From 769194f046fd35d00070782b1ab911e4ea2bfaa3 Mon Sep 17 00:00:00 2001
From: Seth Alves <seth.alves@gmail.com>
Date: Fri, 20 Mar 2015 13:41:14 -0700
Subject: [PATCH 01/14] first stab at compound hull collisions

---
 .../src/RenderableModelEntityItem.cpp         |  9 ++++---
 .../src/RenderableModelEntityItem.h           |  2 +-
 libraries/physics/src/ShapeInfoUtil.cpp       | 24 +++++++++++++++----
 libraries/shared/src/ShapeInfo.cpp            |  2 +-
 libraries/shared/src/ShapeInfo.h              |  8 +++----
 5 files changed, 31 insertions(+), 14 deletions(-)

diff --git a/libraries/entities-renderer/src/RenderableModelEntityItem.cpp b/libraries/entities-renderer/src/RenderableModelEntityItem.cpp
index d4eefc0986..6d32b78689 100644
--- a/libraries/entities-renderer/src/RenderableModelEntityItem.cpp
+++ b/libraries/entities-renderer/src/RenderableModelEntityItem.cpp
@@ -295,12 +295,13 @@ void RenderableModelEntityItem::computeShapeInfo(ShapeInfo& info) {
         const FBXGeometry& fbxGeometry = collisionNetworkGeometry->getFBXGeometry();
 
         _points.clear();
+        unsigned int i = 0;
         foreach (const FBXMesh& mesh, fbxGeometry.meshes) {
-            _points << mesh.vertices;
+            _points[i++] << mesh.vertices;
         }
 
         info.setParams(getShapeType(), 0.5f * getDimensions(), _collisionModelURL);
-        info.setConvexHull(_points);
+        info.setConvexHulls(_points);
     }
 }
 
@@ -308,7 +309,9 @@ ShapeType RenderableModelEntityItem::getShapeType() const {
     // XXX make hull an option in edit.js ?
     if (!_model || _model->getCollisionURL().isEmpty()) {
         return _shapeType;
-    } else {
+    } else if (_points.size() == 1) {
         return SHAPE_TYPE_CONVEX_HULL;
+    } else {
+        return SHAPE_TYPE_COMPOUND;
     }
 }
diff --git a/libraries/entities-renderer/src/RenderableModelEntityItem.h b/libraries/entities-renderer/src/RenderableModelEntityItem.h
index f02dd537fb..63249f136c 100644
--- a/libraries/entities-renderer/src/RenderableModelEntityItem.h
+++ b/libraries/entities-renderer/src/RenderableModelEntityItem.h
@@ -66,7 +66,7 @@ private:
     QString _currentTextures;
     QStringList _originalTextures;
     bool _originalTexturesRead;
-    QVector<glm::vec3> _points;
+    QVector<QVector<glm::vec3>> _points;
 };
 
 #endif // hifi_RenderableModelEntityItem_h
diff --git a/libraries/physics/src/ShapeInfoUtil.cpp b/libraries/physics/src/ShapeInfoUtil.cpp
index 116be984b9..2f7c0c59bd 100644
--- a/libraries/physics/src/ShapeInfoUtil.cpp
+++ b/libraries/physics/src/ShapeInfoUtil.cpp
@@ -70,12 +70,12 @@ void ShapeInfoUtil::collectInfoFromShape(const btCollisionShape* shape, ShapeInf
                 const btConvexHullShape* convexHullShape = static_cast<const btConvexHullShape*>(shape);
                 const int numPoints = convexHullShape->getNumPoints();
                 const btVector3* btPoints = convexHullShape->getUnscaledPoints();
-                QVector<glm::vec3> points;
+                QVector<QVector<glm::vec3>> points;
                 for (int i = 0; i < numPoints; i++) {
                     glm::vec3 point(btPoints->getX(), btPoints->getY(), btPoints->getZ());
-                    points << point;
+                    points[0] << point;
                 }
-                info.setConvexHull(points);
+                info.setConvexHulls(points);
             }
             break;
             default: {
@@ -109,13 +109,27 @@ btCollisionShape* ShapeInfoUtil::createShapeFromInfo(const ShapeInfo& info) {
         break;
         case SHAPE_TYPE_CONVEX_HULL: {
             shape = new btConvexHullShape();
-            const QVector<glm::vec3>& points = info.getPoints();
-            foreach (glm::vec3 point, points) {
+            const QVector<QVector<glm::vec3>>& points = info.getPoints();
+            foreach (glm::vec3 point, points[0]) {
                 btVector3 btPoint(point[0], point[1], point[2]);
                 static_cast<btConvexHullShape*>(shape)->addPoint(btPoint);
             }
         }
         break;
+        case SHAPE_TYPE_COMPOUND: {
+            shape = new btCompoundShape();
+            const QVector<QVector<glm::vec3>>& points = info.getPoints();
+            foreach (QVector<glm::vec3> hullPoints, info.getPoints()) {
+                auto hull = new btConvexHullShape();
+                foreach (glm::vec3 point, hullPoints) {
+                    btVector3 btPoint(point[0], point[1], point[2]);
+                    hull->addPoint(btPoint);
+                }
+                btTransform trans;
+                static_cast<btCompoundShape*>(shape)->addChildShape (trans, hull);
+            }
+        }
+        break;
     }
     return shape;
 }
diff --git a/libraries/shared/src/ShapeInfo.cpp b/libraries/shared/src/ShapeInfo.cpp
index 61432830e7..afa19bcd24 100644
--- a/libraries/shared/src/ShapeInfo.cpp
+++ b/libraries/shared/src/ShapeInfo.cpp
@@ -64,7 +64,7 @@ void ShapeInfo::setEllipsoid(const glm::vec3& halfExtents) {
     _doubleHashKey.clear();
 }
 
-void ShapeInfo::setConvexHull(const QVector<glm::vec3>& points) {
+void ShapeInfo::setConvexHulls(const QVector<QVector<glm::vec3>>& points) {
     _type = SHAPE_TYPE_CONVEX_HULL;
     _points = points;
 }
diff --git a/libraries/shared/src/ShapeInfo.h b/libraries/shared/src/ShapeInfo.h
index 0a55f7c51d..4dce121d64 100644
--- a/libraries/shared/src/ShapeInfo.h
+++ b/libraries/shared/src/ShapeInfo.h
@@ -44,14 +44,14 @@ public:
     void setBox(const glm::vec3& halfExtents);
     void setSphere(float radius);
     void setEllipsoid(const glm::vec3& halfExtents);
-    void setConvexHull(const QVector<glm::vec3>& points);
+    void setConvexHulls(const QVector<QVector<glm::vec3>>& points);
     void setCapsuleY(float radius, float halfHeight);
 
     const int getType() const { return _type; }
 
     const glm::vec3& getHalfExtents() const { return _halfExtents; }
 
-    const QVector<glm::vec3>& getPoints() const { return _points; }
+    const QVector<QVector<glm::vec3>>& getPoints() const { return _points; }
 
     void clearPoints () { _points.clear(); }
     void appendToPoints (const QVector<glm::vec3>& newPoints) { _points << newPoints; }
@@ -64,8 +64,8 @@ protected:
     ShapeType _type = SHAPE_TYPE_NONE;
     glm::vec3 _halfExtents = glm::vec3(0.0f);
     DoubleHashKey _doubleHashKey;
-    QVector<glm::vec3> _points; // points for convex collision hull
-    QUrl _url; // url for model of convex collision hull
+    QVector<QVector<glm::vec3>> _points; // points for convex collision hulls
+    QUrl _url; // url for model of convex collision hulls
 };
 
 #endif // hifi_ShapeInfo_h

From 86d09a1607a2fee57fee73c2a01026be71560620 Mon Sep 17 00:00:00 2001
From: Seth Alves <seth.alves@gmail.com>
Date: Sat, 21 Mar 2015 08:55:49 -0700
Subject: [PATCH 02/14] more compound shape stuff

---
 .../src/RenderableModelEntityItem.cpp         |  2 ++
 libraries/physics/src/ShapeInfoUtil.cpp       | 26 +++++++++++++++++++
 2 files changed, 28 insertions(+)

diff --git a/libraries/entities-renderer/src/RenderableModelEntityItem.cpp b/libraries/entities-renderer/src/RenderableModelEntityItem.cpp
index 6d32b78689..fed01883bd 100644
--- a/libraries/entities-renderer/src/RenderableModelEntityItem.cpp
+++ b/libraries/entities-renderer/src/RenderableModelEntityItem.cpp
@@ -297,6 +297,8 @@ void RenderableModelEntityItem::computeShapeInfo(ShapeInfo& info) {
         _points.clear();
         unsigned int i = 0;
         foreach (const FBXMesh& mesh, fbxGeometry.meshes) {
+            QVector<glm::vec3> newMeshPoints;
+            _points << newMeshPoints;
             _points[i++] << mesh.vertices;
         }
 
diff --git a/libraries/physics/src/ShapeInfoUtil.cpp b/libraries/physics/src/ShapeInfoUtil.cpp
index 2f7c0c59bd..a5834f407a 100644
--- a/libraries/physics/src/ShapeInfoUtil.cpp
+++ b/libraries/physics/src/ShapeInfoUtil.cpp
@@ -29,6 +29,9 @@ int ShapeInfoUtil::toBulletShapeType(int shapeInfoType) {
         case SHAPE_TYPE_CONVEX_HULL:
             bulletShapeType = CONVEX_HULL_SHAPE_PROXYTYPE;
             break;
+        case SHAPE_TYPE_COMPOUND:
+            bulletShapeType = COMPOUND_SHAPE_PROXYTYPE;
+            break;
     }
     return bulletShapeType;
 }
@@ -48,6 +51,9 @@ int ShapeInfoUtil::fromBulletShapeType(int bulletShapeType) {
         case CONVEX_HULL_SHAPE_PROXYTYPE:
             shapeInfoType = SHAPE_TYPE_CONVEX_HULL;
             break;
+        case COMPOUND_SHAPE_PROXYTYPE:
+            shapeInfoType = SHAPE_TYPE_COMPOUND;
+            break;
     }
     return shapeInfoType;
 }
@@ -78,6 +84,26 @@ void ShapeInfoUtil::collectInfoFromShape(const btCollisionShape* shape, ShapeInf
                 info.setConvexHulls(points);
             }
             break;
+            case SHAPE_TYPE_COMPOUND: {
+                const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(shape);
+                const int numChildShapes = compoundShape->getNumChildShapes();
+                QVector<QVector<glm::vec3>> points;
+                for (int i = 0; i < numChildShapes; i ++) {
+                    const btCollisionShape* childShape = compoundShape->getChildShape(i);
+                    const btConvexHullShape* convexHullShape = static_cast<const btConvexHullShape*>(childShape);
+                    const int numPoints = convexHullShape->getNumPoints();
+                    const btVector3* btPoints = convexHullShape->getUnscaledPoints();
+
+                    QVector<glm::vec3> childPoints;
+                    for (int j = 0; j < numPoints; j++) {
+                        glm::vec3 point(btPoints->getX(), btPoints->getY(), btPoints->getZ());
+                        childPoints << point;
+                    }
+                    points << childPoints;
+                }
+                info.setConvexHulls(points);
+            }
+            break;
             default: {
                 info.clear();
             }

From bfc5cf99d6ef92de7ee6734394483fa90a416b95 Mon Sep 17 00:00:00 2001
From: Seth Alves <seth.alves@gmail.com>
Date: Sat, 21 Mar 2015 16:11:47 -0700
Subject: [PATCH 03/14] more code for compound hull collisions

