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expose other hinge-constraint parameters to javascript

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This commit is contained in:
Seth Alves 2017-04-14 13:28:25 -07:00
parent d17d12446b
commit 07b23b8235
2 changed files with 109 additions and 23 deletions
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126
libraries/physics/src/ObjectConstraintHinge.cpp
View file

@ -55,6 +55,11 @@ btTypedConstraint* ObjectConstraintHinge::getConstraint() {
glm::vec3 axisInA;
glm::vec3 pivotInB;
glm::vec3 axisInB;
float low;
float high;
float softness;
float biasFactor;
float relaxationFactor;
withReadLock([&]{
constraint = static_cast<btHingeConstraint*>(_constraint);
@ -63,6 +68,11 @@ btTypedConstraint* ObjectConstraintHinge::getConstraint() {
otherEntityID = _otherEntityID;
pivotInB = _pivotInB;
axisInB = _axisInB;
low = _low;
high = _high;
softness = _softness;
biasFactor = _biasFactor;
relaxationFactor = _relaxationFactor;
});
if (constraint) {
return constraint;
@ -90,29 +100,22 @@ btTypedConstraint* ObjectConstraintHinge::getConstraint() {
rigidBodyAFrame, rigidBodyBFrame,
useReferenceFrameA);
btVector3 bulletAxisInA = glmToBullet(axisInA);
constraint->setAxis(bulletAxisInA);
withWriteLock([&]{
_constraint = constraint;
});
return constraint;
} else {
// This hinge is between an entity and the world-frame.
btTransform rigidBodyAFrame(btQuaternion(0.0f, 0.0f, 0.0f, 1.0f), glmToBullet(pivotInA));
constraint = new btHingeConstraint(*rigidBodyA, rigidBodyAFrame, useReferenceFrameA);
// constraint->setAngularOnly(true);
btVector3 bulletAxisInA = glmToBullet(axisInA);
constraint->setAxis(bulletAxisInA);
withWriteLock([&]{
_constraint = constraint;
});
return constraint;
}
btVector3 bulletAxisInA = glmToBullet(axisInA);
constraint->setAxis(bulletAxisInA);
constraint->setLimit(low, high, softness, biasFactor, relaxationFactor);
withWriteLock([&]{
_constraint = constraint;
});
return constraint;
}
@ -122,6 +125,13 @@ bool ObjectConstraintHinge::updateArguments(QVariantMap arguments) {
QUuid otherEntityID;
glm::vec3 pivotInB;
glm::vec3 axisInB;
float low;
float high;
float softness;
float biasFactor;
float relaxationFactor;
float angle;
float angleSet { false };
bool needUpdate = false;
bool somethingChanged = ObjectDynamic::updateArguments(arguments);
@ -157,11 +167,55 @@ bool ObjectConstraintHinge::updateArguments(QVariantMap arguments) {
axisInB = _axisInB;
}
ok = true;
low = EntityDynamicInterface::extractFloatArgument("hinge constraint", arguments, "low", ok, false);
if (!ok) {
low = _low;
}
ok = true;
high = EntityDynamicInterface::extractFloatArgument("hinge constraint", arguments, "high", ok, false);
if (!ok) {
high = _high;
}
ok = true;
softness = EntityDynamicInterface::extractFloatArgument("hinge constraint", arguments, "softness", ok, false);
if (!ok) {
softness = _softness;
}
ok = true;
biasFactor = EntityDynamicInterface::extractFloatArgument("hinge constraint", arguments, "biasFactor", ok, false);
if (!ok) {
biasFactor = _biasFactor;
}
ok = true;
relaxationFactor = EntityDynamicInterface::extractFloatArgument("hinge constraint", arguments,
"relaxationFactor", ok, false);
if (!ok) {
relaxationFactor = _relaxationFactor;
}
ok = true;
angle = EntityDynamicInterface::extractFloatArgument("hinge constraint", arguments, "angle", ok, false);
if (ok) {
angleSet = true;
}
if (somethingChanged ||
pivotInA != _pivotInA ||
axisInA != _axisInA ||
pivotInB != _pivotInB ||
axisInB != _axisInB) {
axisInB != _axisInB ||
low != _low ||
high != _high ||
softness != _softness ||
biasFactor != _biasFactor ||
relaxationFactor != _relaxationFactor ||
angleSet) {
// something changed
needUpdate = true;
}
@ -174,6 +228,11 @@ bool ObjectConstraintHinge::updateArguments(QVariantMap arguments) {
_otherEntityID = otherEntityID;
_pivotInB = pivotInB;
_axisInB = axisInB;
_low = low;
_high = high;
_softness = softness;
_biasFactor = biasFactor;
_relaxationFactor = relaxationFactor;
_active = true;
@ -182,6 +241,8 @@ bool ObjectConstraintHinge::updateArguments(QVariantMap arguments) {
ownerEntity->setDynamicDataDirty(true);
ownerEntity->setDynamicDataNeedsTransmit(true);
}
// _constraint->setAngle(angle);
});
// activateBody();
}
@ -192,11 +253,19 @@ bool ObjectConstraintHinge::updateArguments(QVariantMap arguments) {
QVariantMap ObjectConstraintHinge::getArguments() {
QVariantMap arguments = ObjectDynamic::getArguments();
withReadLock([&] {
arguments["pivot"] = glmToQMap(_pivotInA);
arguments["axis"] = glmToQMap(_axisInA);
arguments["otherEntityID"] = _otherEntityID;
arguments["otherPivot"] = glmToQMap(_pivotInB);
arguments["otherAxis"] = glmToQMap(_axisInB);
if (_constraint) {
arguments["pivot"] = glmToQMap(_pivotInA);
arguments["axis"] = glmToQMap(_axisInA);
arguments["otherEntityID"] = _otherEntityID;
arguments["otherPivot"] = glmToQMap(_pivotInB);
arguments["otherAxis"] = glmToQMap(_axisInB);
arguments["low"] = _low;
arguments["high"] = _high;
arguments["softness"] = _softness;
arguments["biasFactor"] = _biasFactor;
arguments["relaxationFactor"] = _relaxationFactor;
arguments["angle"] = static_cast<btHingeConstraint*>(_constraint)->getHingeAngle(); // [-PI,PI]
}
});
return arguments;
}
@ -215,6 +284,12 @@ QByteArray ObjectConstraintHinge::serialize() const {
dataStream << _otherEntityID;
dataStream << _pivotInB;
dataStream << _axisInB;
dataStream << _low;
dataStream << _high;
dataStream << _softness;
dataStream << _biasFactor;
dataStream << _relaxationFactor;
dataStream << localTimeToServerTime(_expires);
dataStream << _tag;
});
@ -246,6 +321,11 @@ void ObjectConstraintHinge::deserialize(QByteArray serializedArguments) {
dataStream >> _otherEntityID;
dataStream >> _pivotInB;
dataStream >> _axisInB;
dataStream >> _low;
dataStream >> _high;
dataStream >> _softness;
dataStream >> _biasFactor;
dataStream >> _relaxationFactor;
quint64 serverExpires;
dataStream >> serverExpires;

6
libraries/physics/src/ObjectConstraintHinge.h
View file

@ -39,6 +39,12 @@ protected:
EntityItemID _otherEntityID;
glm::vec3 _pivotInB;
glm::vec3 _axisInB;
float _low { -2 * PI };
float _high { 2 * PI };
float _softness { 0.9f };
float _biasFactor { 0.3f };
float _relaxationFactor { 1.0f };
};
#endif // hifi_ObjectConstraintHinge_h