+        // just in case the calling context assumes it really is normalized.
+        axis = glm::vec3(0.0f, 1.0f, 0.0f);
+    }
+}
+
+// virtual 
+void VerletCapsuleShape::setHalfHeight(float height) {
+    // don't call this method because this is a verlet shape
+    assert(false);
+}
+
+// virtual 
+void VerletCapsuleShape::setRadiusAndHalfHeight(float radius, float height) {
+    // don't call this method because this is a verlet shape
+    assert(false);
+}
+
+// virtual
+void VerletCapsuleShape::setEndPoints(const glm::vec3& startPoint, const glm::vec3& endPoint) {
+    *_startPoint = startPoint;
+    *_endPoint = endPoint;
+    updateBoundingRadius();
+}
diff --git a/libraries/shared/src/VerletCapsuleShape.h b/libraries/shared/src/VerletCapsuleShape.h
new file mode 100644
index 0000000000..c06b9c7758
--- /dev/null
+++ b/libraries/shared/src/VerletCapsuleShape.h
@@ -0,0 +1,55 @@
+//
+//  VerletCapsuleShape.h
+//  libraries/shared/src
+//
+//  Created by Andrew Meadows on 2014.06.16
+//  Copyright 2014 High Fidelity, Inc.
+//
+//  Distributed under the Apache License, Version 2.0.
+//  See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
+//
+
+#ifndef hifi_VerletCapsuleShape_h
+#define hifi_VerletCapsuleShape_h
+
+#include "CapsuleShape.h"
+
+
+// The VerletCapsuleShape is similar to a regular CapsuleShape, except it keeps pointers 
+// to its endpoints which are owned by some other data structure.  This allows it to 
+// participate in a verlet integration engine.
+//
+// Although the true_halfHeight of the VerletCapsuleShape is considered a constant 
+class VerletCapsuleShape : public CapsuleShape {
+public:
+    VerletCapsuleShape(glm::vec3* startPoint, glm::vec3* endPoint);
+    VerletCapsuleShape(float radius, glm::vec3* startPoint, glm::vec3* endPoint);
+    //VerletCapsuleShape(float radius, float halfHeight, const glm::vec3& position, const glm::quat& rotation);
+    //VerletCapsuleShape(float radius, const glm::vec3& startPoint, const glm::vec3& endPoint);
+
+    //float getRadius() const { return _radius; }
+    virtual float getHalfHeight() const;
+
+    /// \param[out] startPoint is the center of start cap
+    void getStartPoint(glm::vec3& startPoint) const;
+
+    /// \param[out] endPoint is the center of the end cap
+    void getEndPoint(glm::vec3& endPoint) const;
+
+    /// \param[out] axis is a normalized vector that points from start to end
+    void computeNormalizedAxis(glm::vec3& axis) const;
+
+    //void setRadius(float radius);
+    void setHalfHeight(float height);
+    void setRadiusAndHalfHeight(float radius, float height);
+    void setEndPoints(const glm::vec3& startPoint, const glm::vec3& endPoint);
+
+    //void assignEndPoints(glm::vec3* startPoint, glm::vec3* endPoint);
+
+protected:
+    // NOTE: VerletCapsuleShape does NOT own its points.
+    glm::vec3* _startPoint;
+    glm::vec3* _endPoint;
+};
+
+#endif // hifi_VerletCapsuleShape_h
diff --git a/libraries/shared/src/VerletSphereShape.cpp b/libraries/shared/src/VerletSphereShape.cpp
new file mode 100644
index 0000000000..b696f74dfb
--- /dev/null
+++ b/libraries/shared/src/VerletSphereShape.cpp
@@ -0,0 +1,32 @@
+//
+//  VerletSphereShape.cpp
+//  libraries/shared/src
+//
+//  Created by Andrew Meadows on 2014.06.16
+//  Copyright 2014 High Fidelity, Inc.
+//
+//  Distributed under the Apache License, Version 2.0.
+//  See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
+//
+
+#include "VerletSphereShape.h"
+
+VerletSphereShape::VerletSphereShape(glm::vec3* centerPoint) : SphereShape() { 
+    assert(centerPoint);
+    _point = centerPoint;
+}
+
+VerletSphereShape::VerletSphereShape(float radius, glm::vec3* centerPoint) : SphereShape(radius) {
+    assert(centerPoint);
+    _point = centerPoint;
+}
+
+// virtual from Shape class
+void VerletSphereShape::setCenter(const glm::vec3& center) {
+    *_point = center;
+}
+
+// virtual from Shape class
+glm::vec3 VerletSphereShape::getCenter() {
+    return *_point;
+}
diff --git a/libraries/shared/src/VerletSphereShape.h b/libraries/shared/src/VerletSphereShape.h
new file mode 100644
index 0000000000..63a8531ffc
--- /dev/null
+++ b/libraries/shared/src/VerletSphereShape.h
@@ -0,0 +1,34 @@
+//
+//  VerletSphereShape.h
+//  libraries/shared/src
+//
+//  Created by Andrew Meadows on 2014.06.16
+//  Copyright 2014 High Fidelity, Inc.
+//
+//  Distributed under the Apache License, Version 2.0.
+//  See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
+//
+
+#ifndef hifi_VerletSphereShape_h
+#define hifi_VerletSphereShape_h
+
+#include "SphereShape.h"
+
+// The VerletSphereShape is similar to a regular SphereShape, except it keeps a pointer
+// to its center which is owned by some other data structure.  This allows it to 
+// participate in a verlet integration engine.
+class VerletSphereShape : public SphereShape {
+public:
+    VerletSphereShape(glm::vec3* centerPoint);
+
+    VerletSphereShape(float radius, glm::vec3* centerPoint);
+
+    void setCenter(const glm::vec3& center);
+    glm::vec3 getCenter();
+
+protected:
+    // NOTE: VerletSphereShape does NOT own its _point
+    glm::vec3* _point;
+};
+
+#endif // hifi_VerletSphereShape_h

From 118717d96af51b6587132d1390df3bf69c037add Mon Sep 17 00:00:00 2001
From: Andrew Meadows <andrew@highfidelity.io>
Date: Mon, 16 Jun 2014 14:51:58 -0700
Subject: [PATCH 023/105] Shapes moved from Model into PhysicalEntity

---
 interface/src/avatar/MyAvatar.cpp       |   2 +-
 interface/src/avatar/SkeletonModel.cpp  |  10 +--
 interface/src/renderer/Model.cpp        | 102 ++++++++----------------
 interface/src/renderer/Model.h          |  25 +-----
 libraries/shared/src/PhysicalEntity.cpp |  50 ++++++++++--
 libraries/shared/src/PhysicalEntity.h   |  29 ++++++-
 libraries/shared/src/Ragdoll.cpp        |  12 +--
 libraries/shared/src/Ragdoll.h          |   8 +-
 8 files changed, 121 insertions(+), 117 deletions(-)

diff --git a/interface/src/avatar/MyAvatar.cpp b/interface/src/avatar/MyAvatar.cpp
index 403d0596c0..eb8e44fe44 100644
--- a/interface/src/avatar/MyAvatar.cpp
+++ b/interface/src/avatar/MyAvatar.cpp
@@ -82,7 +82,7 @@ MyAvatar::MyAvatar() :
     for (int i = 0; i < MAX_DRIVE_KEYS; i++) {
         _driveKeys[i] = 0.0f;
     }
-    _skeletonModel.setEnableCollisionShapes(true);
+    _skeletonModel.setEnableShapes(true);
     _simulationEngine.addRagdoll(&_skeletonModel);
 }
 
diff --git a/interface/src/avatar/SkeletonModel.cpp b/interface/src/avatar/SkeletonModel.cpp
index 74625cf6b2..c98766f479 100644
--- a/interface/src/avatar/SkeletonModel.cpp
+++ b/interface/src/avatar/SkeletonModel.cpp
@@ -39,7 +39,7 @@ void SkeletonModel::setJointStates(QVector<JointState> states) {
             points.push_back(state.getPosition());
         }
         // ... and feed the results to Ragdoll
-        initShapesAndPoints(&_jointShapes, parentIndices, points);
+        initShapesAndPoints(&_shapes, parentIndices, points);
     }
 }
 
@@ -126,7 +126,7 @@ void SkeletonModel::simulateRagdoll(float deltaTime) {
 }
 
 void SkeletonModel::getHandShapes(int jointIndex, QVector<const Shape*>& shapes) const {
-    if (jointIndex < 0 || jointIndex >= int(_jointShapes.size())) {
+    if (jointIndex < 0 || jointIndex >= int(_shapes.size())) {
         return;
     }
     if (jointIndex == getLeftHandJointIndex()
@@ -136,15 +136,15 @@ void SkeletonModel::getHandShapes(int jointIndex, QVector<const Shape*>& shapes)
         for (int i = 0; i < _jointStates.size(); i++) {
             const FBXJoint& joint = geometry.joints[i];
             int parentIndex = joint.parentIndex;
-            Shape* shape = _jointShapes[i];
+            Shape* shape = _shapes[i];
             if (i == jointIndex) {
                 // this shape is the hand
                 if (shape) {
                     shapes.push_back(shape);
                 }
-                if (parentIndex != -1 && _jointShapes[parentIndex]) {
+                if (parentIndex != -1 && _shapes[parentIndex]) {
                     // also add the forearm
-                    shapes.push_back(_jointShapes[parentIndex]);
+                    shapes.push_back(_shapes[parentIndex]);
                 }
             } else if (shape) {
                 while (parentIndex != -1) {
diff --git a/interface/src/renderer/Model.cpp b/interface/src/renderer/Model.cpp
index c0ed002b69..5d871f2c9e 100644
--- a/interface/src/renderer/Model.cpp
+++ b/interface/src/renderer/Model.cpp
@@ -38,13 +38,10 @@ Model::Model(QObject* parent) :
     _scaleToFit(false),
     _scaleToFitLargestDimension(0.0f),
     _scaledToFit(false),
-    _simulationIndex(-1),
     _snapModelToCenter(false),
     _snappedToCenter(false),
     _rootIndex(-1),
-    _shapesAreDirty(true),
-    _enableCollisionShapes(false),
-    _boundingRadius(0.0f),
+    //_enableCollisionShapes(false),
     _boundingShape(),
     _boundingShapeLocalOffset(0.0f),
     _lodDistance(0.0f),
@@ -118,19 +115,6 @@ Model::SkinLocations Model::_skinCascadedShadowSpecularMapLocations;
 Model::SkinLocations Model::_skinCascadedShadowNormalSpecularMapLocations;
 Model::SkinLocations Model::_skinShadowLocations;
 
-void Model::setTranslation(const glm::vec3& translation) { 
-    if (_translation != translation) {
-        _shapesAreDirty = !_jointShapes.isEmpty();
-        _translation = translation; 
-    }
-}
-void Model::setRotation(const glm::quat& rotation) { 
-    if (_rotation != rotation) {
-        _shapesAreDirty = !_jointShapes.isEmpty();
-        _rotation = rotation;
-    }
-}
-
 void Model::setScale(const glm::vec3& scale) {
     setScaleInternal(scale);
     // if anyone sets scale manually, then we are no longer scaled to fit
@@ -145,8 +129,9 @@ void Model::setScaleInternal(const glm::vec3& scale) {
     const float ONE_PERCENT = 0.01f;
     if (relativeDeltaScale > ONE_PERCENT || scaleLength < EPSILON) {
         _scale = scale;
-        if (_jointShapes.size() > 0) {
-            rebuildShapes();
+        if (_shapes.size() > 0) {
+            clearShapes();
+            buildShapes();
         }
     }
 }
@@ -202,17 +187,6 @@ QVector<JointState> Model::createJointStates(const FBXGeometry& geometry) {
     return jointStates;
 }
 
-void Model::setEnableCollisionShapes(bool enable) {
-    if (enable != _enableCollisionShapes) {
-        _enableCollisionShapes = enable;
-        if (_enableCollisionShapes) {
-            rebuildShapes();
-        } else {
-            clearShapes();
-        }
-    }
-}
-
 void Model::init() {
     if (!_program.isLinked()) {
         _program.addShaderFromSourceFile(QGLShader::Vertex, Application::resourcesPath() + "shaders/model.vert");
@@ -580,8 +554,8 @@ bool Model::updateGeometry() {
             model->setURL(attachment.url);
             _attachments.append(model);
         }
-        if (_enableCollisionShapes) {
-            rebuildShapes();
+        if (_enableShapes) {
+            buildShapes();
         }
         needFullUpdate = true;
     }
@@ -817,16 +791,8 @@ AnimationHandlePointer Model::createAnimationHandle() {
     return handle;
 }
 
-void Model::clearShapes() {
-    for (int i = 0; i < _jointShapes.size(); ++i) {
-        delete _jointShapes[i];
-    }
-    _jointShapes.clear();
-}
-
-void Model::rebuildShapes() {
-    clearShapes();
-    
+// virtual override from PhysicalEntity
+void Model::buildShapes() {
     if (!_geometry || _rootIndex == -1) {
         return;
     }
@@ -851,15 +817,15 @@ void Model::rebuildShapes() {
         if (type == Shape::CAPSULE_SHAPE) {
             CapsuleShape* capsule = new CapsuleShape(radius, halfHeight);
             capsule->setEntity(this);
-            _jointShapes.push_back(capsule);
+            _shapes.push_back(capsule);
         } else if (type == Shape::SPHERE_SHAPE) {
             SphereShape* sphere = new SphereShape(radius, glm::vec3(0.0f));
-            _jointShapes.push_back(sphere);
+            _shapes.push_back(sphere);
             sphere->setEntity(this);
         } else {
             // this shape type is not handled and the joint shouldn't collide, 
             // however we must have a Shape* for each joint, so we push NULL
-            _jointShapes.push_back(NULL);
+            _shapes.push_back(NULL);
         }
     }
 
@@ -916,8 +882,8 @@ void Model::computeBoundingShape(const FBXGeometry& geometry) {
     // sync shapes to joints
     _boundingRadius = 0.0f;
     float uniformScale = extractUniformScale(_scale);
-    for (int i = 0; i < _jointShapes.size(); i++) {
-        Shape* shape = _jointShapes[i];
+    for (int i = 0; i < _shapes.size(); i++) {
+        Shape* shape = _shapes[i];
         if (!shape) {
             continue;
         }
@@ -936,8 +902,8 @@ void Model::computeBoundingShape(const FBXGeometry& geometry) {
     Extents totalExtents;
     totalExtents.reset();
     totalExtents.addPoint(glm::vec3(0.0f));
-    for (int i = 0; i < _jointShapes.size(); i++) {
-        Shape* shape = _jointShapes[i];
+    for (int i = 0; i < _shapes.size(); i++) {
+        Shape* shape = _shapes[i];
         if (!shape) {
             continue;
         }
@@ -981,13 +947,13 @@ void Model::resetShapePositions() {
     // Moves shapes to the joint default locations for debug visibility into
     // how the bounding shape is computed.
 
-    if (!_geometry || _rootIndex == -1 || _jointShapes.isEmpty()) {
+    if (!_geometry || _rootIndex == -1 || _shapes.isEmpty()) {
         // geometry or joints have not yet been created
         return;
     }
     
     const FBXGeometry& geometry = _geometry->getFBXGeometry();
-    if (geometry.joints.isEmpty() || _jointShapes.size() != geometry.joints.size()) {
+    if (geometry.joints.isEmpty() || _shapes.size() != geometry.joints.size()) {
         return;
     }
 
@@ -995,8 +961,8 @@ void Model::resetShapePositions() {
     computeBoundingShape(geometry);
 
     // Then we move them into world frame for rendering at the Model's location.
-    for (int i = 0; i < _jointShapes.size(); i++) {
-        Shape* shape = _jointShapes[i];
+    for (int i = 0; i < _shapes.size(); i++) {
+        Shape* shape = _shapes[i];
         if (shape) {
             shape->setCenter(_translation + _rotation * shape->getCenter());
             shape->setRotation(_rotation * shape->getRotation());
@@ -1007,7 +973,7 @@ void Model::resetShapePositions() {
 }
 
 void Model::updateShapePositions() {
-    if (_shapesAreDirty && _jointShapes.size() == _jointStates.size()) {
+    if (_shapesAreDirty && _shapes.size() == _jointStates.size()) {
         glm::vec3 rootPosition(0.0f);
         _boundingRadius = 0.0f;
         float uniformScale = extractUniformScale(_scale);
@@ -1018,7 +984,7 @@ void Model::updateShapePositions() {
             glm::quat stateRotation = state.getRotation();
             glm::vec3 shapeOffset = uniformScale * (stateRotation * joint.shapePosition);
             glm::vec3 worldPosition = _translation + _rotation * (state.getPosition() + shapeOffset);
-            Shape* shape = _jointShapes[i];
+            Shape* shape = _shapes[i];
             if (shape) {
                 shape->setCenter(worldPosition);
                 shape->setRotation(_rotation * stateRotation * joint.shapeRotation);
@@ -1073,8 +1039,8 @@ bool Model::findCollisions(const QVector<const Shape*> shapes, CollisionList& co
         if (!theirShape) {
             continue;
         }
-        for (int j = 0; j < _jointShapes.size(); ++j) {
-            const Shape* ourShape = _jointShapes[j];
+        for (int j = 0; j < _shapes.size(); ++j) {
+            const Shape* ourShape = _shapes[j];
             if (ourShape && ShapeCollider::collideShapes(theirShape, ourShape, collisions)) {
                 collided = true;
             }
@@ -1088,8 +1054,8 @@ bool Model::findSphereCollisions(const glm::vec3& sphereCenter, float sphereRadi
     bool collided = false;
     SphereShape sphere(sphereRadius, sphereCenter);
     const FBXGeometry& geometry = _geometry->getFBXGeometry();
-    for (int i = 0; i < _jointShapes.size(); i++) {
-        Shape* shape = _jointShapes[i];
+    for (int i = 0; i < _shapes.size(); i++) {
+        Shape* shape = _shapes[i];
         if (!shape) {
             continue;
         }
@@ -1120,8 +1086,8 @@ bool Model::findSphereCollisions(const glm::vec3& sphereCenter, float sphereRadi
 bool Model::findPlaneCollisions(const glm::vec4& plane, CollisionList& collisions) {
     bool collided = false;
     PlaneShape planeShape(plane);
-    for (int i = 0; i < _jointShapes.size(); i++) {
-        if (_jointShapes[i] && ShapeCollider::collideShapes(&planeShape, _jointShapes[i], collisions)) {
+    for (int i = 0; i < _shapes.size(); i++) {
+        if (_shapes[i] && ShapeCollider::collideShapes(&planeShape, _shapes[i], collisions)) {
             CollisionInfo* collision = collisions.getLastCollision();
             collision->_data = (void*)(this);
             collision->_intData = i;
@@ -1254,7 +1220,7 @@ void Model::simulateInternal(float deltaTime) {
     for (int i = 0; i < _jointStates.size(); i++) {
         updateJointState(i);
     }
-    _shapesAreDirty = ! _jointShapes.isEmpty();
+    _shapesAreDirty = ! _shapes.isEmpty();
     
     // update the attachment transforms and simulate them
     const FBXGeometry& geometry = _geometry->getFBXGeometry();
@@ -1389,7 +1355,7 @@ bool Model::setJointPosition(int jointIndex, const glm::vec3& position, const gl
     for (int j = freeLineage.size() - 1; j >= 0; j--) {
         updateJointState(freeLineage.at(j));
     }
-    _shapesAreDirty = !_jointShapes.isEmpty();
+    _shapesAreDirty = !_shapes.isEmpty();
         
     return true;
 }
@@ -1427,8 +1393,8 @@ const int BALL_SUBDIVISIONS = 10;
 void Model::renderJointCollisionShapes(float alpha) {
     glPushMatrix();
     Application::getInstance()->loadTranslatedViewMatrix(_translation);
-    for (int i = 0; i < _jointShapes.size(); i++) {
-        Shape* shape = _jointShapes[i];
+    for (int i = 0; i < _shapes.size(); i++) {
+        Shape* shape = _shapes[i];
         if (!shape) {
             continue;
         }
@@ -1476,7 +1442,7 @@ void Model::renderJointCollisionShapes(float alpha) {
 }
 
 void Model::renderBoundingCollisionShapes(float alpha) {
-    if (_jointShapes.isEmpty()) {
+    if (_shapes.isEmpty()) {
         // the bounding shape has not been propery computed
         // so no need to render it
         return;
@@ -1836,10 +1802,6 @@ void Model::renderMeshes(float alpha, RenderMode mode, bool translucent, bool re
     }
 }
 
-void Model::setShapeBackPointers() {
-    PhysicalEntity::setShapeBackPointers(_jointShapes, this);
-}
-
 void AnimationHandle::setURL(const QUrl& url) {
     if (_url != url) {
         _animation = Application::getInstance()->getAnimationCache()->getAnimation(_url = url);
diff --git a/interface/src/renderer/Model.h b/interface/src/renderer/Model.h
index 04c457f265..20612a0e21 100644
--- a/interface/src/renderer/Model.h
+++ b/interface/src/renderer/Model.h
@@ -42,12 +42,6 @@ public:
     Model(QObject* parent = NULL);
     virtual ~Model();
     
-    void setTranslation(const glm::vec3& translation);
-    const glm::vec3& getTranslation() const { return _translation; }
-    
-    void setRotation(const glm::quat& rotation);
-    const glm::quat& getRotation() const { return _rotation; }
-    
     /// enables/disables scale to fit behavior, the model will be automatically scaled to the specified largest dimension
     void setScaleToFit(bool scaleToFit, float largestDimension = 0.0f);
     bool getScaleToFit() const { return _scaleToFit; } /// is scale to fit enabled
@@ -69,8 +63,6 @@ public:
     void setBlendshapeCoefficients(const QVector<float>& coefficients) { _blendshapeCoefficients = coefficients; }
     const QVector<float>& getBlendshapeCoefficients() const { return _blendshapeCoefficients; }
 
-    void setEnableCollisionShapes(bool enable);
-    
     bool isActive() const { return _geometry && _geometry->isLoaded(); }
     
     bool isRenderable() const { return !_meshStates.isEmpty() || (isActive() && _geometry->getMeshes().isEmpty()); }
@@ -140,8 +132,9 @@ public:
 
     const QList<AnimationHandlePointer>& getRunningAnimations() const { return _runningAnimations; }
    
-    void clearShapes();
-    void rebuildShapes();
+    // virtual override from PhysicalEntity
+    virtual void buildShapes();
+
     void resetShapePositions(); // DEBUG method
     virtual void updateShapePositions();
 
@@ -160,7 +153,6 @@ public:
 
     bool findPlaneCollisions(const glm::vec4& plane, CollisionList& collisions);
     
-    float getBoundingRadius() const { return _boundingRadius; }
     float getBoundingShapeRadius() const { return _boundingShape.getRadius(); }
 
     /// Sets blended vertices computed in a separate thread.
@@ -169,12 +161,8 @@ public:
     const CapsuleShape& getBoundingShape() const { return _boundingShape; }
 
 protected:
-    virtual void setShapeBackPointers();
-
     QSharedPointer<NetworkGeometry> _geometry;
     
-    glm::vec3 _translation;
-    glm::quat _rotation;
     glm::vec3 _scale;
     glm::vec3 _offset;
 
@@ -182,19 +170,12 @@ protected:
     float _scaleToFitLargestDimension; /// this is the dimension that scale to fit will use
     bool _scaledToFit; /// have we scaled to fit
 
-    int _simulationIndex;   // set by SimulationEngine (if any)
-    
     bool _snapModelToCenter; /// is the model's offset automatically adjusted to center around 0,0,0 in model space
     bool _snappedToCenter; /// are we currently snapped to center
     int _rootIndex;
     
     QVector<JointState> _jointStates;
 
-    bool _shapesAreDirty;
-    bool _enableCollisionShapes; /// build collision shapes for joints
-    QVector<Shape*> _jointShapes;
-    
-    float _boundingRadius;
     CapsuleShape _boundingShape;
     glm::vec3 _boundingShapeLocalOffset;
     
diff --git a/libraries/shared/src/PhysicalEntity.cpp b/libraries/shared/src/PhysicalEntity.cpp
index 43e25b2f1b..3084c31529 100644
--- a/libraries/shared/src/PhysicalEntity.cpp
+++ b/libraries/shared/src/PhysicalEntity.cpp
@@ -12,13 +12,53 @@
 #include "PhysicalEntity.h"
 #include "Shape.h"
 
-// static 
-void PhysicalEntity::setShapeBackPointers(const QVector<Shape*>& shapes, PhysicalEntity* entity) {
-    for (int i = 0; i < shapes.size(); i++) {
-        Shape* shape = shapes[i];
+PhysicalEntity::PhysicalEntity(EntityType type) : 
+    _entityType(type), 
+    _translation(0.0f), 
+    _rotation(), 
+    _boundingRadius(0.0f), 
+    _shapesAreDirty(true),
+    _enableShapes(false) {
+}
+
+void PhysicalEntity::setTranslation(const glm::vec3& translation) {
+    if (_translation != translation) {
+        _shapesAreDirty = !_shapes.isEmpty();
+        _translation = translation;
+    }
+}
+
+void PhysicalEntity::setRotation(const glm::quat& rotation) {
+    if (_rotation != rotation) {
+        _shapesAreDirty = !_shapes.isEmpty();
+        _rotation = rotation;
+    }
+}   
+
+void PhysicalEntity::setShapeBackPointers() {
+    for (int i = 0; i < _shapes.size(); i++) {
+        Shape* shape = _shapes[i];
         if (shape) {
-            shape->setEntity(entity);
+            shape->setEntity(this);
         }
     }
 }
 
+void PhysicalEntity::setEnableShapes(bool enable) {
+    if (enable != _enableShapes) {
+        clearShapes();
+        _enableShapes = enable;
+        if (_enableShapes) {
+            buildShapes();
+        }
+    }
+}   
+
+void PhysicalEntity::clearShapes() {
+    for (int i = 0; i < _shapes.size(); ++i) {
+        delete _shapes[i];
+    }
+    _shapes.clear();
+}
+
+
diff --git a/libraries/shared/src/PhysicalEntity.h b/libraries/shared/src/PhysicalEntity.h
index d1d11a0d6c..22f2bff67b 100644
--- a/libraries/shared/src/PhysicalEntity.h
+++ b/libraries/shared/src/PhysicalEntity.h
@@ -14,6 +14,9 @@
 
 #include <QVector>
 
+#include <glm/glm.hpp>
+#include <glm/gtc/quaternion.hpp>
+
 class Shape;
 
 // PhysicalEntity is the base class for anything that owns one or more Shapes that collide in a 
@@ -28,15 +31,33 @@ public:
         ENTITY_MODEL,
     };
 
-    static void setShapeBackPointers(const QVector<Shape*>& shapes, PhysicalEntity* entity);
-
-    PhysicalEntity(EntityType type = ENTITY_UNKNOWN) : _entityType(type) {}
+    PhysicalEntity(EntityType type = ENTITY_UNKNOWN);
     virtual ~PhysicalEntity() {}
 
+    void setTranslation(const glm::vec3& translation);
+    void setRotation(const glm::quat& rotation);
+
+    const glm::vec3& getTranslation() const { return _translation; }
+    const glm::quat& getRotation() const { return _rotation; }
+    float getBoundingRadius() const { return _boundingRadius; }
+
     EntityType getEntityType() const { return _entityType; }
-    
+
+    void setShapeBackPointers();
+
+    void setEnableShapes(bool enable);
+
+    virtual void buildShapes() = 0;
+    virtual void clearShapes();
+
 protected:
     EntityType _entityType;
+    glm::vec3 _translation;
+    glm::quat _rotation;
+    float _boundingRadius;
+    bool _shapesAreDirty;
+    bool _enableShapes;
+    QVector<Shape*> _shapes;
 };
 
 #endif // hifi_PhysicalEntity_h
diff --git a/libraries/shared/src/Ragdoll.cpp b/libraries/shared/src/Ragdoll.cpp
index 61e90fa39c..9aff3d5626 100644
--- a/libraries/shared/src/Ragdoll.cpp
+++ b/libraries/shared/src/Ragdoll.cpp
@@ -94,7 +94,7 @@ void DistanceConstraint::updateProxyShape(Shape* shape, const glm::quat& rotatio
 // Ragdoll
 // ----------------------------------------------------------------------------
 
-Ragdoll::Ragdoll() : _shapes(NULL) {
+Ragdoll::Ragdoll() : _verletShapes(NULL) {
 }
 
 Ragdoll::~Ragdoll() {
@@ -103,7 +103,7 @@ Ragdoll::~Ragdoll() {
     
 void Ragdoll::initShapesAndPoints(QVector<Shape*>* shapes, const QVector<int>& parentIndices, const QVector<glm::vec3>& points) {
     clear();
-    _shapes = shapes;
+    _verletShapes = shapes;
     const int numPoints = points.size();
     assert(numPoints == parentIndices.size());
     _points.reserve(numPoints);
@@ -131,7 +131,7 @@ void Ragdoll::clear() {
     }
     _constraints.clear();
     _points.clear();
-    _shapes = NULL;
+    _verletShapes = NULL;
 }
 
 float Ragdoll::enforceConstraints() {
@@ -146,14 +146,14 @@ float Ragdoll::enforceConstraints() {
 }
 
 void Ragdoll::updateShapes(const glm::quat& rotation, const glm::vec3& translation) const {
-    if (!_shapes) {
+    if (!_verletShapes) {
         return;
     }
-    int numShapes = _shapes->size();
+    int numShapes = _verletShapes->size();
     int numConstraints = _constraints.size();
 
     // NOTE: we assume a one-to-one relationship between shapes and constraints
     for (int i = 0; i < numShapes && i < numConstraints; ++i) {
-        _constraints[i]->updateProxyShape((*_shapes)[i], rotation, translation);
+        _constraints[i]->updateProxyShape((*_verletShapes)[i], rotation, translation);
     }
 }
diff --git a/libraries/shared/src/Ragdoll.h b/libraries/shared/src/Ragdoll.h
index 996e65d954..37652507a9 100644
--- a/libraries/shared/src/Ragdoll.h
+++ b/libraries/shared/src/Ragdoll.h
@@ -87,17 +87,17 @@ public:
 
     /// \param rotation rotation into shapes' collision frame
     /// \param translation translation into shapes' collision frame
-    /// Moves and modifies elements of _shapes to agree with state of _points
+    /// Moves and modifies elements of _verletShapes to agree with state of _points
     void updateShapes(const glm::quat& rotation, const glm::vec3& translation) const;
 
-    const QVector<Shape*>* getShapes() const { return _shapes; }
+    const QVector<Shape*>* getShapes() const { return _verletShapes; }
 
 protected:
     QVector<glm::vec3> _points;
     QVector<Constraint*> _constraints;
 
-    // the Ragdoll does NOT own the data in _shapes.
-    QVector<Shape*>* _shapes;
+    // the Ragdoll does NOT own the data in _verletShapes.
+    QVector<Shape*>* _verletShapes;
 };
 
 #endif // hifi_Ragdoll_h

From bdbb12f4dcb71f2bbe93b9c5050e176842a6feec Mon Sep 17 00:00:00 2001
From: wangyix <wangyix@gmail.com>
Date: Tue, 17 Jun 2014 14:35:40 -0700
Subject: [PATCH 024/105] switched edit nacks to non-verified

---
 assignment-client/src/octree/OctreeInboundPacketProcessor.cpp | 2 +-
 libraries/networking/src/PacketHeaders.h                      | 2 +-
 libraries/octree/src/OctreeEditPacketSender.cpp               | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/assignment-client/src/octree/OctreeInboundPacketProcessor.cpp b/assignment-client/src/octree/OctreeInboundPacketProcessor.cpp
index 44c9576943..78239bdf1f 100644
--- a/assignment-client/src/octree/OctreeInboundPacketProcessor.cpp
+++ b/assignment-client/src/octree/OctreeInboundPacketProcessor.cpp
@@ -256,7 +256,7 @@ int OctreeInboundPacketProcessor::sendNackPackets() {
             numSequenceNumbersAvailable -= numSequenceNumbers;
 
             // send it
-            qint64 bytesWritten = NodeList::getInstance()->writeDatagram(packet, dataAt - packet, destinationNode);
+            qint64 bytesWritten = NodeList::getInstance()->writeUnverifiedDatagram(packet, dataAt - packet, destinationNode);
             printf("\t\t wrote %lld bytes\n\n", bytesWritten);
 
             packetsSent++;
diff --git a/libraries/networking/src/PacketHeaders.h b/libraries/networking/src/PacketHeaders.h
index 5ed4110627..0f87b0e607 100644
--- a/libraries/networking/src/PacketHeaders.h
+++ b/libraries/networking/src/PacketHeaders.h
@@ -79,7 +79,7 @@ const QSet<PacketType> NON_VERIFIED_PACKETS = QSet<PacketType>()
     << PacketTypeDomainList << PacketTypeDomainListRequest << PacketTypeDomainOAuthRequest
     << PacketTypeCreateAssignment << PacketTypeRequestAssignment << PacketTypeStunResponse
     << PacketTypeNodeJsonStats << PacketTypeVoxelQuery << PacketTypeParticleQuery << PacketTypeModelQuery
-    << PacketTypeOctreeDataNack;
+    << PacketTypeOctreeDataNack << PacketTypeVoxelEditNack << PacketTypeParticleEditNack << PacketTypeModelEditNack;
 
 const int NUM_BYTES_MD5_HASH = 16;
 const int NUM_STATIC_HEADER_BYTES = sizeof(PacketVersion) + NUM_BYTES_RFC4122_UUID;
diff --git a/libraries/octree/src/OctreeEditPacketSender.cpp b/libraries/octree/src/OctreeEditPacketSender.cpp
index 01d2ecf464..5281617e72 100644
--- a/libraries/octree/src/OctreeEditPacketSender.cpp
+++ b/libraries/octree/src/OctreeEditPacketSender.cpp
@@ -379,7 +379,7 @@ void OctreeEditPacketSender::processNackPacket(const QByteArray& packet) {
     // read number of sequence numbers
     uint16_t numSequenceNumbers = (*(uint16_t*)dataAt);
     dataAt += sizeof(uint16_t);
-
+    
     // read sequence numbers and queue packets for resend
     for (int i = 0; i < numSequenceNumbers; i++) {
         unsigned short int sequenceNumber = (*(unsigned short int*)dataAt);

From ecbf5043d74eb9f35412a38f0f8cda2afc453c3b Mon Sep 17 00:00:00 2001
From: Andrew Meadows <andrew@highfidelity.io>
Date: Tue, 17 Jun 2014 16:22:18 -0700
Subject: [PATCH 025/105] code out of Model into base and derived classes

PhysicalEntity (base class) gets some shape management stuff
SkeletonModel (derived class) gets some boundary shape and
joint-shape stuff
---
 interface/src/avatar/Avatar.cpp         |   1 -
 interface/src/avatar/SkeletonModel.cpp  | 255 +++++++++++++++++-
 interface/src/avatar/SkeletonModel.h    |  16 +-
 interface/src/renderer/Model.cpp        | 339 +-----------------------
 interface/src/renderer/Model.h          |  27 +-
 libraries/shared/src/PhysicalEntity.cpp |  93 ++++++-
 libraries/shared/src/PhysicalEntity.h   |  17 +-
 7 files changed, 371 insertions(+), 377 deletions(-)

diff --git a/interface/src/avatar/Avatar.cpp b/interface/src/avatar/Avatar.cpp
index 7a45512778..f940a106d7 100644
--- a/interface/src/avatar/Avatar.cpp
+++ b/interface/src/avatar/Avatar.cpp
@@ -230,7 +230,6 @@ void Avatar::render(const glm::vec3& cameraPosition, RenderMode renderMode) {
                 getHead()->getFaceModel().renderJointCollisionShapes(0.7f);
             }
             if (renderBounding && shouldRenderHead(cameraPosition, renderMode)) {
-                getHead()->getFaceModel().renderBoundingCollisionShapes(0.7f);
                 _skeletonModel.renderBoundingCollisionShapes(0.7f);
             }
 
diff --git a/interface/src/avatar/SkeletonModel.cpp b/interface/src/avatar/SkeletonModel.cpp
index c98766f479..364044a803 100644
--- a/interface/src/avatar/SkeletonModel.cpp
+++ b/interface/src/avatar/SkeletonModel.cpp
@@ -11,6 +11,9 @@
 
 #include <glm/gtx/transform.hpp>
 
+#include <CapsuleShape.h>
+#include <SphereShape.h>
+
 #include "Application.h"
 #include "Avatar.h"
 #include "Hand.h"
@@ -20,7 +23,9 @@
 SkeletonModel::SkeletonModel(Avatar* owningAvatar, QObject* parent) : 
     Model(parent),
     Ragdoll(),
-    _owningAvatar(owningAvatar) {
+    _owningAvatar(owningAvatar),
+    _boundingShape(),
+    _boundingShapeLocalOffset(0.0f) {
 }
 
 void SkeletonModel::setJointStates(QVector<JointState> states) {
@@ -524,3 +529,251 @@ void SkeletonModel::renderRagdoll() {
     glEnable(GL_DEPTH_TEST);
     glEnable(GL_LIGHTING);
 }
+
+// virtual
+void SkeletonModel::buildShapes() {
+    if (!_geometry || _rootIndex == -1) {
+        return;
+    }
+    
+    const FBXGeometry& geometry = _geometry->getFBXGeometry();
+    if (geometry.joints.isEmpty()) {
+        return;
+    }
+    // We create the shapes with proper dimensions, but we set their transforms later.
+    float uniformScale = extractUniformScale(_scale);
+    for (int i = 0; i < _jointStates.size(); i++) {
+        const FBXJoint& joint = geometry.joints[i];
+
+        float radius = uniformScale * joint.boneRadius;
+        float halfHeight = 0.5f * uniformScale * joint.distanceToParent;
+        Shape::Type type = joint.shapeType;
+        if (type == Shape::CAPSULE_SHAPE && halfHeight < EPSILON) {
+            // this capsule is effectively a sphere
+            type = Shape::SPHERE_SHAPE;
+        }
+        if (type == Shape::CAPSULE_SHAPE) {
+            CapsuleShape* capsule = new CapsuleShape(radius, halfHeight);
+            capsule->setEntity(this);
+            _shapes.push_back(capsule);
+        } else if (type == Shape::SPHERE_SHAPE) {
+            SphereShape* sphere = new SphereShape(radius, glm::vec3(0.0f));
+            _shapes.push_back(sphere);
+            sphere->setEntity(this);
+        } else {
+            // this shape type is not handled and the joint shouldn't collide, 
+            // however we must have a Shape* for each joint, so we push NULL
+            _shapes.push_back(NULL);
+        }
+    }
+
+    // This method moves the shapes to their default positions in Model frame
+    // which is where we compute the bounding shape's parameters.
+    computeBoundingShape(geometry);
+
+    // finally sync shapes to joint positions
+    _shapesAreDirty = true;
+    updateShapePositions();
+}
+
+void SkeletonModel::updateShapePositionsLegacy() {
+    if (_shapesAreDirty && _shapes.size() == _jointStates.size()) {
+        glm::vec3 rootPosition(0.0f);
+        _boundingRadius = 0.0f;
+        float uniformScale = extractUniformScale(_scale);
+        for (int i = 0; i < _jointStates.size(); i++) {
+            const JointState& state = _jointStates[i];
+            const FBXJoint& joint = state.getFBXJoint();
+            // shape position and rotation need to be in world-frame
+            glm::quat stateRotation = state.getRotation();
+            glm::vec3 shapeOffset = uniformScale * (stateRotation * joint.shapePosition);
+            glm::vec3 worldPosition = _translation + _rotation * (state.getPosition() + shapeOffset);
+            Shape* shape = _shapes[i];
+            if (shape) {
+                shape->setCenter(worldPosition);
+                shape->setRotation(_rotation * stateRotation * joint.shapeRotation);
+                float distance = glm::distance(worldPosition, _translation) + shape->getBoundingRadius();
+                if (distance > _boundingRadius) {
+                    _boundingRadius = distance;
+                }
+            }
+            if (joint.parentIndex == -1) {
+                rootPosition = worldPosition;
+            }
+        }
+        _shapesAreDirty = false;
+        _boundingShape.setCenter(rootPosition + _rotation * _boundingShapeLocalOffset);
+        _boundingShape.setRotation(_rotation);
+    }
+}
+
+void SkeletonModel::computeBoundingShape(const FBXGeometry& geometry) {
+    // compute default joint transforms and rotations 
+    // (in local frame, ignoring Model translation and rotation)
+    int numJoints = geometry.joints.size();
+    QVector<glm::mat4> transforms;
+    transforms.fill(glm::mat4(), numJoints);
+    QVector<glm::quat> finalRotations;
+    finalRotations.fill(glm::quat(), numJoints);
+
+    QVector<bool> shapeIsSet;
+    shapeIsSet.fill(false, numJoints);
+    int numShapesSet = 0;
+    int lastNumShapesSet = -1;
+    while (numShapesSet < numJoints && numShapesSet != lastNumShapesSet) {
+        lastNumShapesSet = numShapesSet;
+        for (int i = 0; i < numJoints; i++) {
+            const FBXJoint& joint = geometry.joints.at(i);
+            int parentIndex = joint.parentIndex;
+            
+            if (parentIndex == -1) {
+                glm::mat4 baseTransform = glm::scale(_scale) * glm::translate(_offset);
+                glm::quat combinedRotation = joint.preRotation * joint.rotation * joint.postRotation;    
+                glm::mat4 rootTransform = baseTransform * geometry.offset * glm::translate(joint.translation) 
+                    * joint.preTransform * glm::mat4_cast(combinedRotation) * joint.postTransform;
+                // remove the tranlsation part before we save the root transform
+                transforms[i] = glm::translate(- extractTranslation(rootTransform)) * rootTransform;
+
+                finalRotations[i] = combinedRotation;
+                ++numShapesSet;
+                shapeIsSet[i] = true;
+            } else if (shapeIsSet[parentIndex]) {
+                glm::quat combinedRotation = joint.preRotation * joint.rotation * joint.postRotation;    
+                transforms[i] = transforms[parentIndex] * glm::translate(joint.translation) 
+                    * joint.preTransform * glm::mat4_cast(combinedRotation) * joint.postTransform;
+                finalRotations[i] = finalRotations[parentIndex] * combinedRotation;
+                ++numShapesSet;
+                shapeIsSet[i] = true;
+            }
+        }
+    }
+
+    // sync shapes to joints
+    _boundingRadius = 0.0f;
+    float uniformScale = extractUniformScale(_scale);
+    for (int i = 0; i < _shapes.size(); i++) {
+        Shape* shape = _shapes[i];
+        if (!shape) {
+            continue;
+        }
+        const FBXJoint& joint = geometry.joints[i];
+        glm::vec3 jointToShapeOffset = uniformScale * (finalRotations[i] * joint.shapePosition);
+        glm::vec3 localPosition = extractTranslation(transforms[i]) + jointToShapeOffset;
+        shape->setCenter(localPosition);
+        shape->setRotation(finalRotations[i] * joint.shapeRotation);
+        float distance = glm::length(localPosition) + shape->getBoundingRadius();
+        if (distance > _boundingRadius) {
+            _boundingRadius = distance;
+        }
+    }
+
+    // compute bounding box
+    Extents totalExtents;
+    totalExtents.reset();
+    totalExtents.addPoint(glm::vec3(0.0f));
+    for (int i = 0; i < _shapes.size(); i++) {
+        Shape* shape = _shapes[i];
+        if (!shape) {
+            continue;
+        }
+        Extents shapeExtents;
+        shapeExtents.reset();
+        glm::vec3 localPosition = shape->getCenter();
+        int type = shape->getType();
+        if (type == Shape::CAPSULE_SHAPE) {
+            // add the two furthest surface points of the capsule
+            CapsuleShape* capsule = static_cast<CapsuleShape*>(shape);
+            glm::vec3 axis;
+            capsule->computeNormalizedAxis(axis);
+            float radius = capsule->getRadius();
+            float halfHeight = capsule->getHalfHeight();
+            axis = halfHeight * axis + glm::vec3(radius);
+
+            shapeExtents.addPoint(localPosition + axis);
+            shapeExtents.addPoint(localPosition - axis);
+            totalExtents.addExtents(shapeExtents);
+        } else if (type == Shape::SPHERE_SHAPE) {
+            float radius = shape->getBoundingRadius();
+            glm::vec3 axis = glm::vec3(radius);
+            shapeExtents.addPoint(localPosition + axis);
+            shapeExtents.addPoint(localPosition - axis);
+            totalExtents.addExtents(shapeExtents);
+        }
+    }
+
+    // compute bounding shape parameters
+    // NOTE: we assume that the longest side of totalExtents is the yAxis...
+    glm::vec3 diagonal = totalExtents.maximum - totalExtents.minimum;
+    // ... and assume the radius is half the RMS of the X and Z sides:
+    float capsuleRadius = 0.5f * sqrtf(0.5f * (diagonal.x * diagonal.x + diagonal.z * diagonal.z));
+    _boundingShape.setRadius(capsuleRadius);
+    _boundingShape.setHalfHeight(0.5f * diagonal.y - capsuleRadius);
+    _boundingShapeLocalOffset = 0.5f * (totalExtents.maximum + totalExtents.minimum);
+}
+
+void SkeletonModel::resetShapePositions() {
+    // DEBUG method.
+    // Moves shapes to the joint default locations for debug visibility into
+    // how the bounding shape is computed.
+
+    if (!_geometry || _rootIndex == -1 || _shapes.isEmpty()) {
+        // geometry or joints have not yet been created
+        return;
+    }
+    
+    const FBXGeometry& geometry = _geometry->getFBXGeometry();
+    if (geometry.joints.isEmpty() || _shapes.size() != geometry.joints.size()) {
+        return;
+    }
+
+    // The shapes are moved to their default positions in computeBoundingShape().
+    computeBoundingShape(geometry);
+
+    // Then we move them into world frame for rendering at the Model's location.
+    for (int i = 0; i < _shapes.size(); i++) {
+        Shape* shape = _shapes[i];
+        if (shape) {
+            shape->setCenter(_translation + _rotation * shape->getCenter());
+            shape->setRotation(_rotation * shape->getRotation());
+        }
+    }
+    _boundingShape.setCenter(_translation + _rotation * _boundingShapeLocalOffset);
+    _boundingShape.setRotation(_rotation);
+}
+
+void SkeletonModel::renderBoundingCollisionShapes(float alpha) {
+    const int BALL_SUBDIVISIONS = 10;
+    if (_shapes.isEmpty()) {
+        // the bounding shape has not been propery computed
+        // so no need to render it
+        return;
+    }
+    glPushMatrix();
+
+    Application::getInstance()->loadTranslatedViewMatrix(_translation);
+
+    // draw a blue sphere at the capsule endpoint
+    glm::vec3 endPoint;
+    _boundingShape.getEndPoint(endPoint);
+    endPoint = endPoint - _translation;
+    glTranslatef(endPoint.x, endPoint.y, endPoint.z);
+    glColor4f(0.6f, 0.6f, 0.8f, alpha);
+    glutSolidSphere(_boundingShape.getRadius(), BALL_SUBDIVISIONS, BALL_SUBDIVISIONS);
+
+    // draw a yellow sphere at the capsule startpoint
+    glm::vec3 startPoint;
+    _boundingShape.getStartPoint(startPoint);
+    startPoint = startPoint - _translation;
+    glm::vec3 axis = endPoint - startPoint;
+    glTranslatef(-axis.x, -axis.y, -axis.z);
+    glColor4f(0.8f, 0.8f, 0.6f, alpha);
+    glutSolidSphere(_boundingShape.getRadius(), BALL_SUBDIVISIONS, BALL_SUBDIVISIONS);
+
+    // draw a green cylinder between the two points
+    glm::vec3 origin(0.0f);
+    glColor4f(0.6f, 0.8f, 0.6f, alpha);
+    Avatar::renderJointConnectingCone( origin, axis, _boundingShape.getRadius(), _boundingShape.getRadius());
+
+    glPopMatrix();
+}
+
diff --git a/interface/src/avatar/SkeletonModel.h b/interface/src/avatar/SkeletonModel.h
index f0982e6dd7..8d37697aef 100644
--- a/interface/src/avatar/SkeletonModel.h
+++ b/interface/src/avatar/SkeletonModel.h
@@ -14,6 +14,7 @@
 
 #include "renderer/Model.h"
 
+#include <CapsuleShape.h>
 #include <Ragdoll.h>
 
 class Avatar;
@@ -30,7 +31,6 @@ public:
 
     void simulate(float deltaTime, bool fullUpdate = true);
     void simulateRagdoll(float deltaTime);
-    void updateShapePositions();
 
     /// \param jointIndex index of hand joint
     /// \param shapes[out] list in which is stored pointers to hand shapes
@@ -95,6 +95,17 @@ public:
     /// \return whether or not both eye meshes were found
     bool getEyePositions(glm::vec3& firstEyePosition, glm::vec3& secondEyePosition) const;
     
+    void buildShapes();
+    void updateShapePositions();
+    void updateShapePositionsLegacy();
+
+    void computeBoundingShape(const FBXGeometry& geometry);
+    void renderBoundingCollisionShapes(float alpha);
+    float getBoundingShapeRadius() const { return _boundingShape.getRadius(); }
+    const CapsuleShape& getBoundingShape() const { return _boundingShape; }
+
+    void resetShapePositions(); // DEBUG method
+
     void renderRagdoll();
 protected:
 
@@ -121,6 +132,9 @@ private:
     void setHandPosition(int jointIndex, const glm::vec3& position, const glm::quat& rotation);
     
     Avatar* _owningAvatar;
+
+    CapsuleShape _boundingShape;
+    glm::vec3 _boundingShapeLocalOffset;
 };
 
 #endif // hifi_SkeletonModel_h
diff --git a/interface/src/renderer/Model.cpp b/interface/src/renderer/Model.cpp
index 5d871f2c9e..2057f3248b 100644
--- a/interface/src/renderer/Model.cpp
+++ b/interface/src/renderer/Model.cpp
@@ -33,7 +33,6 @@ static int vec3VectorTypeId = qRegisterMetaType<QVector<glm::vec3> >();
 
 Model::Model(QObject* parent) :
     QObject(parent),
-    PhysicalEntity(PhysicalEntity::ENTITY_MODEL),
     _scale(1.0f, 1.0f, 1.0f),
     _scaleToFit(false),
     _scaleToFitLargestDimension(0.0f),
@@ -42,8 +41,6 @@ Model::Model(QObject* parent) :
     _snappedToCenter(false),
     _rootIndex(-1),
     //_enableCollisionShapes(false),
-    _boundingShape(),
-    _boundingShapeLocalOffset(0.0f),
     _lodDistance(0.0f),
     _pupilDilation(0.0f),
     _url("http://invalid.com") {
@@ -793,308 +790,11 @@ AnimationHandlePointer Model::createAnimationHandle() {
 
 // virtual override from PhysicalEntity
 void Model::buildShapes() {
-    if (!_geometry || _rootIndex == -1) {
-        return;
-    }
-    
-    const FBXGeometry& geometry = _geometry->getFBXGeometry();
-    if (geometry.joints.isEmpty()) {
-        return;
-    }
-
-    // We create the shapes with proper dimensions, but we set their transforms later.
-    float uniformScale = extractUniformScale(_scale);
-    for (int i = 0; i < _jointStates.size(); i++) {
-        const FBXJoint& joint = geometry.joints[i];
-
-        float radius = uniformScale * joint.boneRadius;
-        float halfHeight = 0.5f * uniformScale * joint.distanceToParent;
-        Shape::Type type = joint.shapeType;
-        if (type == Shape::CAPSULE_SHAPE && halfHeight < EPSILON) {
-            // this capsule is effectively a sphere
-            type = Shape::SPHERE_SHAPE;
-        }
-        if (type == Shape::CAPSULE_SHAPE) {
-            CapsuleShape* capsule = new CapsuleShape(radius, halfHeight);
-            capsule->setEntity(this);
-            _shapes.push_back(capsule);
-        } else if (type == Shape::SPHERE_SHAPE) {
-            SphereShape* sphere = new SphereShape(radius, glm::vec3(0.0f));
-            _shapes.push_back(sphere);
-            sphere->setEntity(this);
-        } else {
-            // this shape type is not handled and the joint shouldn't collide, 
-            // however we must have a Shape* for each joint, so we push NULL
-            _shapes.push_back(NULL);
-        }
-    }
-
-    // This method moves the shapes to their default positions in Model frame
-    // which is where we compute the bounding shape's parameters.
-    computeBoundingShape(geometry);
-
-    // finally sync shapes to joint positions
-    _shapesAreDirty = true;
-    updateShapePositions();
-}
-
-void Model::computeBoundingShape(const FBXGeometry& geometry) {
-    // compute default joint transforms and rotations 
-    // (in local frame, ignoring Model translation and rotation)
-    int numJoints = geometry.joints.size();
-    QVector<glm::mat4> transforms;
-    transforms.fill(glm::mat4(), numJoints);
-    QVector<glm::quat> finalRotations;
-    finalRotations.fill(glm::quat(), numJoints);
-
-    QVector<bool> shapeIsSet;
-    shapeIsSet.fill(false, numJoints);
-    int numShapesSet = 0;
-    int lastNumShapesSet = -1;
-    while (numShapesSet < numJoints && numShapesSet != lastNumShapesSet) {
-        lastNumShapesSet = numShapesSet;
-        for (int i = 0; i < numJoints; i++) {
-            const FBXJoint& joint = geometry.joints.at(i);
-            int parentIndex = joint.parentIndex;
-            
-            if (parentIndex == -1) {
-                glm::mat4 baseTransform = glm::scale(_scale) * glm::translate(_offset);
-                glm::quat combinedRotation = joint.preRotation * joint.rotation * joint.postRotation;    
-                glm::mat4 rootTransform = baseTransform * geometry.offset * glm::translate(joint.translation) 
-                    * joint.preTransform * glm::mat4_cast(combinedRotation) * joint.postTransform;
-                // remove the tranlsation part before we save the root transform
-                transforms[i] = glm::translate(- extractTranslation(rootTransform)) * rootTransform;
-
-                finalRotations[i] = combinedRotation;
-                ++numShapesSet;
-                shapeIsSet[i] = true;
-            } else if (shapeIsSet[parentIndex]) {
-                glm::quat combinedRotation = joint.preRotation * joint.rotation * joint.postRotation;    
-                transforms[i] = transforms[parentIndex] * glm::translate(joint.translation) 
-                    * joint.preTransform * glm::mat4_cast(combinedRotation) * joint.postTransform;
-                finalRotations[i] = finalRotations[parentIndex] * combinedRotation;
-                ++numShapesSet;
-                shapeIsSet[i] = true;
-            }
-        }
-    }
-
-    // sync shapes to joints
-    _boundingRadius = 0.0f;
-    float uniformScale = extractUniformScale(_scale);
-    for (int i = 0; i < _shapes.size(); i++) {
-        Shape* shape = _shapes[i];
-        if (!shape) {
-            continue;
-        }
-        const FBXJoint& joint = geometry.joints[i];
-        glm::vec3 jointToShapeOffset = uniformScale * (finalRotations[i] * joint.shapePosition);
-        glm::vec3 localPosition = extractTranslation(transforms[i]) + jointToShapeOffset;
-        shape->setCenter(localPosition);
-        shape->setRotation(finalRotations[i] * joint.shapeRotation);
-        float distance = glm::length(localPosition) + shape->getBoundingRadius();
-        if (distance > _boundingRadius) {
-            _boundingRadius = distance;
-        }
-    }
-
-    // compute bounding box
-    Extents totalExtents;
-    totalExtents.reset();
-    totalExtents.addPoint(glm::vec3(0.0f));
-    for (int i = 0; i < _shapes.size(); i++) {
-        Shape* shape = _shapes[i];
-        if (!shape) {
-            continue;
-        }
-        Extents shapeExtents;
-        shapeExtents.reset();
-        glm::vec3 localPosition = shape->getCenter();
-        int type = shape->getType();
-        if (type == Shape::CAPSULE_SHAPE) {
-            // add the two furthest surface points of the capsule
-            CapsuleShape* capsule = static_cast<CapsuleShape*>(shape);
-            glm::vec3 axis;
-            capsule->computeNormalizedAxis(axis);
-            float radius = capsule->getRadius();
-            float halfHeight = capsule->getHalfHeight();
-            axis = halfHeight * axis + glm::vec3(radius);
-
-            shapeExtents.addPoint(localPosition + axis);
-            shapeExtents.addPoint(localPosition - axis);
-            totalExtents.addExtents(shapeExtents);
-        } else if (type == Shape::SPHERE_SHAPE) {
-            float radius = shape->getBoundingRadius();
-            glm::vec3 axis = glm::vec3(radius);
-            shapeExtents.addPoint(localPosition + axis);
-            shapeExtents.addPoint(localPosition - axis);
-            totalExtents.addExtents(shapeExtents);
-        }
-    }
-
-    // compute bounding shape parameters
-    // NOTE: we assume that the longest side of totalExtents is the yAxis...
-    glm::vec3 diagonal = totalExtents.maximum - totalExtents.minimum;
-    // ... and assume the radius is half the RMS of the X and Z sides:
-    float capsuleRadius = 0.5f * sqrtf(0.5f * (diagonal.x * diagonal.x + diagonal.z * diagonal.z));
-    _boundingShape.setRadius(capsuleRadius);
-    _boundingShape.setHalfHeight(0.5f * diagonal.y - capsuleRadius);
-    _boundingShapeLocalOffset = 0.5f * (totalExtents.maximum + totalExtents.minimum);
-}
-
-void Model::resetShapePositions() {
-    // DEBUG method.
-    // Moves shapes to the joint default locations for debug visibility into
-    // how the bounding shape is computed.
-
-    if (!_geometry || _rootIndex == -1 || _shapes.isEmpty()) {
-        // geometry or joints have not yet been created
-        return;
-    }
-    
-    const FBXGeometry& geometry = _geometry->getFBXGeometry();
-    if (geometry.joints.isEmpty() || _shapes.size() != geometry.joints.size()) {
-        return;
-    }
-
-    // The shapes are moved to their default positions in computeBoundingShape().
-    computeBoundingShape(geometry);
-
-    // Then we move them into world frame for rendering at the Model's location.
-    for (int i = 0; i < _shapes.size(); i++) {
-        Shape* shape = _shapes[i];
-        if (shape) {
-            shape->setCenter(_translation + _rotation * shape->getCenter());
-            shape->setRotation(_rotation * shape->getRotation());
-        }
-    }
-    _boundingShape.setCenter(_translation + _rotation * _boundingShapeLocalOffset);
-    _boundingShape.setRotation(_rotation);
+    // TODO: figure out how to load/build collision shapes for general models
 }
 
 void Model::updateShapePositions() {
-    if (_shapesAreDirty && _shapes.size() == _jointStates.size()) {
-        glm::vec3 rootPosition(0.0f);
-        _boundingRadius = 0.0f;
-        float uniformScale = extractUniformScale(_scale);
-        for (int i = 0; i < _jointStates.size(); i++) {
-            const JointState& state = _jointStates[i];
-            const FBXJoint& joint = state.getFBXJoint();
-            // shape position and rotation need to be in world-frame
-            glm::quat stateRotation = state.getRotation();
-            glm::vec3 shapeOffset = uniformScale * (stateRotation * joint.shapePosition);
-            glm::vec3 worldPosition = _translation + _rotation * (state.getPosition() + shapeOffset);
-            Shape* shape = _shapes[i];
-            if (shape) {
-                shape->setCenter(worldPosition);
-                shape->setRotation(_rotation * stateRotation * joint.shapeRotation);
-                float distance = glm::distance(worldPosition, _translation) + shape->getBoundingRadius();
-                if (distance > _boundingRadius) {
-                    _boundingRadius = distance;
-                }
-            }
-            if (joint.parentIndex == -1) {
-                rootPosition = worldPosition;
-            }
-        }
-        _shapesAreDirty = false;
-        _boundingShape.setCenter(rootPosition + _rotation * _boundingShapeLocalOffset);
-        _boundingShape.setRotation(_rotation);
-    }
-}
-
-bool Model::findRayIntersection(const glm::vec3& origin, const glm::vec3& direction, float& distance) const {
-    const glm::vec3 relativeOrigin = origin - _translation;
-    const FBXGeometry& geometry = _geometry->getFBXGeometry();
-    float minDistance = FLT_MAX;
-    float radiusScale = extractUniformScale(_scale);
-    for (int i = 0; i < _jointStates.size(); i++) {
-        const FBXJoint& joint = geometry.joints[i];
-        glm::vec3 end = _translation + _rotation * _jointStates[i].getPosition();
-        float endRadius = joint.boneRadius * radiusScale;
-        glm::vec3 start = end;
-        float startRadius = joint.boneRadius * radiusScale;
-        if (joint.parentIndex != -1) {
-            start = _translation + _rotation * _jointStates[joint.parentIndex].getPosition();
-            startRadius = geometry.joints[joint.parentIndex].boneRadius * radiusScale;
-        }
-        // for now, use average of start and end radii
-        float capsuleDistance;
-        if (findRayCapsuleIntersection(relativeOrigin, direction, start, end,
-                (startRadius + endRadius) / 2.0f, capsuleDistance)) {
-            minDistance = qMin(minDistance, capsuleDistance);
-        }
-    }
-    if (minDistance < FLT_MAX) {
-        distance = minDistance;
-        return true;
-    }
-    return false;
-}
-
-bool Model::findCollisions(const QVector<const Shape*> shapes, CollisionList& collisions) {
-    bool collided = false;
-    for (int i = 0; i < shapes.size(); ++i) {
-        const Shape* theirShape = shapes[i];
-        if (!theirShape) {
-            continue;
-        }
-        for (int j = 0; j < _shapes.size(); ++j) {
-            const Shape* ourShape = _shapes[j];
-            if (ourShape && ShapeCollider::collideShapes(theirShape, ourShape, collisions)) {
-                collided = true;
-            }
-        }
-    }
-    return collided;
-}
-
-bool Model::findSphereCollisions(const glm::vec3& sphereCenter, float sphereRadius,
-    CollisionList& collisions, int skipIndex) {
-    bool collided = false;
-    SphereShape sphere(sphereRadius, sphereCenter);
-    const FBXGeometry& geometry = _geometry->getFBXGeometry();
-    for (int i = 0; i < _shapes.size(); i++) {
-        Shape* shape = _shapes[i];
-        if (!shape) {
-            continue;
-        }
-        const FBXJoint& joint = geometry.joints[i];
-        if (joint.parentIndex != -1) {
-            if (skipIndex != -1) {
-                int ancestorIndex = joint.parentIndex;
-                do {
-                    if (ancestorIndex == skipIndex) {
-                        goto outerContinue;
-                    }
-                    ancestorIndex = geometry.joints[ancestorIndex].parentIndex;
-                    
-                } while (ancestorIndex != -1);
-            }
-        }
-        if (ShapeCollider::collideShapes(&sphere, shape, collisions)) {
-            CollisionInfo* collision = collisions.getLastCollision();
-            collision->_data = (void*)(this);
-            collision->_intData = i;
-            collided = true;
-        }
-        outerContinue: ;
-    }
-    return collided;
-}
-
-bool Model::findPlaneCollisions(const glm::vec4& plane, CollisionList& collisions) {
-    bool collided = false;
-    PlaneShape planeShape(plane);
-    for (int i = 0; i < _shapes.size(); i++) {
-        if (_shapes[i] && ShapeCollider::collideShapes(&planeShape, _shapes[i], collisions)) {
-            CollisionInfo* collision = collisions.getLastCollision();
-            collision->_data = (void*)(this);
-            collision->_intData = i;
-            collided = true;
-        }
-    }
-    return collided;
+    // TODO: implement this when we know how to build shapes for regular Models
 }
 
 class Blender : public QRunnable {
@@ -1441,41 +1141,6 @@ void Model::renderJointCollisionShapes(float alpha) {
     glPopMatrix();
 }
 
-void Model::renderBoundingCollisionShapes(float alpha) {
-    if (_shapes.isEmpty()) {
-        // the bounding shape has not been propery computed
-        // so no need to render it
-        return;
-    }
-    glPushMatrix();
-
-    Application::getInstance()->loadTranslatedViewMatrix(_translation);
-
-    // draw a blue sphere at the capsule endpoint
-    glm::vec3 endPoint;
-    _boundingShape.getEndPoint(endPoint);
-    endPoint = endPoint - _translation;
-    glTranslatef(endPoint.x, endPoint.y, endPoint.z);
-    glColor4f(0.6f, 0.6f, 0.8f, alpha);
-    glutSolidSphere(_boundingShape.getRadius(), BALL_SUBDIVISIONS, BALL_SUBDIVISIONS);
-
-    // draw a yellow sphere at the capsule startpoint
-    glm::vec3 startPoint;
-    _boundingShape.getStartPoint(startPoint);
-    startPoint = startPoint - _translation;
-    glm::vec3 axis = endPoint - startPoint;
-    glTranslatef(-axis.x, -axis.y, -axis.z);
-    glColor4f(0.8f, 0.8f, 0.6f, alpha);
-    glutSolidSphere(_boundingShape.getRadius(), BALL_SUBDIVISIONS, BALL_SUBDIVISIONS);
-
-    // draw a green cylinder between the two points
-    glm::vec3 origin(0.0f);
-    glColor4f(0.6f, 0.8f, 0.6f, alpha);
-    Avatar::renderJointConnectingCone( origin, axis, _boundingShape.getRadius(), _boundingShape.getRadius());
-
-    glPopMatrix();
-}
-
 void Model::setBlendedVertices(const QVector<glm::vec3>& vertices, const QVector<glm::vec3>& normals) {
     if (_blendedVertexBuffers.isEmpty()) {
         return;
diff --git a/interface/src/renderer/Model.h b/interface/src/renderer/Model.h
index 20612a0e21..8851f42eb1 100644
--- a/interface/src/renderer/Model.h
+++ b/interface/src/renderer/Model.h
@@ -16,7 +16,6 @@
 #include <QObject>
 #include <QUrl>
 
-#include <CapsuleShape.h>
 #include <PhysicalEntity.h>
 
 #include <AnimationCache.h>
@@ -132,34 +131,15 @@ public:
 
     const QList<AnimationHandlePointer>& getRunningAnimations() const { return _runningAnimations; }
    
-    // virtual override from PhysicalEntity
+    // virtual overrides from PhysicalEntity
     virtual void buildShapes();
-
-    void resetShapePositions(); // DEBUG method
     virtual void updateShapePositions();
 
     void renderJointCollisionShapes(float alpha);
-    void renderBoundingCollisionShapes(float alpha);
     
-    bool findRayIntersection(const glm::vec3& origin, const glm::vec3& direction, float& distance) const;
-    
-    /// \param shapes list of pointers shapes to test against Model
-    /// \param collisions list to store collision results
-    /// \return true if at least one shape collided agains Model
-    bool findCollisions(const QVector<const Shape*> shapes, CollisionList& collisions);
-
-    bool findSphereCollisions(const glm::vec3& penetratorCenter, float penetratorRadius,
-        CollisionList& collisions, int skipIndex = -1);
-
-    bool findPlaneCollisions(const glm::vec4& plane, CollisionList& collisions);
-    
-    float getBoundingShapeRadius() const { return _boundingShape.getRadius(); }
-
     /// Sets blended vertices computed in a separate thread.
     void setBlendedVertices(const QVector<glm::vec3>& vertices, const QVector<glm::vec3>& normals);
 
-    const CapsuleShape& getBoundingShape() const { return _boundingShape; }
-
 protected:
     QSharedPointer<NetworkGeometry> _geometry;
     
@@ -176,9 +156,6 @@ protected:
     
     QVector<JointState> _jointStates;
 
-    CapsuleShape _boundingShape;
-    glm::vec3 _boundingShapeLocalOffset;
-    
     class MeshState {
     public:
         QVector<glm::mat4> clusterMatrices;
@@ -222,8 +199,6 @@ protected:
     /// first free ancestor.
     float getLimbLength(int jointIndex) const;
 
-    void computeBoundingShape(const FBXGeometry& geometry);
-
 private:
     
     friend class AnimationHandle;
diff --git a/libraries/shared/src/PhysicalEntity.cpp b/libraries/shared/src/PhysicalEntity.cpp
index 3084c31529..602708d4ad 100644
--- a/libraries/shared/src/PhysicalEntity.cpp
+++ b/libraries/shared/src/PhysicalEntity.cpp
@@ -11,9 +11,9 @@
 
 #include "PhysicalEntity.h"
 #include "Shape.h"
+#include "ShapeCollider.h"
 
-PhysicalEntity::PhysicalEntity(EntityType type) : 
-    _entityType(type), 
+PhysicalEntity::PhysicalEntity() : 
     _translation(0.0f), 
     _rotation(), 
     _boundingRadius(0.0f), 
@@ -61,4 +61,93 @@ void PhysicalEntity::clearShapes() {
     _shapes.clear();
 }
 
+bool PhysicalEntity::findRayIntersection(const glm::vec3& origin, const glm::vec3& direction, float& distance) const {
+    /* TODO: Andrew to make this work
+    int numShapes = _shapes.size();
+    float minDistance = FLT_MAX;
+    for (int j = 0; j < numShapes; ++j) {
+        const Shape* shape = _shapes[j];
+        float thisDistance = FLT_MAX;
+        if (shape && ShapeCollider::findRayIntersection(ourShape, origin, direction, thisDistance)) {
+            if (thisDistance < minDistance) {
+                minDistance = thisDistance;
+            }
+        }
+    }
+    if (minDistance < FLT_MAX) {
+        distance = minDistance;
+        return true;
+    }
+    */
+    return false;
+}
 
+bool PhysicalEntity::findCollisions(const QVector<const Shape*> shapes, CollisionList& collisions) {
+    bool collided = false;
+    int numTheirShapes = shapes.size();
+    for (int i = 0; i < numTheirShapes; ++i) {
+        const Shape* theirShape = shapes[i];
+        if (!theirShape) {
+            continue;
+        }
+        int numOurShapes = _shapes.size();
+        for (int j = 0; j < numOurShapes; ++j) {
+            const Shape* ourShape = _shapes[j];
+            if (ourShape && ShapeCollider::collideShapes(theirShape, ourShape, collisions)) {
+                collided = true;
+            }
+        }
+    }
+    return collided;
+}
+
+bool PhysicalEntity::findSphereCollisions(const glm::vec3& sphereCenter, float sphereRadius,
+    CollisionList& collisions, int skipIndex) {
+    bool collided = false;
+    // TODO: Andrew to implement this or make it unecessary
+    /*
+    SphereShape sphere(sphereRadius, sphereCenter);
+    const FBXGeometry& geometry = _geometry->getFBXGeometry();
+    for (int i = 0; i < _shapes.size(); i++) {
+        Shape* shape = _shapes[i];
+        if (!shape) {
+            continue;
+        }
+        const FBXJoint& joint = geometry.joints[i];
+        if (joint.parentIndex != -1) {
+            if (skipIndex != -1) {
+                int ancestorIndex = joint.parentIndex;
+                do {
+                    if (ancestorIndex == skipIndex) {
+                        goto outerContinue;
+                    }
+                    ancestorIndex = geometry.joints[ancestorIndex].parentIndex;
+                    
+                } while (ancestorIndex != -1);
+            }
+        }
+        if (ShapeCollider::collideShapes(&sphere, shape, collisions)) {
+            CollisionInfo* collision = collisions.getLastCollision();
+            collision->_data = (void*)(this);
+            collision->_intData = i;
+            collided = true;
+        }
+        outerContinue: ;
+    }
+    */
+    return collided;
+}
+
+bool PhysicalEntity::findPlaneCollisions(const glm::vec4& plane, CollisionList& collisions) {
+    bool collided = false;
+    PlaneShape planeShape(plane);
+    for (int i = 0; i < _shapes.size(); i++) {
+        if (_shapes[i] && ShapeCollider::collideShapes(&planeShape, _shapes[i], collisions)) {
+            CollisionInfo* collision = collisions.getLastCollision();
+            collision->_data = (void*)(this);
+            collision->_intData = i;
+            collided = true;
+        }
+    }
+    return collided;
+}
diff --git a/libraries/shared/src/PhysicalEntity.h b/libraries/shared/src/PhysicalEntity.h
index 22f2bff67b..9e95449812 100644
--- a/libraries/shared/src/PhysicalEntity.h
+++ b/libraries/shared/src/PhysicalEntity.h
@@ -17,6 +17,8 @@
 #include <glm/glm.hpp>
 #include <glm/gtc/quaternion.hpp>
 
+#include "CollisionInfo.h"
+
 class Shape;
 
 // PhysicalEntity is the base class for anything that owns one or more Shapes that collide in a 
@@ -26,12 +28,7 @@ class Shape;
 class PhysicalEntity {
 
 public:
-    enum EntityType {
-        ENTITY_UNKNOWN,
-        ENTITY_MODEL,
-    };
-
-    PhysicalEntity(EntityType type = ENTITY_UNKNOWN);
+    PhysicalEntity();
     virtual ~PhysicalEntity() {}
 
     void setTranslation(const glm::vec3& translation);
@@ -41,8 +38,6 @@ public:
     const glm::quat& getRotation() const { return _rotation; }
     float getBoundingRadius() const { return _boundingRadius; }
 
-    EntityType getEntityType() const { return _entityType; }
-
     void setShapeBackPointers();
 
     void setEnableShapes(bool enable);
@@ -50,8 +45,12 @@ public:
     virtual void buildShapes() = 0;
     virtual void clearShapes();
 
+    bool findRayIntersection(const glm::vec3& origin, const glm::vec3& direction, float& distance) const;
+    bool findCollisions(const QVector<const Shape*> shapes, CollisionList& collisions);
+    bool findSphereCollisions(const glm::vec3& sphereCenter, float sphereRadius, CollisionList& collisions, int skipIndex);
+    bool findPlaneCollisions(const glm::vec4& plane, CollisionList& collisions);
+
 protected:
-    EntityType _entityType;
     glm::vec3 _translation;
     glm::quat _rotation;
     float _boundingRadius;

From 9e839f098083c2b451095db95e8083b2b0efd378 Mon Sep 17 00:00:00 2001
From: Andrew Meadows <andrew@highfidelity.io>
Date: Wed, 18 Jun 2014 08:55:48 -0700
Subject: [PATCH 026/105] Shape::getCenter() -> Shape::getTranslation()

