Merge branch 'master' of github.com:highfidelity/hifi into fix-dont-send-non-entity-edits-over-wire

interface/resources/qml/controls/TabletWebView.qml

@@ -16,7 +16,6 @@ Item {
     property var parentStackItem: null
     property int headerHeight: 70
     property string url
-    property alias address: displayUrl.text //for compatibility
     property string scriptURL
     property alias eventBridge: eventBridgeWrapper.eventBridge
     property bool keyboardEnabled: HMD.active
@@ -82,6 +81,7 @@ Item {
             color: hifi.colors.baseGray
             font.pixelSize: 12
             verticalAlignment: Text.AlignLeft
+            text: webview.url
             anchors {
                 top: nav.bottom
                 horizontalCenter: parent.horizontalCenter;
@@ -159,7 +159,6 @@ Item {
     function loadUrl(url) {
         webview.url = url
         web.url = webview.url;
-        web.address = webview.url;
     }
 
     function onInitialPage(url) {
@@ -253,7 +252,6 @@ Item {
             });
 
             webview.profile.httpUserAgent = "Mozilla/5.0 (Linux; Android 6.0; Nexus 5 Build/MRA58N) AppleWebKit/537.36 (KHTML, like Gecko) Chrome/56.0.2924.87 Mobile Safari/537.36";
-            web.address = url;
         }
 
         onFeaturePermissionRequested: {
@@ -279,7 +277,6 @@ Item {
             }
 
             if (WebEngineView.LoadSucceededStatus == loadRequest.status) {
-                web.address = webview.url;
                 if (startingUp) {
                     web.initialPage = webview.url;
                     startingUp = false;
@@ -297,6 +294,7 @@ Item {
     HiFiControls.Keyboard {
         id: keyboard
         raised: parent.keyboardEnabled && parent.keyboardRaised
+        numeric: parent.punctuationMode
 
         anchors {
             left: parent.left
@@ -307,7 +305,6 @@ Item {
     
     Component.onCompleted: {
         web.isDesktop = (typeof desktop !== "undefined");
-        address = url;
     }
 
     Keys.onPressed: {

interface/resources/qml/hifi/Pal.qml

@@ -44,6 +44,7 @@ Rectangle {
     property var activeTab: "nearbyTab";
     property bool currentlyEditingDisplayName: false
     property bool punctuationMode: false;
+    property var eventBridge;
 
     HifiConstants { id: hifi; }
 
@@ -1036,139 +1037,16 @@ Rectangle {
             }
         } // Keyboard
 
-        Item {
+        HifiControls.TabletWebView {
-            id: webViewContainer;
+            eventBridge: pal.eventBridge;
-            anchors.fill: parent;
+            id: userInfoViewer;
-
+            anchors {
-            Rectangle {
+                top: parent.top;
-                id: navigationContainer;
+                bottom: parent.bottom;
-                visible: userInfoViewer.visible;
+                left: parent.left;
-                height: 60;
+                right: parent.right;
-                anchors {
-                    top: parent.top;
-                    left: parent.left;
-                    right: parent.right;
-                }
-                color: hifi.colors.faintGray;
-
-                Item {
-                    id: backButton
-                    anchors {
-                        top: parent.top;
-                        left: parent.left;
-                    }
-                    height: parent.height - addressBar.height;
-                    width: parent.width/2;
-
-                    FiraSansSemiBold {
-                        // Properties
-                        text: "BACK";
-                        elide: Text.ElideRight;
-                        // Anchors
-                        anchors.fill: parent;
-                        // Text Size
-                        size: 16;
-                        // Text Positioning
-                        verticalAlignment: Text.AlignVCenter
-                        horizontalAlignment: Text.AlignHCenter;
-                        // Style
-                        color: backButtonMouseArea.containsMouse || !userInfoViewer.canGoBack ? hifi.colors.lightGray : hifi.colors.darkGray;
-                        MouseArea {
-                            id: backButtonMouseArea;
-                            anchors.fill: parent
-                            hoverEnabled: enabled
-                            onClicked: {
-                                if (userInfoViewer.canGoBack) {
-                                    userInfoViewer.goBack();
-                                }
-                            }
-                        }
-                    }
-                }
-
-                Item {
-                    id: closeButtonContainer
-                    anchors {
-                        top: parent.top;
-                        right: parent.right;
-                    }
-                    height: parent.height - addressBar.height;
-                    width: parent.width/2;
-
-                    FiraSansSemiBold {
-                        id: closeButton;
-                        // Properties
-                        text: "CLOSE";
-                        elide: Text.ElideRight;
-                        // Anchors
-                        anchors.fill: parent;
-                        // Text Size
-                        size: 16;
-                        // Text Positioning
-                        verticalAlignment: Text.AlignVCenter
-                        horizontalAlignment: Text.AlignHCenter;
-                        // Style
-                        color: hifi.colors.redHighlight;
-                        MouseArea {
-                            anchors.fill: parent
-                            hoverEnabled: enabled
-                            onClicked: userInfoViewer.visible = false;
-                            onEntered: closeButton.color = hifi.colors.redAccent;
-                            onExited: closeButton.color = hifi.colors.redHighlight;
-                        }
-                    }
-                }
-
-                Item {
-                    id: addressBar
-                    anchors {
-                        top: closeButtonContainer.bottom;
-                        left: parent.left;
-                        right: parent.right;
-                    }
-                    height: 30;
-                    width: parent.width;
-
-                    FiraSansRegular {
-                        // Properties
-                        text: userInfoViewer.url;
-                        elide: Text.ElideRight;
-                        // Anchors
-                        anchors.fill: parent;
-                        anchors.leftMargin: 5;
-                        // Text Size
-                        size: 14;
-                        // Text Positioning
-                        verticalAlignment: Text.AlignVCenter
-                        horizontalAlignment: Text.AlignLeft;
-                        // Style
-                        color: hifi.colors.lightGray;
-                    }
-                }
-            }
-
-            Rectangle {
-                id: webViewBackground;
-                color: "white";
-                visible: userInfoViewer.visible;
-                anchors {
-                    top: navigationContainer.bottom;
-                    bottom: parent.bottom;
-                    left: parent.left;
-                    right: parent.right;
-                }
-            }
-
-            HifiControls.WebView {
-                id: userInfoViewer;
-                anchors {
-                    top: navigationContainer.bottom;
-                    bottom: parent.bottom;
-                    left: parent.left;
-                    right: parent.right;
-                }
-                visible: false;
             }
+            visible: false;
         }
 
     // Timer used when selecting nearbyTable rows that aren't yet present in the model

interface/src/InterfaceDynamicFactory.cpp

@@ -17,6 +17,9 @@
 #include <ObjectActionSpring.h>
 #include <ObjectActionTravelOriented.h>
 #include <ObjectConstraintHinge.h>
+#include <ObjectConstraintSlider.h>
+#include <ObjectConstraintBallSocket.h>
+#include <ObjectConstraintConeTwist.h>
 #include <LogHandler.h>
 
 #include "InterfaceDynamicFactory.h"
@@ -38,9 +41,15 @@ EntityDynamicPointer interfaceDynamicFactory(EntityDynamicType type, const QUuid
             return std::make_shared<ObjectConstraintHinge>(id, ownerEntity);
         case DYNAMIC_TYPE_FAR_GRAB:
             return std::make_shared<AvatarActionFarGrab>(id, ownerEntity);
+        case DYNAMIC_TYPE_SLIDER:
+            return std::make_shared<ObjectConstraintSlider>(id, ownerEntity);
+        case DYNAMIC_TYPE_BALL_SOCKET:
+            return std::make_shared<ObjectConstraintBallSocket>(id, ownerEntity);
+        case DYNAMIC_TYPE_CONE_TWIST:
+            return std::make_shared<ObjectConstraintConeTwist>(id, ownerEntity);
     }
 
-    Q_ASSERT_X(false, Q_FUNC_INFO, "Unknown entity dynamic type");
+    qDebug() << "Unknown entity dynamic type";
     return EntityDynamicPointer();
 }
 

interface/src/avatar/AvatarActionHold.cpp

@@ -113,7 +113,8 @@ void AvatarActionHold::prepareForPhysicsSimulation() {
 }
 
 bool AvatarActionHold::getTarget(float deltaTimeStep, glm::quat& rotation, glm::vec3& position,
-                                 glm::vec3& linearVelocity, glm::vec3& angularVelocity) {
+                                 glm::vec3& linearVelocity, glm::vec3& angularVelocity,
+                                 float& linearTimeScale, float& angularTimeScale) {
     auto avatarManager = DependencyManager::get<AvatarManager>();
     auto holdingAvatar = std::static_pointer_cast<Avatar>(avatarManager->getAvatarBySessionID(_holderID));
 
@@ -213,6 +214,9 @@ bool AvatarActionHold::getTarget(float deltaTimeStep, glm::quat& rotation, glm::
 
         // update linearVelocity based on offset via _relativePosition;
         linearVelocity = linearVelocity + glm::cross(angularVelocity, position - palmPosition);
+
+        linearTimeScale = _linearTimeScale;
+        angularTimeScale = _angularTimeScale;
     });
 
     return true;

interface/src/avatar/AvatarActionHold.h

@@ -38,7 +38,8 @@ public:
 
     bool getAvatarRigidBodyLocation(glm::vec3& avatarRigidBodyPosition, glm::quat& avatarRigidBodyRotation);
     virtual bool getTarget(float deltaTimeStep, glm::quat& rotation, glm::vec3& position,
-                           glm::vec3& linearVelocity, glm::vec3& angularVelocity) override;
+                           glm::vec3& linearVelocity, glm::vec3& angularVelocity,
+                           float& linearTimeScale, float& angularTimeScale) override;
 
     virtual void prepareForPhysicsSimulation() override;
 

libraries/entities/src/EntityDynamicInterface.cpp

@@ -117,6 +117,15 @@ EntityDynamicType EntityDynamicInterface::dynamicTypeFromString(QString dynamicT
     if (normalizedDynamicTypeString == "fargrab") {
         return DYNAMIC_TYPE_FAR_GRAB;
     }
+    if (normalizedDynamicTypeString == "slider") {
+        return DYNAMIC_TYPE_SLIDER;
+    }
+    if (normalizedDynamicTypeString == "ballsocket") {
+        return DYNAMIC_TYPE_BALL_SOCKET;
+    }
+    if (normalizedDynamicTypeString == "conetwist") {
+        return DYNAMIC_TYPE_CONE_TWIST;
+    }
 
     qCDebug(entities) << "Warning -- EntityDynamicInterface::dynamicTypeFromString got unknown dynamic-type name"
                       << dynamicTypeString;
@@ -139,6 +148,12 @@ QString EntityDynamicInterface::dynamicTypeToString(EntityDynamicType dynamicTyp
             return "hinge";
         case DYNAMIC_TYPE_FAR_GRAB:
             return "far-grab";
+        case DYNAMIC_TYPE_SLIDER:
+            return "slider";
+        case DYNAMIC_TYPE_BALL_SOCKET:
+            return "ball-socket";
+        case DYNAMIC_TYPE_CONE_TWIST:
+            return "cone-twist";
     }
     assert(false);
     return "none";

libraries/entities/src/EntityDynamicInterface.h

@@ -31,7 +31,10 @@ enum EntityDynamicType {
     DYNAMIC_TYPE_HOLD = 3000,
     DYNAMIC_TYPE_TRAVEL_ORIENTED = 4000,
     DYNAMIC_TYPE_HINGE = 5000,
-    DYNAMIC_TYPE_FAR_GRAB = 6000
+    DYNAMIC_TYPE_FAR_GRAB = 6000,
+    DYNAMIC_TYPE_SLIDER = 7000,
+    DYNAMIC_TYPE_BALL_SOCKET = 8000,
+    DYNAMIC_TYPE_CONE_TWIST = 9000
 };
 
 

libraries/networking/src/udt/PacketHeaders.cpp

@@ -49,7 +49,7 @@ PacketVersion versionForPacketType(PacketType packetType) {
         case PacketType::EntityEdit:
         case PacketType::EntityData:
         case PacketType::EntityPhysics:
-            return VERSION_ENTITIES_HINGE_CONSTRAINT;
+            return VERSION_ENTITIES_BULLET_DYNAMICS;
         case PacketType::EntityQuery:
             return static_cast<PacketVersion>(EntityQueryPacketVersion::JSONFilterWithFamilyTree);
         case PacketType::AvatarIdentity:

libraries/networking/src/udt/PacketHeaders.h

@@ -208,6 +208,7 @@ const PacketVersion VERSION_ENTITIES_SERVER_SCRIPTS = 66;
 const PacketVersion VERSION_ENTITIES_PHYSICS_PACKET = 67;
 const PacketVersion VERSION_ENTITIES_ZONE_FILTERS = 68;
 const PacketVersion VERSION_ENTITIES_HINGE_CONSTRAINT = 69;
+const PacketVersion VERSION_ENTITIES_BULLET_DYNAMICS = 70;
 
 enum class EntityQueryPacketVersion: PacketVersion {
     JSONFilter = 18,

libraries/physics/src/ObjectActionSpring.cpp

@@ -16,6 +16,7 @@
 #include "PhysicsLogging.h"
 
 const float SPRING_MAX_SPEED = 10.0f;
+const float MAX_SPRING_TIMESCALE = 600.0f; // 10 min is a long time
 
 const uint16_t ObjectActionSpring::springVersion = 1;
 