---
 .../src/RenderableModelEntityItem.cpp         | 31 +++++++++++++++++--
 libraries/physics/src/ShapeInfoUtil.cpp       | 12 +++++++
 libraries/shared/src/ShapeInfo.cpp            | 10 +++++-
 3 files changed, 49 insertions(+), 4 deletions(-)

diff --git a/libraries/entities-renderer/src/RenderableModelEntityItem.cpp b/libraries/entities-renderer/src/RenderableModelEntityItem.cpp
index fed01883bd..86332c8c07 100644
--- a/libraries/entities-renderer/src/RenderableModelEntityItem.cpp
+++ b/libraries/entities-renderer/src/RenderableModelEntityItem.cpp
@@ -297,9 +297,34 @@ void RenderableModelEntityItem::computeShapeInfo(ShapeInfo& info) {
         _points.clear();
         unsigned int i = 0;
         foreach (const FBXMesh& mesh, fbxGeometry.meshes) {
-            QVector<glm::vec3> newMeshPoints;
-            _points << newMeshPoints;
-            _points[i++] << mesh.vertices;
+
+            foreach (const FBXMeshPart &meshPart, mesh.parts) {
+                QVector<glm::vec3> pointsInPart;
+                unsigned int triangleCount = meshPart.triangleIndices.size() / 3;
+                for (unsigned int i = 0; i < triangleCount; i++) {
+                    unsigned int p0Index = meshPart.triangleIndices[i*3];
+                    unsigned int p1Index = meshPart.triangleIndices[i*3+1];
+                    unsigned int p2Index = meshPart.triangleIndices[i*3+2];
+
+                    glm::vec3 p0 = mesh.vertices[p0Index];
+                    glm::vec3 p1 = mesh.vertices[p1Index];
+                    glm::vec3 p2 = mesh.vertices[p2Index];
+
+                    if (!pointsInPart.contains(p0)) {
+                        pointsInPart << p0;
+                    }
+                    if (!pointsInPart.contains(p1)) {
+                        pointsInPart << p1;
+                    }
+                    if (!pointsInPart.contains(p2)) {
+                        pointsInPart << p2;
+                    }
+                }
+
+                QVector<glm::vec3> newMeshPoints;
+                _points << newMeshPoints;
+                _points[i++] << pointsInPart;
+            }
         }
 
         info.setParams(getShapeType(), 0.5f * getDimensions(), _collisionModelURL);
diff --git a/libraries/physics/src/ShapeInfoUtil.cpp b/libraries/physics/src/ShapeInfoUtil.cpp
index a5834f407a..b48bff763c 100644
--- a/libraries/physics/src/ShapeInfoUtil.cpp
+++ b/libraries/physics/src/ShapeInfoUtil.cpp
@@ -116,6 +116,9 @@ void ShapeInfoUtil::collectInfoFromShape(const btCollisionShape* shape, ShapeInf
 
 btCollisionShape* ShapeInfoUtil::createShapeFromInfo(const ShapeInfo& info) {
     btCollisionShape* shape = NULL;
+
+    qDebug() << "\n\nHERE" << info.getType();
+
     switch(info.getType()) {
         case SHAPE_TYPE_BOX: {
             shape = new btBoxShape(glmToBullet(info.getHalfExtents()));
@@ -145,8 +148,14 @@ btCollisionShape* ShapeInfoUtil::createShapeFromInfo(const ShapeInfo& info) {
         case SHAPE_TYPE_COMPOUND: {
             shape = new btCompoundShape();
             const QVector<QVector<glm::vec3>>& points = info.getPoints();
+
+            qDebug() << "\n\nSHAPE_TYPE_COMPOUND" << info.getPoints().size() << "hulls.";
+
             foreach (QVector<glm::vec3> hullPoints, info.getPoints()) {
                 auto hull = new btConvexHullShape();
+
+                qDebug() << "    SHAPE_TYPE_COMPOUND" << hullPoints.size() << "points in hull.";
+
                 foreach (glm::vec3 point, hullPoints) {
                     btVector3 btPoint(point[0], point[1], point[2]);
                     hull->addPoint(btPoint);
@@ -155,6 +164,9 @@ btCollisionShape* ShapeInfoUtil::createShapeFromInfo(const ShapeInfo& info) {
                 static_cast<btCompoundShape*>(shape)->addChildShape (trans, hull);
             }
         }
+
+        qDebug() << "DONE, getNumChildShapes =" << static_cast<btCompoundShape*>(shape)->getNumChildShapes();
+
         break;
     }
     return shape;
diff --git a/libraries/shared/src/ShapeInfo.cpp b/libraries/shared/src/ShapeInfo.cpp
index afa19bcd24..09677cf36c 100644
--- a/libraries/shared/src/ShapeInfo.cpp
+++ b/libraries/shared/src/ShapeInfo.cpp
@@ -40,6 +40,10 @@ void ShapeInfo::setParams(ShapeType type, const glm::vec3& halfExtents, QString
             _url = QUrl(url);
             _halfExtents = halfExtents;
             break;
+        case SHAPE_TYPE_COMPOUND:
+            _url = QUrl(url);
+            _halfExtents = halfExtents;
+            break;
         default:
             _halfExtents = halfExtents;
             break;
@@ -65,7 +69,11 @@ void ShapeInfo::setEllipsoid(const glm::vec3& halfExtents) {
 }
 
 void ShapeInfo::setConvexHulls(const QVector<QVector<glm::vec3>>& points) {
-    _type = SHAPE_TYPE_CONVEX_HULL;
+    if (points.size() == 1) {
+        _type = SHAPE_TYPE_CONVEX_HULL;
+    } else {
+        _type = SHAPE_TYPE_COMPOUND;
+    }
     _points = points;
 }
 

From f31ac8b968238f795e9c6b4f18f44122a757f0a9 Mon Sep 17 00:00:00 2001
From: Seth Alves <seth.alves@gmail.com>
Date: Mon, 23 Mar 2015 15:10:28 -0700
Subject: [PATCH 04/14] compound covex hull collisions work

---
 libraries/physics/src/ShapeInfoUtil.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/libraries/physics/src/ShapeInfoUtil.cpp b/libraries/physics/src/ShapeInfoUtil.cpp
index b48bff763c..07fedb35ad 100644
--- a/libraries/physics/src/ShapeInfoUtil.cpp
+++ b/libraries/physics/src/ShapeInfoUtil.cpp
@@ -161,6 +161,7 @@ btCollisionShape* ShapeInfoUtil::createShapeFromInfo(const ShapeInfo& info) {
                     hull->addPoint(btPoint);
                 }
                 btTransform trans;
+                trans.setIdentity();
                 static_cast<btCompoundShape*>(shape)->addChildShape (trans, hull);
             }
         }

From c8ad82917e974d23c08d9732e8195cee0fc6d0e4 Mon Sep 17 00:00:00 2001
From: Seth Alves <seth.alves@gmail.com>
Date: Mon, 23 Mar 2015 16:54:36 -0700
Subject: [PATCH 05/14] clean up some debugging spew.  take dimensions into
 account when scaling points used for collision hull creation

---
 .../src/RenderableModelEntityItem.cpp         | 47 +++++++++++++++++--
 .../src/RenderableModelEntityItem.h           |  2 +
 libraries/entities/src/EntityItem.h           | 11 ++++-
 libraries/physics/src/ShapeInfoUtil.cpp       | 15 ++----
 libraries/shared/src/ShapeInfo.cpp            |  7 +++
 5 files changed, 64 insertions(+), 18 deletions(-)

diff --git a/libraries/entities-renderer/src/RenderableModelEntityItem.cpp b/libraries/entities-renderer/src/RenderableModelEntityItem.cpp
index 86332c8c07..bb3f00d154 100644
--- a/libraries/entities-renderer/src/RenderableModelEntityItem.cpp
+++ b/libraries/entities-renderer/src/RenderableModelEntityItem.cpp
@@ -266,6 +266,14 @@ bool RenderableModelEntityItem::findDetailedRayIntersection(const glm::vec3& ori
     return _model->findRayIntersectionAgainstSubMeshes(origin, direction, distance, face, extraInfo, precisionPicking);
 }
 
+void RenderableModelEntityItem::updateDimensions(const glm::vec3& value) {
+    if (glm::distance(_dimensions, value) > MIN_DIMENSIONS_DELTA) {
+        _dimensions = value;
+        _dirtyFlags |= (EntityItem::DIRTY_SHAPE | EntityItem::DIRTY_MASS);
+    }
+    _model->setScaleToFit(true, _dimensions);
+}
+
 bool RenderableModelEntityItem::isReadyToComputeShape() {
 
     if (!_model) {
@@ -294,6 +302,7 @@ void RenderableModelEntityItem::computeShapeInfo(ShapeInfo& info) {
         const QSharedPointer<NetworkGeometry> collisionNetworkGeometry = _model->getCollisionGeometry();
         const FBXGeometry& fbxGeometry = collisionNetworkGeometry->getFBXGeometry();
 
+        AABox aaBox;
         _points.clear();
         unsigned int i = 0;
         foreach (const FBXMesh& mesh, fbxGeometry.meshes) {
@@ -301,15 +310,29 @@ void RenderableModelEntityItem::computeShapeInfo(ShapeInfo& info) {
             foreach (const FBXMeshPart &meshPart, mesh.parts) {
                 QVector<glm::vec3> pointsInPart;
                 unsigned int triangleCount = meshPart.triangleIndices.size() / 3;
-                for (unsigned int i = 0; i < triangleCount; i++) {
-                    unsigned int p0Index = meshPart.triangleIndices[i*3];
-                    unsigned int p1Index = meshPart.triangleIndices[i*3+1];
-                    unsigned int p2Index = meshPart.triangleIndices[i*3+2];
+                assert((unsigned int)meshPart.triangleIndices.size() == triangleCount*3);
+                for (unsigned int j = 0; j < triangleCount; j++) {
+                    unsigned int p0Index = meshPart.triangleIndices[j*3];
+                    unsigned int p1Index = meshPart.triangleIndices[j*3+1];
+                    unsigned int p2Index = meshPart.triangleIndices[j*3+2];
+
+                    assert(p0Index < (unsigned int)mesh.vertices.size());
+                    assert(p1Index < (unsigned int)mesh.vertices.size());
+                    assert(p2Index < (unsigned int)mesh.vertices.size());
+
+                    // glm::vec3 p0 = mesh.vertices[p0Index] * scale[0];
+                    // glm::vec3 p1 = mesh.vertices[p1Index] * scale[1];
+                    // glm::vec3 p2 = mesh.vertices[p2Index] * scale[2];
+
 
                     glm::vec3 p0 = mesh.vertices[p0Index];
                     glm::vec3 p1 = mesh.vertices[p1Index];
                     glm::vec3 p2 = mesh.vertices[p2Index];
 
+                    aaBox += p0;
+                    aaBox += p1;
+                    aaBox += p2;
+
                     if (!pointsInPart.contains(p0)) {
                         pointsInPart << p0;
                     }
@@ -327,7 +350,21 @@ void RenderableModelEntityItem::computeShapeInfo(ShapeInfo& info) {
             }
         }
 
-        info.setParams(getShapeType(), 0.5f * getDimensions(), _collisionModelURL);
+        // make sure we aren't about to divide by zero
+        glm::vec3 aaBoxDim = aaBox.getDimensions();
+        aaBoxDim = glm::clamp(aaBoxDim, glm::vec3(FLT_EPSILON), aaBoxDim);
+
+        // scale = dimensions / aabox
+        glm::vec3 scale = _dimensions / aaBoxDim;
+
+        // multiply each point by scale before handing the point-set off to the physics engine
+        for (int i = 0; i < _points.size(); i++) {
+            for (int j = 0; j < _points[i].size(); j++) {
+                _points[i][j] *= scale;
+            }
+        }
+
+        info.setParams(getShapeType(), _dimensions, _collisionModelURL);
         info.setConvexHulls(_points);
     }
 }
diff --git a/libraries/entities-renderer/src/RenderableModelEntityItem.h b/libraries/entities-renderer/src/RenderableModelEntityItem.h
index 63249f136c..8742fb50eb 100644
--- a/libraries/entities-renderer/src/RenderableModelEntityItem.h
+++ b/libraries/entities-renderer/src/RenderableModelEntityItem.h
@@ -52,6 +52,8 @@ public:
 
     bool needsToCallUpdate() const;
 
+    virtual void updateDimensions(const glm::vec3& value);
+
     bool isReadyToComputeShape();
     void computeShapeInfo(ShapeInfo& info);
     ShapeType getShapeType() const;
diff --git a/libraries/entities/src/EntityItem.h b/libraries/entities/src/EntityItem.h
index 88287f8965..49e450c45e 100644
--- a/libraries/entities/src/EntityItem.h
+++ b/libraries/entities/src/EntityItem.h
@@ -40,6 +40,15 @@ class EntityTreeElementExtraEncodeData;
 #define debugTreeVector(V) V << "[" << V << " in meters ]"
 