---
 interface/src/avatar/MyAvatar.cpp          |  4 +-
 interface/src/avatar/SkeletonModel.cpp     | 12 ++--
 interface/src/renderer/Model.cpp           |  2 +-
 libraries/octree/src/Octree.cpp            |  2 +-
 libraries/shared/src/CapsuleShape.cpp      |  6 +-
 libraries/shared/src/ListShape.cpp         |  8 +--
 libraries/shared/src/ListShape.h           |  4 +-
 libraries/shared/src/PlaneShape.cpp        |  8 +--
 libraries/shared/src/Ragdoll.cpp           |  2 +-
 libraries/shared/src/Shape.h               | 16 ++---
 libraries/shared/src/ShapeCollider.cpp     | 36 +++++-----
 libraries/shared/src/SphereShape.cpp       |  6 +-
 libraries/shared/src/VerletSphereShape.cpp |  6 +-
 libraries/shared/src/VerletSphereShape.h   |  4 +-
 tests/physics/src/ShapeColliderTests.cpp   | 84 +++++++++++-----------
 15 files changed, 99 insertions(+), 101 deletions(-)

diff --git a/interface/src/avatar/MyAvatar.cpp b/interface/src/avatar/MyAvatar.cpp
index 7e82263ddc..9e89ba4f56 100644
--- a/interface/src/avatar/MyAvatar.cpp
+++ b/interface/src/avatar/MyAvatar.cpp
@@ -1245,7 +1245,7 @@ void MyAvatar::updateCollisionWithVoxels(float deltaTime, float radius) {
         float capsuleHalfHeight = boundingShape.getHalfHeight();
         const float MAX_STEP_HEIGHT = capsuleRadius + capsuleHalfHeight;
         const float MIN_STEP_HEIGHT = 0.0f;
-        glm::vec3 footBase = boundingShape.getCenter() - (capsuleRadius + capsuleHalfHeight) * _worldUpDirection;
+        glm::vec3 footBase = boundingShape.getTranslation() - (capsuleRadius + capsuleHalfHeight) * _worldUpDirection;
         float highestStep = 0.0f;
         float lowestStep = MAX_STEP_HEIGHT;
         glm::vec3 floorPoint;
@@ -1262,7 +1262,7 @@ void MyAvatar::updateCollisionWithVoxels(float deltaTime, float radius) {
             if (horizontalDepth > capsuleRadius || fabsf(verticalDepth) > MAX_STEP_HEIGHT) {
                 isTrapped = true;
                 if (_trapDuration > MAX_TRAP_PERIOD) {
-                    float distance = glm::dot(boundingShape.getCenter() - cubeCenter, _worldUpDirection);
+                    float distance = glm::dot(boundingShape.getTranslation() - cubeCenter, _worldUpDirection);
                     if (distance < 0.0f) {
                         distance = fabsf(distance) + 0.5f * cubeSide;
                     }
diff --git a/interface/src/avatar/SkeletonModel.cpp b/interface/src/avatar/SkeletonModel.cpp
index 2bb4b9d5e3..0b00398df8 100644
--- a/interface/src/avatar/SkeletonModel.cpp
+++ b/interface/src/avatar/SkeletonModel.cpp
@@ -596,7 +596,7 @@ void SkeletonModel::updateShapePositionsLegacy() {
             glm::vec3 worldPosition = _translation + _rotation * (state.getPosition() + shapeOffset);
             Shape* shape = _shapes[i];
             if (shape) {
-                shape->setCenter(worldPosition);
+                shape->setTranslation(worldPosition);
                 shape->setRotation(_rotation * stateRotation * joint.shapeRotation);
                 float distance = glm::distance(worldPosition, _translation) + shape->getBoundingRadius();
                 if (distance > _boundingRadius) {
@@ -608,7 +608,7 @@ void SkeletonModel::updateShapePositionsLegacy() {
             }
         }
         _shapesAreDirty = false;
-        _boundingShape.setCenter(rootPosition + _rotation * _boundingShapeLocalOffset);
+        _boundingShape.setTranslation(rootPosition + _rotation * _boundingShapeLocalOffset);
         _boundingShape.setRotation(_rotation);
     }
 }
@@ -665,7 +665,7 @@ void SkeletonModel::computeBoundingShape(const FBXGeometry& geometry) {
         const FBXJoint& joint = geometry.joints[i];
         glm::vec3 jointToShapeOffset = uniformScale * (finalRotations[i] * joint.shapePosition);
         glm::vec3 localPosition = extractTranslation(transforms[i]) + jointToShapeOffset;
-        shape->setCenter(localPosition);
+        shape->setTranslation(localPosition);
         shape->setRotation(finalRotations[i] * joint.shapeRotation);
         float distance = glm::length(localPosition) + shape->getBoundingRadius();
         if (distance > _boundingRadius) {
@@ -684,7 +684,7 @@ void SkeletonModel::computeBoundingShape(const FBXGeometry& geometry) {
         }
         Extents shapeExtents;
         shapeExtents.reset();
-        glm::vec3 localPosition = shape->getCenter();
+        glm::vec3 localPosition = shape->getTranslation();
         int type = shape->getType();
         if (type == Shape::CAPSULE_SHAPE) {
             // add the two furthest surface points of the capsule
@@ -739,11 +739,11 @@ void SkeletonModel::resetShapePositions() {
     for (int i = 0; i < _shapes.size(); i++) {
         Shape* shape = _shapes[i];
         if (shape) {
-            shape->setCenter(_translation + _rotation * shape->getCenter());
+            shape->setTranslation(_translation + _rotation * shape->getTranslation());
             shape->setRotation(_rotation * shape->getRotation());
         }
     }
-    _boundingShape.setCenter(_translation + _rotation * _boundingShapeLocalOffset);
+    _boundingShape.setTranslation(_translation + _rotation * _boundingShapeLocalOffset);
     _boundingShape.setRotation(_rotation);
 }
 
diff --git a/interface/src/renderer/Model.cpp b/interface/src/renderer/Model.cpp
index 2057f3248b..c3a3387e0f 100644
--- a/interface/src/renderer/Model.cpp
+++ b/interface/src/renderer/Model.cpp
@@ -1102,7 +1102,7 @@ void Model::renderJointCollisionShapes(float alpha) {
         glPushMatrix();
         if (shape->getType() == Shape::SPHERE_SHAPE) {
             // shapes are stored in world-frame, so we have to transform into model frame
-            glm::vec3 position = shape->getCenter() - _translation;
+            glm::vec3 position = shape->getTranslation() - _translation;
             glTranslatef(position.x, position.y, position.z);
             const glm::quat& rotation = shape->getRotation();
             glm::vec3 axis = glm::axis(rotation);
diff --git a/libraries/octree/src/Octree.cpp b/libraries/octree/src/Octree.cpp
index f43921e0d1..2af86663f7 100644
--- a/libraries/octree/src/Octree.cpp
+++ b/libraries/octree/src/Octree.cpp
@@ -757,7 +757,7 @@ bool findShapeCollisionsOp(OctreeElement* element, void* extraData) {
     // coarse check against bounds
     AACube cube = element->getAACube();
     cube.scale(TREE_SCALE);
-    if (!cube.expandedContains(args->shape->getCenter(), args->shape->getBoundingRadius())) {
+    if (!cube.expandedContains(args->shape->getTranslation(), args->shape->getBoundingRadius())) {
         return false;
     }
     if (!element->isLeaf()) {
diff --git a/libraries/shared/src/CapsuleShape.cpp b/libraries/shared/src/CapsuleShape.cpp
index 83276a9cc2..ab8cbdae3d 100644
--- a/libraries/shared/src/CapsuleShape.cpp
+++ b/libraries/shared/src/CapsuleShape.cpp
@@ -40,12 +40,12 @@ CapsuleShape::CapsuleShape(float radius, const glm::vec3& startPoint, const glm:
 
 /// \param[out] startPoint is the center of start cap
 void CapsuleShape::getStartPoint(glm::vec3& startPoint) const {
-    startPoint = _center - _rotation * glm::vec3(0.0f, _halfHeight, 0.0f);
+    startPoint = _translation - _rotation * glm::vec3(0.0f, _halfHeight, 0.0f);
 }
 
 /// \param[out] endPoint is the center of the end cap
 void CapsuleShape::getEndPoint(glm::vec3& endPoint) const {
-    endPoint = _center + _rotation * glm::vec3(0.0f, _halfHeight, 0.0f);
+    endPoint = _translation + _rotation * glm::vec3(0.0f, _halfHeight, 0.0f);
 }
 
 void CapsuleShape::computeNormalizedAxis(glm::vec3& axis) const {
@@ -71,7 +71,7 @@ void CapsuleShape::setRadiusAndHalfHeight(float radius, float halfHeight) {
 
 void CapsuleShape::setEndPoints(const glm::vec3& startPoint, const glm::vec3& endPoint) {
     glm::vec3 axis = endPoint - startPoint;
-    _center = 0.5f * (endPoint + startPoint);
+    _translation = 0.5f * (endPoint + startPoint);
     float height = glm::length(axis);
     if (height > EPSILON) {
         _halfHeight = 0.5f * height;
diff --git a/libraries/shared/src/ListShape.cpp b/libraries/shared/src/ListShape.cpp
index 4876111054..67ec32d4b1 100644
--- a/libraries/shared/src/ListShape.cpp
+++ b/libraries/shared/src/ListShape.cpp
@@ -14,7 +14,7 @@
 // ListShapeEntry
 
 void ListShapeEntry::updateTransform(const glm::vec3& rootPosition, const glm::quat& rootRotation) {
-    _shape->setCenter(rootPosition + rootRotation * _localPosition);
+    _shape->setTranslation(rootPosition + rootRotation * _localPosition);
     _shape->setRotation(_localRotation * rootRotation);
 }
 
@@ -24,9 +24,9 @@ ListShape::~ListShape() {
     clear();
 }
 
-void ListShape::setCenter(const glm::vec3& center) {
+void ListShape::setTranslation(const glm::vec3& position) {
     _subShapeTransformsAreDirty = true;
-    Shape::setCenter(center);
+    Shape::setTranslation(position);
 }
 
 void ListShape::setRotation(const glm::quat& rotation) {
@@ -44,7 +44,7 @@ const Shape* ListShape::getSubShape(int index) const {
 void ListShape::updateSubTransforms() {
     if (_subShapeTransformsAreDirty) {
         for (int i = 0; i < _subShapeEntries.size(); ++i) {
-            _subShapeEntries[i].updateTransform(_center, _rotation);
+            _subShapeEntries[i].updateTransform(_translation, _rotation);
         }
         _subShapeTransformsAreDirty = false;
     }
diff --git a/libraries/shared/src/ListShape.h b/libraries/shared/src/ListShape.h
index 295aef8fdd..bd150c8246 100644
--- a/libraries/shared/src/ListShape.h
+++ b/libraries/shared/src/ListShape.h
@@ -42,9 +42,7 @@ public:
 
     ~ListShape();
 
-    void setCenter(const glm::vec3& center);
-//    void setPosition(const glm::vec3& position);
-//    glm::vec3 getPosition() const { return _position; }
+    void setTranslation(const glm::vec3& position);
     void setRotation(const glm::quat& rotation);
 
     const Shape* getSubShape(int index) const;
diff --git a/libraries/shared/src/PlaneShape.cpp b/libraries/shared/src/PlaneShape.cpp
index 76a960134b..15ea281510 100644
--- a/libraries/shared/src/PlaneShape.cpp
+++ b/libraries/shared/src/PlaneShape.cpp
@@ -18,7 +18,7 @@ PlaneShape::PlaneShape(const glm::vec4& coefficients) :
     Shape(Shape::PLANE_SHAPE) {
     
     glm::vec3 normal = glm::vec3(coefficients);
-    _center = -normal * coefficients.w;
+    _translation = -normal * coefficients.w;
     
     float angle = acosf(glm::dot(normal, UNROTATED_NORMAL));
     if (angle > EPSILON) {
@@ -36,7 +36,7 @@ glm::vec3 PlaneShape::getNormal() const {
 
 glm::vec4 PlaneShape::getCoefficients() const {
     glm::vec3 normal = _rotation * UNROTATED_NORMAL;
-    return glm::vec4(normal.x, normal.y, normal.z, -glm::dot(normal, _center));
+    return glm::vec4(normal.x, normal.y, normal.z, -glm::dot(normal, _translation));
 }
 
 bool PlaneShape::findRayIntersection(const glm::vec3& rayStart, const glm::vec3& rayDirection, float& distance) const {
@@ -44,9 +44,9 @@ bool PlaneShape::findRayIntersection(const glm::vec3& rayStart, const glm::vec3&
     float denominator = glm::dot(n, rayDirection);
     if (fabsf(denominator) < EPSILON) {
         // line is parallel to plane
-        return glm::dot(_center - rayStart, n) < EPSILON;
+        return glm::dot(_translation - rayStart, n) < EPSILON;
     } else {
-        float d = glm::dot(_center - rayStart, n) / denominator;
+        float d = glm::dot(_translation - rayStart, n) / denominator;
         if (d > 0.0f) {
             // ray points toward plane
             distance = d;
diff --git a/libraries/shared/src/Ragdoll.cpp b/libraries/shared/src/Ragdoll.cpp
index 9aff3d5626..6a8515d3b4 100644
--- a/libraries/shared/src/Ragdoll.cpp
+++ b/libraries/shared/src/Ragdoll.cpp
@@ -76,7 +76,7 @@ void DistanceConstraint::updateProxyShape(Shape* shape, const glm::quat& rotatio
         case Shape::SPHERE_SHAPE: {
             // sphere collides at endPoint
             SphereShape* sphere = static_cast<SphereShape*>(shape);
-            sphere->setCenter(translation + rotation * (*_points[1]));
+            sphere->setTranslation(translation + rotation * (*_points[1]));
         }
         break;
         case Shape::CAPSULE_SHAPE: {
diff --git a/libraries/shared/src/Shape.h b/libraries/shared/src/Shape.h
index e6b2bf3180..dae1114992 100644
--- a/libraries/shared/src/Shape.h
+++ b/libraries/shared/src/Shape.h
@@ -27,7 +27,7 @@ public:
         LIST_SHAPE
     };
 
-    Shape() : _type(UNKNOWN_SHAPE), _owningEntity(NULL), _boundingRadius(0.f), _center(0.f), _rotation() { }
+    Shape() : _type(UNKNOWN_SHAPE), _owningEntity(NULL), _boundingRadius(0.f), _translation(0.f), _rotation() { }
     virtual ~Shape() {}
 
     int getType() const { return _type; }
@@ -35,33 +35,33 @@ public:
 //    const glm::vec3& getPosition() const { return _position; }
     const glm::quat& getRotation() const { return _rotation; }
 
-//    virtual void setPosition(const glm::vec3& position) { _center = position; }
+//    virtual void setPosition(const glm::vec3& position) { _translation = position; }
     virtual void setRotation(const glm::quat& rotation) { _rotation = rotation; }
 
     void setEntity(PhysicalEntity* entity) { _owningEntity = entity; }
     PhysicalEntity* getEntity() const { return _owningEntity; }
 
-    virtual void setCenter(const glm::vec3& center) { _center = center; }
-    virtual glm::vec3 getCenter() const { return _center; }
+    virtual void setTranslation(const glm::vec3& center) { _translation = center; }
+    virtual glm::vec3 getTranslation() const { return _translation; }
 
     virtual bool findRayIntersection(const glm::vec3& rayStart, const glm::vec3& rayDirection, float& distance) const = 0;
 
 protected:
     // these ctors are protected (used by derived classes only)
-    Shape(Type type) : _type(type), _owningEntity(NULL), _boundingRadius(0.f), _center(0.f), _rotation() {}
+    Shape(Type type) : _type(type), _owningEntity(NULL), _boundingRadius(0.f), _translation(0.f), _rotation() {}
 
     Shape(Type type, const glm::vec3& position) 
-        : _type(type), _owningEntity(NULL), _boundingRadius(0.f), _center(position), _rotation() {}
+        : _type(type), _owningEntity(NULL), _boundingRadius(0.f), _translation(position), _rotation() {}
 
     Shape(Type type, const glm::vec3& position, const glm::quat& rotation) 
-        : _type(type), _owningEntity(NULL), _boundingRadius(0.f), _center(position), _rotation(rotation) {}
+        : _type(type), _owningEntity(NULL), _boundingRadius(0.f), _translation(position), _rotation(rotation) {}
 
     void setBoundingRadius(float radius) { _boundingRadius = radius; }
 
     int _type;
     PhysicalEntity* _owningEntity;
     float _boundingRadius;
-    glm::vec3 _center;
+    glm::vec3 _translation;
     glm::quat _rotation;
 };
 
diff --git a/libraries/shared/src/ShapeCollider.cpp b/libraries/shared/src/ShapeCollider.cpp
index 8c32a3f8da..2b672f764d 100644
--- a/libraries/shared/src/ShapeCollider.cpp
+++ b/libraries/shared/src/ShapeCollider.cpp
@@ -157,7 +157,7 @@ bool collideShapeWithAACube(const Shape* shapeA, const glm::vec3& cubeCenter, fl
 }
 
 bool sphereSphere(const SphereShape* sphereA, const SphereShape* sphereB, CollisionList& collisions) {
-    glm::vec3 BA = sphereB->getCenter() - sphereA->getCenter();
+    glm::vec3 BA = sphereB->getTranslation() - sphereA->getTranslation();
     float distanceSquared = glm::dot(BA, BA);
     float totalRadius = sphereA->getRadius() + sphereB->getRadius();
     if (distanceSquared < totalRadius * totalRadius) {
@@ -175,7 +175,7 @@ bool sphereSphere(const SphereShape* sphereA, const SphereShape* sphereB, Collis
         if (collision) {
             collision->_penetration = BA * (totalRadius - distance);
             // contactPoint is on surface of A
-            collision->_contactPoint = sphereA->getCenter() + sphereA->getRadius() * BA;
+            collision->_contactPoint = sphereA->getTranslation() + sphereA->getRadius() * BA;
             collision->_shapeA = sphereA;
             collision->_shapeB = sphereB;
             return true;
@@ -186,7 +186,7 @@ bool sphereSphere(const SphereShape* sphereA, const SphereShape* sphereB, Collis
 
 bool sphereCapsule(const SphereShape* sphereA, const CapsuleShape* capsuleB, CollisionList& collisions) {
     // find sphereA's closest approach to axis of capsuleB
-    glm::vec3 BA = capsuleB->getCenter() - sphereA->getCenter();
+    glm::vec3 BA = capsuleB->getTranslation() - sphereA->getTranslation();
     glm::vec3 capsuleAxis; 
     capsuleB->computeNormalizedAxis(capsuleAxis);
     float axialDistance = - glm::dot(BA, capsuleAxis);
@@ -221,7 +221,7 @@ bool sphereCapsule(const SphereShape* sphereA, const CapsuleShape* capsuleB, Col
             // penetration points from A into B
             collision->_penetration = (totalRadius - radialDistance) * radialAxis; // points from A into B
             // contactPoint is on surface of sphereA
-            collision->_contactPoint = sphereA->getCenter() + sphereA->getRadius() * radialAxis;
+            collision->_contactPoint = sphereA->getTranslation() + sphereA->getRadius() * radialAxis;
             collision->_shapeA = sphereA;
             collision->_shapeB = capsuleB;
         } else {
@@ -244,7 +244,7 @@ bool sphereCapsule(const SphereShape* sphereA, const CapsuleShape* capsuleB, Col
             float sign = (axialDistance > 0.0f) ? -1.0f : 1.0f;
             collision->_penetration = (sign * (totalRadius + capsuleB->getHalfHeight() - absAxialDistance)) * capsuleAxis;
             // contactPoint is on surface of sphereA
-            collision->_contactPoint = sphereA->getCenter() + (sign * sphereA->getRadius()) * capsuleAxis;
+            collision->_contactPoint = sphereA->getTranslation() + (sign * sphereA->getRadius()) * capsuleAxis;
             collision->_shapeA = sphereA;
             collision->_shapeB = capsuleB;
         }
@@ -255,13 +255,13 @@ bool sphereCapsule(const SphereShape* sphereA, const CapsuleShape* capsuleB, Col
 
 bool spherePlane(const SphereShape* sphereA, const PlaneShape* planeB, CollisionList& collisions) {
     glm::vec3 penetration;
-    if (findSpherePlanePenetration(sphereA->getCenter(), sphereA->getRadius(), planeB->getCoefficients(), penetration)) {
+    if (findSpherePlanePenetration(sphereA->getTranslation(), sphereA->getRadius(), planeB->getCoefficients(), penetration)) {
         CollisionInfo* collision = collisions.getNewCollision();
         if (!collision) {
             return false; // collision list is full
         }
         collision->_penetration = penetration;
-        collision->_contactPoint = sphereA->getCenter() + sphereA->getRadius() * glm::normalize(penetration);
+        collision->_contactPoint = sphereA->getTranslation() + sphereA->getRadius() * glm::normalize(penetration);
         collision->_shapeA = sphereA;
         collision->_shapeB = planeB;
         return true;
@@ -271,7 +271,7 @@ bool spherePlane(const SphereShape* sphereA, const PlaneShape* planeB, Collision
 
 bool capsuleSphere(const CapsuleShape* capsuleA, const SphereShape* sphereB, CollisionList& collisions) {
     // find sphereB's closest approach to axis of capsuleA
-    glm::vec3 AB = capsuleA->getCenter() - sphereB->getCenter();
+    glm::vec3 AB = capsuleA->getTranslation() - sphereB->getTranslation();
     glm::vec3 capsuleAxis;
     capsuleA->computeNormalizedAxis(capsuleAxis);
     float axialDistance = - glm::dot(AB, capsuleAxis);
@@ -287,14 +287,14 @@ bool capsuleSphere(const CapsuleShape* capsuleA, const SphereShape* sphereB, Col
         }
 
         // closestApproach = point on capsuleA's axis that is closest to sphereB's center
-        glm::vec3 closestApproach = capsuleA->getCenter() + axialDistance * capsuleAxis;
+        glm::vec3 closestApproach = capsuleA->getTranslation() + axialDistance * capsuleAxis;
 
         if (absAxialDistance > capsuleA->getHalfHeight()) {
             // sphere hits capsule on a cap 
             // --> recompute radialAxis and closestApproach
             float sign = (axialDistance > 0.0f) ? 1.0f : -1.0f;
-            closestApproach = capsuleA->getCenter() + (sign * capsuleA->getHalfHeight()) * capsuleAxis;
-            radialAxis = closestApproach - sphereB->getCenter();
+            closestApproach = capsuleA->getTranslation() + (sign * capsuleA->getHalfHeight()) * capsuleAxis;
+            radialAxis = closestApproach - sphereB->getTranslation();
             radialDistance2 = glm::length2(radialAxis);
             if (radialDistance2 > totalRadius2) {
                 return false;
@@ -349,8 +349,8 @@ bool capsuleCapsule(const CapsuleShape* capsuleA, const CapsuleShape* capsuleB,
     capsuleA->computeNormalizedAxis(axisA);
     glm::vec3 axisB;
     capsuleB->computeNormalizedAxis(axisB);
-    glm::vec3 centerA = capsuleA->getCenter();
-    glm::vec3 centerB = capsuleB->getCenter();
+    glm::vec3 centerA = capsuleA->getTranslation();
+    glm::vec3 centerB = capsuleB->getTranslation();
 
     // NOTE: The formula for closest approach between two lines is:
     // d = [(B - A) . (a - (a.b)b)] / (1 - (a.b)^2)
@@ -505,13 +505,13 @@ bool capsulePlane(const CapsuleShape* capsuleA, const PlaneShape* planeB, Collis
 
 bool planeSphere(const PlaneShape* planeA, const SphereShape* sphereB, CollisionList& collisions) {
     glm::vec3 penetration;
-    if (findSpherePlanePenetration(sphereB->getCenter(), sphereB->getRadius(), planeA->getCoefficients(), penetration)) {
+    if (findSpherePlanePenetration(sphereB->getTranslation(), sphereB->getRadius(), planeA->getCoefficients(), penetration)) {
         CollisionInfo* collision = collisions.getNewCollision();
         if (!collision) {
             return false; // collision list is full
         }
         collision->_penetration = -penetration;
-        collision->_contactPoint = sphereB->getCenter() +
+        collision->_contactPoint = sphereB->getTranslation() +
             (sphereB->getRadius() / glm::length(penetration) - 1.0f) * penetration;
         collision->_shapeA = planeA;
         collision->_shapeB = sphereB;
@@ -803,21 +803,21 @@ bool sphereAACube_StarkAngles(const glm::vec3& sphereCenter, float sphereRadius,
 */
 
 bool sphereAACube(const SphereShape* sphereA, const glm::vec3& cubeCenter, float cubeSide, CollisionList& collisions) {
-    return sphereAACube(sphereA->getCenter(), sphereA->getRadius(), cubeCenter, cubeSide, collisions);
+    return sphereAACube(sphereA->getTranslation(), sphereA->getRadius(), cubeCenter, cubeSide, collisions);
 }
 
 bool capsuleAACube(const CapsuleShape* capsuleA, const glm::vec3& cubeCenter, float cubeSide, CollisionList& collisions) {
     // find nerest approach of capsule line segment to cube
     glm::vec3 capsuleAxis;
     capsuleA->computeNormalizedAxis(capsuleAxis);
-    float offset = glm::dot(cubeCenter - capsuleA->getCenter(), capsuleAxis);
+    float offset = glm::dot(cubeCenter - capsuleA->getTranslation(), capsuleAxis);
     float halfHeight = capsuleA->getHalfHeight();
     if (offset > halfHeight) {
         offset = halfHeight;
     } else if (offset < -halfHeight) {
         offset = -halfHeight;
     }
-    glm::vec3 nearestApproach = capsuleA->getCenter() + offset * capsuleAxis;
+    glm::vec3 nearestApproach = capsuleA->getTranslation() + offset * capsuleAxis;
     // collide nearest approach like a sphere at that point
     return sphereAACube(nearestApproach, capsuleA->getRadius(), cubeCenter, cubeSide, collisions);
 }
diff --git a/libraries/shared/src/SphereShape.cpp b/libraries/shared/src/SphereShape.cpp
index ecb97bb86d..c77b0c97fb 100644
--- a/libraries/shared/src/SphereShape.cpp
+++ b/libraries/shared/src/SphereShape.cpp
@@ -17,14 +17,14 @@ bool SphereShape::findRayIntersection(const glm::vec3& rayStart, const glm::vec3
     float r2 = _boundingRadius * _boundingRadius;
 
     // compute closest approach (CA)
-    float a = glm::dot(_center - rayStart, rayDirection); // a = distance from ray-start to CA
-    float b2 = glm::distance2(_center, rayStart + a * rayDirection); // b2 = squared distance from sphere-center to CA
+    float a = glm::dot(_translation - rayStart, rayDirection); // a = distance from ray-start to CA
+    float b2 = glm::distance2(_translation, rayStart + a * rayDirection); // b2 = squared distance from sphere-center to CA
     if (b2 > r2) {
         // ray does not hit sphere
         return false;
     }
     float c = sqrtf(r2 - b2); // c = distance from CA to sphere surface along rayDirection
-    float d2 = glm::distance2(rayStart, _center); // d2 = squared distance from sphere-center to ray-start
+    float d2 = glm::distance2(rayStart, _translation); // d2 = squared distance from sphere-center to ray-start
     if (a < 0.0f) {
         // ray points away from sphere-center
         if (d2 > r2) {
diff --git a/libraries/shared/src/VerletSphereShape.cpp b/libraries/shared/src/VerletSphereShape.cpp
index b696f74dfb..f17184f434 100644
--- a/libraries/shared/src/VerletSphereShape.cpp
+++ b/libraries/shared/src/VerletSphereShape.cpp
@@ -22,11 +22,11 @@ VerletSphereShape::VerletSphereShape(float radius, glm::vec3* centerPoint) : Sph
 }
 
 // virtual from Shape class
-void VerletSphereShape::setCenter(const glm::vec3& center) {
-    *_point = center;
+void VerletSphereShape::setTranslation(const glm::vec3& position) {
+    *_point = position;
 }
 
 // virtual from Shape class
-glm::vec3 VerletSphereShape::getCenter() {
+glm::vec3 VerletSphereShape::getTranslation() {
     return *_point;
 }
diff --git a/libraries/shared/src/VerletSphereShape.h b/libraries/shared/src/VerletSphereShape.h
index 63a8531ffc..e6a70e948e 100644
--- a/libraries/shared/src/VerletSphereShape.h
+++ b/libraries/shared/src/VerletSphereShape.h
@@ -23,8 +23,8 @@ public:
 
     VerletSphereShape(float radius, glm::vec3* centerPoint);
 
-    void setCenter(const glm::vec3& center);
-    glm::vec3 getCenter();
+    void setTranslation(const glm::vec3& position);
+    glm::vec3 getTranslation();
 
 protected:
     // NOTE: VerletSphereShape does NOT own its _point
diff --git a/tests/physics/src/ShapeColliderTests.cpp b/tests/physics/src/ShapeColliderTests.cpp
index f9775b02ee..4ec823f738 100644
--- a/tests/physics/src/ShapeColliderTests.cpp
+++ b/tests/physics/src/ShapeColliderTests.cpp
@@ -123,8 +123,8 @@ void ShapeColliderTests::sphereTouchesSphere() {
         }
     
         // contactPoint is on surface of sphereA
-        glm::vec3 AtoB = sphereB.getCenter() - sphereA.getCenter();
-        glm::vec3 expectedContactPoint = sphereA.getCenter() + radiusA * glm::normalize(AtoB);
+        glm::vec3 AtoB = sphereB.getTranslation() - sphereA.getTranslation();
+        glm::vec3 expectedContactPoint = sphereA.getTranslation() + radiusA * glm::normalize(AtoB);
         inaccuracy = glm::length(collision->_contactPoint - expectedContactPoint);
         if (fabs(inaccuracy) > EPSILON) {
             std::cout << __FILE__ << ":" << __LINE__
@@ -153,8 +153,8 @@ void ShapeColliderTests::sphereTouchesSphere() {
         }
     
         // contactPoint is on surface of sphereA
-        glm::vec3 BtoA = sphereA.getCenter() - sphereB.getCenter();
-        glm::vec3 expectedContactPoint = sphereB.getCenter() + radiusB * glm::normalize(BtoA);
+        glm::vec3 BtoA = sphereA.getTranslation() - sphereB.getTranslation();
+        glm::vec3 expectedContactPoint = sphereB.getTranslation() + radiusB * glm::normalize(BtoA);
         inaccuracy = glm::length(collision->_contactPoint - expectedContactPoint);
         if (fabs(inaccuracy) > EPSILON) {
             std::cout << __FILE__ << ":" << __LINE__
@@ -182,7 +182,7 @@ void ShapeColliderTests::sphereMissesCapsule() {
     glm::quat rotation = glm::angleAxis(angle, axis);
     glm::vec3 translation(15.1f, -27.1f, -38.6f);
     capsuleB.setRotation(rotation);
-    capsuleB.setCenter(translation);
+    capsuleB.setTranslation(translation);
 
     CollisionList collisions(16);
 
@@ -193,7 +193,7 @@ void ShapeColliderTests::sphereMissesCapsule() {
     for (int i = 0; i < numberOfSteps; ++i) {
         // translate sphereA into world-frame
         glm::vec3 localPosition = localStartPosition + ((float)i * delta) * yAxis;
-        sphereA.setCenter(rotation * localPosition + translation);
+        sphereA.setTranslation(rotation * localPosition + translation);
 
         // sphereA agains capsuleB
         if (ShapeCollider::collideShapes(&sphereA, &capsuleB, collisions))
@@ -236,7 +236,7 @@ void ShapeColliderTests::sphereTouchesCapsule() {
     int numCollisions = 0;
 
     {   // sphereA collides with capsuleB's cylindrical wall
-        sphereA.setCenter(radialOffset * xAxis);
+        sphereA.setTranslation(radialOffset * xAxis);
 
         if (!ShapeCollider::collideShapes(&sphereA, &capsuleB, collisions))
         {
@@ -258,7 +258,7 @@ void ShapeColliderTests::sphereTouchesCapsule() {
         }
     
         // contactPoint is on surface of sphereA
-        glm::vec3 expectedContactPoint = sphereA.getCenter() - radiusA * xAxis;
+        glm::vec3 expectedContactPoint = sphereA.getTranslation() - radiusA * xAxis;
         inaccuracy = glm::length(collision->_contactPoint - expectedContactPoint);
         if (fabs(inaccuracy) > EPSILON) {
             std::cout << __FILE__ << ":" << __LINE__
@@ -287,8 +287,8 @@ void ShapeColliderTests::sphereTouchesCapsule() {
         }
     
         // contactPoint is on surface of capsuleB
-        glm::vec3 BtoA = sphereA.getCenter() - capsuleB.getCenter();
-        glm::vec3 closestApproach = capsuleB.getCenter() + glm::dot(BtoA, yAxis) * yAxis;
+        glm::vec3 BtoA = sphereA.getTranslation() - capsuleB.getTranslation();
+        glm::vec3 closestApproach = capsuleB.getTranslation() + glm::dot(BtoA, yAxis) * yAxis;
         expectedContactPoint = closestApproach + radiusB * glm::normalize(BtoA - closestApproach);
         inaccuracy = glm::length(collision->_contactPoint - expectedContactPoint);
         if (fabs(inaccuracy) > EPSILON) {
@@ -299,7 +299,7 @@ void ShapeColliderTests::sphereTouchesCapsule() {
     }
     {   // sphereA hits end cap at axis
         glm::vec3 axialOffset = (halfHeightB + alpha * radiusA + beta * radiusB) * yAxis;
-        sphereA.setCenter(axialOffset * yAxis);
+        sphereA.setTranslation(axialOffset * yAxis);
         
         if (!ShapeCollider::collideShapes(&sphereA, &capsuleB, collisions))
         {
@@ -321,7 +321,7 @@ void ShapeColliderTests::sphereTouchesCapsule() {
         }
     
         // contactPoint is on surface of sphereA
-        glm::vec3 expectedContactPoint = sphereA.getCenter() - radiusA * yAxis;
+        glm::vec3 expectedContactPoint = sphereA.getTranslation() - radiusA * yAxis;
         inaccuracy = glm::length(collision->_contactPoint - expectedContactPoint);
         if (fabs(inaccuracy) > EPSILON) {
             std::cout << __FILE__ << ":" << __LINE__
@@ -362,7 +362,7 @@ void ShapeColliderTests::sphereTouchesCapsule() {
     }
     {   // sphereA hits start cap at axis
         glm::vec3 axialOffset = - (halfHeightB + alpha * radiusA + beta * radiusB) * yAxis;
-        sphereA.setCenter(axialOffset * yAxis);
+        sphereA.setTranslation(axialOffset * yAxis);
         
         if (!ShapeCollider::collideShapes(&sphereA, &capsuleB, collisions))
         {
@@ -384,7 +384,7 @@ void ShapeColliderTests::sphereTouchesCapsule() {
         }
     
         // contactPoint is on surface of sphereA
-        glm::vec3 expectedContactPoint = sphereA.getCenter() + radiusA * yAxis;
+        glm::vec3 expectedContactPoint = sphereA.getTranslation() + radiusA * yAxis;
         inaccuracy = glm::length(collision->_contactPoint - expectedContactPoint);
         if (fabs(inaccuracy) > EPSILON) {
             std::cout << __FILE__ << ":" << __LINE__
@@ -446,7 +446,7 @@ void ShapeColliderTests::capsuleMissesCapsule() {
     CollisionList collisions(16);
 
     // side by side
-    capsuleB.setCenter((1.01f * totalRadius) * xAxis);
+    capsuleB.setTranslation((1.01f * totalRadius) * xAxis);
     if (ShapeCollider::collideShapes(&capsuleA, &capsuleB, collisions))
     {
         std::cout << __FILE__ << ":" << __LINE__
@@ -461,7 +461,7 @@ void ShapeColliderTests::capsuleMissesCapsule() {
     }
 
     // end to end
-    capsuleB.setCenter((1.01f * totalHalfLength) * xAxis);
+    capsuleB.setTranslation((1.01f * totalHalfLength) * xAxis);
     if (ShapeCollider::collideShapes(&capsuleA, &capsuleB, collisions))
     {
         std::cout << __FILE__ << ":" << __LINE__
@@ -478,7 +478,7 @@ void ShapeColliderTests::capsuleMissesCapsule() {
     // rotate B and move it to the side
     glm::quat rotation = glm::angleAxis(PI_OVER_TWO, zAxis);
     capsuleB.setRotation(rotation);
-    capsuleB.setCenter((1.01f * (totalRadius + capsuleB.getHalfHeight())) * xAxis);
+    capsuleB.setTranslation((1.01f * (totalRadius + capsuleB.getHalfHeight())) * xAxis);
     if (ShapeCollider::collideShapes(&capsuleA, &capsuleB, collisions))
     {
         std::cout << __FILE__ << ":" << __LINE__
@@ -516,7 +516,7 @@ void ShapeColliderTests::capsuleTouchesCapsule() {
     int numCollisions = 0;
 
     { // side by side
-        capsuleB.setCenter((0.99f * totalRadius) * xAxis);
+        capsuleB.setTranslation((0.99f * totalRadius) * xAxis);
         if (!ShapeCollider::collideShapes(&capsuleA, &capsuleB, collisions))
         {
             std::cout << __FILE__ << ":" << __LINE__
@@ -536,7 +536,7 @@ void ShapeColliderTests::capsuleTouchesCapsule() {
     }
 
     { // end to end
-        capsuleB.setCenter((0.99f * totalHalfLength) * yAxis);
+        capsuleB.setTranslation((0.99f * totalHalfLength) * yAxis);
 
         if (!ShapeCollider::collideShapes(&capsuleA, &capsuleB, collisions))
         {
@@ -559,7 +559,7 @@ void ShapeColliderTests::capsuleTouchesCapsule() {
     { // rotate B and move it to the side
         glm::quat rotation = glm::angleAxis(PI_OVER_TWO, zAxis);
         capsuleB.setRotation(rotation);
-        capsuleB.setCenter((0.99f * (totalRadius + capsuleB.getHalfHeight())) * xAxis);
+        capsuleB.setTranslation((0.99f * (totalRadius + capsuleB.getHalfHeight())) * xAxis);
 
         if (!ShapeCollider::collideShapes(&capsuleA, &capsuleB, collisions))
         {
@@ -584,7 +584,7 @@ void ShapeColliderTests::capsuleTouchesCapsule() {
         glm::quat rotation = glm::angleAxis(PI_OVER_TWO, zAxis);
         capsuleB.setRotation(rotation);
         glm::vec3 positionB = ((totalRadius + capsuleB.getHalfHeight()) - overlap) * xAxis;
-        capsuleB.setCenter(positionB);
+        capsuleB.setTranslation(positionB);
 
         // capsuleA vs capsuleB
         if (!ShapeCollider::collideShapes(&capsuleA, &capsuleB, collisions))
@@ -605,7 +605,7 @@ void ShapeColliderTests::capsuleTouchesCapsule() {
                 << " actual = " << collision->_penetration;
         }
     
-        glm::vec3 expectedContactPoint = capsuleA.getCenter() + radiusA * xAxis;
+        glm::vec3 expectedContactPoint = capsuleA.getTranslation() + radiusA * xAxis;
         inaccuracy = glm::length(collision->_contactPoint - expectedContactPoint);
         if (fabs(inaccuracy) > EPSILON) {
             std::cout << __FILE__ << ":" << __LINE__
@@ -633,7 +633,7 @@ void ShapeColliderTests::capsuleTouchesCapsule() {
                 << std::endl;
         }
     
-        expectedContactPoint = capsuleB.getCenter() - (radiusB + halfHeightB) * xAxis;
+        expectedContactPoint = capsuleB.getTranslation() - (radiusB + halfHeightB) * xAxis;
         inaccuracy = glm::length(collision->_contactPoint - expectedContactPoint);
         if (fabs(inaccuracy) > EPSILON) {
             std::cout << __FILE__ << ":" << __LINE__
@@ -649,7 +649,7 @@ void ShapeColliderTests::capsuleTouchesCapsule() {
         glm::quat rotation = glm::angleAxis(PI_OVER_TWO, zAxis);
         capsuleB.setRotation(rotation);
         glm::vec3 positionB = (totalRadius - overlap) * zAxis + shift * yAxis;
-        capsuleB.setCenter(positionB);
+        capsuleB.setTranslation(positionB);
 
         // capsuleA vs capsuleB
         if (!ShapeCollider::collideShapes(&capsuleA, &capsuleB, collisions))
@@ -671,7 +671,7 @@ void ShapeColliderTests::capsuleTouchesCapsule() {
                 << std::endl;
         }
     
-        glm::vec3 expectedContactPoint = capsuleA.getCenter() + radiusA * zAxis + shift * yAxis;
+        glm::vec3 expectedContactPoint = capsuleA.getTranslation() + radiusA * zAxis + shift * yAxis;
         inaccuracy = glm::length(collision->_contactPoint - expectedContactPoint);
         if (fabs(inaccuracy) > EPSILON) {
             std::cout << __FILE__ << ":" << __LINE__
@@ -708,7 +708,7 @@ void ShapeColliderTests::sphereTouchesAACubeFaces() {
             float overlap = 0.25f;
             float sphereOffset = 0.5f * cubeSide + sphereRadius - overlap;
             sphereCenter = cubeCenter + sphereOffset * axis;
-            sphere.setCenter(sphereCenter);
+            sphere.setTranslation(sphereCenter);
     
             if (!ShapeCollider::sphereAACube(&sphere, cubeCenter, cubeSide, collisions)){
                 std::cout << __FILE__ << ":" << __LINE__ << " ERROR: sphere should collide with cube.  axis = " << axis << std::endl;
@@ -741,7 +741,7 @@ void ShapeColliderTests::sphereTouchesAACubeFaces() {
             float overlap = 1.25f * sphereRadius;
             float sphereOffset = 0.5f * cubeSide + sphereRadius - overlap;
             sphereCenter = cubeCenter + sphereOffset * axis;
-            sphere.setCenter(sphereCenter);
+            sphere.setTranslation(sphereCenter);
     
             if (!ShapeCollider::sphereAACube(&sphere, cubeCenter, cubeSide, collisions)){
                 std::cout << __FILE__ << ":" << __LINE__ << " ERROR: sphere should collide with cube." 
@@ -815,7 +815,7 @@ void ShapeColliderTests::sphereTouchesAACubeEdges() {
         float overlap = 0.25f;
     
         sphereCenter = cubeCenter + (lengthAxis * 0.5f * cubeSide + sphereRadius - overlap) * axis;
-        sphere.setCenter(sphereCenter);
+        sphere.setTranslation(sphereCenter);
     
         if (!ShapeCollider::sphereAACube(&sphere, cubeCenter, cubeSide, collisions)){
             std::cout << __FILE__ << ":" << __LINE__ << " ERROR: sphere should collide with cube.  axis = " << axis << std::endl;
@@ -857,42 +857,42 @@ void ShapeColliderTests::sphereMissesAACube() {
 
     // top
     sphereCenter = cubeCenter + sphereOffset * yAxis;
-    sphere.setCenter(sphereCenter);
+    sphere.setTranslation(sphereCenter);
     if (ShapeCollider::sphereAACube(&sphere, cubeCenter, cubeSide, collisions)){
         std::cout << __FILE__ << ":" << __LINE__ << " ERROR: sphere should NOT collide with cube" << std::endl;
     }
     
     // bottom
     sphereCenter = cubeCenter - sphereOffset * yAxis;
-    sphere.setCenter(sphereCenter);
+    sphere.setTranslation(sphereCenter);
     if (ShapeCollider::sphereAACube(&sphere, cubeCenter, cubeSide, collisions)){
         std::cout << __FILE__ << ":" << __LINE__ << " ERROR: sphere should NOT collide with cube" << std::endl;
     }
 
     // left
     sphereCenter = cubeCenter + sphereOffset * xAxis;
-    sphere.setCenter(sphereCenter);
+    sphere.setTranslation(sphereCenter);
     if (ShapeCollider::sphereAACube(&sphere, cubeCenter, cubeSide, collisions)){
         std::cout << __FILE__ << ":" << __LINE__ << " ERROR: sphere should NOT collide with cube" << std::endl;
     }
 
     // right
     sphereCenter = cubeCenter - sphereOffset * xAxis;
-    sphere.setCenter(sphereCenter);
+    sphere.setTranslation(sphereCenter);
     if (ShapeCollider::sphereAACube(&sphere, cubeCenter, cubeSide, collisions)){
         std::cout << __FILE__ << ":" << __LINE__ << " ERROR: sphere should NOT collide with cube" << std::endl;
     }
 
     // forward
     sphereCenter = cubeCenter + sphereOffset * zAxis;
-    sphere.setCenter(sphereCenter);
+    sphere.setTranslation(sphereCenter);
     if (ShapeCollider::sphereAACube(&sphere, cubeCenter, cubeSide, collisions)){
         std::cout << __FILE__ << ":" << __LINE__ << " ERROR: sphere should NOT collide with cube" << std::endl;
     }
 
     // back
     sphereCenter = cubeCenter - sphereOffset * zAxis;
-    sphere.setCenter(sphereCenter);
+    sphere.setTranslation(sphereCenter);
     if (ShapeCollider::sphereAACube(&sphere, cubeCenter, cubeSide, collisions)){
         std::cout << __FILE__ << ":" << __LINE__ << " ERROR: sphere should NOT collide with cube" << std::endl;
     }
@@ -955,7 +955,7 @@ void ShapeColliderTests::rayHitsSphere() {
         rayDirection = rotation * unrotatedRayDirection;
 
         sphere.setRadius(radius);
-        sphere.setCenter(rotation * translation);
+        sphere.setTranslation(rotation * translation);
     
         float distance = FLT_MAX;
         if (!sphere.findRayIntersection(rayStart, rayDirection, distance)) {
@@ -994,7 +994,7 @@ void ShapeColliderTests::rayBarelyHitsSphere() {
 
     rayStart = rotation * (rayStart + translation);
     rayDirection = rotation * rayDirection;
-    sphere.setCenter(rotation * translation);
+    sphere.setTranslation(rotation * translation);
 
     // ...and test again
     distance = FLT_MAX;
@@ -1032,7 +1032,7 @@ void ShapeColliderTests::rayBarelyMissesSphere() {
 
     rayStart = rotation * (rayStart + translation);
     rayDirection = rotation * rayDirection;
-    sphere.setCenter(rotation * translation);
+    sphere.setTranslation(rotation * translation);
 
     // ...and test again
     distance = FLT_MAX;
@@ -1186,7 +1186,7 @@ void ShapeColliderTests::rayHitsPlane() {
     float planeDistanceFromOrigin = 3.579;
     glm::vec3 planePosition(0.0f, planeDistanceFromOrigin, 0.0f);
     PlaneShape plane;
-    plane.setCenter(planePosition);
+    plane.setTranslation(planePosition);
 
     // make a simple ray
     float startDistance = 1.234f;
@@ -1209,7 +1209,7 @@ void ShapeColliderTests::rayHitsPlane() {
     glm::vec3 axis = glm::normalize( glm::vec3(-7.0f, 2.8f, 9.3f) );
     glm::quat rotation = glm::angleAxis(angle, axis);
 
-    plane.setCenter(rotation * planePosition);
+    plane.setTranslation(rotation * planePosition);
     plane.setRotation(rotation);
     rayStart = rotation * rayStart;
     rayDirection = rotation * rayDirection;
@@ -1231,7 +1231,7 @@ void ShapeColliderTests::rayMissesPlane() {
     float planeDistanceFromOrigin = 3.579;
     glm::vec3 planePosition(0.0f, planeDistanceFromOrigin, 0.0f);
     PlaneShape plane;
-    plane.setCenter(planePosition);
+    plane.setTranslation(planePosition);
 
     { // parallel rays should miss
         float startDistance = 1.234f;
@@ -1251,7 +1251,7 @@ void ShapeColliderTests::rayMissesPlane() {
         glm::vec3 axis = glm::normalize( glm::vec3(-7.0f, 2.8f, 9.3f) );
         glm::quat rotation = glm::angleAxis(angle, axis);
     
-        plane.setCenter(rotation * planePosition);
+        plane.setTranslation(rotation * planePosition);
         plane.setRotation(rotation);
         rayStart = rotation * rayStart;
         rayDirection = rotation * rayDirection;
@@ -1283,7 +1283,7 @@ void ShapeColliderTests::rayMissesPlane() {
         glm::vec3 axis = glm::normalize( glm::vec3(-7.0f, 2.8f, 9.3f) );
         glm::quat rotation = glm::angleAxis(angle, axis);
     
-        plane.setCenter(rotation * planePosition);
+        plane.setTranslation(rotation * planePosition);
         plane.setRotation(rotation);
         rayStart = rotation * rayStart;
         rayDirection = rotation * rayDirection;

From 96eebec0fcc4f803a313dd626811e90ef9e89f47 Mon Sep 17 00:00:00 2001
From: Andrew Meadows <andrew@highfidelity.io>
Date: Wed, 18 Jun 2014 14:06:00 -0700
Subject: [PATCH 027/105] unit tests for VerletShapes

---
 libraries/shared/src/CapsuleShape.cpp       | 22 ++++----
 libraries/shared/src/CapsuleShape.h         |  5 +-
 libraries/shared/src/Shape.h                | 15 +++---
 libraries/shared/src/ShapeCollider.cpp      |  1 -
 libraries/shared/src/VerletCapsuleShape.cpp | 56 ++++++++++++++++++---
 libraries/shared/src/VerletCapsuleShape.h   | 14 ++++--
 libraries/shared/src/VerletSphereShape.cpp  |  2 +-
 libraries/shared/src/VerletSphereShape.h    |  9 ++--
 tests/physics/src/ShapeColliderTests.cpp    |  2 +-
 tests/physics/src/main.cpp                  |  2 +
 10 files changed, 92 insertions(+), 36 deletions(-)

diff --git a/libraries/shared/src/CapsuleShape.cpp b/libraries/shared/src/CapsuleShape.cpp
index ab8cbdae3d..12ab6ba479 100644
--- a/libraries/shared/src/CapsuleShape.cpp
+++ b/libraries/shared/src/CapsuleShape.cpp
@@ -18,9 +18,6 @@
 #include "SharedUtil.h" 
 
 
-// default axis of CapsuleShape is Y-axis
-const glm::vec3 localAxis(0.0f, 1.0f, 0.0f);
-
 CapsuleShape::CapsuleShape() : Shape(Shape::CAPSULE_SHAPE), _radius(0.0f), _halfHeight(0.0f) {}
 
 CapsuleShape::CapsuleShape(float radius, float halfHeight) : Shape(Shape::CAPSULE_SHAPE),
@@ -50,7 +47,7 @@ void CapsuleShape::getEndPoint(glm::vec3& endPoint) const {
 
 void CapsuleShape::computeNormalizedAxis(glm::vec3& axis) const {
     // default axis of a capsule is along the yAxis
-    axis = _rotation * glm::vec3(0.0f, 1.0f, 0.0f);
+    axis = _rotation * DEFAULT_CAPSULE_AXIS;
 }
 
 void CapsuleShape::setRadius(float radius) {
@@ -76,12 +73,7 @@ void CapsuleShape::setEndPoints(const glm::vec3& startPoint, const glm::vec3& en
     if (height > EPSILON) {
         _halfHeight = 0.5f * height;
         axis /= height;
-        glm::vec3 yAxis(0.0f, 1.0f, 0.0f);
-        float angle = glm::angle(axis, yAxis);
-        if (angle > EPSILON) {
-            axis = glm::normalize(glm::cross(yAxis, axis));
-            _rotation = glm::angleAxis(angle, axis);
-        }
+        computeNewRotation(axis);
     }
     updateBoundingRadius();
 }
@@ -94,3 +86,13 @@ bool CapsuleShape::findRayIntersection(const glm::vec3& rayStart, const glm::vec
         // TODO: implement the raycast to return inside surface intersection for the internal rayStart.
         return findRayCapsuleIntersection(rayStart, rayDirection, capsuleStart, capsuleEnd, _radius, distance);
 }
+
+// static
+glm::quat CapsuleShape::computeNewRotation(const glm::vec3& newAxis) {
+    float angle = glm::angle(newAxis, DEFAULT_CAPSULE_AXIS);
+    if (angle > EPSILON) {
+        glm::vec3 rotationAxis = glm::normalize(glm::cross(DEFAULT_CAPSULE_AXIS, newAxis));
+        return glm::angleAxis(angle, rotationAxis);
+    }
+    return glm::quat();
+}
diff --git a/libraries/shared/src/CapsuleShape.h b/libraries/shared/src/CapsuleShape.h
index 41474e3e38..e97a6a4917 100644
--- a/libraries/shared/src/CapsuleShape.h
+++ b/libraries/shared/src/CapsuleShape.h
@@ -15,6 +15,8 @@
 #include "Shape.h"
 
 // default axis of CapsuleShape is Y-axis
+const glm::vec3 DEFAULT_CAPSULE_AXIS(0.0f, 1.0f, 0.0f);
+
 
 class CapsuleShape : public Shape {
 public:
@@ -26,7 +28,7 @@ public:
     virtual ~CapsuleShape() {}
 
     float getRadius() const { return _radius; }
-    float getHalfHeight() const { return _halfHeight; }
+    virtual float getHalfHeight() const { return _halfHeight; }
 
     /// \param[out] startPoint is the center of start cap
     virtual void getStartPoint(glm::vec3& startPoint) const;
@@ -47,6 +49,7 @@ public:
 
 protected:
     virtual void updateBoundingRadius() { _boundingRadius = _radius + getHalfHeight(); }
+    static glm::quat computeNewRotation(const glm::vec3& newAxis);
 
     float _radius;
     float _halfHeight;
diff --git a/libraries/shared/src/Shape.h b/libraries/shared/src/Shape.h
index dae1114992..0a03ae18e3 100644
--- a/libraries/shared/src/Shape.h
+++ b/libraries/shared/src/Shape.h
@@ -31,18 +31,17 @@ public:
     virtual ~Shape() {}
 
     int getType() const { return _type; }
-    float getBoundingRadius() const { return _boundingRadius; }
-//    const glm::vec3& getPosition() const { return _position; }
-    const glm::quat& getRotation() const { return _rotation; }
-
-//    virtual void setPosition(const glm::vec3& position) { _translation = position; }
-    virtual void setRotation(const glm::quat& rotation) { _rotation = rotation; }
 
     void setEntity(PhysicalEntity* entity) { _owningEntity = entity; }
     PhysicalEntity* getEntity() const { return _owningEntity; }
 
-    virtual void setTranslation(const glm::vec3& center) { _translation = center; }
-    virtual glm::vec3 getTranslation() const { return _translation; }
+    float getBoundingRadius() const { return _boundingRadius; }
+
+    virtual const glm::quat& getRotation() const { return _rotation; }
+    virtual void setRotation(const glm::quat& rotation) { _rotation = rotation; }
+
+    virtual void setTranslation(const glm::vec3& translation) { _translation = translation; }
+    virtual const glm::vec3& getTranslation() const { return _translation; }
 
     virtual bool findRayIntersection(const glm::vec3& rayStart, const glm::vec3& rayDirection, float& distance) const = 0;
 
diff --git a/libraries/shared/src/ShapeCollider.cpp b/libraries/shared/src/ShapeCollider.cpp
index 2b672f764d..ffb51660e2 100644
--- a/libraries/shared/src/ShapeCollider.cpp
+++ b/libraries/shared/src/ShapeCollider.cpp
@@ -24,7 +24,6 @@
 namespace ShapeCollider {
 
 bool collideShapes(const Shape* shapeA, const Shape* shapeB, CollisionList& collisions) {
-    // ATM we only have two shape types so we just check every case.
     // TODO: make a fast lookup for correct method
     int typeA = shapeA->getType();
     int typeB = shapeB->getType();
diff --git a/libraries/shared/src/VerletCapsuleShape.cpp b/libraries/shared/src/VerletCapsuleShape.cpp
index 9cae13ba2d..b4117e40f7 100644
--- a/libraries/shared/src/VerletCapsuleShape.cpp
+++ b/libraries/shared/src/VerletCapsuleShape.cpp
@@ -28,6 +28,45 @@ VerletCapsuleShape::VerletCapsuleShape(float radius, glm::vec3* startPoint, glm:
     updateBoundingRadius();
 }
 
+const glm::quat& VerletCapsuleShape::getRotation() const {
+    // NOTE: The "rotation" of this shape must be computed on the fly, 
+    // which makes this method MUCH more more expensive than you might expect.
+    glm::vec3 axis;
+    computeNormalizedAxis(axis);
+    VerletCapsuleShape* thisCapsule = const_cast<VerletCapsuleShape*>(this);
+    thisCapsule->_rotation = computeNewRotation(axis);
+    return _rotation;
+}
+
+void VerletCapsuleShape::setRotation(const glm::quat& rotation) {
+    // NOTE: this method will update the verlet points, which is probably not 
+    // what you want to do.  Only call this method if you know what you're doing.
+
+    // update points such that they have the same center but a different axis
+    glm::vec3 center = getTranslation();
+    float halfHeight = getHalfHeight();
+    glm::vec3 axis = rotation * DEFAULT_CAPSULE_AXIS;
+    *_startPoint = center - halfHeight * axis;
+    *_endPoint = center + halfHeight * axis;
+}
+
+void VerletCapsuleShape::setTranslation(const glm::vec3& position) {
+    // NOTE: this method will update the verlet points, which is probably not 
+    // what you want to do.  Only call this method if you know what you're doing.
+
+    // update the points such that their center is at position
+    glm::vec3 movement = position - getTranslation();
+    *_startPoint += movement;
+    *_endPoint += movement;
+}
+
+const glm::vec3& VerletCapsuleShape::getTranslation() const {
+    // the "translation" of this shape must be computed on the fly
+    VerletCapsuleShape* thisCapsule = const_cast<VerletCapsuleShape*>(this);
+    thisCapsule->_translation = 0.5f * ((*_startPoint) + (*_endPoint));
+    return _translation;
+}
+
 // virtual
 float VerletCapsuleShape::getHalfHeight() const {
     return 0.5f * glm::distance(*_startPoint, *_endPoint);
@@ -57,15 +96,20 @@ void VerletCapsuleShape::computeNormalizedAxis(glm::vec3& axis) const {
 }
 
 // virtual 
-void VerletCapsuleShape::setHalfHeight(float height) {
-    // don't call this method because this is a verlet shape
-    assert(false);
+void VerletCapsuleShape::setHalfHeight(float halfHeight) {
+    // push points along axis so they are 2*halfHeight apart
+    glm::vec3 center = getTranslation();
+    glm::vec3 axis;
+    computeNormalizedAxis(axis);
+    *_startPoint = center - halfHeight * axis;
+    *_endPoint = center + halfHeight * axis;
+    _boundingRadius = _radius + halfHeight;
 }
 
 // virtual 
-void VerletCapsuleShape::setRadiusAndHalfHeight(float radius, float height) {
-    // don't call this method because this is a verlet shape
-    assert(false);
+void VerletCapsuleShape::setRadiusAndHalfHeight(float radius, float halfHeight) {
+    _radius = radius;
+    setHalfHeight(halfHeight);
 }
 
 // virtual
diff --git a/libraries/shared/src/VerletCapsuleShape.h b/libraries/shared/src/VerletCapsuleShape.h
index c06b9c7758..b2a7f8be30 100644
--- a/libraries/shared/src/VerletCapsuleShape.h
+++ b/libraries/shared/src/VerletCapsuleShape.h
@@ -24,8 +24,12 @@ class VerletCapsuleShape : public CapsuleShape {
 public:
     VerletCapsuleShape(glm::vec3* startPoint, glm::vec3* endPoint);
     VerletCapsuleShape(float radius, glm::vec3* startPoint, glm::vec3* endPoint);
-    //VerletCapsuleShape(float radius, float halfHeight, const glm::vec3& position, const glm::quat& rotation);
-    //VerletCapsuleShape(float radius, const glm::vec3& startPoint, const glm::vec3& endPoint);
+
+    // virtual overrides from Shape
+    const glm::quat& getRotation() const;
+    void setRotation(const glm::quat& rotation);
+    void setTranslation(const glm::vec3& position);
+    const glm::vec3& getTranslation() const;
 
     //float getRadius() const { return _radius; }
     virtual float getHalfHeight() const;
@@ -40,14 +44,14 @@ public:
     void computeNormalizedAxis(glm::vec3& axis) const;
 
     //void setRadius(float radius);
-    void setHalfHeight(float height);
-    void setRadiusAndHalfHeight(float radius, float height);
+    void setHalfHeight(float halfHeight);
+    void setRadiusAndHalfHeight(float radius, float halfHeight);
     void setEndPoints(const glm::vec3& startPoint, const glm::vec3& endPoint);
 
     //void assignEndPoints(glm::vec3* startPoint, glm::vec3* endPoint);
 
 protected:
-    // NOTE: VerletCapsuleShape does NOT own its points.
+    // NOTE: VerletCapsuleShape does NOT own the data in its points.
     glm::vec3* _startPoint;
     glm::vec3* _endPoint;
 };
diff --git a/libraries/shared/src/VerletSphereShape.cpp b/libraries/shared/src/VerletSphereShape.cpp
index f17184f434..2c659b8159 100644
--- a/libraries/shared/src/VerletSphereShape.cpp
+++ b/libraries/shared/src/VerletSphereShape.cpp
@@ -27,6 +27,6 @@ void VerletSphereShape::setTranslation(const glm::vec3& position) {
 }
 
 // virtual from Shape class
-glm::vec3 VerletSphereShape::getTranslation() {
+const glm::vec3& VerletSphereShape::getTranslation() const {
     return *_point;
 }
diff --git a/libraries/shared/src/VerletSphereShape.h b/libraries/shared/src/VerletSphereShape.h
index e6a70e948e..747d02ff7c 100644
--- a/libraries/shared/src/VerletSphereShape.h
+++ b/libraries/shared/src/VerletSphereShape.h
@@ -15,16 +15,19 @@
 #include "SphereShape.h"
 
 // The VerletSphereShape is similar to a regular SphereShape, except it keeps a pointer
-// to its center which is owned by some other data structure.  This allows it to 
-// participate in a verlet integration engine.
+// to its center which is owned by some other data structure (a verlet simulation system).  
+// This makes it easier for the points to be moved around by constraints in the system
+// as well as collisions with the shape.
+//
 class VerletSphereShape : public SphereShape {
 public:
     VerletSphereShape(glm::vec3* centerPoint);
 
     VerletSphereShape(float radius, glm::vec3* centerPoint);
 
+    // virtual overrides from Shape
     void setTranslation(const glm::vec3& position);
-    glm::vec3 getTranslation();
+    const glm::vec3& getTranslation() const;
 
 protected:
     // NOTE: VerletSphereShape does NOT own its _point
diff --git a/tests/physics/src/ShapeColliderTests.cpp b/tests/physics/src/ShapeColliderTests.cpp
index 4ec823f738..4d3c90b905 100644
--- a/tests/physics/src/ShapeColliderTests.cpp
+++ b/tests/physics/src/ShapeColliderTests.cpp
@@ -441,7 +441,7 @@ void ShapeColliderTests::capsuleMissesCapsule() {
     float totalHalfLength = totalRadius + halfHeightA + halfHeightB;
 
     CapsuleShape capsuleA(radiusA, halfHeightA);
-    CapsuleShape capsuleB(radiusA, halfHeightA);
+    CapsuleShape capsuleB(radiusB, halfHeightB);
 
     CollisionList collisions(16);
 
diff --git a/tests/physics/src/main.cpp b/tests/physics/src/main.cpp
index ca98f4d546..086bff4dcd 100644
--- a/tests/physics/src/main.cpp
+++ b/tests/physics/src/main.cpp
@@ -9,8 +9,10 @@
 //
 
 #include "ShapeColliderTests.h"
+#include "VerletShapeTests.h"
 
 int main(int argc, char** argv) {
     ShapeColliderTests::runAllTests();
+    VerletShapeTests::runAllTests();
     return 0;
 }

From 3791b4712b86d78b66b47b260ce76d0a31c4a6b8 Mon Sep 17 00:00:00 2001
From: Andrew Meadows <andrew@highfidelity.io>
Date: Wed, 18 Jun 2014 14:17:12 -0700
Subject: [PATCH 028/105] adding some documentation about the VerletShapes

---
 libraries/shared/src/VerletCapsuleShape.h | 20 ++++++++++++++++----
 libraries/shared/src/VerletSphereShape.h  |  7 ++++++-
 2 files changed, 22 insertions(+), 5 deletions(-)

diff --git a/libraries/shared/src/VerletCapsuleShape.h b/libraries/shared/src/VerletCapsuleShape.h
index b2a7f8be30..72cc8b7b0e 100644
--- a/libraries/shared/src/VerletCapsuleShape.h
+++ b/libraries/shared/src/VerletCapsuleShape.h
@@ -15,11 +15,23 @@
 #include "CapsuleShape.h"
 
 
-// The VerletCapsuleShape is similar to a regular CapsuleShape, except it keeps pointers 
-// to its endpoints which are owned by some other data structure.  This allows it to 
-// participate in a verlet integration engine.
+// The VerletCapsuleShape is similar to a regular CapsuleShape, except it keeps a pointer
+// to its endpoints which are owned by some other data structure (a verlet simulation system).  
+// This makes it easier for the points to be moved around by constraints in the system
+// as well as collisions with the shape, however it has some drawbacks:
 //
-// Although the true_halfHeight of the VerletCapsuleShape is considered a constant 
+// (1) The Shape::_translation and ::_rotation data members are not used (wasted)
+//
+// (2) A VerletShape doesn't own the points that it uses, so you must be careful not to
+//     leave dangling pointers around.
+//
+// (3) Some const methods of VerletCapsuleShape are much more expensive than you might think.
+//     For example getHalfHeight() and setHalfHeight() methods must do extra computation.  In
+//     particular setRotation() is significantly more expensive than for the CapsuleShape.
+//     Not too expensive to use when setting up shapes, but you woudln't want to use it deep
+//     down in a hot simulation loop, such as when processing collision results.  Best to
+//     just let the verlet simulation do its thing and not try to constantly force a rotation.
+
 class VerletCapsuleShape : public CapsuleShape {
 public:
     VerletCapsuleShape(glm::vec3* startPoint, glm::vec3* endPoint);
diff --git a/libraries/shared/src/VerletSphereShape.h b/libraries/shared/src/VerletSphereShape.h
index 747d02ff7c..395f5901e6 100644
--- a/libraries/shared/src/VerletSphereShape.h
+++ b/libraries/shared/src/VerletSphereShape.h
@@ -17,8 +17,13 @@
 // The VerletSphereShape is similar to a regular SphereShape, except it keeps a pointer
 // to its center which is owned by some other data structure (a verlet simulation system).  
 // This makes it easier for the points to be moved around by constraints in the system
-// as well as collisions with the shape.
+// as well as collisions with the shape, however it has some drawbacks:
 //
+// (1) The Shape::_translation data member is not used (wasted)
+//
+// (2) A VerletShape doesn't own the points that it uses, so you must be careful not to
+//     leave dangling pointers around.
+
 class VerletSphereShape : public SphereShape {
 public:
     VerletSphereShape(glm::vec3* centerPoint);

From 715cc3467d91a5813cf6606752931cde7e3e15dc Mon Sep 17 00:00:00 2001
From: Andrew Meadows <andrew@highfidelity.io>
Date: Wed, 18 Jun 2014 14:47:39 -0700
Subject: [PATCH 029/105] forgot to add the test files

---
 tests/physics/src/VerletShapeTests.cpp | 768 +++++++++++++++++++++++++
 tests/physics/src/VerletShapeTests.h   |  30 +
 2 files changed, 798 insertions(+)
 create mode 100644 tests/physics/src/VerletShapeTests.cpp
 create mode 100644 tests/physics/src/VerletShapeTests.h