@@ -41,12 +42,65 @@ ObjectActionSpring::~ObjectActionSpring() {
     #endif
 }
 
+SpatiallyNestablePointer ObjectActionSpring::getOther() {
+    SpatiallyNestablePointer other;
+    withWriteLock([&]{
+        if (_otherID == QUuid()) {
+            // no other
+            return;
+        }
+        other = _other.lock();
+        if (other && other->getID() == _otherID) {
+            // other is already up-to-date
+            return;
+        }
+        if (other) {
+            // we have a pointer to other, but it's wrong
+            other.reset();
+            _other.reset();
+        }
+        // we have an other-id but no pointer to other cached
+        QSharedPointer<SpatialParentFinder> parentFinder = DependencyManager::get<SpatialParentFinder>();
+        if (!parentFinder) {
+            return;
+        }
+        EntityItemPointer ownerEntity = _ownerEntity.lock();
+        if (!ownerEntity) {
+            return;
+        }
+        bool success;
+        _other = parentFinder->find(_otherID, success, ownerEntity->getParentTree());
+        if (success) {
+            other = _other.lock();
+        }
+    });
+    return other;
+}
+
 bool ObjectActionSpring::getTarget(float deltaTimeStep, glm::quat& rotation, glm::vec3& position,
-                                   glm::vec3& linearVelocity, glm::vec3& angularVelocity) {
+                                   glm::vec3& linearVelocity, glm::vec3& angularVelocity,
-    rotation = _desiredRotationalTarget;
+                                   float& linearTimeScale, float& angularTimeScale) {
-    position = _desiredPositionalTarget;
+    SpatiallyNestablePointer other = getOther();
-    linearVelocity = glm::vec3();
+    withReadLock([&]{
-    angularVelocity = glm::vec3();
+        linearTimeScale = _linearTimeScale;
+        angularTimeScale = _angularTimeScale;
+
+        if (!_otherID.isNull()) {
+            if (other) {
+                rotation = _desiredRotationalTarget * other->getRotation();
+                position = other->getRotation() * _desiredPositionalTarget + other->getPosition();
+            } else {
+                // we should have an "other" but can't find it, so disable the spring.
+                linearTimeScale = FLT_MAX;
+                angularTimeScale = FLT_MAX;
+            }
+        } else {
+            rotation = _desiredRotationalTarget;
+            position = _desiredPositionalTarget;
+        }
+        linearVelocity = glm::vec3();
+        angularVelocity = glm::vec3();
+    });
     return true;
 }
 
@@ -61,8 +115,10 @@ bool ObjectActionSpring::prepareForSpringUpdate(btScalar deltaTimeStep) {
     glm::vec3 linearVelocity;
     glm::vec3 angularVelocity;
 
-    bool valid = false;
+    bool linearValid = false;
-    int springCount = 0;
+    int linearSpringCount = 0;
+    bool angularValid = false;
+    int angularSpringCount = 0;
 
     QList<EntityDynamicPointer> springDerivedActions;
     springDerivedActions.append(ownerEntity->getActionsOfType(DYNAMIC_TYPE_SPRING));
@@ -73,41 +129,55 @@ bool ObjectActionSpring::prepareForSpringUpdate(btScalar deltaTimeStep) {
         std::shared_ptr<ObjectActionSpring> springAction = std::static_pointer_cast<ObjectActionSpring>(action);
         glm::quat rotationForAction;
         glm::vec3 positionForAction;
-        glm::vec3 linearVelocityForAction, angularVelocityForAction;
+        glm::vec3 linearVelocityForAction;
-        bool success = springAction->getTarget(deltaTimeStep, rotationForAction,
+        glm::vec3 angularVelocityForAction;
-                                               positionForAction,  linearVelocityForAction,
+        float linearTimeScale;
-                                               angularVelocityForAction);
+        float angularTimeScale;
+        bool success = springAction->getTarget(deltaTimeStep,
+                                               rotationForAction, positionForAction,
+                                               linearVelocityForAction, angularVelocityForAction,
+                                               linearTimeScale, angularTimeScale);
         if (success) {
-            springCount ++;
+            if (angularTimeScale < MAX_SPRING_TIMESCALE) {
-            if (springAction.get() == this) {
+                angularValid = true;
-                // only use the rotation for this action
+                angularSpringCount++;
-                valid = true;
+                angularVelocity += angularVelocityForAction;
-                rotation = rotationForAction;
+                if (springAction.get() == this) {
+                    // only use the rotation for this action
+                    rotation = rotationForAction;
+                }
             }
 
-            position += positionForAction;
+            if (linearTimeScale < MAX_SPRING_TIMESCALE) {
-            linearVelocity += linearVelocityForAction;
+                linearValid = true;
-            angularVelocity += angularVelocityForAction;
+                linearSpringCount++;
+                position += positionForAction;
+                linearVelocity += linearVelocityForAction;
+            }
         }
     }
 
-    if (valid && springCount > 0) {
+    if ((angularValid && angularSpringCount > 0) || (linearValid && linearSpringCount > 0)) {
-        position /= springCount;
-        linearVelocity /= springCount;
-        angularVelocity /= springCount;
-
         withWriteLock([&]{
-            _positionalTarget = position;
+            if (linearValid && linearSpringCount > 0) {
-            _rotationalTarget = rotation;
+                position /= linearSpringCount;
-            _linearVelocityTarget = linearVelocity;
+                linearVelocity /= linearSpringCount;
-            _angularVelocityTarget = angularVelocity;
+                _positionalTarget = position;
-            _positionalTargetSet = true;
+                _linearVelocityTarget = linearVelocity;
-            _rotationalTargetSet = true;
+                _positionalTargetSet = true;
-            _active = true;
+                _active = true;
+            }
+            if (angularValid && angularSpringCount > 0) {
+                angularVelocity /= angularSpringCount;
+                _rotationalTarget = rotation;
+                _angularVelocityTarget = angularVelocity;
+                _rotationalTargetSet = true;
+                _active = true;
+            }
         });
     }
 
-    return valid;
+    return linearValid || angularValid;
 }
 
 
@@ -133,8 +203,7 @@ void ObjectActionSpring::updateActionWorker(btScalar deltaTimeStep) {
             return;
         }
 
-        const float MAX_TIMESCALE = 600.0f; // 10 min is a long time
+        if (_linearTimeScale < MAX_SPRING_TIMESCALE) {
-        if (_linearTimeScale < MAX_TIMESCALE) {
             btVector3 targetVelocity(0.0f, 0.0f, 0.0f);
             btVector3 offset = rigidBody->getCenterOfMassPosition() - glmToBullet(_positionalTarget);
             float offsetLength = offset.length();
@@ -150,7 +219,7 @@ void ObjectActionSpring::updateActionWorker(btScalar deltaTimeStep) {
             rigidBody->setLinearVelocity(targetVelocity);
         }
 
-        if (_angularTimeScale < MAX_TIMESCALE) {
+        if (_angularTimeScale < MAX_SPRING_TIMESCALE) {
             btVector3 targetVelocity(0.0f, 0.0f, 0.0f);
 
             btQuaternion bodyRotation = rigidBody->getOrientation();
@@ -189,6 +258,8 @@ bool ObjectActionSpring::updateArguments(QVariantMap arguments) {
     float linearTimeScale;
     glm::quat rotationalTarget;
     float angularTimeScale;
+    QUuid otherID;
+
 
     bool needUpdate = false;
     bool somethingChanged = ObjectDynamic::updateArguments(arguments);
@@ -218,11 +289,19 @@ bool ObjectActionSpring::updateArguments(QVariantMap arguments) {
             angularTimeScale = _angularTimeScale;
         }
 
+        ok = true;
+        otherID = QUuid(EntityDynamicInterface::extractStringArgument("spring action",
+                                                                            arguments, "otherID", ok, false));
+        if (!ok) {
+            otherID = _otherID;
+        }
+
         if (somethingChanged ||
             positionalTarget != _desiredPositionalTarget ||
             linearTimeScale != _linearTimeScale ||
             rotationalTarget != _desiredRotationalTarget ||
-            angularTimeScale != _angularTimeScale) {
+            angularTimeScale != _angularTimeScale ||
+            otherID != _otherID) {
             // something changed
             needUpdate = true;
         }
@@ -234,6 +313,7 @@ bool ObjectActionSpring::updateArguments(QVariantMap arguments) {
             _linearTimeScale = glm::max(MIN_TIMESCALE, glm::abs(linearTimeScale));
             _desiredRotationalTarget = rotationalTarget;
             _angularTimeScale = glm::max(MIN_TIMESCALE, glm::abs(angularTimeScale));
+            _otherID = otherID;
             _active = true;
 
             auto ownerEntity = _ownerEntity.lock();
@@ -256,6 +336,8 @@ QVariantMap ObjectActionSpring::getArguments() {
 
         arguments["targetRotation"] = glmToQMap(_desiredRotationalTarget);
         arguments["angularTimeScale"] = _angularTimeScale;
+
+        arguments["otherID"] = _otherID;
     });
     return arguments;
 }
@@ -270,6 +352,7 @@ void ObjectActionSpring::serializeParameters(QDataStream& dataStream) const {
         dataStream << _rotationalTargetSet;
         dataStream << localTimeToServerTime(_expires);
         dataStream << _tag;
+        dataStream << _otherID;
     });
 }
 
@@ -302,6 +385,8 @@ void ObjectActionSpring::deserializeParameters(QByteArray serializedArguments, Q
 
         dataStream >> _tag;
 
+        dataStream >> _otherID;
+
         _active = true;
     });
 }

libraries/physics/src/ObjectActionSpring.h

@@ -28,7 +28,8 @@ public:
     virtual void deserialize(QByteArray serializedArguments) override;
 
     virtual bool getTarget(float deltaTimeStep, glm::quat& rotation, glm::vec3& position,
-                           glm::vec3& linearVelocity, glm::vec3& angularVelocity);
+                           glm::vec3& linearVelocity, glm::vec3& angularVelocity,
+                           float& linearTimeScale, float& angularTimeScale);
 
 protected:
     static const uint16_t springVersion;
@@ -46,6 +47,10 @@ protected:
     glm::vec3 _linearVelocityTarget;
     glm::vec3 _angularVelocityTarget;
 
+    EntityItemID _otherID;
+    SpatiallyNestableWeakPointer _other;
+    SpatiallyNestablePointer getOther();
+
     virtual bool prepareForSpringUpdate(btScalar deltaTimeStep);
 
     void serializeParameters(QDataStream& dataStream) const;