 
+extern const float MIN_POSITION_DELTA;
+extern const float MIN_DIMENSIONS_DELTA;
+extern const float MIN_ALIGNMENT_DOT;
+extern const float MIN_VELOCITY_DELTA;
+extern const float MIN_DAMPING_DELTA;
+extern const float MIN_GRAVITY_DELTA;
+extern const float MIN_SPIN_DELTA;
+
+
 /// EntityItem class this is the base class for all entity types. It handles the basic properties and functionality available
 /// to all other entity types. In particular: postion, size, rotation, age, lifetime, velocity, gravity. You can not instantiate
 /// one directly, instead you must only construct one of it's derived classes with additional features.
@@ -270,7 +279,7 @@ public:
     void updatePositionInDomainUnits(const glm::vec3& value);
     void updatePosition(const glm::vec3& value);
     void updateDimensionsInDomainUnits(const glm::vec3& value);
-    void updateDimensions(const glm::vec3& value);
+    virtual void updateDimensions(const glm::vec3& value);
     void updateRotation(const glm::quat& rotation);
     void updateDensity(float value);
     void updateMass(float value);
diff --git a/libraries/physics/src/ShapeInfoUtil.cpp b/libraries/physics/src/ShapeInfoUtil.cpp
index 07fedb35ad..1073fbae3f 100644
--- a/libraries/physics/src/ShapeInfoUtil.cpp
+++ b/libraries/physics/src/ShapeInfoUtil.cpp
@@ -77,10 +77,12 @@ void ShapeInfoUtil::collectInfoFromShape(const btCollisionShape* shape, ShapeInf
                 const int numPoints = convexHullShape->getNumPoints();
                 const btVector3* btPoints = convexHullShape->getUnscaledPoints();
                 QVector<QVector<glm::vec3>> points;
+                QVector<glm::vec3> childPoints;
                 for (int i = 0; i < numPoints; i++) {
                     glm::vec3 point(btPoints->getX(), btPoints->getY(), btPoints->getZ());
-                    points[0] << point;
+                    childPoints << point;
                 }
+                points << childPoints;
                 info.setConvexHulls(points);
             }
             break;
@@ -116,9 +118,6 @@ void ShapeInfoUtil::collectInfoFromShape(const btCollisionShape* shape, ShapeInf
 
 btCollisionShape* ShapeInfoUtil::createShapeFromInfo(const ShapeInfo& info) {
     btCollisionShape* shape = NULL;
-
-    qDebug() << "\n\nHERE" << info.getType();
-
     switch(info.getType()) {
         case SHAPE_TYPE_BOX: {
             shape = new btBoxShape(glmToBullet(info.getHalfExtents()));
@@ -149,13 +148,8 @@ btCollisionShape* ShapeInfoUtil::createShapeFromInfo(const ShapeInfo& info) {
             shape = new btCompoundShape();
             const QVector<QVector<glm::vec3>>& points = info.getPoints();
 
-            qDebug() << "\n\nSHAPE_TYPE_COMPOUND" << info.getPoints().size() << "hulls.";
-
             foreach (QVector<glm::vec3> hullPoints, info.getPoints()) {
                 auto hull = new btConvexHullShape();
-
-                qDebug() << "    SHAPE_TYPE_COMPOUND" << hullPoints.size() << "points in hull.";
-
                 foreach (glm::vec3 point, hullPoints) {
                     btVector3 btPoint(point[0], point[1], point[2]);
                     hull->addPoint(btPoint);
@@ -165,9 +159,6 @@ btCollisionShape* ShapeInfoUtil::createShapeFromInfo(const ShapeInfo& info) {
                 static_cast<btCompoundShape*>(shape)->addChildShape (trans, hull);
             }
         }
-
-        qDebug() << "DONE, getNumChildShapes =" << static_cast<btCompoundShape*>(shape)->getNumChildShapes();
-
         break;
     }
     return shape;
diff --git a/libraries/shared/src/ShapeInfo.cpp b/libraries/shared/src/ShapeInfo.cpp
index 09677cf36c..73dd945f73 100644
--- a/libraries/shared/src/ShapeInfo.cpp
+++ b/libraries/shared/src/ShapeInfo.cpp
@@ -38,6 +38,8 @@ void ShapeInfo::setParams(ShapeType type, const glm::vec3& halfExtents, QString
         }
         case SHAPE_TYPE_CONVEX_HULL:
             _url = QUrl(url);
+            // halfExtents aren't used by convex-hull or compound convex-hull except as part of
+            // the generation of the key for the ShapeManager.
             _halfExtents = halfExtents;
             break;
         case SHAPE_TYPE_COMPOUND:
@@ -51,18 +53,21 @@ void ShapeInfo::setParams(ShapeType type, const glm::vec3& halfExtents, QString
 }
 
 void ShapeInfo::setBox(const glm::vec3& halfExtents) {
+    _url = "";
     _type = SHAPE_TYPE_BOX;
     _halfExtents = halfExtents;
     _doubleHashKey.clear();
 }
 
 void ShapeInfo::setSphere(float radius) {
+    _url = "";
     _type = SHAPE_TYPE_SPHERE;
     _halfExtents = glm::vec3(radius, radius, radius);
     _doubleHashKey.clear();
 }
 
 void ShapeInfo::setEllipsoid(const glm::vec3& halfExtents) {
+    _url = "";
     _type = SHAPE_TYPE_ELLIPSOID;
     _halfExtents = halfExtents;
     _doubleHashKey.clear();
@@ -75,9 +80,11 @@ void ShapeInfo::setConvexHulls(const QVector<QVector<glm::vec3>>& points) {
         _type = SHAPE_TYPE_COMPOUND;
     }
     _points = points;
+    _doubleHashKey.clear();
 }
 
 void ShapeInfo::setCapsuleY(float radius, float halfHeight) {
+    _url = "";
     _type = SHAPE_TYPE_CAPSULE_Y;
     _halfExtents = glm::vec3(radius, halfHeight, radius);
     _doubleHashKey.clear();

From 6e3be260137bbd129d8ed3a19b4d0de5ad3d5344 Mon Sep 17 00:00:00 2001
From: Seth Alves <seth.alves@gmail.com>
Date: Tue, 24 Mar 2015 15:28:21 -0700
Subject: [PATCH 06/14] attempting to figure out why physics motion object
 doesn't get updated when collision model url changes

---
 .../src/RenderableModelEntityItem.cpp         | 49 ++++++++++
 .../src/RenderableModelEntityItem.h           |  6 ++
 libraries/entities/src/EntitySimulation.cpp   | 10 +--
 libraries/entities/src/EntitySimulation.h     |  6 +-
 libraries/entities/src/EntityTree.cpp         |  6 ++
 libraries/entities/src/EntityTree.h           |  4 +-
 libraries/entities/src/EntityTreeElement.h    |  1 +
 libraries/entities/src/ModelEntityItem.cpp    | 14 ++-
 libraries/entities/src/ModelEntityItem.h      |  6 +-
 .../entities/src/SimpleEntitySimulation.cpp   |  3 +-
 .../entities/src/SimpleEntitySimulation.h     |  2 +-
 libraries/physics/src/EntityMotionState.cpp   |  8 +-
 libraries/physics/src/EntityMotionState.h     |  2 +-
 libraries/physics/src/ObjectMotionState.h     |  2 +-
 libraries/physics/src/PhysicsEngine.cpp       | 89 ++++++++++++++-----
 libraries/physics/src/PhysicsEngine.h         |  4 +-
 16 files changed, 172 insertions(+), 40 deletions(-)

diff --git a/libraries/entities-renderer/src/RenderableModelEntityItem.cpp b/libraries/entities-renderer/src/RenderableModelEntityItem.cpp
index bb3f00d154..0a7d672189 100644
--- a/libraries/entities-renderer/src/RenderableModelEntityItem.cpp
+++ b/libraries/entities-renderer/src/RenderableModelEntityItem.cpp
@@ -22,6 +22,7 @@
 #include "EntityTreeRenderer.h"
 #include "RenderableModelEntityItem.h"
 
+
 EntityItem* RenderableModelEntityItem::factory(const EntityItemID& entityID, const EntityItemProperties& properties) {
     return new RenderableModelEntityItem(entityID, properties);
 }
@@ -266,6 +267,50 @@ bool RenderableModelEntityItem::findDetailedRayIntersection(const glm::vec3& ori
     return _model->findRayIntersectionAgainstSubMeshes(origin, direction, distance, face, extraInfo, precisionPicking);
 }
 
+// void RenderableModelEntityItem::setCollisionModelURL(const QString& url) {
+    
+//     // XXX PhysicsEngine::entityChangedInternal(this);
+//     // EntityTree* x = this->getElement()->_myTree;
+//     // EntityTreeRenderer* _myRenderer;
+
+//     qDebug() << "--------------------------------";
+//     this->ModelEntityItem::setCollisionModelURL(url);
+
+//     if ((_dirtyFlags & (EntityItem::DIRTY_SHAPE | EntityItem::DIRTY_MASS)) ==
+//         (EntityItem::DIRTY_SHAPE | EntityItem::DIRTY_MASS)) {
+
+//         EntityTreeElement* element = this->getElement();
+//         if (element) {
+//             qDebug() << "element =" << element;
+//             EntityTree* tree = element->getTree();
+//             qDebug() << "tree =" << tree;
+//             tree->reconfigureEntity(this);
+//         }
+//     }
+// }
+
+
+void RenderableModelEntityItem::setCollisionModelURL(const QString& url) {
+    ModelEntityItem::setCollisionModelURL(url);
+    _model->setCollisionModelURL(QUrl(url));
+}
+
+
+bool RenderableModelEntityItem::hasCollisionModel() const {
+    // return !_collisionModelURL.isEmpty();
+    return ! _model->getCollisionURL().isEmpty();
+}
+
+
+const QString& RenderableModelEntityItem::getCollisionModelURL() const {
+    // return _collisionModelURL;
+    _collisionModelURL = _model->getCollisionURL().toString();
+    return _collisionModelURL;
+}
+
+
+
+
 void RenderableModelEntityItem::updateDimensions(const glm::vec3& value) {
     if (glm::distance(_dimensions, value) > MIN_DIMENSIONS_DELTA) {
         _dimensions = value;
@@ -288,6 +333,7 @@ bool RenderableModelEntityItem::isReadyToComputeShape() {
     const QSharedPointer<NetworkGeometry> collisionNetworkGeometry = _model->getCollisionGeometry();
     if (! collisionNetworkGeometry.isNull() && collisionNetworkGeometry->isLoadedWithTextures()) {
         // we have a _collisionModelURL AND a collisionNetworkGeometry AND it's fully loaded.
+        // _dirtyFlags |= (EntityItem::DIRTY_SHAPE | EntityItem::DIRTY_MASS);
         return true;
     }
 
@@ -296,9 +342,12 @@ bool RenderableModelEntityItem::isReadyToComputeShape() {
 }
 
 void RenderableModelEntityItem::computeShapeInfo(ShapeInfo& info) {
+    qDebug() << "RenderableModelEntityItem::computeShapeInfo";
     if (_model->getCollisionURL().isEmpty()) {
+        qDebug() << "  _model->getCollisionURL().isEmpty()";
         info.setParams(getShapeType(), 0.5f * getDimensions());
     } else {
+        qDebug() << "  _model->getCollisionURL() wasn't empty.";
         const QSharedPointer<NetworkGeometry> collisionNetworkGeometry = _model->getCollisionGeometry();
         const FBXGeometry& fbxGeometry = collisionNetworkGeometry->getFBXGeometry();
 
diff --git a/libraries/entities-renderer/src/RenderableModelEntityItem.h b/libraries/entities-renderer/src/RenderableModelEntityItem.h
index 8742fb50eb..3586bd9941 100644
--- a/libraries/entities-renderer/src/RenderableModelEntityItem.h
+++ b/libraries/entities-renderer/src/RenderableModelEntityItem.h
@@ -49,9 +49,15 @@ public:
                          void** intersectedObject, bool precisionPicking) const;
 
     Model* getModel(EntityTreeRenderer* renderer);
+    // virtual void setCollisionModelURL(const QString& url);
 
     bool needsToCallUpdate() const;
 