diff --git a/tests/physics/src/VerletShapeTests.cpp b/tests/physics/src/VerletShapeTests.cpp
new file mode 100644
index 0000000000..6ae839392e
--- /dev/null
+++ b/tests/physics/src/VerletShapeTests.cpp
@@ -0,0 +1,768 @@
+//
+//  VerletShapeTests.cpp
+//  tests/physics/src
+//
+//  Created by Andrew Meadows on 02/21/2014.
+//  Copyright 2014 High Fidelity, Inc.
+//
+//  Distributed under the Apache License, Version 2.0.
+//  See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
+//
+
+//#include <stdio.h>
+#include <iostream>
+#include <math.h>
+
+#include <glm/glm.hpp>
+#include <glm/gtx/quaternion.hpp>
+
+#include <CollisionInfo.h>
+#include <ShapeCollider.h>
+#include <SharedUtil.h>
+#include <VerletCapsuleShape.h>
+#include <VerletSphereShape.h>
+#include <StreamUtils.h>
+
+#include "VerletShapeTests.h"
+
+const glm::vec3 origin(0.0f);
+static const glm::vec3 xAxis(1.0f, 0.0f, 0.0f);
+static const glm::vec3 yAxis(0.0f, 1.0f, 0.0f);
+static const glm::vec3 zAxis(0.0f, 0.0f, 1.0f);
+
+void VerletShapeTests::setSpherePosition() {
+    float radius = 1.0f;
+    glm::vec3 offset(1.23f, 4.56f, 7.89f);
+    glm::vec3 point;
+    VerletSphereShape sphere(radius, &point);
+
+    point = glm::vec3(0.f);
+    float d = glm::distance(glm::vec3(0.0f), sphere.getTranslation());
+    if (d != 0.0f) {
+        std::cout << __FILE__ << ":" << __LINE__ << " ERROR: sphere should be at origin" << std::endl;
+    }
+
+    point = offset;
+    d = glm::distance(glm::vec3(0.0f), sphere.getTranslation());
+    if (d != glm::length(offset)) {
+        std::cout << __FILE__ << ":" << __LINE__ << " ERROR: sphere should be at offset" << std::endl;
+    }
+}
+
+void VerletShapeTests::sphereMissesSphere() {
+    // non-overlapping spheres of unequal size
+
+    float radiusA = 7.0f;
+    float radiusB = 3.0f;
+    float alpha = 1.2f;
+    float beta = 1.3f;
+    glm::vec3 offsetDirection = glm::normalize(glm::vec3(1.0f, 2.0f, 3.0f));
+    float offsetDistance = alpha * radiusA + beta * radiusB;
+
+    // create points for the sphere centers
+    glm::vec3 points[2];
+
+    // give pointers to the spheres
+    VerletSphereShape sphereA(radiusA, (points + 0));
+    VerletSphereShape sphereB(radiusB, (points + 1));
+
+    // set the positions of the spheres by slamming the points directly
+    points[0] = origin;
+    points[1] = offsetDistance * offsetDirection;
+
+    CollisionList collisions(16);
+
+    // collide A to B...
+    {
+        bool touching = ShapeCollider::collideShapes(&sphereA, &sphereB, collisions);
+        if (touching) {
+            std::cout << __FILE__ << ":" << __LINE__
+                << " ERROR: sphereA and sphereB should NOT touch" << std::endl;
+        }
+    }
+
+    // collide B to A...
+    {
+        bool touching = ShapeCollider::collideShapes(&sphereB, &sphereA, collisions);
+        if (touching) {
+            std::cout << __FILE__ << ":" << __LINE__
+                << " ERROR: sphereA and sphereB should NOT touch" << std::endl;
+        }
+    }
+
+    // also test shapeShape
+    {
+        bool touching = ShapeCollider::collideShapes(&sphereB, &sphereA, collisions);
+        if (touching) {
+            std::cout << __FILE__ << ":" << __LINE__
+                << " ERROR: sphereA and sphereB should NOT touch" << std::endl;
+        }
+    }
+
+    if (collisions.size() > 0) {
+        std::cout << __FILE__ << ":" << __LINE__
+            << " ERROR: expected empty collision list but size is " << collisions.size()
+            << std::endl;
+    }
+}
+
+void VerletShapeTests::sphereTouchesSphere() {
+    // overlapping spheres of unequal size
+    float radiusA = 7.0f;
+    float radiusB = 3.0f;
+    float alpha = 0.2f;
+    float beta = 0.3f;
+    glm::vec3 offsetDirection = glm::normalize(glm::vec3(1.0f, 2.0f, 3.0f));
+    float offsetDistance = alpha * radiusA + beta * radiusB;
+    float expectedPenetrationDistance = (1.0f - alpha) * radiusA + (1.0f - beta) * radiusB;
+    glm::vec3 expectedPenetration = expectedPenetrationDistance * offsetDirection;
+
+    // create two points for the sphere centers
+    glm::vec3 points[2];
+
+    // give pointers to the spheres
+    VerletSphereShape sphereA(radiusA, points+0);
+    VerletSphereShape sphereB(radiusB, points+1);
+
+    // set the positions of the spheres by slamming the points directly
+    points[0] = origin;
+    points[1] = offsetDistance * offsetDirection;
+
+    CollisionList collisions(16);
+    int numCollisions = 0;
+
+    // collide A to B...
+    {
+        bool touching = ShapeCollider::collideShapes(&sphereA, &sphereB, collisions);
+        if (!touching) {
+            std::cout << __FILE__ << ":" << __LINE__
+                << " ERROR: sphereA and sphereB should touch" << std::endl;
+        } else {
+            ++numCollisions;
+        }
+
+        // verify state of collisions
+        if (numCollisions != collisions.size()) {
+            std::cout << __FILE__ << ":" << __LINE__
+                << " ERROR: expected collisions size of " << numCollisions << " but actual size is " << collisions.size()
+                << std::endl;
+        }
+        CollisionInfo* collision = collisions.getCollision(numCollisions - 1);
+        if (!collision) {
+            std::cout << __FILE__ << ":" << __LINE__
+                << " ERROR: null collision" << std::endl;
+        }
+    
+        // penetration points from sphereA into sphereB
+        float inaccuracy = glm::length(collision->_penetration - expectedPenetration);
+        if (fabs(inaccuracy) > EPSILON) {
+            std::cout << __FILE__ << ":" << __LINE__
+                << " ERROR: bad penetration: expected = " << expectedPenetration
+                << " actual = " << collision->_penetration;
+        }
+    
+        // contactPoint is on surface of sphereA
+        glm::vec3 AtoB = sphereB.getTranslation() - sphereA.getTranslation();
+        glm::vec3 expectedContactPoint = sphereA.getTranslation() + radiusA * glm::normalize(AtoB);
+        inaccuracy = glm::length(collision->_contactPoint - expectedContactPoint);
+        if (fabs(inaccuracy) > EPSILON) {
+            std::cout << __FILE__ << ":" << __LINE__
+                << " ERROR: bad contactPoint: expected = " << expectedContactPoint
+                << " actual = " << collision->_contactPoint;
+        }
+    }
+
+    // collide B to A...
+    {
+        bool touching = ShapeCollider::collideShapes(&sphereB, &sphereA, collisions);
+        if (!touching) {
+            std::cout << __FILE__ << ":" << __LINE__
+                << " ERROR: sphereA and sphereB should touch" << std::endl;
+        } else {
+            ++numCollisions;
+        }
+    
+        // penetration points from sphereA into sphereB
+        CollisionInfo* collision = collisions.getCollision(numCollisions - 1);
+        float inaccuracy = glm::length(collision->_penetration + expectedPenetration);
+        if (fabs(inaccuracy) > EPSILON) {
+            std::cout << __FILE__ << ":" << __LINE__
+                << " ERROR: bad penetration: expected = " << expectedPenetration
+                << " actual = " << collision->_penetration;
+        }
+    
+        // contactPoint is on surface of sphereA
+        glm::vec3 BtoA = sphereA.getTranslation() - sphereB.getTranslation();
+        glm::vec3 expectedContactPoint = sphereB.getTranslation() + radiusB * glm::normalize(BtoA);
+        inaccuracy = glm::length(collision->_contactPoint - expectedContactPoint);
+        if (fabs(inaccuracy) > EPSILON) {
+            std::cout << __FILE__ << ":" << __LINE__
+                << " ERROR: bad contactPoint: expected = " << expectedContactPoint
+                << " actual = " << collision->_contactPoint;
+        }
+    }
+}
+
+void VerletShapeTests::sphereMissesCapsule() {
+    // non-overlapping sphere and capsule
+    float radiusA = 1.5f;
+    float radiusB = 2.3f;
+    float totalRadius = radiusA + radiusB;
+    float halfHeightB = 1.7f;
+    float axialOffset = totalRadius + 1.1f * halfHeightB;
+    float radialOffset = 1.2f * radiusA + 1.3f * radiusB;
+    
+    // create points for the sphere + capsule
+    glm::vec3 points[3];
+    for (int i = 0; i < 3; ++i) {
+        points[i] = glm::vec3(0.0f);
+    }
+
+    // give the points to the shapes
+    VerletSphereShape sphereA(radiusA, points);
+    VerletCapsuleShape capsuleB(radiusB, points+1, points+2);
+    capsuleB.setHalfHeight(halfHeightB);
+
+    // give the capsule some arbitrary transform
+    float angle = 37.8f;
+    glm::vec3 axis = glm::normalize( glm::vec3(-7.0f, 2.8f, 9.3f) );
+    glm::quat rotation = glm::angleAxis(angle, axis);
+    glm::vec3 translation(15.1f, -27.1f, -38.6f);
+    capsuleB.setRotation(rotation);
+    capsuleB.setTranslation(translation);
+
+    CollisionList collisions(16);
+
+    // walk sphereA along the local yAxis next to, but not touching, capsuleB
+    glm::vec3 localStartPosition(radialOffset, axialOffset, 0.0f);
+    int numberOfSteps = 10;
+    float delta = 1.3f * (totalRadius + halfHeightB) / (numberOfSteps - 1);
+    for (int i = 0; i < numberOfSteps; ++i) {
+        // translate sphereA into world-frame
+        glm::vec3 localPosition = localStartPosition + ((float)i * delta) * yAxis;
+        sphereA.setTranslation(rotation * localPosition + translation);
+
+        // sphereA agains capsuleB
+        if (ShapeCollider::collideShapes(&sphereA, &capsuleB, collisions))
+        {
+            std::cout << __FILE__ << ":" << __LINE__
+                << " ERROR: sphere and capsule should NOT touch"
+                << std::endl;
+        }
+
+        // capsuleB against sphereA
+        if (ShapeCollider::collideShapes(&capsuleB, &sphereA, collisions))
+        {
+            std::cout << __FILE__ << ":" << __LINE__
+                << " ERROR: sphere and capsule should NOT touch"
+                << std::endl;
+        }
+    }
+
+    if (collisions.size() > 0) {
+        std::cout << __FILE__ << ":" << __LINE__
+            << " ERROR: expected empty collision list but size is " << collisions.size()
+            << std::endl;
+    }
+}
+
+void VerletShapeTests::sphereTouchesCapsule() {
+    // overlapping sphere and capsule
+    float radiusA = 2.0f;
+    float radiusB = 1.0f;
+    float totalRadius = radiusA + radiusB;
+    float halfHeightB = 2.0f;
+    float alpha = 0.5f;
+    float beta = 0.5f;
+    float radialOffset = alpha * radiusA + beta * radiusB;
+    
+    // create points for the sphere + capsule
+    glm::vec3 points[3];
+    for (int i = 0; i < 3; ++i) {
+        points[i] = glm::vec3(0.0f);
+    }
+
+    // give the points to the shapes
+    VerletSphereShape sphereA(radiusA, points);
+    VerletCapsuleShape capsuleB(radiusB, points+1, points+2);
+    capsuleB.setHalfHeight(halfHeightB);
+
+    CollisionList collisions(16);
+    int numCollisions = 0;
+
+    {   // sphereA collides with capsuleB's cylindrical wall
+        sphereA.setTranslation(radialOffset * xAxis);
+
+        if (!ShapeCollider::collideShapes(&sphereA, &capsuleB, collisions))
+        {
+            std::cout << __FILE__ << ":" << __LINE__
+                << " ERROR: sphere and capsule should touch"
+                << std::endl;
+        } else {
+            ++numCollisions;
+        }
+    
+        // penetration points from sphereA into capsuleB
+        CollisionInfo* collision = collisions.getCollision(numCollisions - 1);
+        glm::vec3 expectedPenetration = (radialOffset - totalRadius) * xAxis;
+        float inaccuracy = glm::length(collision->_penetration - expectedPenetration);
+        if (fabs(inaccuracy) > EPSILON) {
+            std::cout << __FILE__ << ":" << __LINE__
+                << " ERROR: bad penetration: expected = " << expectedPenetration
+                << " actual = " << collision->_penetration;
+        }
+    
+        // contactPoint is on surface of sphereA
+        glm::vec3 expectedContactPoint = sphereA.getTranslation() - radiusA * xAxis;
+        inaccuracy = glm::length(collision->_contactPoint - expectedContactPoint);
+        if (fabs(inaccuracy) > EPSILON) {
+            std::cout << __FILE__ << ":" << __LINE__
+                << " ERROR: bad contactPoint: expected = " << expectedContactPoint
+                << " actual = " << collision->_contactPoint;
+        }
+
+        // capsuleB collides with sphereA
+        if (!ShapeCollider::collideShapes(&capsuleB, &sphereA, collisions))
+        {
+            std::cout << __FILE__ << ":" << __LINE__
+                << " ERROR: capsule and sphere should touch"
+                << std::endl;
+        } else {
+            ++numCollisions;
+        }
+    
+        // penetration points from sphereA into capsuleB
+        collision = collisions.getCollision(numCollisions - 1);
+        expectedPenetration = - (radialOffset - totalRadius) * xAxis;
+        inaccuracy = glm::length(collision->_penetration - expectedPenetration);
+        if (fabs(inaccuracy) > EPSILON) {
+            std::cout << __FILE__ << ":" << __LINE__
+                << " ERROR: bad penetration: expected = " << expectedPenetration
+                << " actual = " << collision->_penetration;
+        }
+    
+        // contactPoint is on surface of capsuleB
+        glm::vec3 BtoA = sphereA.getTranslation() - capsuleB.getTranslation();
+        glm::vec3 closestApproach = capsuleB.getTranslation() + glm::dot(BtoA, yAxis) * yAxis;
+        expectedContactPoint = closestApproach + radiusB * glm::normalize(BtoA - closestApproach);
+        inaccuracy = glm::length(collision->_contactPoint - expectedContactPoint);
+        if (fabs(inaccuracy) > EPSILON) {
+            std::cout << __FILE__ << ":" << __LINE__
+                << " ERROR: bad contactPoint: expected = " << expectedContactPoint
+                << " actual = " << collision->_contactPoint;
+        }
+    }
+    {   // sphereA hits end cap at axis
+        glm::vec3 axialOffset = (halfHeightB + alpha * radiusA + beta * radiusB) * yAxis;
+        sphereA.setTranslation(axialOffset * yAxis);
+        
+        if (!ShapeCollider::collideShapes(&sphereA, &capsuleB, collisions))
+        {
+            std::cout << __FILE__ << ":" << __LINE__
+                << " ERROR: sphere and capsule should touch"
+                << std::endl;
+        } else {
+            ++numCollisions;
+        }
+    
+        // penetration points from sphereA into capsuleB
+        CollisionInfo* collision = collisions.getCollision(numCollisions - 1);
+        glm::vec3 expectedPenetration = - ((1.0f - alpha) * radiusA + (1.0f - beta) * radiusB) * yAxis;
+        float inaccuracy = glm::length(collision->_penetration - expectedPenetration);
+        if (fabs(inaccuracy) > EPSILON) {
+            std::cout << __FILE__ << ":" << __LINE__
+                << " ERROR: bad penetration: expected = " << expectedPenetration
+                << " actual = " << collision->_penetration;
+        }
+    
+        // contactPoint is on surface of sphereA
+        glm::vec3 expectedContactPoint = sphereA.getTranslation() - radiusA * yAxis;
+        inaccuracy = glm::length(collision->_contactPoint - expectedContactPoint);
+        if (fabs(inaccuracy) > EPSILON) {
+            std::cout << __FILE__ << ":" << __LINE__
+                << " ERROR: bad contactPoint: expected = " << expectedContactPoint
+                << " actual = " << collision->_contactPoint;
+        }
+
+        // capsuleB collides with sphereA
+        if (!ShapeCollider::collideShapes(&capsuleB, &sphereA, collisions))
+        {
+            std::cout << __FILE__ << ":" << __LINE__
+                << " ERROR: capsule and sphere should touch"
+                << std::endl;
+        } else {
+            ++numCollisions;
+        }
+    
+        // penetration points from sphereA into capsuleB
+        collision = collisions.getCollision(numCollisions - 1);
+        expectedPenetration = ((1.0f - alpha) * radiusA + (1.0f - beta) * radiusB) * yAxis;
+        inaccuracy = glm::length(collision->_penetration - expectedPenetration);
+        if (fabs(inaccuracy) > EPSILON) {
+            std::cout << __FILE__ << ":" << __LINE__
+                << " ERROR: bad penetration: expected = " << expectedPenetration
+                << " actual = " << collision->_penetration;
+        }
+    
+        // contactPoint is on surface of capsuleB
+        glm::vec3 endPoint;
+        capsuleB.getEndPoint(endPoint);
+        expectedContactPoint = endPoint + radiusB * yAxis;
+        inaccuracy = glm::length(collision->_contactPoint - expectedContactPoint);
+        if (fabs(inaccuracy) > EPSILON) {
+            std::cout << __FILE__ << ":" << __LINE__
+                << " ERROR: bad contactPoint: expected = " << expectedContactPoint
+                << " actual = " << collision->_contactPoint;
+        }
+    }
+    {   // sphereA hits start cap at axis
+        glm::vec3 axialOffset = - (halfHeightB + alpha * radiusA + beta * radiusB) * yAxis;
+        sphereA.setTranslation(axialOffset * yAxis);
+        
+        if (!ShapeCollider::collideShapes(&sphereA, &capsuleB, collisions))
+        {
+            std::cout << __FILE__ << ":" << __LINE__
+                << " ERROR: sphere and capsule should touch"
+                << std::endl;
+        } else {
+            ++numCollisions;
+        }
+    
+        // penetration points from sphereA into capsuleB
+        CollisionInfo* collision = collisions.getCollision(numCollisions - 1);
+        glm::vec3 expectedPenetration = ((1.0f - alpha) * radiusA + (1.0f - beta) * radiusB) * yAxis;
+        float inaccuracy = glm::length(collision->_penetration - expectedPenetration);
+        if (fabs(inaccuracy) > EPSILON) {
+            std::cout << __FILE__ << ":" << __LINE__
+                << " ERROR: bad penetration: expected = " << expectedPenetration
+                << " actual = " << collision->_penetration;
+        }
+    
+        // contactPoint is on surface of sphereA
+        glm::vec3 expectedContactPoint = sphereA.getTranslation() + radiusA * yAxis;
+        inaccuracy = glm::length(collision->_contactPoint - expectedContactPoint);
+        if (fabs(inaccuracy) > EPSILON) {
+            std::cout << __FILE__ << ":" << __LINE__
+                << " ERROR: bad contactPoint: expected = " << expectedContactPoint
+                << " actual = " << collision->_contactPoint;
+        }
+
+        // capsuleB collides with sphereA
+        if (!ShapeCollider::collideShapes(&capsuleB, &sphereA, collisions))
+        {
+            std::cout << __FILE__ << ":" << __LINE__
+                << " ERROR: capsule and sphere should touch"
+                << std::endl;
+        } else {
+            ++numCollisions;
+        }
+    
+        // penetration points from sphereA into capsuleB
+        collision = collisions.getCollision(numCollisions - 1);
+        expectedPenetration = - ((1.0f - alpha) * radiusA + (1.0f - beta) * radiusB) * yAxis;
+        inaccuracy = glm::length(collision->_penetration - expectedPenetration);
+        if (fabs(inaccuracy) > EPSILON) {
+            std::cout << __FILE__ << ":" << __LINE__
+                << " ERROR: bad penetration: expected = " << expectedPenetration
+                << " actual = " << collision->_penetration;
+        }
+    
+        // contactPoint is on surface of capsuleB
+        glm::vec3 startPoint;
+        capsuleB.getStartPoint(startPoint);
+        expectedContactPoint = startPoint - radiusB * yAxis;
+        inaccuracy = glm::length(collision->_contactPoint - expectedContactPoint);
+        if (fabs(inaccuracy) > EPSILON) {
+            std::cout << __FILE__ << ":" << __LINE__
+                << " ERROR: bad contactPoint: expected = " << expectedContactPoint
+                << " actual = " << collision->_contactPoint;
+        }
+    }
+    if (collisions.size() != numCollisions) {
+        std::cout << __FILE__ << ":" << __LINE__
+            << " ERROR: expected " << numCollisions << " collisions but actual number is " << collisions.size()
+            << std::endl;
+    }
+}
+
+void VerletShapeTests::capsuleMissesCapsule() {
+    // non-overlapping capsules
+    float radiusA = 2.0f;
+    float halfHeightA = 3.0f;
+    float radiusB = 3.0f;
+    float halfHeightB = 4.0f;
+
+    float totalRadius = radiusA + radiusB;
+    float totalHalfLength = totalRadius + halfHeightA + halfHeightB;
+
+    // create points for the shapes
+    glm::vec3 points[4];
+    for (int i = 0; i < 4; ++i) {
+        points[i] = glm::vec3(0.0f);
+    }
+
+    // give the points to the shapes
+    VerletCapsuleShape capsuleA(radiusA, points+0, points+1);
+    VerletCapsuleShape capsuleB(radiusB, points+2, points+3);
+    capsuleA.setHalfHeight(halfHeightA);
+    capsuleA.setHalfHeight(halfHeightB);
+
+    CollisionList collisions(16);
+
+    // side by side
+    capsuleB.setTranslation((1.01f * totalRadius) * xAxis);
+    if (ShapeCollider::collideShapes(&capsuleA, &capsuleB, collisions))
+    {
+        std::cout << __FILE__ << ":" << __LINE__
+            << " ERROR: capsule and capsule should NOT touch"
+            << std::endl;
+    }
+    if (ShapeCollider::collideShapes(&capsuleB, &capsuleA, collisions))
+    {
+        std::cout << __FILE__ << ":" << __LINE__
+            << " ERROR: capsule and capsule should NOT touch"
+            << std::endl;
+    }
+
+    // end to end
+    capsuleB.setTranslation((1.01f * totalHalfLength) * xAxis);
+    if (ShapeCollider::collideShapes(&capsuleA, &capsuleB, collisions))
+    {
+        std::cout << __FILE__ << ":" << __LINE__
+            << " ERROR: capsule and capsule should NOT touch"
+            << std::endl;
+    }
+    if (ShapeCollider::collideShapes(&capsuleB, &capsuleA, collisions))
+    {
+        std::cout << __FILE__ << ":" << __LINE__
+            << " ERROR: capsule and capsule should NOT touch"
+            << std::endl;
+    }
+
+    // rotate B and move it to the side
+    glm::quat rotation = glm::angleAxis(PI_OVER_TWO, zAxis);
+    capsuleB.setRotation(rotation);
+    capsuleB.setTranslation((1.01f * (totalRadius + capsuleB.getHalfHeight())) * xAxis);
+    if (ShapeCollider::collideShapes(&capsuleA, &capsuleB, collisions))
+    {
+        std::cout << __FILE__ << ":" << __LINE__
+            << " ERROR: capsule and capsule should NOT touch"
+            << std::endl;
+    }
+    if (ShapeCollider::collideShapes(&capsuleB, &capsuleA, collisions))
+    {
+        std::cout << __FILE__ << ":" << __LINE__
+            << " ERROR: capsule and capsule should NOT touch"
+            << std::endl;
+    }
+
+    if (collisions.size() > 0) {
+        std::cout << __FILE__ << ":" << __LINE__
+            << " ERROR: expected empty collision list but size is " << collisions.size()
+            << std::endl;
+    }
+}
+
+void VerletShapeTests::capsuleTouchesCapsule() {
+    // overlapping capsules
+    float radiusA = 2.0f;
+    float halfHeightA = 3.0f;
+    float radiusB = 3.0f;
+    float halfHeightB = 4.0f;
+
+    float totalRadius = radiusA + radiusB;
+    float totalHalfLength = totalRadius + halfHeightA + halfHeightB;
+
+    // create points for the shapes
+    glm::vec3 points[4];
+    for (int i = 0; i < 4; ++i) {
+        points[i] = glm::vec3(0.0f);
+    }
+
+    // give the points to the shapes
+    VerletCapsuleShape capsuleA(radiusA, points+0, points+1);
+    VerletCapsuleShape capsuleB(radiusB, points+2, points+3);
+    capsuleA.setHalfHeight(halfHeightA);
+    capsuleB.setHalfHeight(halfHeightB);
+
+    CollisionList collisions(16);
+    int numCollisions = 0;
+
+    { // side by side
+        capsuleB.setTranslation((0.99f * totalRadius) * xAxis);
+        if (!ShapeCollider::collideShapes(&capsuleA, &capsuleB, collisions))
+        {
+            std::cout << __FILE__ << ":" << __LINE__
+                << " ERROR: capsule and capsule should touch"
+                << std::endl;
+        } else {
+            ++numCollisions;
+        }
+        if (!ShapeCollider::collideShapes(&capsuleB, &capsuleA, collisions))
+        {
+            std::cout << __FILE__ << ":" << __LINE__
+                << " ERROR: capsule and capsule should touch"
+                << std::endl;
+        } else {
+            ++numCollisions;
+        }
+    }
+
+    { // end to end
+        capsuleB.setTranslation((0.99f * totalHalfLength) * yAxis);
+
+        if (!ShapeCollider::collideShapes(&capsuleA, &capsuleB, collisions))
+        {
+            std::cout << __FILE__ << ":" << __LINE__
+                << " ERROR: capsule and capsule should touch"
+                << std::endl;
+        } else {
+            ++numCollisions;
+        }
+        if (!ShapeCollider::collideShapes(&capsuleB, &capsuleA, collisions))
+        {
+            std::cout << __FILE__ << ":" << __LINE__
+                << " ERROR: capsule and capsule should touch"
+                << std::endl;
+        } else {
+            ++numCollisions;
+        }
+    }
+
+    { // rotate B and move it to the side
+        glm::quat rotation = glm::angleAxis(PI_OVER_TWO, zAxis);
+        capsuleB.setRotation(rotation);
+        capsuleB.setTranslation((0.99f * (totalRadius + capsuleB.getHalfHeight())) * xAxis);
+
+        if (!ShapeCollider::collideShapes(&capsuleA, &capsuleB, collisions))
+        {
+            std::cout << __FILE__ << ":" << __LINE__
+                << " ERROR: capsule and capsule should touch"
+                << std::endl;
+        } else {
+            ++numCollisions;
+        }
+        if (!ShapeCollider::collideShapes(&capsuleB, &capsuleA, collisions))
+        {
+            std::cout << __FILE__ << ":" << __LINE__
+                << " ERROR: capsule and capsule should touch"
+                << std::endl;
+        } else {
+            ++numCollisions;
+        }
+    }
+
+    { // again, but this time check collision details
+        float overlap = 0.1f;
+        glm::quat rotation = glm::angleAxis(PI_OVER_TWO, zAxis);
+        capsuleB.setRotation(rotation);
+        glm::vec3 positionB = ((totalRadius + capsuleB.getHalfHeight()) - overlap) * xAxis;
+        capsuleB.setTranslation(positionB);
+
+        // capsuleA vs capsuleB
+        if (!ShapeCollider::collideShapes(&capsuleA, &capsuleB, collisions))
+        {
+            std::cout << __FILE__ << ":" << __LINE__
+                << " ERROR: capsule and capsule should touch"
+                << std::endl;
+        } else {
+            ++numCollisions;
+        }
+    
+        CollisionInfo* collision = collisions.getCollision(numCollisions - 1);
+        glm::vec3 expectedPenetration = overlap * xAxis;
+        float inaccuracy = glm::length(collision->_penetration - expectedPenetration);
+        if (fabs(inaccuracy) > EPSILON) {
+            std::cout << __FILE__ << ":" << __LINE__
+                << " ERROR: bad penetration: expected = " << expectedPenetration
+                << " actual = " << collision->_penetration;
+        }
+    
+        glm::vec3 expectedContactPoint = capsuleA.getTranslation() + radiusA * xAxis;
+        inaccuracy = glm::length(collision->_contactPoint - expectedContactPoint);
+        if (fabs(inaccuracy) > EPSILON) {
+            std::cout << __FILE__ << ":" << __LINE__
+                << " ERROR: bad contactPoint: expected = " << expectedContactPoint
+                << " actual = " << collision->_contactPoint;
+        }
+
+        // capsuleB vs capsuleA
+        if (!ShapeCollider::collideShapes(&capsuleB, &capsuleA, collisions))
+        {
+            std::cout << __FILE__ << ":" << __LINE__
+                << " ERROR: capsule and capsule should touch"
+                << std::endl;
+        } else {
+            ++numCollisions;
+        }
+    
+        collision = collisions.getCollision(numCollisions - 1);
+        expectedPenetration = - overlap * xAxis;
+        inaccuracy = glm::length(collision->_penetration - expectedPenetration);
+        if (fabs(inaccuracy) > EPSILON) {
+            std::cout << __FILE__ << ":" << __LINE__
+                << " ERROR: bad penetration: expected = " << expectedPenetration
+                << " actual = " << collision->_penetration 
+                << std::endl;
+        }
+    
+        expectedContactPoint = capsuleB.getTranslation() - (radiusB + halfHeightB) * xAxis;
+        inaccuracy = glm::length(collision->_contactPoint - expectedContactPoint);
+        if (fabs(inaccuracy) > EPSILON) {
+            std::cout << __FILE__ << ":" << __LINE__
+                << " ERROR: bad contactPoint: expected = " << expectedContactPoint
+                << " actual = " << collision->_contactPoint 
+                << std::endl;
+        }
+    }
+
+    { // collide cylinder wall against cylinder wall
+        float overlap = 0.137f;
+        float shift = 0.317f * halfHeightA;
+        glm::quat rotation = glm::angleAxis(PI_OVER_TWO, zAxis);
+        capsuleB.setRotation(rotation);
+        glm::vec3 positionB = (totalRadius - overlap) * zAxis + shift * yAxis;
+        capsuleB.setTranslation(positionB);
+
+        // capsuleA vs capsuleB
+        if (!ShapeCollider::collideShapes(&capsuleA, &capsuleB, collisions))
+        {
+            std::cout << __FILE__ << ":" << __LINE__
+                << " ERROR: capsule and capsule should touch"
+                << std::endl;
+        } else {
+            ++numCollisions;
+        }
+    
+        CollisionInfo* collision = collisions.getCollision(numCollisions - 1);
+        glm::vec3 expectedPenetration = overlap * zAxis;
+        float inaccuracy = glm::length(collision->_penetration - expectedPenetration);
+        if (fabs(inaccuracy) > EPSILON) {
+            std::cout << __FILE__ << ":" << __LINE__
+                << " ERROR: bad penetration: expected = " << expectedPenetration
+                << " actual = " << collision->_penetration 
+                << std::endl;
+        }
+    
+        glm::vec3 expectedContactPoint = capsuleA.getTranslation() + radiusA * zAxis + shift * yAxis;
+        inaccuracy = glm::length(collision->_contactPoint - expectedContactPoint);
+        if (fabs(inaccuracy) > EPSILON) {
+            std::cout << __FILE__ << ":" << __LINE__
+                << " ERROR: bad contactPoint: expected = " << expectedContactPoint
+                << " actual = " << collision->_contactPoint 
+                << std::endl;
+        }
+    }
+}
+
+void VerletShapeTests::runAllTests() {
+    setSpherePosition();
+    sphereMissesSphere();
+    sphereTouchesSphere();
+
+    sphereMissesCapsule();
+    sphereTouchesCapsule();
+
+    capsuleMissesCapsule();
+    capsuleTouchesCapsule();
+}
diff --git a/tests/physics/src/VerletShapeTests.h b/tests/physics/src/VerletShapeTests.h
new file mode 100644
index 0000000000..36e2fe0cbd
--- /dev/null
+++ b/tests/physics/src/VerletShapeTests.h
@@ -0,0 +1,30 @@
+//
+//  VerletShapeTests.h
+//  tests/physics/src
+//
+//  Created by Andrew Meadows on 2014.06.18
+//  Copyright 2014 High Fidelity, Inc.
+//
+//  Distributed under the Apache License, Version 2.0.
+//  See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
+//
+
+#ifndef hifi_VerletShapeTests_h
+#define hifi_VerletShapeTests_h
+
+namespace VerletShapeTests {
+    void setSpherePosition();
+
+    void sphereMissesSphere();
+    void sphereTouchesSphere();
+
+    void sphereMissesCapsule();
+    void sphereTouchesCapsule();
+
+    void capsuleMissesCapsule();
+    void capsuleTouchesCapsule();
+
+    void runAllTests(); 
+}
+
+#endif // hifi_VerletShapeTests_h

From d4b5550cdadb4e6a67f17095041fdece7503d443 Mon Sep 17 00:00:00 2001
From: Andrew Meadows <andrew@highfidelity.io>
Date: Wed, 18 Jun 2014 17:22:39 -0700
Subject: [PATCH 030/105] Skeleton now creates VerletShape

---
 interface/src/avatar/Avatar.cpp           |  15 --
 interface/src/avatar/Avatar.h             |   1 -
 interface/src/avatar/MyAvatar.cpp         |   2 -
 interface/src/avatar/SkeletonModel.cpp    | 189 +++++++++-------------
 interface/src/avatar/SkeletonModel.h      |   7 +-
 interface/src/renderer/Model.cpp          |   3 -
 libraries/shared/src/PhysicalEntity.cpp   |   4 +-
 libraries/shared/src/Ragdoll.cpp          |  51 +++---
 libraries/shared/src/Ragdoll.h            |  30 +---
 libraries/shared/src/SimulationEngine.cpp |   4 +-
 10 files changed, 117 insertions(+), 189 deletions(-)

diff --git a/interface/src/avatar/Avatar.cpp b/interface/src/avatar/Avatar.cpp
index f940a106d7..fcb1d876a1 100644
--- a/interface/src/avatar/Avatar.cpp
+++ b/interface/src/avatar/Avatar.cpp
@@ -218,9 +218,6 @@ void Avatar::render(const glm::vec3& cameraPosition, RenderMode renderMode) {
             bool renderSkeleton = Menu::getInstance()->isOptionChecked(MenuOption::RenderSkeletonCollisionShapes);
             bool renderHead = Menu::getInstance()->isOptionChecked(MenuOption::RenderHeadCollisionShapes);
             bool renderBounding = Menu::getInstance()->isOptionChecked(MenuOption::RenderBoundingCollisionShapes);
-            if (renderSkeleton || renderHead || renderBounding) {
-                updateShapePositions();
-            }
 
             if (renderSkeleton) {
                 _skeletonModel.renderJointCollisionShapes(0.7f);
@@ -590,18 +587,6 @@ bool Avatar::findPlaneCollisions(const glm::vec4& plane, CollisionList& collisio
         getHead()->getFaceModel().findPlaneCollisions(plane, collisions);
 }
 
-void Avatar::updateShapePositions() {
-    _skeletonModel.updateShapePositions();
-    Model& headModel = getHead()->getFaceModel();
-    headModel.updateShapePositions();
-    /* KEEP FOR DEBUG: use this in rather than code above to see shapes 
-     * in their default positions where the bounding shape is computed.
-    _skeletonModel.resetShapePositions();
-    Model& headModel = getHead()->getFaceModel();
-    headModel.resetShapePositions();
-    */
-}
-
 bool Avatar::findCollisions(const QVector<const Shape*>& shapes, CollisionList& collisions) {
     // TODO: Andrew to fix: also collide against _skeleton
     //bool collided = _skeletonModel.findCollisions(shapes, collisions);
diff --git a/interface/src/avatar/Avatar.h b/interface/src/avatar/Avatar.h
index 8e18aecd26..a0e41d7122 100755
--- a/interface/src/avatar/Avatar.h
+++ b/interface/src/avatar/Avatar.h
@@ -136,7 +136,6 @@ public:
 
     /// \return bounding radius of avatar
     virtual float getBoundingRadius() const;
-    void updateShapePositions();
 
     quint32 getCollisionGroups() const { return _collisionGroups; }
     virtual void setCollisionGroups(quint32 collisionGroups) { _collisionGroups = (collisionGroups & VALID_COLLISION_GROUPS); }
diff --git a/interface/src/avatar/MyAvatar.cpp b/interface/src/avatar/MyAvatar.cpp
index 9e89ba4f56..4a4e20fabe 100644
--- a/interface/src/avatar/MyAvatar.cpp
+++ b/interface/src/avatar/MyAvatar.cpp
@@ -210,7 +210,6 @@ void MyAvatar::simulate(float deltaTime) {
             radius = myCamera->getAspectRatio() * (myCamera->getNearClip() / cos(myCamera->getFieldOfView() / 2.0f));
             radius *= COLLISION_RADIUS_SCALAR;
         }
-        updateShapePositions();
         if (_collisionGroups & COLLISION_GROUP_ENVIRONMENT) {
             PerformanceTimer perfTimer("MyAvatar::simulate/updateCollisionWithEnvironment");
             updateCollisionWithEnvironment(deltaTime, radius);
@@ -1447,7 +1446,6 @@ void MyAvatar::updateCollisionWithAvatars(float deltaTime) {
             // don't collide with ourselves
             continue;
         }
-        avatar->updateShapePositions();
         float distance = glm::length(_position - avatar->getPosition());        
         if (_distanceToNearestAvatar > distance) {
             _distanceToNearestAvatar = distance;
diff --git a/interface/src/avatar/SkeletonModel.cpp b/interface/src/avatar/SkeletonModel.cpp
index 0b00398df8..26396d1fee 100644
--- a/interface/src/avatar/SkeletonModel.cpp
+++ b/interface/src/avatar/SkeletonModel.cpp
@@ -11,8 +11,8 @@
 
 #include <glm/gtx/transform.hpp>
 
-#include <CapsuleShape.h>
-#include <SphereShape.h>
+#include <VerletCapsuleShape.h>
+#include <VerletSphereShape.h>
 
 #include "Application.h"
 #include "Avatar.h"
@@ -31,20 +31,10 @@ SkeletonModel::SkeletonModel(Avatar* owningAvatar, QObject* parent) :
 void SkeletonModel::setJointStates(QVector<JointState> states) {
     Model::setJointStates(states);
 
-    if (isActive() && _owningAvatar->isMyAvatar()) {
-        // extract lists of parentIndex and position from _jointStates...
-        QVector<int> parentIndices;
-        QVector<glm::vec3> points;
-        int numJoints = _jointStates.size();
-        parentIndices.reserve(numJoints);
-        points.reserve(numJoints);
-        for (int i = 0; i < numJoints; ++i) {
-            JointState& state = _jointStates[i];
-            parentIndices.push_back(state.getFBXJoint().parentIndex);
-            points.push_back(state.getPosition());
-        }
-        // ... and feed the results to Ragdoll
-        initShapesAndPoints(&_shapes, parentIndices, points);
+    clearShapes();
+    clearRagdollConstraintsAndPoints();
+    if (_enableShapes) {
+        buildShapes();
     }
 }
 
@@ -110,14 +100,11 @@ void SkeletonModel::simulate(float deltaTime, bool fullUpdate) {
 }
 
 void SkeletonModel::simulateRagdoll(float deltaTime) {
-    // move ragdoll _points toward joints
+    // move _ragdollPoints toward joints
     const int numStates = _jointStates.size();
-    assert(numStates == _points.size());
+    assert(numStates == _ragdollPoints.size());
     float fraction = 0.1f; // fraction = 0.1f left intentionally low for demo purposes
-    float oneMinusFraction = 1.0f - fraction;
-    for (int i = 0; i < numStates; ++i) {
-        _points[i] = oneMinusFraction * _points[i] + fraction * _jointStates[i].getPosition();
-    }
+    moveShapesTowardJoints(fraction);
 
     // enforce the constraints
     float MIN_CONSTRAINT_ERROR = 0.005f; // 5mm
@@ -125,7 +112,7 @@ void SkeletonModel::simulateRagdoll(float deltaTime) {
     int iterations = 0;
     float delta = 0.0f;
     do {
-        delta = enforceConstraints();
+        delta = enforceRagdollConstraints();
         ++iterations;
     } while (delta > MIN_CONSTRAINT_ERROR && iterations < MAX_ITERATIONS);
 }
@@ -274,16 +261,6 @@ void SkeletonModel::updateJointState(int index) {
     }
 }
 
-void SkeletonModel::updateShapePositions() {
-    if (isActive() && _owningAvatar->isMyAvatar() && 
-            Menu::getInstance()->isOptionChecked(MenuOption::CollideAsRagdoll)) {
-        // TODO: Andrew to move shape updates to SimulationEngine
-        //updateShapes(_rotation, _translation);
-    } else {
-        Model::updateShapePositions();
-    }
-}
-
 void SkeletonModel::maybeUpdateLeanRotation(const JointState& parentState, const FBXJoint& joint, JointState& state) {
     if (!_owningAvatar->isMyAvatar() || Application::getInstance()->getPrioVR()->isActive()) {
         return;
@@ -516,14 +493,14 @@ void SkeletonModel::renderRagdoll() {
     glPushMatrix();
 
     Application::getInstance()->loadTranslatedViewMatrix(_translation);
-    int numPoints = _points.size();
+    int numPoints = _ragdollPoints.size();
     float alpha = 0.3f;
     float radius1 = 0.008f;
     float radius2 = 0.01f;
     for (int i = 0; i < numPoints; ++i) {
         glPushMatrix();
         // draw each point as a yellow hexagon with black border
-        glm::vec3 position = _rotation * _points[i];
+        glm::vec3 position = _rotation * _ragdollPoints[i];
         glTranslatef(position.x, position.y, position.z);
         glColor4f(0.0f, 0.0f, 0.0f, alpha);
         glutSolidSphere(radius2, BALL_SUBDIVISIONS, BALL_SUBDIVISIONS);
@@ -536,6 +513,22 @@ void SkeletonModel::renderRagdoll() {
     glEnable(GL_LIGHTING);
 }
 
+// virtual
+void SkeletonModel::initRagdollPoints() {
+    assert(_ragdollPoints.size() == 0);
+    // one point for each joint
+    int numJoints = _jointStates.size();
+    _ragdollPoints.reserve(numJoints);
+    for (int i = 0; i < numJoints; ++i) {
+        const JointState& state = _jointStates.at(i);
+        _ragdollPoints.push_back(state.getPosition());
+    }
+}
+
+// virtual 
+void SkeletonModel::stepRagdollForward(float deltaTime) {
+}
+
 // virtual
 void SkeletonModel::buildShapes() {
     if (!_geometry || _rootIndex == -1) {
@@ -546,42 +539,53 @@ void SkeletonModel::buildShapes() {
     if (geometry.joints.isEmpty()) {
         return;
     }
-    // We create the shapes with proper dimensions, but we set their transforms later.
-    float uniformScale = extractUniformScale(_scale);
-    for (int i = 0; i < _jointStates.size(); i++) {
-        const FBXJoint& joint = geometry.joints[i];
 
+    initRagdollPoints();
+
+    float uniformScale = extractUniformScale(_scale);
+    const int numStates = _jointStates.size();
+    for (int i = 0; i < numStates; i++) {
+        const FBXJoint& joint = geometry.joints[i];
         float radius = uniformScale * joint.boneRadius;
         float halfHeight = 0.5f * uniformScale * joint.distanceToParent;
         Shape::Type type = joint.shapeType;
-        if (type == Shape::CAPSULE_SHAPE && halfHeight < EPSILON) {
-            // this capsule is effectively a sphere
+        if (i == 0 || (type == Shape::CAPSULE_SHAPE && halfHeight < EPSILON)) {
+            // this shape is forced to be a sphere
             type = Shape::SPHERE_SHAPE;
         }
-        if (type == Shape::CAPSULE_SHAPE) {
-            CapsuleShape* capsule = new CapsuleShape(radius, halfHeight);
-            capsule->setEntity(this);
-            _shapes.push_back(capsule);
-        } else if (type == Shape::SPHERE_SHAPE) {
-            SphereShape* sphere = new SphereShape(radius, glm::vec3(0.0f));
-            _shapes.push_back(sphere);
-            sphere->setEntity(this);
-        } else {
-            // this shape type is not handled and the joint shouldn't collide, 
-            // however we must have a Shape* for each joint, so we push NULL
-            _shapes.push_back(NULL);
-        }
+        Shape* shape = NULL;
+        if (type == Shape::SPHERE_SHAPE) {
+            shape = new VerletSphereShape(radius, &(_ragdollPoints[i]));
+            shape->setEntity(this);
+        } else if (type == Shape::CAPSULE_SHAPE) {
+            int parentIndex = joint.parentIndex;
+            assert(parentIndex != -1);
+            shape = new VerletCapsuleShape(radius, &(_ragdollPoints[parentIndex]), &(_ragdollPoints[i]));
+            shape->setEntity(this);
+        } 
+        _shapes.push_back(shape);
     }
 
     // This method moves the shapes to their default positions in Model frame
     // which is where we compute the bounding shape's parameters.
     computeBoundingShape(geometry);
 
-    // finally sync shapes to joint positions
-    _shapesAreDirty = true;
-    updateShapePositions();
+    // move shapes to joint positions
+    moveShapesTowardJoints(1.0f);
 }
 
+void SkeletonModel::moveShapesTowardJoints(float fraction) {
+    assert(fraction >= 0.0f && fraction <= 1.0f);
+    if (_ragdollPoints.size() == _jointStates.size()) {
+        float oneMinusFraction = 1.0f - fraction; 
+        int numJoints = _jointStates.size();
+        for (int i = 0; i < numJoints; ++i) {
+            _ragdollPoints[i] = oneMinusFraction * _ragdollPoints[i] + fraction * _jointStates.at(i).getPosition();
+        }
+    }
+}
+
+/* TODO: Andrew to remove this when done with ragdoll work.
 void SkeletonModel::updateShapePositionsLegacy() {
     if (_shapesAreDirty && _shapes.size() == _jointStates.size()) {
         glm::vec3 rootPosition(0.0f);
@@ -612,65 +616,28 @@ void SkeletonModel::updateShapePositionsLegacy() {
         _boundingShape.setRotation(_rotation);
     }
 }
+*/
 
 void SkeletonModel::computeBoundingShape(const FBXGeometry& geometry) {
-    // compute default joint transforms and rotations 
-    // (in local frame, ignoring Model translation and rotation)
+    // compute default joint transforms
     int numJoints = geometry.joints.size();
+    if (numJoints != _ragdollPoints.size()) {
+        return;
+    }
     QVector<glm::mat4> transforms;
     transforms.fill(glm::mat4(), numJoints);
-    QVector<glm::quat> finalRotations;
-    finalRotations.fill(glm::quat(), numJoints);
 
-    QVector<bool> shapeIsSet;
-    shapeIsSet.fill(false, numJoints);
-    int numShapesSet = 0;
-    int lastNumShapesSet = -1;
-    while (numShapesSet < numJoints && numShapesSet != lastNumShapesSet) {
-        lastNumShapesSet = numShapesSet;
-        for (int i = 0; i < numJoints; i++) {
-            const FBXJoint& joint = geometry.joints.at(i);
-            int parentIndex = joint.parentIndex;
-            
-            if (parentIndex == -1) {
-                glm::mat4 baseTransform = glm::scale(_scale) * glm::translate(_offset);
-                glm::quat combinedRotation = joint.preRotation * joint.rotation * joint.postRotation;    
-                glm::mat4 rootTransform = baseTransform * geometry.offset * glm::translate(joint.translation) 
-                    * joint.preTransform * glm::mat4_cast(combinedRotation) * joint.postTransform;
-                // remove the tranlsation part before we save the root transform
-                transforms[i] = glm::translate(- extractTranslation(rootTransform)) * rootTransform;
-
-                finalRotations[i] = combinedRotation;
-                ++numShapesSet;
-                shapeIsSet[i] = true;
-            } else if (shapeIsSet[parentIndex]) {
-                glm::quat combinedRotation = joint.preRotation * joint.rotation * joint.postRotation;    
-                transforms[i] = transforms[parentIndex] * glm::translate(joint.translation) 
-                    * joint.preTransform * glm::mat4_cast(combinedRotation) * joint.postTransform;
-                finalRotations[i] = finalRotations[parentIndex] * combinedRotation;
-                ++numShapesSet;
-                shapeIsSet[i] = true;
-            }
-        }
-    }
-
-    // sync shapes to joints
-    _boundingRadius = 0.0f;
-    float uniformScale = extractUniformScale(_scale);
-    for (int i = 0; i < _shapes.size(); i++) {
-        Shape* shape = _shapes[i];
-        if (!shape) {
-            continue;
-        }
-        const FBXJoint& joint = geometry.joints[i];
-        glm::vec3 jointToShapeOffset = uniformScale * (finalRotations[i] * joint.shapePosition);
-        glm::vec3 localPosition = extractTranslation(transforms[i]) + jointToShapeOffset;
-        shape->setTranslation(localPosition);
-        shape->setRotation(finalRotations[i] * joint.shapeRotation);
-        float distance = glm::length(localPosition) + shape->getBoundingRadius();
-        if (distance > _boundingRadius) {
-            _boundingRadius = distance;
-        }
+    transforms[0] = glm::scale(_scale);
+    for (int i = 1; i < numJoints; i++) {
+        const FBXJoint& joint = geometry.joints.at(i);
+        int parentIndex = joint.parentIndex;
+        assert(parentIndex != -1);
+        
+        glm::quat modifiedRotation = joint.preRotation * joint.rotation * joint.postRotation;    
+        transforms[i] = transforms[parentIndex] * glm::translate(joint.translation) 
+            * joint.preTransform * glm::mat4_cast(modifiedRotation) * joint.postTransform;
+        // setting the ragdollPoints here slams the VerletShapes into their default positions
+        _ragdollPoints[i] = extractTranslation(transforms[i]);
     }
 
     // compute bounding box
@@ -682,6 +649,7 @@ void SkeletonModel::computeBoundingShape(const FBXGeometry& geometry) {
         if (!shape) {
             continue;
         }
+        // TODO: skip hand and arm joints when computing bounding dimensions
         Extents shapeExtents;
         shapeExtents.reset();
         glm::vec3 localPosition = shape->getTranslation();
@@ -715,6 +683,7 @@ void SkeletonModel::computeBoundingShape(const FBXGeometry& geometry) {
     _boundingShape.setRadius(capsuleRadius);
     _boundingShape.setHalfHeight(0.5f * diagonal.y - capsuleRadius);
     _boundingShapeLocalOffset = 0.5f * (totalExtents.maximum + totalExtents.minimum);
+    _boundingRadius = 0.5f * glm::length(diagonal);
 }
 
 void SkeletonModel::resetShapePositions() {
diff --git a/interface/src/avatar/SkeletonModel.h b/interface/src/avatar/SkeletonModel.h
index 2bbc0d844a..06e6061352 100644
--- a/interface/src/avatar/SkeletonModel.h
+++ b/interface/src/avatar/SkeletonModel.h
@@ -95,9 +95,12 @@ public:
     /// \return whether or not both eye meshes were found
     bool getEyePositions(glm::vec3& firstEyePosition, glm::vec3& secondEyePosition) const;
     
+    virtual void initRagdollPoints();
+    virtual void stepRagdollForward(float deltaTime);
+
     void buildShapes();
-    void updateShapePositions();
-    void updateShapePositionsLegacy();
+    void moveShapesTowardJoints(float fraction);
+    //void updateShapePositionsLegacy(); // TODO: Andrew to remove this when done with ragdoll work
 
     void computeBoundingShape(const FBXGeometry& geometry);
     void renderBoundingCollisionShapes(float alpha);
diff --git a/interface/src/renderer/Model.cpp b/interface/src/renderer/Model.cpp
index c3a3387e0f..89a57c14af 100644
--- a/interface/src/renderer/Model.cpp
+++ b/interface/src/renderer/Model.cpp
@@ -551,9 +551,6 @@ bool Model::updateGeometry() {
             model->setURL(attachment.url);
             _attachments.append(model);
         }
-        if (_enableShapes) {
-            buildShapes();
-        }
         needFullUpdate = true;
     }
     return needFullUpdate;
diff --git a/libraries/shared/src/PhysicalEntity.cpp b/libraries/shared/src/PhysicalEntity.cpp
index 602708d4ad..5b1c7a7fdf 100644
--- a/libraries/shared/src/PhysicalEntity.cpp
+++ b/libraries/shared/src/PhysicalEntity.cpp
@@ -92,7 +92,7 @@ bool PhysicalEntity::findCollisions(const QVector<const Shape*> shapes, Collisio
         }
         int numOurShapes = _shapes.size();
         for (int j = 0; j < numOurShapes; ++j) {
-            const Shape* ourShape = _shapes[j];
+            const Shape* ourShape = _shapes.at(j);
             if (ourShape && ShapeCollider::collideShapes(theirShape, ourShape, collisions)) {
                 collided = true;
             }
@@ -142,7 +142,7 @@ bool PhysicalEntity::findPlaneCollisions(const glm::vec4& plane, CollisionList&
     bool collided = false;
     PlaneShape planeShape(plane);
     for (int i = 0; i < _shapes.size(); i++) {
-        if (_shapes[i] && ShapeCollider::collideShapes(&planeShape, _shapes[i], collisions)) {
+        if (_shapes.at(i) && ShapeCollider::collideShapes(&planeShape, _shapes.at(i), collisions)) {
             CollisionInfo* collision = collisions.getLastCollision();
             collision->_data = (void*)(this);
             collision->_intData = i;
diff --git a/libraries/shared/src/Ragdoll.cpp b/libraries/shared/src/Ragdoll.cpp
index 6a8515d3b4..ad23daf609 100644
--- a/libraries/shared/src/Ragdoll.cpp
+++ b/libraries/shared/src/Ragdoll.cpp
@@ -94,66 +94,55 @@ void DistanceConstraint::updateProxyShape(Shape* shape, const glm::quat& rotatio
 // Ragdoll
 // ----------------------------------------------------------------------------
 
-Ragdoll::Ragdoll() : _verletShapes(NULL) {
+Ragdoll::Ragdoll() {
 }
 
 Ragdoll::~Ragdoll() {
-    clear();
+    clearRagdollConstraintsAndPoints();
 }
     
-void Ragdoll::initShapesAndPoints(QVector<Shape*>* shapes, const QVector<int>& parentIndices, const QVector<glm::vec3>& points) {
+/*
+void Ragdoll::useShapesAndCopyPoints(QVector<Shape*>* shapes, const QVector<int>& parentIndices, const QVector<glm::vec3>& points) {
     clear();
     _verletShapes = shapes;
     const int numPoints = points.size();
     assert(numPoints == parentIndices.size());
-    _points.reserve(numPoints);
+    _ragdollPoints.reserve(numPoints);
     for (int i = 0; i < numPoints; ++i) {
         glm::vec3 position = points[i];
-        _points.push_back(position);
+        _ragdollPoints.push_back(position);
 
         int parentIndex = parentIndices[i];
         assert(parentIndex < i && parentIndex >= -1);
         if (parentIndex == -1) {
-            FixedConstraint* anchor = new FixedConstraint(&(_points[i]), glm::vec3(0.0f));
-            _constraints.push_back(anchor);
+            FixedConstraint* anchor = new FixedConstraint(&(_ragdollPoints[i]), glm::vec3(0.0f));
+            _ragdollConstraints.push_back(anchor);
         } else {
-            DistanceConstraint* stick = new DistanceConstraint(&(_points[i]), &(_points[parentIndex]));
-            _constraints.push_back(stick);
+            DistanceConstraint* stick = new DistanceConstraint(&(_ragdollPoints[i]), &(_ragdollPoints[parentIndex]));
+            _ragdollConstraints.push_back(stick);
         }
     }
 }
+*/
 
 /// Delete all data.
-void Ragdoll::clear() {
-    int numConstraints = _constraints.size();
+void Ragdoll::clearRagdollConstraintsAndPoints() {
+    int numConstraints = _ragdollConstraints.size();
     for (int i = 0; i < numConstraints; ++i) {
-        delete _constraints[i];
+        delete _ragdollConstraints[i];
     }
-    _constraints.clear();
-    _points.clear();
-    _verletShapes = NULL;
+    _ragdollConstraints.clear();
+    _ragdollPoints.clear();
 }
 
-float Ragdoll::enforceConstraints() {
+float Ragdoll::enforceRagdollConstraints() {
     float maxDistance = 0.0f;
-    const int numConstraints = _constraints.size();
+    const int numConstraints = _ragdollConstraints.size();
     for (int i = 0; i < numConstraints; ++i) {
-        DistanceConstraint* c = static_cast<DistanceConstraint*>(_constraints[i]);
-        //maxDistance = glm::max(maxDistance, _constraints[i]->enforce());
+        DistanceConstraint* c = static_cast<DistanceConstraint*>(_ragdollConstraints[i]);
+        //maxDistance = glm::max(maxDistance, _ragdollConstraints[i]->enforce());
         maxDistance = glm::max(maxDistance, c->enforce());
     }
     return maxDistance;
 }
 
-void Ragdoll::updateShapes(const glm::quat& rotation, const glm::vec3& translation) const {
-    if (!_verletShapes) {
-        return;
-    }
-    int numShapes = _verletShapes->size();
-    int numConstraints = _constraints.size();
-
-    // NOTE: we assume a one-to-one relationship between shapes and constraints
-    for (int i = 0; i < numShapes && i < numConstraints; ++i) {
-        _constraints[i]->updateProxyShape((*_verletShapes)[i], rotation, translation);
-    }
-}
diff --git a/libraries/shared/src/Ragdoll.h b/libraries/shared/src/Ragdoll.h
index 37652507a9..e38541f717 100644
--- a/libraries/shared/src/Ragdoll.h
+++ b/libraries/shared/src/Ragdoll.h
@@ -66,38 +66,24 @@ public:
 
     Ragdoll();
     virtual ~Ragdoll();
-    
-    /// Create points and constraints based on topology of collection of joints
-    /// \param joints list of connected joint states
-    void initShapesAndPoints(QVector<Shape*>* shapes, const QVector<int>& parentIndices, const QVector<glm::vec3>& points);
 
     /// Delete all data.
-    void clear();
+    void clearRagdollConstraintsAndPoints();
 
-    // TODO: Andrew to implement this
-    void stepForward(float deltaTime) {}
+    virtual void initRagdollPoints() = 0;
+    virtual void stepRagdollForward(float deltaTime) = 0;
 
     /// Enforce contraints.
     /// \return max distance of point movement
-    float enforceConstraints();
+    float enforceRagdollConstraints();
 
     // both const and non-const getPoints()
-    const QVector<glm::vec3>& getPoints() const { return _points; }
-    QVector<glm::vec3>& getPoints() { return _points; }
-
-    /// \param rotation rotation into shapes' collision frame
-    /// \param translation translation into shapes' collision frame
-    /// Moves and modifies elements of _verletShapes to agree with state of _points
-    void updateShapes(const glm::quat& rotation, const glm::vec3& translation) const;
-
-    const QVector<Shape*>* getShapes() const { return _verletShapes; }
+    const QVector<glm::vec3>& getRagdollPoints() const { return _ragdollPoints; }
+    QVector<glm::vec3>& getRagdollPoints() { return _ragdollPoints; }
 
 protected:
-    QVector<glm::vec3> _points;
-    QVector<Constraint*> _constraints;
-
-    // the Ragdoll does NOT own the data in _verletShapes.
-    QVector<Shape*>* _verletShapes;
+    QVector<glm::vec3> _ragdollPoints;
+    QVector<Constraint*> _ragdollConstraints;
 };
 
 #endif // hifi_Ragdoll_h
diff --git a/libraries/shared/src/SimulationEngine.cpp b/libraries/shared/src/SimulationEngine.cpp
index d1f773eee7..305e94af46 100644
--- a/libraries/shared/src/SimulationEngine.cpp
+++ b/libraries/shared/src/SimulationEngine.cpp
@@ -67,6 +67,7 @@ void SimulationEngine::removeRagdoll(Ragdoll* doll) {
 }
 
 void SimulationEngine::stepForward(float deltaTime, float minError, int maxIterations, quint64 maxUsec) {
+    /* TODO: Andrew to make this work
     int iterations = 0;
     float delta = 0.0f;
     quint64 now = usecTimestampNow();
@@ -82,7 +83,7 @@ void SimulationEngine::stepForward(float deltaTime, float minError, int maxItera
         // (4) collisions move points (SpecialCapsuleShape would help solve this)
         // (5) enforce constraints
         // (6) add and enforce angular contraints for joints
-        _dolls.at(i)->stepForward(deltaTime);
+        //_dolls.at(i)->stepForward(deltaTime);
     }
 
     
@@ -128,6 +129,7 @@ void SimulationEngine::stepForward(float deltaTime, float minError, int maxItera
     _enforcementIterations = iterations;
     _enforcementError = delta;
     _enforcementTime = now - startTime;
+    */
 }
 
 int SimulationEngine::computeCollisions() {

From 531c32fdd35bf7038cd6763a077c9c03874e02ba Mon Sep 17 00:00:00 2001
From: Andrzej Kapolka <drzej.k@gmail.com>
Date: Wed, 18 Jun 2014 18:07:50 -0700
Subject: [PATCH 031/105] More comments, stubbing out incremental streaming.

---
 libraries/metavoxels/src/Bitstream.h       |  6 +++---
 libraries/metavoxels/src/MetavoxelData.cpp |  8 ++++++++
 libraries/metavoxels/src/MetavoxelData.h   | 11 ++++++++++-
 3 files changed, 21 insertions(+), 4 deletions(-)

diff --git a/libraries/metavoxels/src/Bitstream.h b/libraries/metavoxels/src/Bitstream.h
index 0d9e516640..b116bd4b49 100644
--- a/libraries/metavoxels/src/Bitstream.h
+++ b/libraries/metavoxels/src/Bitstream.h
@@ -1104,7 +1104,7 @@ private:
 Q_DECLARE_METATYPE(const QMetaObject*)
 
 /// Macro for registering streamable meta-objects.  Typically, one would use this macro at the top level of the source file
-/// associated with the class.
+/// associated with the class.  The class should have a no-argument constructor flagged with Q_INVOKABLE.
 #define REGISTER_META_OBJECT(x) static int x##Registration = Bitstream::registerMetaObject(#x, &x::staticMetaObject);
 
 /// Contains a value along with a pointer to its streamer.  This is stored in QVariants when using fallback generics and
@@ -1563,8 +1563,8 @@ public:
     Bitstream::registerTypeStreamer(qMetaTypeId<X>(), new CollectionTypeStreamer<X>());
 
 /// Declares the metatype and the streaming operators.  Typically, one would use this immediately after the definition of a
-/// type flagged as STREAMABLE in its header file.  The last lines ensure that the generated file will be included in the link
-/// phase.
+/// type flagged as STREAMABLE in its header file.  The type should have a no-argument constructor.  The last lines of this
+/// macro ensure that the generated file will be included in the link phase.
 #ifdef _WIN32
 #define DECLARE_STREAMABLE_METATYPE(X) Q_DECLARE_METATYPE(X) \
     Bitstream& operator<<(Bitstream& out, const X& obj); \
diff --git a/libraries/metavoxels/src/MetavoxelData.cpp b/libraries/metavoxels/src/MetavoxelData.cpp
index 0d52fc5ed6..503dcce8d2 100644
--- a/libraries/metavoxels/src/MetavoxelData.cpp
+++ b/libraries/metavoxels/src/MetavoxelData.cpp
@@ -602,6 +602,14 @@ void MetavoxelData::writeDelta(const MetavoxelData& reference, const MetavoxelLO
     }
 }
 
+void MetavoxelData::readIncrementalDelta(const MetavoxelData& reference, const MetavoxelLOD& referenceLOD,
+    Bitstream& in, const MetavoxelLOD& lod) {
+}
+
+void MetavoxelData::writeIncrementalDelta(const MetavoxelData& reference, const MetavoxelLOD& referenceLOD,
+    Bitstream& out, const MetavoxelLOD& lod) const {
+}
+
 MetavoxelNode* MetavoxelData::createRoot(const AttributePointer& attribute) {
     MetavoxelNode*& root = _roots[attribute];
     if (root) {
diff --git a/libraries/metavoxels/src/MetavoxelData.h b/libraries/metavoxels/src/MetavoxelData.h
index 2e6f6c4437..199b6a8aff 100644
--- a/libraries/metavoxels/src/MetavoxelData.h
+++ b/libraries/metavoxels/src/MetavoxelData.h
@@ -54,7 +54,8 @@ public:
 
 DECLARE_STREAMABLE_METATYPE(MetavoxelLOD)
 
-/// The base metavoxel representation shared between server and client.
+/// The base metavoxel representation shared between server and client.  Contains a size (for all dimensions) and a set of
+/// octrees for different attributes.  
 class MetavoxelData {
 public:
 
@@ -64,11 +65,14 @@ public:
 
     MetavoxelData& operator=(const MetavoxelData& other);
 
+    /// Sets the size in all dimensions.
     void setSize(float size) { _size = size; }
     float getSize() const { return _size; }
 
+    /// Returns the minimum extent of the octrees (which are centered about the origin).
     glm::vec3 getMinimum() const { return glm::vec3(_size, _size, _size) * -0.5f; }
 
+    /// Returns the bounds of the octrees.
     Box getBounds() const;
 
     /// Applies the specified visitor to the contained voxels.
@@ -107,6 +111,11 @@ public:
     void writeDelta(const MetavoxelData& reference, const MetavoxelLOD& referenceLOD,
         Bitstream& out, const MetavoxelLOD& lod) const;
 
+    void readIncrementalDelta(const MetavoxelData& reference, const MetavoxelLOD& referenceLOD,
+        Bitstream& in, const MetavoxelLOD& lod);
+    void writeIncrementalDelta(const MetavoxelData& reference, const MetavoxelLOD& referenceLOD,
+        Bitstream& out, const MetavoxelLOD& lod) const;
+        
     MetavoxelNode* getRoot(const AttributePointer& attribute) const { return _roots.value(attribute); }
     MetavoxelNode* createRoot(const AttributePointer& attribute);
 

From 7cd1f752827cf4622c3553d1c7198e8efc2c8070 Mon Sep 17 00:00:00 2001
From: Andrew Meadows <andrew@highfidelity.io>
Date: Wed, 18 Jun 2014 20:47:57 -0700
Subject: [PATCH 032/105] PhysicalEntity gets backpointer to SimulationEngine

---
 libraries/shared/src/PhysicalEntity.cpp   |  8 ++-
 libraries/shared/src/PhysicalEntity.h     |  9 +++-
 libraries/shared/src/SimulationEngine.cpp | 60 +++++++++++++++++++++--
 libraries/shared/src/SimulationEngine.h   | 12 ++++-
 4 files changed, 82 insertions(+), 7 deletions(-)

diff --git a/libraries/shared/src/PhysicalEntity.cpp b/libraries/shared/src/PhysicalEntity.cpp
index 5b1c7a7fdf..87d8e982c6 100644
--- a/libraries/shared/src/PhysicalEntity.cpp
+++ b/libraries/shared/src/PhysicalEntity.cpp
@@ -18,7 +18,13 @@ PhysicalEntity::PhysicalEntity() :
     _rotation(), 
     _boundingRadius(0.0f), 
     _shapesAreDirty(true),
-    _enableShapes(false) {
+    _enableShapes(false),
+    _simulation(NULL) {
+}
+
+PhysicalEntity::~PhysicalEntity() {
+    // entity should be removed from the simulation before it is deleted
+    assert(_simulation == NULL);
 }
 
 void PhysicalEntity::setTranslation(const glm::vec3& translation) {
diff --git a/libraries/shared/src/PhysicalEntity.h b/libraries/shared/src/PhysicalEntity.h
index 9e95449812..959550dbb2 100644
--- a/libraries/shared/src/PhysicalEntity.h
+++ b/libraries/shared/src/PhysicalEntity.h
@@ -20,6 +20,7 @@
 #include "CollisionInfo.h"
 
 class Shape;
+class SimulationEngine;
 
 // PhysicalEntity is the base class for anything that owns one or more Shapes that collide in a 
 // SimulationEngine.  Each CollisionInfo generated by a SimulationEngine has back pointers to the 
@@ -29,7 +30,7 @@ class PhysicalEntity {
 
 public:
     PhysicalEntity();
-    virtual ~PhysicalEntity() {}
+    virtual ~PhysicalEntity();
 
     void setTranslation(const glm::vec3& translation);
     void setRotation(const glm::quat& rotation);
@@ -45,18 +46,24 @@ public:
     virtual void buildShapes() = 0;
     virtual void clearShapes();
 
+    SimulationEngine* getSimulation() const { return _simulation; }
+
     bool findRayIntersection(const glm::vec3& origin, const glm::vec3& direction, float& distance) const;
     bool findCollisions(const QVector<const Shape*> shapes, CollisionList& collisions);
     bool findSphereCollisions(const glm::vec3& sphereCenter, float sphereRadius, CollisionList& collisions, int skipIndex);
     bool findPlaneCollisions(const glm::vec4& plane, CollisionList& collisions);
 
 protected:
+    // SimulationEngine is a friend so that it can set the protected _simulation backpointer
+    friend SimulationEngine; 
+
     glm::vec3 _translation;
     glm::quat _rotation;
     float _boundingRadius;
     bool _shapesAreDirty;
     bool _enableShapes;
     QVector<Shape*> _shapes;
+    SimulationEngine* _simulation;
 };
 
 #endif // hifi_PhysicalEntity_h
diff --git a/libraries/shared/src/SimulationEngine.cpp b/libraries/shared/src/SimulationEngine.cpp
index 305e94af46..bba33592e9 100644
--- a/libraries/shared/src/SimulationEngine.cpp
+++ b/libraries/shared/src/SimulationEngine.cpp
@@ -11,13 +11,18 @@
 
 #include <glm/glm.hpp>
 
-#include "SharedUtil.h"
-#include "ShapeCollider.h"
 #include "SimulationEngine.h"
 
-int MAX_DOLLS_PER_ENGINE = 32;
+#include "PhysicalEntity.h"
+#include "Ragdoll.h"
+#include "SharedUtil.h"
+#include "ShapeCollider.h"
+
+int MAX_DOLLS_PER_ENGINE = 16;
+int MAX_ENTITIES_PER_ENGINE = 64;
 int MAX_COLLISIONS_PER_ENGINE = 256;
 
+
 const int NUM_SHAPE_BITS = 6;
 const int SHAPE_INDEX_MASK = (1 << (NUM_SHAPE_BITS + 1)) - 1;
 
@@ -28,6 +33,55 @@ SimulationEngine::~SimulationEngine() {
     _dolls.clear();
 }
 
+bool SimulationEngine::addEntity(PhysicalEntity* entity) {
+    if (!entity) {
+        return false;
+    }
+    if (entity->_simulation == this) {
+        int numEntities = _entities.size();
+        for (int i = 0; i < numEntities; ++i) {
+            if (entity == _entities.at(i)) {
+                // already in list
+                assert(entity->_simulation == this);
+                return true;
+            }
+        }
+        // belongs to some other simulation
+        return false;
+    }
+    int numEntities = _entities.size();
+    if (numEntities > MAX_ENTITIES_PER_ENGINE) {
+        // list is full
+        return false;
+    }
+    // add to list
+    entity->_simulation = this;
+    _entities.push_back(entity);
+    return true;
+}
+
+void SimulationEngine::removeEntity(PhysicalEntity* entity) {
+    if (!entity || !entity->_simulation || !(entity->_simulation == this)) {
+        return;
+    }
+    int numEntities = _entities.size();
+    for (int i = 0; i < numEntities; ++i) {
+        if (entity == _entities.at(i)) {
+            if (i == numEntities - 1) {
+                // remove it
+                _entities.pop_back();
+            } else {
+                // swap the last for this one
+                PhysicalEntity* lastEntity = _entities[numEntities - 1];
+                _entities.pop_back();
+                _entities[i] = lastEntity;
+            }
+            entity->_simulation = NULL;
+            break;
+        }
+    }
+}
+
 bool SimulationEngine::addRagdoll(Ragdoll* doll) {
     if (!doll) {
         return false;
diff --git a/libraries/shared/src/SimulationEngine.h b/libraries/shared/src/SimulationEngine.h
index f2775259cc..f064760b6e 100644
--- a/libraries/shared/src/SimulationEngine.h
+++ b/libraries/shared/src/SimulationEngine.h
@@ -15,7 +15,9 @@
 #include <QVector>
 
 #include "CollisionInfo.h"
-#include "Ragdoll.h"
+
+class PhysicalEntity;
+class Ragdoll;
 
 class SimulationEngine {
 public:
@@ -23,7 +25,12 @@ public:
     SimulationEngine();
     ~SimulationEngine();
 
-    /// \return true if doll was added to, or already in the list
+    /// \return true if entity was added to or is already in the list
+    bool addEntity(PhysicalEntity* entity);
+
+    void removeEntity(PhysicalEntity* entity);
+
+    /// \return true if doll was added to or is already in the list
     bool addRagdoll(Ragdoll* doll);
 
     void removeRagdoll(Ragdoll* doll);
@@ -45,6 +52,7 @@ public:
 
 private:
     CollisionList _collisionList;
+    QVector<PhysicalEntity*> _entities;
     QVector<Ragdoll*> _dolls;
 
     // some stats for performance queries

From a8c2003fe64dbcea61c929558f1540fadea6e906 Mon Sep 17 00:00:00 2001
From: Andrew Meadows <andrew@highfidelity.io>
Date: Thu, 19 Jun 2014 08:34:12 -0700
Subject: [PATCH 033/105] namechange SimulationEngine --> PhysicsSimulation

---
 interface/src/avatar/MyAvatar.h               |  4 +-
 interface/src/renderer/Model.cpp              |  6 +--
 interface/src/renderer/Model.h                |  6 +--
 .../{PhysicalEntity.cpp => PhysicsEntity.cpp} | 26 ++++++-------
 .../src/{PhysicalEntity.h => PhysicsEntity.h} | 30 +++++++--------
 ...lationEngine.cpp => PhysicsSimulation.cpp} | 38 +++++++++----------
 ...SimulationEngine.h => PhysicsSimulation.h} | 22 +++++------
 libraries/shared/src/Shape.h                  |  8 ++--
 8 files changed, 70 insertions(+), 70 deletions(-)
 rename libraries/shared/src/{PhysicalEntity.cpp => PhysicsEntity.cpp} (83%)
 rename libraries/shared/src/{PhysicalEntity.h => PhysicsEntity.h} (68%)
 rename libraries/shared/src/{SimulationEngine.cpp => PhysicsSimulation.cpp} (82%)
 rename libraries/shared/src/{SimulationEngine.h => PhysicsSimulation.h} (80%)

diff --git a/interface/src/avatar/MyAvatar.h b/interface/src/avatar/MyAvatar.h
index 5ebf72b215..b48e61718c 100644
--- a/interface/src/avatar/MyAvatar.h
+++ b/interface/src/avatar/MyAvatar.h
@@ -14,7 +14,7 @@
 
 #include <QSettings>
 
-#include <SimulationEngine.h>
+#include <PhysicsSimulation.h>
 
 #include "Avatar.h"
 
@@ -175,7 +175,7 @@ private:
     float _oculusYawOffset;
 
     QList<AnimationHandlePointer> _animationHandles;
-    SimulationEngine _simulationEngine;
+    PhysicsSimulation _simulationEngine;
 
 	// private methods
     float computeDistanceToFloor(const glm::vec3& startPoint);
diff --git a/interface/src/renderer/Model.cpp b/interface/src/renderer/Model.cpp
index 89a57c14af..515dcd4f27 100644
--- a/interface/src/renderer/Model.cpp
+++ b/interface/src/renderer/Model.cpp
@@ -18,7 +18,7 @@
 
 #include <CapsuleShape.h>
 #include <GeometryUtil.h>
-#include <PhysicalEntity.h>
+#include <PhysicsEntity.h>
 #include <ShapeCollider.h>
 #include <SphereShape.h>
 
@@ -561,7 +561,7 @@ void Model::setJointStates(QVector<JointState> states) {
     _jointStates = states;
 
     // compute an approximate bounding radius for broadphase collision queries
-    // against SimulationEngine boundaries
+    // against PhysicsSimulation boundaries
     int numJoints = _jointStates.size();
     float radius = 0.0f;
     for (int i = 0; i < numJoints; ++i) {
@@ -785,7 +785,7 @@ AnimationHandlePointer Model::createAnimationHandle() {
     return handle;
 }
 
-// virtual override from PhysicalEntity
+// virtual override from PhysicsEntity
 void Model::buildShapes() {
     // TODO: figure out how to load/build collision shapes for general models
 }
diff --git a/interface/src/renderer/Model.h b/interface/src/renderer/Model.h
index 8851f42eb1..2045a0c9b5 100644
--- a/interface/src/renderer/Model.h
+++ b/interface/src/renderer/Model.h
@@ -16,7 +16,7 @@
 #include <QObject>
 #include <QUrl>
 
-#include <PhysicalEntity.h>
+#include <PhysicsEntity.h>
 
 #include <AnimationCache.h>
 
@@ -33,7 +33,7 @@ typedef QSharedPointer<AnimationHandle> AnimationHandlePointer;
 typedef QWeakPointer<AnimationHandle> WeakAnimationHandlePointer;
 
 /// A generic 3D model displaying geometry loaded from a URL.
-class Model : public QObject, public PhysicalEntity {
+class Model : public QObject, public PhysicsEntity {
     Q_OBJECT
     
 public:
@@ -131,7 +131,7 @@ public:
 
     const QList<AnimationHandlePointer>& getRunningAnimations() const { return _runningAnimations; }
    
-    // virtual overrides from PhysicalEntity
+    // virtual overrides from PhysicsEntity
     virtual void buildShapes();
     virtual void updateShapePositions();
 
diff --git a/libraries/shared/src/PhysicalEntity.cpp b/libraries/shared/src/PhysicsEntity.cpp
similarity index 83%
rename from libraries/shared/src/PhysicalEntity.cpp
rename to libraries/shared/src/PhysicsEntity.cpp
index 87d8e982c6..10c08a3cea 100644
--- a/libraries/shared/src/PhysicalEntity.cpp
+++ b/libraries/shared/src/PhysicsEntity.cpp
@@ -1,5 +1,5 @@
 //
-//  PhysicalEntity.cpp
+//  PhysicsEntity.cpp
 //  libraries/shared/src
 //
 //  Created by Andrew Meadows 2014.06.11
@@ -9,11 +9,11 @@
 //  See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
 //
 
-#include "PhysicalEntity.h"
+#include "PhysicsEntity.h"
 #include "Shape.h"
 #include "ShapeCollider.h"
 
-PhysicalEntity::PhysicalEntity() : 
+PhysicsEntity::PhysicsEntity() : 
     _translation(0.0f), 
     _rotation(), 
     _boundingRadius(0.0f), 
@@ -22,26 +22,26 @@ PhysicalEntity::PhysicalEntity() :
     _simulation(NULL) {
 }
 
-PhysicalEntity::~PhysicalEntity() {
+PhysicsEntity::~PhysicsEntity() {
     // entity should be removed from the simulation before it is deleted
     assert(_simulation == NULL);
 }
 
-void PhysicalEntity::setTranslation(const glm::vec3& translation) {
+void PhysicsEntity::setTranslation(const glm::vec3& translation) {
     if (_translation != translation) {
         _shapesAreDirty = !_shapes.isEmpty();
         _translation = translation;
     }
 }
 
-void PhysicalEntity::setRotation(const glm::quat& rotation) {
+void PhysicsEntity::setRotation(const glm::quat& rotation) {
     if (_rotation != rotation) {
         _shapesAreDirty = !_shapes.isEmpty();
         _rotation = rotation;
     }
 }   
 
-void PhysicalEntity::setShapeBackPointers() {
+void PhysicsEntity::setShapeBackPointers() {
     for (int i = 0; i < _shapes.size(); i++) {
         Shape* shape = _shapes[i];
         if (shape) {
@@ -50,7 +50,7 @@ void PhysicalEntity::setShapeBackPointers() {
     }
 }
 
-void PhysicalEntity::setEnableShapes(bool enable) {
+void PhysicsEntity::setEnableShapes(bool enable) {
     if (enable != _enableShapes) {
         clearShapes();
         _enableShapes = enable;
@@ -60,14 +60,14 @@ void PhysicalEntity::setEnableShapes(bool enable) {
     }
 }   
 
-void PhysicalEntity::clearShapes() {
+void PhysicsEntity::clearShapes() {
     for (int i = 0; i < _shapes.size(); ++i) {
         delete _shapes[i];
     }
     _shapes.clear();
 }
 
-bool PhysicalEntity::findRayIntersection(const glm::vec3& origin, const glm::vec3& direction, float& distance) const {
+bool PhysicsEntity::findRayIntersection(const glm::vec3& origin, const glm::vec3& direction, float& distance) const {
     /* TODO: Andrew to make this work
     int numShapes = _shapes.size();
     float minDistance = FLT_MAX;
@@ -88,7 +88,7 @@ bool PhysicalEntity::findRayIntersection(const glm::vec3& origin, const glm::vec
     return false;
 }
 
-bool PhysicalEntity::findCollisions(const QVector<const Shape*> shapes, CollisionList& collisions) {
+bool PhysicsEntity::findCollisions(const QVector<const Shape*> shapes, CollisionList& collisions) {
     bool collided = false;
     int numTheirShapes = shapes.size();
     for (int i = 0; i < numTheirShapes; ++i) {
@@ -107,7 +107,7 @@ bool PhysicalEntity::findCollisions(const QVector<const Shape*> shapes, Collisio
     return collided;
 }
 
-bool PhysicalEntity::findSphereCollisions(const glm::vec3& sphereCenter, float sphereRadius,
+bool PhysicsEntity::findSphereCollisions(const glm::vec3& sphereCenter, float sphereRadius,
     CollisionList& collisions, int skipIndex) {
     bool collided = false;
     // TODO: Andrew to implement this or make it unecessary
@@ -144,7 +144,7 @@ bool PhysicalEntity::findSphereCollisions(const glm::vec3& sphereCenter, float s
     return collided;
 }
 
-bool PhysicalEntity::findPlaneCollisions(const glm::vec4& plane, CollisionList& collisions) {
+bool PhysicsEntity::findPlaneCollisions(const glm::vec4& plane, CollisionList& collisions) {
     bool collided = false;
     PlaneShape planeShape(plane);
     for (int i = 0; i < _shapes.size(); i++) {
diff --git a/libraries/shared/src/PhysicalEntity.h b/libraries/shared/src/PhysicsEntity.h
similarity index 68%
rename from libraries/shared/src/PhysicalEntity.h
rename to libraries/shared/src/PhysicsEntity.h
index 959550dbb2..3e20115729 100644
--- a/libraries/shared/src/PhysicalEntity.h
+++ b/libraries/shared/src/PhysicsEntity.h
@@ -1,5 +1,5 @@
 //
-//  PhysicalEntity.h
+//  PhysicsEntity.h
 //  libraries/shared/src
 //
 //  Created by Andrew Meadows 2014.05.30
@@ -9,8 +9,8 @@
 //  See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
 //
 
-#ifndef hifi_PhysicalEntity_h
-#define hifi_PhysicalEntity_h
+#ifndef hifi_PhysicsEntity_h
+#define hifi_PhysicsEntity_h
 
 #include <QVector>
 
@@ -20,17 +20,17 @@
 #include "CollisionInfo.h"
 
 class Shape;
-class SimulationEngine;
+class PhysicsSimulation;
 
-// PhysicalEntity is the base class for anything that owns one or more Shapes that collide in a 
-// SimulationEngine.  Each CollisionInfo generated by a SimulationEngine has back pointers to the 
-// two Shapes involved, and those Shapes may (optionally) have valid back pointers to their PhysicalEntity.
+// PhysicsEntity is the base class for anything that owns one or more Shapes that collide in a 
+// PhysicsSimulation.  Each CollisionInfo generated by a PhysicsSimulation has back pointers to the 
+// two Shapes involved, and those Shapes may (optionally) have valid back pointers to their PhysicsEntity.
 