libraries/physics/src/ObjectConstraintBallSocket.cpp

@@ -0,0 +1,240 @@
+//
+//  ObjectConstraintBallSocket.cpp
+//  libraries/physics/src
+//
+//  Created by Seth Alves 2017-4-29
+//  Copyright 2017 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 "QVariantGLM.h"
+
+#include "EntityTree.h"
+#include "ObjectConstraintBallSocket.h"
+#include "PhysicsLogging.h"
+
+
+const uint16_t ObjectConstraintBallSocket::constraintVersion = 1;
+
+
+ObjectConstraintBallSocket::ObjectConstraintBallSocket(const QUuid& id, EntityItemPointer ownerEntity) :
+    ObjectConstraint(DYNAMIC_TYPE_BALL_SOCKET, id, ownerEntity),
+    _pivotInA(glm::vec3(0.0f)),
+    _pivotInB(glm::vec3(0.0f))
+{
+    #if WANT_DEBUG
+    qCDebug(physics) << "ObjectConstraintBallSocket::ObjectConstraintBallSocket";
+    #endif
+}
+
+ObjectConstraintBallSocket::~ObjectConstraintBallSocket() {
+    #if WANT_DEBUG
+    qCDebug(physics) << "ObjectConstraintBallSocket::~ObjectConstraintBallSocket";
+    #endif
+}
+
+QList<btRigidBody*> ObjectConstraintBallSocket::getRigidBodies() {
+    QList<btRigidBody*> result;
+    result += getRigidBody();
+    QUuid otherEntityID;
+    withReadLock([&]{
+        otherEntityID = _otherEntityID;
+    });
+    if (!otherEntityID.isNull()) {
+        result += getOtherRigidBody(otherEntityID);
+    }
+    return result;
+}
+
+void ObjectConstraintBallSocket::prepareForPhysicsSimulation() {
+}
+
+void ObjectConstraintBallSocket::updateBallSocket() {
+    btPoint2PointConstraint* constraint { nullptr };
+
+    withReadLock([&]{
+        constraint = static_cast<btPoint2PointConstraint*>(_constraint);
+    });
+
+    if (!constraint) {
+        return;
+    }
+
+    constraint->setPivotA(glmToBullet(_pivotInA));
+    constraint->setPivotB(glmToBullet(_pivotInB));
+}
+
+
+btTypedConstraint* ObjectConstraintBallSocket::getConstraint() {
+    btPoint2PointConstraint* constraint { nullptr };
+    QUuid otherEntityID;
+    glm::vec3 pivotInA;
+    glm::vec3 pivotInB;
+
+    withReadLock([&]{
+        constraint = static_cast<btPoint2PointConstraint*>(_constraint);
+        pivotInA = _pivotInA;
+        otherEntityID = _otherEntityID;
+        pivotInB = _pivotInB;
+    });
+    if (constraint) {
+        return constraint;
+    }
+
+    btRigidBody* rigidBodyA = getRigidBody();
+    if (!rigidBodyA) {
+        qCDebug(physics) << "ObjectConstraintBallSocket::getConstraint -- no rigidBodyA";
+        return nullptr;
+    }
+
+    if (!otherEntityID.isNull()) {
+        // This constraint is between two entities... find the other rigid body.
+
+        btRigidBody* rigidBodyB = getOtherRigidBody(otherEntityID);
+        if (!rigidBodyB) {
+            return nullptr;
+        }
+
+        constraint = new btPoint2PointConstraint(*rigidBodyA, *rigidBodyB, glmToBullet(pivotInA), glmToBullet(pivotInB));
+    } else {
+        // This constraint is between an entity and the world-frame.
+
+        constraint = new btPoint2PointConstraint(*rigidBodyA, glmToBullet(pivotInA));
+    }
+
+    withWriteLock([&]{
+        _constraint = constraint;
+    });
+
+    // if we don't wake up rigidBodyA, we may not send the dynamicData property over the network
+    forceBodyNonStatic();
+    activateBody();
+
+    updateBallSocket();
+
+    return constraint;
+}
+
+
+bool ObjectConstraintBallSocket::updateArguments(QVariantMap arguments) {
+    glm::vec3 pivotInA;
+    QUuid otherEntityID;
+    glm::vec3 pivotInB;
+
+    bool needUpdate = false;
+    bool somethingChanged = ObjectDynamic::updateArguments(arguments);
+    withReadLock([&]{
+        bool ok = true;
+        pivotInA = EntityDynamicInterface::extractVec3Argument("ball-socket constraint", arguments, "pivot", ok, false);
+        if (!ok) {
+            pivotInA = _pivotInA;
+        }
+
+        ok = true;
+        otherEntityID = QUuid(EntityDynamicInterface::extractStringArgument("ball-socket constraint",
+                                                                            arguments, "otherEntityID", ok, false));
+        if (!ok) {
+            otherEntityID = _otherEntityID;
+        }
+
+        ok = true;
+        pivotInB = EntityDynamicInterface::extractVec3Argument("ball-socket constraint", arguments, "otherPivot", ok, false);
+        if (!ok) {
+            pivotInB = _pivotInB;
+        }
+
+        if (somethingChanged ||
+            pivotInA != _pivotInA ||
+            otherEntityID != _otherEntityID ||
+            pivotInB != _pivotInB) {
+            // something changed
+            needUpdate = true;
+        }
+    });
+
+    if (needUpdate) {
+        withWriteLock([&] {
+            _pivotInA = pivotInA;
+            _otherEntityID = otherEntityID;
+            _pivotInB = pivotInB;
+
+            _active = true;
+
+            auto ownerEntity = _ownerEntity.lock();
+            if (ownerEntity) {
+                ownerEntity->setDynamicDataDirty(true);
+                ownerEntity->setDynamicDataNeedsTransmit(true);
+            }
+        });
+
+        updateBallSocket();
+    }
+
+    return true;
+}
+
+QVariantMap ObjectConstraintBallSocket::getArguments() {
+    QVariantMap arguments = ObjectDynamic::getArguments();
+    withReadLock([&] {
+        if (_constraint) {
+            arguments["pivot"] = glmToQMap(_pivotInA);
+            arguments["otherEntityID"] = _otherEntityID;
+            arguments["otherPivot"] = glmToQMap(_pivotInB);
+        }
+    });
+    return arguments;
+}
+
+QByteArray ObjectConstraintBallSocket::serialize() const {
+    QByteArray serializedConstraintArguments;
+    QDataStream dataStream(&serializedConstraintArguments, QIODevice::WriteOnly);
+
+    dataStream << DYNAMIC_TYPE_BALL_SOCKET;
+    dataStream << getID();
+    dataStream << ObjectConstraintBallSocket::constraintVersion;
+
+    withReadLock([&] {
+        dataStream << localTimeToServerTime(_expires);
+        dataStream << _tag;
+
+        dataStream << _pivotInA;
+        dataStream << _otherEntityID;
+        dataStream << _pivotInB;
+    });
+
+    return serializedConstraintArguments;
+}
+
+void ObjectConstraintBallSocket::deserialize(QByteArray serializedArguments) {
+    QDataStream dataStream(serializedArguments);
+
+    EntityDynamicType type;
+    dataStream >> type;
+    assert(type == getType());
+
+    QUuid id;
+    dataStream >> id;
+    assert(id == getID());
+
+    uint16_t serializationVersion;
+    dataStream >> serializationVersion;
+    if (serializationVersion != ObjectConstraintBallSocket::constraintVersion) {
+        assert(false);
+        return;
+    }
+
+    withWriteLock([&] {
+        quint64 serverExpires;
+        dataStream >> serverExpires;
+        _expires = serverTimeToLocalTime(serverExpires);
+        dataStream >> _tag;
+
+        dataStream >> _pivotInA;
+        dataStream >> _otherEntityID;
+        dataStream >> _pivotInB;
+
+        _active = true;
+    });
+}

libraries/physics/src/ObjectConstraintBallSocket.h

@@ -0,0 +1,46 @@
+//
+//  ObjectConstraintBallSocket.h
+//  libraries/physics/src
+//
+//  Created by Seth Alves 2017-4-29
+//  Copyright 2017 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_ObjectConstraintBallSocket_h
+#define hifi_ObjectConstraintBallSocket_h
+
+#include "ObjectConstraint.h"
+
+// http://bulletphysics.org/Bullet/BulletFull/classbtBallSocketConstraint.html
+
+class ObjectConstraintBallSocket : public ObjectConstraint {
+public:
+    ObjectConstraintBallSocket(const QUuid& id, EntityItemPointer ownerEntity);
+    virtual ~ObjectConstraintBallSocket();
+
+    virtual void prepareForPhysicsSimulation() override;
+
+    virtual bool updateArguments(QVariantMap arguments) override;
+    virtual QVariantMap getArguments() override;
+
+    virtual QByteArray serialize() const override;
+    virtual void deserialize(QByteArray serializedArguments) override;
+
+    virtual QList<btRigidBody*> getRigidBodies() override;
+    virtual btTypedConstraint* getConstraint() override;
+
+protected:
+    static const uint16_t constraintVersion;
+
+    void updateBallSocket();
+
+    glm::vec3 _pivotInA;
+
+    EntityItemID _otherEntityID;
+    glm::vec3 _pivotInB;
+};
+
+#endif // hifi_ObjectConstraintBallSocket_h