+    virtual void setCollisionModelURL(const QString& url);
+    virtual bool hasCollisionModel() const;
+    virtual const QString& getCollisionModelURL() const;
+
+
     virtual void updateDimensions(const glm::vec3& value);
 
     bool isReadyToComputeShape();
diff --git a/libraries/entities/src/EntitySimulation.cpp b/libraries/entities/src/EntitySimulation.cpp
index b093dbe4f4..555f2061e8 100644
--- a/libraries/entities/src/EntitySimulation.cpp
+++ b/libraries/entities/src/EntitySimulation.cpp
@@ -126,11 +126,11 @@ void EntitySimulation::addEntity(EntityItem* entity) {
     if (entity->needsToCallUpdate()) {
         _updateableEntities.insert(entity);
     }
-    addEntityInternal(entity);
-
-    // DirtyFlags are used to signal changes to entities that have already been added, 
-    // so we can clear them for this entity which has just been added.
-    entity->clearDirtyFlags();
+    if (addEntityInternal(entity)) {
+        // DirtyFlags are used to signal changes to entities that have already been added, 
+        // so we can clear them for this entity which has just been added.
+        entity->clearDirtyFlags();
+    }
 }
 
 void EntitySimulation::removeEntity(EntityItem* entity) {
diff --git a/libraries/entities/src/EntitySimulation.h b/libraries/entities/src/EntitySimulation.h
index 1eb4fdc951..9dd86011fa 100644
--- a/libraries/entities/src/EntitySimulation.h
+++ b/libraries/entities/src/EntitySimulation.h
@@ -63,6 +63,10 @@ public:
 
     EntityTree* getEntityTree() { return _entityTree; }
 
+    /* virtual void reconfigureEntity(EntityItem* entity) { */
+    /*     qDebug() << "EntitySimulation::reconfigureEntity"; */
+    /* } */
+
 signals:
     void entityCollisionWithEntity(const EntityItemID& idA, const EntityItemID& idB, const Collision& collision);
 
@@ -74,7 +78,7 @@ protected:
     // NOTE: updateEntitiesInternal() should clear all dirty flags on each changed entity as side effect
     virtual void updateEntitiesInternal(const quint64& now) = 0;
 
-    virtual void addEntityInternal(EntityItem* entity) = 0;
+    virtual bool addEntityInternal(EntityItem* entity) = 0;
 
     virtual void removeEntityInternal(EntityItem* entity) = 0;
 
diff --git a/libraries/entities/src/EntityTree.cpp b/libraries/entities/src/EntityTree.cpp
index 3ccff46a04..da7194e4bc 100644
--- a/libraries/entities/src/EntityTree.cpp
+++ b/libraries/entities/src/EntityTree.cpp
@@ -315,6 +315,12 @@ void EntityTree::deleteEntities(QSet<EntityItemID> entityIDs, bool force, bool i
     }
 }
 
+void EntityTree::reconfigureEntity(EntityItem* entity) {
+    qDebug() << "EntityTree::reconfigureEntity";
+    // _simulation->reconfigureEntity(entity);
+    _simulation->entityChanged(entity);
+}
+
 void EntityTree::processRemovedEntities(const DeleteEntityOperator& theOperator) {
     const RemovedEntities& entities = theOperator.getEntities();
     if (_simulation) {
diff --git a/libraries/entities/src/EntityTree.h b/libraries/entities/src/EntityTree.h
index 8536e74e9a..25cc0b0bf4 100644
--- a/libraries/entities/src/EntityTree.h
+++ b/libraries/entities/src/EntityTree.h
@@ -95,7 +95,8 @@ public:
 
     void deleteEntity(const EntityItemID& entityID, bool force = false, bool ignoreWarnings = false);
     void deleteEntities(QSet<EntityItemID> entityIDs, bool force = false, bool ignoreWarnings = false);
-    void removeEntityFromSimulation(EntityItem* entity);
+    // void removeEntityFromSimulation(EntityItem* entity);
+    void reconfigureEntity(EntityItem* entity);
 
     /// \param position point of query in world-frame (meters)
     /// \param targetRadius radius of query (meters)
@@ -161,6 +162,7 @@ public:
     void emitEntityScriptChanging(const EntityItemID& entityItemID);
 
     void setSimulation(EntitySimulation* simulation);
+    EntitySimulation* getSimulation() { return _simulation; }
     
     bool wantEditLogging() const { return _wantEditLogging; }
     void setWantEditLogging(bool value) { _wantEditLogging = value; }
diff --git a/libraries/entities/src/EntityTreeElement.h b/libraries/entities/src/EntityTreeElement.h
index 0b28dd30d0..e93e00cc1c 100644
--- a/libraries/entities/src/EntityTreeElement.h
+++ b/libraries/entities/src/EntityTreeElement.h
@@ -147,6 +147,7 @@ public:
     bool hasEntities() const { return _entityItems ? _entityItems->size() > 0 : false; }
 
     void setTree(EntityTree* tree) { _myTree = tree; }
+    EntityTree* getTree() { return _myTree; }
 
     bool updateEntity(const EntityItem& entity);
     void addEntityItem(EntityItem* entity);
diff --git a/libraries/entities/src/ModelEntityItem.cpp b/libraries/entities/src/ModelEntityItem.cpp
index 181f537daa..13eaf0449f 100644
--- a/libraries/entities/src/ModelEntityItem.cpp
+++ b/libraries/entities/src/ModelEntityItem.cpp
@@ -74,7 +74,7 @@ bool ModelEntityItem::setProperties(const EntityItemProperties& properties) {
     SET_ENTITY_PROPERTY_FROM_PROPERTIES(shapeType, updateShapeType);
 
     if (somethingChanged) {
-        bool wantDebug = false;
+        bool wantDebug = true;
         if (wantDebug) {
             uint64_t now = usecTimestampNow();
             int elapsed = now - getLastEdited();
@@ -281,6 +281,18 @@ void ModelEntityItem::updateShapeType(ShapeType type) {
     }
 }
 
+void ModelEntityItem::setCollisionModelURL(const QString& url)
+{
+    if (_collisionModelURL != url) {
+
+        qDebug() << "\n\n----";
+        qDebug() << "ModelEntityItem::setCollisionModelURL";
+
+        _collisionModelURL = url;
+        _dirtyFlags |= EntityItem::DIRTY_SHAPE | EntityItem::DIRTY_MASS;
+    }
+}
+
 void ModelEntityItem::setAnimationURL(const QString& url) { 
     _dirtyFlags |= EntityItem::DIRTY_UPDATEABLE;
     _animationURL = url; 
diff --git a/libraries/entities/src/ModelEntityItem.h b/libraries/entities/src/ModelEntityItem.h
index 081cb429ed..9e34de445b 100644
--- a/libraries/entities/src/ModelEntityItem.h
+++ b/libraries/entities/src/ModelEntityItem.h
@@ -57,13 +57,13 @@ public:
     const rgbColor& getColor() const { return _color; }
     xColor getXColor() const { xColor color = { _color[RED_INDEX], _color[GREEN_INDEX], _color[BLUE_INDEX] }; return color; }
     bool hasModel() const { return !_modelURL.isEmpty(); }
-    bool hasCollisionModel() const { return !_collisionModelURL.isEmpty(); }
+    virtual bool hasCollisionModel() const { return !_collisionModelURL.isEmpty(); }
 
     static const QString DEFAULT_MODEL_URL;
     const QString& getModelURL() const { return _modelURL; }
 
     static const QString DEFAULT_COLLISION_MODEL_URL;
-    const QString& getCollisionModelURL() const { return _collisionModelURL; }
+    virtual const QString& getCollisionModelURL() const { return _collisionModelURL; }
 
     bool hasAnimation() const { return !_animationURL.isEmpty(); }
     static const QString DEFAULT_ANIMATION_URL;
@@ -78,7 +78,7 @@ public:
     
     // model related properties
     void setModelURL(const QString& url) { _modelURL = url; }
-    void setCollisionModelURL(const QString& url) { _collisionModelURL = url; }
+    virtual void setCollisionModelURL(const QString& url);
     void setAnimationURL(const QString& url);
     static const float DEFAULT_ANIMATION_FRAME_INDEX;
     void setAnimationFrameIndex(float value);
diff --git a/libraries/entities/src/SimpleEntitySimulation.cpp b/libraries/entities/src/SimpleEntitySimulation.cpp
index 6d45768c26..ee62c00246 100644
--- a/libraries/entities/src/SimpleEntitySimulation.cpp
+++ b/libraries/entities/src/SimpleEntitySimulation.cpp
@@ -29,12 +29,13 @@ void SimpleEntitySimulation::updateEntitiesInternal(const quint64& now) {
     }
 }
 
-void SimpleEntitySimulation::addEntityInternal(EntityItem* entity) {
+bool SimpleEntitySimulation::addEntityInternal(EntityItem* entity) {
     if (entity->isMoving()) {
         _movingEntities.insert(entity);
     } else if (entity->getCollisionsWillMove()) {
         _movableButStoppedEntities.insert(entity);
     }
+    return true;
 }
 
 void SimpleEntitySimulation::removeEntityInternal(EntityItem* entity) {
diff --git a/libraries/entities/src/SimpleEntitySimulation.h b/libraries/entities/src/SimpleEntitySimulation.h
index 92b6a28215..6a748c3e1f 100644
--- a/libraries/entities/src/SimpleEntitySimulation.h
+++ b/libraries/entities/src/SimpleEntitySimulation.h
@@ -23,7 +23,7 @@ public:
 
 protected:
     virtual void updateEntitiesInternal(const quint64& now);
-    virtual void addEntityInternal(EntityItem* entity);
+    virtual bool addEntityInternal(EntityItem* entity);
     virtual void removeEntityInternal(EntityItem* entity);
     virtual void entityChangedInternal(EntityItem* entity);
     virtual void clearEntitiesInternal();
diff --git a/libraries/physics/src/EntityMotionState.cpp b/libraries/physics/src/EntityMotionState.cpp
index cd0769255b..3ca016c5d8 100644
--- a/libraries/physics/src/EntityMotionState.cpp
+++ b/libraries/physics/src/EntityMotionState.cpp
@@ -168,8 +168,12 @@ void EntityMotionState::updateObjectVelocities() {
     }
 }
 
-void EntityMotionState::computeShapeInfo(ShapeInfo& shapeInfo) {
-    _entity->computeShapeInfo(shapeInfo);
+bool EntityMotionState::computeShapeInfo(ShapeInfo& shapeInfo) {
+    if (_entity->isReadyToComputeShape()) {
+        _entity->computeShapeInfo(shapeInfo);
+        return true;
+    }
+    return false;
 }
 
 float EntityMotionState::computeMass(const ShapeInfo& shapeInfo) const {
diff --git a/libraries/physics/src/EntityMotionState.h b/libraries/physics/src/EntityMotionState.h
index 7214626fc4..1910e92150 100644
--- a/libraries/physics/src/EntityMotionState.h
+++ b/libraries/physics/src/EntityMotionState.h
@@ -53,7 +53,7 @@ public:
     virtual void updateObjectEasy(uint32_t flags, uint32_t frame);
     virtual void updateObjectVelocities();
 
-    virtual void computeShapeInfo(ShapeInfo& shapeInfo);
+    virtual bool computeShapeInfo(ShapeInfo& shapeInfo);
     virtual float computeMass(const ShapeInfo& shapeInfo) const;
 
     virtual void sendUpdate(OctreeEditPacketSender* packetSender, uint32_t frame);
diff --git a/libraries/physics/src/ObjectMotionState.h b/libraries/physics/src/ObjectMotionState.h
index fb402a178d..12d1d14c2d 100644
--- a/libraries/physics/src/ObjectMotionState.h
+++ b/libraries/physics/src/ObjectMotionState.h
@@ -67,7 +67,7 @@ public:
     MotionStateType getType() const { return _type; }
     virtual MotionType getMotionType() const { return _motionType; }
 