-class PhysicalEntity {
+class PhysicsEntity {
 
 public:
-    PhysicalEntity();
-    virtual ~PhysicalEntity();
+    PhysicsEntity();
+    virtual ~PhysicsEntity();
 
     void setTranslation(const glm::vec3& translation);
     void setRotation(const glm::quat& rotation);
@@ -46,7 +46,7 @@ public:
     virtual void buildShapes() = 0;
     virtual void clearShapes();
 
-    SimulationEngine* getSimulation() const { return _simulation; }
+    PhysicsSimulation* getSimulation() const { return _simulation; }
 
     bool findRayIntersection(const glm::vec3& origin, const glm::vec3& direction, float& distance) const;
     bool findCollisions(const QVector<const Shape*> shapes, CollisionList& collisions);
@@ -54,8 +54,8 @@ public:
     bool findPlaneCollisions(const glm::vec4& plane, CollisionList& collisions);
 
 protected:
-    // SimulationEngine is a friend so that it can set the protected _simulation backpointer
-    friend SimulationEngine; 
+    // PhysicsSimulation is a friend so that it can set the protected _simulation backpointer
+    friend PhysicsSimulation; 
 
     glm::vec3 _translation;
     glm::quat _rotation;
@@ -63,7 +63,7 @@ protected:
     bool _shapesAreDirty;
     bool _enableShapes;
     QVector<Shape*> _shapes;
-    SimulationEngine* _simulation;
+    PhysicsSimulation* _simulation;
 };
 
-#endif // hifi_PhysicalEntity_h
+#endif // hifi_PhysicsEntity_h
diff --git a/libraries/shared/src/SimulationEngine.cpp b/libraries/shared/src/PhysicsSimulation.cpp
similarity index 82%
rename from libraries/shared/src/SimulationEngine.cpp
rename to libraries/shared/src/PhysicsSimulation.cpp
index bba33592e9..5fb6fa4a04 100644
--- a/libraries/shared/src/SimulationEngine.cpp
+++ b/libraries/shared/src/PhysicsSimulation.cpp
@@ -1,5 +1,5 @@
 //
-//  SimulationEngine.cpp
+//  PhysicsSimulation.cpp
 //  interface/src/avatar
 //
 //  Created by Andrew Meadows 2014.06.06
@@ -11,29 +11,29 @@
 
 #include <glm/glm.hpp>
 
-#include "SimulationEngine.h"
+#include "PhysicsSimulation.h"
 
-#include "PhysicalEntity.h"
+#include "PhysicsEntity.h"
 #include "Ragdoll.h"
 #include "SharedUtil.h"
 #include "ShapeCollider.h"
 
-int MAX_DOLLS_PER_ENGINE = 16;
-int MAX_ENTITIES_PER_ENGINE = 64;
-int MAX_COLLISIONS_PER_ENGINE = 256;
+int MAX_DOLLS_PER_SIMULATION = 16;
+int MAX_ENTITIES_PER_SIMULATION = 64;
+int MAX_COLLISIONS_PER_SIMULATION = 256;
 
 
 const int NUM_SHAPE_BITS = 6;
 const int SHAPE_INDEX_MASK = (1 << (NUM_SHAPE_BITS + 1)) - 1;
 
-SimulationEngine::SimulationEngine() : _collisionList(MAX_COLLISIONS_PER_ENGINE) {
+PhysicsSimulation::PhysicsSimulation() : _collisionList(MAX_COLLISIONS_PER_SIMULATION) {
 }
 
-SimulationEngine::~SimulationEngine() {
+PhysicsSimulation::~PhysicsSimulation() {
     _dolls.clear();
 }
 
-bool SimulationEngine::addEntity(PhysicalEntity* entity) {
+bool PhysicsSimulation::addEntity(PhysicsEntity* entity) {
     if (!entity) {
         return false;
     }
@@ -50,7 +50,7 @@ bool SimulationEngine::addEntity(PhysicalEntity* entity) {
         return false;
     }
     int numEntities = _entities.size();
-    if (numEntities > MAX_ENTITIES_PER_ENGINE) {
+    if (numEntities > MAX_ENTITIES_PER_SIMULATION) {
         // list is full
         return false;
     }
@@ -60,7 +60,7 @@ bool SimulationEngine::addEntity(PhysicalEntity* entity) {
     return true;
 }
 
-void SimulationEngine::removeEntity(PhysicalEntity* entity) {
+void PhysicsSimulation::removeEntity(PhysicsEntity* entity) {
     if (!entity || !entity->_simulation || !(entity->_simulation == this)) {
         return;
     }
@@ -72,7 +72,7 @@ void SimulationEngine::removeEntity(PhysicalEntity* entity) {
                 _entities.pop_back();
             } else {
                 // swap the last for this one
-                PhysicalEntity* lastEntity = _entities[numEntities - 1];
+                PhysicsEntity* lastEntity = _entities[numEntities - 1];
                 _entities.pop_back();
                 _entities[i] = lastEntity;
             }
@@ -82,12 +82,12 @@ void SimulationEngine::removeEntity(PhysicalEntity* entity) {
     }
 }
 
-bool SimulationEngine::addRagdoll(Ragdoll* doll) {
+bool PhysicsSimulation::addRagdoll(Ragdoll* doll) {
     if (!doll) {
         return false;
     }
     int numDolls = _dolls.size();
-    if (numDolls > MAX_DOLLS_PER_ENGINE) {
+    if (numDolls > MAX_DOLLS_PER_SIMULATION) {
         // list is full
         return false;
     }
@@ -102,7 +102,7 @@ bool SimulationEngine::addRagdoll(Ragdoll* doll) {
     return true;
 }
 
-void SimulationEngine::removeRagdoll(Ragdoll* doll) {
+void PhysicsSimulation::removeRagdoll(Ragdoll* doll) {
     int numDolls = _dolls.size();
     for (int i = 0; i < numDolls; ++i) {
         if (doll == _dolls[i]) {
@@ -120,7 +120,7 @@ void SimulationEngine::removeRagdoll(Ragdoll* doll) {
     }
 }
 
-void SimulationEngine::stepForward(float deltaTime, float minError, int maxIterations, quint64 maxUsec) {
+void PhysicsSimulation::stepForward(float deltaTime, float minError, int maxIterations, quint64 maxUsec) {
     /* TODO: Andrew to make this work
     int iterations = 0;
     float delta = 0.0f;
@@ -143,7 +143,7 @@ void SimulationEngine::stepForward(float deltaTime, float minError, int maxItera
     
     // collide
     _collisionList.clear();
-    // TODO: keep track of QSet<PhysicalEntity*> collidedEntities;
+    // TODO: keep track of QSet<PhysicsEntity*> collidedEntities;
     for (int i = 0; i < numDolls; ++i) {
         const QVector<Shape*>* shapesA = _dolls.at(i)->getShapes();
         if (!shapesA) {
@@ -186,10 +186,10 @@ void SimulationEngine::stepForward(float deltaTime, float minError, int maxItera
     */
 }
 
-int SimulationEngine::computeCollisions() {
+int PhysicsSimulation::computeCollisions() {
     return 0.0f;
 }
 
-void SimulationEngine::processCollisions() {
+void PhysicsSimulation::processCollisions() {
 }
 
diff --git a/libraries/shared/src/SimulationEngine.h b/libraries/shared/src/PhysicsSimulation.h
similarity index 80%
rename from libraries/shared/src/SimulationEngine.h
rename to libraries/shared/src/PhysicsSimulation.h
index f064760b6e..b5667db351 100644
--- a/libraries/shared/src/SimulationEngine.h
+++ b/libraries/shared/src/PhysicsSimulation.h
@@ -1,5 +1,5 @@
 //
-//  SimulationEngine.h
+//  PhysicsSimulation.h
 //  interface/src/avatar
 //
 //  Created by Andrew Meadows 2014.06.06
@@ -9,26 +9,26 @@
 //  See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
 //
 
-#ifndef hifi_SimulationEngine_h
-#define hifi_SimulationEngine_h
+#ifndef hifi_PhysicsSimulation
+#define hifi_PhysicsSimulation
 
 #include <QVector>
 
 #include "CollisionInfo.h"
 
-class PhysicalEntity;
+class PhysicsEntity;
 class Ragdoll;
 
-class SimulationEngine {
+class PhysicsSimulation {
 public:
 
-    SimulationEngine();
-    ~SimulationEngine();
+    PhysicsSimulation();
+    ~PhysicsSimulation();
 
     /// \return true if entity was added to or is already in the list
-    bool addEntity(PhysicalEntity* entity);
+    bool addEntity(PhysicsEntity* entity);
 
-    void removeEntity(PhysicalEntity* entity);
+    void removeEntity(PhysicsEntity* entity);
 
     /// \return true if doll was added to or is already in the list
     bool addRagdoll(Ragdoll* doll);
@@ -52,7 +52,7 @@ public:
 
 private:
     CollisionList _collisionList;
-    QVector<PhysicalEntity*> _entities;
+    QVector<PhysicsEntity*> _entities;
     QVector<Ragdoll*> _dolls;
 
     // some stats for performance queries
@@ -61,4 +61,4 @@ private:
     quint64 _enforcementTime;
 };
 
-#endif // hifi_SimulationEngine_h
+#endif // hifi_PhysicsSimulation
diff --git a/libraries/shared/src/Shape.h b/libraries/shared/src/Shape.h
index 0a03ae18e3..4926f598ba 100644
--- a/libraries/shared/src/Shape.h
+++ b/libraries/shared/src/Shape.h
@@ -15,7 +15,7 @@
 #include <glm/glm.hpp>
 #include <glm/gtc/quaternion.hpp>
 
-class PhysicalEntity;
+class PhysicsEntity;
 
 class Shape {
 public:
@@ -32,8 +32,8 @@ public:
 
     int getType() const { return _type; }
 
-    void setEntity(PhysicalEntity* entity) { _owningEntity = entity; }
-    PhysicalEntity* getEntity() const { return _owningEntity; }
+    void setEntity(PhysicsEntity* entity) { _owningEntity = entity; }
+    PhysicsEntity* getEntity() const { return _owningEntity; }
 
     float getBoundingRadius() const { return _boundingRadius; }
 
@@ -58,7 +58,7 @@ protected:
     void setBoundingRadius(float radius) { _boundingRadius = radius; }
 
     int _type;
-    PhysicalEntity* _owningEntity;
+    PhysicsEntity* _owningEntity;
     float _boundingRadius;
     glm::vec3 _translation;
     glm::quat _rotation;

From d3a78c9fc2b793e047de2199ae613a9146d12466 Mon Sep 17 00:00:00 2001
From: Andrew Meadows <andrew@highfidelity.io>
Date: Thu, 19 Jun 2014 09:14:36 -0700
Subject: [PATCH 034/105] simulation step stubbed out

---
 libraries/shared/src/PhysicsEntity.h       |  8 ++-
 libraries/shared/src/PhysicsSimulation.cpp | 71 +++++++++++-----------
 libraries/shared/src/PhysicsSimulation.h   | 13 ++--
 3 files changed, 47 insertions(+), 45 deletions(-)

diff --git a/libraries/shared/src/PhysicsEntity.h b/libraries/shared/src/PhysicsEntity.h
index 3e20115729..e52ea1da23 100644
--- a/libraries/shared/src/PhysicsEntity.h
+++ b/libraries/shared/src/PhysicsEntity.h
@@ -45,6 +45,7 @@ public:
 
     virtual void buildShapes() = 0;
     virtual void clearShapes();
+    const QVector<Shape*> getShapes() const { return _shapes; }
 
     PhysicsSimulation* getSimulation() const { return _simulation; }
 
@@ -54,15 +55,16 @@ public:
     bool findPlaneCollisions(const glm::vec4& plane, CollisionList& collisions);
 
 protected:
-    // PhysicsSimulation is a friend so that it can set the protected _simulation backpointer
-    friend PhysicsSimulation; 
-
     glm::vec3 _translation;
     glm::quat _rotation;
     float _boundingRadius;
     bool _shapesAreDirty;
     bool _enableShapes;
     QVector<Shape*> _shapes;
+
+private:
+    // PhysicsSimulation is a friend so that it can set the protected _simulation backpointer
+    friend PhysicsSimulation; 
     PhysicsSimulation* _simulation;
 };
 
diff --git a/libraries/shared/src/PhysicsSimulation.cpp b/libraries/shared/src/PhysicsSimulation.cpp
index 5fb6fa4a04..0a91babe08 100644
--- a/libraries/shared/src/PhysicsSimulation.cpp
+++ b/libraries/shared/src/PhysicsSimulation.cpp
@@ -26,7 +26,8 @@ int MAX_COLLISIONS_PER_SIMULATION = 256;
 const int NUM_SHAPE_BITS = 6;
 const int SHAPE_INDEX_MASK = (1 << (NUM_SHAPE_BITS + 1)) - 1;
 
-PhysicsSimulation::PhysicsSimulation() : _collisionList(MAX_COLLISIONS_PER_SIMULATION) {
+PhysicsSimulation::PhysicsSimulation() : _collisionList(MAX_COLLISIONS_PER_SIMULATION), 
+        _numIterations(0), _numCollisions(0), _constraintError(0.0f), _stepTime(0) {
 }
 
 PhysicsSimulation::~PhysicsSimulation() {
@@ -120,70 +121,72 @@ void PhysicsSimulation::removeRagdoll(Ragdoll* doll) {
     }
 }
 
+// TODO: Andrew need to implement:
+// DONE (1) joints pull points (SpecialCapsuleShape would help solve this)
+// DONE (2) points slam shapes (SpecialCapsuleShape would help solve this)
+// DONE (3) detect collisions
+// DONE (4) collisions move points (SpecialCapsuleShape would help solve this)
+// DONE (5) enforce constraints
+// (6) make sure MyAvatar creates shapes, adds to simulation with ragdoll support
+// (7) support for pairwise collision bypass
+// (8) process collisions
+// (9) add and enforce angular contraints for joints
 void PhysicsSimulation::stepForward(float deltaTime, float minError, int maxIterations, quint64 maxUsec) {
-    /* TODO: Andrew to make this work
     int iterations = 0;
-    float delta = 0.0f;
     quint64 now = usecTimestampNow();
     quint64 startTime = now;
     quint64 expiry = now + maxUsec;
 
+    // move dolls
     int numDolls = _dolls.size();
     for (int i = 0; i < numDolls; ++i) {
-        // TODO: Andrew need to implement:
-        // (1) joints pull points (SpecialCapsuleShape would help solve this)
-        // (2) points slam shapes (SpecialCapsuleShape would help solve this)
-        // (3) shapes collide with pairwise collision bypass
-        // (4) collisions move points (SpecialCapsuleShape would help solve this)
-        // (5) enforce constraints
-        // (6) add and enforce angular contraints for joints
-        //_dolls.at(i)->stepForward(deltaTime);
+        _dolls.at(i)->stepRagdollForward(deltaTime);
     }
-
     
     // collide
     _collisionList.clear();
     // TODO: keep track of QSet<PhysicsEntity*> collidedEntities;
-    for (int i = 0; i < numDolls; ++i) {
-        const QVector<Shape*>* shapesA = _dolls.at(i)->getShapes();
-        if (!shapesA) {
-            continue;
-        }
-        int numShapesA = shapesA->size();
+    int numEntities = _entities.size();
+    for (int i = 0; i < numEntities; ++i) {
+        const QVector<Shape*> shapes = _entities.at(i)->getShapes();
+        int numShapes = shapes.size();
         // collide with self
-        for (int j = 0; j < numShapesA; ++j) {
-            const Shape* shapeA = shapesA->at(j);
-            if (!shapeA) {
+        for (int j = 0; j < numShapes; ++j) {
+            const Shape* shape = shapes.at(j);
+            if (!shape) {
                 continue;
             }
             // TODO: check for pairwise collision bypass here
-            ShapeCollider::collideShapeWithShapes(shapeA, *shapesA, j+1, _collisionList);
+            for (int k = j+1; k < numShapes; ++k) {
+                const Shape* otherShape = shapes.at(k);
+                ShapeCollider::collideShapes(shape, otherShape, _collisionList);
+            }
         }
 
         // collide with others
-        for (int j = i+1; j < numDolls; ++j) {
-            const QVector<Shape*>* shapesB = _dolls.at(j)->getShapes();
-            if (!shapesB) {
-                continue;
-            }
-            ShapeCollider::collideShapesWithShapes(*shapesA, *shapesB, _collisionList);
+        for (int j = i+1; j < numEntities; ++j) {
+            const QVector<Shape*> otherShapes = _entities.at(j)->getShapes();
+            ShapeCollider::collideShapesWithShapes(shapes, otherShapes, _collisionList);
         }
     }
 
+    // TODO: process collisions
+    _numCollisions = _collisionList.size();
+
     // enforce constraints
     float error = 0.0f;
     do {
         error = 0.0f;
         for (int i = 0; i < numDolls; ++i) {
-            error = glm::max(error, _dolls[i]->enforceConstraints());
+            error = glm::max(error, _dolls[i]->enforceRagdollConstraints());
         }
         ++iterations;
         now = usecTimestampNow();
-    } while (iterations < maxIterations && delta > minError && now < expiry);
-    _enforcementIterations = iterations;
-    _enforcementError = delta;
-    _enforcementTime = now - startTime;
-    */
+    } while (iterations < maxIterations && error > minError && now < expiry);
+
+    _numIterations = iterations;
+    _constraintError = error;
+    _stepTime = now - startTime;
 }
 
 int PhysicsSimulation::computeCollisions() {
diff --git a/libraries/shared/src/PhysicsSimulation.h b/libraries/shared/src/PhysicsSimulation.h
index b5667db351..957309ddd7 100644
--- a/libraries/shared/src/PhysicsSimulation.h
+++ b/libraries/shared/src/PhysicsSimulation.h
@@ -41,10 +41,6 @@ public:
     /// \return distance of largest movement
     void stepForward(float deltaTime, float minError, int maxIterations, quint64 maxUsec);
 
-    int getEnforementIterations() const { return _enforcementIterations; }
-    float getEnforcementError() const { return _enforcementError; }
-    quint64 getEnforcementTime() const { return _enforcementTime; }
-
     /// \return number of collisions
     int computeCollisions();
 
@@ -55,10 +51,11 @@ private:
     QVector<PhysicsEntity*> _entities;
     QVector<Ragdoll*> _dolls;
 
-    // some stats for performance queries
-    int _enforcementIterations;
-    float _enforcementError;
-    quint64 _enforcementTime;
+    // some stats
+    int _numIterations;
+    int _numCollisions;
+    float _constraintError;
+    quint64 _stepTime;
 };
 
 #endif // hifi_PhysicsSimulation

From 5e74ee8c05e4e9a0e908b634a87efff722f3e825 Mon Sep 17 00:00:00 2001
From: Andrew Meadows <andrew@highfidelity.io>
Date: Thu, 19 Jun 2014 09:54:32 -0700
Subject: [PATCH 035/105] VerletPoint has position, lastPosition, and mass

---
 interface/src/avatar/SkeletonModel.cpp | 23 +++++++++-------
 libraries/shared/src/Ragdoll.cpp       | 37 ++++++--------------------
 libraries/shared/src/Ragdoll.h         | 25 ++++++++---------
 3 files changed, 35 insertions(+), 50 deletions(-)

diff --git a/interface/src/avatar/SkeletonModel.cpp b/interface/src/avatar/SkeletonModel.cpp
index 3927c3811d..93064c1afa 100644
--- a/interface/src/avatar/SkeletonModel.cpp
+++ b/interface/src/avatar/SkeletonModel.cpp
@@ -100,9 +100,9 @@ void SkeletonModel::simulate(float deltaTime, bool fullUpdate) {
 }
 
 void SkeletonModel::simulateRagdoll(float deltaTime) {
-    // move _ragdollPoints toward joints
     const int numStates = _jointStates.size();
     assert(numStates == _ragdollPoints.size());
+
     float fraction = 0.1f; // fraction = 0.1f left intentionally low for demo purposes
     moveShapesTowardJoints(fraction);
 
@@ -500,7 +500,7 @@ void SkeletonModel::renderRagdoll() {
     for (int i = 0; i < numPoints; ++i) {
         glPushMatrix();
         // draw each point as a yellow hexagon with black border
-        glm::vec3 position = _rotation * _ragdollPoints[i];
+        glm::vec3 position = _rotation * _ragdollPoints[i]._position;
         glTranslatef(position.x, position.y, position.z);
         glColor4f(0.0f, 0.0f, 0.0f, alpha);
         glutSolidSphere(radius2, BALL_SUBDIVISIONS, BALL_SUBDIVISIONS);
@@ -516,12 +516,15 @@ void SkeletonModel::renderRagdoll() {
 // virtual
 void SkeletonModel::initRagdollPoints() {
     assert(_ragdollPoints.size() == 0);
-    // one point for each joint
     int numJoints = _jointStates.size();
-    _ragdollPoints.reserve(numJoints);
+
+    // one point for each joint
+    _ragdollPoints.fill(VerletPoint());
     for (int i = 0; i < numJoints; ++i) {
         const JointState& state = _jointStates.at(i);
-        _ragdollPoints.push_back(state.getPosition());
+        glm::vec3 position = state.getPosition();
+        _ragdollPoints[i]._position = position;
+        _ragdollPoints[i]._lastPosition = position;
     }
 }
 
@@ -555,12 +558,12 @@ void SkeletonModel::buildShapes() {
         }
         Shape* shape = NULL;
         if (type == Shape::SPHERE_SHAPE) {
-            shape = new VerletSphereShape(radius, &(_ragdollPoints[i]));
+            shape = new VerletSphereShape(radius, &(_ragdollPoints[i]._position));
             shape->setEntity(this);
         } else if (type == Shape::CAPSULE_SHAPE) {
             int parentIndex = joint.parentIndex;
             assert(parentIndex != -1);
-            shape = new VerletCapsuleShape(radius, &(_ragdollPoints[parentIndex]), &(_ragdollPoints[i]));
+            shape = new VerletCapsuleShape(radius, &(_ragdollPoints[parentIndex]._position), &(_ragdollPoints[i]._position));
             shape->setEntity(this);
         } 
         _shapes.push_back(shape);
@@ -580,7 +583,8 @@ void SkeletonModel::moveShapesTowardJoints(float fraction) {
         float oneMinusFraction = 1.0f - fraction; 
         int numJoints = _jointStates.size();
         for (int i = 0; i < numJoints; ++i) {
-            _ragdollPoints[i] = oneMinusFraction * _ragdollPoints[i] + fraction * _jointStates.at(i).getPosition();
+            _ragdollPoints[i]._lastPosition = _ragdollPoints[i]._position;
+            _ragdollPoints[i]._position = oneMinusFraction * _ragdollPoints[i]._position + fraction * _jointStates.at(i).getPosition();
         }
     }
 }
@@ -637,7 +641,8 @@ void SkeletonModel::computeBoundingShape(const FBXGeometry& geometry) {
         transforms[i] = transforms[parentIndex] * glm::translate(joint.translation) 
             * joint.preTransform * glm::mat4_cast(modifiedRotation) * joint.postTransform;
         // setting the ragdollPoints here slams the VerletShapes into their default positions
-        _ragdollPoints[i] = extractTranslation(transforms[i]);
+        _ragdollPoints[i]._position = extractTranslation(transforms[i]);
+        _ragdollPoints[i]._lastPosition = _ragdollPoints[i]._position;
     }
 
     // compute bounding box
diff --git a/libraries/shared/src/Ragdoll.cpp b/libraries/shared/src/Ragdoll.cpp
index ad23daf609..aa6fb4b8e2 100644
--- a/libraries/shared/src/Ragdoll.cpp
+++ b/libraries/shared/src/Ragdoll.cpp
@@ -40,10 +40,10 @@ void FixedConstraint::setAnchor(const glm::vec3& anchor) {
 // ----------------------------------------------------------------------------
 // DistanceConstraint
 // ----------------------------------------------------------------------------
-DistanceConstraint::DistanceConstraint(glm::vec3* startPoint, glm::vec3* endPoint) : _distance(-1.0f) {
+DistanceConstraint::DistanceConstraint(VerletPoint* startPoint, VerletPoint* endPoint) : _distance(-1.0f) {
     _points[0] = startPoint;
     _points[1] = endPoint;
-    _distance = glm::distance(*(_points[0]), *(_points[1]));
+    _distance = glm::distance(_points[0]->_position, _points[1]->_position);
 }
 
 DistanceConstraint::DistanceConstraint(const DistanceConstraint& other) {
@@ -57,39 +57,18 @@ void DistanceConstraint::setDistance(float distance) {
 }
 
 float DistanceConstraint::enforce() {
-    float newDistance = glm::distance(*(_points[0]), *(_points[1]));
+    // TODO: use a fast distance approximation
+    float newDistance = glm::distance(_points[0]->_position, _points[1]->_position);
     glm::vec3 direction(0.0f, 1.0f, 0.0f);
     if (newDistance > EPSILON) {
-        direction = (*(_points[0]) - *(_points[1])) / newDistance;
+        direction = (_points[0]->_position - _points[1]->_position) / newDistance;
     }
-    glm::vec3 center = 0.5f * (*(_points[0]) + *(_points[1]));
-    *(_points[0]) = center + (0.5f * _distance) * direction;
-    *(_points[1]) = center - (0.5f * _distance) * direction;
+    glm::vec3 center = 0.5f * (_points[0]->_position + _points[1]->_position);
+    _points[0]->_position = center + (0.5f * _distance) * direction;
+    _points[1]->_position = center - (0.5f * _distance) * direction;
     return glm::abs(newDistance - _distance);
 }
 
-void DistanceConstraint::updateProxyShape(Shape* shape, const glm::quat& rotation, const glm::vec3& translation) const {
-    if (!shape) {
-        return;
-    }
-    switch (shape->getType()) {
-        case Shape::SPHERE_SHAPE: {
-            // sphere collides at endPoint
-            SphereShape* sphere = static_cast<SphereShape*>(shape);
-            sphere->setTranslation(translation + rotation * (*_points[1]));
-        }
-        break;
-        case Shape::CAPSULE_SHAPE: {
-            // capsule collides from startPoint to endPoint
-            CapsuleShape* capsule = static_cast<CapsuleShape*>(shape);
-            capsule->setEndPoints(translation + rotation * (*_points[0]), translation + rotation * (*_points[1]));
-        }
-        break;
-        default:
-        break;
-    }
-}
-
 // ----------------------------------------------------------------------------
 // Ragdoll
 // ----------------------------------------------------------------------------
diff --git a/libraries/shared/src/Ragdoll.h b/libraries/shared/src/Ragdoll.h
index e38541f717..e9c272b1ee 100644
--- a/libraries/shared/src/Ragdoll.h
+++ b/libraries/shared/src/Ragdoll.h
@@ -19,6 +19,14 @@
 
 class Shape;
 
+class VerletPoint {
+public:
+    VerletPoint() : _position(0.0f), _lastPosition(0.0f), _mass(0.0f) {}
+    glm::vec3 _position;
+    glm::vec3 _lastPosition;
+    float _mass;
+};
+
 class Constraint {
 public:
     Constraint() {}
@@ -28,12 +36,6 @@ public:
     /// \return max distance of point movement
     virtual float enforce() = 0;
 
-    /// \param shape pointer to shape that will be this Constraint's collision proxy
-    /// \param rotation rotation into shape's collision frame
-    /// \param translation translation into shape's collision frame
-    /// Moves the shape such that it will collide at this constraint's position
-    virtual void updateProxyShape(Shape* shape, const glm::quat& rotation, const glm::vec3& translation) const {}
-
 protected:
     int _type;
 };
@@ -51,14 +53,13 @@ private:
 
 class DistanceConstraint : public Constraint {
 public:
-    DistanceConstraint(glm::vec3* startPoint, glm::vec3* endPoint);
+    DistanceConstraint(VerletPoint* startPoint, VerletPoint* endPoint);
     DistanceConstraint(const DistanceConstraint& other);
     float enforce();
     void setDistance(float distance);
-    void updateProxyShape(Shape* shape, const glm::quat& rotation, const glm::vec3& translation) const;
 private:
     float _distance;
-    glm::vec3* _points[2];
+    VerletPoint* _points[2];
 };
 
 class Ragdoll {
@@ -78,11 +79,11 @@ public:
     float enforceRagdollConstraints();
 
     // both const and non-const getPoints()
-    const QVector<glm::vec3>& getRagdollPoints() const { return _ragdollPoints; }
-    QVector<glm::vec3>& getRagdollPoints() { return _ragdollPoints; }
+    const QVector<VerletPoint>& getRagdollPoints() const { return _ragdollPoints; }
+    QVector<VerletPoint>& getRagdollPoints() { return _ragdollPoints; }
 
 protected:
-    QVector<glm::vec3> _ragdollPoints;
+    QVector<VerletPoint> _ragdollPoints;
     QVector<Constraint*> _ragdollConstraints;
 };
 

From 2453e9c36a6151a278ac5610fbe34e818cfbc6b2 Mon Sep 17 00:00:00 2001
From: Andrew Meadows <andrew@highfidelity.io>
Date: Thu, 19 Jun 2014 10:31:55 -0700
Subject: [PATCH 036/105] build ragdoll constraints again

---
 interface/src/avatar/SkeletonModel.cpp | 40 ++++++++++++++++++++++----
 interface/src/avatar/SkeletonModel.h   |  9 ++++--
 libraries/shared/src/Ragdoll.cpp       | 25 ----------------
 libraries/shared/src/Ragdoll.h         |  9 +++---
 4 files changed, 45 insertions(+), 38 deletions(-)

diff --git a/interface/src/avatar/SkeletonModel.cpp b/interface/src/avatar/SkeletonModel.cpp
index 93064c1afa..f7eb7e614e 100644
--- a/interface/src/avatar/SkeletonModel.cpp
+++ b/interface/src/avatar/SkeletonModel.cpp
@@ -516,10 +516,11 @@ void SkeletonModel::renderRagdoll() {
 // virtual
 void SkeletonModel::initRagdollPoints() {
     assert(_ragdollPoints.size() == 0);
-    int numJoints = _jointStates.size();
+    assert(_ragdollConstraints.size() == 0);
 
     // one point for each joint
-    _ragdollPoints.fill(VerletPoint());
+    int numJoints = _jointStates.size();
+    _ragdollPoints.fill(VerletPoint(), numJoints);
     for (int i = 0; i < numJoints; ++i) {
         const JointState& state = _jointStates.at(i);
         glm::vec3 position = state.getPosition();
@@ -528,6 +529,27 @@ void SkeletonModel::initRagdollPoints() {
     }
 }
 
+void SkeletonModel::buildRagdollConstraints() {
+    // NOTE: the length of DistanceConstraints is computed and locked in at this time
+    // so make sure the ragdoll positions are in a normal configuration before here.
+    const int numPoints = _ragdollPoints.size();
+    const int numJoints = _jointStates.size();
+    assert(numPoints == numJoints);
+
+    for (int i = 0; i < numPoints; ++i) {
+        const JointState& state = _jointStates.at(i);
+        const FBXJoint& joint = state.getFBXJoint();
+        int parentIndex = joint.parentIndex;
+        if (parentIndex == -1) {
+            FixedConstraint* anchor = new FixedConstraint(&(_ragdollPoints[i]._position), glm::vec3(0.0f));
+            _ragdollConstraints.push_back(anchor);
+        } else { 
+            DistanceConstraint* bone = new DistanceConstraint(&(_ragdollPoints[i]), &(_ragdollPoints[parentIndex]));
+            _ragdollConstraints.push_back(bone);
+        }
+    }
+}
+
 // virtual 
 void SkeletonModel::stepRagdollForward(float deltaTime) {
 }
@@ -570,10 +592,12 @@ void SkeletonModel::buildShapes() {
     }
 
     // This method moves the shapes to their default positions in Model frame
-    // which is where we compute the bounding shape's parameters.
     computeBoundingShape(geometry);
 
-    // move shapes to joint positions
+    // while the shapes are in their default position we create the constraints
+    buildRagdollConstraints();
+
+    // move shapes back to current joint positions
     moveShapesTowardJoints(1.0f);
 }
 
@@ -631,7 +655,11 @@ void SkeletonModel::computeBoundingShape(const FBXGeometry& geometry) {
     QVector<glm::mat4> transforms;
     transforms.fill(glm::mat4(), numJoints);
 
+    // compute the default transforms and slam the ragdoll positions accordingly
+    // (which puts the shapes where we want them)
     transforms[0] = glm::scale(_scale);
+    _ragdollPoints[0]._position = glm::vec3(0.0f);
+    _ragdollPoints[0]._lastPosition = glm::vec3(0.0f);
     for (int i = 1; i < numJoints; i++) {
         const FBXJoint& joint = geometry.joints.at(i);
         int parentIndex = joint.parentIndex;
@@ -645,7 +673,7 @@ void SkeletonModel::computeBoundingShape(const FBXGeometry& geometry) {
         _ragdollPoints[i]._lastPosition = _ragdollPoints[i]._position;
     }
 
-    // compute bounding box
+    // compute bounding box that encloses all shapes
     Extents totalExtents;
     totalExtents.reset();
     totalExtents.addPoint(glm::vec3(0.0f));
@@ -654,7 +682,7 @@ void SkeletonModel::computeBoundingShape(const FBXGeometry& geometry) {
         if (!shape) {
             continue;
         }
-        // TODO: skip hand and arm joints when computing bounding dimensions
+        // TODO: skip hand and arm shapes for bounding box calculation
         Extents shapeExtents;
         shapeExtents.reset();
         glm::vec3 localPosition = shape->getTranslation();
diff --git a/interface/src/avatar/SkeletonModel.h b/interface/src/avatar/SkeletonModel.h
index 06e6061352..66ede8ee19 100644
--- a/interface/src/avatar/SkeletonModel.h
+++ b/interface/src/avatar/SkeletonModel.h
@@ -95,10 +95,9 @@ public:
     /// \return whether or not both eye meshes were found
     bool getEyePositions(glm::vec3& firstEyePosition, glm::vec3& secondEyePosition) const;
     
-    virtual void initRagdollPoints();
+    // virtual overrride from Ragdoll
     virtual void stepRagdollForward(float deltaTime);
 
-    void buildShapes();
     void moveShapesTowardJoints(float fraction);
     //void updateShapePositionsLegacy(); // TODO: Andrew to remove this when done with ragdoll work
 
@@ -112,6 +111,12 @@ public:
     void renderRagdoll();
 protected:
 
+    // virtual overrrides from Ragdoll
+    void initRagdollPoints();
+    void buildRagdollConstraints();
+
+    void buildShapes();
+
     /// \param jointIndex index of joint in model
     /// \param position position of joint in model-frame
     void applyHandPosition(int jointIndex, const glm::vec3& position);
diff --git a/libraries/shared/src/Ragdoll.cpp b/libraries/shared/src/Ragdoll.cpp
index aa6fb4b8e2..76d8ce4d98 100644
--- a/libraries/shared/src/Ragdoll.cpp
+++ b/libraries/shared/src/Ragdoll.cpp
@@ -80,31 +80,6 @@ Ragdoll::~Ragdoll() {
     clearRagdollConstraintsAndPoints();
 }
     
-/*
-void Ragdoll::useShapesAndCopyPoints(QVector<Shape*>* shapes, const QVector<int>& parentIndices, const QVector<glm::vec3>& points) {
-    clear();
-    _verletShapes = shapes;
-    const int numPoints = points.size();
-    assert(numPoints == parentIndices.size());
-    _ragdollPoints.reserve(numPoints);
-    for (int i = 0; i < numPoints; ++i) {
-        glm::vec3 position = points[i];
-        _ragdollPoints.push_back(position);
-
-        int parentIndex = parentIndices[i];
-        assert(parentIndex < i && parentIndex >= -1);
-        if (parentIndex == -1) {
-            FixedConstraint* anchor = new FixedConstraint(&(_ragdollPoints[i]), glm::vec3(0.0f));
-            _ragdollConstraints.push_back(anchor);
-        } else {
-            DistanceConstraint* stick = new DistanceConstraint(&(_ragdollPoints[i]), &(_ragdollPoints[parentIndex]));
-            _ragdollConstraints.push_back(stick);
-        }
-    }
-}
-*/
-
-/// Delete all data.
 void Ragdoll::clearRagdollConstraintsAndPoints() {
     int numConstraints = _ragdollConstraints.size();
     for (int i = 0; i < numConstraints; ++i) {
diff --git a/libraries/shared/src/Ragdoll.h b/libraries/shared/src/Ragdoll.h
index e9c272b1ee..18cf62df49 100644
--- a/libraries/shared/src/Ragdoll.h
+++ b/libraries/shared/src/Ragdoll.h
@@ -68,13 +68,8 @@ public:
     Ragdoll();
     virtual ~Ragdoll();
 
-    /// Delete all data.
-    void clearRagdollConstraintsAndPoints();
-
-    virtual void initRagdollPoints() = 0;
     virtual void stepRagdollForward(float deltaTime) = 0;
 
-    /// Enforce contraints.
     /// \return max distance of point movement
     float enforceRagdollConstraints();
 
@@ -83,6 +78,10 @@ public:
     QVector<VerletPoint>& getRagdollPoints() { return _ragdollPoints; }
 
 protected:
+    void clearRagdollConstraintsAndPoints();
+    virtual void initRagdollPoints() = 0;
+    virtual void buildRagdollConstraints() = 0;
+
     QVector<VerletPoint> _ragdollPoints;
     QVector<Constraint*> _ragdollConstraints;
 };

From 641b9e8253fdc474ad9f077358c3c3be64702915 Mon Sep 17 00:00:00 2001
From: Atlante45 <clement.brisset@gmail.com>
Date: Thu, 19 Jun 2014 10:43:25 -0700
Subject: [PATCH 037/105] Set minimum angular size too model selection

---
 examples/editModels.js | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/examples/editModels.js b/examples/editModels.js
index eebcd075fa..d2670f59bf 100644
--- a/examples/editModels.js
+++ b/examples/editModels.js
@@ -34,6 +34,7 @@ var LASER_COLOR = { red: 255, green: 0, blue: 0 };
 var LASER_LENGTH_FACTOR = 500
 ;
 
+var MIN_ANGULAR_SIZE = 2;
 var MAX_ANGULAR_SIZE = 45;
 
 var LEFT = 0;
@@ -828,8 +829,9 @@ function mousePressEvent(event) {
             var X = Vec3.sum(A, Vec3.multiply(B, x));
             var d = Vec3.length(Vec3.subtract(P, X));
             
-            if (0 < x && x < LASER_LENGTH_FACTOR) {
-                if (2 * Math.atan(properties.radius / Vec3.distance(Camera.getPosition(), properties.position)) * 180 / 3.14 < MAX_ANGULAR_SIZE) {
+            var angularSize = 2 * Math.atan(properties.radius / Vec3.distance(Camera.getPosition(), properties.position)) * 180 / 3.14;
+            if (0 < x && angularSize > MIN_ANGULAR_SIZE) {
+                if (angularSize < MAX_ANGULAR_SIZE) {
                     modelSelected = true;
                     selectedModelID = foundModel;
                     selectedModelProperties = properties;

From 676141024a8a63a33664b3cd461709eaf44af17d Mon Sep 17 00:00:00 2001
From: Atlante45 <clement.brisset@gmail.com>
Date: Thu, 19 Jun 2014 10:46:06 -0700
Subject: [PATCH 038/105] Added angular size limit to hydras too.

---
 examples/editModels.js | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/examples/editModels.js b/examples/editModels.js
index d2670f59bf..8a73c79532 100644
--- a/examples/editModels.js
+++ b/examples/editModels.js
@@ -278,8 +278,9 @@ function controller(wichSide) {
         var X = Vec3.sum(A, Vec3.multiply(B, x));
         var d = Vec3.length(Vec3.subtract(P, X));
         
-        if (0 < x && x < LASER_LENGTH_FACTOR) {
-            if (2 * Math.atan(properties.radius / Vec3.distance(Camera.getPosition(), properties.position)) * 180 / 3.14 > MAX_ANGULAR_SIZE) {
+        var angularSize = 2 * Math.atan(properties.radius / Vec3.distance(Camera.getPosition(), properties.position)) * 180 / 3.14;
+        if (0 < x && angularSize > MIN_ANGULAR_SIZE) {
+            if (angularSize > MAX_ANGULAR_SIZE) {
                 print("Angular size too big: " + 2 * Math.atan(properties.radius / Vec3.distance(Camera.getPosition(), properties.position)) * 180 / 3.14);
                 return { valid: false };
             }

From 2dbf8d7daf6a45a18991f06dd6ec1ef08dfe8f15 Mon Sep 17 00:00:00 2001
From: David Rowe <david@ctrlaltstudio.com>
Date: Thu, 19 Jun 2014 11:08:21 -0700
Subject: [PATCH 039/105] Fix fullscreen toggle shortcut

Remove the "Meta" modifier so that the shortcut works on Windows.
---
 interface/src/Menu.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/interface/src/Menu.cpp b/interface/src/Menu.cpp
index 5c8c2e97aa..9df3e25bf8 100644
--- a/interface/src/Menu.cpp
+++ b/interface/src/Menu.cpp
@@ -251,7 +251,7 @@ Menu::Menu() :
 
     addCheckableActionToQMenuAndActionHash(viewMenu,
                                            MenuOption::Fullscreen,
-                                           Qt::CTRL | Qt::META | Qt::Key_F,
+                                           Qt::CTRL | Qt::Key_F,
                                            false,
                                            appInstance,
                                            SLOT(setFullscreen(bool)));

From 4a4efb0bfaae0137a5af37905f6fa6288d577503 Mon Sep 17 00:00:00 2001
From: Atlante45 <clement.brisset@gmail.com>
Date: Thu, 19 Jun 2014 11:11:08 -0700
Subject: [PATCH 040/105] Don't glow models if you can't grab it

---
 examples/editModels.js | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/examples/editModels.js b/examples/editModels.js
index 8a73c79532..55e4d56a21 100644
--- a/examples/editModels.js
+++ b/examples/editModels.js
@@ -328,7 +328,8 @@ function controller(wichSide) {
                                                           origin: this.palmPosition,
                                                           direction: this.front
                                                           });
-            if (intersection.accurate && intersection.modelID.isKnownID) {
+            var angularSize = 2 * Math.atan(intersection.modelProperties.radius / Vec3.distance(Camera.getPosition(), intersection.modelProperties.position)) * 180 / 3.14;
+            if (intersection.accurate && intersection.modelID.isKnownID && angularSize > MIN_ANGULAR_SIZE && angularSize < MAX_ANGULAR_SIZE) {
                 this.glowedIntersectingModel = intersection.modelID;
                 Models.editModel(this.glowedIntersectingModel, { glowLevel: 0.25 });
             }
@@ -887,7 +888,8 @@ function mouseMoveEvent(event)  {
                 glowedModelID.isKnownID = false;
             }
             
-            if (modelIntersection.modelID.isKnownID) {
+            var angularSize = 2 * Math.atan(modelIntersection.modelProperties.radius / Vec3.distance(Camera.getPosition(), modelIntersection.modelProperties.position)) * 180 / 3.14;
+            if (modelIntersection.modelID.isKnownID && angularSize > MIN_ANGULAR_SIZE && angularSize < MAX_ANGULAR_SIZE) {
                 Models.editModel(modelIntersection.modelID, { glowLevel: 0.25 });
                 glowedModelID = modelIntersection.modelID;
             }

From fbafcb6fd8bf6bd2ec1c3a0c70c602dac584c5de Mon Sep 17 00:00:00 2001
From: Andrew Meadows <andrew@highfidelity.io>
Date: Thu, 19 Jun 2014 11:46:09 -0700
Subject: [PATCH 041/105] Fix distance constraint lengths

---
 interface/src/avatar/SkeletonModel.cpp | 6 +++---
 interface/src/renderer/Model.cpp       | 1 +
 libraries/shared/src/Ragdoll.h         | 1 +
 3 files changed, 5 insertions(+), 3 deletions(-)

diff --git a/interface/src/avatar/SkeletonModel.cpp b/interface/src/avatar/SkeletonModel.cpp
index f7eb7e614e..bcd35a1ce2 100644
--- a/interface/src/avatar/SkeletonModel.cpp
+++ b/interface/src/avatar/SkeletonModel.cpp
@@ -657,9 +657,9 @@ void SkeletonModel::computeBoundingShape(const FBXGeometry& geometry) {
 
     // compute the default transforms and slam the ragdoll positions accordingly
     // (which puts the shapes where we want them)
-    transforms[0] = glm::scale(_scale);
-    _ragdollPoints[0]._position = glm::vec3(0.0f);
-    _ragdollPoints[0]._lastPosition = glm::vec3(0.0f);
+    transforms[0] = _jointStates[0].getTransform();
+    _ragdollPoints[0]._position = extractTranslation(transforms[0]);
+    _ragdollPoints[0]._lastPosition = _ragdollPoints[0]._position;
     for (int i = 1; i < numJoints; i++) {
         const FBXJoint& joint = geometry.joints.at(i);
         int parentIndex = joint.parentIndex;
diff --git a/interface/src/renderer/Model.cpp b/interface/src/renderer/Model.cpp
index 515dcd4f27..5dfdd3c801 100644
--- a/interface/src/renderer/Model.cpp
+++ b/interface/src/renderer/Model.cpp
@@ -174,6 +174,7 @@ QVector<JointState> Model::createJointStates(const FBXGeometry& geometry) {
         int parentIndex = joint.parentIndex;
         if (parentIndex == -1) {
             _rootIndex = i;
+            // NOTE: in practice geometry.offset has a non-unity scale (rather than a translation)
             glm::mat4 parentTransform = glm::scale(_scale) * glm::translate(_offset) * geometry.offset;
             state.computeTransform(parentTransform);
         } else {
diff --git a/libraries/shared/src/Ragdoll.h b/libraries/shared/src/Ragdoll.h
index 18cf62df49..788a46d4d1 100644
--- a/libraries/shared/src/Ragdoll.h
+++ b/libraries/shared/src/Ragdoll.h
@@ -57,6 +57,7 @@ public:
     DistanceConstraint(const DistanceConstraint& other);
     float enforce();
     void setDistance(float distance);
+    float getDistance() const { return _distance; }
 private:
     float _distance;
     VerletPoint* _points[2];

From 9950c5b209ea977b215b6f28bbe1468a8f70daa4 Mon Sep 17 00:00:00 2001
From: Andrew Meadows <andrew@highfidelity.io>
Date: Thu, 19 Jun 2014 11:52:44 -0700
Subject: [PATCH 042/105] remove entities in PhysicsSimulation dtor

---
 libraries/shared/src/PhysicsSimulation.cpp | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/libraries/shared/src/PhysicsSimulation.cpp b/libraries/shared/src/PhysicsSimulation.cpp
index 0a91babe08..c7c3f5e161 100644
--- a/libraries/shared/src/PhysicsSimulation.cpp
+++ b/libraries/shared/src/PhysicsSimulation.cpp
@@ -31,6 +31,11 @@ PhysicsSimulation::PhysicsSimulation() : _collisionList(MAX_COLLISIONS_PER_SIMUL
 }
 
 PhysicsSimulation::~PhysicsSimulation() {
+    int numEntities = _entities.size();
+    for (int i = 0; i < numEntities; ++i) {
+        _entities[i]->_simulation = NULL;
+    }
+    _entities.clear();
     _dolls.clear();
 }
 

From 828c365b25066db260f0c5a55b50bd9681b27e5e Mon Sep 17 00:00:00 2001
From: Andrew Meadows <andrew@highfidelity.io>
Date: Thu, 19 Jun 2014 11:57:32 -0700
Subject: [PATCH 043/105] more dtor cleanup of back pointers

---
 libraries/shared/src/PhysicsEntity.cpp     | 8 ++++++--
 libraries/shared/src/PhysicsSimulation.cpp | 3 +++
 2 files changed, 9 insertions(+), 2 deletions(-)

diff --git a/libraries/shared/src/PhysicsEntity.cpp b/libraries/shared/src/PhysicsEntity.cpp
index 10c08a3cea..03d36c1c99 100644
--- a/libraries/shared/src/PhysicsEntity.cpp
+++ b/libraries/shared/src/PhysicsEntity.cpp
@@ -10,6 +10,8 @@
 //
 
 #include "PhysicsEntity.h"
+
+#include "PhysicsSimulation.h"
 #include "Shape.h"
 #include "ShapeCollider.h"
 
@@ -23,8 +25,10 @@ PhysicsEntity::PhysicsEntity() :
 }
 
 PhysicsEntity::~PhysicsEntity() {
-    // entity should be removed from the simulation before it is deleted
-    assert(_simulation == NULL);
+    if (_simulation) {
+        _simulation->removeEntity(this);
+        _simulation = NULL;
+    }
 }
 
 void PhysicsEntity::setTranslation(const glm::vec3& translation) {
diff --git a/libraries/shared/src/PhysicsSimulation.cpp b/libraries/shared/src/PhysicsSimulation.cpp
index c7c3f5e161..5c0c2c9883 100644
--- a/libraries/shared/src/PhysicsSimulation.cpp
+++ b/libraries/shared/src/PhysicsSimulation.cpp
@@ -31,11 +31,14 @@ PhysicsSimulation::PhysicsSimulation() : _collisionList(MAX_COLLISIONS_PER_SIMUL
 }
 
 PhysicsSimulation::~PhysicsSimulation() {
+    // entities have a backpointer to this simulator that must be cleaned up
     int numEntities = _entities.size();
     for (int i = 0; i < numEntities; ++i) {
         _entities[i]->_simulation = NULL;
     }
     _entities.clear();
+
+    // but Ragdolls do not
     _dolls.clear();
 }
 

From 716ae3e47916785296158f13737cd2bc7835bdc6 Mon Sep 17 00:00:00 2001
From: Andrew Meadows <andrew@highfidelity.io>
Date: Thu, 19 Jun 2014 12:32:17 -0700
Subject: [PATCH 044/105] add MyAvatar's skeleton to its PhysicsSimulation

---
 interface/src/avatar/MyAvatar.cpp          | 13 +++++++++----
 interface/src/avatar/MyAvatar.h            |  2 +-
 libraries/shared/src/PhysicsSimulation.cpp |  4 +++-
 3 files changed, 13 insertions(+), 6 deletions(-)

diff --git a/interface/src/avatar/MyAvatar.cpp b/interface/src/avatar/MyAvatar.cpp
index 4a4e20fabe..c77b0a2924 100644
--- a/interface/src/avatar/MyAvatar.cpp
+++ b/interface/src/avatar/MyAvatar.cpp
@@ -77,16 +77,20 @@ MyAvatar::MyAvatar() :
     _lookAtTargetAvatar(),
     _shouldRender(true),
     _billboardValid(false),
-    _simulationEngine()
+    _physicsSimulation()
 {
     for (int i = 0; i < MAX_DRIVE_KEYS; i++) {
         _driveKeys[i] = 0.0f;
     }
     _skeletonModel.setEnableShapes(true);
-    _simulationEngine.addRagdoll(&_skeletonModel);
+    // The skeleton is both a PhysicsEntity and Ragdoll, so we add it to the simulation once for each type.
+    _physicsSimulation.addEntity(&_skeletonModel);
+    _physicsSimulation.addRagdoll(&_skeletonModel);
 }
 
 MyAvatar::~MyAvatar() {
+    _physicsSimulation.removeEntity(&_skeletonModel);
+    _physicsSimulation.removeRagdoll(&_skeletonModel);
     _lookAtTargetAvatar.clear();
 }
 
@@ -192,13 +196,14 @@ void MyAvatar::simulate(float deltaTime) {
         head->simulate(deltaTime, true);
     }
 
-    if (!Menu::getInstance()->isOptionChecked(MenuOption::CollideAsRagdoll)) {
+    if (Menu::getInstance()->isOptionChecked(MenuOption::CollideAsRagdoll)) {
         PerformanceTimer perfTimer("MyAvatar::simulate/head Simulate");
         const int minError = 0.005f;
         const float maxIterations = 4;
         const quint64 maxUsec = 500;
-        _simulationEngine.stepForward(deltaTime, minError, maxIterations, maxUsec);
+        _physicsSimulation.stepForward(deltaTime, minError, maxIterations, maxUsec);
     }
+
     /* TODO: Andrew to make this work again
     // now that we're done stepping the avatar forward in time, compute new collisions
     if (_collisionGroups != 0) {
diff --git a/interface/src/avatar/MyAvatar.h b/interface/src/avatar/MyAvatar.h
index b48e61718c..e7023b45a1 100644
--- a/interface/src/avatar/MyAvatar.h
+++ b/interface/src/avatar/MyAvatar.h
@@ -175,7 +175,7 @@ private:
     float _oculusYawOffset;
 
     QList<AnimationHandlePointer> _animationHandles;
-    PhysicsSimulation _simulationEngine;
+    PhysicsSimulation _physicsSimulation;
 
 	// private methods
     float computeDistanceToFloor(const glm::vec3& startPoint);
diff --git a/libraries/shared/src/PhysicsSimulation.cpp b/libraries/shared/src/PhysicsSimulation.cpp
index 5c0c2c9883..4406190c02 100644
--- a/libraries/shared/src/PhysicsSimulation.cpp
+++ b/libraries/shared/src/PhysicsSimulation.cpp
@@ -167,7 +167,9 @@ void PhysicsSimulation::stepForward(float deltaTime, float minError, int maxIter
             // TODO: check for pairwise collision bypass here
             for (int k = j+1; k < numShapes; ++k) {
                 const Shape* otherShape = shapes.at(k);
-                ShapeCollider::collideShapes(shape, otherShape, _collisionList);
+                if (otherShape) {
+                    ShapeCollider::collideShapes(shape, otherShape, _collisionList);
+                }
             }
         }
 

From aa3602f0fb5fa0def615377e25dd52e2f33e5a3f Mon Sep 17 00:00:00 2001
From: wangyix <wangyix@gmail.com>
Date: Thu, 19 Jun 2014 14:34:55 -0700
Subject: [PATCH 045/105] added InterframeTimeGapHistory and frameReceived()
 calls

---
 .../src/audio/AvatarAudioRingBuffer.cpp       |  2 +
 libraries/audio/src/AudioRingBuffer.cpp       | 57 +++++++++++++++++++
 libraries/audio/src/AudioRingBuffer.h         | 28 +++++++++
 .../audio/src/InjectedAudioRingBuffer.cpp     |  2 +
 4 files changed, 89 insertions(+)

diff --git a/assignment-client/src/audio/AvatarAudioRingBuffer.cpp b/assignment-client/src/audio/AvatarAudioRingBuffer.cpp
index 5613a64cc4..47a0ecbea8 100644
--- a/assignment-client/src/audio/AvatarAudioRingBuffer.cpp
+++ b/assignment-client/src/audio/AvatarAudioRingBuffer.cpp
@@ -19,6 +19,8 @@ AvatarAudioRingBuffer::AvatarAudioRingBuffer(bool isStereo) :
 }
 
 int AvatarAudioRingBuffer::parseData(const QByteArray& packet) {
+    _timeGapHistory.frameReceived();
+
     _shouldLoopbackForNode = (packetTypeForPacket(packet) == PacketTypeMicrophoneAudioWithEcho);
     return PositionalAudioRingBuffer::parseData(packet);
 }
diff --git a/libraries/audio/src/AudioRingBuffer.cpp b/libraries/audio/src/AudioRingBuffer.cpp
index 2101fcb9cd..ea15e27ef5 100644
--- a/libraries/audio/src/AudioRingBuffer.cpp
+++ b/libraries/audio/src/AudioRingBuffer.cpp
@@ -12,6 +12,7 @@
 #include <cstring>
 #include <functional>
 #include <math.h>
+#include "SharedUtil.h"
 
 #include <QtCore/QDebug>
 
@@ -19,6 +20,62 @@
 
 #include "AudioRingBuffer.h"
 
+InterframeTimeGapHistory::InterframeTimeGapHistory()
+    : _lastFrameReceivedTime(0),
+    _numSamplesInCurrentInterval(0),
+    _currentIntervalMaxGap(0),
+    _newestIntervalMaxGapAt(0),
+    _windowMaxGap(0),
+    _newWindowMaxGapAvailable(false)
+{
+    memset(_intervalMaxGaps, 0, TIME_GAP_NUM_INTERVALS_IN_WINDOW*sizeof(quint64));
+}
+
+void InterframeTimeGapHistory::frameReceived() {
+    quint64 now = usecTimestampNow();
+
+    // make sure this isn't the first time frameReceived() is called, meaning there's actually a gap to calculate.
+    if (_lastFrameReceivedTime != 0) {
+        quint64 gap = now - _lastFrameReceivedTime;
+
+        // update the current interval max
+        if (gap > _currentIntervalMaxGap) {
+            _currentIntervalMaxGap = gap;
+        }
+        _numSamplesInCurrentInterval++;
+
+        // if the current interval of samples is now full, record it in our interval maxes
+        if (_numSamplesInCurrentInterval == TIME_GAP_NUM_SAMPLES_IN_INTERVAL) {
+
+            // find location to insert this interval's max (increment index cyclically)
+            _newestIntervalMaxGapAt = _newestIntervalMaxGapAt == TIME_GAP_NUM_INTERVALS_IN_WINDOW - 1 ? 0 : _newestIntervalMaxGapAt + 1;
+
+            // record the current interval's max gap as the newest
+            _intervalMaxGaps[_newestIntervalMaxGapAt] = _currentIntervalMaxGap;
+
+            // update the window max gap, which is the max out of all the past intervals' max gaps
+            _windowMaxGap = 0;
+            for (int i = 0; i < TIME_GAP_NUM_INTERVALS_IN_WINDOW; i++) {
+                if (_intervalMaxGaps[i] > _windowMaxGap) {
+                    _windowMaxGap = _intervalMaxGaps[i];
+                }
+            }
+            _newWindowMaxGapAvailable = true;
+
+            // reset the current interval
+            _numSamplesInCurrentInterval = 0;
+            _currentIntervalMaxGap = 0;
+        }
+    }
+    _lastFrameReceivedTime = now;
+}
+
+quint64 InterframeTimeGapHistory::getPastWindowMaxGap() {
+    _newWindowMaxGapAvailable = false;
+    return _windowMaxGap;
+}
+
+
 AudioRingBuffer::AudioRingBuffer(int numFrameSamples, bool randomAccessMode) :
     NodeData(),
     _sampleCapacity(numFrameSamples * RING_BUFFER_LENGTH_FRAMES),
diff --git a/libraries/audio/src/AudioRingBuffer.h b/libraries/audio/src/AudioRingBuffer.h
index 04cc67c8ac..105e3761ae 100644
--- a/libraries/audio/src/AudioRingBuffer.h
+++ b/libraries/audio/src/AudioRingBuffer.h
@@ -21,6 +21,30 @@
 
 #include "NodeData.h"
 
+// this means that every 500 samples, the max for the past 10*500 samples will be calculated
+const int TIME_GAP_NUM_SAMPLES_IN_INTERVAL = 500;
+const int TIME_GAP_NUM_INTERVALS_IN_WINDOW = 10;
+
+class InterframeTimeGapHistory {
+public:
+    InterframeTimeGapHistory();
+
+    void frameReceived();
+    bool isNewWindowMaxGapAvailable() const { return _newWindowMaxGapAvailable; }
+    quint64 getPastWindowMaxGap();
+
+private:
+    quint64 _lastFrameReceivedTime;
+
+    int _numSamplesInCurrentInterval;
+    quint64 _currentIntervalMaxGap;
+    quint64 _intervalMaxGaps[TIME_GAP_NUM_INTERVALS_IN_WINDOW];
+    int _newestIntervalMaxGapAt;
+    quint64 _windowMaxGap;
+    bool _newWindowMaxGapAvailable;
+};
+
+
 const int SAMPLE_RATE = 24000;
 
 const int NETWORK_BUFFER_LENGTH_BYTES_STEREO = 1024;
@@ -74,6 +98,8 @@ public:
     bool hasStarted() const { return _hasStarted; }
     
     void addSilentFrame(int numSilentSamples);
+
+    InterframeTimeGapHistory& getInterframeTimeGapHistory() { return _timeGapHistory; }
 protected:
     // disallow copying of AudioRingBuffer objects
     AudioRingBuffer(const AudioRingBuffer&);
@@ -89,6 +115,8 @@ protected:
     bool _isStarved;
     bool _hasStarted;
     bool _randomAccessMode; /// will this ringbuffer be used for random access? if so, do some special processing
+
+    InterframeTimeGapHistory _timeGapHistory;
 };
 
 #endif // hifi_AudioRingBuffer_h
diff --git a/libraries/audio/src/InjectedAudioRingBuffer.cpp b/libraries/audio/src/InjectedAudioRingBuffer.cpp
index 2658b4c336..103d0d8d2e 100644
--- a/libraries/audio/src/InjectedAudioRingBuffer.cpp
+++ b/libraries/audio/src/InjectedAudioRingBuffer.cpp
@@ -31,6 +31,8 @@ InjectedAudioRingBuffer::InjectedAudioRingBuffer(const QUuid& streamIdentifier)
 const uchar MAX_INJECTOR_VOLUME = 255;
 
 int InjectedAudioRingBuffer::parseData(const QByteArray& packet) {
+    _timeGapHistory.frameReceived();
+
     // setup a data stream to read from this packet
     QDataStream packetStream(packet);
     packetStream.skipRawData(numBytesForPacketHeader(packet));

From 7a9c0f0e6a504038bf7d19ef616ab4c5d3054945 Mon Sep 17 00:00:00 2001
From: Andrzej Kapolka <drzej.k@gmail.com>
Date: Thu, 19 Jun 2014 14:50:19 -0700
Subject: [PATCH 046/105] Working on tests for metavoxel streaming.

---
 libraries/metavoxels/src/MetavoxelData.cpp |  69 +++++++++
 libraries/metavoxels/src/MetavoxelData.h   |  13 +-
 tests/metavoxels/src/MetavoxelTests.cpp    | 164 +++++++++++++++++----
 tests/metavoxels/src/MetavoxelTests.h      |  16 +-
 4 files changed, 229 insertions(+), 33 deletions(-)

diff --git a/libraries/metavoxels/src/MetavoxelData.cpp b/libraries/metavoxels/src/MetavoxelData.cpp
index 503dcce8d2..cf645e6f5e 100644
--- a/libraries/metavoxels/src/MetavoxelData.cpp
+++ b/libraries/metavoxels/src/MetavoxelData.cpp
@@ -604,10 +604,79 @@ void MetavoxelData::writeDelta(const MetavoxelData& reference, const MetavoxelLO
 
 void MetavoxelData::readIncrementalDelta(const MetavoxelData& reference, const MetavoxelLOD& referenceLOD,
     Bitstream& in, const MetavoxelLOD& lod) {
+    
+    // shallow copy the reference
+    *this = reference;
+
+    // if nothing changed, return
+    bool changed;
+    in >> changed;
+    if (!changed) {
+        return;
+    }
+    
+    // expand if the size has changed
+    bool sizeChanged;
+    in >> sizeChanged;
+    if (sizeChanged) {
+        float size;
+        in >> size;
+        while (_size < size) {
+            expand();
+        }
+    }
+    
+    // read the nodes removed
+    forever {
+        AttributePointer attribute;
+        in >> attribute;
+        if (!attribute) {
+            break;
+        }
+        _roots.take(attribute)->decrementReferenceCount(attribute);
+    }
 }
 
 void MetavoxelData::writeIncrementalDelta(const MetavoxelData& reference, const MetavoxelLOD& referenceLOD,
     Bitstream& out, const MetavoxelLOD& lod) const {
+    
+    // first things first: there might be no change whatsoever
+    glm::vec3 minimum = getMinimum();
+    bool becameSubdivided = lod.becameSubdivided(minimum, _size, referenceLOD);
+    if (_size == reference._size && _roots == reference._roots && !becameSubdivided) {
+        out << false;
+        return;
+    }
+    out << true;
+    
+    // compare the size; if changed (rare), we must compare to the expanded reference
+    const MetavoxelData* expandedReference = &reference;
+    if (_size == reference._size) {
+        out << false;
+    } else {
+        out << true;
+        out << _size;
+        
+        MetavoxelData* expanded = new MetavoxelData(reference);
+        while (expanded->_size < _size) {
+            expanded->expand();
+        }
+        expandedReference = expanded;
+    }
+    
+    // write the nodes removed
+    for (QHash<AttributePointer, MetavoxelNode*>::const_iterator it = expandedReference->_roots.constBegin();
+            it != expandedReference->_roots.constEnd(); it++) {
+        if (!_roots.contains(it.key())) {
+            out << it.key();
+        }
+    }
+    out << AttributePointer();
+    
+    // delete the expanded reference if we had to expand
+    if (expandedReference != &reference) {
+        delete expandedReference;
+    }
 }
 
 MetavoxelNode* MetavoxelData::createRoot(const AttributePointer& attribute) {
diff --git a/libraries/metavoxels/src/MetavoxelData.h b/libraries/metavoxels/src/MetavoxelData.h
index 199b6a8aff..6b262d6892 100644
--- a/libraries/metavoxels/src/MetavoxelData.h
+++ b/libraries/metavoxels/src/MetavoxelData.h
@@ -34,7 +34,8 @@ class NetworkValue;
 class Spanner;
 class SpannerRenderer;
 
-/// Determines whether to subdivide each node when traversing.
+/// Determines whether to subdivide each node when traversing.  Contains the position (presumed to be of the viewer) and a
+/// threshold value, where lower thresholds cause smaller/more distant voxels to be subdivided.
 class MetavoxelLOD {
     STREAMABLE
     
@@ -46,6 +47,7 @@ public:
     
     bool isValid() const { return threshold > 0.0f; }
     
+    /// Checks whether, according to this LOD, we should subdivide the described voxel.
     bool shouldSubdivide(const glm::vec3& minimum, float size, float multiplier = 1.0f) const;
     
     /// Checks whether the node or any of the nodes underneath it have had subdivision enabled as compared to the reference.
@@ -78,20 +80,25 @@ public:
     /// Applies the specified visitor to the contained voxels.
     void guide(MetavoxelVisitor& visitor);
    
+    /// Inserts a spanner into the specified attribute layer.
     void insert(const AttributePointer& attribute, const SharedObjectPointer& object);
     void insert(const AttributePointer& attribute, const Box& bounds, float granularity, const SharedObjectPointer& object);
     
+    /// Removes a spanner from the specified attribute layer.
     void remove(const AttributePointer& attribute, const SharedObjectPointer& object);
     void remove(const AttributePointer& attribute, const Box& bounds, float granularity, const SharedObjectPointer& object);
 
+    /// Toggles the existence of a spanner in the specified attribute layer (removes if present, adds if not).
     void toggle(const AttributePointer& attribute, const SharedObjectPointer& object);
     void toggle(const AttributePointer& attribute, const Box& bounds, float granularity, const SharedObjectPointer& object);
 
+    /// Replaces a spanner in the specified attribute layer.
     void replace(const AttributePointer& attribute, const SharedObjectPointer& oldObject,
         const SharedObjectPointer& newObject);
     void replace(const AttributePointer& attribute, const Box& bounds, float granularity, const SharedObjectPointer& oldObject,
         const SharedObjectPointer& newObject);
-        
+    
+    /// Clears all data in the specified attribute layer.
     void clear(const AttributePointer& attribute);
 
     /// Convenience function that finds the first spanner intersecting the provided ray.    
@@ -101,7 +108,7 @@ public:
     /// Sets part of the data.
     void set(const glm::vec3& minimum, const MetavoxelData& data, bool blend = false);
 
-    /// Expands the tree, increasing its capacity in all dimensions.
+    /// Expands the tree, doubling its size in all dimensions (that is, increasing its volume eightfold).
     void expand();
 
     void read(Bitstream& in, const MetavoxelLOD& lod = MetavoxelLOD());
diff --git a/tests/metavoxels/src/MetavoxelTests.cpp b/tests/metavoxels/src/MetavoxelTests.cpp
index c9bce27cc3..daee1165f6 100644
--- a/tests/metavoxels/src/MetavoxelTests.cpp
+++ b/tests/metavoxels/src/MetavoxelTests.cpp
@@ -321,44 +321,76 @@ static bool testSerialization(Bitstream::MetadataType metadataType) {
 }
 
 bool MetavoxelTests::run() {
-    
-    qDebug() << "Running transmission tests...";
-    qDebug();
-    
     // seed the random number generator so that our tests are reproducible
     srand(0xBAAAAABE);
 
-    // create two endpoints with the same header
+    // check for an optional command line argument specifying a single test
+    QStringList arguments = this->arguments();
+    int test = (arguments.size() > 1) ? arguments.at(1).toInt() : 0;
+
     QByteArray datagramHeader("testheader");
-    Endpoint alice(datagramHeader), bob(datagramHeader);
-    
-    alice.setOther(&bob);
-    bob.setOther(&alice);
-    
-    // perform a large number of simulation iterations
     const int SIMULATION_ITERATIONS = 10000;
-    for (int i = 0; i < SIMULATION_ITERATIONS; i++) {
-        if (alice.simulate(i) || bob.simulate(i)) {
+    if (test == 0 || test == 1) {
+        qDebug() << "Running transmission tests...";
+        qDebug();
+    
+        // create two endpoints with the same header
+        Endpoint alice(datagramHeader), bob(datagramHeader);
+        
+        alice.setOther(&bob);
+        bob.setOther(&alice);
+        
+        // perform a large number of simulation iterations
+        for (int i = 0; i < SIMULATION_ITERATIONS; i++) {
+            if (alice.simulate(i) || bob.simulate(i)) {
+                return true;
+            }
+        }
+        
+        qDebug() << "Sent" << highPriorityMessagesSent << "high priority messages, received" << highPriorityMessagesReceived;
+        qDebug() << "Sent" << unreliableMessagesSent << "unreliable messages, received" << unreliableMessagesReceived;
+        qDebug() << "Sent" << reliableMessagesSent << "reliable messages, received" << reliableMessagesReceived;
+        qDebug() << "Sent" << streamedBytesSent << "streamed bytes, received" << streamedBytesReceived;
+        qDebug() << "Sent" << datagramsSent << "datagrams with" << bytesSent << "bytes, received" <<
+            datagramsReceived << "with" << bytesReceived << "bytes";
+        qDebug() << "Created" << sharedObjectsCreated << "shared objects, destroyed" << sharedObjectsDestroyed;
+        qDebug() << "Performed" << objectMutationsPerformed << "object mutations";
+        qDebug() << "Created" << scriptObjectsCreated << "script objects, mutated" << scriptMutationsPerformed;
+        qDebug();
+    }
+    
+    if (test == 0 || test == 2) {
+        qDebug() << "Running serialization tests...";
+        qDebug();
+        
+        if (testSerialization(Bitstream::HASH_METADATA) || testSerialization(Bitstream::FULL_METADATA)) {
             return true;
         }
     }
     
-    qDebug() << "Sent" << highPriorityMessagesSent << "high priority messages, received" << highPriorityMessagesReceived;
-    qDebug() << "Sent" << unreliableMessagesSent << "unreliable messages, received" << unreliableMessagesReceived;
-    qDebug() << "Sent" << reliableMessagesSent << "reliable messages, received" << reliableMessagesReceived;
-    qDebug() << "Sent" << streamedBytesSent << "streamed bytes, received" << streamedBytesReceived;
-    qDebug() << "Sent" << datagramsSent << "datagrams with" << bytesSent << "bytes, received" <<
-        datagramsReceived << "with" << bytesReceived << "bytes";
-    qDebug() << "Created" << sharedObjectsCreated << "shared objects, destroyed" << sharedObjectsDestroyed;
-    qDebug() << "Performed" << objectMutationsPerformed << "object mutations";
-    qDebug() << "Created" << scriptObjectsCreated << "script objects, mutated" << scriptMutationsPerformed;
-    qDebug();
+    if (test == 0 || test == 3) {
+        qDebug() << "Running metavoxel data tests...";
+        qDebug();
     
-    qDebug() << "Running serialization tests...";
-    qDebug();
+        // clear the stats
+        datagramsSent = bytesSent = datagramsReceived = bytesReceived = 0;
     
-    if (testSerialization(Bitstream::HASH_METADATA) || testSerialization(Bitstream::FULL_METADATA)) {
-        return true;
+        // create client and server endpoints
+        Endpoint client(datagramHeader, Endpoint::METAVOXEL_CLIENT_MODE);
+        Endpoint server(datagramHeader, Endpoint::METAVOXEL_SERVER_MODE);
+        
+        client.setOther(&server);
+        server.setOther(&client);
+        
+        // simulate
+        for (int i = 0; i < SIMULATION_ITERATIONS; i++) {
+            if (client.simulate(i) || server.simulate(i)) {
+                return true;
+            }
+        }
+        
+        qDebug() << "Sent" << datagramsSent << "datagrams with" << bytesSent << "bytes, received" <<
+            datagramsReceived << "with" << bytesReceived << "bytes";
     }
     
     qDebug() << "All tests passed!";
@@ -375,7 +407,8 @@ static SharedObjectPointer createRandomSharedObject() {
     }
 }
 
-Endpoint::Endpoint(const QByteArray& datagramHeader) :
+Endpoint::Endpoint(const QByteArray& datagramHeader, Mode mode) :
+    _mode(mode),
     _sequencer(new DatagramSequencer(datagramHeader, this)),
     _highPriorityMessagesToSend(0.0f),
     _reliableMessagesToSend(0.0f) {
@@ -396,6 +429,13 @@ Endpoint::Endpoint(const QByteArray& datagramHeader) :
     ReceiveRecord receiveRecord = { 0 };
     _receiveRecords.append(receiveRecord);
     
+    if (mode == METAVOXEL_CLIENT_MODE) {
+        _lod = MetavoxelLOD(glm::vec3(), 0.01f);
+        return;
+    }
+    if (mode == METAVOXEL_SERVER_MODE) {
+        return;
+    }
     // create the object that represents out delta-encoded state
     _localState = new TestSharedObjectA();
     
@@ -415,7 +455,7 @@ Endpoint::Endpoint(const QByteArray& datagramHeader) :
     QByteArray bytes = createRandomBytes(MIN_STREAM_BYTES, MAX_STREAM_BYTES);
     _dataStreamed.append(bytes);
     output->getBuffer().write(bytes);
-    streamedBytesSent += bytes.size();
+    streamedBytesSent += bytes.size();    
 }
 
 static QVariant createRandomMessage() {
@@ -525,6 +565,34 @@ bool Endpoint::simulate(int iterationNumber) {
         }
     }
 
+    if (_mode == METAVOXEL_CLIENT_MODE) {
+        Bitstream& out = _sequencer->startPacket();
+    
+        ClientStateMessage state = { _lod };
+        out << QVariant::fromValue(state);
+        _sequencer->endPacket();
+        
+        // record the send
+        SendRecord record = { _sequencer->getOutgoingPacketNumber(), SharedObjectPointer(), MetavoxelData(), _lod };
+        _sendRecords.append(record);
+        return false;
+    }
+    if (_mode == METAVOXEL_SERVER_MODE) {
+        // wait until we have a valid lod
+        if (!_lod.isValid()) {
+            return false;
+        }
+        Bitstream& out = _sequencer->startPacket();
+        out << QVariant::fromValue(MetavoxelDeltaMessage());
+        _data.writeDelta(_sendRecords.first().data, _sendRecords.first().lod, out, _lod);
+        _sequencer->endPacket();
+        
+        // record the send
+        SendRecord record = { _sequencer->getOutgoingPacketNumber(), SharedObjectPointer(), _data, _lod };
+        _sendRecords.append(record);
+        return false;
+    }
+
     // enqueue some number of high priority messages
     const float MIN_HIGH_PRIORITY_MESSAGES = 0.0f;
     const float MAX_HIGH_PRIORITY_MESSAGES = 2.0f;
@@ -619,6 +687,28 @@ void Endpoint::handleHighPriorityMessage(const QVariant& message) {
 }
 
 void Endpoint::readMessage(Bitstream& in) {
+    if (_mode == METAVOXEL_CLIENT_MODE) {
+        QVariant message;
+        in >> message;
+        handleMessage(message, in);
+    
+        // record the receipt
+        ReceiveRecord record = { _sequencer->getIncomingPacketNumber(), SharedObjectPointer(),
+            _data, _sendRecords.first().lod };
+        _receiveRecords.append(record);
+        return;
+    }
+    if (_mode == METAVOXEL_SERVER_MODE) {
+        QVariant message;
+        in >> message;
+        handleMessage(message, in);
+        
+        // record the receipt
+        ReceiveRecord record = { _sequencer->getIncomingPacketNumber() };
+        _receiveRecords.append(record);
+        return;
+    }
+
     SequencedTestMessage message;
     in >> message;
     
@@ -682,6 +772,22 @@ void Endpoint::clearReceiveRecordsBefore(int index) {
     _receiveRecords.erase(_receiveRecords.begin(), _receiveRecords.begin() + index + 1);
 }
 
+void Endpoint::handleMessage(const QVariant& message, Bitstream& in) {
+    int userType = message.userType();
+    if (userType == ClientStateMessage::Type) {
+        ClientStateMessage state = message.value<ClientStateMessage>();
+        _lod = state.lod;
+    
+    } else if (userType == MetavoxelDeltaMessage::Type) {
+        _data.readDelta(_receiveRecords.first().data, _receiveRecords.first().lod, in, _sendRecords.first().lod);
+    
+    } else if (userType == QMetaType::QVariantList) {
+        foreach (const QVariant& element, message.toList()) {
+            handleMessage(element, in);
+        }
+    }
+}
+
 TestSharedObjectA::TestSharedObjectA(float foo, TestEnum baz, TestFlags bong) :
         _foo(foo),
         _baz(baz),
diff --git a/tests/metavoxels/src/MetavoxelTests.h b/tests/metavoxels/src/MetavoxelTests.h
index ac9eda2659..1de355661d 100644
--- a/tests/metavoxels/src/MetavoxelTests.h
+++ b/tests/metavoxels/src/MetavoxelTests.h
@@ -16,6 +16,7 @@
 #include <QVariantList>
 
 #include <DatagramSequencer.h>
+#include <MetavoxelData.h>
 #include <ScriptCache.h>
 
 class SequencedTestMessage;
@@ -39,7 +40,9 @@ class Endpoint : public QObject {
 
 public:
     
-    Endpoint(const QByteArray& datagramHeader);
+    enum Mode { BASIC_PEER_MODE, METAVOXEL_SERVER_MODE, METAVOXEL_CLIENT_MODE };
+    
+    Endpoint(const QByteArray& datagramHeader, Mode mode = BASIC_PEER_MODE);
 
     void setOther(Endpoint* other) { _other = other; }
 
@@ -60,18 +63,26 @@ private slots:
 
 private:
     
+    void handleMessage(const QVariant& message, Bitstream& in);
+    
     class SendRecord {
     public:
         int packetNumber;
         SharedObjectPointer localState;
+        MetavoxelData data;
+        MetavoxelLOD lod;
     };
     
     class ReceiveRecord {
     public:
         int packetNumber;
         SharedObjectPointer remoteState;
+        MetavoxelData data;
+        MetavoxelLOD lod;
     };
     
+    Mode _mode;
+    
     DatagramSequencer* _sequencer;
     QList<SendRecord> _sendRecords;
     QList<ReceiveRecord> _receiveRecords;
@@ -79,6 +90,9 @@ private:
     SharedObjectPointer _localState;
     SharedObjectPointer _remoteState;
     
+    MetavoxelData _data;
+    MetavoxelLOD _lod;
+    
     Endpoint* _other;
     QList<QPair<QByteArray, int> > _delayedDatagrams;
     float _highPriorityMessagesToSend;

From 8176aa129289dc99eeaa85a9727dceac6fc27cbc Mon Sep 17 00:00:00 2001
From: wangyix <wangyix@gmail.com>
Date: Thu, 19 Jun 2014 14:54:22 -0700
Subject: [PATCH 047/105] added debug code for testing time gap history

---
 libraries/audio/src/AudioRingBuffer.cpp | 6 ++++++
 libraries/audio/src/AudioRingBuffer.h   | 4 ++--
 2 files changed, 8 insertions(+), 2 deletions(-)

diff --git a/libraries/audio/src/AudioRingBuffer.cpp b/libraries/audio/src/AudioRingBuffer.cpp
index ea15e27ef5..f42ba49380 100644
--- a/libraries/audio/src/AudioRingBuffer.cpp
+++ b/libraries/audio/src/AudioRingBuffer.cpp
@@ -38,6 +38,8 @@ void InterframeTimeGapHistory::frameReceived() {
     if (_lastFrameReceivedTime != 0) {
         quint64 gap = now - _lastFrameReceivedTime;
 
+printf("new gap: %llu\n", gap);
+
         // update the current interval max
         if (gap > _currentIntervalMaxGap) {
             _currentIntervalMaxGap = gap;
@@ -47,6 +49,8 @@ void InterframeTimeGapHistory::frameReceived() {
         // if the current interval of samples is now full, record it in our interval maxes
         if (_numSamplesInCurrentInterval == TIME_GAP_NUM_SAMPLES_IN_INTERVAL) {
 
+printf("\t interval full: max interval gap: %llu\n", _currentIntervalMaxGap);
+
             // find location to insert this interval's max (increment index cyclically)
             _newestIntervalMaxGapAt = _newestIntervalMaxGapAt == TIME_GAP_NUM_INTERVALS_IN_WINDOW - 1 ? 0 : _newestIntervalMaxGapAt + 1;
 
@@ -62,6 +66,8 @@ void InterframeTimeGapHistory::frameReceived() {
             }
             _newWindowMaxGapAvailable = true;
 
+printf("\t\t new window max gap: %llu\n", _windowMaxGap);
+
             // reset the current interval
             _numSamplesInCurrentInterval = 0;
             _currentIntervalMaxGap = 0;
diff --git a/libraries/audio/src/AudioRingBuffer.h b/libraries/audio/src/AudioRingBuffer.h
index 105e3761ae..b702abde7b 100644
--- a/libraries/audio/src/AudioRingBuffer.h
+++ b/libraries/audio/src/AudioRingBuffer.h
@@ -22,8 +22,8 @@
 #include "NodeData.h"
 