libraries/physics/src/ObjectConstraintConeTwist.cpp

@@ -0,0 +1,367 @@
+//
+//  ObjectConstraintConeTwist.cpp
+//  libraries/physics/src
+//
+//  Created by Seth Alves 2017-4-29
+//  Copyright 2017 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 "QVariantGLM.h"
+
+#include "EntityTree.h"
+#include "ObjectConstraintConeTwist.h"
+#include "PhysicsLogging.h"
+
+
+const uint16_t ObjectConstraintConeTwist::constraintVersion = 1;
+
+
+ObjectConstraintConeTwist::ObjectConstraintConeTwist(const QUuid& id, EntityItemPointer ownerEntity) :
+    ObjectConstraint(DYNAMIC_TYPE_CONE_TWIST, id, ownerEntity),
+    _pivotInA(glm::vec3(0.0f)),
+    _axisInA(glm::vec3(0.0f))
+{
+    #if WANT_DEBUG
+    qCDebug(physics) << "ObjectConstraintConeTwist::ObjectConstraintConeTwist";
+    #endif
+}
+
+ObjectConstraintConeTwist::~ObjectConstraintConeTwist() {
+    #if WANT_DEBUG
+    qCDebug(physics) << "ObjectConstraintConeTwist::~ObjectConstraintConeTwist";
+    #endif
+}
+
+QList<btRigidBody*> ObjectConstraintConeTwist::getRigidBodies() {
+    QList<btRigidBody*> result;
+    result += getRigidBody();
+    QUuid otherEntityID;
+    withReadLock([&]{
+        otherEntityID = _otherEntityID;
+    });
+    if (!otherEntityID.isNull()) {
+        result += getOtherRigidBody(otherEntityID);
+    }
+    return result;
+}
+
+void ObjectConstraintConeTwist::prepareForPhysicsSimulation() {
+}
+
+void ObjectConstraintConeTwist::updateConeTwist() {
+    btConeTwistConstraint* constraint { nullptr };
+    float swingSpan1;
+    float swingSpan2;
+    float twistSpan;
+    float softness;
+    float biasFactor;
+    float relaxationFactor;
+
+    withReadLock([&]{
+        constraint = static_cast<btConeTwistConstraint*>(_constraint);
+        swingSpan1 = _swingSpan1;
+        swingSpan2 = _swingSpan2;
+        twistSpan = _twistSpan;
+        softness = _softness;
+        biasFactor = _biasFactor;
+        relaxationFactor = _relaxationFactor;
+    });
+
+    if (!constraint) {
+        return;
+    }
+
+    constraint->setLimit(swingSpan1,
+                         swingSpan2,
+                         twistSpan,
+                         softness,
+                         biasFactor,
+                         relaxationFactor);
+}
+
+
+btTypedConstraint* ObjectConstraintConeTwist::getConstraint() {
+    btConeTwistConstraint* constraint { nullptr };
+    QUuid otherEntityID;
+    glm::vec3 pivotInA;
+    glm::vec3 axisInA;
+    glm::vec3 pivotInB;
+    glm::vec3 axisInB;
+
+    withReadLock([&]{
+        constraint = static_cast<btConeTwistConstraint*>(_constraint);
+        pivotInA = _pivotInA;
+        axisInA = _axisInA;
+        otherEntityID = _otherEntityID;
+        pivotInB = _pivotInB;
+        axisInB = _axisInB;
+    });
+    if (constraint) {
+        return constraint;
+    }
+
+    btRigidBody* rigidBodyA = getRigidBody();
+    if (!rigidBodyA) {
+        qCDebug(physics) << "ObjectConstraintConeTwist::getConstraint -- no rigidBodyA";
+        return nullptr;
+    }
+
+    if (!otherEntityID.isNull()) {
+        // This coneTwist is between two entities... find the other rigid body.
+
+        glm::quat rotA = glm::rotation(glm::vec3(1.0f, 0.0f, 0.0f), glm::normalize(axisInA));
+        glm::quat rotB = glm::rotation(glm::vec3(1.0f, 0.0f, 0.0f), glm::normalize(axisInB));
+
+        btTransform frameInA(glmToBullet(rotA), glmToBullet(pivotInA));
+        btTransform frameInB(glmToBullet(rotB), glmToBullet(pivotInB));
+
+        btRigidBody* rigidBodyB = getOtherRigidBody(otherEntityID);
+        if (!rigidBodyB) {
+            return nullptr;
+        }
+
+        constraint = new btConeTwistConstraint(*rigidBodyA, *rigidBodyB, frameInA, frameInB);
+    } else {
+        // This coneTwist is between an entity and the world-frame.
+
+        glm::quat rot = glm::rotation(glm::vec3(1.0f, 0.0f, 0.0f), glm::normalize(axisInA));
+
+        btTransform frameInA(glmToBullet(rot), glmToBullet(pivotInA));
+
+        constraint = new btConeTwistConstraint(*rigidBodyA, frameInA);
+    }
+
+    withWriteLock([&]{
+        _constraint = constraint;
+    });
+
+    // if we don't wake up rigidBodyA, we may not send the dynamicData property over the network
+    forceBodyNonStatic();
+    activateBody();
+
+    updateConeTwist();
+
+    return constraint;
+}
+
+
+bool ObjectConstraintConeTwist::updateArguments(QVariantMap arguments) {
+    glm::vec3 pivotInA;
+    glm::vec3 axisInA;
+    QUuid otherEntityID;
+    glm::vec3 pivotInB;
+    glm::vec3 axisInB;
+    float swingSpan1;
+    float swingSpan2;
+    float twistSpan;
+    float softness;
+    float biasFactor;
+    float relaxationFactor;
+
+    bool needUpdate = false;
+    bool somethingChanged = ObjectDynamic::updateArguments(arguments);
+    withReadLock([&]{
+        bool ok = true;
+        pivotInA = EntityDynamicInterface::extractVec3Argument("coneTwist constraint", arguments, "pivot", ok, false);
+        if (!ok) {
+            pivotInA = _pivotInA;
+        }
+
+        ok = true;
+        axisInA = EntityDynamicInterface::extractVec3Argument("coneTwist constraint", arguments, "axis", ok, false);
+        if (!ok) {
+            axisInA = _axisInA;
+        }
+
+        ok = true;
+        otherEntityID = QUuid(EntityDynamicInterface::extractStringArgument("coneTwist constraint",
+                                                                            arguments, "otherEntityID", ok, false));
+        if (!ok) {
+            otherEntityID = _otherEntityID;
+        }
+
+        ok = true;
+        pivotInB = EntityDynamicInterface::extractVec3Argument("coneTwist constraint", arguments, "otherPivot", ok, false);
+        if (!ok) {
+            pivotInB = _pivotInB;
+        }
+
+        ok = true;
+        axisInB = EntityDynamicInterface::extractVec3Argument("coneTwist constraint", arguments, "otherAxis", ok, false);
+        if (!ok) {
+            axisInB = _axisInB;
+        }
+
+        ok = true;
+        swingSpan1 = EntityDynamicInterface::extractFloatArgument("coneTwist constraint", arguments, "swingSpan1", ok, false);
+        if (!ok) {
+            swingSpan1 = _swingSpan1;
+        }
+
+        ok = true;
+        swingSpan2 = EntityDynamicInterface::extractFloatArgument("coneTwist constraint", arguments, "swingSpan2", ok, false);
+        if (!ok) {
+            swingSpan2 = _swingSpan2;
+        }
+
+        ok = true;
+        twistSpan = EntityDynamicInterface::extractFloatArgument("coneTwist constraint", arguments, "twistSpan", ok, false);
+        if (!ok) {
+            twistSpan = _twistSpan;
+        }
+
+        ok = true;
+        softness = EntityDynamicInterface::extractFloatArgument("coneTwist constraint", arguments, "softness", ok, false);
+        if (!ok) {
+            softness = _softness;
+        }
+
+        ok = true;
+        biasFactor = EntityDynamicInterface::extractFloatArgument("coneTwist constraint", arguments, "biasFactor", ok, false);
+        if (!ok) {
+            biasFactor = _biasFactor;
+        }
+
+        ok = true;
+        relaxationFactor =
+            EntityDynamicInterface::extractFloatArgument("coneTwist constraint", arguments, "relaxationFactor", ok, false);
+        if (!ok) {
+            relaxationFactor = _relaxationFactor;
+        }
+
+        if (somethingChanged ||
+            pivotInA != _pivotInA ||
+            axisInA != _axisInA ||
+            otherEntityID != _otherEntityID ||
+            pivotInB != _pivotInB ||
+            axisInB != _axisInB ||
+            swingSpan1 != _swingSpan1 ||
+            swingSpan2 != _swingSpan2 ||
+            twistSpan != _twistSpan ||
+            softness != _softness ||
+            biasFactor != _biasFactor ||
+            relaxationFactor != _relaxationFactor) {
+            // something changed
+            needUpdate = true;
+        }
+    });
+
+    if (needUpdate) {
+        withWriteLock([&] {
+            _pivotInA = pivotInA;
+            _axisInA = axisInA;
+            _otherEntityID = otherEntityID;
+            _pivotInB = pivotInB;
+            _axisInB = axisInB;
+            _swingSpan1 = swingSpan1;
+            _swingSpan2 = swingSpan2;
+            _twistSpan = twistSpan;
+            _softness = softness;
+            _biasFactor = biasFactor;
+            _relaxationFactor = relaxationFactor;
+
+            _active = true;
+
+            auto ownerEntity = _ownerEntity.lock();
+            if (ownerEntity) {
+                ownerEntity->setDynamicDataDirty(true);
+                ownerEntity->setDynamicDataNeedsTransmit(true);
+            }
+        });
+
+        updateConeTwist();
+    }
+
+    return true;
+}
+
+QVariantMap ObjectConstraintConeTwist::getArguments() {
+    QVariantMap arguments = ObjectDynamic::getArguments();
+    withReadLock([&] {
+        if (_constraint) {
+            arguments["pivot"] = glmToQMap(_pivotInA);
+            arguments["axis"] = glmToQMap(_axisInA);
+            arguments["otherEntityID"] = _otherEntityID;
+            arguments["otherPivot"] = glmToQMap(_pivotInB);
+            arguments["otherAxis"] = glmToQMap(_axisInB);
+            arguments["swingSpan1"] = _swingSpan1;
+            arguments["swingSpan2"] = _swingSpan2;
+            arguments["twistSpan"] = _twistSpan;
+            arguments["softness"] = _softness;
+            arguments["biasFactor"] = _biasFactor;
+            arguments["relaxationFactor"] = _relaxationFactor;
+        }
+    });
+    return arguments;
+}
+
+QByteArray ObjectConstraintConeTwist::serialize() const {
+    QByteArray serializedConstraintArguments;
+    QDataStream dataStream(&serializedConstraintArguments, QIODevice::WriteOnly);
+
+    dataStream << DYNAMIC_TYPE_CONE_TWIST;
+    dataStream << getID();
+    dataStream << ObjectConstraintConeTwist::constraintVersion;
+
+    withReadLock([&] {
+        dataStream << localTimeToServerTime(_expires);
+        dataStream << _tag;
+
+        dataStream << _pivotInA;
+        dataStream << _axisInA;
+        dataStream << _otherEntityID;
+        dataStream << _pivotInB;
+        dataStream << _axisInB;
+        dataStream << _swingSpan1;
+        dataStream << _swingSpan2;
+        dataStream << _twistSpan;
+        dataStream << _softness;
+        dataStream << _biasFactor;
+        dataStream << _relaxationFactor;
+    });
+
+    return serializedConstraintArguments;
+}
+
+void ObjectConstraintConeTwist::deserialize(QByteArray serializedArguments) {
+    QDataStream dataStream(serializedArguments);
+
+    EntityDynamicType type;
+    dataStream >> type;
+    assert(type == getType());
+
+    QUuid id;
+    dataStream >> id;
+    assert(id == getID());
+
+    uint16_t serializationVersion;
+    dataStream >> serializationVersion;
+    if (serializationVersion != ObjectConstraintConeTwist::constraintVersion) {
+        assert(false);
+        return;
+    }
+
+    withWriteLock([&] {
+        quint64 serverExpires;
+        dataStream >> serverExpires;
+        _expires = serverTimeToLocalTime(serverExpires);
+        dataStream >> _tag;
+
+        dataStream >> _pivotInA;
+        dataStream >> _axisInA;
+        dataStream >> _otherEntityID;
+        dataStream >> _pivotInB;
+        dataStream >> _axisInB;
+        dataStream >> _swingSpan1;
+        dataStream >> _swingSpan2;
+        dataStream >> _twistSpan;
+        dataStream >> _softness;
+        dataStream >> _biasFactor;
+        dataStream >> _relaxationFactor;
+
+        _active = true;
+    });
+}

libraries/physics/src/ObjectConstraintConeTwist.h

@@ -0,0 +1,55 @@
+//
+//  ObjectConstraintConeTwist.h
+//  libraries/physics/src
+//
+//  Created by Seth Alves 2017-4-23
+//  Copyright 2017 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_ObjectConstraintConeTwist_h
+#define hifi_ObjectConstraintConeTwist_h
+
+#include "ObjectConstraint.h"
+
+// http://bulletphysics.org/Bullet/BulletFull/classbtConeTwistConstraint.html
+
+class ObjectConstraintConeTwist : public ObjectConstraint {
+public:
+    ObjectConstraintConeTwist(const QUuid& id, EntityItemPointer ownerEntity);
+    virtual ~ObjectConstraintConeTwist();
+
+    virtual void prepareForPhysicsSimulation() override;
+
+    virtual bool updateArguments(QVariantMap arguments) override;
+    virtual QVariantMap getArguments() override;
+
+    virtual QByteArray serialize() const override;
+    virtual void deserialize(QByteArray serializedArguments) override;
+
+    virtual QList<btRigidBody*> getRigidBodies() override;
+    virtual btTypedConstraint* getConstraint() override;
+
+protected:
+    static const uint16_t constraintVersion;
+
+    void updateConeTwist();
+
+    glm::vec3 _pivotInA;
+    glm::vec3 _axisInA;
+
+    EntityItemID _otherEntityID;
+    glm::vec3 _pivotInB;
+    glm::vec3 _axisInB;
+
+    float _swingSpan1 { TWO_PI };
+    float _swingSpan2 { TWO_PI };;
+    float _twistSpan { TWO_PI };;
+    float _softness { 1.0f };
+    float _biasFactor {0.3f };
+    float _relaxationFactor { 1.0f };
+};
+
+#endif // hifi_ObjectConstraintConeTwist_h

libraries/physics/src/ObjectConstraintHinge.cpp

@@ -48,23 +48,26 @@ QList<btRigidBody*> ObjectConstraintHinge::getRigidBodies() {
     return result;
 }
 
+void ObjectConstraintHinge::prepareForPhysicsSimulation() {
+}
+
 void ObjectConstraintHinge::updateHinge() {
     btHingeConstraint* constraint { nullptr };
+    glm::vec3 axisInA;
     float low;
     float high;
     float softness;
     float biasFactor;
     float relaxationFactor;
-    float motorVelocity;
 
     withReadLock([&]{
+        axisInA = _axisInA;
         constraint = static_cast<btHingeConstraint*>(_constraint);
         low = _low;
         high = _high;
-        softness = _softness;
         biasFactor = _biasFactor;
         relaxationFactor = _relaxationFactor;
-        motorVelocity = _motorVelocity;
+        softness = _softness;
     });
 
     if (!constraint) {
@@ -72,12 +75,6 @@ void ObjectConstraintHinge::updateHinge() {
     }
 
     constraint->setLimit(low, high, softness, biasFactor, relaxationFactor);
-    if (motorVelocity != 0.0f) {
-        constraint->setMotorTargetVelocity(motorVelocity);
-        constraint->enableMotor(true);
-    } else {
-        constraint->enableMotor(false);
-    }
 }
 
 
@@ -150,7 +147,6 @@ bool ObjectConstraintHinge::updateArguments(QVariantMap arguments) {
     float softness;
     float biasFactor;
     float relaxationFactor;
-    float motorVelocity;
 
     bool needUpdate = false;
     bool somethingChanged = ObjectDynamic::updateArguments(arguments);
@@ -217,13 +213,6 @@ bool ObjectConstraintHinge::updateArguments(QVariantMap arguments) {
             relaxationFactor = _relaxationFactor;
         }
 
-        ok = true;
-        motorVelocity = EntityDynamicInterface::extractFloatArgument("hinge constraint", arguments,
-                                                                     "motorVelocity", ok, false);
-        if (!ok) {
-            motorVelocity = _motorVelocity;
-        }
-
         if (somethingChanged ||
             pivotInA != _pivotInA ||
             axisInA != _axisInA ||
@@ -234,8 +223,7 @@ bool ObjectConstraintHinge::updateArguments(QVariantMap arguments) {
             high != _high ||
             softness != _softness ||
             biasFactor != _biasFactor ||
-            relaxationFactor != _relaxationFactor ||
+            relaxationFactor != _relaxationFactor) {
-            motorVelocity != _motorVelocity) {
             // something changed
             needUpdate = true;
         }
@@ -253,7 +241,6 @@ bool ObjectConstraintHinge::updateArguments(QVariantMap arguments) {
             _softness = softness;
             _biasFactor = biasFactor;
             _relaxationFactor = relaxationFactor;
-            _motorVelocity = motorVelocity;
 
             _active = true;
 
@@ -284,7 +271,6 @@ QVariantMap ObjectConstraintHinge::getArguments() {
             arguments["softness"] = _softness;
             arguments["biasFactor"] = _biasFactor;
             arguments["relaxationFactor"] = _relaxationFactor;
-            arguments["motorVelocity"] = _motorVelocity;
             arguments["angle"] = static_cast<btHingeConstraint*>(_constraint)->getHingeAngle(); // [-PI,PI]
         }
     });
@@ -313,8 +299,6 @@ QByteArray ObjectConstraintHinge::serialize() const {
 
         dataStream << localTimeToServerTime(_expires);
         dataStream << _tag;
-
-        dataStream << _motorVelocity;
     });
 
     return serializedConstraintArguments;
@@ -356,8 +340,6 @@ void ObjectConstraintHinge::deserialize(QByteArray serializedArguments) {
 
         dataStream >> _tag;
 