-    virtual void computeShapeInfo(ShapeInfo& info) = 0;
+    virtual bool computeShapeInfo(ShapeInfo& info) = 0;
     virtual float computeMass(const ShapeInfo& shapeInfo) const = 0;
 
     void setFriction(float friction);
diff --git a/libraries/physics/src/PhysicsEngine.cpp b/libraries/physics/src/PhysicsEngine.cpp
index a46ba9f819..7dd989c9ab 100644
--- a/libraries/physics/src/PhysicsEngine.cpp
+++ b/libraries/physics/src/PhysicsEngine.cpp
@@ -58,31 +58,49 @@ void PhysicsEngine::updateEntitiesInternal(const quint64& now) {
     }
 }
 
-void PhysicsEngine::addEntityInternal(EntityItem* entity) {
+bool PhysicsEngine::addEntityInternal(EntityItem* entity) {
+
+    qDebug() << "PhysicsEngine::addEntityInternal";
+
     assert(entity);
     void* physicsInfo = entity->getPhysicsInfo();
     if (!physicsInfo) {
-        if (entity->isReadyToComputeShape()) {
-            ShapeInfo shapeInfo;
-            entity->computeShapeInfo(shapeInfo);
-            btCollisionShape* shape = _shapeManager.getShape(shapeInfo);
-            if (shape) {
-                EntityMotionState* motionState = new EntityMotionState(entity);
-                entity->setPhysicsInfo(static_cast<void*>(motionState));
-                _entityMotionStates.insert(motionState);
-                addObject(shapeInfo, shape, motionState);
-            } else if (entity->isMoving()) {
-                EntityMotionState* motionState = new EntityMotionState(entity);
-                entity->setPhysicsInfo(static_cast<void*>(motionState));
-                _entityMotionStates.insert(motionState);
-
-                motionState->setKinematic(true, _numSubsteps);
-                _nonPhysicalKinematicObjects.insert(motionState);
-                // We failed to add the entity to the simulation.  Probably because we couldn't create a shape for it.
-                //qDebug() << "failed to add entity " << entity->getEntityItemID() << " to physics engine";
-            }
+        qDebug() << "  PhysicsEngine::addEntityInternal no physicsInfo";
+        if (! entity->isReadyToComputeShape()) {
+            qDebug() << "  PhysicsEngine::addEntityInternal not ready to compute";
+            return false;
         }
+        qDebug() << "  PhysicsEngine::addEntityInternal ready to compute";
+        ShapeInfo shapeInfo;
+        entity->computeShapeInfo(shapeInfo);
+
+        DoubleHashKey hkey = shapeInfo.getHash();
+        qDebug() << "  shapeInfo hash:" << hkey.getHash() << hkey.getHash2();
+
+        btCollisionShape* shape = _shapeManager.getShape(shapeInfo);
+        if (shape) {
+            qDebug() << "  got a shape";
+            EntityMotionState* motionState = new EntityMotionState(entity);
+            entity->setPhysicsInfo(static_cast<void*>(motionState));
+            _entityMotionStates.insert(motionState);
+            addObject(shapeInfo, shape, motionState);
+        } else if (entity->isMoving()) {
+            qDebug() << "  no shape but is moving";
+            EntityMotionState* motionState = new EntityMotionState(entity);
+            entity->setPhysicsInfo(static_cast<void*>(motionState));
+            _entityMotionStates.insert(motionState);
+
+            motionState->setKinematic(true, _numSubsteps);
+            _nonPhysicalKinematicObjects.insert(motionState);
+            // We failed to add the entity to the simulation.  Probably because we couldn't create a shape for it.
+            //qDebug() << "failed to add entity " << entity->getEntityItemID() << " to physics engine";
+        } else {
+            qDebug() << "  no shape and not moving";
+        }
+    } else {
+        qDebug() << "  PhysicsEngine::addEntityInternal already had physicsInfo";
     }
+    return true;
 }
 
 void PhysicsEngine::removeEntityInternal(EntityItem* entity) {
@@ -105,18 +123,28 @@ void PhysicsEngine::removeEntityInternal(EntityItem* entity) {
 }
 
 void PhysicsEngine::entityChangedInternal(EntityItem* entity) {
+
+    qDebug() << "PhysicsEngine::entityChangedInternal";
+
     // queue incoming changes: from external sources (script, EntityServer, etc) to physics engine
     assert(entity);
     void* physicsInfo = entity->getPhysicsInfo();
     if (physicsInfo) {
+        qDebug() << "  PhysicsEngine::entityChangedInternal had physicsInfo";
         ObjectMotionState* motionState = static_cast<ObjectMotionState*>(physicsInfo);
         _incomingChanges.insert(motionState);
     } else {
+        qDebug() << "  PhysicsEngine::entityChangedInternal had no physicsInfo";
         // try to add this entity again (maybe something changed such that it will work this time)
         addEntity(entity);
     }
 }
 
+// void PhysicsEngine::reconfigureEntity(EntityItem* entity) {
+//     qDebug() << "PhysicsEngine::reconfigureEntity";
+//     entityChangedInternal(entity);
+// }
+
 void PhysicsEngine::sortEntitiesThatMovedInternal() {
     // entities that have been simulated forward (hence in the _entitiesToBeSorted list) 
     // also need to be put in the outgoingPackets list
@@ -509,8 +537,20 @@ bool PhysicsEngine::updateObjectHard(btRigidBody* body, ObjectMotionState* motio
         // get new shape
         btCollisionShape* oldShape = body->getCollisionShape();
         ShapeInfo shapeInfo;
-        motionState->computeShapeInfo(shapeInfo);
+
+
+        bool computeShapeInfoResult = motionState->computeShapeInfo(shapeInfo);
+        qDebug() << "\n\n---";
+        qDebug() << "PhysicsEngine::updateObjectHard #1 computeShapeInfoResult =" << computeShapeInfoResult;
+
+
         btCollisionShape* newShape = _shapeManager.getShape(shapeInfo);
+
+        DoubleHashKey hkey = shapeInfo.getHash();
+        qDebug() << "  shapeInfo hash:" << hkey.getHash() << hkey.getHash2();
+        qDebug() << "  newShape =" << newShape;
+
+
         if (!newShape) {
             // FAIL! we are unable to support these changes!
             _shapeManager.releaseShape(oldShape);
@@ -563,7 +603,12 @@ bool PhysicsEngine::updateObjectHard(btRigidBody* body, ObjectMotionState* motio
             if (! (flags & EntityItem::DIRTY_MASS)) {
                 // always update mass properties when going dynamic (unless it's already been done above)
                 ShapeInfo shapeInfo;
-                motionState->computeShapeInfo(shapeInfo);
+                bool computeShapeInfoResult = motionState->computeShapeInfo(shapeInfo);
+
+                qDebug() << "\n\n---";
+                qDebug() << "PhysicsEngine::updateObjectHard #2 computeShapeInfoResult =" << computeShapeInfoResult;
+
+
                 float mass = motionState->computeMass(shapeInfo);
                 btVector3 inertia(0.0f, 0.0f, 0.0f);
                 body->getCollisionShape()->calculateLocalInertia(mass, inertia);
diff --git a/libraries/physics/src/PhysicsEngine.h b/libraries/physics/src/PhysicsEngine.h
index cb637c60b9..68161f5c12 100644
--- a/libraries/physics/src/PhysicsEngine.h
+++ b/libraries/physics/src/PhysicsEngine.h
@@ -60,7 +60,7 @@ public:
 
     // overrides for EntitySimulation
     void updateEntitiesInternal(const quint64& now);
-    void addEntityInternal(EntityItem* entity);
+    bool addEntityInternal(EntityItem* entity);
     void removeEntityInternal(EntityItem* entity);
     void entityChangedInternal(EntityItem* entity);
     void sortEntitiesThatMovedInternal();
@@ -88,6 +88,8 @@ public:
 
     void setAvatarData(AvatarData *avatarData);
 
+    // virtual void reconfigureEntity(EntityItem* entity);
+
 private:
     /// \param motionState pointer to Object's MotionState
     void removeObjectFromBullet(ObjectMotionState* motionState);

From 1eeb2e89f803008a892ec93382aefbfc68e0303a Mon Sep 17 00:00:00 2001
From: Seth Alves <seth.alves@gmail.com>
Date: Tue, 24 Mar 2015 16:23:51 -0700
Subject: [PATCH 07/14] remove some debug spam

---
 .../src/RenderableModelEntityItem.cpp         | 45 ++++--------------
 libraries/entities/src/ModelEntityItem.cpp    |  6 +--
 libraries/physics/src/EntityMotionState.cpp   |  4 +-
 libraries/physics/src/EntityMotionState.h     |  2 +-
 libraries/physics/src/ObjectMotionState.h     |  2 +-
 libraries/physics/src/PhysicsEngine.cpp       | 47 +------------------
 6 files changed, 15 insertions(+), 91 deletions(-)

diff --git a/libraries/entities-renderer/src/RenderableModelEntityItem.cpp b/libraries/entities-renderer/src/RenderableModelEntityItem.cpp
index 0a7d672189..88827d066c 100644
--- a/libraries/entities-renderer/src/RenderableModelEntityItem.cpp
+++ b/libraries/entities-renderer/src/RenderableModelEntityItem.cpp
@@ -267,50 +267,26 @@ bool RenderableModelEntityItem::findDetailedRayIntersection(const glm::vec3& ori
     return _model->findRayIntersectionAgainstSubMeshes(origin, direction, distance, face, extraInfo, precisionPicking);
 }
 
-// void RenderableModelEntityItem::setCollisionModelURL(const QString& url) {
-    
-//     // XXX PhysicsEngine::entityChangedInternal(this);
-//     // EntityTree* x = this->getElement()->_myTree;
-//     // EntityTreeRenderer* _myRenderer;
-
-//     qDebug() << "--------------------------------";
-//     this->ModelEntityItem::setCollisionModelURL(url);
-
-//     if ((_dirtyFlags & (EntityItem::DIRTY_SHAPE | EntityItem::DIRTY_MASS)) ==
-//         (EntityItem::DIRTY_SHAPE | EntityItem::DIRTY_MASS)) {
-
-//         EntityTreeElement* element = this->getElement();
-//         if (element) {
-//             qDebug() << "element =" << element;
-//             EntityTree* tree = element->getTree();
-//             qDebug() << "tree =" << tree;
-//             tree->reconfigureEntity(this);
-//         }
-//     }
-// }
-
-
 void RenderableModelEntityItem::setCollisionModelURL(const QString& url) {
     ModelEntityItem::setCollisionModelURL(url);
-    _model->setCollisionModelURL(QUrl(url));
+    if (_model) {
+        _model->setCollisionModelURL(QUrl(url));
+    }
 }
 
-
 bool RenderableModelEntityItem::hasCollisionModel() const {
-    // return !_collisionModelURL.isEmpty();
-    return ! _model->getCollisionURL().isEmpty();
+    if (_model) {
+        return ! _model->getCollisionURL().isEmpty();
+    } else {
+        return !_collisionModelURL.isEmpty();
+    }
 }
 
-
 const QString& RenderableModelEntityItem::getCollisionModelURL() const {
-    // return _collisionModelURL;
-    _collisionModelURL = _model->getCollisionURL().toString();
+    assert (!_model || _collisionModelURL == _model->getCollisionURL().toString());
     return _collisionModelURL;
 }
 