 // this means that every 500 samples, the max for the past 10*500 samples will be calculated
-const int TIME_GAP_NUM_SAMPLES_IN_INTERVAL = 500;
-const int TIME_GAP_NUM_INTERVALS_IN_WINDOW = 10;
+const int TIME_GAP_NUM_SAMPLES_IN_INTERVAL = 6;
+const int TIME_GAP_NUM_INTERVALS_IN_WINDOW = 4;
 
 class InterframeTimeGapHistory {
 public:

From 77c377711a28d735405141c305c7d72e7460b620 Mon Sep 17 00:00:00 2001
From: wangyix <wangyix@gmail.com>
Date: Thu, 19 Jun 2014 15:39:54 -0700
Subject: [PATCH 048/105] removed debug code

---
 libraries/audio/src/AudioRingBuffer.cpp | 6 ------
 libraries/audio/src/AudioRingBuffer.h   | 4 ++--
 2 files changed, 2 insertions(+), 8 deletions(-)

diff --git a/libraries/audio/src/AudioRingBuffer.cpp b/libraries/audio/src/AudioRingBuffer.cpp
index f42ba49380..ea15e27ef5 100644
--- a/libraries/audio/src/AudioRingBuffer.cpp
+++ b/libraries/audio/src/AudioRingBuffer.cpp
@@ -38,8 +38,6 @@ void InterframeTimeGapHistory::frameReceived() {
     if (_lastFrameReceivedTime != 0) {
         quint64 gap = now - _lastFrameReceivedTime;
 
-printf("new gap: %llu\n", gap);
-
         // update the current interval max
         if (gap > _currentIntervalMaxGap) {
             _currentIntervalMaxGap = gap;
@@ -49,8 +47,6 @@ printf("new gap: %llu\n", gap);
         // if the current interval of samples is now full, record it in our interval maxes
         if (_numSamplesInCurrentInterval == TIME_GAP_NUM_SAMPLES_IN_INTERVAL) {
 
-printf("\t interval full: max interval gap: %llu\n", _currentIntervalMaxGap);
-
             // find location to insert this interval's max (increment index cyclically)
             _newestIntervalMaxGapAt = _newestIntervalMaxGapAt == TIME_GAP_NUM_INTERVALS_IN_WINDOW - 1 ? 0 : _newestIntervalMaxGapAt + 1;
 
@@ -66,8 +62,6 @@ printf("\t interval full: max interval gap: %llu\n", _currentIntervalMaxGap);
             }
             _newWindowMaxGapAvailable = true;
 
-printf("\t\t new window max gap: %llu\n", _windowMaxGap);
-
             // reset the current interval
             _numSamplesInCurrentInterval = 0;
             _currentIntervalMaxGap = 0;
diff --git a/libraries/audio/src/AudioRingBuffer.h b/libraries/audio/src/AudioRingBuffer.h
index b702abde7b..105e3761ae 100644
--- a/libraries/audio/src/AudioRingBuffer.h
+++ b/libraries/audio/src/AudioRingBuffer.h
@@ -22,8 +22,8 @@
 #include "NodeData.h"
 
 // this means that every 500 samples, the max for the past 10*500 samples will be calculated
-const int TIME_GAP_NUM_SAMPLES_IN_INTERVAL = 6;
-const int TIME_GAP_NUM_INTERVALS_IN_WINDOW = 4;
+const int TIME_GAP_NUM_SAMPLES_IN_INTERVAL = 500;
+const int TIME_GAP_NUM_INTERVALS_IN_WINDOW = 10;
 
 class InterframeTimeGapHistory {
 public:

From f0c2417206cc222bfe842a3b09326e2b9ea794ab Mon Sep 17 00:00:00 2001
From: Andrew Meadows <andrew@highfidelity.io>
Date: Thu, 19 Jun 2014 15:50:16 -0700
Subject: [PATCH 049/105] Split PhysicsSimulation::stepForward() into parts

---
 interface/src/avatar/MyAvatar.cpp          |  2 +-
 libraries/shared/src/PhysicsSimulation.cpp | 46 ++++++++++++----------
 libraries/shared/src/PhysicsSimulation.h   |  6 +--
 3 files changed, 29 insertions(+), 25 deletions(-)

diff --git a/interface/src/avatar/MyAvatar.cpp b/interface/src/avatar/MyAvatar.cpp
index c77b0a2924..1f7116a254 100644
--- a/interface/src/avatar/MyAvatar.cpp
+++ b/interface/src/avatar/MyAvatar.cpp
@@ -200,7 +200,7 @@ void MyAvatar::simulate(float deltaTime) {
         PerformanceTimer perfTimer("MyAvatar::simulate/head Simulate");
         const int minError = 0.005f;
         const float maxIterations = 4;
-        const quint64 maxUsec = 500;
+        const quint64 maxUsec = 1000;
         _physicsSimulation.stepForward(deltaTime, minError, maxIterations, maxUsec);
     }
 
diff --git a/libraries/shared/src/PhysicsSimulation.cpp b/libraries/shared/src/PhysicsSimulation.cpp
index 4406190c02..984d0b8fea 100644
--- a/libraries/shared/src/PhysicsSimulation.cpp
+++ b/libraries/shared/src/PhysicsSimulation.cpp
@@ -128,30 +128,36 @@ void PhysicsSimulation::removeRagdoll(Ragdoll* doll) {
         }
     }
 }
-
 // TODO: Andrew need to implement:
 // DONE (1) joints pull points (SpecialCapsuleShape would help solve this)
 // DONE (2) points slam shapes (SpecialCapsuleShape would help solve this)
 // DONE (3) detect collisions
 // DONE (4) collisions move points (SpecialCapsuleShape would help solve this)
 // DONE (5) enforce constraints
-// (6) make sure MyAvatar creates shapes, adds to simulation with ragdoll support
+// DONE (6) make sure MyAvatar creates shapes, adds to simulation with ragdoll support
 // (7) support for pairwise collision bypass
 // (8) process collisions
 // (9) add and enforce angular contraints for joints
 void PhysicsSimulation::stepForward(float deltaTime, float minError, int maxIterations, quint64 maxUsec) {
-    int iterations = 0;
-    quint64 now = usecTimestampNow();
-    quint64 startTime = now;
-    quint64 expiry = now + maxUsec;
+    quint64 startTime = usecTimestampNow();
+    quint64 expiry = startTime + maxUsec;
 
-    // move dolls
+    moveRagdolls(deltaTime);
+    computeCollisions();
+    processCollisions();
+    enforceConstraints(minError, maxIterations, expiry - usecTimestampNow());
+
+    _stepTime = usecTimestampNow()- startTime;
+}
+
+void PhysicsSimulation::moveRagdolls(float deltaTime) {
     int numDolls = _dolls.size();
     for (int i = 0; i < numDolls; ++i) {
         _dolls.at(i)->stepRagdollForward(deltaTime);
     }
-    
-    // collide
+}
+
+void PhysicsSimulation::computeCollisions() {
     _collisionList.clear();
     // TODO: keep track of QSet<PhysicsEntity*> collidedEntities;
     int numEntities = _entities.size();
@@ -179,12 +185,19 @@ void PhysicsSimulation::stepForward(float deltaTime, float minError, int maxIter
             ShapeCollider::collideShapesWithShapes(shapes, otherShapes, _collisionList);
         }
     }
-
-    // TODO: process collisions
     _numCollisions = _collisionList.size();
+}
 
-    // enforce constraints
+void PhysicsSimulation::processCollisions() {
+    // TODO: Andrew to implement this
+}
+
+void PhysicsSimulation::enforceConstraints(float minError, int maxIterations, quint64 maxUsec) {
+    quint64 now = usecTimestampNow();
+    quint64 expiry = now + maxUsec;
+    int iterations = 0;
     float error = 0.0f;
+    int numDolls = _dolls.size();
     do {
         error = 0.0f;
         for (int i = 0; i < numDolls; ++i) {
@@ -193,16 +206,7 @@ void PhysicsSimulation::stepForward(float deltaTime, float minError, int maxIter
         ++iterations;
         now = usecTimestampNow();
     } while (iterations < maxIterations && error > minError && now < expiry);
-
     _numIterations = iterations;
     _constraintError = error;
-    _stepTime = now - startTime;
-}
-
-int PhysicsSimulation::computeCollisions() {
-    return 0.0f;
-}
-
-void PhysicsSimulation::processCollisions() {
 }
 
diff --git a/libraries/shared/src/PhysicsSimulation.h b/libraries/shared/src/PhysicsSimulation.h
index 957309ddd7..9f8ffa4486 100644
--- a/libraries/shared/src/PhysicsSimulation.h
+++ b/libraries/shared/src/PhysicsSimulation.h
@@ -41,10 +41,10 @@ public:
     /// \return distance of largest movement
     void stepForward(float deltaTime, float minError, int maxIterations, quint64 maxUsec);
 
-    /// \return number of collisions
-    int computeCollisions();
-
+    void moveRagdolls(float deltaTime);
+    void computeCollisions();
     void processCollisions();
+    void enforceConstraints(float minError, int maxIterations, quint64 maxUsec);
 
 private:
     CollisionList _collisionList;

From 100bc022ec55a0851a6d5ffb6bff1d16f06bd03c Mon Sep 17 00:00:00 2001
From: wangyix <wangyix@gmail.com>
Date: Thu, 19 Jun 2014 16:42:51 -0700
Subject: [PATCH 050/105] fixed a for loop that erased elements while iterating

---
 assignment-client/src/audio/AudioMixerClientData.cpp | 9 ++++++---
 libraries/audio/src/AudioRingBuffer.h                | 1 +
 2 files changed, 7 insertions(+), 3 deletions(-)

diff --git a/assignment-client/src/audio/AudioMixerClientData.cpp b/assignment-client/src/audio/AudioMixerClientData.cpp
index 2f78a4ac78..2329946e49 100644
--- a/assignment-client/src/audio/AudioMixerClientData.cpp
+++ b/assignment-client/src/audio/AudioMixerClientData.cpp
@@ -120,9 +120,10 @@ void AudioMixerClientData::checkBuffersBeforeFrameSend(int jitterBufferLengthSam
 }
 
 void AudioMixerClientData::pushBuffersAfterFrameSend() {
-    for (int i = 0; i < _ringBuffers.size(); i++) {
+    QList<PositionalAudioRingBuffer*>::iterator i = _ringBuffers.begin();
+    while (i != _ringBuffers.end()) {
         // this was a used buffer, push the output pointer forwards
-        PositionalAudioRingBuffer* audioBuffer = _ringBuffers[i];
+        PositionalAudioRingBuffer* audioBuffer = *i;
 
         if (audioBuffer->willBeAddedToMix()) {
             audioBuffer->shiftReadPosition(audioBuffer->isStereo()
@@ -133,7 +134,9 @@ void AudioMixerClientData::pushBuffersAfterFrameSend() {
                    && audioBuffer->hasStarted() && audioBuffer->isStarved()) {
             // this is an empty audio buffer that has starved, safe to delete
             delete audioBuffer;
-            _ringBuffers.erase(_ringBuffers.begin() + i);
+            i = _ringBuffers.erase(i);
+            continue;
         }
+        i++;
     }
 }
diff --git a/libraries/audio/src/AudioRingBuffer.h b/libraries/audio/src/AudioRingBuffer.h
index 105e3761ae..46bc333e4b 100644
--- a/libraries/audio/src/AudioRingBuffer.h
+++ b/libraries/audio/src/AudioRingBuffer.h
@@ -25,6 +25,7 @@
 const int TIME_GAP_NUM_SAMPLES_IN_INTERVAL = 500;
 const int TIME_GAP_NUM_INTERVALS_IN_WINDOW = 10;
 
+// class used to track time between incoming frames for the purpose of varying the jitter buffer length
 class InterframeTimeGapHistory {
 public:
     InterframeTimeGapHistory();

From 4a0ce7a9aebe777c5d6d8b83f11a2add638bdc60 Mon Sep 17 00:00:00 2001
From: Andrew Meadows <andrew@highfidelity.io>
Date: Thu, 19 Jun 2014 17:39:50 -0700
Subject: [PATCH 051/105] support disabling collisions btw adjacent joints

---
 interface/src/avatar/SkeletonModel.cpp     | 38 +------------
 libraries/shared/src/PhysicsEntity.cpp     | 66 ++++++++++++++++++++++
 libraries/shared/src/PhysicsEntity.h       |  7 +++
 libraries/shared/src/PhysicsSimulation.cpp |  8 +--
 4 files changed, 80 insertions(+), 39 deletions(-)

diff --git a/interface/src/avatar/SkeletonModel.cpp b/interface/src/avatar/SkeletonModel.cpp
index bcd35a1ce2..b28dd08663 100644
--- a/interface/src/avatar/SkeletonModel.cpp
+++ b/interface/src/avatar/SkeletonModel.cpp
@@ -594,10 +594,11 @@ void SkeletonModel::buildShapes() {
     // This method moves the shapes to their default positions in Model frame
     computeBoundingShape(geometry);
 
-    // while the shapes are in their default position we create the constraints
+    // while the shapes are in their default position...
+    disableSelfCollisions();
     buildRagdollConstraints();
 
-    // move shapes back to current joint positions
+    // ... then move shapes back to current joint positions
     moveShapesTowardJoints(1.0f);
 }
 
@@ -613,39 +614,6 @@ void SkeletonModel::moveShapesTowardJoints(float fraction) {
     }
 }
 
-/* TODO: Andrew to remove this when done with ragdoll work.
-void SkeletonModel::updateShapePositionsLegacy() {
-    if (_shapesAreDirty && _shapes.size() == _jointStates.size()) {
-        glm::vec3 rootPosition(0.0f);
-        _boundingRadius = 0.0f;
-        float uniformScale = extractUniformScale(_scale);
-        for (int i = 0; i < _jointStates.size(); i++) {
-            const JointState& state = _jointStates[i];
-            const FBXJoint& joint = state.getFBXJoint();
-            // shape position and rotation need to be in world-frame
-            glm::quat stateRotation = state.getRotation();
-            glm::vec3 shapeOffset = uniformScale * (stateRotation * joint.shapePosition);
-            glm::vec3 worldPosition = _translation + _rotation * (state.getPosition() + shapeOffset);
-            Shape* shape = _shapes[i];
-            if (shape) {
-                shape->setTranslation(worldPosition);
-                shape->setRotation(_rotation * stateRotation * joint.shapeRotation);
-                float distance = glm::distance(worldPosition, _translation) + shape->getBoundingRadius();
-                if (distance > _boundingRadius) {
-                    _boundingRadius = distance;
-                }
-            }
-            if (joint.parentIndex == -1) {
-                rootPosition = worldPosition;
-            }
-        }
-        _shapesAreDirty = false;
-        _boundingShape.setTranslation(rootPosition + _rotation * _boundingShapeLocalOffset);
-        _boundingShape.setRotation(_rotation);
-    }
-}
-*/
-
 void SkeletonModel::computeBoundingShape(const FBXGeometry& geometry) {
     // compute default joint transforms
     int numJoints = geometry.joints.size();
diff --git a/libraries/shared/src/PhysicsEntity.cpp b/libraries/shared/src/PhysicsEntity.cpp
index 03d36c1c99..2955192fbf 100644
--- a/libraries/shared/src/PhysicsEntity.cpp
+++ b/libraries/shared/src/PhysicsEntity.cpp
@@ -161,3 +161,69 @@ bool PhysicsEntity::findPlaneCollisions(const glm::vec4& plane, CollisionList& c
     }
     return collided;
 }
+
+// -----------------------------------------------------------
+// TODO: enforce this maximum when shapes are built.  The gotcha here is that
+// the Model class (derived from PhysicsEntity) expects numShapes == numJoints, 
+// so we have to modify that code to be safe.
+const int MAX_SHAPES_PER_ENTITY = 256;
+
+// the first 256 prime numbers
+const int primes[256] = {
+      2,    3,    5,    7,   11,   13,   17,   19,   23,   29,
+     31,   37,   41,   43,   47,   53,   59,   61,   67,   71,
+     73,   79,   83,   89,   97,  101,  103,  107,  109,  113,
+    127,  131,  137,  139,  149,  151,  157,  163,  167,  173,
+    179,  181,  191,  193,  197,  199,  211,  223,  227,  229,
+    233,  239,  241,  251,  257,  263,  269,  271,  277,  281,
+    283,  293,  307,  311,  313,  317,  331,  337,  347,  349,
+    353,  359,  367,  373,  379,  383,  389,  397,  401,  409,
+    419,  421,  431,  433,  439,  443,  449,  457,  461,  463,
+    467,  479,  487,  491,  499,  503,  509,  521,  523,  541,
+    547,  557,  563,  569,  571,  577,  587,  593,  599,  601,
+    607,  613,  617,  619,  631,  641,  643,  647,  653,  659,
+    661,  673,  677,  683,  691,  701,  709,  719,  727,  733,
+    739,  743,  751,  757,  761,  769,  773,  787,  797,  809,
+    811,  821,  823,  827,  829,  839,  853,  857,  859,  863,
+    877,  881,  883,  887,  907,  911,  919,  929,  937,  941,
+    947,  953,  967,  971,  977,  983,  991,  997, 1009, 1013,
+   1019, 1021, 1031, 1033, 1039, 1049, 1051, 1061, 1063, 1069,
+   1087, 1091, 1093, 1097, 1103, 1109, 1117, 1123, 1129, 1151,
+   1153, 1163, 1171, 1181, 1187, 1193, 1201, 1213, 1217, 1223,
+   1229, 1231, 1237, 1249, 1259, 1277, 1279, 1283, 1289, 1291,
+   1297, 1301, 1303, 1307, 1319, 1321, 1327, 1361, 1367, 1373,
+   1381, 1399, 1409, 1423, 1427, 1429, 1433, 1439, 1447, 1451,
+   1453, 1459, 1471, 1481, 1483, 1487, 1489, 1493, 1499, 1511,
+   1523, 1531, 1543, 1549, 1553, 1559, 1567, 1571, 1579, 1583,
+   1597, 1601, 1607, 1609, 1613, 1619 };
+
+void PhysicsEntity::disableCollisions(int shapeIndexA, int shapeIndexB) {
+    if (shapeIndexA < MAX_SHAPES_PER_ENTITY && shapeIndexB < MAX_SHAPES_PER_ENTITY) {
+        _disabledCollisions.insert(primes[shapeIndexA] * primes[shapeIndexB]);
+    }
+}
+
+bool PhysicsEntity::collisionsAreEnabled(int shapeIndexA, int shapeIndexB) const {
+    if (shapeIndexA < MAX_SHAPES_PER_ENTITY && shapeIndexB < MAX_SHAPES_PER_ENTITY) {
+        return !_disabledCollisions.contains(primes[shapeIndexA] * primes[shapeIndexB]);
+    }
+    return false;
+}
+
+void PhysicsEntity::disableSelfCollisions() {
+    CollisionList collisions(10);
+    int numShapes = _shapes.size();
+    for (int i = 0; i < numShapes; ++i) {
+        const Shape* shape = _shapes.at(i);
+        if (!shape) {
+            continue;
+        }
+        for (int j = i+1; j < numShapes; ++j) {
+            const Shape* otherShape = _shapes.at(j);
+            if (otherShape && ShapeCollider::collideShapes(shape, otherShape, collisions)) {
+                disableCollisions(i, j);
+                collisions.clear();
+            }
+        }
+    }
+}
diff --git a/libraries/shared/src/PhysicsEntity.h b/libraries/shared/src/PhysicsEntity.h
index e52ea1da23..4d2e0ae889 100644
--- a/libraries/shared/src/PhysicsEntity.h
+++ b/libraries/shared/src/PhysicsEntity.h
@@ -13,6 +13,7 @@
 #define hifi_PhysicsEntity_h
 
 #include <QVector>
+#include <QSet>
 
 #include <glm/glm.hpp>
 #include <glm/gtc/quaternion.hpp>
@@ -54,6 +55,11 @@ public:
     bool findSphereCollisions(const glm::vec3& sphereCenter, float sphereRadius, CollisionList& collisions, int skipIndex);
     bool findPlaneCollisions(const glm::vec4& plane, CollisionList& collisions);
 
+    void disableCollisions(int shapeIndexA, int shapeIndexB);
+    bool collisionsAreEnabled(int shapeIndexA, int shapeIndexB) const;
+
+    void disableSelfCollisions();
+
 protected:
     glm::vec3 _translation;
     glm::quat _rotation;
@@ -61,6 +67,7 @@ protected:
     bool _shapesAreDirty;
     bool _enableShapes;
     QVector<Shape*> _shapes;
+    QSet<int> _disabledCollisions;
 
 private:
     // PhysicsSimulation is a friend so that it can set the protected _simulation backpointer
diff --git a/libraries/shared/src/PhysicsSimulation.cpp b/libraries/shared/src/PhysicsSimulation.cpp
index 984d0b8fea..09e59b7b84 100644
--- a/libraries/shared/src/PhysicsSimulation.cpp
+++ b/libraries/shared/src/PhysicsSimulation.cpp
@@ -135,7 +135,7 @@ void PhysicsSimulation::removeRagdoll(Ragdoll* doll) {
 // DONE (4) collisions move points (SpecialCapsuleShape would help solve this)
 // DONE (5) enforce constraints
 // DONE (6) make sure MyAvatar creates shapes, adds to simulation with ragdoll support
-// (7) support for pairwise collision bypass
+// DONE (7) support for pairwise collision bypass
 // (8) process collisions
 // (9) add and enforce angular contraints for joints
 void PhysicsSimulation::stepForward(float deltaTime, float minError, int maxIterations, quint64 maxUsec) {
@@ -162,7 +162,8 @@ void PhysicsSimulation::computeCollisions() {
     // TODO: keep track of QSet<PhysicsEntity*> collidedEntities;
     int numEntities = _entities.size();
     for (int i = 0; i < numEntities; ++i) {
-        const QVector<Shape*> shapes = _entities.at(i)->getShapes();
+        PhysicsEntity* entity = _entities.at(i);
+        const QVector<Shape*> shapes = entity->getShapes();
         int numShapes = shapes.size();
         // collide with self
         for (int j = 0; j < numShapes; ++j) {
@@ -170,10 +171,9 @@ void PhysicsSimulation::computeCollisions() {
             if (!shape) {
                 continue;
             }
-            // TODO: check for pairwise collision bypass here
             for (int k = j+1; k < numShapes; ++k) {
                 const Shape* otherShape = shapes.at(k);
-                if (otherShape) {
+                if (otherShape && entity->collisionsAreEnabled(j, k)) {
                     ShapeCollider::collideShapes(shape, otherShape, _collisionList);
                 }
             }

From 435b5094a03437ab9f942a1ab1753961bc63b8ad Mon Sep 17 00:00:00 2001
From: wangyix <wangyix@gmail.com>
Date: Thu, 19 Jun 2014 17:58:38 -0700
Subject: [PATCH 052/105] moved time gap history to PositionalAudioRingBuffer,
 untested

removed hard-coded jitter buffer length.
---
 assignment-client/src/audio/AudioMixer.cpp    |  6 +-
 .../src/audio/AudioMixerClientData.cpp        |  5 +-
 .../src/audio/AudioMixerClientData.h          |  3 +-
 .../src/audio/AvatarAudioRingBuffer.cpp       |  3 +-
 libraries/audio/src/AudioRingBuffer.cpp       | 57 -------------
 libraries/audio/src/AudioRingBuffer.h         | 32 +-------
 .../audio/src/InjectedAudioRingBuffer.cpp     |  3 +-
 .../audio/src/PositionalAudioRingBuffer.cpp   | 79 ++++++++++++++++++-
 .../audio/src/PositionalAudioRingBuffer.h     | 34 +++++++-
 9 files changed, 118 insertions(+), 104 deletions(-)

diff --git a/assignment-client/src/audio/AudioMixer.cpp b/assignment-client/src/audio/AudioMixer.cpp
index 2dc51b44a0..42be1aea5a 100644
--- a/assignment-client/src/audio/AudioMixer.cpp
+++ b/assignment-client/src/audio/AudioMixer.cpp
@@ -54,9 +54,6 @@
 
 #include "AudioMixer.h"
 
-const short JITTER_BUFFER_MSECS = 12;
-const short JITTER_BUFFER_SAMPLES = JITTER_BUFFER_MSECS * (SAMPLE_RATE / 1000.0);
-
 const float LOUDNESS_TO_DISTANCE_RATIO = 0.00001f;
 
 const QString AUDIO_MIXER_LOGGING_TARGET_NAME = "audio-mixer";
@@ -487,8 +484,7 @@ void AudioMixer::run() {
         
         foreach (const SharedNodePointer& node, nodeList->getNodeHash()) {
             if (node->getLinkedData()) {
-                ((AudioMixerClientData*) node->getLinkedData())->checkBuffersBeforeFrameSend(JITTER_BUFFER_SAMPLES,
-                                                                                             _sourceUnattenuatedZone,
+                ((AudioMixerClientData*) node->getLinkedData())->checkBuffersBeforeFrameSend(_sourceUnattenuatedZone,
                                                                                              _listenerUnattenuatedZone);
             }
         }
diff --git a/assignment-client/src/audio/AudioMixerClientData.cpp b/assignment-client/src/audio/AudioMixerClientData.cpp
index 2329946e49..3ee571fc46 100644
--- a/assignment-client/src/audio/AudioMixerClientData.cpp
+++ b/assignment-client/src/audio/AudioMixerClientData.cpp
@@ -98,10 +98,9 @@ int AudioMixerClientData::parseData(const QByteArray& packet) {
     return 0;
 }
 
-void AudioMixerClientData::checkBuffersBeforeFrameSend(int jitterBufferLengthSamples,
-                                                       AABox* checkSourceZone, AABox* listenerZone) {
+void AudioMixerClientData::checkBuffersBeforeFrameSend(AABox* checkSourceZone, AABox* listenerZone) {
     for (int i = 0; i < _ringBuffers.size(); i++) {
-        if (_ringBuffers[i]->shouldBeAddedToMix(jitterBufferLengthSamples)) {
+        if (_ringBuffers[i]->shouldBeAddedToMix()) {
             // this is a ring buffer that is ready to go
             // set its flag so we know to push its buffer when all is said and done
             _ringBuffers[i]->setWillBeAddedToMix(true);
diff --git a/assignment-client/src/audio/AudioMixerClientData.h b/assignment-client/src/audio/AudioMixerClientData.h
index e52b09e134..3c4ddd3459 100644
--- a/assignment-client/src/audio/AudioMixerClientData.h
+++ b/assignment-client/src/audio/AudioMixerClientData.h
@@ -27,8 +27,7 @@ public:
     AvatarAudioRingBuffer* getAvatarAudioRingBuffer() const;
     
     int parseData(const QByteArray& packet);
-    void checkBuffersBeforeFrameSend(int jitterBufferLengthSamples,
-                                     AABox* checkSourceZone = NULL, AABox* listenerZone = NULL);
+    void checkBuffersBeforeFrameSend(AABox* checkSourceZone = NULL, AABox* listenerZone = NULL);
     void pushBuffersAfterFrameSend();
 private:
     QList<PositionalAudioRingBuffer*> _ringBuffers;
diff --git a/assignment-client/src/audio/AvatarAudioRingBuffer.cpp b/assignment-client/src/audio/AvatarAudioRingBuffer.cpp
index 47a0ecbea8..6658e446cf 100644
--- a/assignment-client/src/audio/AvatarAudioRingBuffer.cpp
+++ b/assignment-client/src/audio/AvatarAudioRingBuffer.cpp
@@ -19,7 +19,8 @@ AvatarAudioRingBuffer::AvatarAudioRingBuffer(bool isStereo) :
 }
 
 int AvatarAudioRingBuffer::parseData(const QByteArray& packet) {
-    _timeGapHistory.frameReceived();
+    _interframeTimeGapHistory.frameReceived();
+    updateDesiredJitterBufferNumSamples();
 
     _shouldLoopbackForNode = (packetTypeForPacket(packet) == PacketTypeMicrophoneAudioWithEcho);
     return PositionalAudioRingBuffer::parseData(packet);
diff --git a/libraries/audio/src/AudioRingBuffer.cpp b/libraries/audio/src/AudioRingBuffer.cpp
index ea15e27ef5..2101fcb9cd 100644
--- a/libraries/audio/src/AudioRingBuffer.cpp
+++ b/libraries/audio/src/AudioRingBuffer.cpp
@@ -12,7 +12,6 @@
 #include <cstring>
 #include <functional>
 #include <math.h>
-#include "SharedUtil.h"
 
 #include <QtCore/QDebug>
 
@@ -20,62 +19,6 @@
 
 #include "AudioRingBuffer.h"
 
-InterframeTimeGapHistory::InterframeTimeGapHistory()
-    : _lastFrameReceivedTime(0),
-    _numSamplesInCurrentInterval(0),
-    _currentIntervalMaxGap(0),
-    _newestIntervalMaxGapAt(0),
-    _windowMaxGap(0),
-    _newWindowMaxGapAvailable(false)
-{
-    memset(_intervalMaxGaps, 0, TIME_GAP_NUM_INTERVALS_IN_WINDOW*sizeof(quint64));
-}
-
-void InterframeTimeGapHistory::frameReceived() {
-    quint64 now = usecTimestampNow();
-
-    // make sure this isn't the first time frameReceived() is called, meaning there's actually a gap to calculate.
-    if (_lastFrameReceivedTime != 0) {
-        quint64 gap = now - _lastFrameReceivedTime;
-
-        // update the current interval max
-        if (gap > _currentIntervalMaxGap) {
-            _currentIntervalMaxGap = gap;
-        }
-        _numSamplesInCurrentInterval++;
-
-        // if the current interval of samples is now full, record it in our interval maxes
-        if (_numSamplesInCurrentInterval == TIME_GAP_NUM_SAMPLES_IN_INTERVAL) {
-
-            // find location to insert this interval's max (increment index cyclically)
-            _newestIntervalMaxGapAt = _newestIntervalMaxGapAt == TIME_GAP_NUM_INTERVALS_IN_WINDOW - 1 ? 0 : _newestIntervalMaxGapAt + 1;
-
-            // record the current interval's max gap as the newest
-            _intervalMaxGaps[_newestIntervalMaxGapAt] = _currentIntervalMaxGap;
-
-            // update the window max gap, which is the max out of all the past intervals' max gaps
-            _windowMaxGap = 0;
-            for (int i = 0; i < TIME_GAP_NUM_INTERVALS_IN_WINDOW; i++) {
-                if (_intervalMaxGaps[i] > _windowMaxGap) {
-                    _windowMaxGap = _intervalMaxGaps[i];
-                }
-            }
-            _newWindowMaxGapAvailable = true;
-
-            // reset the current interval
-            _numSamplesInCurrentInterval = 0;
-            _currentIntervalMaxGap = 0;
-        }
-    }
-    _lastFrameReceivedTime = now;
-}
-
-quint64 InterframeTimeGapHistory::getPastWindowMaxGap() {
-    _newWindowMaxGapAvailable = false;
-    return _windowMaxGap;
-}
-
-
 AudioRingBuffer::AudioRingBuffer(int numFrameSamples, bool randomAccessMode) :
     NodeData(),
     _sampleCapacity(numFrameSamples * RING_BUFFER_LENGTH_FRAMES),
diff --git a/libraries/audio/src/AudioRingBuffer.h b/libraries/audio/src/AudioRingBuffer.h
index 46bc333e4b..3d2864f373 100644
--- a/libraries/audio/src/AudioRingBuffer.h
+++ b/libraries/audio/src/AudioRingBuffer.h
@@ -21,31 +21,6 @@
 
 #include "NodeData.h"
 
-// this means that every 500 samples, the max for the past 10*500 samples will be calculated
-const int TIME_GAP_NUM_SAMPLES_IN_INTERVAL = 500;
-const int TIME_GAP_NUM_INTERVALS_IN_WINDOW = 10;
-
-// class used to track time between incoming frames for the purpose of varying the jitter buffer length
-class InterframeTimeGapHistory {
-public:
-    InterframeTimeGapHistory();
-
-    void frameReceived();
-    bool isNewWindowMaxGapAvailable() const { return _newWindowMaxGapAvailable; }
-    quint64 getPastWindowMaxGap();
-
-private:
-    quint64 _lastFrameReceivedTime;
-
-    int _numSamplesInCurrentInterval;
-    quint64 _currentIntervalMaxGap;
-    quint64 _intervalMaxGaps[TIME_GAP_NUM_INTERVALS_IN_WINDOW];
-    int _newestIntervalMaxGapAt;
-    quint64 _windowMaxGap;
-    bool _newWindowMaxGapAvailable;
-};
-
-
 const int SAMPLE_RATE = 24000;
 
 const int NETWORK_BUFFER_LENGTH_BYTES_STEREO = 1024;
@@ -99,15 +74,14 @@ public:
     bool hasStarted() const { return _hasStarted; }
     
     void addSilentFrame(int numSilentSamples);
-
-    InterframeTimeGapHistory& getInterframeTimeGapHistory() { return _timeGapHistory; }
+    
 protected:
     // disallow copying of AudioRingBuffer objects
     AudioRingBuffer(const AudioRingBuffer&);
     AudioRingBuffer& operator= (const AudioRingBuffer&);
     
     int16_t* shiftedPositionAccomodatingWrap(int16_t* position, int numSamplesShift) const;
-    
+
     int _sampleCapacity;
     int _numFrameSamples;
     int16_t* _nextOutput;
@@ -116,8 +90,6 @@ protected:
     bool _isStarved;
     bool _hasStarted;
     bool _randomAccessMode; /// will this ringbuffer be used for random access? if so, do some special processing
-
-    InterframeTimeGapHistory _timeGapHistory;
 };
 
 #endif // hifi_AudioRingBuffer_h
diff --git a/libraries/audio/src/InjectedAudioRingBuffer.cpp b/libraries/audio/src/InjectedAudioRingBuffer.cpp
index 103d0d8d2e..ffe5876bfd 100644
--- a/libraries/audio/src/InjectedAudioRingBuffer.cpp
+++ b/libraries/audio/src/InjectedAudioRingBuffer.cpp
@@ -31,7 +31,8 @@ InjectedAudioRingBuffer::InjectedAudioRingBuffer(const QUuid& streamIdentifier)
 const uchar MAX_INJECTOR_VOLUME = 255;
 
 int InjectedAudioRingBuffer::parseData(const QByteArray& packet) {
-    _timeGapHistory.frameReceived();
+    _interframeTimeGapHistory.frameReceived();
+    updateDesiredJitterBufferNumSamples();
 
     // setup a data stream to read from this packet
     QDataStream packetStream(packet);
diff --git a/libraries/audio/src/PositionalAudioRingBuffer.cpp b/libraries/audio/src/PositionalAudioRingBuffer.cpp
index 1cc4147175..b537e5c6d6 100644
--- a/libraries/audio/src/PositionalAudioRingBuffer.cpp
+++ b/libraries/audio/src/PositionalAudioRingBuffer.cpp
@@ -19,6 +19,63 @@
 #include <UUID.h>
 
 #include "PositionalAudioRingBuffer.h"
+#include "SharedUtil.h"
+
+InterframeTimeGapHistory::InterframeTimeGapHistory()
+    : _lastFrameReceivedTime(0),
+    _numSamplesInCurrentInterval(0),
+    _currentIntervalMaxGap(0),
+    _newestIntervalMaxGapAt(0),
+    _windowMaxGap(0),
+    _newWindowMaxGapAvailable(false)
+{
+    memset(_intervalMaxGaps, 0, TIME_GAP_NUM_INTERVALS_IN_WINDOW*sizeof(quint64));
+}
+
+void InterframeTimeGapHistory::frameReceived() {
+    quint64 now = usecTimestampNow();
+
+    // make sure this isn't the first time frameReceived() is called, meaning there's actually a gap to calculate.
+    if (_lastFrameReceivedTime != 0) {
+        quint64 gap = now - _lastFrameReceivedTime;
+
+        // update the current interval max
+        if (gap > _currentIntervalMaxGap) {
+            _currentIntervalMaxGap = gap;
+        }
+        _numSamplesInCurrentInterval++;
+
+        // if the current interval of samples is now full, record it in our interval maxes
+        if (_numSamplesInCurrentInterval == TIME_GAP_NUM_SAMPLES_IN_INTERVAL) {
+
+            // find location to insert this interval's max (increment index cyclically)
+            _newestIntervalMaxGapAt = _newestIntervalMaxGapAt == TIME_GAP_NUM_INTERVALS_IN_WINDOW - 1 ? 0 : _newestIntervalMaxGapAt + 1;
+
+            // record the current interval's max gap as the newest
+            _intervalMaxGaps[_newestIntervalMaxGapAt] = _currentIntervalMaxGap;
+
+            // update the window max gap, which is the max out of all the past intervals' max gaps
+            _windowMaxGap = 0;
+            for (int i = 0; i < TIME_GAP_NUM_INTERVALS_IN_WINDOW; i++) {
+                if (_intervalMaxGaps[i] > _windowMaxGap) {
+                    _windowMaxGap = _intervalMaxGaps[i];
+                }
+            }
+            _newWindowMaxGapAvailable = true;
+
+            // reset the current interval
+            _numSamplesInCurrentInterval = 0;
+            _currentIntervalMaxGap = 0;
+        }
+    }
+    _lastFrameReceivedTime = now;
+}
+
+quint64 InterframeTimeGapHistory::getWindowMaxGap() {
+    _newWindowMaxGapAvailable = false;
+    return _windowMaxGap;
+}
+
 
 PositionalAudioRingBuffer::PositionalAudioRingBuffer(PositionalAudioRingBuffer::Type type, bool isStereo) :
     AudioRingBuffer(isStereo ? NETWORK_BUFFER_LENGTH_SAMPLES_STEREO : NETWORK_BUFFER_LENGTH_SAMPLES_PER_CHANNEL),
@@ -29,7 +86,8 @@ PositionalAudioRingBuffer::PositionalAudioRingBuffer(PositionalAudioRingBuffer::
     _shouldLoopbackForNode(false),
     _shouldOutputStarveDebug(true),
     _isStereo(isStereo),
-    _listenerUnattenuatedZone(NULL)
+    _listenerUnattenuatedZone(NULL),
+    _desiredJitterBufferNumSamples(getNumSamplesPerFrame())
 {
 
 }
@@ -106,14 +164,17 @@ void PositionalAudioRingBuffer::updateNextOutputTrailingLoudness() {
     }
 }
 
-bool PositionalAudioRingBuffer::shouldBeAddedToMix(int numJitterBufferSamples) {
-    if (!isNotStarvedOrHasMinimumSamples(NETWORK_BUFFER_LENGTH_SAMPLES_PER_CHANNEL + numJitterBufferSamples)) {
+bool PositionalAudioRingBuffer::shouldBeAddedToMix() {
+
+    int samplesPerFrame = getNumSamplesPerFrame();
+
+    if (!isNotStarvedOrHasMinimumSamples(samplesPerFrame + _desiredJitterBufferNumSamples)) {
         if (_shouldOutputStarveDebug) {
             _shouldOutputStarveDebug = false;
         }
         
         return false;
-    } else if (samplesAvailable() < NETWORK_BUFFER_LENGTH_SAMPLES_PER_CHANNEL) {
+    } else if (samplesAvailable() < samplesPerFrame) {
         _isStarved = true;
         
         // reset our _shouldOutputStarveDebug to true so the next is printed
@@ -132,3 +193,13 @@ bool PositionalAudioRingBuffer::shouldBeAddedToMix(int numJitterBufferSamples) {
 
     return false;
 }
+
+void PositionalAudioRingBuffer::updateDesiredJitterBufferNumSamples() {
+
+    const float USECS_PER_FRAME = NETWORK_BUFFER_LENGTH_SAMPLES_PER_CHANNEL * USECS_PER_SECOND / (float)SAMPLE_RATE;
+
+    if (_interframeTimeGapHistory.hasNewWindowMaxGapAvailable()) {
+        int desiredJitterBufferNumFrames = (int)((float)_interframeTimeGapHistory.getWindowMaxGap() / USECS_PER_FRAME + 0.5f);
+        _desiredJitterBufferNumSamples = desiredJitterBufferNumFrames * getNumSamplesPerFrame();
+    }
+}
\ No newline at end of file
diff --git a/libraries/audio/src/PositionalAudioRingBuffer.h b/libraries/audio/src/PositionalAudioRingBuffer.h
index 00362c245a..de731c6136 100644
--- a/libraries/audio/src/PositionalAudioRingBuffer.h
+++ b/libraries/audio/src/PositionalAudioRingBuffer.h
@@ -18,6 +18,31 @@
 
 #include "AudioRingBuffer.h"
 
+// this means that every 500 samples, the max for the past 10*500 samples will be calculated
+const int TIME_GAP_NUM_SAMPLES_IN_INTERVAL = 500;
+const int TIME_GAP_NUM_INTERVALS_IN_WINDOW = 10;
+
+// class used to track time between incoming frames for the purpose of varying the jitter buffer length
+class InterframeTimeGapHistory {
+public:
+    InterframeTimeGapHistory();
+
+    void frameReceived();
+    bool hasNewWindowMaxGapAvailable() const { return _newWindowMaxGapAvailable; }
+    quint64 getWindowMaxGap();
+
+private:
+    quint64 _lastFrameReceivedTime;
+
+    int _numSamplesInCurrentInterval;
+    quint64 _currentIntervalMaxGap;
+    quint64 _intervalMaxGaps[TIME_GAP_NUM_INTERVALS_IN_WINDOW];
+    int _newestIntervalMaxGapAt;
+    quint64 _windowMaxGap;
+    bool _newWindowMaxGapAvailable;
+};
+
+
 class PositionalAudioRingBuffer : public AudioRingBuffer {
 public:
     enum Type {
@@ -34,7 +59,7 @@ public:
     void updateNextOutputTrailingLoudness();
     float getNextOutputTrailingLoudness() const { return _nextOutputTrailingLoudness; }
     
-    bool shouldBeAddedToMix(int numJitterBufferSamples);
+    bool shouldBeAddedToMix();
     
     bool willBeAddedToMix() const { return _willBeAddedToMix; }
     void setWillBeAddedToMix(bool willBeAddedToMix) { _willBeAddedToMix = willBeAddedToMix; }
@@ -50,10 +75,14 @@ public:
     AABox* getListenerUnattenuatedZone() const { return _listenerUnattenuatedZone; }
     void setListenerUnattenuatedZone(AABox* listenerUnattenuatedZone) { _listenerUnattenuatedZone = listenerUnattenuatedZone; }
     
+    int getNumSamplesPerFrame() const { return _isStereo ? NETWORK_BUFFER_LENGTH_SAMPLES_STEREO : NETWORK_BUFFER_LENGTH_BYTES_PER_CHANNEL; }
+
 protected:
     // disallow copying of PositionalAudioRingBuffer objects
     PositionalAudioRingBuffer(const PositionalAudioRingBuffer&);
     PositionalAudioRingBuffer& operator= (const PositionalAudioRingBuffer&);
+
+    void updateDesiredJitterBufferNumSamples();
     
     PositionalAudioRingBuffer::Type _type;
     glm::vec3 _position;
@@ -65,6 +94,9 @@ protected:
     
     float _nextOutputTrailingLoudness;
     AABox* _listenerUnattenuatedZone;
+
+    InterframeTimeGapHistory _interframeTimeGapHistory;
+    int _desiredJitterBufferNumSamples;
 };
 
 #endif // hifi_PositionalAudioRingBuffer_h

From 266dc6be3ed229b7298d3b598dc850b91fd5c622 Mon Sep 17 00:00:00 2001
From: Atlante45 <clement.brisset@gmail.com>
Date: Thu, 19 Jun 2014 18:09:17 -0700
Subject: [PATCH 053/105] fixed tooltip not disapearing when deleting model

---
 examples/editModels.js | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/examples/editModels.js b/examples/editModels.js
index 55e4d56a21..f2b76a28c3 100644
--- a/examples/editModels.js
+++ b/examples/editModels.js
@@ -1119,8 +1119,8 @@ function handeMenuEvent(menuItem){
                 Models.editModel(editModelID, properties);
             }
         }
-        tooltip.show(false);
     }
+    tooltip.show(false);
 }
 Menu.menuItemEvent.connect(handeMenuEvent);
 

From 4561a6e3269693b5654f559fca7ada62b4698e10 Mon Sep 17 00:00:00 2001
From: Atlante45 <clement.brisset@gmail.com>
Date: Thu, 19 Jun 2014 18:10:06 -0700
Subject: [PATCH 054/105] Fixed voxel being deleted even though voxel tool is
 not selected

---
 examples/editVoxels.js | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/examples/editVoxels.js b/examples/editVoxels.js
index cff0d65743..412612fdad 100644
--- a/examples/editVoxels.js
+++ b/examples/editVoxels.js
@@ -1196,7 +1196,7 @@ function menuItemEvent(menuItem) {
             print("deleting...");
             if (isImporting) {
                 cancelImport();
-            } else {
+            } else if (voxelToolSelected) {
                 Clipboard.deleteVoxel(selectedVoxel.x, selectedVoxel.y, selectedVoxel.z, selectedVoxel.s);
             }
         }

From 24f535e02d263502680f0b04ca5628de77023251 Mon Sep 17 00:00:00 2001
From: Andrzej Kapolka <drzej.k@gmail.com>
Date: Thu, 19 Jun 2014 18:15:17 -0700
Subject: [PATCH 055/105] Working on metavoxel streaming tests.

---
 libraries/metavoxels/src/MetavoxelData.cpp |  46 +++++
 libraries/metavoxels/src/MetavoxelData.h   |  11 ++
 tests/metavoxels/src/MetavoxelTests.cpp    | 193 +++++++++++++++------
 3 files changed, 196 insertions(+), 54 deletions(-)

diff --git a/libraries/metavoxels/src/MetavoxelData.cpp b/libraries/metavoxels/src/MetavoxelData.cpp
index cf645e6f5e..d7528d1959 100644
--- a/libraries/metavoxels/src/MetavoxelData.cpp
+++ b/libraries/metavoxels/src/MetavoxelData.cpp
@@ -687,6 +687,23 @@ MetavoxelNode* MetavoxelData::createRoot(const AttributePointer& attribute) {
     return root = new MetavoxelNode(attribute);
 }
 
+bool MetavoxelData::deepEquals(const MetavoxelData& other, const MetavoxelLOD& lod) const {
+    if (_size != other._size) {
+        return false;
+    }
+    if (_roots.size() != other._roots.size()) {
+        return false;
+    }
+    glm::vec3 minimum = getMinimum();
+    for (QHash<AttributePointer, MetavoxelNode*>::const_iterator it = _roots.constBegin(); it != _roots.constEnd(); it++) {
+        MetavoxelNode* otherNode = other._roots.value(it.key());
+        if (!(otherNode && it.value()->deepEquals(it.key(), *otherNode, minimum, _size, lod))) {
+            return false;
+        }
+    }
+    return true;
+}
+
 bool MetavoxelData::operator==(const MetavoxelData& other) const {
     return _size == other._size && _roots == other._roots;
 }
@@ -1083,6 +1100,31 @@ void MetavoxelNode::clearChildren(const AttributePointer& attribute) {
     }
 }
 
+bool MetavoxelNode::deepEquals(const AttributePointer& attribute, const MetavoxelNode& other,
+        const glm::vec3& minimum, float size, const MetavoxelLOD& lod) const {
+    if (!attribute->equal(_attributeValue, other._attributeValue)) {
+        return false;
+    }
+    if (!lod.shouldSubdivide(minimum, size, attribute->getLODThresholdMultiplier())) {
+        return true;
+    }
+    bool leaf = isLeaf(), otherLeaf = other.isLeaf();
+    if (leaf && otherLeaf) {
+        return true;
+    }
+    if (leaf || otherLeaf) {
+        return false;
+    }
+    float nextSize = size * 0.5f;
+    for (int i = 0; i < CHILD_COUNT; i++) {
+        glm::vec3 nextMinimum = getNextMinimum(minimum, nextSize, i);
+        if (!_children[i]->deepEquals(attribute, *(other._children[i]), nextMinimum, nextSize, lod)) {
+            return false;
+        }
+    }
+    return true;
+}
+
 int MetavoxelVisitor::encodeOrder(int first, int second, int third, int fourth,
         int fifth, int sixth, int seventh, int eighth) {
     return first | (second << 3) | (third << 6) | (fourth << 9) |
@@ -1111,6 +1153,10 @@ int MetavoxelVisitor::encodeOrder(const glm::vec3& direction) {
         indexDistances.at(6).index, indexDistances.at(7).index);
 }
 
+int MetavoxelVisitor::encodeRandomOrder() {
+    return DEFAULT_ORDER;
+}
+
 const int MetavoxelVisitor::DEFAULT_ORDER = encodeOrder(0, 1, 2, 3, 4, 5, 6, 7);
 const int MetavoxelVisitor::STOP_RECURSION = 0;
 const int MetavoxelVisitor::SHORT_CIRCUIT = -1;
diff --git a/libraries/metavoxels/src/MetavoxelData.h b/libraries/metavoxels/src/MetavoxelData.h
index 6b262d6892..0df97a7a4c 100644
--- a/libraries/metavoxels/src/MetavoxelData.h
+++ b/libraries/metavoxels/src/MetavoxelData.h
@@ -126,6 +126,10 @@ public:
     MetavoxelNode* getRoot(const AttributePointer& attribute) const { return _roots.value(attribute); }
     MetavoxelNode* createRoot(const AttributePointer& attribute);
 
+    /// Performs a deep comparison between this data and the specified other (as opposed to the == operator, which does a
+    /// shallow comparison).
+    bool deepEquals(const MetavoxelData& other, const MetavoxelLOD& lod = MetavoxelLOD()) const;
+
     bool operator==(const MetavoxelData& other) const;
     bool operator!=(const MetavoxelData& other) const;
 
@@ -214,6 +218,10 @@ public:
 
     void clearChildren(const AttributePointer& attribute);
     
+    /// Performs a deep comparison between this and the specified other node.
+    bool deepEquals(const AttributePointer& attribute, const MetavoxelNode& other,
+        const glm::vec3& minimum, float size, const MetavoxelLOD& lod) const;
+    
 private:
     Q_DISABLE_COPY(MetavoxelNode)
     
@@ -250,6 +258,9 @@ public:
     /// Encodes a visitation order sequence that visits each child as sorted along the specified direction.
     static int encodeOrder(const glm::vec3& direction);
     
+    /// Returns a random visitation order sequence.
+    static int encodeRandomOrder();
+    
     /// The default visitation order.
     static const int DEFAULT_ORDER;
     
diff --git a/tests/metavoxels/src/MetavoxelTests.cpp b/tests/metavoxels/src/MetavoxelTests.cpp
index daee1165f6..d261d9d926 100644
--- a/tests/metavoxels/src/MetavoxelTests.cpp
+++ b/tests/metavoxels/src/MetavoxelTests.cpp
@@ -32,6 +32,8 @@ static int datagramsSent = 0;
 static int datagramsReceived = 0;
 static int bytesSent = 0;
 static int bytesReceived = 0;
+static int maxDatagramsPerPacket = 0;
+static int maxBytesPerPacket = 0;
 static int highPriorityMessagesSent = 0;
 static int highPriorityMessagesReceived = 0;
 static int unreliableMessagesSent = 0;
@@ -353,6 +355,7 @@ bool MetavoxelTests::run() {
         qDebug() << "Sent" << streamedBytesSent << "streamed bytes, received" << streamedBytesReceived;
         qDebug() << "Sent" << datagramsSent << "datagrams with" << bytesSent << "bytes, received" <<
             datagramsReceived << "with" << bytesReceived << "bytes";
+        qDebug() << "Max" << maxDatagramsPerPacket << "datagrams," << maxBytesPerPacket << "bytes per packet";
         qDebug() << "Created" << sharedObjectsCreated << "shared objects, destroyed" << sharedObjectsDestroyed;
         qDebug() << "Performed" << objectMutationsPerformed << "object mutations";
         qDebug() << "Created" << scriptObjectsCreated << "script objects, mutated" << scriptMutationsPerformed;
@@ -373,7 +376,7 @@ bool MetavoxelTests::run() {
         qDebug();
     
         // clear the stats
-        datagramsSent = bytesSent = datagramsReceived = bytesReceived = 0;
+        datagramsSent = bytesSent = datagramsReceived = bytesReceived = maxDatagramsPerPacket = maxBytesPerPacket = 0;
     
         // create client and server endpoints
         Endpoint client(datagramHeader, Endpoint::METAVOXEL_CLIENT_MODE);
@@ -391,6 +394,7 @@ bool MetavoxelTests::run() {
         
         qDebug() << "Sent" << datagramsSent << "datagrams with" << bytesSent << "bytes, received" <<
             datagramsReceived << "with" << bytesReceived << "bytes";
+        qDebug() << "Max" << maxDatagramsPerPacket << "datagrams," << maxBytesPerPacket << "bytes per packet";
     }
     
     qDebug() << "All tests passed!";
@@ -407,6 +411,34 @@ static SharedObjectPointer createRandomSharedObject() {
     }
 }
 
+class RandomVisitor : public MetavoxelVisitor {
+public:
+    
+    int leafCount;
+    
+    RandomVisitor();
+    virtual int visit(MetavoxelInfo& info);
+};
+
+RandomVisitor::RandomVisitor() :
+    MetavoxelVisitor(QVector<AttributePointer>(),
+        QVector<AttributePointer>() << AttributeRegistry::getInstance()->getColorAttribute()),
+    leafCount(0) {
+}
+
+const float MAXIMUM_LEAF_SIZE = 0.5f;
+const float MINIMUM_LEAF_SIZE = 0.25f;
+
+int RandomVisitor::visit(MetavoxelInfo& info) {
+    if (info.size > MAXIMUM_LEAF_SIZE || (info.size > MINIMUM_LEAF_SIZE && randomBoolean())) {
+        return DEFAULT_ORDER;
+    }
+    info.outputValues[0] = OwnedAttributeValue(_outputs.at(0), encodeInline<QRgb>(qRgb(randIntInRange(0, 255),
+        randIntInRange(0, 255), randIntInRange(0, 255))));
+    leafCount++;
+    return STOP_RECURSION;
+}
+
 Endpoint::Endpoint(const QByteArray& datagramHeader, Mode mode) :
     _mode(mode),
     _sequencer(new DatagramSequencer(datagramHeader, this)),
@@ -434,6 +466,12 @@ Endpoint::Endpoint(const QByteArray& datagramHeader, Mode mode) :
         return;
     }
     if (mode == METAVOXEL_SERVER_MODE) {
+        _data.expand();
+        _data.expand();
+        
+        RandomVisitor visitor;
+        _data.guide(visitor);
+        qDebug() << "Created" << visitor.leafCount << "base leaves";
         return;
     }
     // create the object that represents out delta-encoded state
@@ -552,6 +590,36 @@ static bool messagesEqual(const QVariant& firstMessage, const QVariant& secondMe
     }
 }
 
+class MutateVisitor : public MetavoxelVisitor {
+public:
+    
+    MutateVisitor();
+    virtual int visit(MetavoxelInfo& info);
+
+private:
+    
+    bool _finished;
+};
+
+MutateVisitor::MutateVisitor() :
+    MetavoxelVisitor(QVector<AttributePointer>(),
+        QVector<AttributePointer>() << AttributeRegistry::getInstance()->getColorAttribute()),
+    _finished(false) {
+}
+
+int MutateVisitor::visit(MetavoxelInfo& info) {
+    if (_finished) {
+        return STOP_RECURSION;
+    }
+    if (info.size > MAXIMUM_LEAF_SIZE || (info.size > MINIMUM_LEAF_SIZE && randomBoolean())) {
+        return encodeRandomOrder();
+    }
+    info.outputValues[0] = OwnedAttributeValue(_outputs.at(0), encodeInline<QRgb>(qRgb(randIntInRange(0, 255),
+        randIntInRange(0, 255), randIntInRange(0, 255))));
+    _finished = true;
+    return STOP_RECURSION;
+}
+
 bool Endpoint::simulate(int iterationNumber) {
     // update/send our delayed datagrams
     for (QList<QPair<QByteArray, int> >::iterator it = _delayedDatagrams.begin(); it != _delayedDatagrams.end(); ) {
@@ -565,6 +633,8 @@ bool Endpoint::simulate(int iterationNumber) {
         }
     }
 
+    int oldDatagramsSent = datagramsSent;
+    int oldBytesSent = bytesSent;
     if (_mode == METAVOXEL_CLIENT_MODE) {
         Bitstream& out = _sequencer->startPacket();
     
@@ -575,69 +645,74 @@ bool Endpoint::simulate(int iterationNumber) {
         // record the send
         SendRecord record = { _sequencer->getOutgoingPacketNumber(), SharedObjectPointer(), MetavoxelData(), _lod };
         _sendRecords.append(record);
-        return false;
-    }
-    if (_mode == METAVOXEL_SERVER_MODE) {
-        // wait until we have a valid lod
+
+    } else if (_mode == METAVOXEL_SERVER_MODE) {
+        // make a random change
+        MutateVisitor visitor;
+        _data.guide(visitor);
+        
+        // wait until we have a valid lod before sending
         if (!_lod.isValid()) {
             return false;
         }
         Bitstream& out = _sequencer->startPacket();
         out << QVariant::fromValue(MetavoxelDeltaMessage());
         _data.writeDelta(_sendRecords.first().data, _sendRecords.first().lod, out, _lod);
-        _sequencer->endPacket();
         
         // record the send
-        SendRecord record = { _sequencer->getOutgoingPacketNumber(), SharedObjectPointer(), _data, _lod };
+        SendRecord record = { _sequencer->getOutgoingPacketNumber() + 1, SharedObjectPointer(), _data, _lod };
         _sendRecords.append(record);
-        return false;
-    }
-
-    // enqueue some number of high priority messages
-    const float MIN_HIGH_PRIORITY_MESSAGES = 0.0f;
-    const float MAX_HIGH_PRIORITY_MESSAGES = 2.0f;
-    _highPriorityMessagesToSend += randFloatInRange(MIN_HIGH_PRIORITY_MESSAGES, MAX_HIGH_PRIORITY_MESSAGES);   
-    while (_highPriorityMessagesToSend >= 1.0f) {
-        QVariant message = createRandomMessage();
-        _highPriorityMessagesSent.append(message);
-        _sequencer->sendHighPriorityMessage(message);
-        highPriorityMessagesSent++;
-        _highPriorityMessagesToSend -= 1.0f;
-    }
-    
-    // and some number of reliable messages
-    const float MIN_RELIABLE_MESSAGES = 0.0f;
-    const float MAX_RELIABLE_MESSAGES = 4.0f;
-    _reliableMessagesToSend += randFloatInRange(MIN_RELIABLE_MESSAGES, MAX_RELIABLE_MESSAGES);   
-    while (_reliableMessagesToSend >= 1.0f) {
-        QVariant message = createRandomMessage();
-        _reliableMessagesSent.append(message);
-        _sequencer->getReliableOutputChannel()->sendMessage(message);
-        reliableMessagesSent++;
-        _reliableMessagesToSend -= 1.0f;
-    }
-    
-    // tweak the local state
-    _localState = mutate(_localState);
-    
-    // send a packet
-    try {
-        Bitstream& out = _sequencer->startPacket();
-        SequencedTestMessage message = { iterationNumber, createRandomMessage(), _localState };
-        _unreliableMessagesSent.append(message);
-        unreliableMessagesSent++;
-        out << message;
+        
         _sequencer->endPacket();
+        
+    } else {
+        // enqueue some number of high priority messages
+        const float MIN_HIGH_PRIORITY_MESSAGES = 0.0f;
+        const float MAX_HIGH_PRIORITY_MESSAGES = 2.0f;
+        _highPriorityMessagesToSend += randFloatInRange(MIN_HIGH_PRIORITY_MESSAGES, MAX_HIGH_PRIORITY_MESSAGES);   
+        while (_highPriorityMessagesToSend >= 1.0f) {
+            QVariant message = createRandomMessage();
+            _highPriorityMessagesSent.append(message);
+            _sequencer->sendHighPriorityMessage(message);
+            highPriorityMessagesSent++;
+            _highPriorityMessagesToSend -= 1.0f;
+        }
+        
+        // and some number of reliable messages
+        const float MIN_RELIABLE_MESSAGES = 0.0f;
+        const float MAX_RELIABLE_MESSAGES = 4.0f;
+        _reliableMessagesToSend += randFloatInRange(MIN_RELIABLE_MESSAGES, MAX_RELIABLE_MESSAGES);   
+        while (_reliableMessagesToSend >= 1.0f) {
+            QVariant message = createRandomMessage();
+            _reliableMessagesSent.append(message);
+            _sequencer->getReliableOutputChannel()->sendMessage(message);
+            reliableMessagesSent++;
+            _reliableMessagesToSend -= 1.0f;
+        }
+        
+        // tweak the local state
+        _localState = mutate(_localState);
+        
+        // send a packet
+        try {
+            Bitstream& out = _sequencer->startPacket();
+            SequencedTestMessage message = { iterationNumber, createRandomMessage(), _localState };
+            _unreliableMessagesSent.append(message);
+            unreliableMessagesSent++;
+            out << message;
+            _sequencer->endPacket();
+        
+        } catch (const QString& message) {
+            qDebug() << message;
+            return true;
+        }
     
-    } catch (const QString& message) {
-        qDebug() << message;
-        return true;
+        // record the send
+        SendRecord record = { _sequencer->getOutgoingPacketNumber(), _localState };
+        _sendRecords.append(record);
     }
-    
-    // record the send
-    SendRecord record = { _sequencer->getOutgoingPacketNumber(), _localState };
-    _sendRecords.append(record);
-    
+    maxDatagramsPerPacket = qMax(maxDatagramsPerPacket, datagramsSent - oldDatagramsSent);
+    maxBytesPerPacket = qMax(maxBytesPerPacket, bytesSent - oldBytesSent);
     return false;
 }
 
@@ -692,9 +767,19 @@ void Endpoint::readMessage(Bitstream& in) {
         in >> message;
         handleMessage(message, in);
     
+        // deep-compare data to sent version
+        int packetNumber = _sequencer->getIncomingPacketNumber();
+        foreach (const SendRecord& sendRecord, _other->_sendRecords) {
+            if (sendRecord.packetNumber == packetNumber) {
+                if (!sendRecord.data.deepEquals(_data, _sendRecords.first().lod)) {
+                    throw QString("Sent/received metavoxel data mismatch.");
+                }
+                break;
+            }
+        }
+        
         // record the receipt
-        ReceiveRecord record = { _sequencer->getIncomingPacketNumber(), SharedObjectPointer(),
-            _data, _sendRecords.first().lod };
+        ReceiveRecord record = { packetNumber, SharedObjectPointer(), _data, _sendRecords.first().lod };
         _receiveRecords.append(record);
         return;
     }

From 0c87f0aabc677e27188c887d229390fdeac65ab5 Mon Sep 17 00:00:00 2001
From: Ryan Huffman <ryanhuffman@gmail.com>
Date: Thu, 19 Jun 2014 19:45:43 -0700
Subject: [PATCH 056/105] Update chat window behavior

Lower opacity when inactive
Move focus to main window when pressing escape, instead of hiding
---
 interface/src/Menu.cpp          |  1 +
 interface/src/ui/ChatWindow.cpp | 14 +++++++++++++-
 interface/src/ui/ChatWindow.h   |  1 +
 3 files changed, 15 insertions(+), 1 deletion(-)

diff --git a/interface/src/Menu.cpp b/interface/src/Menu.cpp
index 5c8c2e97aa..334a2e441b 100644
--- a/interface/src/Menu.cpp
+++ b/interface/src/Menu.cpp
@@ -1293,6 +1293,7 @@ void Menu::showChat() {
         if (_chatWindow->isHidden()) {
             _chatWindow->show();
         }
+        _chatWindow->activateWindow();
     } else {
         Application::getInstance()->getTrayIcon()->showMessage("Interface", "You need to login to be able to chat with others on this domain.");
     }
diff --git a/interface/src/ui/ChatWindow.cpp b/interface/src/ui/ChatWindow.cpp
index fde77334f4..b101b50b2f 100644
--- a/interface/src/ui/ChatWindow.cpp
+++ b/interface/src/ui/ChatWindow.cpp
@@ -30,6 +30,9 @@
 
 const int NUM_MESSAGES_TO_TIME_STAMP = 20;
 
+const float OPACITY_ACTIVE = 1.0;
+const float OPACITY_INACTIVE = 0.6;
+
 const QRegularExpression regexLinks("((?:(?:ftp)|(?:https?)|(?:hifi))://\\S+)");
 const QRegularExpression regexHifiLinks("([#@]\\S+)");
 const QString mentionSoundsPath("/mention-sounds/");
@@ -108,7 +111,7 @@ ChatWindow::~ChatWindow() {
 
 void ChatWindow::keyPressEvent(QKeyEvent* event) {
     if (event->key() == Qt::Key_Escape) {
-        hide();
+        Application::getInstance()->getWindow()->activateWindow();
     } else {
         FramelessDialog::keyPressEvent(event);
     }
@@ -383,3 +386,12 @@ void ChatWindow::scrollToBottom() {
     QScrollBar* verticalScrollBar = ui->messagesScrollArea->verticalScrollBar();
     verticalScrollBar->setValue(verticalScrollBar->maximum());
 }
+
+bool ChatWindow::event(QEvent* event) {
+    if (event->type() == QEvent::WindowActivate) {
+        setWindowOpacity(OPACITY_ACTIVE);
+    } else if (event->type() == QEvent::WindowDeactivate) {
+        setWindowOpacity(OPACITY_INACTIVE);
+    }
+    return FramelessDialog::event(event);
+}
diff --git a/interface/src/ui/ChatWindow.h b/interface/src/ui/ChatWindow.h
index 1e0f533e9e..652dcb5b08 100644
--- a/interface/src/ui/ChatWindow.h
+++ b/interface/src/ui/ChatWindow.h
@@ -50,6 +50,7 @@ protected:
 
     virtual void keyPressEvent(QKeyEvent *event);
     virtual void showEvent(QShowEvent* event);
+    virtual bool event(QEvent* event);
 
 private:
 #ifdef HAVE_QXMPP

From c7ad3da47d4432e7bb90ae82a49281cb503cde1e Mon Sep 17 00:00:00 2001
From: Andrew Meadows <andrew@highfidelity.io>
Date: Fri, 20 Jun 2014 10:55:57 -0700
Subject: [PATCH 057/105] stubbery for processing collisions

PhysicsSimulation tells CollisionInfos to apply() themselves
CollisionInfo knows how to apply() itself to affected shapes
Shape gets _mass and some stubbed methods for accumulating movement
VerletPoint gets movement accumulator
---
 libraries/shared/src/CollisionInfo.cpp     | 30 ++++++++++++++++++++++
 libraries/shared/src/CollisionInfo.h       | 30 ++++------------------
 libraries/shared/src/PhysicsEntity.cpp     |  1 +
 libraries/shared/src/PhysicsSimulation.cpp | 20 ++++++++++++++-
 libraries/shared/src/Ragdoll.cpp           | 14 ++++++++++
 libraries/shared/src/Ragdoll.h             | 10 +++++++-
 libraries/shared/src/Shape.h               | 21 ++++++++++++++-
 7 files changed, 98 insertions(+), 28 deletions(-)

diff --git a/libraries/shared/src/CollisionInfo.cpp b/libraries/shared/src/CollisionInfo.cpp
index 39b49ed90e..3dd3610edb 100644
--- a/libraries/shared/src/CollisionInfo.cpp
+++ b/libraries/shared/src/CollisionInfo.cpp
@@ -11,6 +11,19 @@
 
 #include "CollisionInfo.h"
 
+#include "Shape.h"
+
+CollisionInfo::CollisionInfo() :
+        _data(NULL),
+        _intData(0),
+        _shapeA(NULL),
+        _shapeB(NULL),
+        _damping(0.f),
+        _elasticity(1.f),
+        _contactPoint(0.f), 
+        _penetration(0.f), 
+        _addedVelocity(0.f) {
+}
 
 CollisionList::CollisionList(int maxSize) :
     _maxSize(maxSize),
@@ -18,6 +31,23 @@ CollisionList::CollisionList(int maxSize) :
     _collisions.resize(_maxSize);
 }
 
+void CollisionInfo::apply() {
+    assert(_shapeA);
+    // NOTE: Shape::computeEffectiveMass() has side effects: computes and caches partial Lagrangian coefficients
+    Shape* shapeA = const_cast<Shape*>(_shapeA);
+    float massA = shapeA->computeEffectiveMass(_penetration, _contactPoint);
+    float massB = Shape::MAX_MASS;
+    float totalMass = massA + massB;
+    if (_shapeB) {
+        Shape* shapeB = const_cast<Shape*>(_shapeB);
+        massB = shapeB->computeEffectiveMass(-_penetration, _contactPoint - _penetration);
+        totalMass = massA + massB;
+        shapeB->accumulateDelta(massA / totalMass, -_penetration);
+    }   
+    // NOTE: Shape::accumulateDelta() uses the coefficients from previous call to Shape::computeEffectiveMass()
+    shapeA->accumulateDelta(massB / totalMass, _penetration);
+}
+
 CollisionInfo* CollisionList::getNewCollision() {
     // return pointer to existing CollisionInfo, or NULL of list is full
     return (_size < _maxSize) ? &(_collisions[_size++]) : NULL;
diff --git a/libraries/shared/src/CollisionInfo.h b/libraries/shared/src/CollisionInfo.h
index 7f14f6b5dc..1ab06e2ef5 100644
--- a/libraries/shared/src/CollisionInfo.h
+++ b/libraries/shared/src/CollisionInfo.h
@@ -32,38 +32,18 @@ const quint32 VALID_COLLISION_GROUPS = 0x0f;
 
 class CollisionInfo {
 public:
-    CollisionInfo() 
-        : _data(NULL),
-        _intData(0),
-        _shapeA(NULL),
-        _shapeB(NULL),
-        _damping(0.f),
-        _elasticity(1.f),
-        _contactPoint(0.f), 
-        _penetration(0.f), 
-        _addedVelocity(0.f) {
-    }
-
-    CollisionInfo(qint32 type)
-        : _data(NULL),
-        _intData(0),
-        _shapeA(NULL),
-        _shapeB(NULL),
-        _damping(0.f),
-        _elasticity(1.f),
-        _contactPoint(0.f), 
-        _penetration(0.f), 
-        _addedVelocity(0.f) {
-    }
-
+    CollisionInfo();
     ~CollisionInfo() {}
 
-    // the value of the *Data fields depend on the type 
+    // TODO: Andrew to get rid of these data members
     void* _data;
     int _intData;       
     float _floatData;
     glm::vec3 _vecData;
 
+    /// accumulates position changes for the shapes in this collision to resolve penetration
+    void apply();
+
     Shape* getShapeA() const { return const_cast<Shape*>(_shapeA); }
     Shape* getShapeB() const { return const_cast<Shape*>(_shapeB); }
 
diff --git a/libraries/shared/src/PhysicsEntity.cpp b/libraries/shared/src/PhysicsEntity.cpp
index 2955192fbf..71f972652b 100644
--- a/libraries/shared/src/PhysicsEntity.cpp
+++ b/libraries/shared/src/PhysicsEntity.cpp
@@ -149,6 +149,7 @@ bool PhysicsEntity::findSphereCollisions(const glm::vec3& sphereCenter, float sp
 }
 
 bool PhysicsEntity::findPlaneCollisions(const glm::vec4& plane, CollisionList& collisions) {
+    // TODO: Andrew to reimplement this or make it unecessary
     bool collided = false;
     PlaneShape planeShape(plane);
     for (int i = 0; i < _shapes.size(); i++) {
diff --git a/libraries/shared/src/PhysicsSimulation.cpp b/libraries/shared/src/PhysicsSimulation.cpp
index 09e59b7b84..2891ea8853 100644
--- a/libraries/shared/src/PhysicsSimulation.cpp
+++ b/libraries/shared/src/PhysicsSimulation.cpp
@@ -189,7 +189,25 @@ void PhysicsSimulation::computeCollisions() {
 }
 
 void PhysicsSimulation::processCollisions() {
-    // TODO: Andrew to implement this
+    // walk all collisions, accumulate movement on shapes, and build a list of affected shapes
+    QSet<Shape*> shapes;
+    int numCollisions = _collisionList.size();
+    for (int i = 0; i < numCollisions; ++i) {
+        CollisionInfo* collision = _collisionList.getCollision(i);
+        collision->apply();
+        // there is always a shapeA
+        shapes.insert(collision->getShapeA());
+        // but need to check for valid shapeB
+        if (collision->_shapeB) {
+            shapes.insert(collision->getShapeB());
+        }
+    }
+    // walk all affected shapes and apply accumulated movement
+    QSet<Shape*>::const_iterator shapeItr = shapes.constBegin();
+    while (shapeItr != shapes.constEnd()) {
+        (*shapeItr)->applyAccumulatedDelta();
+        ++shapeItr;
+    }
 }
 
 void PhysicsSimulation::enforceConstraints(float minError, int maxIterations, quint64 maxUsec) {
diff --git a/libraries/shared/src/Ragdoll.cpp b/libraries/shared/src/Ragdoll.cpp
index 76d8ce4d98..20828018e5 100644
--- a/libraries/shared/src/Ragdoll.cpp
+++ b/libraries/shared/src/Ragdoll.cpp
@@ -16,6 +16,20 @@
 #include "SharedUtil.h"
 #include "SphereShape.h"
 
+// ----------------------------------------------------------------------------
+// VerletPoint
+// ----------------------------------------------------------------------------
+void VerletPoint::accumulatePush(const glm::vec3& delta) {
+    _accumulatedPush += delta;
+    ++_numPushes;
+}
+
+void VerletPoint::applyAccumulatedPush() {
+    _lastPosition = _position;
+    _position += _accumulatedPush / (float)_numPushes;
+    _numPushes = 0;
+}
+
 // ----------------------------------------------------------------------------
 // FixedConstraint
 // ----------------------------------------------------------------------------
diff --git a/libraries/shared/src/Ragdoll.h b/libraries/shared/src/Ragdoll.h
index 788a46d4d1..e6622e8c85 100644
--- a/libraries/shared/src/Ragdoll.h
+++ b/libraries/shared/src/Ragdoll.h
@@ -21,10 +21,18 @@ class Shape;
 
 class VerletPoint {
 public:
-    VerletPoint() : _position(0.0f), _lastPosition(0.0f), _mass(0.0f) {}
+    VerletPoint() : _position(0.0f), _lastPosition(0.0f), _mass(0.0f), _accumulatedPush(0.0f), _numPushes(0) {}
+
+    void accumulatePush(const glm::vec3& delta);
+    void applyAccumulatedPush();
+
     glm::vec3 _position;
     glm::vec3 _lastPosition;
     float _mass;
+
+protected:
+    glm::vec3 _accumulatedPush;
+    int _numPushes;
 };
 
 class Constraint {
diff --git a/libraries/shared/src/Shape.h b/libraries/shared/src/Shape.h
index 4926f598ba..40429b3d8d 100644
--- a/libraries/shared/src/Shape.h
+++ b/libraries/shared/src/Shape.h
@@ -19,6 +19,8 @@ class PhysicsEntity;
 
 class Shape {
 public:
+    static const float MAX_MASS = 1.0e18f; // something less than sqrt(FLT_MAX)
+
     enum Type{
         UNKNOWN_SHAPE = 0,
         SPHERE_SHAPE,
@@ -27,7 +29,7 @@ public:
         LIST_SHAPE
     };
 
-    Shape() : _type(UNKNOWN_SHAPE), _owningEntity(NULL), _boundingRadius(0.f), _translation(0.f), _rotation() { }
+    Shape() : _type(UNKNOWN_SHAPE), _owningEntity(NULL), _boundingRadius(0.f), _translation(0.f), _rotation(), _mass(MAX_MASS) { }
     virtual ~Shape() {}
 
     int getType() const { return _type; }
@@ -43,8 +45,24 @@ public:
     virtual void setTranslation(const glm::vec3& translation) { _translation = translation; }
     virtual const glm::vec3& getTranslation() const { return _translation; }
 
+    virtual void setMass(float mass) { _mass = mass; }
+    virtual float getMass() const { return _mass; }
+
     virtual bool findRayIntersection(const glm::vec3& rayStart, const glm::vec3& rayDirection, float& distance) const = 0;
 
+    /// \param penetration of collision
+    /// \param contactPoint of collision
+    /// \return the effective mass for the collision
+    /// For most shapes has side effects: computes and caches the partial Lagrangian coefficients which will be
+    /// used in the next accumulateDelta() call.
+    virtual float computeEffectiveMass(const glm::vec3& penetration, const glm::vec3& contactPoint) { return _mass; }
+
+    /// \param relativeMassFactor the final ingredient for partial Lagrangian coefficients from computeEffectiveMass()
+    /// \param penetration the delta movement
+    virtual void accumulateDelta(float relativeMassFactor, const glm::vec3& penetration) {}
+
+    virtual void applyAccumulatedDelta() {}
+
 protected:
     // these ctors are protected (used by derived classes only)
     Shape(Type type) : _type(type), _owningEntity(NULL), _boundingRadius(0.f), _translation(0.f), _rotation() {}
@@ -62,6 +80,7 @@ protected:
     float _boundingRadius;
     glm::vec3 _translation;
     glm::quat _rotation;
+    float _mass;
 };
 
 #endif // hifi_Shape_h

From 633746ab168fa5fc7cbb30895570f20066984696 Mon Sep 17 00:00:00 2001
From: David Rowe <david@ctrlaltstudio.com>
Date: Fri, 20 Jun 2014 13:30:04 -0700
Subject: [PATCH 058/105] Different fullscreen shortcuts for Mac and Windows

Revert to the original Mac OSX key combination and provide alternative for Windows.
---
 interface/src/Menu.cpp | 9 +++++++++
 1 file changed, 9 insertions(+)

diff --git a/interface/src/Menu.cpp b/interface/src/Menu.cpp
index 9df3e25bf8..22a832278f 100644
--- a/interface/src/Menu.cpp
+++ b/interface/src/Menu.cpp
@@ -249,12 +249,21 @@ Menu::Menu() :
 
     QMenu* viewMenu = addMenu("View");
 
+#ifdef Q_OS_MAC
+    addCheckableActionToQMenuAndActionHash(viewMenu,
+                                           MenuOption::Fullscreen,
+                                           Qt::CTRL | Qt::META | Qt::Key_F,
+                                           false,
+                                           appInstance,
+                                           SLOT(setFullscreen(bool)));
+#else
     addCheckableActionToQMenuAndActionHash(viewMenu,
                                            MenuOption::Fullscreen,
                                            Qt::CTRL | Qt::Key_F,
                                            false,
                                            appInstance,
                                            SLOT(setFullscreen(bool)));
+#endif
     addCheckableActionToQMenuAndActionHash(viewMenu, MenuOption::FirstPerson, Qt::Key_P, true,
                                             appInstance,SLOT(cameraMenuChanged()));
     addCheckableActionToQMenuAndActionHash(viewMenu, MenuOption::Mirror, Qt::SHIFT | Qt::Key_H, true);

From ce778f47b1c6fc29999a5f9a865ba1c1514f866f Mon Sep 17 00:00:00 2001
From: Andrzej Kapolka <drzej.k@gmail.com>
Date: Fri, 20 Jun 2014 14:08:39 -0700
Subject: [PATCH 059/105] More work on stream testing, fixed bug with
 differently-ordered edits.