-        dataStream >> _motorVelocity;
-
         _active = true;
     });
 }

libraries/physics/src/ObjectConstraintHinge.h

@@ -21,6 +21,8 @@ public:
     ObjectConstraintHinge(const QUuid& id, EntityItemPointer ownerEntity);
     virtual ~ObjectConstraintHinge();
 
+    virtual void prepareForPhysicsSimulation() override;
+
     virtual bool updateArguments(QVariantMap arguments) override;
     virtual QVariantMap getArguments() override;
 
@@ -42,12 +44,32 @@ protected:
     glm::vec3 _pivotInB;
     glm::vec3 _axisInB;
 
-    float _low { -2.0f * PI };
+    float _low { -TWO_PI };
-    float _high { 2.0f * PI };
+    float _high { TWO_PI };
+
+    // https://gamedev.stackexchange.com/questions/71436/what-are-the-parameters-for-bthingeconstraintsetlimit
+    //
+    // softness: a negative measure of the friction that determines how much the hinge rotates for a given force. A high
+    //           softness would make the hinge rotate easily like it's oiled then.
+    // biasFactor: an offset for the relaxed rotation of the hinge. It won't be right in the middle of the low and high angles
+    //           anymore. 1.0f is the neural value.
+    // relaxationFactor: a measure of how much force is applied internally to bring the hinge in its central rotation.
+    //           This is right in the middle of the low and high angles. For example, consider a western swing door. After
+    //           walking through it will swing in both directions but at the end it stays right in the middle.
+
+    // http://javadoc.jmonkeyengine.org/com/jme3/bullet/joints/HingeJoint.html
+    //
+    // _softness - the factor at which the velocity error correction starts operating, i.e. a softness of 0.9 means that
+    //             the vel. corr starts at 90% of the limit range.
+    // _biasFactor - the magnitude of the position correction. It tells you how strictly the position error (drift) is
+    //             corrected.
+    // _relaxationFactor - the rate at which velocity errors are corrected. This can be seen as the strength of the
+    //             limits. A low value will make the the limits more spongy.
+
+
     float _softness { 0.9f };
     float _biasFactor { 0.3f };
     float _relaxationFactor { 1.0f };
-    float _motorVelocity { 0.0f };
 };
 
 #endif // hifi_ObjectConstraintHinge_h

libraries/physics/src/ObjectConstraintSlider.cpp

@@ -0,0 +1,326 @@
+//
+//  ObjectConstraintSlider.cpp
+//  libraries/physics/src
+//
+//  Created by Seth Alves 2017-4-23
+//  Copyright 2017 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 "QVariantGLM.h"
+
+#include "EntityTree.h"
+#include "ObjectConstraintSlider.h"
+#include "PhysicsLogging.h"
+
+
+const uint16_t ObjectConstraintSlider::constraintVersion = 1;
+
+
+ObjectConstraintSlider::ObjectConstraintSlider(const QUuid& id, EntityItemPointer ownerEntity) :
+    ObjectConstraint(DYNAMIC_TYPE_SLIDER, id, ownerEntity),
+    _pointInA(glm::vec3(0.0f)),
+    _axisInA(glm::vec3(0.0f))
+{
+}
+
+ObjectConstraintSlider::~ObjectConstraintSlider() {
+}
+
+QList<btRigidBody*> ObjectConstraintSlider::getRigidBodies() {
+    QList<btRigidBody*> result;
+    result += getRigidBody();
+    QUuid otherEntityID;
+    withReadLock([&]{
+        otherEntityID = _otherEntityID;
+    });
+    if (!otherEntityID.isNull()) {
+        result += getOtherRigidBody(otherEntityID);
+    }
+    return result;
+}
+
+void ObjectConstraintSlider::prepareForPhysicsSimulation() {
+}
+
+void ObjectConstraintSlider::updateSlider() {
+    btSliderConstraint* constraint { nullptr };
+
+    withReadLock([&]{
+        constraint = static_cast<btSliderConstraint*>(_constraint);
+    });
+
+    if (!constraint) {
+        return;
+    }
+
+    // constraint->setFrames (const btTransform &frameA, const btTransform &frameB);
+    constraint->setLowerLinLimit(_linearLow);
+    constraint->setUpperLinLimit(_linearHigh);
+    constraint->setLowerAngLimit(_angularLow);
+    constraint->setUpperAngLimit(_angularHigh);
+
+}
+
+
+btTypedConstraint* ObjectConstraintSlider::getConstraint() {
+    btSliderConstraint* constraint { nullptr };
+    QUuid otherEntityID;
+    glm::vec3 pointInA;
+    glm::vec3 axisInA;
+    glm::vec3 pointInB;
+    glm::vec3 axisInB;
+
+    withReadLock([&]{
+        constraint = static_cast<btSliderConstraint*>(_constraint);
+        pointInA = _pointInA;
+        axisInA = _axisInA;
+        otherEntityID = _otherEntityID;
+        pointInB = _pointInB;
+        axisInB = _axisInB;
+    });
+    if (constraint) {
+        return constraint;
+    }
+
+    btRigidBody* rigidBodyA = getRigidBody();
+    if (!rigidBodyA) {
+        qCDebug(physics) << "ObjectConstraintSlider::getConstraint -- no rigidBodyA";
+        return nullptr;
+    }
+
+    if (!otherEntityID.isNull()) {
+        // This slider is between two entities... find the other rigid body.
+
+        glm::quat rotA = glm::rotation(glm::vec3(1.0f, 0.0f, 0.0f), glm::normalize(axisInA));
+        glm::quat rotB = glm::rotation(glm::vec3(1.0f, 0.0f, 0.0f), glm::normalize(axisInB));
+
+        btTransform frameInA(glmToBullet(rotA), glmToBullet(pointInA));
+        btTransform frameInB(glmToBullet(rotB), glmToBullet(pointInB));
+
+        btRigidBody* rigidBodyB = getOtherRigidBody(otherEntityID);
+        if (!rigidBodyB) {
+            return nullptr;
+        }
+
+        constraint = new btSliderConstraint(*rigidBodyA, *rigidBodyB, frameInA, frameInB, true);
+    } else {
+        // This slider is between an entity and the world-frame.
+
+        glm::quat rot = glm::rotation(glm::vec3(1.0f, 0.0f, 0.0f), glm::normalize(axisInA));
+
+        btTransform frameInA(glmToBullet(rot), glmToBullet(pointInA));
+
+        constraint = new btSliderConstraint(*rigidBodyA, frameInA, true);
+    }
+
+    withWriteLock([&]{
+        _constraint = constraint;
+    });
+
+    // if we don't wake up rigidBodyA, we may not send the dynamicData property over the network
+    forceBodyNonStatic();
+    activateBody();
+
+    updateSlider();
+
+    return constraint;
+}
+
+
+bool ObjectConstraintSlider::updateArguments(QVariantMap arguments) {
+    glm::vec3 pointInA;
+    glm::vec3 axisInA;
+    QUuid otherEntityID;
+    glm::vec3 pointInB;
+    glm::vec3 axisInB;
+    float linearLow;
+    float linearHigh;
+    float angularLow;
+    float angularHigh;
+
+    bool needUpdate = false;
+    bool somethingChanged = ObjectDynamic::updateArguments(arguments);
+    withReadLock([&]{
+        bool ok = true;
+        pointInA = EntityDynamicInterface::extractVec3Argument("slider constraint", arguments, "point", ok, false);
+        if (!ok) {
+            pointInA = _pointInA;
+        }
+
+        ok = true;
+        axisInA = EntityDynamicInterface::extractVec3Argument("slider constraint", arguments, "axis", ok, false);
+        if (!ok) {
+            axisInA = _axisInA;
+        }
+
+        ok = true;
+        otherEntityID = QUuid(EntityDynamicInterface::extractStringArgument("slider constraint",
+                                                                            arguments, "otherEntityID", ok, false));
+        if (!ok) {
+            otherEntityID = _otherEntityID;
+        }
+
+        ok = true;
+        pointInB = EntityDynamicInterface::extractVec3Argument("slider constraint", arguments, "otherPoint", ok, false);
+        if (!ok) {
+            pointInB = _pointInB;
+        }
+
+        ok = true;
+        axisInB = EntityDynamicInterface::extractVec3Argument("slider constraint", arguments, "otherAxis", ok, false);
+        if (!ok) {
+            axisInB = _axisInB;
+        }
+
+        ok = true;
+        linearLow = EntityDynamicInterface::extractFloatArgument("slider constraint", arguments, "linearLow", ok, false);
+        if (!ok) {
+            linearLow = _linearLow;
+        }
+
+        ok = true;
+        linearHigh = EntityDynamicInterface::extractFloatArgument("slider constraint", arguments, "linearHigh", ok, false);
+        if (!ok) {
+            linearHigh = _linearHigh;
+        }
+
+        ok = true;
+        angularLow = EntityDynamicInterface::extractFloatArgument("slider constraint", arguments, "angularLow", ok, false);
+        if (!ok) {
+            angularLow = _angularLow;
+        }
+
+        ok = true;
+        angularHigh = EntityDynamicInterface::extractFloatArgument("slider constraint", arguments, "angularHigh", ok, false);
+        if (!ok) {
+            angularHigh = _angularHigh;
+        }
+
+        if (somethingChanged ||
+            pointInA != _pointInA ||
+            axisInA != _axisInA ||
+            otherEntityID != _otherEntityID ||
+            pointInB != _pointInB ||
+            axisInB != _axisInB ||
+            linearLow != _linearLow ||
+            linearHigh != _linearHigh ||
+            angularLow != _angularLow ||
+            angularHigh != _angularHigh) {
+            // something changed
+            needUpdate = true;
+        }
+    });
+
+    if (needUpdate) {
+        withWriteLock([&] {
+            _pointInA = pointInA;
+            _axisInA = axisInA;
+            _otherEntityID = otherEntityID;
+            _pointInB = pointInB;
+            _axisInB = axisInB;
+            _linearLow = linearLow;
+            _linearHigh = linearHigh;
+            _angularLow = angularLow;
+            _angularHigh = angularHigh;
+
+            _active = true;
+
+            auto ownerEntity = _ownerEntity.lock();
+            if (ownerEntity) {
+                ownerEntity->setDynamicDataDirty(true);
+                ownerEntity->setDynamicDataNeedsTransmit(true);
+            }
+        });
+
+        updateSlider();
+    }
+
+    return true;
+}
+
+QVariantMap ObjectConstraintSlider::getArguments() {
+    QVariantMap arguments = ObjectDynamic::getArguments();
+    withReadLock([&] {
+        if (_constraint) {
+            arguments["point"] = glmToQMap(_pointInA);
+            arguments["axis"] = glmToQMap(_axisInA);
+            arguments["otherEntityID"] = _otherEntityID;
+            arguments["otherPoint"] = glmToQMap(_pointInB);
+            arguments["otherAxis"] = glmToQMap(_axisInB);
+            arguments["linearLow"] = _linearLow;
+            arguments["linearHigh"] = _linearHigh;
+            arguments["angularLow"] = _angularLow;
+            arguments["angularHigh"] = _angularHigh;
+            arguments["linearPosition"] = static_cast<btSliderConstraint*>(_constraint)->getLinearPos();
+            arguments["angularPosition"] = static_cast<btSliderConstraint*>(_constraint)->getAngularPos();
+        }
+    });
+    return arguments;
+}
+
+QByteArray ObjectConstraintSlider::serialize() const {
+    QByteArray serializedConstraintArguments;
+    QDataStream dataStream(&serializedConstraintArguments, QIODevice::WriteOnly);
+
+    dataStream << DYNAMIC_TYPE_SLIDER;
+    dataStream << getID();
+    dataStream << ObjectConstraintSlider::constraintVersion;
+
+    withReadLock([&] {
+        dataStream << localTimeToServerTime(_expires);
+        dataStream << _tag;
+
+        dataStream << _pointInA;
+        dataStream << _axisInA;
+        dataStream << _otherEntityID;
+        dataStream << _pointInB;
+        dataStream << _axisInB;
+        dataStream << _linearLow;
+        dataStream << _linearHigh;
+        dataStream << _angularLow;
+        dataStream << _angularHigh;
+    });
+
+    return serializedConstraintArguments;
+}
+
+void ObjectConstraintSlider::deserialize(QByteArray serializedArguments) {
+    QDataStream dataStream(serializedArguments);
+
+    EntityDynamicType type;
+    dataStream >> type;
+    assert(type == getType());
+
+    QUuid id;
+    dataStream >> id;
+    assert(id == getID());
+
+    uint16_t serializationVersion;
+    dataStream >> serializationVersion;
+    if (serializationVersion != ObjectConstraintSlider::constraintVersion) {
+        assert(false);
+        return;
+    }
+
+    withWriteLock([&] {
+        quint64 serverExpires;
+        dataStream >> serverExpires;
+        _expires = serverTimeToLocalTime(serverExpires);
+        dataStream >> _tag;
+
+        dataStream >> _pointInA;
+        dataStream >> _axisInA;
+        dataStream >> _otherEntityID;
+        dataStream >> _pointInB;
+        dataStream >> _axisInB;
+        dataStream >> _linearLow;
+        dataStream >> _linearHigh;
+        dataStream >> _angularLow;
+        dataStream >> _angularHigh;
+
+        _active = true;
+    });
+}