-
-
-
 void RenderableModelEntityItem::updateDimensions(const glm::vec3& value) {
     if (glm::distance(_dimensions, value) > MIN_DIMENSIONS_DELTA) {
         _dimensions = value;
@@ -342,12 +318,9 @@ bool RenderableModelEntityItem::isReadyToComputeShape() {
 }
 
 void RenderableModelEntityItem::computeShapeInfo(ShapeInfo& info) {
-    qDebug() << "RenderableModelEntityItem::computeShapeInfo";
     if (_model->getCollisionURL().isEmpty()) {
-        qDebug() << "  _model->getCollisionURL().isEmpty()";
         info.setParams(getShapeType(), 0.5f * getDimensions());
     } else {
-        qDebug() << "  _model->getCollisionURL() wasn't empty.";
         const QSharedPointer<NetworkGeometry> collisionNetworkGeometry = _model->getCollisionGeometry();
         const FBXGeometry& fbxGeometry = collisionNetworkGeometry->getFBXGeometry();
 
diff --git a/libraries/entities/src/ModelEntityItem.cpp b/libraries/entities/src/ModelEntityItem.cpp
index 13eaf0449f..f135f617f4 100644
--- a/libraries/entities/src/ModelEntityItem.cpp
+++ b/libraries/entities/src/ModelEntityItem.cpp
@@ -74,7 +74,7 @@ bool ModelEntityItem::setProperties(const EntityItemProperties& properties) {
     SET_ENTITY_PROPERTY_FROM_PROPERTIES(shapeType, updateShapeType);
 
     if (somethingChanged) {
-        bool wantDebug = true;
+        bool wantDebug = false;
         if (wantDebug) {
             uint64_t now = usecTimestampNow();
             int elapsed = now - getLastEdited();
@@ -284,10 +284,6 @@ void ModelEntityItem::updateShapeType(ShapeType type) {
 void ModelEntityItem::setCollisionModelURL(const QString& url)
 {
     if (_collisionModelURL != url) {
-
-        qDebug() << "\n\n----";
-        qDebug() << "ModelEntityItem::setCollisionModelURL";
-
         _collisionModelURL = url;
         _dirtyFlags |= EntityItem::DIRTY_SHAPE | EntityItem::DIRTY_MASS;
     }
diff --git a/libraries/physics/src/EntityMotionState.cpp b/libraries/physics/src/EntityMotionState.cpp
index 3ca016c5d8..35eb006655 100644
--- a/libraries/physics/src/EntityMotionState.cpp
+++ b/libraries/physics/src/EntityMotionState.cpp
@@ -168,12 +168,10 @@ void EntityMotionState::updateObjectVelocities() {
     }
 }
 
-bool EntityMotionState::computeShapeInfo(ShapeInfo& shapeInfo) {
+void EntityMotionState::computeShapeInfo(ShapeInfo& shapeInfo) {
     if (_entity->isReadyToComputeShape()) {
         _entity->computeShapeInfo(shapeInfo);
-        return true;
     }
-    return false;
 }
 
 float EntityMotionState::computeMass(const ShapeInfo& shapeInfo) const {
diff --git a/libraries/physics/src/EntityMotionState.h b/libraries/physics/src/EntityMotionState.h
index 1910e92150..7214626fc4 100644
--- a/libraries/physics/src/EntityMotionState.h
+++ b/libraries/physics/src/EntityMotionState.h
@@ -53,7 +53,7 @@ public:
     virtual void updateObjectEasy(uint32_t flags, uint32_t frame);
     virtual void updateObjectVelocities();
 
-    virtual bool computeShapeInfo(ShapeInfo& shapeInfo);
+    virtual void computeShapeInfo(ShapeInfo& shapeInfo);
     virtual float computeMass(const ShapeInfo& shapeInfo) const;
 
     virtual void sendUpdate(OctreeEditPacketSender* packetSender, uint32_t frame);
diff --git a/libraries/physics/src/ObjectMotionState.h b/libraries/physics/src/ObjectMotionState.h
index 12d1d14c2d..fb402a178d 100644
--- a/libraries/physics/src/ObjectMotionState.h
+++ b/libraries/physics/src/ObjectMotionState.h
@@ -67,7 +67,7 @@ public:
     MotionStateType getType() const { return _type; }
     virtual MotionType getMotionType() const { return _motionType; }
 
-    virtual bool computeShapeInfo(ShapeInfo& info) = 0;
+    virtual void computeShapeInfo(ShapeInfo& info) = 0;
     virtual float computeMass(const ShapeInfo& shapeInfo) const = 0;
 
     void setFriction(float friction);
diff --git a/libraries/physics/src/PhysicsEngine.cpp b/libraries/physics/src/PhysicsEngine.cpp
index 7dd989c9ab..5f668b4f37 100644
--- a/libraries/physics/src/PhysicsEngine.cpp
+++ b/libraries/physics/src/PhysicsEngine.cpp
@@ -59,33 +59,21 @@ void PhysicsEngine::updateEntitiesInternal(const quint64& now) {
 }
 
 bool PhysicsEngine::addEntityInternal(EntityItem* entity) {
-
-    qDebug() << "PhysicsEngine::addEntityInternal";
-
     assert(entity);
     void* physicsInfo = entity->getPhysicsInfo();
     if (!physicsInfo) {
-        qDebug() << "  PhysicsEngine::addEntityInternal no physicsInfo";
         if (! entity->isReadyToComputeShape()) {
-            qDebug() << "  PhysicsEngine::addEntityInternal not ready to compute";
             return false;
         }
-        qDebug() << "  PhysicsEngine::addEntityInternal ready to compute";
         ShapeInfo shapeInfo;
         entity->computeShapeInfo(shapeInfo);
-
-        DoubleHashKey hkey = shapeInfo.getHash();
-        qDebug() << "  shapeInfo hash:" << hkey.getHash() << hkey.getHash2();
-
         btCollisionShape* shape = _shapeManager.getShape(shapeInfo);
         if (shape) {
-            qDebug() << "  got a shape";
             EntityMotionState* motionState = new EntityMotionState(entity);
             entity->setPhysicsInfo(static_cast<void*>(motionState));
             _entityMotionStates.insert(motionState);
             addObject(shapeInfo, shape, motionState);
         } else if (entity->isMoving()) {
-            qDebug() << "  no shape but is moving";
             EntityMotionState* motionState = new EntityMotionState(entity);
             entity->setPhysicsInfo(static_cast<void*>(motionState));
             _entityMotionStates.insert(motionState);
@@ -94,11 +82,7 @@ bool PhysicsEngine::addEntityInternal(EntityItem* entity) {
             _nonPhysicalKinematicObjects.insert(motionState);
             // We failed to add the entity to the simulation.  Probably because we couldn't create a shape for it.
             //qDebug() << "failed to add entity " << entity->getEntityItemID() << " to physics engine";
-        } else {
-            qDebug() << "  no shape and not moving";
         }
-    } else {
-        qDebug() << "  PhysicsEngine::addEntityInternal already had physicsInfo";
     }
     return true;
 }
@@ -123,28 +107,18 @@ void PhysicsEngine::removeEntityInternal(EntityItem* entity) {
 }
 
 void PhysicsEngine::entityChangedInternal(EntityItem* entity) {
-
-    qDebug() << "PhysicsEngine::entityChangedInternal";
-
     // queue incoming changes: from external sources (script, EntityServer, etc) to physics engine
     assert(entity);
     void* physicsInfo = entity->getPhysicsInfo();
     if (physicsInfo) {
-        qDebug() << "  PhysicsEngine::entityChangedInternal had physicsInfo";
         ObjectMotionState* motionState = static_cast<ObjectMotionState*>(physicsInfo);
         _incomingChanges.insert(motionState);
     } else {
-        qDebug() << "  PhysicsEngine::entityChangedInternal had no physicsInfo";
         // try to add this entity again (maybe something changed such that it will work this time)
         addEntity(entity);
     }
 }
 
-// void PhysicsEngine::reconfigureEntity(EntityItem* entity) {
-//     qDebug() << "PhysicsEngine::reconfigureEntity";
-//     entityChangedInternal(entity);
-// }
-
 void PhysicsEngine::sortEntitiesThatMovedInternal() {
     // entities that have been simulated forward (hence in the _entitiesToBeSorted list) 
     // also need to be put in the outgoingPackets list
@@ -537,20 +511,8 @@ bool PhysicsEngine::updateObjectHard(btRigidBody* body, ObjectMotionState* motio
         // get new shape
         btCollisionShape* oldShape = body->getCollisionShape();
         ShapeInfo shapeInfo;
-
-
-        bool computeShapeInfoResult = motionState->computeShapeInfo(shapeInfo);
-        qDebug() << "\n\n---";
-        qDebug() << "PhysicsEngine::updateObjectHard #1 computeShapeInfoResult =" << computeShapeInfoResult;
-
-
+        motionState->computeShapeInfo(shapeInfo);
         btCollisionShape* newShape = _shapeManager.getShape(shapeInfo);
-
-        DoubleHashKey hkey = shapeInfo.getHash();
-        qDebug() << "  shapeInfo hash:" << hkey.getHash() << hkey.getHash2();
-        qDebug() << "  newShape =" << newShape;
-
-
         if (!newShape) {
             // FAIL! we are unable to support these changes!
             _shapeManager.releaseShape(oldShape);
@@ -603,12 +565,7 @@ bool PhysicsEngine::updateObjectHard(btRigidBody* body, ObjectMotionState* motio
             if (! (flags & EntityItem::DIRTY_MASS)) {
                 // always update mass properties when going dynamic (unless it's already been done above)
                 ShapeInfo shapeInfo;
-                bool computeShapeInfoResult = motionState->computeShapeInfo(shapeInfo);
-
-                qDebug() << "\n\n---";
-                qDebug() << "PhysicsEngine::updateObjectHard #2 computeShapeInfoResult =" << computeShapeInfoResult;
-
-
+                motionState->computeShapeInfo(shapeInfo);
                 float mass = motionState->computeMass(shapeInfo);
                 btVector3 inertia(0.0f, 0.0f, 0.0f);
                 body->getCollisionShape()->calculateLocalInertia(mass, inertia);

From 8d2c9425096a9d09768d2fed747738557ad087de Mon Sep 17 00:00:00 2001
From: Seth Alves <seth.alves@gmail.com>
Date: Tue, 24 Mar 2015 16:38:11 -0700
Subject: [PATCH 08/14] diff minimization

---
 .../src/RenderableModelEntityItem.cpp                  |  7 -------
 .../entities-renderer/src/RenderableModelEntityItem.h  |  2 --
 libraries/entities/src/EntitySimulation.cpp            | 10 +++++-----
 libraries/entities/src/EntitySimulation.h              |  2 +-
 libraries/entities/src/SimpleEntitySimulation.cpp      |  3 +--
 libraries/entities/src/SimpleEntitySimulation.h        |  2 +-
 libraries/physics/src/PhysicsEngine.cpp                |  6 +++---
 libraries/physics/src/PhysicsEngine.h                  |  2 +-
 8 files changed, 12 insertions(+), 22 deletions(-)

diff --git a/libraries/entities-renderer/src/RenderableModelEntityItem.cpp b/libraries/entities-renderer/src/RenderableModelEntityItem.cpp
index 88827d066c..025da1d285 100644
--- a/libraries/entities-renderer/src/RenderableModelEntityItem.cpp
+++ b/libraries/entities-renderer/src/RenderableModelEntityItem.cpp
@@ -22,7 +22,6 @@
 #include "EntityTreeRenderer.h"
 #include "RenderableModelEntityItem.h"
 
-
 EntityItem* RenderableModelEntityItem::factory(const EntityItemID& entityID, const EntityItemProperties& properties) {
     return new RenderableModelEntityItem(entityID, properties);
 }
@@ -309,7 +308,6 @@ bool RenderableModelEntityItem::isReadyToComputeShape() {
     const QSharedPointer<NetworkGeometry> collisionNetworkGeometry = _model->getCollisionGeometry();
     if (! collisionNetworkGeometry.isNull() && collisionNetworkGeometry->isLoadedWithTextures()) {
         // we have a _collisionModelURL AND a collisionNetworkGeometry AND it's fully loaded.
-        // _dirtyFlags |= (EntityItem::DIRTY_SHAPE | EntityItem::DIRTY_MASS);
         return true;
     }
 
@@ -342,11 +340,6 @@ void RenderableModelEntityItem::computeShapeInfo(ShapeInfo& info) {
                     assert(p1Index < (unsigned int)mesh.vertices.size());
                     assert(p2Index < (unsigned int)mesh.vertices.size());
 
-                    // glm::vec3 p0 = mesh.vertices[p0Index] * scale[0];
-                    // glm::vec3 p1 = mesh.vertices[p1Index] * scale[1];
-                    // glm::vec3 p2 = mesh.vertices[p2Index] * scale[2];
-
-
                     glm::vec3 p0 = mesh.vertices[p0Index];
                     glm::vec3 p1 = mesh.vertices[p1Index];
                     glm::vec3 p2 = mesh.vertices[p2Index];
diff --git a/libraries/entities-renderer/src/RenderableModelEntityItem.h b/libraries/entities-renderer/src/RenderableModelEntityItem.h
index 3586bd9941..90535954b4 100644
--- a/libraries/entities-renderer/src/RenderableModelEntityItem.h
+++ b/libraries/entities-renderer/src/RenderableModelEntityItem.h
@@ -49,7 +49,6 @@ public:
                          void** intersectedObject, bool precisionPicking) const;
 