---
 libraries/metavoxels/src/MetavoxelData.cpp | 21 +++++++++++++++++----
 tests/metavoxels/src/MetavoxelTests.cpp    |  8 ++++----
 2 files changed, 21 insertions(+), 8 deletions(-)

diff --git a/libraries/metavoxels/src/MetavoxelData.cpp b/libraries/metavoxels/src/MetavoxelData.cpp
index d7528d1959..6d1031d3cf 100644
--- a/libraries/metavoxels/src/MetavoxelData.cpp
+++ b/libraries/metavoxels/src/MetavoxelData.cpp
@@ -1153,8 +1153,23 @@ int MetavoxelVisitor::encodeOrder(const glm::vec3& direction) {
         indexDistances.at(6).index, indexDistances.at(7).index);
 }
 
+const int ORDER_ELEMENT_BITS = 3;
+const int ORDER_ELEMENT_MASK = (1 << ORDER_ELEMENT_BITS) - 1;
+
 int MetavoxelVisitor::encodeRandomOrder() {
-    return DEFAULT_ORDER;
+    // see http://en.wikipedia.org/wiki/Fisher%E2%80%93Yates_shuffle#The_.22inside-out.22_algorithm
+    int order;
+    int randomValues = rand();
+    for (int i = 0, iShift = 0; i < MetavoxelNode::CHILD_COUNT; i++, iShift += ORDER_ELEMENT_BITS) {
+        int j = (randomValues >> iShift) % (i + 1);
+        int jShift = j * ORDER_ELEMENT_BITS;
+        if (j != i) {
+            int jValue = (order >> jShift) & ORDER_ELEMENT_MASK;
+            order = (order & ~(ORDER_ELEMENT_MASK << iShift)) | (jValue << iShift);
+        }
+        order = (order & ~(ORDER_ELEMENT_MASK << jShift)) | (i << jShift);
+    }
+    return order;
 }
 
 const int MetavoxelVisitor::DEFAULT_ORDER = encodeOrder(0, 1, 2, 3, 4, 5, 6, 7);
@@ -1350,8 +1365,6 @@ bool DefaultMetavoxelGuide::guide(MetavoxelVisitation& visitation) {
             QVector<OwnedAttributeValue>(visitation.outputNodes.size()) } };
     for (int i = 0; i < MetavoxelNode::CHILD_COUNT; i++) {
         // the encoded order tells us the child indices for each iteration
-        const int ORDER_ELEMENT_BITS = 3;
-        const int ORDER_ELEMENT_MASK = (1 << ORDER_ELEMENT_BITS) - 1;
         int index = encodedOrder & ORDER_ELEMENT_MASK;
         encodedOrder >>= ORDER_ELEMENT_BITS;
         for (int j = 0; j < visitation.inputNodes.size(); j++) {
@@ -1392,7 +1405,7 @@ bool DefaultMetavoxelGuide::guide(MetavoxelVisitation& visitation) {
                 }
             }
             MetavoxelNode* node = visitation.outputNodes.at(j);
-            MetavoxelNode* child = node->getChild(i);
+            MetavoxelNode* child = node->getChild(index);
             if (child) {
                 child->decrementReferenceCount(value.getAttribute());
             } else {
diff --git a/tests/metavoxels/src/MetavoxelTests.cpp b/tests/metavoxels/src/MetavoxelTests.cpp
index d261d9d926..6aef40eab1 100644
--- a/tests/metavoxels/src/MetavoxelTests.cpp
+++ b/tests/metavoxels/src/MetavoxelTests.cpp
@@ -598,17 +598,17 @@ public:
 
 private:
     
-    bool _finished;
+    int _mutationsRemaining;
 };
 
 MutateVisitor::MutateVisitor() :
     MetavoxelVisitor(QVector<AttributePointer>(),
         QVector<AttributePointer>() << AttributeRegistry::getInstance()->getColorAttribute()),
-    _finished(false) {
+    _mutationsRemaining(randIntInRange(2, 4)) {
 }
 
 int MutateVisitor::visit(MetavoxelInfo& info) {
-    if (_finished) {
+    if (_mutationsRemaining <= 0) {
         return STOP_RECURSION;
     }
     if (info.size > MAXIMUM_LEAF_SIZE || (info.size > MINIMUM_LEAF_SIZE && randomBoolean())) {
@@ -616,7 +616,7 @@ int MutateVisitor::visit(MetavoxelInfo& info) {
     }
     info.outputValues[0] = OwnedAttributeValue(_outputs.at(0), encodeInline<QRgb>(qRgb(randIntInRange(0, 255),
         randIntInRange(0, 255), randIntInRange(0, 255))));
-    _finished = true;
+    _mutationsRemaining--;
     return STOP_RECURSION;
 }
 

From a5457eb86b7e6d766b46d4106dfa098ba3a49a4d Mon Sep 17 00:00:00 2001
From: wangyix <wangyix@gmail.com>
Date: Fri, 20 Jun 2014 14:43:18 -0700
Subject: [PATCH 060/105] fixed bug in Audio.cpp where numSilentSamples was
 written to wrong place in packet

added more debug stuff, other minor changes and fixes
---
 .../src/audio/AudioMixerClientData.cpp        |  5 +-
 .../src/audio/AvatarAudioRingBuffer.cpp       |  2 +-
 interface/src/Audio.cpp                       | 12 ++--
 libraries/audio/src/AudioRingBuffer.cpp       |  1 +
 .../audio/src/InjectedAudioRingBuffer.cpp     |  2 +-
 .../audio/src/PositionalAudioRingBuffer.cpp   | 63 +++++++++++++------
 .../audio/src/PositionalAudioRingBuffer.h     | 10 ++-
 7 files changed, 63 insertions(+), 32 deletions(-)

diff --git a/assignment-client/src/audio/AudioMixerClientData.cpp b/assignment-client/src/audio/AudioMixerClientData.cpp
index 3ee571fc46..0c41cc70f9 100644
--- a/assignment-client/src/audio/AudioMixerClientData.cpp
+++ b/assignment-client/src/audio/AudioMixerClientData.cpp
@@ -119,15 +119,14 @@ void AudioMixerClientData::checkBuffersBeforeFrameSend(AABox* checkSourceZone, A
 }
 
 void AudioMixerClientData::pushBuffersAfterFrameSend() {
+
     QList<PositionalAudioRingBuffer*>::iterator i = _ringBuffers.begin();
     while (i != _ringBuffers.end()) {
         // this was a used buffer, push the output pointer forwards
         PositionalAudioRingBuffer* audioBuffer = *i;
 
         if (audioBuffer->willBeAddedToMix()) {
-            audioBuffer->shiftReadPosition(audioBuffer->isStereo()
-                                           ? NETWORK_BUFFER_LENGTH_SAMPLES_STEREO : NETWORK_BUFFER_LENGTH_SAMPLES_PER_CHANNEL);
-
+            audioBuffer->shiftReadPosition(audioBuffer->getSamplesPerFrame());
             audioBuffer->setWillBeAddedToMix(false);
         } else if (audioBuffer->getType() == PositionalAudioRingBuffer::Injector
                    && audioBuffer->hasStarted() && audioBuffer->isStarved()) {
diff --git a/assignment-client/src/audio/AvatarAudioRingBuffer.cpp b/assignment-client/src/audio/AvatarAudioRingBuffer.cpp
index 6658e446cf..0df50f99db 100644
--- a/assignment-client/src/audio/AvatarAudioRingBuffer.cpp
+++ b/assignment-client/src/audio/AvatarAudioRingBuffer.cpp
@@ -20,7 +20,7 @@ AvatarAudioRingBuffer::AvatarAudioRingBuffer(bool isStereo) :
 
 int AvatarAudioRingBuffer::parseData(const QByteArray& packet) {
     _interframeTimeGapHistory.frameReceived();
-    updateDesiredJitterBufferNumSamples();
+    updateDesiredJitterBufferFrames();
 
     _shouldLoopbackForNode = (packetTypeForPacket(packet) == PacketTypeMicrophoneAudioWithEcho);
     return PositionalAudioRingBuffer::parseData(packet);
diff --git a/interface/src/Audio.cpp b/interface/src/Audio.cpp
index 271bcd5279..47e55ddc90 100644
--- a/interface/src/Audio.cpp
+++ b/interface/src/Audio.cpp
@@ -461,8 +461,8 @@ void Audio::handleAudioInput() {
         int16_t* inputAudioSamples = new int16_t[inputSamplesRequired];
         _inputRingBuffer.readSamples(inputAudioSamples, inputSamplesRequired);
         
-        int numNetworkBytes = _isStereoInput ? NETWORK_BUFFER_LENGTH_BYTES_STEREO : NETWORK_BUFFER_LENGTH_BYTES_PER_CHANNEL;
-        int numNetworkSamples = _isStereoInput ? NETWORK_BUFFER_LENGTH_SAMPLES_STEREO : NETWORK_BUFFER_LENGTH_SAMPLES_PER_CHANNEL;
+        const int numNetworkBytes = _isStereoInput ? NETWORK_BUFFER_LENGTH_BYTES_STEREO : NETWORK_BUFFER_LENGTH_BYTES_PER_CHANNEL;
+        const int numNetworkSamples = _isStereoInput ? NETWORK_BUFFER_LENGTH_SAMPLES_STEREO : NETWORK_BUFFER_LENGTH_SAMPLES_PER_CHANNEL;
 
         // zero out the monoAudioSamples array and the locally injected audio
         memset(networkAudioSamples, 0, numNetworkBytes);
@@ -622,6 +622,7 @@ void Audio::handleAudioInput() {
         SharedNodePointer audioMixer = nodeList->soloNodeOfType(NodeType::AudioMixer);
         
         if (audioMixer && audioMixer->getActiveSocket()) {
+
             MyAvatar* interfaceAvatar = Application::getInstance()->getAvatar();
             glm::vec3 headPosition = interfaceAvatar->getHead()->getPosition();
             glm::quat headOrientation = interfaceAvatar->getHead()->getFinalOrientationInWorldFrame();
@@ -634,12 +635,11 @@ void Audio::handleAudioInput() {
                 packetType = PacketTypeSilentAudioFrame;
                 
                 // we need to indicate how many silent samples this is to the audio mixer
-                audioDataPacket[0] = _isStereoInput
-                    ? NETWORK_BUFFER_LENGTH_SAMPLES_STEREO
-                    : NETWORK_BUFFER_LENGTH_SAMPLES_PER_CHANNEL;
+                networkAudioSamples[0] = numNetworkSamples;
                 numAudioBytes = sizeof(int16_t);
             } else {
-                numAudioBytes = _isStereoInput ? NETWORK_BUFFER_LENGTH_BYTES_STEREO : NETWORK_BUFFER_LENGTH_BYTES_PER_CHANNEL;
+                numAudioBytes = numNetworkBytes;
+                //_isStereoInput ? NETWORK_BUFFER_LENGTH_BYTES_STEREO : NETWORK_BUFFER_LENGTH_BYTES_PER_CHANNEL;
                 
                 if (Menu::getInstance()->isOptionChecked(MenuOption::EchoServerAudio)) {
                     packetType = PacketTypeMicrophoneAudioWithEcho;
diff --git a/libraries/audio/src/AudioRingBuffer.cpp b/libraries/audio/src/AudioRingBuffer.cpp
index 2101fcb9cd..7b1e68ffbd 100644
--- a/libraries/audio/src/AudioRingBuffer.cpp
+++ b/libraries/audio/src/AudioRingBuffer.cpp
@@ -158,6 +158,7 @@ const int16_t& AudioRingBuffer::operator[] (const int index) const {
 
 void AudioRingBuffer::shiftReadPosition(unsigned int numSamples) {
     _nextOutput = shiftedPositionAccomodatingWrap(_nextOutput, numSamples);
+    printf("\n mixed.  %d samples remaining\n", samplesAvailable());
 }
 
 unsigned int AudioRingBuffer::samplesAvailable() const {
diff --git a/libraries/audio/src/InjectedAudioRingBuffer.cpp b/libraries/audio/src/InjectedAudioRingBuffer.cpp
index ffe5876bfd..80bcda5acb 100644
--- a/libraries/audio/src/InjectedAudioRingBuffer.cpp
+++ b/libraries/audio/src/InjectedAudioRingBuffer.cpp
@@ -32,7 +32,7 @@ const uchar MAX_INJECTOR_VOLUME = 255;
 
 int InjectedAudioRingBuffer::parseData(const QByteArray& packet) {
     _interframeTimeGapHistory.frameReceived();
-    updateDesiredJitterBufferNumSamples();
+    updateDesiredJitterBufferFrames();
 
     // setup a data stream to read from this packet
     QDataStream packetStream(packet);
diff --git a/libraries/audio/src/PositionalAudioRingBuffer.cpp b/libraries/audio/src/PositionalAudioRingBuffer.cpp
index b537e5c6d6..813323ecb1 100644
--- a/libraries/audio/src/PositionalAudioRingBuffer.cpp
+++ b/libraries/audio/src/PositionalAudioRingBuffer.cpp
@@ -33,6 +33,10 @@ InterframeTimeGapHistory::InterframeTimeGapHistory()
 }
 
 void InterframeTimeGapHistory::frameReceived() {
+
+    static QQueue<quint64> gaps;
+    static quint64 gapsSum = 0;
+
     quint64 now = usecTimestampNow();
 
     // make sure this isn't the first time frameReceived() is called, meaning there's actually a gap to calculate.
@@ -87,9 +91,9 @@ PositionalAudioRingBuffer::PositionalAudioRingBuffer(PositionalAudioRingBuffer::
     _shouldOutputStarveDebug(true),
     _isStereo(isStereo),
     _listenerUnattenuatedZone(NULL),
-    _desiredJitterBufferNumSamples(getNumSamplesPerFrame())
+    _desiredJitterBufferFrames(1),
+    _currentJitterBufferFrames(0)
 {
-
 }
 
 int PositionalAudioRingBuffer::parseData(const QByteArray& packet) {
@@ -114,10 +118,15 @@ int PositionalAudioRingBuffer::parseData(const QByteArray& packet) {
         if (numSilentSamples > 0) {
             addSilentFrame(numSilentSamples);
         }
+        printf("\nparsed silent packet of %d samples\n", numSilentSamples);
     } else {
         // there is audio data to read
-        readBytes += writeData(packet.data() + readBytes, packet.size() - readBytes);
+        int dataBytes = writeData(packet.data() + readBytes, packet.size() - readBytes);
+        readBytes += dataBytes;
+
+        printf("\nparsed packet of %d data bytes\n", dataBytes);
     }
+    printf("%d samples available\n", samplesAvailable());
     
     return readBytes;
 }
@@ -166,40 +175,58 @@ void PositionalAudioRingBuffer::updateNextOutputTrailingLoudness() {
 
 bool PositionalAudioRingBuffer::shouldBeAddedToMix() {
 
-    int samplesPerFrame = getNumSamplesPerFrame();
+    int samplesPerFrame = getSamplesPerFrame();
+    int currentJitterBufferSamples = 3 * samplesPerFrame; //_currentJitterBufferFrames * samplesPerFrame;
+    
+//printf("\nsamples available: %d  frames available: %d\n", samplesAvailable(), samplesAvailable() / samplesPerFrame);
+    if (!isNotStarvedOrHasMinimumSamples(samplesPerFrame + currentJitterBufferSamples)) {
 
-    if (!isNotStarvedOrHasMinimumSamples(samplesPerFrame + _desiredJitterBufferNumSamples)) {
+//printf("\nMIXING DELAYED! waiting for jitter buffer to fill after being starved\n");
+//printf("samples available: %d  frames available: %d\n", samplesAvailable(), samplesAvailable() / samplesPerFrame);
+        // if the buffer was starved and hasn't filled back up all the way, don't mix yet
         if (_shouldOutputStarveDebug) {
             _shouldOutputStarveDebug = false;
         }
-        
-        return false;
+
+        return  false;
+
     } else if (samplesAvailable() < samplesPerFrame) {
+
+//printf("\nMIXING DELAYED! jitter buffer is starved!!!\n");
+//printf("samples available: %d  frames available: %d\n", samplesAvailable(), samplesAvailable() / samplesPerFrame);
+        // if the buffer doesn't have a full frame of samples for mixing, it is starved
         _isStarved = true;
         
         // reset our _shouldOutputStarveDebug to true so the next is printed
         _shouldOutputStarveDebug = true;
+
+        // if buffer was starved, we've effectively increased the jitter buffer by one frame
+        // by "holding back" this ring buffer's contents until the next client frame is prepared.
+        _currentJitterBufferFrames++;
+//printf("jbuffer size increased: new size: %d\n", _currentJitterBufferFrames);
         
         return false;
-    } else {
-        // good buffer, add this to the mix
-        _isStarved = false;
 
-        // since we've read data from ring buffer at least once - we've started
-        _hasStarted = true;
-
-        return true;
     }
+//printf("WILL MIX\n");
 
-    return false;
+    // good buffer, add this to the mix
+    _isStarved = false;
+
+    // since we've read data from ring buffer at least once - we've started
+    _hasStarted = true;
+
+    return true;
 }
 
-void PositionalAudioRingBuffer::updateDesiredJitterBufferNumSamples() {
+void PositionalAudioRingBuffer::updateDesiredJitterBufferFrames() {
 
     const float USECS_PER_FRAME = NETWORK_BUFFER_LENGTH_SAMPLES_PER_CHANNEL * USECS_PER_SECOND / (float)SAMPLE_RATE;
 
     if (_interframeTimeGapHistory.hasNewWindowMaxGapAvailable()) {
-        int desiredJitterBufferNumFrames = (int)((float)_interframeTimeGapHistory.getWindowMaxGap() / USECS_PER_FRAME + 0.5f);
-        _desiredJitterBufferNumSamples = desiredJitterBufferNumFrames * getNumSamplesPerFrame();
+        _desiredJitterBufferFrames = ceilf((float)_interframeTimeGapHistory.getWindowMaxGap() / USECS_PER_FRAME);
+        if (_desiredJitterBufferFrames < 1) {
+            _desiredJitterBufferFrames = 1;
+        }
     }
 }
\ No newline at end of file
diff --git a/libraries/audio/src/PositionalAudioRingBuffer.h b/libraries/audio/src/PositionalAudioRingBuffer.h
index de731c6136..87a53038a3 100644
--- a/libraries/audio/src/PositionalAudioRingBuffer.h
+++ b/libraries/audio/src/PositionalAudioRingBuffer.h
@@ -29,6 +29,7 @@ public:
 
     void frameReceived();
     bool hasNewWindowMaxGapAvailable() const { return _newWindowMaxGapAvailable; }
+    quint64 peekWindowMaxGap() const { return _windowMaxGap; }
     quint64 getWindowMaxGap();
 
 private:
@@ -75,14 +76,14 @@ public:
     AABox* getListenerUnattenuatedZone() const { return _listenerUnattenuatedZone; }
     void setListenerUnattenuatedZone(AABox* listenerUnattenuatedZone) { _listenerUnattenuatedZone = listenerUnattenuatedZone; }
     
-    int getNumSamplesPerFrame() const { return _isStereo ? NETWORK_BUFFER_LENGTH_SAMPLES_STEREO : NETWORK_BUFFER_LENGTH_BYTES_PER_CHANNEL; }
+    int getSamplesPerFrame() const { return _isStereo ? NETWORK_BUFFER_LENGTH_SAMPLES_STEREO : NETWORK_BUFFER_LENGTH_SAMPLES_PER_CHANNEL; }
 
 protected:
     // disallow copying of PositionalAudioRingBuffer objects
     PositionalAudioRingBuffer(const PositionalAudioRingBuffer&);
     PositionalAudioRingBuffer& operator= (const PositionalAudioRingBuffer&);
 
-    void updateDesiredJitterBufferNumSamples();
+    void updateDesiredJitterBufferFrames();
     
     PositionalAudioRingBuffer::Type _type;
     glm::vec3 _position;
@@ -96,7 +97,10 @@ protected:
     AABox* _listenerUnattenuatedZone;
 
     InterframeTimeGapHistory _interframeTimeGapHistory;
-    int _desiredJitterBufferNumSamples;
+    int _desiredJitterBufferFrames;
+    int _currentJitterBufferFrames;
+
+quint64 _lastMixTime;
 };
 
 #endif // hifi_PositionalAudioRingBuffer_h

From 0e6abe33597dd0fc39a63d6f044d1374fdb0795d Mon Sep 17 00:00:00 2001
From: Ryan Huffman <ryanhuffman@gmail.com>
Date: Fri, 20 Jun 2014 16:31:22 -0700
Subject: [PATCH 061/105] Update inactive chat window opacity to 0.8

---
 interface/src/ui/ChatWindow.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/interface/src/ui/ChatWindow.cpp b/interface/src/ui/ChatWindow.cpp
index b101b50b2f..a7d2c212d2 100644
--- a/interface/src/ui/ChatWindow.cpp
+++ b/interface/src/ui/ChatWindow.cpp
@@ -31,7 +31,7 @@
 const int NUM_MESSAGES_TO_TIME_STAMP = 20;
 
 const float OPACITY_ACTIVE = 1.0;
-const float OPACITY_INACTIVE = 0.6;
+const float OPACITY_INACTIVE = 0.8;
 
 const QRegularExpression regexLinks("((?:(?:ftp)|(?:https?)|(?:hifi))://\\S+)");
 const QRegularExpression regexHifiLinks("([#@]\\S+)");

From c17b8fdb6078a7a2bbd779132c4a49b6d29b036b Mon Sep 17 00:00:00 2001
From: Andrew Meadows <andrew@highfidelity.io>
Date: Fri, 20 Jun 2014 16:31:39 -0700
Subject: [PATCH 062/105] collisions update shapes

VerletShapes keep pointers to VerletPoints (rather than to glm::vec3's)
VerletShapes compute lagrangian coefficients
VerletShapes send their movement accumulations to their VerletPoints
---
 interface/src/avatar/SkeletonModel.cpp      |  4 +-
 libraries/shared/src/CollisionInfo.cpp      | 11 ++-
 libraries/shared/src/PhysicsSimulation.cpp  | 16 +++-
 libraries/shared/src/Ragdoll.cpp            | 16 ++--
 libraries/shared/src/Ragdoll.h              | 21 ++++--
 libraries/shared/src/VerletCapsuleShape.cpp | 84 ++++++++++++++++-----
 libraries/shared/src/VerletCapsuleShape.h   | 20 ++++-
 libraries/shared/src/VerletSphereShape.cpp  | 26 ++++++-
 libraries/shared/src/VerletSphereShape.h    | 11 ++-
 tests/physics/src/VerletShapeTests.cpp      | 35 ++++-----
 10 files changed, 177 insertions(+), 67 deletions(-)

diff --git a/interface/src/avatar/SkeletonModel.cpp b/interface/src/avatar/SkeletonModel.cpp
index b28dd08663..0598e2aabd 100644
--- a/interface/src/avatar/SkeletonModel.cpp
+++ b/interface/src/avatar/SkeletonModel.cpp
@@ -580,12 +580,12 @@ void SkeletonModel::buildShapes() {
         }
         Shape* shape = NULL;
         if (type == Shape::SPHERE_SHAPE) {
-            shape = new VerletSphereShape(radius, &(_ragdollPoints[i]._position));
+            shape = new VerletSphereShape(radius, &(_ragdollPoints[i]));
             shape->setEntity(this);
         } else if (type == Shape::CAPSULE_SHAPE) {
             int parentIndex = joint.parentIndex;
             assert(parentIndex != -1);
-            shape = new VerletCapsuleShape(radius, &(_ragdollPoints[parentIndex]._position), &(_ragdollPoints[i]._position));
+            shape = new VerletCapsuleShape(radius, &(_ragdollPoints[parentIndex]), &(_ragdollPoints[i]));
             shape->setEntity(this);
         } 
         _shapes.push_back(shape);
diff --git a/libraries/shared/src/CollisionInfo.cpp b/libraries/shared/src/CollisionInfo.cpp
index 3dd3610edb..c76c99e747 100644
--- a/libraries/shared/src/CollisionInfo.cpp
+++ b/libraries/shared/src/CollisionInfo.cpp
@@ -12,6 +12,7 @@
 #include "CollisionInfo.h"
 
 #include "Shape.h"
+#include "SharedUtil.h"
 
 CollisionInfo::CollisionInfo() :
         _data(NULL),
@@ -42,10 +43,16 @@ void CollisionInfo::apply() {
         Shape* shapeB = const_cast<Shape*>(_shapeB);
         massB = shapeB->computeEffectiveMass(-_penetration, _contactPoint - _penetration);
         totalMass = massA + massB;
-        shapeB->accumulateDelta(massA / totalMass, -_penetration);
+        if (totalMass < EPSILON) {
+            massA = massB = 1.0f;
+            totalMass = 2.0f;
+        }
+        // remember that _penetration points from A into B
+        shapeB->accumulateDelta(massA / totalMass, _penetration);
     }   
     // NOTE: Shape::accumulateDelta() uses the coefficients from previous call to Shape::computeEffectiveMass()
-    shapeA->accumulateDelta(massB / totalMass, _penetration);
+    // remember that _penetration points from A into B
+    shapeA->accumulateDelta(massB / totalMass, -_penetration);
 }
 
 CollisionInfo* CollisionList::getNewCollision() {
diff --git a/libraries/shared/src/PhysicsSimulation.cpp b/libraries/shared/src/PhysicsSimulation.cpp
index 2891ea8853..c15d0fb541 100644
--- a/libraries/shared/src/PhysicsSimulation.cpp
+++ b/libraries/shared/src/PhysicsSimulation.cpp
@@ -128,7 +128,7 @@ void PhysicsSimulation::removeRagdoll(Ragdoll* doll) {
         }
     }
 }
-// TODO: Andrew need to implement:
+// TODO: Andrew to implement:
 // DONE (1) joints pull points (SpecialCapsuleShape would help solve this)
 // DONE (2) points slam shapes (SpecialCapsuleShape would help solve this)
 // DONE (3) detect collisions
@@ -136,9 +136,16 @@ void PhysicsSimulation::removeRagdoll(Ragdoll* doll) {
 // DONE (5) enforce constraints
 // DONE (6) make sure MyAvatar creates shapes, adds to simulation with ragdoll support
 // DONE (7) support for pairwise collision bypass
-// (8) process collisions
-// (9) add and enforce angular contraints for joints
+// DONE (8) process collisions
+// DONE (8a) stubbery
+// DONE (8b) shapes actually accumulate movement
+// DONE (9) verify that avatar shapes self collide
+// (10) slave rendered SkeletonModel to physical shapes
+// (10a) give SkeletonModel duplicate JointState data
+// (10b) figure out how to slave dupe JointStates to physical shapes
+// (11) add and enforce angular contraints for joints
 void PhysicsSimulation::stepForward(float deltaTime, float minError, int maxIterations, quint64 maxUsec) {
+    static int adebug = 0; ++adebug;
     quint64 startTime = usecTimestampNow();
     quint64 expiry = startTime + maxUsec;
 
@@ -148,6 +155,9 @@ void PhysicsSimulation::stepForward(float deltaTime, float minError, int maxIter
     enforceConstraints(minError, maxIterations, expiry - usecTimestampNow());
 
     _stepTime = usecTimestampNow()- startTime;
+    if (0 == (adebug % 200)) {
+        std::cout << " adebug nC = " << _numCollisions << "  i = " << _numIterations << "  e = " << _constraintError << "  t = " << _stepTime << std::endl;  // adebug
+    }
 }
 
 void PhysicsSimulation::moveRagdolls(float deltaTime) {
diff --git a/libraries/shared/src/Ragdoll.cpp b/libraries/shared/src/Ragdoll.cpp
index 20828018e5..be1ee07a20 100644
--- a/libraries/shared/src/Ragdoll.cpp
+++ b/libraries/shared/src/Ragdoll.cpp
@@ -19,15 +19,17 @@
 // ----------------------------------------------------------------------------
 // VerletPoint
 // ----------------------------------------------------------------------------
-void VerletPoint::accumulatePush(const glm::vec3& delta) {
-    _accumulatedPush += delta;
-    ++_numPushes;
+void VerletPoint::accumulateDelta(const glm::vec3& delta) {
+    _accumulatedDelta += delta;
+    ++_numDeltas;
 }
 
-void VerletPoint::applyAccumulatedPush() {
-    _lastPosition = _position;
-    _position += _accumulatedPush / (float)_numPushes;
-    _numPushes = 0;
+void VerletPoint::applyAccumulatedDelta() {
+    if (_numDeltas > 0) { 
+        _position += _accumulatedDelta / (float)_numDeltas;
+        _accumulatedDelta = glm::vec3(0.0f);
+        _numDeltas = 0;
+    }
 }
 
 // ----------------------------------------------------------------------------
diff --git a/libraries/shared/src/Ragdoll.h b/libraries/shared/src/Ragdoll.h
index e6622e8c85..5c9f47841b 100644
--- a/libraries/shared/src/Ragdoll.h
+++ b/libraries/shared/src/Ragdoll.h
@@ -19,20 +19,29 @@
 
 class Shape;
 
+// TODO: Andrew to move VerletPoint class to its own file
 class VerletPoint {
 public:
-    VerletPoint() : _position(0.0f), _lastPosition(0.0f), _mass(0.0f), _accumulatedPush(0.0f), _numPushes(0) {}
+    VerletPoint() : _position(0.0f), _lastPosition(0.0f), _mass(1.0f), _accumulatedDelta(0.0f), _numDeltas(0) {}
 
-    void accumulatePush(const glm::vec3& delta);
-    void applyAccumulatedPush();
+    void accumulateDelta(const glm::vec3& delta);
+    void applyAccumulatedDelta();
+
+    glm::vec3 getAccumulatedDelta() const { 
+        glm::vec3 foo(0.0f); 
+        if (_numDeltas > 0) { 
+            foo = _accumulatedDelta / (float)_numDeltas; 
+        } 
+        return foo; 
+    }
 
     glm::vec3 _position;
     glm::vec3 _lastPosition;
     float _mass;
 
-protected:
-    glm::vec3 _accumulatedPush;
-    int _numPushes;
+private:
+    glm::vec3 _accumulatedDelta;
+    int _numDeltas;
 };
 
 class Constraint {
diff --git a/libraries/shared/src/VerletCapsuleShape.cpp b/libraries/shared/src/VerletCapsuleShape.cpp
index b4117e40f7..3ac4899682 100644
--- a/libraries/shared/src/VerletCapsuleShape.cpp
+++ b/libraries/shared/src/VerletCapsuleShape.cpp
@@ -10,21 +10,24 @@
 //
 
 #include "VerletCapsuleShape.h"
+
+#include "Ragdoll.h"    // for VerletPoint
 #include "SharedUtil.h"
 
-VerletCapsuleShape::VerletCapsuleShape(glm::vec3* startPoint, glm::vec3* endPoint) : 
-        CapsuleShape(), _startPoint(startPoint), _endPoint(endPoint) {
+VerletCapsuleShape::VerletCapsuleShape(VerletPoint* startPoint, VerletPoint* endPoint) : 
+        CapsuleShape(), _startPoint(startPoint), _endPoint(endPoint), _startLagrangeCoef(0.5f), _endLagrangeCoef(0.5f) {
     assert(startPoint);
     assert(endPoint);
-    _halfHeight = 0.5f * glm::distance(*_startPoint, *_endPoint);
+    _halfHeight = 0.5f * glm::distance(_startPoint->_position, _endPoint->_position);
     updateBoundingRadius();
 }
 
-VerletCapsuleShape::VerletCapsuleShape(float radius, glm::vec3* startPoint, glm::vec3* endPoint) :
-        CapsuleShape(radius, 1.0f), _startPoint(startPoint), _endPoint(endPoint) {
+VerletCapsuleShape::VerletCapsuleShape(float radius, VerletPoint* startPoint, VerletPoint* endPoint) :
+        CapsuleShape(radius, 1.0f), _startPoint(startPoint), _endPoint(endPoint), 
+        _startLagrangeCoef(0.5f), _endLagrangeCoef(0.5f) {
     assert(startPoint);
     assert(endPoint);
-    _halfHeight = 0.5f * glm::distance(*_startPoint, *_endPoint);
+    _halfHeight = 0.5f * glm::distance(_startPoint->_position, _endPoint->_position);
     updateBoundingRadius();
 }
 
@@ -46,8 +49,8 @@ void VerletCapsuleShape::setRotation(const glm::quat& rotation) {
     glm::vec3 center = getTranslation();
     float halfHeight = getHalfHeight();
     glm::vec3 axis = rotation * DEFAULT_CAPSULE_AXIS;
-    *_startPoint = center - halfHeight * axis;
-    *_endPoint = center + halfHeight * axis;
+    _startPoint->_position = center - halfHeight * axis;
+    _endPoint->_position = center + halfHeight * axis;
 }
 
 void VerletCapsuleShape::setTranslation(const glm::vec3& position) {
@@ -56,35 +59,78 @@ void VerletCapsuleShape::setTranslation(const glm::vec3& position) {
 
     // update the points such that their center is at position
     glm::vec3 movement = position - getTranslation();
-    *_startPoint += movement;
-    *_endPoint += movement;
+    _startPoint->_position += movement;
+    _endPoint->_position += movement;
 }
 
 const glm::vec3& VerletCapsuleShape::getTranslation() const {
     // the "translation" of this shape must be computed on the fly
     VerletCapsuleShape* thisCapsule = const_cast<VerletCapsuleShape*>(this);
-    thisCapsule->_translation = 0.5f * ((*_startPoint) + (*_endPoint));
+    thisCapsule->_translation = 0.5f * (_startPoint->_position + _endPoint->_position);
     return _translation;
 }
 
+float VerletCapsuleShape::computeEffectiveMass(const glm::vec3& penetration, const glm::vec3& contactPoint) {
+    glm::vec3 startLeg = _startPoint->_position - contactPoint;
+    glm::vec3 endLeg = _endPoint->_position - contactPoint;
+
+    // TODO: use fast approximate distance calculations here
+    float startLength = glm::length(startLeg);
+    float endlength = glm::length(endLeg);
+
+    // The raw coefficient is proportional to the other leg's length multiplied by the dot-product
+    // of the penetration and this leg direction.  We don't worry about the common penetration length 
+    // because it is normalized out later.
+    float startCoef = glm::abs(glm::dot(startLeg, penetration)) * endlength / (startLength + EPSILON);
+    float endCoef = glm::abs(glm::dot(endLeg, penetration)) * startLength / (endlength + EPSILON);
+
+    float maxCoef = glm::max(startCoef, endCoef);
+    if (maxCoef > EPSILON) {
+        // One of these coeficients will be 1.0, the other will be less --> 
+        // one endpoint will move the full amount while the other will move less.
+        _startLagrangeCoef = startCoef / maxCoef;
+        _endLagrangeCoef = endCoef / maxCoef;
+        assert(!glm::isnan(_startLagrangeCoef));
+        assert(!glm::isnan(_startLagrangeCoef));
+    } else {
+        // The coefficients are the same --> the collision will move both equally
+        // as if the object were solid.
+        _startLagrangeCoef = 1.0f;
+        _endLagrangeCoef = 1.0f;
+    }
+    // the effective mass is the weighted sum of the two endpoints
+    return _startLagrangeCoef * _startPoint->_mass + _endLagrangeCoef * _endPoint->_mass;
+}
+
+void VerletCapsuleShape::accumulateDelta(float relativeMassFactor, const glm::vec3& penetration) {
+    assert(!glm::isnan(relativeMassFactor));
+    _startPoint->accumulateDelta(relativeMassFactor * _startLagrangeCoef * penetration);
+    _endPoint->accumulateDelta(relativeMassFactor * _endLagrangeCoef * penetration);
+}
+
+void VerletCapsuleShape::applyAccumulatedDelta() {
+    _startPoint->applyAccumulatedDelta();
+    _endPoint->applyAccumulatedDelta();
+}
+
 // virtual
 float VerletCapsuleShape::getHalfHeight() const {
-    return 0.5f * glm::distance(*_startPoint, *_endPoint);
+    return 0.5f * glm::distance(_startPoint->_position, _endPoint->_position);
 }
 
 // virtual
 void VerletCapsuleShape::getStartPoint(glm::vec3& startPoint) const {
-    startPoint = *_startPoint;
+    startPoint = _startPoint->_position;
 }
 
 // virtual
 void VerletCapsuleShape::getEndPoint(glm::vec3& endPoint) const {
-    endPoint = *_endPoint;
+    endPoint = _endPoint->_position;
 }
 
 // virtual
 void VerletCapsuleShape::computeNormalizedAxis(glm::vec3& axis) const {
-    glm::vec3 unormalizedAxis = *_endPoint - *_startPoint;
+    glm::vec3 unormalizedAxis = _endPoint->_position - _startPoint->_position;
     float fullLength = glm::length(unormalizedAxis);
     if (fullLength > EPSILON) {
         axis = unormalizedAxis / fullLength;
@@ -101,8 +147,8 @@ void VerletCapsuleShape::setHalfHeight(float halfHeight) {
     glm::vec3 center = getTranslation();
     glm::vec3 axis;
     computeNormalizedAxis(axis);
-    *_startPoint = center - halfHeight * axis;
-    *_endPoint = center + halfHeight * axis;
+    _startPoint->_position = center - halfHeight * axis;
+    _endPoint->_position = center + halfHeight * axis;
     _boundingRadius = _radius + halfHeight;
 }
 
@@ -114,7 +160,7 @@ void VerletCapsuleShape::setRadiusAndHalfHeight(float radius, float halfHeight)
 
 // virtual
 void VerletCapsuleShape::setEndPoints(const glm::vec3& startPoint, const glm::vec3& endPoint) {
-    *_startPoint = startPoint;
-    *_endPoint = endPoint;
+    _startPoint->_position = startPoint;
+    _endPoint->_position = endPoint;
     updateBoundingRadius();
 }
diff --git a/libraries/shared/src/VerletCapsuleShape.h b/libraries/shared/src/VerletCapsuleShape.h
index 72cc8b7b0e..1fd84f5b1e 100644
--- a/libraries/shared/src/VerletCapsuleShape.h
+++ b/libraries/shared/src/VerletCapsuleShape.h
@@ -32,16 +32,21 @@
 //     down in a hot simulation loop, such as when processing collision results.  Best to
 //     just let the verlet simulation do its thing and not try to constantly force a rotation.
 
+class VerletPoint;
+
 class VerletCapsuleShape : public CapsuleShape {
 public:
-    VerletCapsuleShape(glm::vec3* startPoint, glm::vec3* endPoint);
-    VerletCapsuleShape(float radius, glm::vec3* startPoint, glm::vec3* endPoint);
+    VerletCapsuleShape(VerletPoint* startPoint, VerletPoint* endPoint);
+    VerletCapsuleShape(float radius, VerletPoint* startPoint, VerletPoint* endPoint);
 
     // virtual overrides from Shape
     const glm::quat& getRotation() const;
     void setRotation(const glm::quat& rotation);
     void setTranslation(const glm::vec3& position);
     const glm::vec3& getTranslation() const;
+    float computeEffectiveMass(const glm::vec3& penetration, const glm::vec3& contactPoint);
+    void accumulateDelta(float relativeMassFactor, const glm::vec3& penetration);
+    void applyAccumulatedDelta();
 
     //float getRadius() const { return _radius; }
     virtual float getHalfHeight() const;
@@ -64,8 +69,15 @@ public:
 
 protected:
     // NOTE: VerletCapsuleShape does NOT own the data in its points.
-    glm::vec3* _startPoint;
-    glm::vec3* _endPoint;
+    VerletPoint* _startPoint;
+    VerletPoint* _endPoint;
+
+    // The LagrangeCoef's are numerical weights for distributing collision movement
+    // between the relevant VerletPoints associated with this shape.  They are functions
+    // of the movement parameters and are computed (and cached) in computeEffectiveMass() 
+    // and then used in the subsequent accumulateDelta().
+    float _startLagrangeCoef;
+    float _endLagrangeCoef;
 };
 
 #endif // hifi_VerletCapsuleShape_h
diff --git a/libraries/shared/src/VerletSphereShape.cpp b/libraries/shared/src/VerletSphereShape.cpp
index 2c659b8159..10c40c6611 100644
--- a/libraries/shared/src/VerletSphereShape.cpp
+++ b/libraries/shared/src/VerletSphereShape.cpp
@@ -11,22 +11,40 @@
 
 #include "VerletSphereShape.h"
 
-VerletSphereShape::VerletSphereShape(glm::vec3* centerPoint) : SphereShape() { 
+#include "Ragdoll.h"    // for VerletPoint
+
+VerletSphereShape::VerletSphereShape(VerletPoint* centerPoint) : SphereShape() { 
     assert(centerPoint);
     _point = centerPoint;
 }
 
-VerletSphereShape::VerletSphereShape(float radius, glm::vec3* centerPoint) : SphereShape(radius) {
+VerletSphereShape::VerletSphereShape(float radius, VerletPoint* centerPoint) : SphereShape(radius) {
     assert(centerPoint);
     _point = centerPoint;
 }
 
 // virtual from Shape class
 void VerletSphereShape::setTranslation(const glm::vec3& position) {
-    *_point = position;
+    _point->_position = position;
+    _point->_lastPosition = position;
 }
 
 // virtual from Shape class
 const glm::vec3& VerletSphereShape::getTranslation() const {
-    return *_point;
+    return _point->_position;
+}
+
+// virtual
+float VerletSphereShape::computeEffectiveMass(const glm::vec3& penetration, const glm::vec3& contactPoint) {
+    return _point->_mass;
+}
+
+// virtual
+void VerletSphereShape::accumulateDelta(float relativeMassFactor, const glm::vec3& penetration) {
+    _point->accumulateDelta(relativeMassFactor * penetration);
+}
+
+// virtual
+void VerletSphereShape::applyAccumulatedDelta() {
+    _point->applyAccumulatedDelta();
 }
diff --git a/libraries/shared/src/VerletSphereShape.h b/libraries/shared/src/VerletSphereShape.h
index 395f5901e6..65da3b2597 100644
--- a/libraries/shared/src/VerletSphereShape.h
+++ b/libraries/shared/src/VerletSphereShape.h
@@ -24,19 +24,24 @@
 // (2) A VerletShape doesn't own the points that it uses, so you must be careful not to
 //     leave dangling pointers around.
 
+class VerletPoint;
+
 class VerletSphereShape : public SphereShape {
 public:
-    VerletSphereShape(glm::vec3* centerPoint);
+    VerletSphereShape(VerletPoint* point);
 
-    VerletSphereShape(float radius, glm::vec3* centerPoint);
+    VerletSphereShape(float radius, VerletPoint* centerPoint);
 
     // virtual overrides from Shape
     void setTranslation(const glm::vec3& position);
     const glm::vec3& getTranslation() const;
+    float computeEffectiveMass(const glm::vec3& penetration, const glm::vec3& contactPoint);
+    void accumulateDelta(float relativeMassFactor, const glm::vec3& penetration);
+    void applyAccumulatedDelta();
 
 protected:
     // NOTE: VerletSphereShape does NOT own its _point
-    glm::vec3* _point;
+    VerletPoint* _point;
 };
 
 #endif // hifi_VerletSphereShape_h
diff --git a/tests/physics/src/VerletShapeTests.cpp b/tests/physics/src/VerletShapeTests.cpp
index 6ae839392e..3a3bd43278 100644
--- a/tests/physics/src/VerletShapeTests.cpp
+++ b/tests/physics/src/VerletShapeTests.cpp
@@ -17,6 +17,7 @@
 #include <glm/gtx/quaternion.hpp>
 
 #include <CollisionInfo.h>
+#include <Ragdoll.h>    // for VerletPoint
 #include <ShapeCollider.h>
 #include <SharedUtil.h>
 #include <VerletCapsuleShape.h>
@@ -33,16 +34,16 @@ static const glm::vec3 zAxis(0.0f, 0.0f, 1.0f);
 void VerletShapeTests::setSpherePosition() {
     float radius = 1.0f;
     glm::vec3 offset(1.23f, 4.56f, 7.89f);
-    glm::vec3 point;
+    VerletPoint point;
     VerletSphereShape sphere(radius, &point);
 
-    point = glm::vec3(0.f);
+    point._position = glm::vec3(0.f);
     float d = glm::distance(glm::vec3(0.0f), sphere.getTranslation());
     if (d != 0.0f) {
         std::cout << __FILE__ << ":" << __LINE__ << " ERROR: sphere should be at origin" << std::endl;
     }
 
-    point = offset;
+    point._position = offset;
     d = glm::distance(glm::vec3(0.0f), sphere.getTranslation());
     if (d != glm::length(offset)) {
         std::cout << __FILE__ << ":" << __LINE__ << " ERROR: sphere should be at offset" << std::endl;
@@ -60,15 +61,15 @@ void VerletShapeTests::sphereMissesSphere() {
     float offsetDistance = alpha * radiusA + beta * radiusB;
 
     // create points for the sphere centers
-    glm::vec3 points[2];
+    VerletPoint points[2];
 
     // give pointers to the spheres
     VerletSphereShape sphereA(radiusA, (points + 0));
     VerletSphereShape sphereB(radiusB, (points + 1));
 
     // set the positions of the spheres by slamming the points directly
-    points[0] = origin;
-    points[1] = offsetDistance * offsetDirection;
+    points[0]._position = origin;
+    points[1]._position = offsetDistance * offsetDirection;
 
     CollisionList collisions(16);
 
@@ -118,15 +119,15 @@ void VerletShapeTests::sphereTouchesSphere() {
     glm::vec3 expectedPenetration = expectedPenetrationDistance * offsetDirection;
 
     // create two points for the sphere centers
-    glm::vec3 points[2];
+    VerletPoint points[2];
 
     // give pointers to the spheres
     VerletSphereShape sphereA(radiusA, points+0);
     VerletSphereShape sphereB(radiusB, points+1);
 
     // set the positions of the spheres by slamming the points directly
-    points[0] = origin;
-    points[1] = offsetDistance * offsetDirection;
+    points[0]._position = origin;
+    points[1]._position = offsetDistance * offsetDirection;
 
     CollisionList collisions(16);
     int numCollisions = 0;
@@ -213,9 +214,9 @@ void VerletShapeTests::sphereMissesCapsule() {
     float radialOffset = 1.2f * radiusA + 1.3f * radiusB;
     
     // create points for the sphere + capsule
-    glm::vec3 points[3];
+    VerletPoint points[3];
     for (int i = 0; i < 3; ++i) {
-        points[i] = glm::vec3(0.0f);
+        points[i]._position = glm::vec3(0.0f);
     }
 
     // give the points to the shapes
@@ -277,9 +278,9 @@ void VerletShapeTests::sphereTouchesCapsule() {
     float radialOffset = alpha * radiusA + beta * radiusB;
     
     // create points for the sphere + capsule
-    glm::vec3 points[3];
+    VerletPoint points[3];
     for (int i = 0; i < 3; ++i) {
-        points[i] = glm::vec3(0.0f);
+        points[i]._position = glm::vec3(0.0f);
     }
 
     // give the points to the shapes
@@ -496,9 +497,9 @@ void VerletShapeTests::capsuleMissesCapsule() {
     float totalHalfLength = totalRadius + halfHeightA + halfHeightB;
 
     // create points for the shapes
-    glm::vec3 points[4];
+    VerletPoint points[4];
     for (int i = 0; i < 4; ++i) {
-        points[i] = glm::vec3(0.0f);
+        points[i]._position = glm::vec3(0.0f);
     }
 
     // give the points to the shapes
@@ -574,9 +575,9 @@ void VerletShapeTests::capsuleTouchesCapsule() {
     float totalHalfLength = totalRadius + halfHeightA + halfHeightB;
 
     // create points for the shapes
-    glm::vec3 points[4];
+    VerletPoint points[4];
     for (int i = 0; i < 4; ++i) {
-        points[i] = glm::vec3(0.0f);
+        points[i]._position = glm::vec3(0.0f);
     }
 
     // give the points to the shapes

From dcd9d8871d4d5acb0948d547c047a87cb789b142 Mon Sep 17 00:00:00 2001
From: Andrew Meadows <andrew@highfidelity.io>
Date: Fri, 20 Jun 2014 16:36:44 -0700
Subject: [PATCH 063/105] re-enabling some temporary debug stuff

---
 libraries/shared/src/PhysicsSimulation.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/libraries/shared/src/PhysicsSimulation.cpp b/libraries/shared/src/PhysicsSimulation.cpp
index c15d0fb541..a1f8c249c6 100644
--- a/libraries/shared/src/PhysicsSimulation.cpp
+++ b/libraries/shared/src/PhysicsSimulation.cpp
@@ -10,6 +10,7 @@
 //
 
 #include <glm/glm.hpp>
+#include <iostream> // adebug
 
 #include "PhysicsSimulation.h"
 

From cb6681f6f88e21196e97d3f6c5dd65a046cdd71d Mon Sep 17 00:00:00 2001
From: wangyix <wangyix@gmail.com>
Date: Fri, 20 Jun 2014 17:13:42 -0700
Subject: [PATCH 064/105] completed code for dynamicly resizing jitter buffer

---
 libraries/audio/src/AudioRingBuffer.cpp       |  2 +-
 .../audio/src/PositionalAudioRingBuffer.cpp   | 81 ++++++++++++++-----
 2 files changed, 60 insertions(+), 23 deletions(-)

diff --git a/libraries/audio/src/AudioRingBuffer.cpp b/libraries/audio/src/AudioRingBuffer.cpp
index 7b1e68ffbd..ae100dcdf1 100644
--- a/libraries/audio/src/AudioRingBuffer.cpp
+++ b/libraries/audio/src/AudioRingBuffer.cpp
@@ -158,7 +158,7 @@ const int16_t& AudioRingBuffer::operator[] (const int index) const {
 
 void AudioRingBuffer::shiftReadPosition(unsigned int numSamples) {
     _nextOutput = shiftedPositionAccomodatingWrap(_nextOutput, numSamples);
-    printf("\n mixed.  %d samples remaining\n", samplesAvailable());
+//printf("\nmixed.  %d samples remaining\n", samplesAvailable());
 }
 
 unsigned int AudioRingBuffer::samplesAvailable() const {
diff --git a/libraries/audio/src/PositionalAudioRingBuffer.cpp b/libraries/audio/src/PositionalAudioRingBuffer.cpp
index 813323ecb1..04559fc910 100644
--- a/libraries/audio/src/PositionalAudioRingBuffer.cpp
+++ b/libraries/audio/src/PositionalAudioRingBuffer.cpp
@@ -33,8 +33,7 @@ InterframeTimeGapHistory::InterframeTimeGapHistory()
 }
 
 void InterframeTimeGapHistory::frameReceived() {
-
-    static QQueue<quint64> gaps;
+    
     static quint64 gapsSum = 0;
 
     quint64 now = usecTimestampNow();
@@ -46,6 +45,14 @@ void InterframeTimeGapHistory::frameReceived() {
         // update the current interval max
         if (gap > _currentIntervalMaxGap) {
             _currentIntervalMaxGap = gap;
+
+            // keep the window max gap at least as large as the current interval max
+            // this allows the window max gap to respond immediately to a sudden spike in gap times
+            // also, this prevents the window max gap from staying at 0 until the first interval of samples filled up
+            if (_currentIntervalMaxGap > _windowMaxGap) {
+                _windowMaxGap = _currentIntervalMaxGap;
+                _newWindowMaxGapAvailable = true;
+            }
         }
         _numSamplesInCurrentInterval++;
 
@@ -116,17 +123,35 @@ int PositionalAudioRingBuffer::parseData(const QByteArray& packet) {
         readBytes += sizeof(int16_t);
         
         if (numSilentSamples > 0) {
-            addSilentFrame(numSilentSamples);
+
+            if (_currentJitterBufferFrames > _desiredJitterBufferFrames) {
+                // our current jitter buffer size exceeds its desired value, so ignore some silent
+                // frames to get that size as close to desired as possible
+                int samplesPerFrame = getSamplesPerFrame();
+                int numSilentFrames = numSilentSamples / samplesPerFrame;
+                int numFramesToDropDesired = _currentJitterBufferFrames - _desiredJitterBufferFrames;
+
+                if (numSilentFrames > numFramesToDropDesired) {
+                    // we have more than enough frames to drop to get the jitter buffer to its desired length
+                    int numSilentFramesToAdd = numSilentFrames - numFramesToDropDesired;
+                    addSilentFrame(numSilentFramesToAdd * samplesPerFrame);
+                    _currentJitterBufferFrames = _desiredJitterBufferFrames;
+
+                } else {
+                    // we need to drop all frames to get the jitter buffer close as possible to its desired length
+                    _currentJitterBufferFrames -= numSilentFrames;
+                    printf("dropped silent packet! jbuffer size is now %d ###############", _currentJitterBufferFrames);
+                }
+            } else {
+                addSilentFrame(numSilentSamples);
+            }
         }
-        printf("\nparsed silent packet of %d samples\n", numSilentSamples);
     } else {
         // there is audio data to read
         int dataBytes = writeData(packet.data() + readBytes, packet.size() - readBytes);
         readBytes += dataBytes;
-
-        printf("\nparsed packet of %d data bytes\n", dataBytes);
     }
-    printf("%d samples available\n", samplesAvailable());
+//printf("parsed packet. %d samples available\n", samplesAvailable());
     
     return readBytes;
 }
@@ -174,16 +199,18 @@ void PositionalAudioRingBuffer::updateNextOutputTrailingLoudness() {
 }
 
 bool PositionalAudioRingBuffer::shouldBeAddedToMix() {
-
     int samplesPerFrame = getSamplesPerFrame();
-    int currentJitterBufferSamples = 3 * samplesPerFrame; //_currentJitterBufferFrames * samplesPerFrame;
+    int desiredJitterBufferSamples = _desiredJitterBufferFrames * samplesPerFrame;
     
 //printf("\nsamples available: %d  frames available: %d\n", samplesAvailable(), samplesAvailable() / samplesPerFrame);
-    if (!isNotStarvedOrHasMinimumSamples(samplesPerFrame + currentJitterBufferSamples)) {
+    if (!isNotStarvedOrHasMinimumSamples(samplesPerFrame + _desiredJitterBufferFrames)) {
+
+printf("\nMIXING DELAYED! waiting for jitter buffer to fill after being starved\n");
+printf("samples available: %d  frames available: %d\n", samplesAvailable(), samplesAvailable() / samplesPerFrame);
+        
+        // if the buffer was starved, allow it to accrue at least the desired number of
+        // jitter buffer frames before we start taking frames from it for mixing
 
-//printf("\nMIXING DELAYED! waiting for jitter buffer to fill after being starved\n");
-//printf("samples available: %d  frames available: %d\n", samplesAvailable(), samplesAvailable() / samplesPerFrame);
-        // if the buffer was starved and hasn't filled back up all the way, don't mix yet
         if (_shouldOutputStarveDebug) {
             _shouldOutputStarveDebug = false;
         }
@@ -192,26 +219,34 @@ bool PositionalAudioRingBuffer::shouldBeAddedToMix() {
 
     } else if (samplesAvailable() < samplesPerFrame) {
 
-//printf("\nMIXING DELAYED! jitter buffer is starved!!!\n");
-//printf("samples available: %d  frames available: %d\n", samplesAvailable(), samplesAvailable() / samplesPerFrame);
-        // if the buffer doesn't have a full frame of samples for mixing, it is starved
+printf("\nMIXING DELAYED! jitter buffer is starved!!!\n");
+printf("samples available: %d  frames available: %d\n", samplesAvailable(), samplesAvailable() / samplesPerFrame);
+        
+        // if the buffer doesn't have a full frame of samples to take for mixing, it is starved
         _isStarved = true;
+
+        // set to 0 to indicate the jitter buffer is starved
+        _currentJitterBufferFrames = 0;
         
         // reset our _shouldOutputStarveDebug to true so the next is printed
         _shouldOutputStarveDebug = true;
 
-        // if buffer was starved, we've effectively increased the jitter buffer by one frame
-        // by "holding back" this ring buffer's contents until the next client frame is prepared.
-        _currentJitterBufferFrames++;
-//printf("jbuffer size increased: new size: %d\n", _currentJitterBufferFrames);
-        
         return false;
 
     }
 //printf("WILL MIX\n");
 
     // good buffer, add this to the mix
-    _isStarved = false;
+
+    if (_isStarved) {
+
+        // if this buffer was just finished replenishing after being starved, the number of frames in it now
+        // is the length of the jitter buffer
+        _currentJitterBufferFrames = samplesAvailable() / samplesPerFrame;
+        printf("jitter buffer length is now %d; desired: %d --------\n", _currentJitterBufferFrames, _desiredJitterBufferFrames);
+
+        _isStarved = false;
+    }
 
     // since we've read data from ring buffer at least once - we've started
     _hasStarted = true;
@@ -228,5 +263,7 @@ void PositionalAudioRingBuffer::updateDesiredJitterBufferFrames() {
         if (_desiredJitterBufferFrames < 1) {
             _desiredJitterBufferFrames = 1;
         }
+
+        printf(" desired jbuffer size is now %d --------------------------------\n", _desiredJitterBufferFrames);
     }
 }
\ No newline at end of file

From 124fba35db2e4d2330234d35e6f144c6469cfb37 Mon Sep 17 00:00:00 2001
From: wangyix <wangyix@gmail.com>
Date: Fri, 20 Jun 2014 17:39:05 -0700
Subject: [PATCH 065/105] fixed minor comment typo

---
 libraries/audio/src/PositionalAudioRingBuffer.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/audio/src/PositionalAudioRingBuffer.cpp b/libraries/audio/src/PositionalAudioRingBuffer.cpp
index 04559fc910..adadf5af91 100644
--- a/libraries/audio/src/PositionalAudioRingBuffer.cpp
+++ b/libraries/audio/src/PositionalAudioRingBuffer.cpp
@@ -240,7 +240,7 @@ printf("samples available: %d  frames available: %d\n", samplesAvailable(), samp
 
     if (_isStarved) {
 
-        // if this buffer was just finished replenishing after being starved, the number of frames in it now
+        // if this buffer has just finished replenishing after being starved, the number of frames in it now
         // is the length of the jitter buffer
         _currentJitterBufferFrames = samplesAvailable() / samplesPerFrame;
         printf("jitter buffer length is now %d; desired: %d --------\n", _currentJitterBufferFrames, _desiredJitterBufferFrames);

From 6b72b161d3f7ac33838369f51e3a9756bffe860b Mon Sep 17 00:00:00 2001
From: wangyix <wangyix@gmail.com>
Date: Fri, 20 Jun 2014 17:52:46 -0700
Subject: [PATCH 066/105] fixed typo with frames/samples confusion.

---
 libraries/audio/src/PositionalAudioRingBuffer.cpp | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/libraries/audio/src/PositionalAudioRingBuffer.cpp b/libraries/audio/src/PositionalAudioRingBuffer.cpp
index adadf5af91..93f68b4dff 100644
--- a/libraries/audio/src/PositionalAudioRingBuffer.cpp
+++ b/libraries/audio/src/PositionalAudioRingBuffer.cpp
@@ -140,7 +140,7 @@ int PositionalAudioRingBuffer::parseData(const QByteArray& packet) {
                 } else {
                     // we need to drop all frames to get the jitter buffer close as possible to its desired length
                     _currentJitterBufferFrames -= numSilentFrames;
-                    printf("dropped silent packet! jbuffer size is now %d ###############", _currentJitterBufferFrames);
+                    printf("dropped silent packet! jbuffer size is now %d ###############\n", _currentJitterBufferFrames);
                 }
             } else {
                 addSilentFrame(numSilentSamples);
@@ -203,7 +203,7 @@ bool PositionalAudioRingBuffer::shouldBeAddedToMix() {
     int desiredJitterBufferSamples = _desiredJitterBufferFrames * samplesPerFrame;
     
 //printf("\nsamples available: %d  frames available: %d\n", samplesAvailable(), samplesAvailable() / samplesPerFrame);
-    if (!isNotStarvedOrHasMinimumSamples(samplesPerFrame + _desiredJitterBufferFrames)) {
+    if (!isNotStarvedOrHasMinimumSamples(samplesPerFrame + desiredJitterBufferSamples)) {
 
 printf("\nMIXING DELAYED! waiting for jitter buffer to fill after being starved\n");
 printf("samples available: %d  frames available: %d\n", samplesAvailable(), samplesAvailable() / samplesPerFrame);
@@ -241,8 +241,8 @@ printf("samples available: %d  frames available: %d\n", samplesAvailable(), samp
     if (_isStarved) {
 
         // if this buffer has just finished replenishing after being starved, the number of frames in it now
-        // is the length of the jitter buffer
-        _currentJitterBufferFrames = samplesAvailable() / samplesPerFrame;
+        // minus one (since a frame will be read immediately after this) is the length of the jitter buffer
+        _currentJitterBufferFrames = samplesAvailable() / samplesPerFrame - 1;
         printf("jitter buffer length is now %d; desired: %d --------\n", _currentJitterBufferFrames, _desiredJitterBufferFrames);
 
         _isStarved = false;

From de0c45a919b96b55a670069c469469e813d29fe1 Mon Sep 17 00:00:00 2001
From: Andrzej Kapolka <drzej.k@gmail.com>
Date: Fri, 20 Jun 2014 18:09:51 -0700
Subject: [PATCH 067/105] Spanner mutation in test.

---
 .../metavoxels/src/AttributeRegistry.cpp      | 49 +++++++++++++++++++
 libraries/metavoxels/src/AttributeRegistry.h  | 13 +++++
 libraries/metavoxels/src/Bitstream.cpp        | 24 +++++++++
 libraries/metavoxels/src/Bitstream.h          |  6 +++
 libraries/metavoxels/src/MetavoxelData.cpp    | 17 ++++++-
 libraries/metavoxels/src/MetavoxelData.h      |  4 ++
 libraries/metavoxels/src/SharedObject.cpp     | 14 ++++--
 libraries/shared/src/SharedUtil.h             |  2 +-
 tests/metavoxels/src/MetavoxelTests.cpp       | 42 +++++++++++++---
 tests/metavoxels/src/MetavoxelTests.h         |  2 +
 10 files changed, 161 insertions(+), 12 deletions(-)

diff --git a/libraries/metavoxels/src/AttributeRegistry.cpp b/libraries/metavoxels/src/AttributeRegistry.cpp
index e7a7f41850..33ce298859 100644
--- a/libraries/metavoxels/src/AttributeRegistry.cpp
+++ b/libraries/metavoxels/src/AttributeRegistry.cpp
@@ -211,6 +211,11 @@ void Attribute::writeMetavoxelSubdivision(const MetavoxelNode& root, MetavoxelSt
     root.writeSubdivision(state);
 }
 
+bool Attribute::metavoxelRootsEqual(const MetavoxelNode& firstRoot, const MetavoxelNode& secondRoot,
+        const glm::vec3& minimum, float size, const MetavoxelLOD& lod) {
+    return firstRoot.deepEquals(this, secondRoot, minimum, size, lod);
+}
+
 FloatAttribute::FloatAttribute(const QString& name, float defaultValue) :
     SimpleInlineAttribute<float>(name, defaultValue) {
 }
@@ -449,6 +454,12 @@ void SharedObjectAttribute::write(Bitstream& out, void* value, bool isLeaf) cons
     }
 }
 
+bool SharedObjectAttribute::deepEqual(void* first, void* second) const {
+    SharedObjectPointer firstObject = decodeInline<SharedObjectPointer>(first);
+    SharedObjectPointer secondObject = decodeInline<SharedObjectPointer>(second);
+    return firstObject ? firstObject->equals(secondObject) : !secondObject;
+}
+
 bool SharedObjectAttribute::merge(void*& parent, void* children[], bool postRead) const {
     SharedObjectPointer firstChild = decodeInline<SharedObjectPointer>(children[0]);
     for (int i = 1; i < MERGE_COUNT; i++) {
@@ -489,6 +500,35 @@ MetavoxelNode* SharedObjectSetAttribute::createMetavoxelNode(
     return new MetavoxelNode(value, original);
 }
 
+static bool setsEqual(const SharedObjectSet& firstSet, const SharedObjectSet& secondSet) {
+    if (firstSet.size() != secondSet.size()) {
+        return false;
+    }
+    // some hackiness here: we assume that the local ids of the first set correspond to the remote ids of the second,
+    // so that this will work with the tests
+    foreach (const SharedObjectPointer& firstObject, firstSet) {
+        int id = firstObject->getID();
+        bool found = false;
+        foreach (const SharedObjectPointer& secondObject, secondSet) {
+            if (secondObject->getRemoteID() == id) {
+                if (!firstObject->equals(secondObject)) {
+                    return false;
+                }
+                found = true;
+                break;
+            }
+        }
+        if (!found) {
+            return false;
+        }
+    }
+    return true;
+}
+
+bool SharedObjectSetAttribute::deepEqual(void* first, void* second) const {
+    return setsEqual(decodeInline<SharedObjectSet>(first), decodeInline<SharedObjectSet>(second));
+}
+
 bool SharedObjectSetAttribute::merge(void*& parent, void* children[], bool postRead) const {
     for (int i = 0; i < MERGE_COUNT; i++) {
         if (!decodeInline<SharedObjectSet>(children[i]).isEmpty()) {
@@ -563,3 +603,12 @@ void SpannerSetAttribute::writeMetavoxelSubdivision(const MetavoxelNode& root, M
     state.stream << SharedObjectPointer();
 }
 
+bool SpannerSetAttribute::metavoxelRootsEqual(const MetavoxelNode& firstRoot, const MetavoxelNode& secondRoot,
+    const glm::vec3& minimum, float size, const MetavoxelLOD& lod) {
+    
+    SharedObjectSet firstSet;
+    firstRoot.getSpanners(this, minimum, size, lod, firstSet);
+    SharedObjectSet secondSet;
+    secondRoot.getSpanners(this, minimum, size, lod, secondSet);
+    return setsEqual(firstSet, secondSet);
+}
diff --git a/libraries/metavoxels/src/AttributeRegistry.h b/libraries/metavoxels/src/AttributeRegistry.h
index 00d974b8b6..7dc2e110b8 100644
--- a/libraries/metavoxels/src/AttributeRegistry.h
+++ b/libraries/metavoxels/src/AttributeRegistry.h
@@ -27,6 +27,7 @@ class QScriptValue;
 
 class Attribute;
 class MetavoxelData;
+class MetavoxelLOD;
 class MetavoxelNode;
 class MetavoxelStreamState;
 
@@ -213,6 +214,11 @@ public:
 
     virtual bool equal(void* first, void* second) const = 0;
 
+    virtual bool deepEqual(void* first, void* second) const { return equal(first, second); }
+
+    virtual bool metavoxelRootsEqual(const MetavoxelNode& firstRoot, const MetavoxelNode& secondRoot,
+        const glm::vec3& minimum, float size, const MetavoxelLOD& lod);
+
     /// Merges the value of a parent and its children.
     /// \param postRead whether or not the merge is happening after a read
     /// \return whether or not the children and parent values are all equal
@@ -406,6 +412,8 @@ public:
     virtual void read(Bitstream& in, void*& value, bool isLeaf) const;
     virtual void write(Bitstream& out, void* value, bool isLeaf) const;
 
+    virtual bool deepEqual(void* first, void* second) const;
+
     virtual bool merge(void*& parent, void* children[], bool postRead = false) const;
     
     virtual void* createFromVariant(const QVariant& value) const;
@@ -434,6 +442,8 @@ public:
     
     virtual MetavoxelNode* createMetavoxelNode(const AttributeValue& value, const MetavoxelNode* original) const;
     
+    virtual bool deepEqual(void* first, void* second) const;
+    
     virtual bool merge(void*& parent, void* children[], bool postRead = false) const;
 
     virtual AttributeValue inherit(const AttributeValue& parentValue) const;
@@ -462,6 +472,9 @@ public:
     
     virtual void readMetavoxelSubdivision(MetavoxelData& data, MetavoxelStreamState& state);
     virtual void writeMetavoxelSubdivision(const MetavoxelNode& root, MetavoxelStreamState& state);
+    
+    virtual bool metavoxelRootsEqual(const MetavoxelNode& firstRoot, const MetavoxelNode& secondRoot,
+        const glm::vec3& minimum, float size, const MetavoxelLOD& lod);
 };
 
 #endif // hifi_AttributeRegistry_h
diff --git a/libraries/metavoxels/src/Bitstream.cpp b/libraries/metavoxels/src/Bitstream.cpp
index 44342abe33..0ef86e85c0 100644
--- a/libraries/metavoxels/src/Bitstream.cpp
+++ b/libraries/metavoxels/src/Bitstream.cpp
@@ -110,6 +110,10 @@ const TypeStreamer* Bitstream::getTypeStreamer(int type) {
     return getTypeStreamers().value(type);
 }
 
+const ObjectStreamer* Bitstream::getObjectStreamer(const QMetaObject* metaObject) {
+    return getObjectStreamers().value(metaObject);
+}
+
 const QMetaObject* Bitstream::getMetaObject(const QByteArray& className) {
     return getMetaObjects().value(className);
 }
@@ -2316,6 +2320,15 @@ QObject* MappedObjectStreamer::putJSONData(JSONReader& reader, const QJsonObject
     return object;
 }
 
+bool MappedObjectStreamer::equal(const QObject* first, const QObject* second) const {
+    foreach (const StreamerPropertyPair& property, _properties) {
+        if (!property.first->equal(property.second.read(first), property.second.read(second))) {
+            return false;
+        }
+    }
+    return true;
+}
+
 void MappedObjectStreamer::write(Bitstream& out, const QObject* object) const {
     foreach (const StreamerPropertyPair& property, _properties) {
         property.first->write(out, property.second.read(object));
@@ -2433,6 +2446,17 @@ QObject* GenericObjectStreamer::putJSONData(JSONReader& reader, const QJsonObjec
     return object;
 }
 
+bool GenericObjectStreamer::equal(const QObject* first, const QObject* second) const {
+    const QVariantList& firstValues = static_cast<const GenericSharedObject*>(first)->getValues();
+    const QVariantList& secondValues = static_cast<const GenericSharedObject*>(second)->getValues();
+    for (int i = 0; i < _properties.size(); i++) {
+        if (!_properties.at(i).first->equal(firstValues.at(i), secondValues.at(i))) {
+            return false;
+        }
+    }
+    return true;
+}
+
 void GenericObjectStreamer::write(Bitstream& out, const QObject* object) const {
     const QVariantList& values = static_cast<const GenericSharedObject*>(object)->getValues();
     for (int i = 0; i < _properties.size(); i++) {
diff --git a/libraries/metavoxels/src/Bitstream.h b/libraries/metavoxels/src/Bitstream.h
index b116bd4b49..e32f93dbe2 100644
--- a/libraries/metavoxels/src/Bitstream.h
+++ b/libraries/metavoxels/src/Bitstream.h
@@ -278,6 +278,9 @@ public:
     /// Returns the streamer registered for the supplied type, if any.
     static const TypeStreamer* getTypeStreamer(int type);
 
+    /// Returns the streamer registered for the supplied object, if any.
+    static const ObjectStreamer* getObjectStreamer(const QMetaObject* metaObject);
+
     /// Returns the meta-object registered under the supplied class name, if any.
     static const QMetaObject* getMetaObject(const QByteArray& className);
 
@@ -1022,6 +1025,7 @@ public:
     virtual QJsonObject getJSONData(JSONWriter& writer, const QObject* object) const = 0;
     virtual QObject* putJSONData(JSONReader& reader, const QJsonObject& jsonObject) const = 0;
     
+    virtual bool equal(const QObject* first, const QObject* second) const = 0;
     virtual void write(Bitstream& out, const QObject* object) const = 0;
     virtual void writeRawDelta(Bitstream& out, const QObject* object, const QObject* reference) const = 0;
     virtual QObject* read(Bitstream& in, QObject* object = NULL) const = 0;
@@ -1047,6 +1051,7 @@ public:
     virtual QJsonObject getJSONMetadata(JSONWriter& writer) const;
     virtual QJsonObject getJSONData(JSONWriter& writer, const QObject* object) const;
     virtual QObject* putJSONData(JSONReader& reader, const QJsonObject& jsonObject) const;
+    virtual bool equal(const QObject* first, const QObject* second) const;
     virtual void write(Bitstream& out, const QObject* object) const;
     virtual void writeRawDelta(Bitstream& out, const QObject* object, const QObject* reference) const;
     virtual QObject* read(Bitstream& in, QObject* object = NULL) const;
@@ -1070,6 +1075,7 @@ public:
     virtual QJsonObject getJSONMetadata(JSONWriter& writer) const;
     virtual QJsonObject getJSONData(JSONWriter& writer, const QObject* object) const;
     virtual QObject* putJSONData(JSONReader& reader, const QJsonObject& jsonObject) const;
+    virtual bool equal(const QObject* first, const QObject* second) const;
     virtual void write(Bitstream& out, const QObject* object) const;
     virtual void writeRawDelta(Bitstream& out, const QObject* object, const QObject* reference) const;
     virtual QObject* read(Bitstream& in, QObject* object = NULL) const;
diff --git a/libraries/metavoxels/src/MetavoxelData.cpp b/libraries/metavoxels/src/MetavoxelData.cpp
index 6d1031d3cf..7caa336cd2 100644
--- a/libraries/metavoxels/src/MetavoxelData.cpp
+++ b/libraries/metavoxels/src/MetavoxelData.cpp
@@ -697,7 +697,7 @@ bool MetavoxelData::deepEquals(const MetavoxelData& other, const MetavoxelLOD& l
     glm::vec3 minimum = getMinimum();
     for (QHash<AttributePointer, MetavoxelNode*>::const_iterator it = _roots.constBegin(); it != _roots.constEnd(); it++) {
         MetavoxelNode* otherNode = other._roots.value(it.key());
-        if (!(otherNode && it.value()->deepEquals(it.key(), *otherNode, minimum, _size, lod))) {
+        if (!(otherNode && it.key()->metavoxelRootsEqual(*it.value(), *otherNode, minimum, _size, lod))) {
             return false;
         }
     }
@@ -1102,7 +1102,7 @@ void MetavoxelNode::clearChildren(const AttributePointer& attribute) {
 
 bool MetavoxelNode::deepEquals(const AttributePointer& attribute, const MetavoxelNode& other,
         const glm::vec3& minimum, float size, const MetavoxelLOD& lod) const {
-    if (!attribute->equal(_attributeValue, other._attributeValue)) {
+    if (!attribute->deepEqual(_attributeValue, other._attributeValue)) {
         return false;
     }
     if (!lod.shouldSubdivide(minimum, size, attribute->getLODThresholdMultiplier())) {
@@ -1125,6 +1125,19 @@ bool MetavoxelNode::deepEquals(const AttributePointer& attribute, const Metavoxe
     return true;
 }
 
+void MetavoxelNode::getSpanners(const AttributePointer& attribute, const glm::vec3& minimum,
+        float size, const MetavoxelLOD& lod, SharedObjectSet& results) const {
+    results.unite(decodeInline<SharedObjectSet>(_attributeValue));
+    if (isLeaf() || !lod.shouldSubdivide(minimum, size, attribute->getLODThresholdMultiplier())) {
+        return;
+    }
+    float nextSize = size * 0.5f;
+    for (int i = 0; i < CHILD_COUNT; i++) {
+        glm::vec3 nextMinimum = getNextMinimum(minimum, nextSize, i);
+        _children[i]->getSpanners(attribute, nextMinimum, nextSize, lod, results);
+    }
+}
+
 int MetavoxelVisitor::encodeOrder(int first, int second, int third, int fourth,
         int fifth, int sixth, int seventh, int eighth) {
     return first | (second << 3) | (third << 6) | (fourth << 9) |
diff --git a/libraries/metavoxels/src/MetavoxelData.h b/libraries/metavoxels/src/MetavoxelData.h
index 0df97a7a4c..7496bf567d 100644
--- a/libraries/metavoxels/src/MetavoxelData.h
+++ b/libraries/metavoxels/src/MetavoxelData.h
@@ -221,6 +221,10 @@ public:
     /// Performs a deep comparison between this and the specified other node.
     bool deepEquals(const AttributePointer& attribute, const MetavoxelNode& other,
         const glm::vec3& minimum, float size, const MetavoxelLOD& lod) const;
+
+    /// Retrieves all spanners satisfying the LOD constraint, placing them in the provided set.
+    void getSpanners(const AttributePointer& attribute, const glm::vec3& minimum,
+        float size, const MetavoxelLOD& lod, SharedObjectSet& results) const;
     
 private:
     Q_DISABLE_COPY(MetavoxelNode)
diff --git a/libraries/metavoxels/src/SharedObject.cpp b/libraries/metavoxels/src/SharedObject.cpp
index 05af5f1bf8..d0a1842d31 100644
--- a/libraries/metavoxels/src/SharedObject.cpp
+++ b/libraries/metavoxels/src/SharedObject.cpp
@@ -84,11 +84,19 @@ bool SharedObject::equals(const SharedObject* other, bool sharedAncestry) const
     if (metaObject != other->metaObject() && !sharedAncestry) {
         return false;
     }
-    for (int i = 0; i < metaObject->propertyCount(); i++) {
-        QMetaProperty property = metaObject->property(i);
-        if (property.isStored() && property.read(this) != property.read(other)) {
+    // use the streamer, if we have one
+    const ObjectStreamer* streamer = Bitstream::getObjectStreamer(metaObject);
+    if (streamer) {
+        if (!streamer->equal(this, other)) {
             return false;
         }
+    } else {
+        for (int i = 0; i < metaObject->propertyCount(); i++) {
+            QMetaProperty property = metaObject->property(i);
+            if (property.isStored() && property.read(this) != property.read(other)) {
+                return false;
+            }
+        }
     }
     QList<QByteArray> dynamicPropertyNames = this->dynamicPropertyNames();
     if (dynamicPropertyNames.size() != other->dynamicPropertyNames().size()) {
diff --git a/libraries/shared/src/SharedUtil.h b/libraries/shared/src/SharedUtil.h
index dbbfb02365..e5c2a0afc9 100644
--- a/libraries/shared/src/SharedUtil.h
+++ b/libraries/shared/src/SharedUtil.h
@@ -68,7 +68,7 @@ float randFloat();
 int randIntInRange (int min, int max);
 float randFloatInRange (float min,float max);
 float randomSign(); /// \return -1.0 or 1.0
-unsigned char randomColorValue(int minimum);
+unsigned char randomColorValue(int minimum = 0);
 bool randomBoolean();
 
 glm::quat safeMix(const glm::quat& q1, const glm::quat& q2, float alpha);
diff --git a/tests/metavoxels/src/MetavoxelTests.cpp b/tests/metavoxels/src/MetavoxelTests.cpp
index 6aef40eab1..f22a7ef189 100644
--- a/tests/metavoxels/src/MetavoxelTests.cpp
+++ b/tests/metavoxels/src/MetavoxelTests.cpp
@@ -47,6 +47,8 @@ static int sharedObjectsDestroyed = 0;
 static int objectMutationsPerformed = 0;
 static int scriptObjectsCreated = 0;
 static int scriptMutationsPerformed = 0;
+static int metavoxelMutationsPerformed = 0;
+static int spannerMutationsPerformed = 0;
 
 static QByteArray createRandomBytes(int minimumSize, int maximumSize) {
     QByteArray bytes(randIntInRange(minimumSize, maximumSize), 0);
@@ -395,6 +397,8 @@ bool MetavoxelTests::run() {
         qDebug() << "Sent" << datagramsSent << "datagrams with" << bytesSent << "bytes, received" <<
             datagramsReceived << "with" << bytesReceived << "bytes";
         qDebug() << "Max" << maxDatagramsPerPacket << "datagrams," << maxBytesPerPacket << "bytes per packet";
+        qDebug() << "Performed" << metavoxelMutationsPerformed << "metavoxel mutations," << spannerMutationsPerformed <<
+            "spanner mutations";
     }
     
     qDebug() << "All tests passed!";
@@ -472,6 +476,12 @@ Endpoint::Endpoint(const QByteArray& datagramHeader, Mode mode) :
         RandomVisitor visitor;
         _data.guide(visitor);
         qDebug() << "Created" << visitor.leafCount << "base leaves";
+        
+        _data.insert(AttributeRegistry::getInstance()->getSpannersAttribute(), new Sphere());
+        
+        _sphere = new Sphere();
+        static_cast<Transformable*>(_sphere.data())->setScale(0.01f);
+        _data.insert(AttributeRegistry::getInstance()->getSpannersAttribute(), _sphere);
         return;
     }
     // create the object that represents out delta-encoded state
@@ -614,9 +624,10 @@ int MutateVisitor::visit(MetavoxelInfo& info) {
     if (info.size > MAXIMUM_LEAF_SIZE || (info.size > MINIMUM_LEAF_SIZE && randomBoolean())) {
         return encodeRandomOrder();
     }
-    info.outputValues[0] = OwnedAttributeValue(_outputs.at(0), encodeInline<QRgb>(qRgb(randIntInRange(0, 255),
-        randIntInRange(0, 255), randIntInRange(0, 255))));
+    info.outputValues[0] = OwnedAttributeValue(_outputs.at(0), encodeInline<QRgb>(qRgb(randomColorValue(),
+        randomColorValue(), randomColorValue())));
     _mutationsRemaining--;
+    metavoxelMutationsPerformed++;
     return STOP_RECURSION;
 }
 
@@ -651,6 +662,21 @@ bool Endpoint::simulate(int iterationNumber) {
         MutateVisitor visitor;
         _data.guide(visitor);
         
+        // perhaps mutate the spanner
+        if (randomBoolean()) {
+            SharedObjectPointer oldSphere = _sphere;
+            _sphere = _sphere->clone(true);
+            Sphere* newSphere = static_cast<Sphere*>(_sphere.data());
+            if (randomBoolean()) {
+                newSphere->setColor(QColor(randomColorValue(), randomColorValue(), randomColorValue()));
+            } else {
+                newSphere->setTranslation(newSphere->getTranslation() + glm::vec3(randFloatInRange(-0.01f, 0.01f),
+                    randFloatInRange(-0.01f, 0.01f), randFloatInRange(-0.01f, 0.01f)));
+            }
+            _data.replace(AttributeRegistry::getInstance()->getSpannersAttribute(), oldSphere, _sphere);
+            spannerMutationsPerformed++;
+        }
+        
         // wait until we have a valid lod before sending
         if (!_lod.isValid()) {
             return false;
@@ -772,7 +798,8 @@ void Endpoint::readMessage(Bitstream& in) {
         foreach (const SendRecord& sendRecord, _other->_sendRecords) {
             if (sendRecord.packetNumber == packetNumber) {
                 if (!sendRecord.data.deepEquals(_data, _sendRecords.first().lod)) {
-                    throw QString("Sent/received metavoxel data mismatch.");
+                    qDebug() << "Sent/received metavoxel data mismatch.";
+                    exit(true);
                 }
                 break;
             }
@@ -807,17 +834,20 @@ void Endpoint::readMessage(Bitstream& in) {
             it != _other->_unreliableMessagesSent.end(); it++) {
         if (it->sequenceNumber == message.sequenceNumber) {
             if (!messagesEqual(it->submessage, message.submessage)) {
-                throw QString("Sent/received unreliable message mismatch.");
+                qDebug() << "Sent/received unreliable message mismatch.";
+                exit(true);
             }
             if (!it->state->equals(message.state)) {
-                throw QString("Delta-encoded object mismatch.");
+                qDebug() << "Delta-encoded object mismatch.";
+                exit(true);
             }
             _other->_unreliableMessagesSent.erase(_other->_unreliableMessagesSent.begin(), it + 1);
             unreliableMessagesReceived++;
             return;
         }
     }
-    throw QString("Received unsent/already sent unreliable message.");
+    qDebug() << "Received unsent/already sent unreliable message.";
+    exit(true);
 }
 
 void Endpoint::handleReliableMessage(const QVariant& message) {
diff --git a/tests/metavoxels/src/MetavoxelTests.h b/tests/metavoxels/src/MetavoxelTests.h
index 1de355661d..c340d78963 100644
--- a/tests/metavoxels/src/MetavoxelTests.h
+++ b/tests/metavoxels/src/MetavoxelTests.h
@@ -93,6 +93,8 @@ private:
     MetavoxelData _data;
     MetavoxelLOD _lod;
     
+    SharedObjectPointer _sphere;
+    
     Endpoint* _other;
     QList<QPair<QByteArray, int> > _delayedDatagrams;
     float _highPriorityMessagesToSend;

From 49f1d427eca90cbc3fff15fae45fe8f64b0cbe5b Mon Sep 17 00:00:00 2001
From: Andrzej Kapolka <drzej.k@gmail.com>
Date: Fri, 20 Jun 2014 18:12:08 -0700
Subject: [PATCH 068/105] Removed incremental streaming stubs.