libraries/physics/src/ObjectConstraintSlider.h

@@ -0,0 +1,54 @@
+//
+//  ObjectConstraintSlider.h
+//  libraries/physics/src
+//
+//  Created by Seth Alves 2017-4-23
+//  Copyright 2017 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_ObjectConstraintSlider_h
+#define hifi_ObjectConstraintSlider_h
+
+#include "ObjectConstraint.h"
+
+// http://bulletphysics.org/Bullet/BulletFull/classbtSliderConstraint.html
+
+class ObjectConstraintSlider : public ObjectConstraint {
+public:
+    ObjectConstraintSlider(const QUuid& id, EntityItemPointer ownerEntity);
+    virtual ~ObjectConstraintSlider();
+
+    virtual void prepareForPhysicsSimulation() override;
+
+    virtual bool updateArguments(QVariantMap arguments) override;
+    virtual QVariantMap getArguments() override;
+
+    virtual QByteArray serialize() const override;
+    virtual void deserialize(QByteArray serializedArguments) override;
+
+    virtual QList<btRigidBody*> getRigidBodies() override;
+    virtual btTypedConstraint* getConstraint() override;
+
+protected:
+    static const uint16_t constraintVersion;
+
+    void updateSlider();
+
+    glm::vec3 _pointInA;
+    glm::vec3 _axisInA;
+
+    EntityItemID _otherEntityID;
+    glm::vec3 _pointInB;
+    glm::vec3 _axisInB;
+
+    float _linearLow { std::numeric_limits<float>::max() };
+    float _linearHigh { std::numeric_limits<float>::min() };
+
+    float _angularLow { -TWO_PI };
+    float _angularHigh { TWO_PI };
+};
+
+#endif // hifi_ObjectConstraintSlider_h

scripts/developer/tests/dynamics/dynamics-tests-interface.js

@@ -0,0 +1,76 @@
+//
+//  dynamics-tests-interface.js
+//  scripts/developer/tests/dynamics/
+//
+//  Created by Seth Alves 2017-4-30
+//  Copyright 2017 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
+//
+
+
+"use strict";
+/* globals $, EventBridge */
+
+var parameters = {
+    "lifetime":"integer"
+};
+
+
+function getQueryArgByName(name, url) {
+    if (!url) {
+        url = window.location.href;
+    }
+    name = name.replace(/[\[\]]/g, "\\$&");
+    var regex = new RegExp("[?&]" + name + "(=([^&#]*)|&|#|$)"),
+        results = regex.exec(url);
+    if (!results) return null;
+    if (!results[2]) return '';
+    return decodeURIComponent(results[2].replace(/\+/g, " "));
+}
+
+
+function addCommandParameters(params) {
+    // copy from html elements into an associative-array which will get passed (as JSON) through the EventBridge
+    for (var parameterName in parameters) {
+        if (parameters.hasOwnProperty(parameterName)) {
+            var parameterType = parameters[parameterName];
+            var strVal = $("#" + parameterName).val();
+            if (parameterType == "integer") {
+                params[parameterName] = parseInt(strVal);
+            } else if (parameterType == "float") {
+                params[parameterName] = parseFloat(strVal);
+            } else {
+                params[parameterName] = strVal;
+            }
+        }
+    }
+    return params;
+}
+
+
+$(document).ready(function() {
+    // hook all buttons to EventBridge
+    $(":button").each(function(index) {
+        $(this).click(function() {
+            EventBridge.emitWebEvent(JSON.stringify(addCommandParameters({ "dynamics-tests-command": this.id })));
+        });
+    });
+
+    // copy parameters from query-args into elements
+    for (var parameterName in parameters) {
+        if (parameters.hasOwnProperty(parameterName)) {
+            var val = getQueryArgByName(parameterName);
+            if (val) {
+                var parameterType = parameters[parameterName];
+                if (parameterType == "integer") {
+                    val = parseInt(val);
+                } else if (parameterType == "float") {
+                    val = parseFloat(val);
+                }
+                $("#" + parameterName).val(val.toString());
+            }
+        }
+    }
+});

scripts/developer/tests/dynamics/dynamics-tests.html

@@ -0,0 +1,37 @@
+<html>
+  <head>
+    <title>Dynamics Tests</title>
+    <meta charset="utf-8">
+    <script src="https://ajax.googleapis.com/ajax/libs/jquery/3.1.1/jquery.min.js"></script>
+    <script src="dynamics-tests-interface.js"></script>
+  </head>
+  <body>
+
+    lifetime: <input id="lifetime" type="text" size=6>
+    <hr>
+    <input type="button" id="cone-twist-and-spring-lever-test" value="Cone-Twist and Spring-Action Lever"><br>
+    A platform with a lever.  The lever can be moved in a cone and rotated.  A spring brings it back to its neutral position.
+    <hr>
+    <input type="button" id="door-vs-world-test" value="Hinge Between Swinging Door and World"><br>
+    A grabbable door with a hinge between it and world-space.
+    <hr>
+    <input type="button" id="hinge-chain-test" value="Hinge Chain"><br>
+    A chain of blocks connected by hinges.
+    <hr>
+    <input type="button" id="slider-vs-world-test" value="Slider vs World"><br>
+    The block can only move up and down over a range of 1/2 meter.
+    <hr>
+    <input type="button" id="slider-chain-test" value="Slider Chain"><br>
+    A chain of blocks connected by slider constraints.
+    <hr>
+    <input type="button" id="ball-socket-between-test" value="Ball-Socket Between Spheres Chain"><br>
+    A chain of spheres connected by ball-and-socket joints between the spheres.
+    <hr>
+    <input type="button" id="ball-socket-coincident-test" value="Ball-Socket Coincident Spheres Chain"><br>
+    A chain of spheres connected by ball-and-socket joints coincident-with the spheres.
+    <hr>
+    <input type="button" id="ragdoll-test" value="Ragdoll"><br>
+    A self-righting ragdoll.  The head is on a weak spring vs the body.
+
+  </body>
+</html>