     Model* getModel(EntityTreeRenderer* renderer);
-    // virtual void setCollisionModelURL(const QString& url);
 
     bool needsToCallUpdate() const;
 
@@ -57,7 +56,6 @@ public:
     virtual bool hasCollisionModel() const;
     virtual const QString& getCollisionModelURL() const;
 
-
     virtual void updateDimensions(const glm::vec3& value);
 
     bool isReadyToComputeShape();
diff --git a/libraries/entities/src/EntitySimulation.cpp b/libraries/entities/src/EntitySimulation.cpp
index 555f2061e8..b093dbe4f4 100644
--- a/libraries/entities/src/EntitySimulation.cpp
+++ b/libraries/entities/src/EntitySimulation.cpp
@@ -126,11 +126,11 @@ void EntitySimulation::addEntity(EntityItem* entity) {
     if (entity->needsToCallUpdate()) {
         _updateableEntities.insert(entity);
     }
-    if (addEntityInternal(entity)) {
-        // DirtyFlags are used to signal changes to entities that have already been added, 
-        // so we can clear them for this entity which has just been added.
-        entity->clearDirtyFlags();
-    }
+    addEntityInternal(entity);
+
+    // DirtyFlags are used to signal changes to entities that have already been added, 
+    // so we can clear them for this entity which has just been added.
+    entity->clearDirtyFlags();
 }
 
 void EntitySimulation::removeEntity(EntityItem* entity) {
diff --git a/libraries/entities/src/EntitySimulation.h b/libraries/entities/src/EntitySimulation.h
index 9dd86011fa..68b42e5ac9 100644
--- a/libraries/entities/src/EntitySimulation.h
+++ b/libraries/entities/src/EntitySimulation.h
@@ -78,7 +78,7 @@ protected:
     // NOTE: updateEntitiesInternal() should clear all dirty flags on each changed entity as side effect
     virtual void updateEntitiesInternal(const quint64& now) = 0;
 
-    virtual bool addEntityInternal(EntityItem* entity) = 0;
+    virtual void addEntityInternal(EntityItem* entity) = 0;
 
     virtual void removeEntityInternal(EntityItem* entity) = 0;
 
diff --git a/libraries/entities/src/SimpleEntitySimulation.cpp b/libraries/entities/src/SimpleEntitySimulation.cpp
index ee62c00246..6d45768c26 100644
--- a/libraries/entities/src/SimpleEntitySimulation.cpp
+++ b/libraries/entities/src/SimpleEntitySimulation.cpp
@@ -29,13 +29,12 @@ void SimpleEntitySimulation::updateEntitiesInternal(const quint64& now) {
     }
 }
 
-bool SimpleEntitySimulation::addEntityInternal(EntityItem* entity) {
+void SimpleEntitySimulation::addEntityInternal(EntityItem* entity) {
     if (entity->isMoving()) {
         _movingEntities.insert(entity);
     } else if (entity->getCollisionsWillMove()) {
         _movableButStoppedEntities.insert(entity);
     }
-    return true;
 }
 
 void SimpleEntitySimulation::removeEntityInternal(EntityItem* entity) {
diff --git a/libraries/entities/src/SimpleEntitySimulation.h b/libraries/entities/src/SimpleEntitySimulation.h
index 6a748c3e1f..92b6a28215 100644
--- a/libraries/entities/src/SimpleEntitySimulation.h
+++ b/libraries/entities/src/SimpleEntitySimulation.h
@@ -23,7 +23,7 @@ public:
 
 protected:
     virtual void updateEntitiesInternal(const quint64& now);
-    virtual bool addEntityInternal(EntityItem* entity);
+    virtual void addEntityInternal(EntityItem* entity);
     virtual void removeEntityInternal(EntityItem* entity);
     virtual void entityChangedInternal(EntityItem* entity);
     virtual void clearEntitiesInternal();
diff --git a/libraries/physics/src/PhysicsEngine.cpp b/libraries/physics/src/PhysicsEngine.cpp
index 5f668b4f37..37b7035101 100644
--- a/libraries/physics/src/PhysicsEngine.cpp
+++ b/libraries/physics/src/PhysicsEngine.cpp
@@ -58,12 +58,12 @@ void PhysicsEngine::updateEntitiesInternal(const quint64& now) {
     }
 }
 
-bool PhysicsEngine::addEntityInternal(EntityItem* entity) {
+void PhysicsEngine::addEntityInternal(EntityItem* entity) {
     assert(entity);
     void* physicsInfo = entity->getPhysicsInfo();
     if (!physicsInfo) {
         if (! entity->isReadyToComputeShape()) {
-            return false;
+            return;
         }
         ShapeInfo shapeInfo;
         entity->computeShapeInfo(shapeInfo);
@@ -84,7 +84,7 @@ bool PhysicsEngine::addEntityInternal(EntityItem* entity) {
             //qDebug() << "failed to add entity " << entity->getEntityItemID() << " to physics engine";
         }
     }
-    return true;
+    return;
 }
 
 void PhysicsEngine::removeEntityInternal(EntityItem* entity) {
diff --git a/libraries/physics/src/PhysicsEngine.h b/libraries/physics/src/PhysicsEngine.h
index 68161f5c12..a8c9edf2f8 100644
--- a/libraries/physics/src/PhysicsEngine.h
+++ b/libraries/physics/src/PhysicsEngine.h
@@ -60,7 +60,7 @@ public:
 
     // overrides for EntitySimulation
     void updateEntitiesInternal(const quint64& now);
-    bool addEntityInternal(EntityItem* entity);
+    void addEntityInternal(EntityItem* entity);
     void removeEntityInternal(EntityItem* entity);
     void entityChangedInternal(EntityItem* entity);
     void sortEntitiesThatMovedInternal();

From 2f47f7c7bad1361fd5a7884827ba20b31105f9cd Mon Sep 17 00:00:00 2001
From: Seth Alves <seth.alves@gmail.com>
Date: Tue, 24 Mar 2015 16:51:42 -0700
Subject: [PATCH 09/14] diff minimization

---
 .../src/RenderableModelEntityItem.cpp         |  1 -
 libraries/entities/src/EntitySimulation.h     |  4 --
 libraries/entities/src/EntityTree.cpp         |  6 ---
 libraries/entities/src/EntityTree.h           |  3 --
 libraries/entities/src/EntityTreeElement.h    |  1 -
 libraries/physics/src/PhysicsEngine.cpp       | 38 +++++++++----------
 libraries/physics/src/PhysicsEngine.h         |  2 -
 7 files changed, 18 insertions(+), 37 deletions(-)

diff --git a/libraries/entities-renderer/src/RenderableModelEntityItem.cpp b/libraries/entities-renderer/src/RenderableModelEntityItem.cpp
index 025da1d285..aab9786762 100644
--- a/libraries/entities-renderer/src/RenderableModelEntityItem.cpp
+++ b/libraries/entities-renderer/src/RenderableModelEntityItem.cpp
@@ -369,7 +369,6 @@ void RenderableModelEntityItem::computeShapeInfo(ShapeInfo& info) {
         glm::vec3 aaBoxDim = aaBox.getDimensions();
         aaBoxDim = glm::clamp(aaBoxDim, glm::vec3(FLT_EPSILON), aaBoxDim);
 
-        // scale = dimensions / aabox
         glm::vec3 scale = _dimensions / aaBoxDim;
 
         // multiply each point by scale before handing the point-set off to the physics engine
diff --git a/libraries/entities/src/EntitySimulation.h b/libraries/entities/src/EntitySimulation.h
index 68b42e5ac9..1eb4fdc951 100644
--- a/libraries/entities/src/EntitySimulation.h
+++ b/libraries/entities/src/EntitySimulation.h
@@ -63,10 +63,6 @@ public:
 
     EntityTree* getEntityTree() { return _entityTree; }
 
-    /* virtual void reconfigureEntity(EntityItem* entity) { */
-    /*     qDebug() << "EntitySimulation::reconfigureEntity"; */
-    /* } */
-
 signals:
     void entityCollisionWithEntity(const EntityItemID& idA, const EntityItemID& idB, const Collision& collision);
 
diff --git a/libraries/entities/src/EntityTree.cpp b/libraries/entities/src/EntityTree.cpp
index da7194e4bc..3ccff46a04 100644
--- a/libraries/entities/src/EntityTree.cpp
+++ b/libraries/entities/src/EntityTree.cpp
@@ -315,12 +315,6 @@ void EntityTree::deleteEntities(QSet<EntityItemID> entityIDs, bool force, bool i
     }
 }
 
-void EntityTree::reconfigureEntity(EntityItem* entity) {
-    qDebug() << "EntityTree::reconfigureEntity";
-    // _simulation->reconfigureEntity(entity);
-    _simulation->entityChanged(entity);
-}
-
 void EntityTree::processRemovedEntities(const DeleteEntityOperator& theOperator) {
     const RemovedEntities& entities = theOperator.getEntities();
     if (_simulation) {
diff --git a/libraries/entities/src/EntityTree.h b/libraries/entities/src/EntityTree.h
index 25cc0b0bf4..29fecc88b4 100644
--- a/libraries/entities/src/EntityTree.h
+++ b/libraries/entities/src/EntityTree.h
@@ -95,8 +95,6 @@ public:
 
     void deleteEntity(const EntityItemID& entityID, bool force = false, bool ignoreWarnings = false);
     void deleteEntities(QSet<EntityItemID> entityIDs, bool force = false, bool ignoreWarnings = false);
-    // void removeEntityFromSimulation(EntityItem* entity);
-    void reconfigureEntity(EntityItem* entity);
 
     /// \param position point of query in world-frame (meters)
     /// \param targetRadius radius of query (meters)
@@ -162,7 +160,6 @@ public:
     void emitEntityScriptChanging(const EntityItemID& entityItemID);
 
     void setSimulation(EntitySimulation* simulation);
-    EntitySimulation* getSimulation() { return _simulation; }
     
     bool wantEditLogging() const { return _wantEditLogging; }
     void setWantEditLogging(bool value) { _wantEditLogging = value; }
diff --git a/libraries/entities/src/EntityTreeElement.h b/libraries/entities/src/EntityTreeElement.h
index e93e00cc1c..0b28dd30d0 100644
--- a/libraries/entities/src/EntityTreeElement.h
+++ b/libraries/entities/src/EntityTreeElement.h
@@ -147,7 +147,6 @@ public:
     bool hasEntities() const { return _entityItems ? _entityItems->size() > 0 : false; }
 
     void setTree(EntityTree* tree) { _myTree = tree; }
-    EntityTree* getTree() { return _myTree; }
 
     bool updateEntity(const EntityItem& entity);
     void addEntityItem(EntityItem* entity);
diff --git a/libraries/physics/src/PhysicsEngine.cpp b/libraries/physics/src/PhysicsEngine.cpp
index 37b7035101..a46ba9f819 100644
--- a/libraries/physics/src/PhysicsEngine.cpp
+++ b/libraries/physics/src/PhysicsEngine.cpp
@@ -62,29 +62,27 @@ void PhysicsEngine::addEntityInternal(EntityItem* entity) {
     assert(entity);
     void* physicsInfo = entity->getPhysicsInfo();
     if (!physicsInfo) {
-        if (! entity->isReadyToComputeShape()) {
-            return;
-        }
-        ShapeInfo shapeInfo;
-        entity->computeShapeInfo(shapeInfo);
-        btCollisionShape* shape = _shapeManager.getShape(shapeInfo);
-        if (shape) {
-            EntityMotionState* motionState = new EntityMotionState(entity);
-            entity->setPhysicsInfo(static_cast<void*>(motionState));
-            _entityMotionStates.insert(motionState);
-            addObject(shapeInfo, shape, motionState);
-        } else if (entity->isMoving()) {
-            EntityMotionState* motionState = new EntityMotionState(entity);
-            entity->setPhysicsInfo(static_cast<void*>(motionState));
-            _entityMotionStates.insert(motionState);
+        if (entity->isReadyToComputeShape()) {
+            ShapeInfo shapeInfo;
+            entity->computeShapeInfo(shapeInfo);
+            btCollisionShape* shape = _shapeManager.getShape(shapeInfo);
+            if (shape) {
+                EntityMotionState* motionState = new EntityMotionState(entity);
+                entity->setPhysicsInfo(static_cast<void*>(motionState));
+                _entityMotionStates.insert(motionState);
+                addObject(shapeInfo, shape, motionState);
+            } else if (entity->isMoving()) {
+                EntityMotionState* motionState = new EntityMotionState(entity);
+                entity->setPhysicsInfo(static_cast<void*>(motionState));
+                _entityMotionStates.insert(motionState);
 