---
 libraries/metavoxels/src/MetavoxelData.cpp | 77 ----------------------
 libraries/metavoxels/src/MetavoxelData.h   |  5 --
 2 files changed, 82 deletions(-)

diff --git a/libraries/metavoxels/src/MetavoxelData.cpp b/libraries/metavoxels/src/MetavoxelData.cpp
index 7caa336cd2..3e70e0f09b 100644
--- a/libraries/metavoxels/src/MetavoxelData.cpp
+++ b/libraries/metavoxels/src/MetavoxelData.cpp
@@ -602,83 +602,6 @@ void MetavoxelData::writeDelta(const MetavoxelData& reference, const MetavoxelLO
     }
 }
 
-void MetavoxelData::readIncrementalDelta(const MetavoxelData& reference, const MetavoxelLOD& referenceLOD,
-    Bitstream& in, const MetavoxelLOD& lod) {
-    
-    // shallow copy the reference
-    *this = reference;
-
-    // if nothing changed, return
-    bool changed;
-    in >> changed;
-    if (!changed) {
-        return;
-    }
-    
-    // expand if the size has changed
-    bool sizeChanged;
-    in >> sizeChanged;
-    if (sizeChanged) {
-        float size;
-        in >> size;
-        while (_size < size) {
-            expand();
-        }
-    }
-    
-    // read the nodes removed
-    forever {
-        AttributePointer attribute;
-        in >> attribute;
-        if (!attribute) {
-            break;
-        }
-        _roots.take(attribute)->decrementReferenceCount(attribute);
-    }
-}
-
-void MetavoxelData::writeIncrementalDelta(const MetavoxelData& reference, const MetavoxelLOD& referenceLOD,
-    Bitstream& out, const MetavoxelLOD& lod) const {
-    
-    // first things first: there might be no change whatsoever
-    glm::vec3 minimum = getMinimum();
-    bool becameSubdivided = lod.becameSubdivided(minimum, _size, referenceLOD);
-    if (_size == reference._size && _roots == reference._roots && !becameSubdivided) {
-        out << false;
-        return;
-    }
-    out << true;
-    
-    // compare the size; if changed (rare), we must compare to the expanded reference
-    const MetavoxelData* expandedReference = &reference;
-    if (_size == reference._size) {
-        out << false;
-    } else {
-        out << true;
-        out << _size;
-        
-        MetavoxelData* expanded = new MetavoxelData(reference);
-        while (expanded->_size < _size) {
-            expanded->expand();
-        }
-        expandedReference = expanded;
-    }
-    
-    // write the nodes removed
-    for (QHash<AttributePointer, MetavoxelNode*>::const_iterator it = expandedReference->_roots.constBegin();
-            it != expandedReference->_roots.constEnd(); it++) {
-        if (!_roots.contains(it.key())) {
-            out << it.key();
-        }
-    }
-    out << AttributePointer();
-    
-    // delete the expanded reference if we had to expand
-    if (expandedReference != &reference) {
-        delete expandedReference;
-    }
-}
-
 MetavoxelNode* MetavoxelData::createRoot(const AttributePointer& attribute) {
     MetavoxelNode*& root = _roots[attribute];
     if (root) {
diff --git a/libraries/metavoxels/src/MetavoxelData.h b/libraries/metavoxels/src/MetavoxelData.h
index 7496bf567d..6a7ba33eb5 100644
--- a/libraries/metavoxels/src/MetavoxelData.h
+++ b/libraries/metavoxels/src/MetavoxelData.h
@@ -118,11 +118,6 @@ public:
     void writeDelta(const MetavoxelData& reference, const MetavoxelLOD& referenceLOD,
         Bitstream& out, const MetavoxelLOD& lod) const;
 
-    void readIncrementalDelta(const MetavoxelData& reference, const MetavoxelLOD& referenceLOD,
-        Bitstream& in, const MetavoxelLOD& lod);
-    void writeIncrementalDelta(const MetavoxelData& reference, const MetavoxelLOD& referenceLOD,
-        Bitstream& out, const MetavoxelLOD& lod) const;
-        
     MetavoxelNode* getRoot(const AttributePointer& attribute) const { return _roots.value(attribute); }
     MetavoxelNode* createRoot(const AttributePointer& attribute);
 

From 626bd42b7b60a29e1a838aa19dc6e6a62e525b9f Mon Sep 17 00:00:00 2001
From: Andrzej Kapolka <drzej.k@gmail.com>
Date: Fri, 20 Jun 2014 18:22:36 -0700
Subject: [PATCH 069/105] Use randomColorValue, since we have it.

---
 tests/metavoxels/src/MetavoxelTests.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/tests/metavoxels/src/MetavoxelTests.cpp b/tests/metavoxels/src/MetavoxelTests.cpp
index f22a7ef189..287d3a648c 100644
--- a/tests/metavoxels/src/MetavoxelTests.cpp
+++ b/tests/metavoxels/src/MetavoxelTests.cpp
@@ -437,8 +437,8 @@ int RandomVisitor::visit(MetavoxelInfo& info) {
     if (info.size > MAXIMUM_LEAF_SIZE || (info.size > MINIMUM_LEAF_SIZE && randomBoolean())) {
         return DEFAULT_ORDER;
     }
-    info.outputValues[0] = OwnedAttributeValue(_outputs.at(0), encodeInline<QRgb>(qRgb(randIntInRange(0, 255),
-        randIntInRange(0, 255), randIntInRange(0, 255))));
+    info.outputValues[0] = OwnedAttributeValue(_outputs.at(0), encodeInline<QRgb>(qRgb(randomColorValue(),
+        randomColorValue(), randomColorValue())));
     leafCount++;
     return STOP_RECURSION;
 }

From ea83a97b7561afc873ac884c5d5afb60ae9973b1 Mon Sep 17 00:00:00 2001
From: Andrew Meadows <andrew@highfidelity.io>
Date: Mon, 23 Jun 2014 08:36:45 -0700
Subject: [PATCH 070/105] Add getVolume() method to Shape

---
 libraries/shared/src/CapsuleShape.h | 4 ++++
 libraries/shared/src/Shape.h        | 3 +++
 libraries/shared/src/SphereShape.h  | 4 ++++
 3 files changed, 11 insertions(+)

diff --git a/libraries/shared/src/CapsuleShape.h b/libraries/shared/src/CapsuleShape.h
index e97a6a4917..8d84e32a97 100644
--- a/libraries/shared/src/CapsuleShape.h
+++ b/libraries/shared/src/CapsuleShape.h
@@ -14,6 +14,8 @@
 
 #include "Shape.h"
 
+#include "SharedUtil.h"
+
 // default axis of CapsuleShape is Y-axis
 const glm::vec3 DEFAULT_CAPSULE_AXIS(0.0f, 1.0f, 0.0f);
 
@@ -47,6 +49,8 @@ public:
 
     bool findRayIntersection(const glm::vec3& rayStart, const glm::vec3& rayDirection, float& distance) const;
 
+    virtual float getVolume() const { return (PI * _radius * _radius) * (1.3333333333f * _radius + getHalfHeight()); }
+
 protected:
     virtual void updateBoundingRadius() { _boundingRadius = _radius + getHalfHeight(); }
     static glm::quat computeNewRotation(const glm::vec3& newAxis);
diff --git a/libraries/shared/src/Shape.h b/libraries/shared/src/Shape.h
index 40429b3d8d..8d4c1898b5 100644
--- a/libraries/shared/src/Shape.h
+++ b/libraries/shared/src/Shape.h
@@ -63,6 +63,9 @@ public:
 
     virtual void applyAccumulatedDelta() {}
 
+    /// \return volume of shape in cubic meters
+    virtual float getVolume() const { return 1.0; }
+
 protected:
     // these ctors are protected (used by derived classes only)
     Shape(Type type) : _type(type), _owningEntity(NULL), _boundingRadius(0.f), _translation(0.f), _rotation() {}
diff --git a/libraries/shared/src/SphereShape.h b/libraries/shared/src/SphereShape.h
index f500190505..d2f2a8596f 100644
--- a/libraries/shared/src/SphereShape.h
+++ b/libraries/shared/src/SphereShape.h
@@ -14,6 +14,8 @@
 
 #include "Shape.h"
 
+#include "SharedUtil.h"
+
 class SphereShape : public Shape {
 public:
     SphereShape() : Shape(Shape::SPHERE_SHAPE) {}
@@ -33,6 +35,8 @@ public:
     void setRadius(float radius) { _boundingRadius = radius; }
 
     bool findRayIntersection(const glm::vec3& rayStart, const glm::vec3& rayDirection, float& distance) const;
+
+    float getVolume() const { return 1.3333333333f * PI * _boundingRadius * _boundingRadius * _boundingRadius; }
 };
 
 #endif // hifi_SphereShape_h

From b2ea8c0bf989a4cac8ab646b815e538e53f4257e Mon Sep 17 00:00:00 2001
From: Andrew Meadows <andrew@highfidelity.io>
Date: Mon, 23 Jun 2014 08:37:11 -0700
Subject: [PATCH 071/105] Compute more correct masses for ragdoll parts

also pin root ragdoll shape at the local-frame origin
for stability
---
 interface/src/avatar/MyAvatar.cpp          |  4 +-
 interface/src/avatar/SkeletonModel.cpp     | 63 +++++++++++++---------
 interface/src/avatar/SkeletonModel.h       |  1 -
 libraries/shared/src/PhysicsEntity.cpp     |  9 ++--
 libraries/shared/src/PhysicsEntity.h       |  2 +-
 libraries/shared/src/PhysicsSimulation.cpp |  4 --
 libraries/shared/src/Ragdoll.cpp           | 11 ++--
 libraries/shared/src/Ragdoll.h             |  6 +--
 8 files changed, 56 insertions(+), 44 deletions(-)

diff --git a/interface/src/avatar/MyAvatar.cpp b/interface/src/avatar/MyAvatar.cpp
index 1f7116a254..94d6e2b393 100644
--- a/interface/src/avatar/MyAvatar.cpp
+++ b/interface/src/avatar/MyAvatar.cpp
@@ -199,8 +199,8 @@ void MyAvatar::simulate(float deltaTime) {
     if (Menu::getInstance()->isOptionChecked(MenuOption::CollideAsRagdoll)) {
         PerformanceTimer perfTimer("MyAvatar::simulate/head Simulate");
         const int minError = 0.005f;
-        const float maxIterations = 4;
-        const quint64 maxUsec = 1000;
+        const float maxIterations = 8;
+        const quint64 maxUsec = 2000;
         _physicsSimulation.stepForward(deltaTime, minError, maxIterations, maxUsec);
     }
 
diff --git a/interface/src/avatar/SkeletonModel.cpp b/interface/src/avatar/SkeletonModel.cpp
index 0598e2aabd..516cbd51fb 100644
--- a/interface/src/avatar/SkeletonModel.cpp
+++ b/interface/src/avatar/SkeletonModel.cpp
@@ -31,6 +31,13 @@ SkeletonModel::SkeletonModel(Avatar* owningAvatar, QObject* parent) :
 void SkeletonModel::setJointStates(QVector<JointState> states) {
     Model::setJointStates(states);
 
+    // the SkeletonModel override of updateJointState() will clear the translation part
+    // of its root joint and we need that done before we try to build shapes hence we
+    // recompute all joint transforms at this time.
+    for (int i = 0; i < _jointStates.size(); i++) {
+        updateJointState(i);
+    }
+
     clearShapes();
     clearRagdollConstraintsAndPoints();
     if (_enableShapes) {
@@ -95,26 +102,12 @@ void SkeletonModel::simulate(float deltaTime, bool fullUpdate) {
         applyPalmData(geometry.leftHandJointIndex, hand->getPalms()[leftPalmIndex]);
         applyPalmData(geometry.rightHandJointIndex, hand->getPalms()[rightPalmIndex]);
     }
-    
-    simulateRagdoll(deltaTime);
-}
-
-void SkeletonModel::simulateRagdoll(float deltaTime) {
-    const int numStates = _jointStates.size();
-    assert(numStates == _ragdollPoints.size());
-
-    float fraction = 0.1f; // fraction = 0.1f left intentionally low for demo purposes
-    moveShapesTowardJoints(fraction);
-
-    // enforce the constraints
-    float MIN_CONSTRAINT_ERROR = 0.005f; // 5mm
-    int MAX_ITERATIONS = 4;
-    int iterations = 0;
-    float delta = 0.0f;
-    do {
-        delta = enforceRagdollConstraints();
-        ++iterations;
-    } while (delta > MIN_CONSTRAINT_ERROR && iterations < MAX_ITERATIONS);
+    if (Menu::getInstance()->isOptionChecked(MenuOption::CollideAsRagdoll)) {    
+        const int numStates = _jointStates.size();
+        assert(numStates == _ragdollPoints.size());
+        float fraction = 0.1f; // fraction = 0.1f left intentionally low for demo purposes
+        moveShapesTowardJoints(fraction);
+    }
 }
 
 void SkeletonModel::getHandShapes(int jointIndex, QVector<const Shape*>& shapes) const {
@@ -541,7 +534,7 @@ void SkeletonModel::buildRagdollConstraints() {
         const FBXJoint& joint = state.getFBXJoint();
         int parentIndex = joint.parentIndex;
         if (parentIndex == -1) {
-            FixedConstraint* anchor = new FixedConstraint(&(_ragdollPoints[i]._position), glm::vec3(0.0f));
+            FixedConstraint* anchor = new FixedConstraint(&(_ragdollPoints[i]), glm::vec3(0.0f));
             _ragdollConstraints.push_back(anchor);
         } else { 
             DistanceConstraint* bone = new DistanceConstraint(&(_ragdollPoints[i]), &(_ragdollPoints[parentIndex]));
@@ -554,6 +547,10 @@ void SkeletonModel::buildRagdollConstraints() {
 void SkeletonModel::stepRagdollForward(float deltaTime) {
 }
 
+float DENSITY_OF_WATER = 1000.0f; // kg/m^3
+float MIN_JOINT_MASS = 1.0f;
+float VERY_BIG_MASS = 1.0e6f;
+
 // virtual
 void SkeletonModel::buildShapes() {
     if (!_geometry || _rootIndex == -1) {
@@ -570,7 +567,8 @@ void SkeletonModel::buildShapes() {
     float uniformScale = extractUniformScale(_scale);
     const int numStates = _jointStates.size();
     for (int i = 0; i < numStates; i++) {
-        const FBXJoint& joint = geometry.joints[i];
+        JointState& state = _jointStates[i];
+        const FBXJoint& joint = state.getFBXJoint();
         float radius = uniformScale * joint.boneRadius;
         float halfHeight = 0.5f * uniformScale * joint.distanceToParent;
         Shape::Type type = joint.shapeType;
@@ -579,27 +577,40 @@ void SkeletonModel::buildShapes() {
             type = Shape::SPHERE_SHAPE;
         }
         Shape* shape = NULL;
+        int parentIndex = joint.parentIndex;
         if (type == Shape::SPHERE_SHAPE) {
             shape = new VerletSphereShape(radius, &(_ragdollPoints[i]));
             shape->setEntity(this);
+            _ragdollPoints[i]._mass = glm::max(MIN_JOINT_MASS, DENSITY_OF_WATER * shape->getVolume());
         } else if (type == Shape::CAPSULE_SHAPE) {
-            int parentIndex = joint.parentIndex;
             assert(parentIndex != -1);
             shape = new VerletCapsuleShape(radius, &(_ragdollPoints[parentIndex]), &(_ragdollPoints[i]));
             shape->setEntity(this);
+            _ragdollPoints[i]._mass = glm::max(MIN_JOINT_MASS, DENSITY_OF_WATER * shape->getVolume());
         } 
+        if (parentIndex != -1) {
+            // always disable collisions between joint and its parent
+            disableCollisions(i, parentIndex);
+        } else {
+            // give the base joint a very large mass since it doesn't actually move
+            // in the local-frame simulation (it defines the origin)
+            _ragdollPoints[i]._mass = VERY_BIG_MASS;
+        }
         _shapes.push_back(shape);
     }
 
-    // This method moves the shapes to their default positions in Model frame
+    // This method moves the shapes to their default positions in Model frame.
     computeBoundingShape(geometry);
 
-    // while the shapes are in their default position...
-    disableSelfCollisions();
+    // While the shapes are in their default position we disable collisions between
+    // joints that are currently colliding.
+    disableCurrentSelfCollisions();
+
     buildRagdollConstraints();
 
     // ... then move shapes back to current joint positions
     moveShapesTowardJoints(1.0f);
+    enforceRagdollConstraints();
 }
 
 void SkeletonModel::moveShapesTowardJoints(float fraction) {
diff --git a/interface/src/avatar/SkeletonModel.h b/interface/src/avatar/SkeletonModel.h
index 66ede8ee19..57e039c3cc 100644
--- a/interface/src/avatar/SkeletonModel.h
+++ b/interface/src/avatar/SkeletonModel.h
@@ -30,7 +30,6 @@ public:
     void setJointStates(QVector<JointState> states);
 
     void simulate(float deltaTime, bool fullUpdate = true);
-    void simulateRagdoll(float deltaTime);
 
     /// \param jointIndex index of hand joint
     /// \param shapes[out] list in which is stored pointers to hand shapes
diff --git a/libraries/shared/src/PhysicsEntity.cpp b/libraries/shared/src/PhysicsEntity.cpp
index 71f972652b..22ac850483 100644
--- a/libraries/shared/src/PhysicsEntity.cpp
+++ b/libraries/shared/src/PhysicsEntity.cpp
@@ -164,8 +164,8 @@ bool PhysicsEntity::findPlaneCollisions(const glm::vec4& plane, CollisionList& c
 }
 
 // -----------------------------------------------------------
-// TODO: enforce this maximum when shapes are built.  The gotcha here is that
-// the Model class (derived from PhysicsEntity) expects numShapes == numJoints, 
+// TODO: enforce this maximum when shapes are actually built.  The gotcha here is 
+// that the Model class (derived from PhysicsEntity) expects numShapes == numJoints, 
 // so we have to modify that code to be safe.
 const int MAX_SHAPES_PER_ENTITY = 256;
 
@@ -211,7 +211,7 @@ bool PhysicsEntity::collisionsAreEnabled(int shapeIndexA, int shapeIndexB) const
     return false;
 }
 
-void PhysicsEntity::disableSelfCollisions() {
+void PhysicsEntity::disableCurrentSelfCollisions() {
     CollisionList collisions(10);
     int numShapes = _shapes.size();
     for (int i = 0; i < numShapes; ++i) {
@@ -220,6 +220,9 @@ void PhysicsEntity::disableSelfCollisions() {
             continue;
         }
         for (int j = i+1; j < numShapes; ++j) {
+            if (!collisionsAreEnabled(i, j)) {
+                continue;
+            }
             const Shape* otherShape = _shapes.at(j);
             if (otherShape && ShapeCollider::collideShapes(shape, otherShape, collisions)) {
                 disableCollisions(i, j);
diff --git a/libraries/shared/src/PhysicsEntity.h b/libraries/shared/src/PhysicsEntity.h
index 4d2e0ae889..bb4d5ceb68 100644
--- a/libraries/shared/src/PhysicsEntity.h
+++ b/libraries/shared/src/PhysicsEntity.h
@@ -58,7 +58,7 @@ public:
     void disableCollisions(int shapeIndexA, int shapeIndexB);
     bool collisionsAreEnabled(int shapeIndexA, int shapeIndexB) const;
 
-    void disableSelfCollisions();
+    void disableCurrentSelfCollisions();
 
 protected:
     glm::vec3 _translation;
diff --git a/libraries/shared/src/PhysicsSimulation.cpp b/libraries/shared/src/PhysicsSimulation.cpp
index a1f8c249c6..9fdfa89382 100644
--- a/libraries/shared/src/PhysicsSimulation.cpp
+++ b/libraries/shared/src/PhysicsSimulation.cpp
@@ -146,7 +146,6 @@ void PhysicsSimulation::removeRagdoll(Ragdoll* doll) {
 // (10b) figure out how to slave dupe JointStates to physical shapes
 // (11) add and enforce angular contraints for joints
 void PhysicsSimulation::stepForward(float deltaTime, float minError, int maxIterations, quint64 maxUsec) {
-    static int adebug = 0; ++adebug;
     quint64 startTime = usecTimestampNow();
     quint64 expiry = startTime + maxUsec;
 
@@ -156,9 +155,6 @@ void PhysicsSimulation::stepForward(float deltaTime, float minError, int maxIter
     enforceConstraints(minError, maxIterations, expiry - usecTimestampNow());
 
     _stepTime = usecTimestampNow()- startTime;
-    if (0 == (adebug % 200)) {
-        std::cout << " adebug nC = " << _numCollisions << "  i = " << _numIterations << "  e = " << _constraintError << "  t = " << _stepTime << std::endl;  // adebug
-    }
 }
 
 void PhysicsSimulation::moveRagdolls(float deltaTime) {
diff --git a/libraries/shared/src/Ragdoll.cpp b/libraries/shared/src/Ragdoll.cpp
index be1ee07a20..833bcdb607 100644
--- a/libraries/shared/src/Ragdoll.cpp
+++ b/libraries/shared/src/Ragdoll.cpp
@@ -35,18 +35,21 @@ void VerletPoint::applyAccumulatedDelta() {
 // ----------------------------------------------------------------------------
 // FixedConstraint
 // ----------------------------------------------------------------------------
-FixedConstraint::FixedConstraint(glm::vec3* point, const glm::vec3& anchor) : _point(point), _anchor(anchor) {
+FixedConstraint::FixedConstraint(VerletPoint* point, const glm::vec3& anchor) : _point(point), _anchor(anchor) {
 }
 
 float FixedConstraint::enforce() {
     assert(_point != NULL);
-    float distance = glm::distance(_anchor, *_point);
-    *_point = _anchor;
+    // TODO: use fast approximate sqrt here
+    float distance = glm::distance(_anchor, _point->_position);
+    _point->_position = _anchor;
     return distance;
 }
 
-void FixedConstraint::setPoint(glm::vec3* point) {
+void FixedConstraint::setPoint(VerletPoint* point) {
+    assert(point);
     _point = point;
+    _point->_mass = Shape::MAX_MASS;
 }
 
 void FixedConstraint::setAnchor(const glm::vec3& anchor) {
diff --git a/libraries/shared/src/Ragdoll.h b/libraries/shared/src/Ragdoll.h
index 5c9f47841b..59c1291725 100644
--- a/libraries/shared/src/Ragdoll.h
+++ b/libraries/shared/src/Ragdoll.h
@@ -59,12 +59,12 @@ protected:
 
 class FixedConstraint : public Constraint {
 public:
-    FixedConstraint(glm::vec3* point, const glm::vec3& anchor);
+    FixedConstraint(VerletPoint* point, const glm::vec3& anchor);
     float enforce();
-    void setPoint(glm::vec3* point);
+    void setPoint(VerletPoint* point);
     void setAnchor(const glm::vec3& anchor);
 private:
-    glm::vec3* _point;
+    VerletPoint* _point;
     glm::vec3 _anchor;
 };
 

From c1c2df593333dd5ed4eb0cc140e77effc0d71e30 Mon Sep 17 00:00:00 2001
From: Andrew Meadows <andrew@highfidelity.io>
Date: Mon, 23 Jun 2014 08:53:58 -0700
Subject: [PATCH 072/105] remove debug include

---
 libraries/shared/src/PhysicsSimulation.cpp | 1 -
 1 file changed, 1 deletion(-)

diff --git a/libraries/shared/src/PhysicsSimulation.cpp b/libraries/shared/src/PhysicsSimulation.cpp
index 9fdfa89382..ce47a189d0 100644
--- a/libraries/shared/src/PhysicsSimulation.cpp
+++ b/libraries/shared/src/PhysicsSimulation.cpp
@@ -10,7 +10,6 @@
 //
 
 #include <glm/glm.hpp>
-#include <iostream> // adebug
 
 #include "PhysicsSimulation.h"
 

From 8b24e9cd67e1fa96906fb399176d53bc186b7aad Mon Sep 17 00:00:00 2001
From: Andrew Meadows <andrew@highfidelity.io>
Date: Mon, 23 Jun 2014 09:39:14 -0700
Subject: [PATCH 073/105] Update SkeletonModel::_boundingShape position

---
 interface/src/avatar/SkeletonModel.cpp | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/interface/src/avatar/SkeletonModel.cpp b/interface/src/avatar/SkeletonModel.cpp
index 516cbd51fb..fd37409367 100644
--- a/interface/src/avatar/SkeletonModel.cpp
+++ b/interface/src/avatar/SkeletonModel.cpp
@@ -108,6 +108,9 @@ void SkeletonModel::simulate(float deltaTime, bool fullUpdate) {
         float fraction = 0.1f; // fraction = 0.1f left intentionally low for demo purposes
         moveShapesTowardJoints(fraction);
     }
+
+    _boundingShape.setTranslation(_translation + _rotation * _boundingShapeLocalOffset);
+    _boundingShape.setRotation(_rotation);
 }
 
 void SkeletonModel::getHandShapes(int jointIndex, QVector<const Shape*>& shapes) const {

From eba03ddb8a1790e25ba4d0adaae61ea5d19b6f38 Mon Sep 17 00:00:00 2001
From: Andrew Meadows <andrew@highfidelity.io>
Date: Mon, 23 Jun 2014 10:05:51 -0700
Subject: [PATCH 074/105] re-enable some basic avatar collisions

---
 interface/src/avatar/MyAvatar.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/interface/src/avatar/MyAvatar.cpp b/interface/src/avatar/MyAvatar.cpp
index 94d6e2b393..156fc45761 100644
--- a/interface/src/avatar/MyAvatar.cpp
+++ b/interface/src/avatar/MyAvatar.cpp
@@ -204,7 +204,6 @@ void MyAvatar::simulate(float deltaTime) {
         _physicsSimulation.stepForward(deltaTime, minError, maxIterations, maxUsec);
     }
 
-    /* TODO: Andrew to make this work again
     // now that we're done stepping the avatar forward in time, compute new collisions
     if (_collisionGroups != 0) {
         PerformanceTimer perfTimer("MyAvatar::simulate/_collisionGroups");
@@ -225,12 +224,13 @@ void MyAvatar::simulate(float deltaTime) {
         } else {
             _trapDuration = 0.0f;
         }
+    /* TODO: Andrew to make this work
         if (_collisionGroups & COLLISION_GROUP_AVATARS) {
             PerformanceTimer perfTimer("MyAvatar::simulate/updateCollisionWithAvatars");
             updateCollisionWithAvatars(deltaTime);
         }
-    }
     */
+    }
 
     // consider updating our billboard
     maybeUpdateBillboard();

From 7196814ec3b2a087f966816becd7803475f5c810 Mon Sep 17 00:00:00 2001
From: wangyix <wangyix@gmail.com>
Date: Mon, 23 Jun 2014 10:22:16 -0700
Subject: [PATCH 075/105] added debug prints to look at injected ring buffers

---
 assignment-client/src/audio/AudioMixerClientData.cpp |  2 ++
 libraries/audio/src/AudioRingBuffer.cpp              | 10 +++++++---
 libraries/audio/src/PositionalAudioRingBuffer.cpp    |  2 --
 3 files changed, 9 insertions(+), 5 deletions(-)

diff --git a/assignment-client/src/audio/AudioMixerClientData.cpp b/assignment-client/src/audio/AudioMixerClientData.cpp
index 0c41cc70f9..0080af4716 100644
--- a/assignment-client/src/audio/AudioMixerClientData.cpp
+++ b/assignment-client/src/audio/AudioMixerClientData.cpp
@@ -90,6 +90,7 @@ int AudioMixerClientData::parseData(const QByteArray& packet) {
             // we don't have a matching injected audio ring buffer, so add it
             matchingInjectedRingBuffer = new InjectedAudioRingBuffer(streamIdentifier);
             _ringBuffers.push_back(matchingInjectedRingBuffer);
+printf("created InjectedRingBuffer %p\n", (void*)matchingInjectedRingBuffer);
         }
 
         matchingInjectedRingBuffer->parseData(packet);
@@ -132,6 +133,7 @@ void AudioMixerClientData::pushBuffersAfterFrameSend() {
                    && audioBuffer->hasStarted() && audioBuffer->isStarved()) {
             // this is an empty audio buffer that has starved, safe to delete
             delete audioBuffer;
+printf("deleted injector %p\n", (void*)audioBuffer);
             i = _ringBuffers.erase(i);
             continue;
         }
diff --git a/libraries/audio/src/AudioRingBuffer.cpp b/libraries/audio/src/AudioRingBuffer.cpp
index ae100dcdf1..8ce48a39e3 100644
--- a/libraries/audio/src/AudioRingBuffer.cpp
+++ b/libraries/audio/src/AudioRingBuffer.cpp
@@ -125,16 +125,19 @@ qint64 AudioRingBuffer::writeData(const char* data, qint64 maxSize) {
     std::less<int16_t*> less;
     std::less_equal<int16_t*> lessEqual;
 
+    // TODO: why is less(_endOfLastWrite, _nextOutput) a condition here?
     if (_hasStarted
+        /*
         && (less(_endOfLastWrite, _nextOutput)
-            && lessEqual(_nextOutput, shiftedPositionAccomodatingWrap(_endOfLastWrite, samplesToCopy)))) {
+        && lessEqual(_nextOutput, shiftedPositionAccomodatingWrap(_endOfLastWrite, samplesToCopy)))*/
+        && samplesToCopy > _sampleCapacity - samplesAvailable()) {
         // this read will cross the next output, so call us starved and reset the buffer
         qDebug() << "Filled the ring buffer. Resetting.";
         _endOfLastWrite = _buffer;
         _nextOutput = _buffer;
         _isStarved = true;
     }
-
+    
     if (_endOfLastWrite + samplesToCopy <= _buffer + _sampleCapacity) {
         memcpy(_endOfLastWrite, data, samplesToCopy * sizeof(int16_t));
     } else {
@@ -145,6 +148,7 @@ qint64 AudioRingBuffer::writeData(const char* data, qint64 maxSize) {
 
     _endOfLastWrite = shiftedPositionAccomodatingWrap(_endOfLastWrite, samplesToCopy);
 
+printf("%p: writeData. %d samples available\n", (void*)this, samplesAvailable());
     return samplesToCopy * sizeof(int16_t);
 }
 
@@ -158,7 +162,7 @@ const int16_t& AudioRingBuffer::operator[] (const int index) const {
 
 void AudioRingBuffer::shiftReadPosition(unsigned int numSamples) {
     _nextOutput = shiftedPositionAccomodatingWrap(_nextOutput, numSamples);
-//printf("\nmixed.  %d samples remaining\n", samplesAvailable());
+printf("%p: mixed.  %d samples remaining\n", (void*)this, samplesAvailable());
 }
 
 unsigned int AudioRingBuffer::samplesAvailable() const {
diff --git a/libraries/audio/src/PositionalAudioRingBuffer.cpp b/libraries/audio/src/PositionalAudioRingBuffer.cpp
index 93f68b4dff..03ac36d09e 100644
--- a/libraries/audio/src/PositionalAudioRingBuffer.cpp
+++ b/libraries/audio/src/PositionalAudioRingBuffer.cpp
@@ -151,8 +151,6 @@ int PositionalAudioRingBuffer::parseData(const QByteArray& packet) {
         int dataBytes = writeData(packet.data() + readBytes, packet.size() - readBytes);
         readBytes += dataBytes;
     }
-//printf("parsed packet. %d samples available\n", samplesAvailable());
-    
     return readBytes;
 }
 

From 8986be5f1c07086564bcd78aa9ba17eaf9f60690 Mon Sep 17 00:00:00 2001
From: Andrew Meadows <andrew@highfidelity.io>
Date: Mon, 23 Jun 2014 10:36:31 -0700
Subject: [PATCH 076/105] remove old collideAgaintsOurself() code

---
 interface/src/avatar/Avatar.cpp        |  5 ++--
 interface/src/avatar/Hand.cpp          | 35 --------------------------
 interface/src/avatar/Hand.h            |  1 -
 interface/src/avatar/MyAvatar.cpp      |  1 -
 libraries/shared/src/PhysicsEntity.cpp | 25 ++----------------
 libraries/shared/src/PhysicsEntity.h   |  2 +-
 6 files changed, 5 insertions(+), 64 deletions(-)

diff --git a/interface/src/avatar/Avatar.cpp b/interface/src/avatar/Avatar.cpp
index fcb1d876a1..57452f687f 100644
--- a/interface/src/avatar/Avatar.cpp
+++ b/interface/src/avatar/Avatar.cpp
@@ -576,9 +576,8 @@ bool Avatar::findRayIntersection(const glm::vec3& origin, const glm::vec3& direc
 }
 
 bool Avatar::findSphereCollisions(const glm::vec3& penetratorCenter, float penetratorRadius, CollisionList& collisions) {
-    int skeletonSkipIndex = -1;
-    return _skeletonModel.findSphereCollisions(penetratorCenter, penetratorRadius, collisions, skeletonSkipIndex);
-    // Temporarily disabling collisions against the head because most of its collision proxies are bad.
+    return _skeletonModel.findSphereCollisions(penetratorCenter, penetratorRadius, collisions);
+    // TODO: Andrew to fix: Temporarily disabling collisions against the head
     //return getHead()->getFaceModel().findSphereCollisions(penetratorCenter, penetratorRadius, collisions);
 }
 
diff --git a/interface/src/avatar/Hand.cpp b/interface/src/avatar/Hand.cpp
index ab8e06cfff..94f734ba06 100644
--- a/interface/src/avatar/Hand.cpp
+++ b/interface/src/avatar/Hand.cpp
@@ -94,41 +94,6 @@ void Hand::collideAgainstAvatar(Avatar* avatar, bool isMyHand) {
     }
 }
 
-void Hand::collideAgainstOurself() {
-    /* TODO: Andrew to re-implement this
-    if (!Menu::getInstance()->isOptionChecked(MenuOption::HandsCollideWithSelf)) {
-        return;
-    }
-
-    int leftPalmIndex, rightPalmIndex;   
-    getLeftRightPalmIndices(leftPalmIndex, rightPalmIndex);
-    float scaledPalmRadius = PALM_COLLISION_RADIUS * _owningAvatar->getScale();
-    
-    const SkeletonModel& skeletonModel = _owningAvatar->getSkeletonModel();
-    for (int i = 0; i < int(getNumPalms()); i++) {
-        PalmData& palm = getPalms()[i];
-        if (!palm.isActive()) {
-            continue;
-        }
-        // ignoring everything below the parent of the parent of the last free joint
-        int skipIndex = skeletonModel.getParentJointIndex(skeletonModel.getParentJointIndex(
-            skeletonModel.getLastFreeJointIndex((int(i) == leftPalmIndex) ? skeletonModel.getLeftHandJointIndex() :
-                (int(i) == rightPalmIndex) ? skeletonModel.getRightHandJointIndex() : -1)));
-
-        handCollisions.clear();
-        if (_owningAvatar->findSphereCollisions(palm.getPosition(), scaledPalmRadius, handCollisions, skipIndex)) {
-            glm::vec3 totalPenetration;
-            for (int j = 0; j < handCollisions.size(); ++j) {
-                CollisionInfo* collision = handCollisions.getCollision(j);
-                totalPenetration = addPenetrations(totalPenetration, collision->_penetration);
-            }
-            // resolve penetration
-            palm.addToPenetration(totalPenetration);
-        }
-    }
-    */
-}
-
 void Hand::resolvePenetrations() {
     for (size_t i = 0; i < getNumPalms(); ++i) {
         PalmData& palm = getPalms()[i];
diff --git a/interface/src/avatar/Hand.h b/interface/src/avatar/Hand.h
index 5d171f2809..ed2fa3e1ab 100755
--- a/interface/src/avatar/Hand.h
+++ b/interface/src/avatar/Hand.h
@@ -54,7 +54,6 @@ public:
     void render(bool isMine, Model::RenderMode renderMode = Model::DEFAULT_RENDER_MODE);
 
     void collideAgainstAvatar(Avatar* avatar, bool isMyHand);
-    void collideAgainstOurself();
 
     void resolvePenetrations();
 
diff --git a/interface/src/avatar/MyAvatar.cpp b/interface/src/avatar/MyAvatar.cpp
index 156fc45761..6fee71b27c 100644
--- a/interface/src/avatar/MyAvatar.cpp
+++ b/interface/src/avatar/MyAvatar.cpp
@@ -161,7 +161,6 @@ void MyAvatar::simulate(float deltaTime) {
     {
         PerformanceTimer perfTimer("MyAvatar::simulate/hand Collision,simulate");
         // update avatar skeleton and simulate hand and head
-        getHand()->collideAgainstOurself(); 
         getHand()->simulate(deltaTime, true);
     }
 
diff --git a/libraries/shared/src/PhysicsEntity.cpp b/libraries/shared/src/PhysicsEntity.cpp
index 22ac850483..76817591ad 100644
--- a/libraries/shared/src/PhysicsEntity.cpp
+++ b/libraries/shared/src/PhysicsEntity.cpp
@@ -72,13 +72,12 @@ void PhysicsEntity::clearShapes() {
 }
 
 bool PhysicsEntity::findRayIntersection(const glm::vec3& origin, const glm::vec3& direction, float& distance) const {
-    /* TODO: Andrew to make this work
     int numShapes = _shapes.size();
     float minDistance = FLT_MAX;
     for (int j = 0; j < numShapes; ++j) {
         const Shape* shape = _shapes[j];
         float thisDistance = FLT_MAX;
-        if (shape && ShapeCollider::findRayIntersection(ourShape, origin, direction, thisDistance)) {
+        if (shape && shape->findRayIntersection(origin, direction, thisDistance)) {
             if (thisDistance < minDistance) {
                 minDistance = thisDistance;
             }
@@ -88,7 +87,6 @@ bool PhysicsEntity::findRayIntersection(const glm::vec3& origin, const glm::vec3
         distance = minDistance;
         return true;
     }
-    */
     return false;
 }
 
@@ -111,40 +109,21 @@ bool PhysicsEntity::findCollisions(const QVector<const Shape*> shapes, Collision
     return collided;
 }
 
-bool PhysicsEntity::findSphereCollisions(const glm::vec3& sphereCenter, float sphereRadius,
-    CollisionList& collisions, int skipIndex) {
+bool PhysicsEntity::findSphereCollisions(const glm::vec3& sphereCenter, float sphereRadius, CollisionList& collisions) {
     bool collided = false;
-    // TODO: Andrew to implement this or make it unecessary
-    /*
     SphereShape sphere(sphereRadius, sphereCenter);
-    const FBXGeometry& geometry = _geometry->getFBXGeometry();
     for (int i = 0; i < _shapes.size(); i++) {
         Shape* shape = _shapes[i];
         if (!shape) {
             continue;
         }
-        const FBXJoint& joint = geometry.joints[i];
-        if (joint.parentIndex != -1) {
-            if (skipIndex != -1) {
-                int ancestorIndex = joint.parentIndex;
-                do {
-                    if (ancestorIndex == skipIndex) {
-                        goto outerContinue;
-                    }
-                    ancestorIndex = geometry.joints[ancestorIndex].parentIndex;
-                    
-                } while (ancestorIndex != -1);
-            }
-        }
         if (ShapeCollider::collideShapes(&sphere, shape, collisions)) {
             CollisionInfo* collision = collisions.getLastCollision();
             collision->_data = (void*)(this);
             collision->_intData = i;
             collided = true;
         }
-        outerContinue: ;
     }
-    */
     return collided;
 }
 
diff --git a/libraries/shared/src/PhysicsEntity.h b/libraries/shared/src/PhysicsEntity.h
index bb4d5ceb68..693c712c11 100644
--- a/libraries/shared/src/PhysicsEntity.h
+++ b/libraries/shared/src/PhysicsEntity.h
@@ -52,7 +52,7 @@ public:
 
     bool findRayIntersection(const glm::vec3& origin, const glm::vec3& direction, float& distance) const;
     bool findCollisions(const QVector<const Shape*> shapes, CollisionList& collisions);
-    bool findSphereCollisions(const glm::vec3& sphereCenter, float sphereRadius, CollisionList& collisions, int skipIndex);
+    bool findSphereCollisions(const glm::vec3& sphereCenter, float sphereRadius, CollisionList& collisions);
     bool findPlaneCollisions(const glm::vec4& plane, CollisionList& collisions);
 
     void disableCollisions(int shapeIndexA, int shapeIndexB);

From b50bf09c93be6f843c20beade3aa6ad36c95e8cb Mon Sep 17 00:00:00 2001
From: Andrew Meadows <andrew@highfidelity.io>
Date: Mon, 23 Jun 2014 10:39:50 -0700
Subject: [PATCH 077/105] findPlaneCollisions() works in theory, not used

---
 libraries/shared/src/PhysicsEntity.cpp | 1 -
 1 file changed, 1 deletion(-)

diff --git a/libraries/shared/src/PhysicsEntity.cpp b/libraries/shared/src/PhysicsEntity.cpp
index 76817591ad..37d1a88d67 100644
--- a/libraries/shared/src/PhysicsEntity.cpp
+++ b/libraries/shared/src/PhysicsEntity.cpp
@@ -128,7 +128,6 @@ bool PhysicsEntity::findSphereCollisions(const glm::vec3& sphereCenter, float sp
 }
 
 bool PhysicsEntity::findPlaneCollisions(const glm::vec4& plane, CollisionList& collisions) {
-    // TODO: Andrew to reimplement this or make it unecessary
     bool collided = false;
     PlaneShape planeShape(plane);
     for (int i = 0; i < _shapes.size(); i++) {

From e5d7d471e34b7037b9726c381f00d36247d880ff Mon Sep 17 00:00:00 2001
From: wangyix <wangyix@gmail.com>
Date: Mon, 23 Jun 2014 10:55:30 -0700
Subject: [PATCH 078/105] removed debug code

---
 .../src/audio/AudioMixerClientData.cpp        |  2 --
 interface/src/Audio.cpp                       |  2 --
 libraries/audio/src/AudioRingBuffer.cpp       | 13 ++-----
 libraries/audio/src/AudioRingBuffer.h         |  3 +-
 .../audio/src/PositionalAudioRingBuffer.cpp   | 36 ++++---------------
 .../audio/src/PositionalAudioRingBuffer.h     |  3 --
 6 files changed, 10 insertions(+), 49 deletions(-)

diff --git a/assignment-client/src/audio/AudioMixerClientData.cpp b/assignment-client/src/audio/AudioMixerClientData.cpp
index 0080af4716..0c41cc70f9 100644
--- a/assignment-client/src/audio/AudioMixerClientData.cpp
+++ b/assignment-client/src/audio/AudioMixerClientData.cpp
@@ -90,7 +90,6 @@ int AudioMixerClientData::parseData(const QByteArray& packet) {
             // we don't have a matching injected audio ring buffer, so add it
             matchingInjectedRingBuffer = new InjectedAudioRingBuffer(streamIdentifier);
             _ringBuffers.push_back(matchingInjectedRingBuffer);
-printf("created InjectedRingBuffer %p\n", (void*)matchingInjectedRingBuffer);
         }
 
         matchingInjectedRingBuffer->parseData(packet);
@@ -133,7 +132,6 @@ void AudioMixerClientData::pushBuffersAfterFrameSend() {
                    && audioBuffer->hasStarted() && audioBuffer->isStarved()) {
             // this is an empty audio buffer that has starved, safe to delete
             delete audioBuffer;
-printf("deleted injector %p\n", (void*)audioBuffer);
             i = _ringBuffers.erase(i);
             continue;
         }
diff --git a/interface/src/Audio.cpp b/interface/src/Audio.cpp
index 47e55ddc90..a0a85f8888 100644
--- a/interface/src/Audio.cpp
+++ b/interface/src/Audio.cpp
@@ -622,7 +622,6 @@ void Audio::handleAudioInput() {
         SharedNodePointer audioMixer = nodeList->soloNodeOfType(NodeType::AudioMixer);
         
         if (audioMixer && audioMixer->getActiveSocket()) {
-
             MyAvatar* interfaceAvatar = Application::getInstance()->getAvatar();
             glm::vec3 headPosition = interfaceAvatar->getHead()->getPosition();
             glm::quat headOrientation = interfaceAvatar->getHead()->getFinalOrientationInWorldFrame();
@@ -639,7 +638,6 @@ void Audio::handleAudioInput() {
                 numAudioBytes = sizeof(int16_t);
             } else {
                 numAudioBytes = numNetworkBytes;
-                //_isStereoInput ? NETWORK_BUFFER_LENGTH_BYTES_STEREO : NETWORK_BUFFER_LENGTH_BYTES_PER_CHANNEL;
                 
                 if (Menu::getInstance()->isOptionChecked(MenuOption::EchoServerAudio)) {
                     packetType = PacketTypeMicrophoneAudioWithEcho;
diff --git a/libraries/audio/src/AudioRingBuffer.cpp b/libraries/audio/src/AudioRingBuffer.cpp
index 8ce48a39e3..1b6bdaa5d8 100644
--- a/libraries/audio/src/AudioRingBuffer.cpp
+++ b/libraries/audio/src/AudioRingBuffer.cpp
@@ -124,13 +124,8 @@ qint64 AudioRingBuffer::writeData(const char* data, qint64 maxSize) {
 
     std::less<int16_t*> less;
     std::less_equal<int16_t*> lessEqual;
-
-    // TODO: why is less(_endOfLastWrite, _nextOutput) a condition here?
-    if (_hasStarted
-        /*
-        && (less(_endOfLastWrite, _nextOutput)
-        && lessEqual(_nextOutput, shiftedPositionAccomodatingWrap(_endOfLastWrite, samplesToCopy)))*/
-        && samplesToCopy > _sampleCapacity - samplesAvailable()) {
+    
+    if (_hasStarted && samplesToCopy > _sampleCapacity - samplesAvailable()) {
         // this read will cross the next output, so call us starved and reset the buffer
         qDebug() << "Filled the ring buffer. Resetting.";
         _endOfLastWrite = _buffer;
@@ -147,8 +142,7 @@ qint64 AudioRingBuffer::writeData(const char* data, qint64 maxSize) {
     }
 
     _endOfLastWrite = shiftedPositionAccomodatingWrap(_endOfLastWrite, samplesToCopy);
-
-printf("%p: writeData. %d samples available\n", (void*)this, samplesAvailable());
+    
     return samplesToCopy * sizeof(int16_t);
 }
 
@@ -162,7 +156,6 @@ const int16_t& AudioRingBuffer::operator[] (const int index) const {
 
 void AudioRingBuffer::shiftReadPosition(unsigned int numSamples) {
     _nextOutput = shiftedPositionAccomodatingWrap(_nextOutput, numSamples);
-printf("%p: mixed.  %d samples remaining\n", (void*)this, samplesAvailable());
 }
 
 unsigned int AudioRingBuffer::samplesAvailable() const {
diff --git a/libraries/audio/src/AudioRingBuffer.h b/libraries/audio/src/AudioRingBuffer.h
index 3d2864f373..04cc67c8ac 100644
--- a/libraries/audio/src/AudioRingBuffer.h
+++ b/libraries/audio/src/AudioRingBuffer.h
@@ -74,14 +74,13 @@ public:
     bool hasStarted() const { return _hasStarted; }
     
     void addSilentFrame(int numSilentSamples);
-    
 protected:
     // disallow copying of AudioRingBuffer objects
     AudioRingBuffer(const AudioRingBuffer&);
     AudioRingBuffer& operator= (const AudioRingBuffer&);
     
     int16_t* shiftedPositionAccomodatingWrap(int16_t* position, int numSamplesShift) const;
-
+    
     int _sampleCapacity;
     int _numFrameSamples;
     int16_t* _nextOutput;
diff --git a/libraries/audio/src/PositionalAudioRingBuffer.cpp b/libraries/audio/src/PositionalAudioRingBuffer.cpp
index 03ac36d09e..7c2369d7e5 100644
--- a/libraries/audio/src/PositionalAudioRingBuffer.cpp
+++ b/libraries/audio/src/PositionalAudioRingBuffer.cpp
@@ -33,12 +33,9 @@ InterframeTimeGapHistory::InterframeTimeGapHistory()
 }
 
 void InterframeTimeGapHistory::frameReceived() {
-    
-    static quint64 gapsSum = 0;
-
     quint64 now = usecTimestampNow();
 
-    // make sure this isn't the first time frameReceived() is called, meaning there's actually a gap to calculate.
+    // make sure this isn't the first time frameReceived() is called so can actually calculate a gap.
     if (_lastFrameReceivedTime != 0) {
         quint64 gap = now - _lastFrameReceivedTime;
 
@@ -123,7 +120,6 @@ int PositionalAudioRingBuffer::parseData(const QByteArray& packet) {
         readBytes += sizeof(int16_t);
         
         if (numSilentSamples > 0) {
-
             if (_currentJitterBufferFrames > _desiredJitterBufferFrames) {
                 // our current jitter buffer size exceeds its desired value, so ignore some silent
                 // frames to get that size as close to desired as possible
@@ -140,7 +136,6 @@ int PositionalAudioRingBuffer::parseData(const QByteArray& packet) {
                 } else {
                     // we need to drop all frames to get the jitter buffer close as possible to its desired length
                     _currentJitterBufferFrames -= numSilentFrames;
-                    printf("dropped silent packet! jbuffer size is now %d ###############\n", _currentJitterBufferFrames);
                 }
             } else {
                 addSilentFrame(numSilentSamples);
@@ -148,8 +143,7 @@ int PositionalAudioRingBuffer::parseData(const QByteArray& packet) {
         }
     } else {
         // there is audio data to read
-        int dataBytes = writeData(packet.data() + readBytes, packet.size() - readBytes);
-        readBytes += dataBytes;
+        readBytes += writeData(packet.data() + readBytes, packet.size() - readBytes);
     }
     return readBytes;
 }
@@ -200,12 +194,7 @@ bool PositionalAudioRingBuffer::shouldBeAddedToMix() {
     int samplesPerFrame = getSamplesPerFrame();
     int desiredJitterBufferSamples = _desiredJitterBufferFrames * samplesPerFrame;
     
-//printf("\nsamples available: %d  frames available: %d\n", samplesAvailable(), samplesAvailable() / samplesPerFrame);
     if (!isNotStarvedOrHasMinimumSamples(samplesPerFrame + desiredJitterBufferSamples)) {
-
-printf("\nMIXING DELAYED! waiting for jitter buffer to fill after being starved\n");
-printf("samples available: %d  frames available: %d\n", samplesAvailable(), samplesAvailable() / samplesPerFrame);
-        
         // if the buffer was starved, allow it to accrue at least the desired number of
         // jitter buffer frames before we start taking frames from it for mixing
 
@@ -214,15 +203,10 @@ printf("samples available: %d  frames available: %d\n", samplesAvailable(), samp
         }
 
         return  false;
-
-    } else if (samplesAvailable() < samplesPerFrame) {
-
-printf("\nMIXING DELAYED! jitter buffer is starved!!!\n");
-printf("samples available: %d  frames available: %d\n", samplesAvailable(), samplesAvailable() / samplesPerFrame);
-        
+    } else if (samplesAvailable() < samplesPerFrame) { 
         // if the buffer doesn't have a full frame of samples to take for mixing, it is starved
         _isStarved = true;
-
+        
         // set to 0 to indicate the jitter buffer is starved
         _currentJitterBufferFrames = 0;
         
@@ -230,19 +214,13 @@ printf("samples available: %d  frames available: %d\n", samplesAvailable(), samp
         _shouldOutputStarveDebug = true;
 
         return false;
-
     }
-//printf("WILL MIX\n");
-
+    
     // good buffer, add this to the mix
-
     if (_isStarved) {
-
         // if this buffer has just finished replenishing after being starved, the number of frames in it now
         // minus one (since a frame will be read immediately after this) is the length of the jitter buffer
         _currentJitterBufferFrames = samplesAvailable() / samplesPerFrame - 1;
-        printf("jitter buffer length is now %d; desired: %d --------\n", _currentJitterBufferFrames, _desiredJitterBufferFrames);
-
         _isStarved = false;
     }
 
@@ -261,7 +239,5 @@ void PositionalAudioRingBuffer::updateDesiredJitterBufferFrames() {
         if (_desiredJitterBufferFrames < 1) {
             _desiredJitterBufferFrames = 1;
         }
-
-        printf(" desired jbuffer size is now %d --------------------------------\n", _desiredJitterBufferFrames);
     }
-}
\ No newline at end of file
+}
diff --git a/libraries/audio/src/PositionalAudioRingBuffer.h b/libraries/audio/src/PositionalAudioRingBuffer.h
index 87a53038a3..5fa24ff782 100644
--- a/libraries/audio/src/PositionalAudioRingBuffer.h
+++ b/libraries/audio/src/PositionalAudioRingBuffer.h
@@ -43,7 +43,6 @@ private:
     bool _newWindowMaxGapAvailable;
 };
 
-
 class PositionalAudioRingBuffer : public AudioRingBuffer {
 public:
     enum Type {
@@ -99,8 +98,6 @@ protected:
     InterframeTimeGapHistory _interframeTimeGapHistory;
     int _desiredJitterBufferFrames;
     int _currentJitterBufferFrames;
-
-quint64 _lastMixTime;
 };
 
 #endif // hifi_PositionalAudioRingBuffer_h

From 9a2197a23c8b3c1ab7f226cfc6cc231cffb0dc50 Mon Sep 17 00:00:00 2001
From: Andrew Meadows <andrew@highfidelity.io>
Date: Mon, 23 Jun 2014 10:55:34 -0700
Subject: [PATCH 079/105] draw skeleton shapes at at correct positions

---
 interface/src/renderer/Model.cpp | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/interface/src/renderer/Model.cpp b/interface/src/renderer/Model.cpp
index 5dfdd3c801..3b5cda4fd2 100644
--- a/interface/src/renderer/Model.cpp
+++ b/interface/src/renderer/Model.cpp
@@ -1098,9 +1098,10 @@ void Model::renderJointCollisionShapes(float alpha) {
         }
 
         glPushMatrix();
+        // NOTE: the shapes are in the avatar local-frame
         if (shape->getType() == Shape::SPHERE_SHAPE) {
             // shapes are stored in world-frame, so we have to transform into model frame
-            glm::vec3 position = shape->getTranslation() - _translation;
+            glm::vec3 position = _rotation * shape->getTranslation();
             glTranslatef(position.x, position.y, position.z);
             const glm::quat& rotation = shape->getRotation();
             glm::vec3 axis = glm::axis(rotation);
@@ -1115,7 +1116,7 @@ void Model::renderJointCollisionShapes(float alpha) {
             // draw a blue sphere at the capsule endpoint
             glm::vec3 endPoint;
             capsule->getEndPoint(endPoint);
-            endPoint = endPoint - _translation;
+            endPoint = _rotation * endPoint;
             glTranslatef(endPoint.x, endPoint.y, endPoint.z);
             glColor4f(0.6f, 0.6f, 0.8f, alpha);
             glutSolidSphere(capsule->getRadius(), BALL_SUBDIVISIONS, BALL_SUBDIVISIONS);
@@ -1123,7 +1124,7 @@ void Model::renderJointCollisionShapes(float alpha) {
             // draw a yellow sphere at the capsule startpoint
             glm::vec3 startPoint;
             capsule->getStartPoint(startPoint);
-            startPoint = startPoint - _translation;
+            startPoint = _rotation * startPoint;
             glm::vec3 axis = endPoint - startPoint;
             glTranslatef(-axis.x, -axis.y, -axis.z);
             glColor4f(0.8f, 0.8f, 0.6f, alpha);

From 8ad2a679c45cf62754a9e5aba19ad6fba632af31 Mon Sep 17 00:00:00 2001
From: Andrew Meadows <andrew@highfidelity.io>
Date: Mon, 23 Jun 2014 11:16:18 -0700
Subject: [PATCH 080/105] move code to SkeletonModel::stepRagdollForward()

---
 interface/src/avatar/SkeletonModel.cpp | 11 +++++------
 1 file changed, 5 insertions(+), 6 deletions(-)

diff --git a/interface/src/avatar/SkeletonModel.cpp b/interface/src/avatar/SkeletonModel.cpp
index fd37409367..0cc80db539 100644
--- a/interface/src/avatar/SkeletonModel.cpp
+++ b/interface/src/avatar/SkeletonModel.cpp
@@ -102,12 +102,6 @@ void SkeletonModel::simulate(float deltaTime, bool fullUpdate) {
         applyPalmData(geometry.leftHandJointIndex, hand->getPalms()[leftPalmIndex]);
         applyPalmData(geometry.rightHandJointIndex, hand->getPalms()[rightPalmIndex]);
     }
-    if (Menu::getInstance()->isOptionChecked(MenuOption::CollideAsRagdoll)) {    
-        const int numStates = _jointStates.size();
-        assert(numStates == _ragdollPoints.size());
-        float fraction = 0.1f; // fraction = 0.1f left intentionally low for demo purposes
-        moveShapesTowardJoints(fraction);
-    }
 
     _boundingShape.setTranslation(_translation + _rotation * _boundingShapeLocalOffset);
     _boundingShape.setRotation(_rotation);
@@ -548,6 +542,9 @@ void SkeletonModel::buildRagdollConstraints() {
 
 // virtual 
 void SkeletonModel::stepRagdollForward(float deltaTime) {
+    const float RAGDOLL_FOLLOWS_JOINTS_TIMESCALE = 0.1f;
+    float fraction = glm::clamp(deltaTime / RAGDOLL_FOLLOWS_JOINTS_TIMESCALE, 0.0f, 1.0f);
+    moveShapesTowardJoints(fraction);
 }
 
 float DENSITY_OF_WATER = 1000.0f; // kg/m^3
@@ -617,6 +614,8 @@ void SkeletonModel::buildShapes() {
 }
 
 void SkeletonModel::moveShapesTowardJoints(float fraction) {
+    const int numStates = _jointStates.size();
+    assert(numStates == _ragdollPoints.size());
     assert(fraction >= 0.0f && fraction <= 1.0f);
     if (_ragdollPoints.size() == _jointStates.size()) {
         float oneMinusFraction = 1.0f - fraction; 

From ffc20b8876e86fea8364a7535870ad9e8b4f8c6d Mon Sep 17 00:00:00 2001
From: wangyix <wangyix@gmail.com>
Date: Mon, 23 Jun 2014 11:22:04 -0700
Subject: [PATCH 081/105] changed InterframeTimeGapHistory to
 InterframeTimeGapStats

---
 assignment-client/src/audio/AvatarAudioRingBuffer.cpp |  2 +-
 libraries/audio/src/InjectedAudioRingBuffer.cpp       |  2 +-
 libraries/audio/src/PositionalAudioRingBuffer.cpp     | 10 +++++-----
 libraries/audio/src/PositionalAudioRingBuffer.h       |  6 +++---
 4 files changed, 10 insertions(+), 10 deletions(-)

diff --git a/assignment-client/src/audio/AvatarAudioRingBuffer.cpp b/assignment-client/src/audio/AvatarAudioRingBuffer.cpp
index 0df50f99db..79ad7ae411 100644
--- a/assignment-client/src/audio/AvatarAudioRingBuffer.cpp
+++ b/assignment-client/src/audio/AvatarAudioRingBuffer.cpp
@@ -19,7 +19,7 @@ AvatarAudioRingBuffer::AvatarAudioRingBuffer(bool isStereo) :
 }
 
 int AvatarAudioRingBuffer::parseData(const QByteArray& packet) {
-    _interframeTimeGapHistory.frameReceived();
+    _interframeTimeGapStats.frameReceived();
     updateDesiredJitterBufferFrames();
 
     _shouldLoopbackForNode = (packetTypeForPacket(packet) == PacketTypeMicrophoneAudioWithEcho);
diff --git a/libraries/audio/src/InjectedAudioRingBuffer.cpp b/libraries/audio/src/InjectedAudioRingBuffer.cpp
index 80bcda5acb..ed0476f6bd 100644
--- a/libraries/audio/src/InjectedAudioRingBuffer.cpp
+++ b/libraries/audio/src/InjectedAudioRingBuffer.cpp
@@ -31,7 +31,7 @@ InjectedAudioRingBuffer::InjectedAudioRingBuffer(const QUuid& streamIdentifier)
 const uchar MAX_INJECTOR_VOLUME = 255;
 
 int InjectedAudioRingBuffer::parseData(const QByteArray& packet) {
-    _interframeTimeGapHistory.frameReceived();
+    _interframeTimeGapStats.frameReceived();
     updateDesiredJitterBufferFrames();
 
     // setup a data stream to read from this packet
diff --git a/libraries/audio/src/PositionalAudioRingBuffer.cpp b/libraries/audio/src/PositionalAudioRingBuffer.cpp
index 7c2369d7e5..a22f57f3d7 100644
--- a/libraries/audio/src/PositionalAudioRingBuffer.cpp
+++ b/libraries/audio/src/PositionalAudioRingBuffer.cpp
@@ -21,7 +21,7 @@
 #include "PositionalAudioRingBuffer.h"
 #include "SharedUtil.h"
 
-InterframeTimeGapHistory::InterframeTimeGapHistory()
+InterframeTimeGapStats::InterframeTimeGapStats()
     : _lastFrameReceivedTime(0),
     _numSamplesInCurrentInterval(0),
     _currentIntervalMaxGap(0),
@@ -32,7 +32,7 @@ InterframeTimeGapHistory::InterframeTimeGapHistory()
     memset(_intervalMaxGaps, 0, TIME_GAP_NUM_INTERVALS_IN_WINDOW*sizeof(quint64));
 }
 
-void InterframeTimeGapHistory::frameReceived() {
+void InterframeTimeGapStats::frameReceived() {
     quint64 now = usecTimestampNow();
 
     // make sure this isn't the first time frameReceived() is called so can actually calculate a gap.
@@ -79,7 +79,7 @@ void InterframeTimeGapHistory::frameReceived() {
     _lastFrameReceivedTime = now;
 }
 
-quint64 InterframeTimeGapHistory::getWindowMaxGap() {
+quint64 InterframeTimeGapStats::getWindowMaxGap() {
     _newWindowMaxGapAvailable = false;
     return _windowMaxGap;
 }
@@ -234,8 +234,8 @@ void PositionalAudioRingBuffer::updateDesiredJitterBufferFrames() {
 
     const float USECS_PER_FRAME = NETWORK_BUFFER_LENGTH_SAMPLES_PER_CHANNEL * USECS_PER_SECOND / (float)SAMPLE_RATE;
 
-    if (_interframeTimeGapHistory.hasNewWindowMaxGapAvailable()) {
-        _desiredJitterBufferFrames = ceilf((float)_interframeTimeGapHistory.getWindowMaxGap() / USECS_PER_FRAME);
+    if (_interframeTimeGapStats.hasNewWindowMaxGapAvailable()) {
+        _desiredJitterBufferFrames = ceilf((float)_interframeTimeGapStats.getWindowMaxGap() / USECS_PER_FRAME);
         if (_desiredJitterBufferFrames < 1) {
             _desiredJitterBufferFrames = 1;
         }
diff --git a/libraries/audio/src/PositionalAudioRingBuffer.h b/libraries/audio/src/PositionalAudioRingBuffer.h
index 5fa24ff782..8c2122f29e 100644
--- a/libraries/audio/src/PositionalAudioRingBuffer.h
+++ b/libraries/audio/src/PositionalAudioRingBuffer.h
@@ -23,9 +23,9 @@ const int TIME_GAP_NUM_SAMPLES_IN_INTERVAL = 500;
 const int TIME_GAP_NUM_INTERVALS_IN_WINDOW = 10;
 
 // class used to track time between incoming frames for the purpose of varying the jitter buffer length
-class InterframeTimeGapHistory {
+class InterframeTimeGapStats {
 public:
-    InterframeTimeGapHistory();
+    InterframeTimeGapStats();
 
     void frameReceived();
     bool hasNewWindowMaxGapAvailable() const { return _newWindowMaxGapAvailable; }
@@ -95,7 +95,7 @@ protected:
     float _nextOutputTrailingLoudness;
     AABox* _listenerUnattenuatedZone;
 
-    InterframeTimeGapHistory _interframeTimeGapHistory;
+    InterframeTimeGapStats _interframeTimeGapStats;
     int _desiredJitterBufferFrames;
     int _currentJitterBufferFrames;
 };

From fbdca59d3777a9b9561cd212e8644f14fd5bce43 Mon Sep 17 00:00:00 2001
From: wangyix <wangyix@gmail.com>
Date: Mon, 23 Jun 2014 11:56:14 -0700
Subject: [PATCH 082/105] fixed spacing issue

---
 libraries/audio/src/PositionalAudioRingBuffer.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/audio/src/PositionalAudioRingBuffer.cpp b/libraries/audio/src/PositionalAudioRingBuffer.cpp
index a22f57f3d7..0e2e785973 100644
--- a/libraries/audio/src/PositionalAudioRingBuffer.cpp
+++ b/libraries/audio/src/PositionalAudioRingBuffer.cpp
@@ -29,7 +29,7 @@ InterframeTimeGapStats::InterframeTimeGapStats()
     _windowMaxGap(0),
     _newWindowMaxGapAvailable(false)
 {
-    memset(_intervalMaxGaps, 0, TIME_GAP_NUM_INTERVALS_IN_WINDOW*sizeof(quint64));
+    memset(_intervalMaxGaps, 0, TIME_GAP_NUM_INTERVALS_IN_WINDOW * sizeof(quint64));
 }
 
 void InterframeTimeGapStats::frameReceived() {

From 9713e3d5136b29d8a8ee6282e499d3d7be4d0a91 Mon Sep 17 00:00:00 2001
From: Andrew Meadows <andrew@highfidelity.io>
Date: Mon, 23 Jun 2014 12:30:53 -0700
Subject: [PATCH 083/105] remove some unused var warnings in Release build

---
 interface/src/avatar/SkeletonModel.cpp | 7 +++----
 1 file changed, 3 insertions(+), 4 deletions(-)

diff --git a/interface/src/avatar/SkeletonModel.cpp b/interface/src/avatar/SkeletonModel.cpp
index 0cc80db539..0baf123829 100644
--- a/interface/src/avatar/SkeletonModel.cpp
+++ b/interface/src/avatar/SkeletonModel.cpp
@@ -523,8 +523,7 @@ void SkeletonModel::buildRagdollConstraints() {
     // NOTE: the length of DistanceConstraints is computed and locked in at this time
     // so make sure the ragdoll positions are in a normal configuration before here.
     const int numPoints = _ragdollPoints.size();
-    const int numJoints = _jointStates.size();
-    assert(numPoints == numJoints);
+    assert(numPoints == _jointStates.size());
 
     for (int i = 0; i < numPoints; ++i) {
         const JointState& state = _jointStates.at(i);
@@ -615,9 +614,9 @@ void SkeletonModel::buildShapes() {
 
 void SkeletonModel::moveShapesTowardJoints(float fraction) {
     const int numStates = _jointStates.size();
-    assert(numStates == _ragdollPoints.size());
+    assert(_jointStates.size() == _ragdollPoints.size());
     assert(fraction >= 0.0f && fraction <= 1.0f);
-    if (_ragdollPoints.size() == _jointStates.size()) {
+    if (_ragdollPoints.size() == numStates) {
         float oneMinusFraction = 1.0f - fraction; 
         int numJoints = _jointStates.size();
         for (int i = 0; i < numJoints; ++i) {

From add556719c4a6d37259605fadd8a2bdbc6cfdca9 Mon Sep 17 00:00:00 2001
From: Andrew Meadows <andrew@highfidelity.io>
Date: Mon, 23 Jun 2014 12:31:36 -0700
Subject: [PATCH 084/105] fixed perf stats on phys simulation

---
 interface/src/avatar/MyAvatar.cpp | 16 ++++++++++------
 1 file changed, 10 insertions(+), 6 deletions(-)

diff --git a/interface/src/avatar/MyAvatar.cpp b/interface/src/avatar/MyAvatar.cpp
index 6fee71b27c..a90a65b5ed 100644
--- a/interface/src/avatar/MyAvatar.cpp
+++ b/interface/src/avatar/MyAvatar.cpp
@@ -195,12 +195,16 @@ void MyAvatar::simulate(float deltaTime) {
         head->simulate(deltaTime, true);
     }
 
-    if (Menu::getInstance()->isOptionChecked(MenuOption::CollideAsRagdoll)) {
-        PerformanceTimer perfTimer("MyAvatar::simulate/head Simulate");
-        const int minError = 0.005f;
-        const float maxIterations = 8;
-        const quint64 maxUsec = 2000;
-        _physicsSimulation.stepForward(deltaTime, minError, maxIterations, maxUsec);
+    {
+        PerformanceTimer perfTimer("MyAvatar::simulate/ragdoll");
+        if (Menu::getInstance()->isOptionChecked(MenuOption::CollideAsRagdoll)) {
+            const int minError = 0.01f;
+            const float maxIterations = 10;
+            const quint64 maxUsec = 2000;
+            _physicsSimulation.stepForward(deltaTime, minError, maxIterations, maxUsec);
+        } else {
+            _skeletonModel.moveShapesTowardJoints(1.0f);
+        }
     }
 
     // now that we're done stepping the avatar forward in time, compute new collisions

From 3e0673418f61dd20e0163650c8b09ebc84f77fc8 Mon Sep 17 00:00:00 2001
From: Andrew Meadows <andrew@highfidelity.io>
Date: Mon, 23 Jun 2014 12:32:23 -0700
Subject: [PATCH 085/105] more complete physics iteration for stability

---
 libraries/shared/src/PhysicsSimulation.cpp | 54 +++++++++++++---------
 libraries/shared/src/PhysicsSimulation.h   |  1 -
 2 files changed, 31 insertions(+), 24 deletions(-)

diff --git a/libraries/shared/src/PhysicsSimulation.cpp b/libraries/shared/src/PhysicsSimulation.cpp
index ce47a189d0..637a5e955c 100644
--- a/libraries/shared/src/PhysicsSimulation.cpp
+++ b/libraries/shared/src/PhysicsSimulation.cpp
@@ -10,6 +10,7 @@
 //
 
 #include <glm/glm.hpp>
+#include <iostream>
 
 #include "PhysicsSimulation.h"
 
@@ -145,15 +146,41 @@ void PhysicsSimulation::removeRagdoll(Ragdoll* doll) {
 // (10b) figure out how to slave dupe JointStates to physical shapes
 // (11) add and enforce angular contraints for joints
 void PhysicsSimulation::stepForward(float deltaTime, float minError, int maxIterations, quint64 maxUsec) {
-    quint64 startTime = usecTimestampNow();
+    quint64 now = usecTimestampNow();
+    quint64 startTime = now;
     quint64 expiry = startTime + maxUsec;
 
     moveRagdolls(deltaTime);
-    computeCollisions();
-    processCollisions();
-    enforceConstraints(minError, maxIterations, expiry - usecTimestampNow());
 
+    int numDolls = _dolls.size();
+    _numCollisions = 0;
+    int iterations = 0;
+    float error = 0.0f;
+    do {
+        computeCollisions();
+        processCollisions();
+
+        // enforce constraints
+        error = 0.0f;
+        for (int i = 0; i < numDolls; ++i) {
+            error = glm::max(error, _dolls[i]->enforceRagdollConstraints());
+        }
+        ++iterations;
+
+        now = usecTimestampNow();
+    } while (_numCollisions != 0 && (iterations < maxIterations) && (error > minError) && (now < expiry));
+
+    _numIterations = iterations;
+    _constraintError = error;
     _stepTime = usecTimestampNow()- startTime;
+
+#ifdef ANDREW_DEBUG
+    // temporary debug info for watching simulation performance
+    static int adebug = 0; ++adebug;
+    if (0 == (adebug % 100)) {
+        std::cout << "adebug Ni = " << _numIterations << "  E = " << error  << "  t = " << _stepTime << std::endl;  // adebug
+    }
+#endif // ANDREW_DEBUG
 }
 
 void PhysicsSimulation::moveRagdolls(float deltaTime) {
@@ -215,22 +242,3 @@ void PhysicsSimulation::processCollisions() {
         ++shapeItr;
     }
 }
-
-void PhysicsSimulation::enforceConstraints(float minError, int maxIterations, quint64 maxUsec) {
-    quint64 now = usecTimestampNow();
-    quint64 expiry = now + maxUsec;
-    int iterations = 0;
-    float error = 0.0f;
-    int numDolls = _dolls.size();
-    do {
-        error = 0.0f;
-        for (int i = 0; i < numDolls; ++i) {
-            error = glm::max(error, _dolls[i]->enforceRagdollConstraints());
-        }
-        ++iterations;
-        now = usecTimestampNow();
-    } while (iterations < maxIterations && error > minError && now < expiry);
-    _numIterations = iterations;
-    _constraintError = error;
-}
-
diff --git a/libraries/shared/src/PhysicsSimulation.h b/libraries/shared/src/PhysicsSimulation.h
index 9f8ffa4486..c611e06870 100644
--- a/libraries/shared/src/PhysicsSimulation.h
+++ b/libraries/shared/src/PhysicsSimulation.h
@@ -44,7 +44,6 @@ public:
     void moveRagdolls(float deltaTime);
     void computeCollisions();
     void processCollisions();
-    void enforceConstraints(float minError, int maxIterations, quint64 maxUsec);
 
 private:
     CollisionList _collisionList;

From b5aca45ab681b78be5073f2571b05c52741a0ef7 Mon Sep 17 00:00:00 2001
From: Andrew Meadows <andrew@highfidelity.io>
Date: Mon, 23 Jun 2014 12:59:38 -0700
Subject: [PATCH 086/105] smaller timescale for slaving shapes to skeleton

---
 interface/src/avatar/SkeletonModel.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/interface/src/avatar/SkeletonModel.cpp b/interface/src/avatar/SkeletonModel.cpp
index 0baf123829..fdb3ce03d8 100644
--- a/interface/src/avatar/SkeletonModel.cpp
+++ b/interface/src/avatar/SkeletonModel.cpp
@@ -541,7 +541,7 @@ void SkeletonModel::buildRagdollConstraints() {
 
 // virtual 
 void SkeletonModel::stepRagdollForward(float deltaTime) {
-    const float RAGDOLL_FOLLOWS_JOINTS_TIMESCALE = 0.1f;
+    const float RAGDOLL_FOLLOWS_JOINTS_TIMESCALE = 0.03f;
     float fraction = glm::clamp(deltaTime / RAGDOLL_FOLLOWS_JOINTS_TIMESCALE, 0.0f, 1.0f);
     moveShapesTowardJoints(fraction);
 }

From ed5c05a61b9536d98bedd85d0d2b080667bfa4e0 Mon Sep 17 00:00:00 2001
From: Stephen Birarda <commit@birarda.com>
Date: Mon, 23 Jun 2014 13:25:32 -0700
Subject: [PATCH 087/105] fix rounding of credit balance in application title

---
 interface/src/Application.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/interface/src/Application.cpp b/interface/src/Application.cpp
index 75c3f442ca..d7e3b7453d 100644
--- a/interface/src/Application.cpp
+++ b/interface/src/Application.cpp
@@ -3189,7 +3189,7 @@ void Application::updateWindowTitle(){
         float creditBalance = accountManager.getAccountInfo().getBalance() / SATOSHIS_PER_CREDIT;
 
         QString creditBalanceString;
-        creditBalanceString.sprintf("%.8f", creditBalance);
+        creditBalanceString.sprintf("%.8f", floor(creditBalance + 0.5));
 
         title += " - ₵" + creditBalanceString;
     }

From 415dfd98aad481fc91a5af0645abe85adf365b5e Mon Sep 17 00:00:00 2001
From: Andrew Meadows <andrew@highfidelity.io>
Date: Mon, 23 Jun 2014 13:40:50 -0700
Subject: [PATCH 088/105] remove one line of cuft

---
 interface/src/avatar/SkeletonModel.h | 1 -
 1 file changed, 1 deletion(-)

diff --git a/interface/src/avatar/SkeletonModel.h b/interface/src/avatar/SkeletonModel.h
index 57e039c3cc..b91c112b6a 100644
--- a/interface/src/avatar/SkeletonModel.h
+++ b/interface/src/avatar/SkeletonModel.h
@@ -98,7 +98,6 @@ public:
     virtual void stepRagdollForward(float deltaTime);
 
     void moveShapesTowardJoints(float fraction);
-    //void updateShapePositionsLegacy(); // TODO: Andrew to remove this when done with ragdoll work
 
     void computeBoundingShape(const FBXGeometry& geometry);
     void renderBoundingCollisionShapes(float alpha);

From e2204ab78e9a22058a3e52be94d703b133d3a5cb Mon Sep 17 00:00:00 2001
From: Andrew Meadows <andrew@highfidelity.io>
Date: Mon, 23 Jun 2014 13:59:44 -0700
Subject: [PATCH 089/105] friend foo --> friend class foo

---
 libraries/shared/src/PhysicsEntity.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/shared/src/PhysicsEntity.h b/libraries/shared/src/PhysicsEntity.h
index 693c712c11..3407ac8421 100644
--- a/libraries/shared/src/PhysicsEntity.h
+++ b/libraries/shared/src/PhysicsEntity.h
@@ -71,7 +71,7 @@ protected:
 
 private:
     // PhysicsSimulation is a friend so that it can set the protected _simulation backpointer
-    friend PhysicsSimulation; 
+    friend class PhysicsSimulation; 
     PhysicsSimulation* _simulation;
 };
 

From df740dd82a57e80213a13f17aeb77c379f6a6abb Mon Sep 17 00:00:00 2001
From: Andrew Meadows <andrew@highfidelity.io>
Date: Mon, 23 Jun 2014 14:07:09 -0700
Subject: [PATCH 090/105] Fix bad static const inside class.