scripts/developer/tests/dynamics/dynamicsTests.js

@@ -0,0 +1,759 @@
+//
+//  dynamicsTests.js
+//  scripts/developer/tests/dynamics/
+//
+//  Created by Seth Alves 2017-4-30
+//  Copyright 2017 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
+//
+
+"use strict";
+
+/* global Entities, Script, Tablet, MyAvatar, Vec3 */
+
+(function() { // BEGIN LOCAL_SCOPE
+
+    var DYNAMICS_TESTS_URL = Script.resolvePath("dynamics-tests.html");
+    var DEFAULT_LIFETIME = 120; // seconds
+
+    var tablet = Tablet.getTablet("com.highfidelity.interface.tablet.system");
+
+    var button = tablet.addButton({
+        icon: Script.resolvePath("dynamicsTests.svg"),
+        text: "Dynamics",
+        sortOrder: 15
+    });
+
+
+
+    function coneTwistAndSpringLeverTest(params) {
+        var pos = Vec3.sum(MyAvatar.position, Vec3.multiplyQbyV(MyAvatar.orientation, {x: 0, y: -0.5, z: -2}));
+        var lifetime = params.lifetime;
+
+        var baseID = Entities.addEntity({
+            name: "cone-twist test -- base",
+            type: "Box",
+            color: { blue: 128, green: 100, red: 20 },
+            dimensions: { x: 0.5, y: 0.2, z: 0.5 },
+            position: Vec3.sum(pos, { x: 0, y: 0, z:0 }),
+            dynamic: true,
+            collisionless: false,
+            gravity: { x: 0, y: 0, z: 0 },
+            lifetime: lifetime,
+            userData: "{ \"grabbableKey\": { \"grabbable\": true, \"kinematic\": false } }"
+        });
+
+        var leverID = Entities.addEntity({
+            name: "cone-twist test -- lever",
+            type: "Box",
+            color: { blue: 128, green: 100, red: 200 },
+            dimensions: { x: 0.05, y: 1, z: 0.05 },
+            position: Vec3.sum(pos, { x: 0, y: 0.7, z:0 }),
+            dynamic: true,
+            collisionless: false,
+            gravity: { x: 0, y: 0, z: 0 },
+            lifetime: lifetime,
+            userData: "{ \"grabbableKey\": { \"grabbable\": true, \"kinematic\": false } }"
+        });
+
+        Entities.addEntity({
+            name: "cone-twist test -- handle",
+            type: "Box",
+            color: { blue: 30, green: 100, red: 200 },
+            dimensions: { x: 0.1, y: 0.08, z: 0.08 },
+            position: Vec3.sum(pos, { x: 0, y: 0.7 + 0.5, z:0 }),
+            dynamic: false,
+            collisionless: true,
+            gravity: { x: 0, y: 0, z: 0 },
+            lifetime: lifetime,
+            parentID: leverID,
+            userData: "{ \"grabbableKey\": { \"grabbable\": false } }"
+        });
+
+        Entities.addAction("cone-twist", baseID, {
+            pivot: { x: 0, y: 0.2, z: 0 },
+            axis: { x: 0, y: 1, z: 0 },
+            otherEntityID: leverID,
+            otherPivot: { x: 0, y: -0.55, z: 0 },
+            otherAxis: { x: 0, y: 1, z: 0 },
+            swingSpan1: Math.PI / 4,
+            swingSpan2: Math.PI / 4,
+            twistSpan: Math.PI / 2,
+            tag: "cone-twist test"
+        });
+
+        Entities.addAction("spring", leverID, {
+            targetRotation: { x: 0, y: 0, z: 0, w: 1 },
+            angularTimeScale: 0.2,
+            tag: "cone-twist test spring"
+        });
+
+
+        Entities.editEntity(baseID, { gravity: { x: 0, y: -5, z: 0 } });
+    }
+
+    function doorVSWorldTest(params) {
+        var pos = Vec3.sum(MyAvatar.position, Vec3.multiplyQbyV(MyAvatar.orientation, {x: 0, y: 0.1, z: -2}));
+        var lifetime = params.lifetime;
+
+        var doorID = Entities.addEntity({
+            name: "door test",
+            type: "Box",
+            color: { blue: 128, green: 20, red: 20 },
+            dimensions: { x: 1.0, y: 2, z: 0.1 },
+            position: pos,
+            dynamic: true,
+            collisionless: false,
+            lifetime: lifetime,
+            gravity: { x: 0, y: 0, z: 0 },
+            userData: "{ \"grabbableKey\": { \"grabbable\": true, \"kinematic\": false } }"
+        });
+
+        Entities.addAction("hinge", doorID, {
+            pivot: { x: -0.5, y: 0, z: 0 },
+            axis: { x: 0, y: 1, z: 0 },
+            low: 0,
+            high: Math.PI,
+            tag: "door hinge test"
+        });
+    }
+
+    function hingeChainTest(params) {
+        var pos = Vec3.sum(MyAvatar.position, Vec3.multiplyQbyV(MyAvatar.orientation, {x: 0, y: 0.1, z: -2}));
+        var lifetime = params.lifetime;
+
+        var offset = 0.28;
+        var prevEntityID = null;
+        for (var i = 0; i < 5; i++) {
+            var newID = Entities.addEntity({
+                name: "hinge test " + i,
+                type: "Box",
+                color: { blue: 128, green: 40 * i, red: 20 },
+                dimensions: { x: 0.2, y: 0.2, z: 0.1 },
+                position: Vec3.sum(pos, {x: 0, y: offset * i, z:0}),
+                dynamic: true,
+                collisionless: false,
+                lifetime: lifetime,
+                gravity: { x: 0, y: 0, z: 0 },
+                userData: "{ \"grabbableKey\": { \"grabbable\": true, \"kinematic\": false } }"
+            });
+            if (prevEntityID) {
+                Entities.addAction("hinge", prevEntityID, {
+                    pivot: { x: 0, y: offset / 2, z: 0 },
+                    axis: { x: 1, y: 0, z: 0 },
+                    otherEntityID: newID,
+                    otherPivot: { x: 0, y: -offset / 2, z: 0 },
+                    otherAxis: { x: 1, y: 0, z: 0 },
+                    tag: "A/B hinge test " + i
+                });
+            }
+            prevEntityID = newID;
+        }
+    }
+
+    function sliderVSWorldTest(params) {
+        var pos = Vec3.sum(MyAvatar.position, Vec3.multiplyQbyV(MyAvatar.orientation, {x: 0, y: 0.1, z: -2}));
+        var lifetime = params.lifetime;
+
+        var sliderEntityID = Entities.addEntity({
+            name: "slider test",
+            type: "Box",
+            color: { blue: 128, green: 20, red: 20 },
+            dimensions: { x: 0.2, y: 0.2, z: 0.2 },
+            position: pos,
+            dynamic: true,
+            collisionless: false,
+            gravity: { x: 0, y: 0, z: 0 },
+            lifetime: lifetime,
+            userData: "{ \"grabbableKey\": { \"grabbable\": true, \"kinematic\": false } }"
+        });
+
+        Entities.addAction("slider", sliderEntityID, {
+            point: { x: -0.5, y: 0, z: 0 },
+            axis: { x: 0, y: 1, z: 0 },
+            linearLow: 0,
+            linearHigh: 0.6,
+            tag: "slider test"
+        });
+    }
+
+    function sliderChainTest(params) {
+        var pos = Vec3.sum(MyAvatar.position, Vec3.multiplyQbyV(MyAvatar.orientation, {x: 0, y: 0.1, z: -2}));
+        var lifetime = params.lifetime;
+
+        var offset = 0.28;
+        var prevEntityID = null;
+        for (var i = 0; i < 7; i++) {
+            var newID = Entities.addEntity({
+                name: "hinge test " + i,
+                type: "Box",
+                color: { blue: 128, green: 40 * i, red: 20 },
+                dimensions: { x: 0.2, y: 0.1, z: 0.2 },
+                position: Vec3.sum(pos, {x: 0, y: offset * i, z:0}),
+                dynamic: true,
+                collisionless: false,
+                gravity: { x: 0, y: 0, z: 0 },
+                lifetime: lifetime,
+                userData: "{ \"grabbableKey\": { \"grabbable\": true, \"kinematic\": false } }"
+            });
+            if (prevEntityID) {
+                Entities.addAction("slider", prevEntityID, {
+                    point: { x: 0, y: 0, z: 0 },
+                    axis: { x: 0, y: 1, z: 0 },
+                    otherEntityID: newID,
+                    otherPoint: { x: 0, y: -offset / 2, z: 0 },
+                    otherAxis: { x: 0, y: 1, z: 0 },
+                    linearLow: 0,
+                    linearHigh: 0.6,
+                    tag: "A/B slider test " + i
+                });
+            }
+            prevEntityID = newID;
+        }
+    }
+
+    function ballSocketBetweenTest(params) {
+        var pos = Vec3.sum(MyAvatar.position, Vec3.multiplyQbyV(MyAvatar.orientation, {x: 0, y: 0.1, z: -2}));
+        var lifetime = params.lifetime;
+
+        var offset = 0.2;
+        var diameter = offset - 0.01;
+        var prevEntityID = null;
+        for (var i = 0; i < 7; i++) {
+            var newID = Entities.addEntity({
+                name: "ball and socket test " + i,
+                type: "Sphere",
+                color: { blue: 128, green: 40 * i, red: 20 },
+                dimensions: { x: diameter, y: diameter, z: diameter },
+                position: Vec3.sum(pos, {x: 0, y: offset * i, z:0}),
+                dynamic: true,
+                collisionless: false,
+                lifetime: lifetime,
+                gravity: { x: 0, y: 0, z: 0 },
+                userData: "{ \"grabbableKey\": { \"grabbable\": true, \"kinematic\": false } }"
+            });
+            if (prevEntityID) {
+                Entities.addAction("ball-socket", prevEntityID, {
+                    pivot: { x: 0, y: offset / 2, z: 0 },
+                    otherEntityID: newID,
+                    otherPivot: { x: 0, y: -offset / 2, z: 0 },
+                    tag: "A/B ball-and-socket test " + i
+                });
+            }
+            prevEntityID = newID;
+        }
+    }
+
+    function ballSocketCoincidentTest(params) {
+        var pos = Vec3.sum(MyAvatar.position, Vec3.multiplyQbyV(MyAvatar.orientation, {x: 0, y: 0.1, z: -2}));
+        var lifetime = params.lifetime;
+
+        var offset = 0.2;
+        var diameter = offset - 0.01;
+        var prevEntityID = null;
+        for (var i = 0; i < 7; i++) {
+            var newID = Entities.addEntity({
+                name: "ball and socket test " + i,
+                type: "Sphere",
+                color: { blue: 128, green: 40 * i, red: 20 },
+                dimensions: { x: diameter, y: diameter, z: diameter },
+                position: Vec3.sum(pos, {x: 0, y: offset * i, z:0}),
+                dynamic: true,
+                collisionless: false,
+                lifetime: lifetime,
+                gravity: { x: 0, y: 0, z: 0 },
+                userData: "{ \"grabbableKey\": { \"grabbable\": true, \"kinematic\": false } }"
+            });
+            if (prevEntityID) {
+                Entities.addAction("ball-socket", prevEntityID, {
+                    pivot: { x: 0, y: 0, z: 0 },
+                    otherEntityID: newID,
+                    otherPivot: { x: 0, y: offset, z: 0 },
+                    tag: "A/B ball-and-socket test " + i
+                });
+            }
+            prevEntityID = newID;
+        }
+    }
+
+    function ragdollTest(params) {
+        var scale = 1.6;
+        var lifetime = params.lifetime;
+        var pos = Vec3.sum(MyAvatar.position, Vec3.multiplyQbyV(MyAvatar.orientation, {x: 0, y: 1.0, z: -2}));
+
+        var neckLength = scale * 0.05;
+        var shoulderGap = scale * 0.1;
+        var elbowGap = scale * 0.06;
+        var hipGap = scale * 0.07;
+        var kneeGap = scale * 0.08;
+        var ankleGap = scale * 0.06;
+        var ankleMin = 0;
+        var ankleMax = Math.PI / 4;
+
+        var headSize = scale * 0.2;
+
+        var bodyHeight = scale * 0.4;
+        var bodyWidth = scale * 0.3;
+        var bodyDepth = scale * 0.2;
+
+        var upperArmThickness = scale * 0.05;
+        var upperArmLength = scale * 0.2;
+
+        var lowerArmThickness = scale * 0.05;
+        var lowerArmLength = scale * 0.2;
+
+        var legLength = scale * 0.3;
+        var legThickness = scale * 0.08;
+
+        var shinLength = scale * 0.2;
+        var shinThickness = scale * 0.06;
+
+        var footLength = scale * 0.2;
+        var footThickness = scale * 0.03;
+        var footWidth = scale * 0.08;
+
+
+        //
+        // body
+        //
+
+        var bodyID = Entities.addEntity({
+            name: "ragdoll body",
+            type: "Box",
+            color: { blue: 128, green: 100, red: 20 },
+            dimensions: { x: bodyDepth, y: bodyHeight, z: bodyWidth },
+            position: Vec3.sum(pos, { x: 0, y: scale * 0.0, z:0 }),
+            dynamic: true,
+            collisionless: false,
+            gravity: { x: 0, y: 0, z: 0 },
+            lifetime: lifetime,
+            userData: "{ \"grabbableKey\": { \"grabbable\": true, \"kinematic\": false } }"
+        });
+
+        //
+        // head
+        //
+
+        var headID = Entities.addEntity({
+            name: "ragdoll head",
+            type: "Box",
+            color: { blue: 128, green: 100, red: 20 },
+            dimensions: { x: headSize, y: headSize, z: headSize },
+            position: Vec3.sum(pos, { x: 0, y: bodyHeight / 2 + headSize / 2 + neckLength, z:0 }),
+            dynamic: true,
+            collisionless: false,
+            gravity: { x: 0, y: 0.5, z: 0 },
+            lifetime: lifetime,
+            userData: "{ \"grabbableKey\": { \"grabbable\": true, \"kinematic\": false } }"
+        });
+
+        Entities.addAction("spring", headID, {
+            targetRotation: { x: 0, y: 0, z: 0, w: 1 },
+            angularTimeScale: 2.0,
+            otherID: bodyID,
+            tag: "cone-twist test spring"
+        });
+
+
+        var noseID = Entities.addEntity({
+            name: "ragdoll nose",
+            type: "Box",
+            color: { blue: 128, green: 100, red: 100 },
+            dimensions: { x: headSize / 5, y: headSize / 5, z: headSize / 5 },
+            localPosition: { x: headSize / 2 + headSize / 10, y: 0, z: 0 },
+            dynamic: false,
+            collisionless: true,
+            lifetime: lifetime,
+            parentID: headID,
+            userData: "{ \"grabbableKey\": { \"grabbable\": false } }"
+        });
+
+        Entities.addAction("cone-twist", headID, {
+            pivot: { x: 0, y: -headSize / 2 - neckLength / 2, z: 0 },
+            axis: { x: 0, y: 1, z: 0 },
+            otherEntityID: bodyID,
+            otherPivot: { x: 0, y: bodyHeight / 2 + neckLength / 2, z: 0 },
+            otherAxis: { x: 0, y: 1, z: 0 },
+            swingSpan1: Math.PI / 4,
+            swingSpan2: Math.PI / 4,
+            twistSpan: Math.PI / 2,
+            tag: "ragdoll neck joint"
+        });
+
+        //
+        // right upper arm
+        //
+
+        var rightUpperArmID = Entities.addEntity({
+            name: "ragdoll right arm",
+            type: "Box",
+            color: { blue: 128, green: 100, red: 20 },
+            dimensions: { x: upperArmThickness, y: upperArmThickness, z: upperArmLength },
+            position: Vec3.sum(pos, { x: 0,
+                                      y: bodyHeight / 2 + upperArmThickness / 2,
+                                      z: bodyWidth / 2 + shoulderGap + upperArmLength / 2
+                                    }),
+            dynamic: true,
+            collisionless: false,