-            motionState->setKinematic(true, _numSubsteps);
-            _nonPhysicalKinematicObjects.insert(motionState);
-            // We failed to add the entity to the simulation.  Probably because we couldn't create a shape for it.
-            //qDebug() << "failed to add entity " << entity->getEntityItemID() << " to physics engine";
+                motionState->setKinematic(true, _numSubsteps);
+                _nonPhysicalKinematicObjects.insert(motionState);
+                // We failed to add the entity to the simulation.  Probably because we couldn't create a shape for it.
+                //qDebug() << "failed to add entity " << entity->getEntityItemID() << " to physics engine";
+            }
         }
     }
-    return;
 }
 
 void PhysicsEngine::removeEntityInternal(EntityItem* entity) {
diff --git a/libraries/physics/src/PhysicsEngine.h b/libraries/physics/src/PhysicsEngine.h
index a8c9edf2f8..cb637c60b9 100644
--- a/libraries/physics/src/PhysicsEngine.h
+++ b/libraries/physics/src/PhysicsEngine.h
@@ -88,8 +88,6 @@ public:
 
     void setAvatarData(AvatarData *avatarData);
 
-    // virtual void reconfigureEntity(EntityItem* entity);
-
 private:
     /// \param motionState pointer to Object's MotionState
     void removeObjectFromBullet(ObjectMotionState* motionState);

From dccedeadff030cd721caae413bca87804141b33e Mon Sep 17 00:00:00 2001
From: Seth Alves <seth.alves@gmail.com>
Date: Tue, 24 Mar 2015 16:59:12 -0700
Subject: [PATCH 10/14] diff minimization

---
 .../src/RenderableModelEntityItem.cpp                 |  8 --------
 .../entities-renderer/src/RenderableModelEntityItem.h |  2 --
 libraries/entities/src/EntityItem.h                   | 11 +----------
 3 files changed, 1 insertion(+), 20 deletions(-)

diff --git a/libraries/entities-renderer/src/RenderableModelEntityItem.cpp b/libraries/entities-renderer/src/RenderableModelEntityItem.cpp
index aab9786762..43dbb95b6d 100644
--- a/libraries/entities-renderer/src/RenderableModelEntityItem.cpp
+++ b/libraries/entities-renderer/src/RenderableModelEntityItem.cpp
@@ -286,14 +286,6 @@ const QString& RenderableModelEntityItem::getCollisionModelURL() const {
     return _collisionModelURL;
 }
 
-void RenderableModelEntityItem::updateDimensions(const glm::vec3& value) {
-    if (glm::distance(_dimensions, value) > MIN_DIMENSIONS_DELTA) {
-        _dimensions = value;
-        _dirtyFlags |= (EntityItem::DIRTY_SHAPE | EntityItem::DIRTY_MASS);
-    }
-    _model->setScaleToFit(true, _dimensions);
-}
-
 bool RenderableModelEntityItem::isReadyToComputeShape() {
 
     if (!_model) {
diff --git a/libraries/entities-renderer/src/RenderableModelEntityItem.h b/libraries/entities-renderer/src/RenderableModelEntityItem.h
index 90535954b4..9146a04cf8 100644
--- a/libraries/entities-renderer/src/RenderableModelEntityItem.h
+++ b/libraries/entities-renderer/src/RenderableModelEntityItem.h
@@ -56,8 +56,6 @@ public:
     virtual bool hasCollisionModel() const;
     virtual const QString& getCollisionModelURL() const;
 
-    virtual void updateDimensions(const glm::vec3& value);
-
     bool isReadyToComputeShape();
     void computeShapeInfo(ShapeInfo& info);
     ShapeType getShapeType() const;
diff --git a/libraries/entities/src/EntityItem.h b/libraries/entities/src/EntityItem.h
index 49e450c45e..88287f8965 100644
--- a/libraries/entities/src/EntityItem.h
+++ b/libraries/entities/src/EntityItem.h
@@ -40,15 +40,6 @@ class EntityTreeElementExtraEncodeData;
 #define debugTreeVector(V) V << "[" << V << " in meters ]"
 
 
-extern const float MIN_POSITION_DELTA;
-extern const float MIN_DIMENSIONS_DELTA;
-extern const float MIN_ALIGNMENT_DOT;
-extern const float MIN_VELOCITY_DELTA;
-extern const float MIN_DAMPING_DELTA;
-extern const float MIN_GRAVITY_DELTA;
-extern const float MIN_SPIN_DELTA;
-
-
 /// EntityItem class this is the base class for all entity types. It handles the basic properties and functionality available
 /// to all other entity types. In particular: postion, size, rotation, age, lifetime, velocity, gravity. You can not instantiate
 /// one directly, instead you must only construct one of it's derived classes with additional features.
@@ -279,7 +270,7 @@ public:
     void updatePositionInDomainUnits(const glm::vec3& value);
     void updatePosition(const glm::vec3& value);
     void updateDimensionsInDomainUnits(const glm::vec3& value);
-    virtual void updateDimensions(const glm::vec3& value);
+    void updateDimensions(const glm::vec3& value);
     void updateRotation(const glm::quat& rotation);
     void updateDensity(float value);
     void updateMass(float value);

From 719dae61a9a8d015a12f2685439b38bc6951f7e2 Mon Sep 17 00:00:00 2001
From: Seth Alves <seth.alves@gmail.com>
Date: Wed, 25 Mar 2015 06:51:00 -0700
Subject: [PATCH 11/14] when a compound shape is deleted, delete the children,
 as well

---
 libraries/physics/src/ShapeInfoUtil.h  |  2 ++
 libraries/physics/src/ShapeManager.cpp | 12 ++++++++++++
 2 files changed, 14 insertions(+)

diff --git a/libraries/physics/src/ShapeInfoUtil.h b/libraries/physics/src/ShapeInfoUtil.h
index fb59f30c69..9585161440 100644
--- a/libraries/physics/src/ShapeInfoUtil.h
+++ b/libraries/physics/src/ShapeInfoUtil.h
@@ -20,6 +20,8 @@
 // translates between ShapeInfo and btShape
 
 namespace ShapeInfoUtil {
+
+    // XXX is collectInfoFromShape no longer strictly needed?
     void collectInfoFromShape(const btCollisionShape* shape, ShapeInfo& info);
 
     btCollisionShape* createShapeFromInfo(const ShapeInfo& info);
diff --git a/libraries/physics/src/ShapeManager.cpp b/libraries/physics/src/ShapeManager.cpp
index 513fbfa7a5..9b3b2f6d35 100644
--- a/libraries/physics/src/ShapeManager.cpp
+++ b/libraries/physics/src/ShapeManager.cpp
@@ -100,6 +100,18 @@ void ShapeManager::collectGarbage() {
         DoubleHashKey& key = _pendingGarbage[i];
         ShapeReference* shapeRef = _shapeMap.find(key);
         if (shapeRef && shapeRef->refCount == 0) {
+            // if the shape we're about to delete is compound, delete the children first.
+            auto shapeType = ShapeInfoUtil::fromBulletShapeType(shapeRef->shape->getShapeType());
+            if (shapeType == SHAPE_TYPE_COMPOUND) {
+                const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(shapeRef->shape);
+                const int numChildShapes = compoundShape->getNumChildShapes();
+                QVector<QVector<glm::vec3>> points;
+                for (int i = 0; i < numChildShapes; i ++) {
+                    const btCollisionShape* childShape = compoundShape->getChildShape(i);
+                    delete childShape;
+                }
+            }
+
             delete shapeRef->shape;
             _shapeMap.remove(key);
         }

From dd9290bd5900ac5383cba268be3470545ec45a5c Mon Sep 17 00:00:00 2001
From: Seth Alves <seth.alves@gmail.com>
Date: Wed, 25 Mar 2015 15:21:28 -0700
Subject: [PATCH 12/14] clear points for non-hull shapes

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

diff --git a/libraries/shared/src/ShapeInfo.cpp b/libraries/shared/src/ShapeInfo.cpp
index 73dd945f73..5fe1fc230d 100644
--- a/libraries/shared/src/ShapeInfo.cpp
+++ b/libraries/shared/src/ShapeInfo.cpp
@@ -23,6 +23,7 @@ void ShapeInfo::clear() {
 
 void ShapeInfo::setParams(ShapeType type, const glm::vec3& halfExtents, QString url) {
     _type = type;
+    _points.clear();
     switch(type) {
         case SHAPE_TYPE_NONE:
             _halfExtents = glm::vec3(0.0f);
@@ -56,6 +57,7 @@ void ShapeInfo::setBox(const glm::vec3& halfExtents) {
     _url = "";
     _type = SHAPE_TYPE_BOX;
     _halfExtents = halfExtents;
+    _points.clear();
     _doubleHashKey.clear();
 }
 
@@ -63,6 +65,7 @@ void ShapeInfo::setSphere(float radius) {
     _url = "";
     _type = SHAPE_TYPE_SPHERE;
     _halfExtents = glm::vec3(radius, radius, radius);
+    _points.clear();
     _doubleHashKey.clear();
 }
 
@@ -70,6 +73,7 @@ void ShapeInfo::setEllipsoid(const glm::vec3& halfExtents) {
     _url = "";
     _type = SHAPE_TYPE_ELLIPSOID;
     _halfExtents = halfExtents;
+    _points.clear();
     _doubleHashKey.clear();
 }
 
@@ -87,6 +91,7 @@ void ShapeInfo::setCapsuleY(float radius, float halfHeight) {
     _url = "";
     _type = SHAPE_TYPE_CAPSULE_Y;
     _halfExtents = glm::vec3(radius, halfHeight, radius);
+    _points.clear();
     _doubleHashKey.clear();
 }
 

From a3a54e8d7d8fe8059234699efe9202ed7f26361d Mon Sep 17 00:00:00 2001
From: Seth Alves <seth.alves@gmail.com>
Date: Wed, 25 Mar 2015 15:21:36 -0700
Subject: [PATCH 13/14] style

---
 libraries/entities/src/ModelEntityItem.cpp | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/libraries/entities/src/ModelEntityItem.cpp b/libraries/entities/src/ModelEntityItem.cpp
index f135f617f4..55d809e70e 100644
--- a/libraries/entities/src/ModelEntityItem.cpp
+++ b/libraries/entities/src/ModelEntityItem.cpp
@@ -281,8 +281,7 @@ void ModelEntityItem::updateShapeType(ShapeType type) {
     }
 }
 
-void ModelEntityItem::setCollisionModelURL(const QString& url)
-{
+void ModelEntityItem::setCollisionModelURL(const QString& url) {
     if (_collisionModelURL != url) {
         _collisionModelURL = url;
         _dirtyFlags |= EntityItem::DIRTY_SHAPE | EntityItem::DIRTY_MASS;

From 923951143c062c15edbeec5f31c29e605d20d8da Mon Sep 17 00:00:00 2001
From: Seth Alves <seth.alves@gmail.com>
Date: Wed, 25 Mar 2015 15:21:53 -0700
Subject: [PATCH 14/14] comment out line that's killing cmake for me

---
 tools/CMakeLists.txt | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tools/CMakeLists.txt b/tools/CMakeLists.txt
index 5c7c306a62..ba2938aaa6 100644
--- a/tools/CMakeLists.txt
+++ b/tools/CMakeLists.txt
@@ -8,5 +8,5 @@ set_target_properties(scribe PROPERTIES FOLDER "Tools")
 find_package(VHACD)
 if(VHACD_FOUND)
 add_subdirectory(vhacd)
-set_target_properties(vhacd PROPERTIES FOLDER "Tools")
+# set_target_properties(vhacd PROPERTIES FOLDER "Tools")
 endif()