---
 libraries/shared/src/CollisionInfo.cpp | 2 +-
 libraries/shared/src/Ragdoll.cpp       | 2 +-
 libraries/shared/src/Shape.h           | 5 +++--
 3 files changed, 5 insertions(+), 4 deletions(-)

diff --git a/libraries/shared/src/CollisionInfo.cpp b/libraries/shared/src/CollisionInfo.cpp
index c76c99e747..e862a22f4a 100644
--- a/libraries/shared/src/CollisionInfo.cpp
+++ b/libraries/shared/src/CollisionInfo.cpp
@@ -37,7 +37,7 @@ void CollisionInfo::apply() {
     // NOTE: Shape::computeEffectiveMass() has side effects: computes and caches partial Lagrangian coefficients
     Shape* shapeA = const_cast<Shape*>(_shapeA);
     float massA = shapeA->computeEffectiveMass(_penetration, _contactPoint);
-    float massB = Shape::MAX_MASS;
+    float massB = MAX_SHAPE_MASS;
     float totalMass = massA + massB;
     if (_shapeB) {
         Shape* shapeB = const_cast<Shape*>(_shapeB);
diff --git a/libraries/shared/src/Ragdoll.cpp b/libraries/shared/src/Ragdoll.cpp
index 833bcdb607..1d24e74864 100644
--- a/libraries/shared/src/Ragdoll.cpp
+++ b/libraries/shared/src/Ragdoll.cpp
@@ -49,7 +49,7 @@ float FixedConstraint::enforce() {
 void FixedConstraint::setPoint(VerletPoint* point) {
     assert(point);
     _point = point;
-    _point->_mass = Shape::MAX_MASS;
+    _point->_mass = MAX_SHAPE_MASS;
 }
 
 void FixedConstraint::setAnchor(const glm::vec3& anchor) {
diff --git a/libraries/shared/src/Shape.h b/libraries/shared/src/Shape.h
index 8d4c1898b5..09ed30a116 100644
--- a/libraries/shared/src/Shape.h
+++ b/libraries/shared/src/Shape.h
@@ -17,9 +17,10 @@
 
 class PhysicsEntity;
 
+const float MAX_SHAPE_MASS = 1.0e18f; // something less than sqrt(FLT_MAX)
+
 class Shape {
 public:
-    static const float MAX_MASS = 1.0e18f; // something less than sqrt(FLT_MAX)
 
     enum Type{
         UNKNOWN_SHAPE = 0,
@@ -29,7 +30,7 @@ public:
         LIST_SHAPE
     };
 
-    Shape() : _type(UNKNOWN_SHAPE), _owningEntity(NULL), _boundingRadius(0.f), _translation(0.f), _rotation(), _mass(MAX_MASS) { }
+    Shape() : _type(UNKNOWN_SHAPE), _owningEntity(NULL), _boundingRadius(0.f), _translation(0.f), _rotation(), _mass(MAX_SHAPE_MASS) { }
     virtual ~Shape() {}
 
     int getType() const { return _type; }

From d892a9c00fd04ec8972b0422b7833fdb2373fc18 Mon Sep 17 00:00:00 2001
From: Andrew Meadows <andrew@highfidelity.io>
Date: Mon, 23 Jun 2014 14:07:31 -0700
Subject: [PATCH 091/105] fixed warning about possible uninitialized variable.

---
 libraries/fbx/src/FBXReader.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/fbx/src/FBXReader.cpp b/libraries/fbx/src/FBXReader.cpp
index 9aeb81a2a3..33b7fca0ef 100644
--- a/libraries/fbx/src/FBXReader.cpp
+++ b/libraries/fbx/src/FBXReader.cpp
@@ -1717,7 +1717,7 @@ FBXGeometry extractFBXGeometry(const FBXNode& node, const QVariantHash& mapping)
                 glm::vec3 boneEnd = extractTranslation(transformJointToMesh);
                 glm::vec3 boneBegin = boneEnd;
                 glm::vec3 boneDirection;
-                float boneLength;
+                float boneLength = 0.0f;
                 if (joint.parentIndex != -1) {
                     boneBegin = extractTranslation(inverseModelTransform * geometry.joints[joint.parentIndex].bindTransform);
                     boneDirection = boneEnd - boneBegin;
@@ -1779,7 +1779,7 @@ FBXGeometry extractFBXGeometry(const FBXNode& node, const QVariantHash& mapping)
             glm::vec3 boneBegin = boneEnd;
 
             glm::vec3 boneDirection;
-            float boneLength;
+            float boneLength = 0.0f;
             if (joint.parentIndex != -1) {
                 boneBegin = extractTranslation(inverseModelTransform * geometry.joints[joint.parentIndex].bindTransform);
                 boneDirection = boneEnd - boneBegin;

From 48e779cf8e02f259c2ce3fca95f9312e42e8c707 Mon Sep 17 00:00:00 2001
From: ZappoMan <bradh@konamoxt.com>
Date: Mon, 23 Jun 2014 14:08:47 -0700
Subject: [PATCH 092/105] added some performance tests

---
 tests/octree/CMakeLists.txt     |  15 ++-
 tests/octree/src/ModelTests.cpp | 226 ++++++++++++++++++++++++++++++++
 tests/octree/src/ModelTests.h   |  20 +++
 tests/octree/src/main.cpp       |   2 +
 4 files changed, 258 insertions(+), 5 deletions(-)
 create mode 100644 tests/octree/src/ModelTests.cpp
 create mode 100644 tests/octree/src/ModelTests.h

diff --git a/tests/octree/CMakeLists.txt b/tests/octree/CMakeLists.txt
index cbdfd02054..1697064ff4 100644
--- a/tests/octree/CMakeLists.txt
+++ b/tests/octree/CMakeLists.txt
@@ -12,9 +12,9 @@ set(MACRO_DIR ${ROOT_DIR}/cmake/macros)
 # setup for find modules
 set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_CURRENT_SOURCE_DIR}/../../cmake/modules/")
 
-#find_package(Qt5Network REQUIRED)
-#find_package(Qt5Script REQUIRED)
-#find_package(Qt5Widgets REQUIRED)
+find_package(Qt5Network REQUIRED)
+find_package(Qt5Script REQUIRED)
+find_package(Qt5Widgets REQUIRED)
 
 include(${MACRO_DIR}/SetupHifiProject.cmake)
 setup_hifi_project(${TARGET_NAME} TRUE)
@@ -22,7 +22,7 @@ setup_hifi_project(${TARGET_NAME} TRUE)
 include(${MACRO_DIR}/AutoMTC.cmake)
 auto_mtc(${TARGET_NAME} ${ROOT_DIR})
 
-#qt5_use_modules(${TARGET_NAME} Network Script Widgets)
+qt5_use_modules(${TARGET_NAME} Network Script Widgets)
 
 #include glm
 include(${MACRO_DIR}/IncludeGLM.cmake)
@@ -30,8 +30,13 @@ include_glm(${TARGET_NAME} ${ROOT_DIR})
 
 # link in the shared libraries
 include(${MACRO_DIR}/LinkHifiLibrary.cmake)
-link_hifi_library(shared ${TARGET_NAME} ${ROOT_DIR})
+link_hifi_library(animation ${TARGET_NAME} ${ROOT_DIR})
+link_hifi_library(audio ${TARGET_NAME} ${ROOT_DIR})
+link_hifi_library(fbx ${TARGET_NAME} ${ROOT_DIR})
+link_hifi_library(networking ${TARGET_NAME} ${ROOT_DIR})
+link_hifi_library(models ${TARGET_NAME} ${ROOT_DIR})
 link_hifi_library(octree ${TARGET_NAME} ${ROOT_DIR})
+link_hifi_library(shared ${TARGET_NAME} ${ROOT_DIR})
 
 IF (WIN32)
     #target_link_libraries(${TARGET_NAME} Winmm Ws2_32)
diff --git a/tests/octree/src/ModelTests.cpp b/tests/octree/src/ModelTests.cpp
new file mode 100644
index 0000000000..391b54cea9
--- /dev/null
+++ b/tests/octree/src/ModelTests.cpp
@@ -0,0 +1,226 @@
+//
+//  ModelTests.h
+//  tests/octree/src
+//
+//  Created by Brad Hefta-Gaub on 06/04/2014.
+//  Copyright 2014 High Fidelity, Inc.
+//
+//  Distributed under the Apache License, Version 2.0.
+//  See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
+//
+//  TODO:
+//    * need to add expected results and accumulation of test success/failure
+//
+
+#include <QDebug>
+
+#include <ModelItem.h>
+#include <ModelTree.h>
+#include <ModelTreeElement.h>
+#include <Octree.h>
+#include <OctreeConstants.h>
+#include <PropertyFlags.h>
+#include <SharedUtil.h>
+
+#include "ModelTests.h"
+
+
+void ModelTests::modelTreeTests(bool verbose) {
+    int testsTaken = 0;
+    int testsPassed = 0;
+    int testsFailed = 0;
+
+    if (verbose) {
+        qDebug() << "******************************************************************************************";
+    }
+    
+    qDebug() << "ModelTests::modelTreeTests()";
+
+    // Tree, id, and model properties used in many tests below...
+    ModelTree tree;
+    uint32_t id = 1;
+    ModelItemID modelID(id);
+    modelID.isKnownID = false; // this is a temporary workaround to allow local tree models to be added with known IDs
+    ModelItemProperties properties;
+    float oneMeter = 1.0f;
+    float halfMeter = oneMeter / 2.0f;
+    float halfOfDomain = TREE_SCALE * 0.5f;
+    glm::vec3 positionNearOriginInMeters(oneMeter, oneMeter, oneMeter); // when using properties, these are in meter not tree units
+    glm::vec3 positionAtCenterInMeters(halfOfDomain, halfOfDomain, halfOfDomain);
+    glm::vec3 positionNearOriginInTreeUnits = positionNearOriginInMeters / (float)TREE_SCALE;
+    glm::vec3 positionAtCenterInTreeUnits = positionAtCenterInMeters / (float)TREE_SCALE;
+
+    {
+        testsTaken++;
+        QString testName = "add model to tree and search";
+        if (verbose) {
+            qDebug() << "Test" << testsTaken <<":" << qPrintable(testName);
+        }
+        
+        properties.setPosition(positionAtCenterInMeters);
+        properties.setRadius(halfMeter);
+        properties.setModelURL("https://s3-us-west-1.amazonaws.com/highfidelity-public/ozan/theater.fbx");
+
+        tree.addModel(modelID, properties);
+        
+        float targetRadius = oneMeter * 2.0 / (float)TREE_SCALE; // in tree units
+        const ModelItem* foundModelByRadius = tree.findClosestModel(positionAtCenterInTreeUnits, targetRadius);
+        const ModelItem* foundModelByID = tree.findModelByID(id);
+        
+        if (verbose) {
+            qDebug() << "foundModelByRadius=" << foundModelByRadius;
+            qDebug() << "foundModelByID=" << foundModelByID;
+        }
+
+        bool passed = foundModelByRadius && foundModelByID && (foundModelByRadius == foundModelByID);
+        if (passed) {
+            testsPassed++;
+        } else {
+            testsFailed++;
+            qDebug() << "FAILED - Test" << testsTaken <<":" << qPrintable(testName);
+        }
+    }
+
+    modelID.isKnownID = true; // this is a temporary workaround to allow local tree models to be added with known IDs
+
+    {
+        testsTaken++;
+        QString testName = "change position of model in tree";
+        if (verbose) {
+            qDebug() << "Test" << testsTaken <<":" << qPrintable(testName);
+        }
+        
+        glm::vec3 newPosition = positionNearOriginInMeters;
+
+        properties.setPosition(newPosition);
+
+        tree.updateModel(modelID, properties);
+        
+        float targetRadius = oneMeter * 2.0 / (float)TREE_SCALE; // in tree units
+        const ModelItem* foundModelByRadius = tree.findClosestModel(positionNearOriginInTreeUnits, targetRadius);
+        const ModelItem* foundModelByID = tree.findModelByID(id);
+        
+        if (verbose) {
+            qDebug() << "foundModelByRadius=" << foundModelByRadius;
+            qDebug() << "foundModelByID=" << foundModelByID;
+        }
+
+        // NOTE: This test is currently expected to fail in the production code. There's a bug in ModelTree::updateModel()
+        // that does not update the actual location of the model into the correct element when modified locally. So this
+        // test will fail. There's a new optimized and correctly working version of updateModel() that fixes this problem.
+        bool passed = foundModelByRadius && foundModelByID && (foundModelByRadius == foundModelByID);
+        if (passed) {
+            testsPassed++;
+            qDebug() << "NOTE: Expected to FAIL - Test" << testsTaken <<":" << qPrintable(testName);
+        } else {
+            testsFailed++;
+            qDebug() << "FAILED - Test" << testsTaken <<":" << qPrintable(testName);
+            qDebug() << "NOTE: Expected to FAIL - Test" << testsTaken <<":" << qPrintable(testName);
+        }
+    }
+
+    {
+        testsTaken++;
+        QString testName = "change position of model in tree back to center";
+        if (verbose) {
+            qDebug() << "Test" << testsTaken <<":" << qPrintable(testName);
+        }
+        
+        glm::vec3 newPosition = positionAtCenterInMeters;
+
+        properties.setPosition(newPosition);
+
+        tree.updateModel(modelID, properties);
+        
+        float targetRadius = oneMeter * 2.0 / (float)TREE_SCALE; // in tree units
+        const ModelItem* foundModelByRadius = tree.findClosestModel(positionAtCenterInTreeUnits, targetRadius);
+        const ModelItem* foundModelByID = tree.findModelByID(id);
+        
+        if (verbose) {
+            qDebug() << "foundModelByRadius=" << foundModelByRadius;
+            qDebug() << "foundModelByID=" << foundModelByID;
+        }
+
+        bool passed = foundModelByRadius && foundModelByID && (foundModelByRadius == foundModelByID);
+        if (passed) {
+            testsPassed++;
+        } else {
+            testsFailed++;
+            qDebug() << "FAILED - Test" << testsTaken <<":" << qPrintable(testName);
+        }
+    }
+
+    {
+        testsTaken++;
+        QString testName = "Performance - findClosestModel() 1,000,000 times";
+        if (verbose) {
+            qDebug() << "Test" << testsTaken <<":" << qPrintable(testName);
+        }
+
+        float targetRadius = oneMeter * 2.0 / (float)TREE_SCALE; // in tree units
+        const int TEST_ITERATIONS = 1000000;
+        quint64 start = usecTimestampNow();
+        const ModelItem* foundModelByRadius = NULL;
+        for (int i = 0; i < TEST_ITERATIONS; i++) {        
+            foundModelByRadius = tree.findClosestModel(positionAtCenterInTreeUnits, targetRadius);
+        }
+        quint64 end = usecTimestampNow();
+        
+        if (verbose) {
+            qDebug() << "foundModelByRadius=" << foundModelByRadius;
+        }
+
+        bool passed = foundModelByRadius;
+        if (passed) {
+            testsPassed++;
+        } else {
+            testsFailed++;
+            qDebug() << "FAILED - Test" << testsTaken <<":" << qPrintable(testName);
+        }
+        float USECS_PER_MSECS = 1000.0f;
+        float elapsedInMSecs = (float)(end - start) / USECS_PER_MSECS;
+        qDebug() << "TIME - Test" << testsTaken <<":" << qPrintable(testName) << "elapsed=" << elapsedInMSecs << "msecs";
+    }
+
+    {
+        testsTaken++;
+        QString testName = "Performance - findModelByID() 1,000,000 times";
+        if (verbose) {
+            qDebug() << "Test" << testsTaken <<":" << qPrintable(testName);
+        }
+
+        const int TEST_ITERATIONS = 1000000;
+        quint64 start = usecTimestampNow();
+        const ModelItem* foundModelByID = NULL;
+        for (int i = 0; i < TEST_ITERATIONS; i++) {        
+            foundModelByID = tree.findModelByID(id);
+        }
+        quint64 end = usecTimestampNow();
+        
+        if (verbose) {
+            qDebug() << "foundModelByID=" << foundModelByID;
+        }
+
+        bool passed = foundModelByID;
+        if (passed) {
+            testsPassed++;
+        } else {
+            testsFailed++;
+            qDebug() << "FAILED - Test" << testsTaken <<":" << qPrintable(testName);
+        }
+        float USECS_PER_MSECS = 1000.0f;
+        float elapsedInMSecs = (float)(end - start) / USECS_PER_MSECS;
+        qDebug() << "TIME - Test" << testsTaken <<":" << qPrintable(testName) << "elapsed=" << elapsedInMSecs << "msecs";
+    }
+
+    qDebug() << "   tests passed:" << testsPassed << "out of" << testsTaken;
+    if (verbose) {
+        qDebug() << "******************************************************************************************";
+    }
+}
+
+
+void ModelTests::runAllTests(bool verbose) {
+    modelTreeTests(verbose);
+}
+
diff --git a/tests/octree/src/ModelTests.h b/tests/octree/src/ModelTests.h
new file mode 100644
index 0000000000..dd764edf9d
--- /dev/null
+++ b/tests/octree/src/ModelTests.h
@@ -0,0 +1,20 @@
+//
+//  ModelTests.h
+//  tests/octree/src
+//
+//  Created by Brad Hefta-Gaub on 06/04/2014.
+//  Copyright 2014 High Fidelity, Inc.
+//
+//  Distributed under the Apache License, Version 2.0.
+//  See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
+//
+
+#ifndef hifi_ModelTests_h
+#define hifi_ModelTests_h
+
+namespace ModelTests {
+    void modelTreeTests(bool verbose = false);
+    void runAllTests(bool verbose = false);
+}
+
+#endif // hifi_ModelTests_h
diff --git a/tests/octree/src/main.cpp b/tests/octree/src/main.cpp
index de7b3926ae..590df268c3 100644
--- a/tests/octree/src/main.cpp
+++ b/tests/octree/src/main.cpp
@@ -8,11 +8,13 @@
 //  See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
 //
 
+#include "ModelTests.h"
 #include "OctreeTests.h"
 #include "AABoxCubeTests.h"
 
 int main(int argc, char** argv) {
     OctreeTests::runAllTests();
     AABoxCubeTests::runAllTests();
+    ModelTests::runAllTests(true);
     return 0;
 }

From 52b61ebab8f05b72d6ff5f76c0929596cfccfa24 Mon Sep 17 00:00:00 2001
From: ZappoMan <bradh@konamoxt.com>
Date: Mon, 23 Jun 2014 14:48:12 -0700
Subject: [PATCH 093/105] added addModel() performance test

---
 tests/octree/src/ModelTests.cpp | 39 +++++++++++++++++++++++++++++++++
 1 file changed, 39 insertions(+)

diff --git a/tests/octree/src/ModelTests.cpp b/tests/octree/src/ModelTests.cpp
index 391b54cea9..92b0b87cd8 100644
--- a/tests/octree/src/ModelTests.cpp
+++ b/tests/octree/src/ModelTests.cpp
@@ -213,6 +213,45 @@ void ModelTests::modelTreeTests(bool verbose) {
         qDebug() << "TIME - Test" << testsTaken <<":" << qPrintable(testName) << "elapsed=" << elapsedInMSecs << "msecs";
     }
 
+    {
+        testsTaken++;
+        QString testName = "Performance - add model to tree 10,000 times";
+        if (verbose) {
+            qDebug() << "Test" << testsTaken <<":" << qPrintable(testName);
+        }
+
+        const int TEST_ITERATIONS = 10000;
+        quint64 start = usecTimestampNow();
+        for (int i = 0; i < TEST_ITERATIONS; i++) {        
+            uint32_t id = i + 2; // make sure it doesn't collide with previous model ids
+            ModelItemID modelID(id);
+            modelID.isKnownID = false; // this is a temporary workaround to allow local tree models to be added with known IDs
+
+            float randomX = randFloatInRange(0.0f ,(float)TREE_SCALE);
+            float randomY = randFloatInRange(0.0f ,(float)TREE_SCALE);
+            float randomZ = randFloatInRange(0.0f ,(float)TREE_SCALE);
+            glm::vec3 randomPositionInMeters(randomX,randomY,randomZ);
+
+            properties.setPosition(randomPositionInMeters);
+            properties.setRadius(halfMeter);
+            properties.setModelURL("https://s3-us-west-1.amazonaws.com/highfidelity-public/ozan/theater.fbx");
+
+            tree.addModel(modelID, properties);
+        }
+        quint64 end = usecTimestampNow();
+        
+        bool passed = true;
+        if (passed) {
+            testsPassed++;
+        } else {
+            testsFailed++;
+            qDebug() << "FAILED - Test" << testsTaken <<":" << qPrintable(testName);
+        }
+        float USECS_PER_MSECS = 1000.0f;
+        float elapsedInMSecs = (float)(end - start) / USECS_PER_MSECS;
+        qDebug() << "TIME - Test" << testsTaken <<":" << qPrintable(testName) << "elapsed=" << elapsedInMSecs << "msecs";
+    }
+
     qDebug() << "   tests passed:" << testsPassed << "out of" << testsTaken;
     if (verbose) {
         qDebug() << "******************************************************************************************";

From 076bc115456ba43e585ea8cf2a81dd14386318ba Mon Sep 17 00:00:00 2001
From: ZappoMan <bradh@konamoxt.com>
Date: Mon, 23 Jun 2014 15:19:13 -0700
Subject: [PATCH 094/105] added server side audio mixer jitter stats

---
 assignment-client/src/audio/AudioMixer.cpp    | 13 +++++++++++
 .../src/audio/AudioMixerClientData.cpp        | 23 +++++++++++++++++++
 .../src/audio/AudioMixerClientData.h          |  3 +++
 .../audio/src/PositionalAudioRingBuffer.h     |  3 +++
 4 files changed, 42 insertions(+)

diff --git a/assignment-client/src/audio/AudioMixer.cpp b/assignment-client/src/audio/AudioMixer.cpp
index 42be1aea5a..15b51ae7d5 100644
--- a/assignment-client/src/audio/AudioMixer.cpp
+++ b/assignment-client/src/audio/AudioMixer.cpp
@@ -424,6 +424,19 @@ void AudioMixer::sendStatsPacket() {
     } else {
         statsObject["average_mixes_per_listener"] = 0.0;
     }
+
+    // add stats for each listerner    
+    NodeList* nodeList = NodeList::getInstance();
+    int clientNumber = 0;
+    foreach (const SharedNodePointer& node, nodeList->getNodeHash()) {
+        clientNumber++;
+        AudioMixerClientData* clientData = static_cast<AudioMixerClientData*>(node->getLinkedData());
+        if (clientData) {
+            QString property = "jitterStats." + QString::number(clientNumber);
+            statsObject[qPrintable(property)] = clientData->getJitterBufferStats();
+        }
+    }
+    
     
     ThreadedAssignment::addPacketStatsAndSendStatsPacket(statsObject);
     
diff --git a/assignment-client/src/audio/AudioMixerClientData.cpp b/assignment-client/src/audio/AudioMixerClientData.cpp
index 0c41cc70f9..1c0f68d5a3 100644
--- a/assignment-client/src/audio/AudioMixerClientData.cpp
+++ b/assignment-client/src/audio/AudioMixerClientData.cpp
@@ -138,3 +138,26 @@ void AudioMixerClientData::pushBuffersAfterFrameSend() {
         i++;
     }
 }
+
+QString AudioMixerClientData::getJitterBufferStats() const {
+    QString result;
+    AvatarAudioRingBuffer* avatarRingBuffer = getAvatarAudioRingBuffer();
+    if (avatarRingBuffer) {
+        int desiredJitterBuffer = avatarRingBuffer->getDesiredJitterBufferFrames();
+        int currentJitterBuffer = avatarRingBuffer->getCurrentJitterBufferFrames();
+        result += "mic.desired:" + QString::number(desiredJitterBuffer) + " current:" + QString::number(currentJitterBuffer);
+    } else {
+        result = "mic unknown";
+    }
+
+    for (int i = 0; i < _ringBuffers.size(); i++) {
+        if (_ringBuffers[i]->getType() == PositionalAudioRingBuffer::Injector) {
+            int desiredJitterBuffer = _ringBuffers[i]->getDesiredJitterBufferFrames();
+            int currentJitterBuffer = _ringBuffers[i]->getCurrentJitterBufferFrames();
+            result += "| injected["+QString::number(i)+"].desired:" 
+                    + QString::number(desiredJitterBuffer) + " current:" + QString::number(currentJitterBuffer);
+        }
+    }
+
+    return result;
+}
diff --git a/assignment-client/src/audio/AudioMixerClientData.h b/assignment-client/src/audio/AudioMixerClientData.h
index 3c4ddd3459..1760b96f5d 100644
--- a/assignment-client/src/audio/AudioMixerClientData.h
+++ b/assignment-client/src/audio/AudioMixerClientData.h
@@ -29,6 +29,9 @@ public:
     int parseData(const QByteArray& packet);
     void checkBuffersBeforeFrameSend(AABox* checkSourceZone = NULL, AABox* listenerZone = NULL);
     void pushBuffersAfterFrameSend();
+
+    QString getJitterBufferStats() const;
+
 private:
     QList<PositionalAudioRingBuffer*> _ringBuffers;
 };
diff --git a/libraries/audio/src/PositionalAudioRingBuffer.h b/libraries/audio/src/PositionalAudioRingBuffer.h
index 8c2122f29e..4c7148abbe 100644
--- a/libraries/audio/src/PositionalAudioRingBuffer.h
+++ b/libraries/audio/src/PositionalAudioRingBuffer.h
@@ -77,6 +77,9 @@ public:
     
     int getSamplesPerFrame() const { return _isStereo ? NETWORK_BUFFER_LENGTH_SAMPLES_STEREO : NETWORK_BUFFER_LENGTH_SAMPLES_PER_CHANNEL; }
 
+    int getDesiredJitterBufferFrames() const { return _desiredJitterBufferFrames; }
+    int getCurrentJitterBufferFrames() const { return _currentJitterBufferFrames; }
+
 protected:
     // disallow copying of PositionalAudioRingBuffer objects
     PositionalAudioRingBuffer(const PositionalAudioRingBuffer&);

From b2c982976e58652480c363f5ab12a096dd7a947b Mon Sep 17 00:00:00 2001
From: ZappoMan <bradh@konamoxt.com>
Date: Mon, 23 Jun 2014 15:46:58 -0700
Subject: [PATCH 095/105] break up audio mixer stats across multiple packets

---
 assignment-client/src/audio/AudioMixer.cpp    | 38 ++++++++++++++-----
 .../audio/src/PositionalAudioRingBuffer.cpp   |  1 +
 2 files changed, 30 insertions(+), 9 deletions(-)

diff --git a/assignment-client/src/audio/AudioMixer.cpp b/assignment-client/src/audio/AudioMixer.cpp
index 15b51ae7d5..ccf7a3248d 100644
--- a/assignment-client/src/audio/AudioMixer.cpp
+++ b/assignment-client/src/audio/AudioMixer.cpp
@@ -425,7 +425,20 @@ void AudioMixer::sendStatsPacket() {
         statsObject["average_mixes_per_listener"] = 0.0;
     }
 
-    // add stats for each listerner    
+    ThreadedAssignment::addPacketStatsAndSendStatsPacket(statsObject);
+    _sumListeners = 0;
+    _sumMixes = 0;
+    _numStatFrames = 0;
+
+
+    // NOTE: These stats can be too large to fit in an MTU, so we break it up into multiple packts...
+    QJsonObject statsObject2;
+
+    // add stats for each listerner
+    bool somethingToSend = false;
+    int sizeOfStats = 0;
+    int TOO_BIG_FOR_MTU = 1200; // some extra space for JSONification
+    
     NodeList* nodeList = NodeList::getInstance();
     int clientNumber = 0;
     foreach (const SharedNodePointer& node, nodeList->getNodeHash()) {
@@ -433,16 +446,23 @@ void AudioMixer::sendStatsPacket() {
         AudioMixerClientData* clientData = static_cast<AudioMixerClientData*>(node->getLinkedData());
         if (clientData) {
             QString property = "jitterStats." + QString::number(clientNumber);
-            statsObject[qPrintable(property)] = clientData->getJitterBufferStats();
+            QString value = clientData->getJitterBufferStats();
+            statsObject2[qPrintable(property)] = value;
+            somethingToSend = true;
+            sizeOfStats += property.size() + value.size();
+        }
+        
+        // if we're too large, send the packet
+        if (sizeOfStats > TOO_BIG_FOR_MTU) {
+            nodeList->sendStatsToDomainServer(statsObject2);
+            sizeOfStats = 0;
+            statsObject2 = QJsonObject(); // clear it
         }
     }
-    
-    
-    ThreadedAssignment::addPacketStatsAndSendStatsPacket(statsObject);
-    
-    _sumListeners = 0;
-    _sumMixes = 0;
-    _numStatFrames = 0;
+
+    if (somethingToSend) {
+        nodeList->sendStatsToDomainServer(statsObject2);
+    }
 }
 
 void AudioMixer::run() {
diff --git a/libraries/audio/src/PositionalAudioRingBuffer.cpp b/libraries/audio/src/PositionalAudioRingBuffer.cpp
index 0e2e785973..258150a1c5 100644
--- a/libraries/audio/src/PositionalAudioRingBuffer.cpp
+++ b/libraries/audio/src/PositionalAudioRingBuffer.cpp
@@ -235,6 +235,7 @@ void PositionalAudioRingBuffer::updateDesiredJitterBufferFrames() {
     const float USECS_PER_FRAME = NETWORK_BUFFER_LENGTH_SAMPLES_PER_CHANNEL * USECS_PER_SECOND / (float)SAMPLE_RATE;
 
     if (_interframeTimeGapStats.hasNewWindowMaxGapAvailable()) {
+    
         _desiredJitterBufferFrames = ceilf((float)_interframeTimeGapStats.getWindowMaxGap() / USECS_PER_FRAME);
         if (_desiredJitterBufferFrames < 1) {
             _desiredJitterBufferFrames = 1;

From 4becb66e2a307b0ac8c555f61ea38cf197270033 Mon Sep 17 00:00:00 2001
From: ZappoMan <bradh@konamoxt.com>
Date: Mon, 23 Jun 2014 16:10:51 -0700
Subject: [PATCH 096/105] use node uuid in stats

---
 assignment-client/src/audio/AudioMixer.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/assignment-client/src/audio/AudioMixer.cpp b/assignment-client/src/audio/AudioMixer.cpp
index ccf7a3248d..1d0b51a437 100644
--- a/assignment-client/src/audio/AudioMixer.cpp
+++ b/assignment-client/src/audio/AudioMixer.cpp
@@ -445,7 +445,7 @@ void AudioMixer::sendStatsPacket() {
         clientNumber++;
         AudioMixerClientData* clientData = static_cast<AudioMixerClientData*>(node->getLinkedData());
         if (clientData) {
-            QString property = "jitterStats." + QString::number(clientNumber);
+            QString property = "jitterStats." + node->getUUID().toString();
             QString value = clientData->getJitterBufferStats();
             statsObject2[qPrintable(property)] = value;
             somethingToSend = true;
@@ -457,6 +457,7 @@ void AudioMixer::sendStatsPacket() {
             nodeList->sendStatsToDomainServer(statsObject2);
             sizeOfStats = 0;
             statsObject2 = QJsonObject(); // clear it
+            somethingToSend = false;
         }
     }
 

From 8a633743b3be83d5eb6320246d33a6fb72bd2e5e Mon Sep 17 00:00:00 2001
From: ZappoMan <bradh@konamoxt.com>
Date: Mon, 23 Jun 2014 16:40:38 -0700
Subject: [PATCH 097/105] ignore the numSilentSamples from client, always
 assume one frame

---
 libraries/audio/src/PositionalAudioRingBuffer.cpp | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/libraries/audio/src/PositionalAudioRingBuffer.cpp b/libraries/audio/src/PositionalAudioRingBuffer.cpp
index 258150a1c5..115a99b453 100644
--- a/libraries/audio/src/PositionalAudioRingBuffer.cpp
+++ b/libraries/audio/src/PositionalAudioRingBuffer.cpp
@@ -119,6 +119,9 @@ int PositionalAudioRingBuffer::parseData(const QByteArray& packet) {
         
         readBytes += sizeof(int16_t);
         
+        // NOTE: fixes a bug in old clients that would send garbage for their number of silentSamples
+        numSilentSamples = getNumSamplesPerFrame();
+        
         if (numSilentSamples > 0) {
             if (_currentJitterBufferFrames > _desiredJitterBufferFrames) {
                 // our current jitter buffer size exceeds its desired value, so ignore some silent

From 77f262561c0087e34a15a418b9ae2c2e5c5425e4 Mon Sep 17 00:00:00 2001
From: ZappoMan <bradh@konamoxt.com>
Date: Mon, 23 Jun 2014 16:47:10 -0700
Subject: [PATCH 098/105] typo

---
 libraries/audio/src/PositionalAudioRingBuffer.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/audio/src/PositionalAudioRingBuffer.cpp b/libraries/audio/src/PositionalAudioRingBuffer.cpp
index 115a99b453..a2e0d08b91 100644
--- a/libraries/audio/src/PositionalAudioRingBuffer.cpp
+++ b/libraries/audio/src/PositionalAudioRingBuffer.cpp
@@ -120,7 +120,7 @@ int PositionalAudioRingBuffer::parseData(const QByteArray& packet) {
         readBytes += sizeof(int16_t);
         
         // NOTE: fixes a bug in old clients that would send garbage for their number of silentSamples
-        numSilentSamples = getNumSamplesPerFrame();
+        numSilentSamples = getSamplesPerFrame();
         
         if (numSilentSamples > 0) {
             if (_currentJitterBufferFrames > _desiredJitterBufferFrames) {

From 6434c0a2a49177e159d1df92dae7fe8069fcdf57 Mon Sep 17 00:00:00 2001
From: ZappoMan <bradh@konamoxt.com>
Date: Mon, 23 Jun 2014 17:28:39 -0700
Subject: [PATCH 099/105] add more stats

---
 .../src/audio/AudioMixerClientData.cpp            | 15 ++++++++++++---
 1 file changed, 12 insertions(+), 3 deletions(-)

diff --git a/assignment-client/src/audio/AudioMixerClientData.cpp b/assignment-client/src/audio/AudioMixerClientData.cpp
index 1c0f68d5a3..cde1377053 100644
--- a/assignment-client/src/audio/AudioMixerClientData.cpp
+++ b/assignment-client/src/audio/AudioMixerClientData.cpp
@@ -145,7 +145,12 @@ QString AudioMixerClientData::getJitterBufferStats() const {
     if (avatarRingBuffer) {
         int desiredJitterBuffer = avatarRingBuffer->getDesiredJitterBufferFrames();
         int currentJitterBuffer = avatarRingBuffer->getCurrentJitterBufferFrames();
-        result += "mic.desired:" + QString::number(desiredJitterBuffer) + " current:" + QString::number(currentJitterBuffer);
+        int samplesAvailable = avatarRingBuffer->samplesAvailable();
+        int framesAvailable = (samplesAvailable / avatarRingBuffer->getSamplesPerFrame());
+        result += "mic.desired:" + QString::number(desiredJitterBuffer) 
+                    + " current:" + QString::number(currentJitterBuffer)
+                    + " available:" + QString::number(framesAvailable)
+                    + " samples:" + QString::number(samplesAvailable);
     } else {
         result = "mic unknown";
     }
@@ -154,8 +159,12 @@ QString AudioMixerClientData::getJitterBufferStats() const {
         if (_ringBuffers[i]->getType() == PositionalAudioRingBuffer::Injector) {
             int desiredJitterBuffer = _ringBuffers[i]->getDesiredJitterBufferFrames();
             int currentJitterBuffer = _ringBuffers[i]->getCurrentJitterBufferFrames();
-            result += "| injected["+QString::number(i)+"].desired:" 
-                    + QString::number(desiredJitterBuffer) + " current:" + QString::number(currentJitterBuffer);
+            int samplesAvailable = _ringBuffers[i]->samplesAvailable();
+            int framesAvailable = (samplesAvailable / _ringBuffers[i]->getSamplesPerFrame());
+            result += "| injected["+QString::number(i)+"].desired:" + QString::number(desiredJitterBuffer) 
+                    + " current:" + QString::number(currentJitterBuffer)
+                    + " available:" + QString::number(framesAvailable)
+                    + " samples:" + QString::number(samplesAvailable);
         }
     }
 

From 355ab2cb957bd628de25139ced9e1a5fe9feb2e7 Mon Sep 17 00:00:00 2001
From: ZappoMan <bradh@konamoxt.com>
Date: Mon, 23 Jun 2014 17:58:55 -0700
Subject: [PATCH 100/105] max desired must be one less than the max frames in
 our ringbuffer

---
 libraries/audio/src/AudioRingBuffer.cpp           | 3 ---
 libraries/audio/src/PositionalAudioRingBuffer.cpp | 4 ++++
 2 files changed, 4 insertions(+), 3 deletions(-)

diff --git a/libraries/audio/src/AudioRingBuffer.cpp b/libraries/audio/src/AudioRingBuffer.cpp
index 1b6bdaa5d8..71fd2fe19d 100644
--- a/libraries/audio/src/AudioRingBuffer.cpp
+++ b/libraries/audio/src/AudioRingBuffer.cpp
@@ -122,9 +122,6 @@ qint64 AudioRingBuffer::writeData(const char* data, qint64 maxSize) {
 
     int samplesToCopy = std::min((quint64)(maxSize / sizeof(int16_t)), (quint64)_sampleCapacity);
 
-    std::less<int16_t*> less;
-    std::less_equal<int16_t*> lessEqual;
-    
     if (_hasStarted && samplesToCopy > _sampleCapacity - samplesAvailable()) {
         // this read will cross the next output, so call us starved and reset the buffer
         qDebug() << "Filled the ring buffer. Resetting.";
diff --git a/libraries/audio/src/PositionalAudioRingBuffer.cpp b/libraries/audio/src/PositionalAudioRingBuffer.cpp
index a2e0d08b91..2ba407242c 100644
--- a/libraries/audio/src/PositionalAudioRingBuffer.cpp
+++ b/libraries/audio/src/PositionalAudioRingBuffer.cpp
@@ -243,5 +243,9 @@ void PositionalAudioRingBuffer::updateDesiredJitterBufferFrames() {
         if (_desiredJitterBufferFrames < 1) {
             _desiredJitterBufferFrames = 1;
         }
+        const int maxDesired = RING_BUFFER_LENGTH_FRAMES - 1;
+        if (_desiredJitterBufferFrames > maxDesired) {
+            _desiredJitterBufferFrames = maxDesired;
+        }
     }
 }

From fda60cc8d5ea957d91d4bbca28aa37945fc8e75e Mon Sep 17 00:00:00 2001
From: ZappoMan <bradh@konamoxt.com>
Date: Mon, 23 Jun 2014 18:45:24 -0700
Subject: [PATCH 101/105] remove resizing of jitter buffers for now, only ask
 for 1 frame

---
 libraries/audio/src/PositionalAudioRingBuffer.cpp | 8 +++++---
 1 file changed, 5 insertions(+), 3 deletions(-)

diff --git a/libraries/audio/src/PositionalAudioRingBuffer.cpp b/libraries/audio/src/PositionalAudioRingBuffer.cpp
index 2ba407242c..5b6d5138d1 100644
--- a/libraries/audio/src/PositionalAudioRingBuffer.cpp
+++ b/libraries/audio/src/PositionalAudioRingBuffer.cpp
@@ -234,11 +234,12 @@ bool PositionalAudioRingBuffer::shouldBeAddedToMix() {
 }
 
 void PositionalAudioRingBuffer::updateDesiredJitterBufferFrames() {
-
-    const float USECS_PER_FRAME = NETWORK_BUFFER_LENGTH_SAMPLES_PER_CHANNEL * USECS_PER_SECOND / (float)SAMPLE_RATE;
-
     if (_interframeTimeGapStats.hasNewWindowMaxGapAvailable()) {
     
+        _desiredJitterBufferFrames = 1; // HACK to see if this fixes the audio silence
+        /*
+         const float USECS_PER_FRAME = NETWORK_BUFFER_LENGTH_SAMPLES_PER_CHANNEL * USECS_PER_SECOND / (float)SAMPLE_RATE;
+         
         _desiredJitterBufferFrames = ceilf((float)_interframeTimeGapStats.getWindowMaxGap() / USECS_PER_FRAME);
         if (_desiredJitterBufferFrames < 1) {
             _desiredJitterBufferFrames = 1;
@@ -247,5 +248,6 @@ void PositionalAudioRingBuffer::updateDesiredJitterBufferFrames() {
         if (_desiredJitterBufferFrames > maxDesired) {
             _desiredJitterBufferFrames = maxDesired;
         }
+        */
     }
 }

From c40c5d78c8db6e6d7e5ef0312ece8e830e89814e Mon Sep 17 00:00:00 2001
From: David Rowe <david@ctrlaltstudio.com>
Date: Tue, 24 Jun 2014 08:50:39 -0700
Subject: [PATCH 102/105] Fix default audio devices on Windows

Windows 8 provides the full friendly device name, not just the first 31 characters.
---
 interface/src/Audio.cpp | 11 ++++++++---
 1 file changed, 8 insertions(+), 3 deletions(-)

diff --git a/interface/src/Audio.cpp b/interface/src/Audio.cpp
index a0a85f8888..65912f83e8 100644
--- a/interface/src/Audio.cpp
+++ b/interface/src/Audio.cpp
@@ -218,9 +218,14 @@ QAudioDeviceInfo defaultAudioDeviceForMode(QAudio::Mode mode) {
             hr = pPropertyStore->GetValue(PKEY_Device_FriendlyName, &pv);
             pPropertyStore->Release();
             pPropertyStore = NULL;
-            //QAudio devices seems to only take the 31 first characters of the Friendly Device Name.
-            const DWORD QT_WIN_MAX_AUDIO_DEVICENAME_LEN = 31;
-            deviceName = QString::fromWCharArray((wchar_t*)pv.pwszVal).left(QT_WIN_MAX_AUDIO_DEVICENAME_LEN);
+            deviceName = QString::fromWCharArray((wchar_t*)pv.pwszVal);
+            const DWORD WINDOWS7_MAJOR_VERSION = 6;
+            const DWORD WINDOWS7_MINOR_VERSION = 1;
+            if (osvi.dwMajorVersion <= WINDOWS7_MAJOR_VERSION && osvi.dwMinorVersion <= WINDOWS7_MINOR_VERSION) {
+                // Windows 7 provides only the 31 first characters of the device name.
+                const DWORD QT_WIN7_MAX_AUDIO_DEVICENAME_LEN = 31;
+                deviceName = deviceName.left(QT_WIN7_MAX_AUDIO_DEVICENAME_LEN);
+            }
             qDebug() << (mode == QAudio::AudioOutput ? "output" : "input") << " device:" << deviceName;
             PropVariantClear(&pv);
         }

From 5c188ea81e7c14507282bce8ef2931a55c3415c0 Mon Sep 17 00:00:00 2001
From: ZappoMan <bradh@konamoxt.com>
Date: Tue, 24 Jun 2014 09:41:29 -0700
Subject: [PATCH 103/105] adding more stats

---
 assignment-client/src/audio/AudioMixerClientData.cpp |  4 ++++
 libraries/audio/src/PositionalAudioRingBuffer.cpp    | 11 +++++++++++
 libraries/audio/src/PositionalAudioRingBuffer.h      |  1 +
 3 files changed, 16 insertions(+)

diff --git a/assignment-client/src/audio/AudioMixerClientData.cpp b/assignment-client/src/audio/AudioMixerClientData.cpp
index cde1377053..def9b8c953 100644
--- a/assignment-client/src/audio/AudioMixerClientData.cpp
+++ b/assignment-client/src/audio/AudioMixerClientData.cpp
@@ -144,10 +144,12 @@ QString AudioMixerClientData::getJitterBufferStats() const {
     AvatarAudioRingBuffer* avatarRingBuffer = getAvatarAudioRingBuffer();
     if (avatarRingBuffer) {
         int desiredJitterBuffer = avatarRingBuffer->getDesiredJitterBufferFrames();
+        int calculatedJitterBuffer = avatarRingBuffer->getCalculatedDesiredJitterBufferFrames();
         int currentJitterBuffer = avatarRingBuffer->getCurrentJitterBufferFrames();
         int samplesAvailable = avatarRingBuffer->samplesAvailable();
         int framesAvailable = (samplesAvailable / avatarRingBuffer->getSamplesPerFrame());
         result += "mic.desired:" + QString::number(desiredJitterBuffer) 
+                    + " calculated:" + QString::number(calculatedJitterBuffer)
                     + " current:" + QString::number(currentJitterBuffer)
                     + " available:" + QString::number(framesAvailable)
                     + " samples:" + QString::number(samplesAvailable);
@@ -158,10 +160,12 @@ QString AudioMixerClientData::getJitterBufferStats() const {
     for (int i = 0; i < _ringBuffers.size(); i++) {
         if (_ringBuffers[i]->getType() == PositionalAudioRingBuffer::Injector) {
             int desiredJitterBuffer = _ringBuffers[i]->getDesiredJitterBufferFrames();
+            int calculatedJitterBuffer = _ringBuffers[i]->getCalculatedDesiredJitterBufferFrames();
             int currentJitterBuffer = _ringBuffers[i]->getCurrentJitterBufferFrames();
             int samplesAvailable = _ringBuffers[i]->samplesAvailable();
             int framesAvailable = (samplesAvailable / _ringBuffers[i]->getSamplesPerFrame());
             result += "| injected["+QString::number(i)+"].desired:" + QString::number(desiredJitterBuffer) 
+                    + " calculated:" + QString::number(calculatedJitterBuffer)
                     + " current:" + QString::number(currentJitterBuffer)
                     + " available:" + QString::number(framesAvailable)
                     + " samples:" + QString::number(samplesAvailable);
diff --git a/libraries/audio/src/PositionalAudioRingBuffer.cpp b/libraries/audio/src/PositionalAudioRingBuffer.cpp
index 5b6d5138d1..e3c123e592 100644
--- a/libraries/audio/src/PositionalAudioRingBuffer.cpp
+++ b/libraries/audio/src/PositionalAudioRingBuffer.cpp
@@ -233,6 +233,17 @@ bool PositionalAudioRingBuffer::shouldBeAddedToMix() {
     return true;
 }
 
+int PositionalAudioRingBuffer::getCalculatedDesiredJitterBufferFrames() const {
+    int calculatedDesiredJitterBufferFrames = 1;
+    const float USECS_PER_FRAME = NETWORK_BUFFER_LENGTH_SAMPLES_PER_CHANNEL * USECS_PER_SECOND / (float)SAMPLE_RATE;
+     
+    calculatedDesiredJitterBufferFrames = ceilf((float)_interframeTimeGapStats.peekWindowMaxGap() / USECS_PER_FRAME);
+    if (calculatedDesiredJitterBufferFrames < 1) {
+        calculatedDesiredJitterBufferFrames = 1;
+    }
+    return calculatedDesiredJitterBufferFrames;
+}
+
 void PositionalAudioRingBuffer::updateDesiredJitterBufferFrames() {
     if (_interframeTimeGapStats.hasNewWindowMaxGapAvailable()) {
     
diff --git a/libraries/audio/src/PositionalAudioRingBuffer.h b/libraries/audio/src/PositionalAudioRingBuffer.h
index 4c7148abbe..b9caeff605 100644
--- a/libraries/audio/src/PositionalAudioRingBuffer.h
+++ b/libraries/audio/src/PositionalAudioRingBuffer.h
@@ -77,6 +77,7 @@ public:
     
     int getSamplesPerFrame() const { return _isStereo ? NETWORK_BUFFER_LENGTH_SAMPLES_STEREO : NETWORK_BUFFER_LENGTH_SAMPLES_PER_CHANNEL; }
 
+    int getCalculatedDesiredJitterBufferFrames() const; /// returns what we would calculate our desired as if asked
     int getDesiredJitterBufferFrames() const { return _desiredJitterBufferFrames; }
     int getCurrentJitterBufferFrames() const { return _currentJitterBufferFrames; }
 

From 1d390faad877e1b5be734e3980100f2306bc0a6a Mon Sep 17 00:00:00 2001
From: ZappoMan <bradh@konamoxt.com>
Date: Tue, 24 Jun 2014 10:29:38 -0700
Subject: [PATCH 104/105] add support for commandline/config value for dynamic
 jitter buffers

---
 assignment-client/src/audio/AudioMixer.cpp    | 12 +++++++
 assignment-client/src/audio/AudioMixer.h      |  4 +++
 .../src/audio/AudioMixerClientData.cpp        | 14 ++++++---
 .../src/audio/AvatarAudioRingBuffer.cpp       |  4 +--
 .../src/audio/AvatarAudioRingBuffer.h         |  2 +-
 libraries/audio/src/AudioRingBuffer.cpp       |  2 ++
 libraries/audio/src/AudioRingBuffer.h         |  3 ++
 .../audio/src/InjectedAudioRingBuffer.cpp     |  4 +--
 libraries/audio/src/InjectedAudioRingBuffer.h |  2 +-
 .../audio/src/PositionalAudioRingBuffer.cpp   | 31 ++++++++++---------
 .../audio/src/PositionalAudioRingBuffer.h     |  3 +-
 11 files changed, 56 insertions(+), 25 deletions(-)

diff --git a/assignment-client/src/audio/AudioMixer.cpp b/assignment-client/src/audio/AudioMixer.cpp
index 1d0b51a437..8e4ce04f0b 100644
--- a/assignment-client/src/audio/AudioMixer.cpp
+++ b/assignment-client/src/audio/AudioMixer.cpp
@@ -64,6 +64,8 @@ void attachNewBufferToNode(Node *newNode) {
     }
 }
 
+bool AudioMixer::_useDynamicJitterBuffers = false;
+
 AudioMixer::AudioMixer(const QByteArray& packet) :
     ThreadedAssignment(packet),
     _trailingSleepRatio(1.0f),
@@ -502,6 +504,16 @@ void AudioMixer::run() {
             << QString("%1, %2, %3").arg(destinationCenter.x).arg(destinationCenter.y).arg(destinationCenter.z);
     }
 
+    // check the payload to see if we have asked for dynamicJitterBuffer support
+    const QString DYNAMIC_JITTER_BUFFER_REGEX_STRING = "--dynamicJitterBuffer";
+    QRegExp dynamicJitterBufferMatch(DYNAMIC_JITTER_BUFFER_REGEX_STRING);
+    if (dynamicJitterBufferMatch.indexIn(_payload) != -1) {
+        qDebug() << "Enable dynamic jitter buffers.";
+        _useDynamicJitterBuffers = true;
+    } else {
+        qDebug() << "Dynamic jitter buffers disabled, using old behavior.";
+    }
+    
     int nextFrame = 0;
     QElapsedTimer timer;
     timer.start();
diff --git a/assignment-client/src/audio/AudioMixer.h b/assignment-client/src/audio/AudioMixer.h
index 39f8cf63ae..8560978689 100644
--- a/assignment-client/src/audio/AudioMixer.h
+++ b/assignment-client/src/audio/AudioMixer.h
@@ -34,6 +34,9 @@ public slots:
     void readPendingDatagrams();
     
     void sendStatsPacket();
+
+    static bool getUseDynamicJitterBuffers() { return _useDynamicJitterBuffers; }
+
 private:
     /// adds one buffer to the mix for a listening node
     void addBufferToMixForListeningNodeWithBuffer(PositionalAudioRingBuffer* bufferToAdd,
@@ -54,6 +57,7 @@ private:
     int _sumMixes;
     AABox* _sourceUnattenuatedZone;
     AABox* _listenerUnattenuatedZone;
+    static bool _useDynamicJitterBuffers;
 };
 
 #endif // hifi_AudioMixer_h
diff --git a/assignment-client/src/audio/AudioMixerClientData.cpp b/assignment-client/src/audio/AudioMixerClientData.cpp
index def9b8c953..395cebf9c2 100644
--- a/assignment-client/src/audio/AudioMixerClientData.cpp
+++ b/assignment-client/src/audio/AudioMixerClientData.cpp
@@ -16,6 +16,7 @@
 
 #include "InjectedAudioRingBuffer.h"
 
+#include "AudioMixer.h"
 #include "AudioMixerClientData.h"
 
 AudioMixerClientData::AudioMixerClientData() :
@@ -65,7 +66,7 @@ int AudioMixerClientData::parseData(const QByteArray& packet) {
 
         if (!avatarRingBuffer) {
             // we don't have an AvatarAudioRingBuffer yet, so add it
-            avatarRingBuffer = new AvatarAudioRingBuffer(isStereo);
+            avatarRingBuffer = new AvatarAudioRingBuffer(isStereo, AudioMixer::getUseDynamicJitterBuffers());
             _ringBuffers.push_back(avatarRingBuffer);
         }
 
@@ -88,7 +89,8 @@ int AudioMixerClientData::parseData(const QByteArray& packet) {
 
         if (!matchingInjectedRingBuffer) {
             // we don't have a matching injected audio ring buffer, so add it
-            matchingInjectedRingBuffer = new InjectedAudioRingBuffer(streamIdentifier);
+            matchingInjectedRingBuffer = new InjectedAudioRingBuffer(streamIdentifier, 
+                                                    AudioMixer::getUseDynamicJitterBuffers());
             _ringBuffers.push_back(matchingInjectedRingBuffer);
         }
 
@@ -146,13 +148,15 @@ QString AudioMixerClientData::getJitterBufferStats() const {
         int desiredJitterBuffer = avatarRingBuffer->getDesiredJitterBufferFrames();
         int calculatedJitterBuffer = avatarRingBuffer->getCalculatedDesiredJitterBufferFrames();
         int currentJitterBuffer = avatarRingBuffer->getCurrentJitterBufferFrames();
+        int resetCount = avatarRingBuffer->getResetCount();
         int samplesAvailable = avatarRingBuffer->samplesAvailable();
         int framesAvailable = (samplesAvailable / avatarRingBuffer->getSamplesPerFrame());
         result += "mic.desired:" + QString::number(desiredJitterBuffer) 
                     + " calculated:" + QString::number(calculatedJitterBuffer)
                     + " current:" + QString::number(currentJitterBuffer)
                     + " available:" + QString::number(framesAvailable)
-                    + " samples:" + QString::number(samplesAvailable);
+                    + " samples:" + QString::number(samplesAvailable)
+                    + " resets:" + QString::number(resetCount);
     } else {
         result = "mic unknown";
     }
@@ -162,13 +166,15 @@ QString AudioMixerClientData::getJitterBufferStats() const {
             int desiredJitterBuffer = _ringBuffers[i]->getDesiredJitterBufferFrames();
             int calculatedJitterBuffer = _ringBuffers[i]->getCalculatedDesiredJitterBufferFrames();
             int currentJitterBuffer = _ringBuffers[i]->getCurrentJitterBufferFrames();
+            int resetCount = _ringBuffers[i]->getResetCount();
             int samplesAvailable = _ringBuffers[i]->samplesAvailable();
             int framesAvailable = (samplesAvailable / _ringBuffers[i]->getSamplesPerFrame());
             result += "| injected["+QString::number(i)+"].desired:" + QString::number(desiredJitterBuffer) 
                     + " calculated:" + QString::number(calculatedJitterBuffer)
                     + " current:" + QString::number(currentJitterBuffer)
                     + " available:" + QString::number(framesAvailable)
-                    + " samples:" + QString::number(samplesAvailable);
+                    + " samples:" + QString::number(samplesAvailable)
+                    + " resets:" + QString::number(resetCount);
         }
     }
 
diff --git a/assignment-client/src/audio/AvatarAudioRingBuffer.cpp b/assignment-client/src/audio/AvatarAudioRingBuffer.cpp
index 79ad7ae411..9c6cc32f57 100644
--- a/assignment-client/src/audio/AvatarAudioRingBuffer.cpp
+++ b/assignment-client/src/audio/AvatarAudioRingBuffer.cpp
@@ -13,8 +13,8 @@
 
 #include "AvatarAudioRingBuffer.h"
 
-AvatarAudioRingBuffer::AvatarAudioRingBuffer(bool isStereo) :
-    PositionalAudioRingBuffer(PositionalAudioRingBuffer::Microphone, isStereo) {
+AvatarAudioRingBuffer::AvatarAudioRingBuffer(bool isStereo, bool dynamicJitterBuffer) :
+    PositionalAudioRingBuffer(PositionalAudioRingBuffer::Microphone, isStereo, dynamicJitterBuffer) {
     
 }
 
diff --git a/assignment-client/src/audio/AvatarAudioRingBuffer.h b/assignment-client/src/audio/AvatarAudioRingBuffer.h
index f842c2aa33..e227e70958 100644
--- a/assignment-client/src/audio/AvatarAudioRingBuffer.h
+++ b/assignment-client/src/audio/AvatarAudioRingBuffer.h
@@ -18,7 +18,7 @@
 
 class AvatarAudioRingBuffer : public PositionalAudioRingBuffer {
 public:
-    AvatarAudioRingBuffer(bool isStereo = false);
+    AvatarAudioRingBuffer(bool isStereo = false, bool dynamicJitterBuffer = false);
     
     int parseData(const QByteArray& packet);
 private:
diff --git a/libraries/audio/src/AudioRingBuffer.cpp b/libraries/audio/src/AudioRingBuffer.cpp
index 71fd2fe19d..ee4027841b 100644
--- a/libraries/audio/src/AudioRingBuffer.cpp
+++ b/libraries/audio/src/AudioRingBuffer.cpp
@@ -21,6 +21,7 @@
 
 AudioRingBuffer::AudioRingBuffer(int numFrameSamples, bool randomAccessMode) :
     NodeData(),
+    _resetCount(0),
     _sampleCapacity(numFrameSamples * RING_BUFFER_LENGTH_FRAMES),
     _numFrameSamples(numFrameSamples),
     _isStarved(true),
@@ -128,6 +129,7 @@ qint64 AudioRingBuffer::writeData(const char* data, qint64 maxSize) {
         _endOfLastWrite = _buffer;
         _nextOutput = _buffer;
         _isStarved = true;
+        _resetCount++;
     }
     
     if (_endOfLastWrite + samplesToCopy <= _buffer + _sampleCapacity) {
diff --git a/libraries/audio/src/AudioRingBuffer.h b/libraries/audio/src/AudioRingBuffer.h
index 04cc67c8ac..1ddcadeceb 100644
--- a/libraries/audio/src/AudioRingBuffer.h
+++ b/libraries/audio/src/AudioRingBuffer.h
@@ -71,6 +71,7 @@ public:
     bool isStarved() const { return _isStarved; }
     void setIsStarved(bool isStarved) { _isStarved = isStarved; }
     
+    int getResetCount() const { return _resetCount; } /// how many times has the ring buffer written past the end and reset
     bool hasStarted() const { return _hasStarted; }
     
     void addSilentFrame(int numSilentSamples);
@@ -80,6 +81,8 @@ protected:
     AudioRingBuffer& operator= (const AudioRingBuffer&);
     
     int16_t* shiftedPositionAccomodatingWrap(int16_t* position, int numSamplesShift) const;
+
+    int _resetCount; /// how many times has the ring buffer written past the end and done a reset
     
     int _sampleCapacity;
     int _numFrameSamples;
diff --git a/libraries/audio/src/InjectedAudioRingBuffer.cpp b/libraries/audio/src/InjectedAudioRingBuffer.cpp
index ed0476f6bd..9b6529b49f 100644
--- a/libraries/audio/src/InjectedAudioRingBuffer.cpp
+++ b/libraries/audio/src/InjectedAudioRingBuffer.cpp
@@ -19,8 +19,8 @@
 
 #include "InjectedAudioRingBuffer.h"
 
-InjectedAudioRingBuffer::InjectedAudioRingBuffer(const QUuid& streamIdentifier) :
-    PositionalAudioRingBuffer(PositionalAudioRingBuffer::Injector),
+InjectedAudioRingBuffer::InjectedAudioRingBuffer(const QUuid& streamIdentifier, bool dynamicJitterBuffer) :
+    PositionalAudioRingBuffer(PositionalAudioRingBuffer::Injector, /* isStereo=*/ false , dynamicJitterBuffer),
     _streamIdentifier(streamIdentifier),
     _radius(0.0f),
     _attenuationRatio(0)
diff --git a/libraries/audio/src/InjectedAudioRingBuffer.h b/libraries/audio/src/InjectedAudioRingBuffer.h
index fd766e2848..4e3fea672b 100644
--- a/libraries/audio/src/InjectedAudioRingBuffer.h
+++ b/libraries/audio/src/InjectedAudioRingBuffer.h
@@ -18,7 +18,7 @@
 
 class InjectedAudioRingBuffer : public PositionalAudioRingBuffer {
 public:
-    InjectedAudioRingBuffer(const QUuid& streamIdentifier = QUuid());
+    InjectedAudioRingBuffer(const QUuid& streamIdentifier = QUuid(), bool dynamicJitterBuffer = false);
     
     int parseData(const QByteArray& packet);
     
diff --git a/libraries/audio/src/PositionalAudioRingBuffer.cpp b/libraries/audio/src/PositionalAudioRingBuffer.cpp
index e3c123e592..23e258fe87 100644
--- a/libraries/audio/src/PositionalAudioRingBuffer.cpp
+++ b/libraries/audio/src/PositionalAudioRingBuffer.cpp
@@ -85,7 +85,9 @@ quint64 InterframeTimeGapStats::getWindowMaxGap() {
 }
 
 
-PositionalAudioRingBuffer::PositionalAudioRingBuffer(PositionalAudioRingBuffer::Type type, bool isStereo) :
+PositionalAudioRingBuffer::PositionalAudioRingBuffer(PositionalAudioRingBuffer::Type type, 
+        bool isStereo, bool dynamicJitterBuffers) :
+        
     AudioRingBuffer(isStereo ? NETWORK_BUFFER_LENGTH_SAMPLES_STEREO : NETWORK_BUFFER_LENGTH_SAMPLES_PER_CHANNEL),
     _type(type),
     _position(0.0f, 0.0f, 0.0f),
@@ -96,7 +98,8 @@ PositionalAudioRingBuffer::PositionalAudioRingBuffer(PositionalAudioRingBuffer::
     _isStereo(isStereo),
     _listenerUnattenuatedZone(NULL),
     _desiredJitterBufferFrames(1),
-    _currentJitterBufferFrames(0)
+    _currentJitterBufferFrames(0),
+    _dynamicJitterBuffers(dynamicJitterBuffers)
 {
 }
 
@@ -246,19 +249,19 @@ int PositionalAudioRingBuffer::getCalculatedDesiredJitterBufferFrames() const {
 
 void PositionalAudioRingBuffer::updateDesiredJitterBufferFrames() {
     if (_interframeTimeGapStats.hasNewWindowMaxGapAvailable()) {
-    
-        _desiredJitterBufferFrames = 1; // HACK to see if this fixes the audio silence
-        /*
-         const float USECS_PER_FRAME = NETWORK_BUFFER_LENGTH_SAMPLES_PER_CHANNEL * USECS_PER_SECOND / (float)SAMPLE_RATE;
+        if (!_dynamicJitterBuffers) {
+            _desiredJitterBufferFrames = 1; // HACK to see if this fixes the audio silence
+        } else {
+            const float USECS_PER_FRAME = NETWORK_BUFFER_LENGTH_SAMPLES_PER_CHANNEL * USECS_PER_SECOND / (float)SAMPLE_RATE;
          
-        _desiredJitterBufferFrames = ceilf((float)_interframeTimeGapStats.getWindowMaxGap() / USECS_PER_FRAME);
-        if (_desiredJitterBufferFrames < 1) {
-            _desiredJitterBufferFrames = 1;
+            _desiredJitterBufferFrames = ceilf((float)_interframeTimeGapStats.getWindowMaxGap() / USECS_PER_FRAME);
+            if (_desiredJitterBufferFrames < 1) {
+                _desiredJitterBufferFrames = 1;
+            }
+            const int maxDesired = RING_BUFFER_LENGTH_FRAMES - 1;
+            if (_desiredJitterBufferFrames > maxDesired) {
+                _desiredJitterBufferFrames = maxDesired;
+            }
         }
-        const int maxDesired = RING_BUFFER_LENGTH_FRAMES - 1;
-        if (_desiredJitterBufferFrames > maxDesired) {
-            _desiredJitterBufferFrames = maxDesired;
-        }
-        */
     }
 }
diff --git a/libraries/audio/src/PositionalAudioRingBuffer.h b/libraries/audio/src/PositionalAudioRingBuffer.h
index b9caeff605..b204dc766b 100644
--- a/libraries/audio/src/PositionalAudioRingBuffer.h
+++ b/libraries/audio/src/PositionalAudioRingBuffer.h
@@ -50,7 +50,7 @@ public:
         Injector
     };
     
-    PositionalAudioRingBuffer(PositionalAudioRingBuffer::Type type, bool isStereo = false);
+    PositionalAudioRingBuffer(PositionalAudioRingBuffer::Type type, bool isStereo = false, bool dynamicJitterBuffers = false);
     
     int parseData(const QByteArray& packet);
     int parsePositionalData(const QByteArray& positionalByteArray);
@@ -102,6 +102,7 @@ protected:
     InterframeTimeGapStats _interframeTimeGapStats;
     int _desiredJitterBufferFrames;
     int _currentJitterBufferFrames;
+    bool _dynamicJitterBuffers;
 };
 
 #endif // hifi_PositionalAudioRingBuffer_h

From cdbda02765f90b4f7bf5a2b6e97428379106b5d8 Mon Sep 17 00:00:00 2001
From: ZappoMan <bradh@konamoxt.com>
Date: Tue, 24 Jun 2014 12:09:58 -0700
Subject: [PATCH 105/105] make default ring buffer much larger

---
 libraries/audio/src/AudioRingBuffer.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/audio/src/AudioRingBuffer.h b/libraries/audio/src/AudioRingBuffer.h
index 1ddcadeceb..33fb0d238a 100644
--- a/libraries/audio/src/AudioRingBuffer.h
+++ b/libraries/audio/src/AudioRingBuffer.h
@@ -31,7 +31,7 @@ const int NETWORK_BUFFER_LENGTH_SAMPLES_PER_CHANNEL = NETWORK_BUFFER_LENGTH_BYTE
 const unsigned int BUFFER_SEND_INTERVAL_USECS = floorf((NETWORK_BUFFER_LENGTH_SAMPLES_PER_CHANNEL
                                                         / (float) SAMPLE_RATE) * 1000 * 1000);
 
-const short RING_BUFFER_LENGTH_FRAMES = 10;
+const short RING_BUFFER_LENGTH_FRAMES = 100;
 
 const int MAX_SAMPLE_VALUE = std::numeric_limits<int16_t>::max();
 const int MIN_SAMPLE_VALUE = std::numeric_limits<int16_t>::min();