+            gravity: { x: 0, y: 0, z: 0 },
+            lifetime: lifetime,
+            userData: "{ \"grabbableKey\": { \"grabbable\": true, \"kinematic\": false } }"
+        });
+
+        Entities.addAction("cone-twist", bodyID, {
+            pivot: { x: 0, y: bodyHeight / 2 + upperArmThickness / 2, z: bodyWidth / 2 + shoulderGap / 2 },
+            axis: { x: 0, y: 0, z: 1 },
+            otherEntityID: rightUpperArmID,
+            otherPivot: { x: 0, y: 0, z: -upperArmLength / 2 - shoulderGap / 2 },
+            otherAxis: { x: 0, y: 0, z: 1 },
+            swingSpan1: Math.PI / 2,
+            swingSpan2: Math.PI / 2,
+            twistSpan: 0,
+            tag: "ragdoll right shoulder joint"
+        });
+
+        //
+        // left upper arm
+        //
+
+        var leftUpperArmID = Entities.addEntity({
+            name: "ragdoll left arm",
+            type: "Box",
+            color: { blue: 128, green: 100, red: 20 },
+            dimensions: { x: upperArmThickness, y: upperArmThickness, z: upperArmLength },
+            position: Vec3.sum(pos, { x: 0,
+                                      y: bodyHeight / 2 + upperArmThickness / 2,
+                                      z: -bodyWidth / 2 - shoulderGap - upperArmLength / 2
+                                    }),
+            dynamic: true,
+            collisionless: false,
+            gravity: { x: 0, y: 0, z: 0 },
+            lifetime: lifetime,
+            userData: "{ \"grabbableKey\": { \"grabbable\": true, \"kinematic\": false } }"
+        });
+
+        Entities.addAction("cone-twist", bodyID, {
+            pivot: { x: 0, y: bodyHeight / 2 + upperArmThickness / 2, z: -bodyWidth / 2 - shoulderGap / 2 },
+            axis: { x: 0, y: 0, z: -1 },
+            otherEntityID: leftUpperArmID,
+            otherPivot: { x: 0, y: 0, z: upperArmLength / 2 + shoulderGap / 2 },
+            otherAxis: { x: 0, y: 0, z: -1 },
+            swingSpan1: Math.PI / 2,
+            swingSpan2: Math.PI / 2,
+            twistSpan: 0,
+            tag: "ragdoll left shoulder joint"
+        });
+
+        //
+        // right lower arm
+        //
+
+        var rightLowerArmID = Entities.addEntity({
+            name: "ragdoll right lower arm",
+            type: "Box",
+            color: { blue: 128, green: 100, red: 20 },
+            dimensions: { x: lowerArmThickness, y: lowerArmThickness, z: lowerArmLength },
+            position: Vec3.sum(pos, { x: 0,
+                                      y: bodyHeight / 2 - upperArmThickness / 2,
+                                      z: bodyWidth / 2 + shoulderGap + upperArmLength + elbowGap + lowerArmLength / 2
+                                    }),
+            dynamic: true,
+            collisionless: false,
+            gravity: { x: 0, y: -1, z: 0 },
+            lifetime: lifetime,
+            userData: "{ \"grabbableKey\": { \"grabbable\": true, \"kinematic\": false } }"
+        });
+
+        Entities.addAction("hinge", rightLowerArmID, {
+            pivot: { x: 0, y: 0, z: -lowerArmLength / 2 - elbowGap / 2 },
+            axis: { x: 0, y: 1, z: 0 },
+            otherEntityID: rightUpperArmID,
+            otherPivot: { x: 0, y: 0, z: upperArmLength / 2 + elbowGap / 2 },
+            otherAxis: { x: 0, y: 1, z: 0 },
+            low: Math.PI / -2,
+            high: 0,
+            tag: "ragdoll right elbow joint"
+        });
+
+        //
+        // left lower arm
+        //
+
+        var leftLowerArmID = Entities.addEntity({
+            name: "ragdoll left lower arm",
+            type: "Box",
+            color: { blue: 128, green: 100, red: 20 },
+            dimensions: { x: lowerArmThickness, y: lowerArmThickness, z: lowerArmLength },
+            position: Vec3.sum(pos, { x: 0,
+                                      y: bodyHeight / 2 - upperArmThickness / 2,
+                                      z: -bodyWidth / 2 - shoulderGap - upperArmLength - elbowGap - lowerArmLength / 2
+                                    }),
+            dynamic: true,
+            collisionless: false,
+            gravity: { x: 0, y: -1, z: 0 },
+            lifetime: lifetime,
+            userData: "{ \"grabbableKey\": { \"grabbable\": true, \"kinematic\": false } }"
+        });
+
+        Entities.addAction("hinge", leftLowerArmID, {
+            pivot: { x: 0, y: 0, z: lowerArmLength / 2 + elbowGap / 2 },
+            axis: { x: 0, y: 1, z: 0 },
+            otherEntityID: leftUpperArmID,
+            otherPivot: { x: 0, y: 0, z: -upperArmLength / 2 - elbowGap / 2 },
+            otherAxis: { x: 0, y: 1, z: 0 },
+            low: 0,
+            high: Math.PI / 2,
+            tag: "ragdoll left elbow joint"
+        });
+
+        //
+        // right leg
+        //
+
+        var rightLegID = Entities.addEntity({
+            name: "ragdoll right arm",
+            type: "Box",
+            color: { blue: 20, green: 200, red: 20 },
+            dimensions: { x: legThickness, y: legLength, z: legThickness },
+            position: Vec3.sum(pos, { x: 0, y: -bodyHeight / 2 - hipGap - legLength / 2, z: bodyWidth / 2 - legThickness / 2 }),
+            dynamic: true,
+            collisionless: false,
+            gravity: { x: 0, y: 0, z: 0 },
+            lifetime: lifetime,
+            userData: "{ \"grabbableKey\": { \"grabbable\": true, \"kinematic\": false } }"
+        });
+
+        Entities.addAction("cone-twist", rightLegID, {
+            pivot: { x: 0, y: legLength / 2 + hipGap / 2, z: 0 },
+            axis: { x: 0, y: 1, z: 0 },
+            otherEntityID: bodyID,
+            otherPivot: { x: 0, y: -bodyHeight / 2 - hipGap / 2, z: bodyWidth / 2 - legThickness / 2 },
+            otherAxis: Vec3.normalize({ x: -1, y: 1, z: 0 }),
+            swingSpan1: Math.PI / 4,
+            swingSpan2: Math.PI / 4,
+            twistSpan: 0,
+            tag: "ragdoll right hip joint"
+        });
+
+        //
+        // left leg
+        //
+
+        var leftLegID = Entities.addEntity({
+            name: "ragdoll left arm",
+            type: "Box",
+            color: { blue: 20, green: 200, red: 20 },
+            dimensions: { x: legThickness, y: legLength, z: legThickness },
+            position: Vec3.sum(pos, { x: 0, y: -bodyHeight / 2 - hipGap - legLength / 2, z: -bodyWidth / 2 + legThickness / 2 }),
+            dynamic: true,
+            collisionless: false,
+            gravity: { x: 0, y: 0, z: 0 },
+            lifetime: lifetime,
+            userData: "{ \"grabbableKey\": { \"grabbable\": true, \"kinematic\": false } }"
+        });
+
+        Entities.addAction("cone-twist", leftLegID, {
+            pivot: { x: 0, y: legLength / 2 + hipGap / 2, z: 0 },
+            axis: { x: 0, y: 1, z: 0 },
+            otherEntityID: bodyID,
+            otherPivot: { x: 0, y: -bodyHeight / 2 - hipGap / 2, z: -bodyWidth / 2 + legThickness / 2 },
+            otherAxis: Vec3.normalize({ x: -1, y: 1, z: 0 }),
+            swingSpan1: Math.PI / 4,
+            swingSpan2: Math.PI / 4,
+            twistSpan: 0,
+            tag: "ragdoll left hip joint"
+        });
+
+        //
+        // right shin
+        //
+
+        var rightShinID = Entities.addEntity({
+            name: "ragdoll right shin",
+            type: "Box",
+            color: { blue: 20, green: 200, red: 20 },
+            dimensions: { x: shinThickness, y: shinLength, z: shinThickness },
+            position: Vec3.sum(pos, { x: 0,
+                                      y: -bodyHeight / 2 - hipGap - legLength - kneeGap - shinLength / 2,
+                                      z: bodyWidth / 2 - legThickness / 2
+                                    }),
+            dynamic: true,
+            collisionless: false,
+            gravity: { x: 0, y: -2, z: 0 },
+            lifetime: lifetime,
+            userData: "{ \"grabbableKey\": { \"grabbable\": true, \"kinematic\": false } }"
+        });
+
+        Entities.addAction("hinge", rightShinID, {
+            pivot: { x: 0, y: shinLength / 2 + kneeGap / 2, z: 0 },
+            axis: { x: 0, y: 0, z: 1 },
+            otherEntityID: rightLegID,
+            otherPivot: { x: 0, y: -legLength / 2 - kneeGap / 2, z: 0 },
+            otherAxis: { x: 0, y: 0, z: 1 },
+            low: 0,
+            high: Math.PI / 2,
+            tag: "ragdoll right knee joint"
+        });
+
+
+        //
+        // left shin
+        //
+
+        var leftShinID = Entities.addEntity({
+            name: "ragdoll left shin",
+            type: "Box",
+            color: { blue: 20, green: 200, red: 20 },
+            dimensions: { x: shinThickness, y: shinLength, z: shinThickness },
+            position: Vec3.sum(pos, { x: 0,
+                                      y: -bodyHeight / 2 - hipGap - legLength - kneeGap - shinLength / 2,
+                                      z: -bodyWidth / 2 + legThickness / 2
+                                    }),
+            dynamic: true,
+            collisionless: false,
+            gravity: { x: 0, y: -2, z: 0 },
+            lifetime: lifetime,
+            userData: "{ \"grabbableKey\": { \"grabbable\": true, \"kinematic\": false } }"
+        });
+
+        Entities.addAction("hinge", leftShinID, {
+            pivot: { x: 0, y: shinLength / 2 + kneeGap / 2, z: 0 },
+            axis: { x: 0, y: 0, z: 1 },
+            otherEntityID: leftLegID,
+            otherPivot: { x: 0, y: -legLength / 2 - kneeGap / 2, z: 0 },
+            otherAxis: { x: 0, y: 0, z: 1 },
+            low: 0,
+            high: Math.PI / 2,
+            tag: "ragdoll left knee joint"
+        });
+
+        //
+        // right foot
+        //
+
+        var rightFootID = Entities.addEntity({
+            name: "ragdoll right foot",
+            type: "Box",
+            color: { blue: 128, green: 100, red: 20 },
+            dimensions: { x: footLength, y: footThickness, z: footWidth },
+            position: Vec3.sum(pos, { x: -shinThickness / 2 + footLength / 2,
+                                      y: -bodyHeight / 2 - hipGap - legLength - kneeGap - shinLength - ankleGap - footThickness / 2,
+                                      z: bodyWidth / 2 - legThickness / 2
+                                    }),
+            dynamic: true,
+            collisionless: false,
+            gravity: { x: 0, y: -5, z: 0 },
+            lifetime: lifetime,
+            userData: "{ \"grabbableKey\": { \"grabbable\": true, \"kinematic\": false } }"
+        });
+
+        Entities.addAction("hinge", rightFootID, {
+            pivot: { x: -footLength / 2 + shinThickness / 2, y: ankleGap / 2, z: 0 },
+            axis: { x: 0, y: 0, z: 1 },
+            otherEntityID: rightShinID,
+            otherPivot: { x: 0, y: -shinLength / 2 - ankleGap / 2, z: 0 },
+            otherAxis: { x: 0, y: 0, z: 1 },
+            low: ankleMin,
+            high: ankleMax,
+            tag: "ragdoll right ankle joint"
+        });
+
+        //
+        // left foot
+        //
+
+        var leftFootID = Entities.addEntity({
+            name: "ragdoll left foot",
+            type: "Box",
+            color: { blue: 128, green: 100, red: 20 },
+            dimensions: { x: footLength, y: footThickness, z: footWidth },
+            position: Vec3.sum(pos, { x: -shinThickness / 2 + footLength / 2,
+                                      y: -bodyHeight / 2 - hipGap - legLength - kneeGap - shinLength - ankleGap - footThickness / 2,
+                                      z: bodyWidth / 2 - legThickness / 2
+                                    }),
+            dynamic: true,
+            collisionless: false,
+            gravity: { x: 0, y: -5, z: 0 },
+            lifetime: lifetime,
+            userData: "{ \"grabbableKey\": { \"grabbable\": true, \"kinematic\": false } }"
+        });
+
+        Entities.addAction("hinge", leftFootID, {
+            pivot: { x: -footLength / 2 + shinThickness / 2, y: ankleGap / 2, z: 0 },
+            axis: { x: 0, y: 0, z: 1 },
+            otherEntityID: leftShinID,
+            otherPivot: { x: 0, y: -shinLength / 2 - ankleGap / 2, z: 0 },
+            otherAxis: { x: 0, y: 0, z: 1 },
+            low: ankleMin,
+            high: ankleMax,
+            tag: "ragdoll left ankle joint"
+        });
+
+    }
+
+    function onWebEventReceived(eventString) {
+        print("received web event: " + JSON.stringify(eventString));
+        if (typeof eventString === "string") {
+            var event;
+            try {
+                event = JSON.parse(eventString);
+            } catch(e) {
+                return;
+            }
+
+            if (event["dynamics-tests-command"]) {
+                var commandToFunctionMap = {
+                    "cone-twist-and-spring-lever-test": coneTwistAndSpringLeverTest,
+                    "door-vs-world-test": doorVSWorldTest,
+                    "hinge-chain-test": hingeChainTest,
+                    "slider-vs-world-test": sliderVSWorldTest,
+                    "slider-chain-test": sliderChainTest,
+                    "ball-socket-between-test": ballSocketBetweenTest,
+                    "ball-socket-coincident-test": ballSocketCoincidentTest,
+                    "ragdoll-test": ragdollTest
+                };
+
+                var cmd = event["dynamics-tests-command"];
+                if (commandToFunctionMap.hasOwnProperty(cmd)) {
+                    var func = commandToFunctionMap[cmd];
+                    func(event);
+                }
+            }
+        }
+    }
+
+
+    var onDynamicsTestsScreen = false;
+    var shouldActivateButton = false;
+
+    function onClicked() {
+        if (onDynamicsTestsScreen) {
+            tablet.gotoHomeScreen();
+        } else {
+            shouldActivateButton = true;
+            tablet.gotoWebScreen(DYNAMICS_TESTS_URL +
+                                 "?lifetime=" + DEFAULT_LIFETIME.toString()
+                                );
+            onDynamicsTestsScreen = true;
+        }
+    }
+
+    function onScreenChanged() {
+        // for toolbar mode: change button to active when window is first openend, false otherwise.
+        button.editProperties({isActive: shouldActivateButton});
+        shouldActivateButton = false;
+        onDynamicsTestsScreen = shouldActivateButton;
+    }
+
+    function cleanup() {
+        button.clicked.disconnect(onClicked);
+        tablet.removeButton(button);
+    }
+
+    button.clicked.connect(onClicked);
+    tablet.webEventReceived.connect(onWebEventReceived);
+    tablet.screenChanged.connect(onScreenChanged);
+    Script.scriptEnding.connect(cleanup);
+}()); // END LOCAL_SCOPE

scripts/developer/tests/dynamics/dynamicsTests.svg

@@ -0,0 +1,69 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<!-- Created with Inkscape (http://www.inkscape.org/) -->
+
+<svg
+   xmlns:dc="http://purl.org/dc/elements/1.1/"
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