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Merge branch 'master' of https://github.com/highfidelity/hifi into collision-sound-tuning

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This commit is contained in:
Howard Stearns 2015-05-15 10:25:03 -07:00
commit 3600a5def8
5 changed files with 84 additions and 64 deletions
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8
examples/controllers/hydra/hydraGrab.js
View file

@ -18,6 +18,7 @@
var entityProps, currentPosition, currentVelocity, currentRotation, distanceToTarget, velocityTowardTarget, desiredVelocity;
var addedVelocity, newVelocity, angularVelocity, dT, cameraEntityDistance;
var LEFT = 0;
var RIGHT = 1;
var LASER_WIDTH = 3;
var LASER_COLOR = {
@ -50,7 +51,7 @@ var grabSound = SoundCache.getSound("https://hifi-public.s3.amazonaws.com/eric/s
var releaseSound = SoundCache.getSound("https://hifi-public.s3.amazonaws.com/eric/sounds/ReleaseClamp.wav");
function getRayIntersection(pickRay) {
var intersection = Entities.findRayIntersection(pickRay);
var intersection = Entities.findRayIntersection(pickRay, true);
return intersection;
}
@ -194,7 +195,7 @@ function controller(side) {
origin: this.palmPosition,
direction: Vec3.normalize(Vec3.subtract(this.tipPosition, this.palmPosition))
};
var intersection = getRayIntersection(pickRay);
var intersection = getRayIntersection(pickRay, true);
if (intersection.intersects && intersection.properties.collisionsWillMove) {
this.laserWasHovered = true;
if (this.triggerHeld && !this.grabbing) {
@ -286,10 +287,12 @@ function controller(side) {
function update(deltaTime) {
rightController.update(deltaTime);
leftController.update(deltaTime);
}
function scriptEnding() {
rightController.cleanup();
leftController.cleanup();
}
function vectorIsZero(v) {
@ -297,6 +300,7 @@ function vectorIsZero(v) {
}
var rightController = new controller(RIGHT);
var leftController = new controller(LEFT);
Script.update.connect(update);

48
examples/example/games/airHockey.js
View file

@ -19,20 +19,20 @@ var EDGE_THICKESS = 0.10;
var EDGE_HEIGHT = 0.10;
var DROP_HEIGHT = 0.3;
var PUCK_SIZE = 0.15;
var PUCK_THICKNESS = 0.03;
var PADDLE_SIZE = 0.12;
var PADDLE_THICKNESS = 0.03;
var PUCK_THICKNESS = 0.05;
var PADDLE_SIZE = 0.15;
var PADDLE_THICKNESS = 0.05;
var GOAL_WIDTH = 0.35;
var GRAVITY = -9.8;
var LIFETIME = 6000;
var PUCK_DAMPING = 0.03;
var PUCK_DAMPING = 0.02;
var PADDLE_DAMPING = 0.35;
var ANGULAR_DAMPING = 0.10;
var PADDLE_ANGULAR_DAMPING = 0.35;
var ANGULAR_DAMPING = 0.4;
var PADDLE_ANGULAR_DAMPING = 0.75;
var MODEL_SCALE = 1.52;
var MODEL_OFFSET = { x: 0, y: -0.18, z: 0 };
var MODEL_OFFSET = { x: 0, y: -0.19, z: 0 };
var scoreSound = SoundCache.getSound("https://s3.amazonaws.com/hifi-public/sounds/Collisions-hitsandslaps/airhockey_score.wav");
@ -41,9 +41,16 @@ var normalTable = "https://hifi-public.s3.amazonaws.com/ozan/props/airHockeyTabl
var hitSound1 = "https://s3.amazonaws.com/hifi-public/sounds/Collisions-hitsandslaps/airhockey_hit1.wav"
var hitSound2 = "https://s3.amazonaws.com/hifi-public/sounds/Collisions-hitsandslaps/airhockey_hit2.wav"
var hitSideSound = "https://s3.amazonaws.com/hifi-public/sounds/Collisions-hitsandslaps/airhockey_hit3.wav"
var puckModel = "https://hifi-public.s3.amazonaws.com/ozan/props/airHockeyTable/airHockeyPuck.fbx"
var puckCollisionModel = "http://headache.hungry.com/~seth/hifi/airHockeyPuck-hull.obj"
var paddleModel = "https://hifi-public.s3.amazonaws.com/ozan/props/airHockeyTable/airHockeyPaddle.obj"
var paddleCollisionModel = "http://headache.hungry.com/~seth/hifi/paddle-hull.obj"
var center = Vec3.sum(MyAvatar.position, Vec3.multiply((FIELD_WIDTH + FIELD_LENGTH) * 0.60, Quat.getFront(Camera.getOrientation())));
var edgeRestitution = 0.9;
var floorFriction = 0.01;
var floor = Entities.addEntity(
{ type: "Box",
position: Vec3.subtract(center, { x: 0, y: 0, z: 0 }),
@ -52,6 +59,7 @@ var floor = Entities.addEntity(
gravity: { x: 0, y: 0, z: 0 },
ignoreCollisions: false,
locked: true,
friction: floorFriction,
visible: debugVisible,
lifetime: LIFETIME });
@ -64,6 +72,7 @@ var edge1 = Entities.addEntity(
gravity: { x: 0, y: 0, z: 0 },
ignoreCollisions: false,
visible: debugVisible,
restitution: edgeRestitution,
locked: true,
lifetime: LIFETIME });
@ -76,6 +85,7 @@ var edge2 = Entities.addEntity(
gravity: { x: 0, y: 0, z: 0 },
ignoreCollisions: false,
visible: debugVisible,
restitution: edgeRestitution,
locked: true,
lifetime: LIFETIME });
@ -88,6 +98,7 @@ var edge3a = Entities.addEntity(
gravity: { x: 0, y: 0, z: 0 },
ignoreCollisions: false,
visible: debugVisible,
restitution: edgeRestitution,
locked: true,
lifetime: LIFETIME });
@ -100,6 +111,7 @@ var edge3b = Entities.addEntity(
gravity: { x: 0, y: 0, z: 0 },
ignoreCollisions: false,
visible: debugVisible,
restitution: edgeRestitution,
locked: true,
lifetime: LIFETIME });
@ -112,6 +124,7 @@ var edge4a = Entities.addEntity(
gravity: { x: 0, y: 0, z: 0 },
ignoreCollisions: false,
visible: debugVisible,
restitution: edgeRestitution,
locked: true,
lifetime: LIFETIME });
@ -124,6 +137,7 @@ var edge4b = Entities.addEntity(
gravity: { x: 0, y: 0, z: 0 },
ignoreCollisions: false,
visible: debugVisible,
restitution: edgeRestitution,
locked: true,
lifetime: LIFETIME });
@ -146,8 +160,8 @@ function makeNewProp(which) {
if (which == "puck") {
return Entities.addEntity(
{ type: "Model",
modelURL: "http://headache.hungry.com/~seth/hifi/puck.obj",
compoundShapeURL: "http://headache.hungry.com/~seth/hifi/puck.obj",
modelURL: puckModel,
compoundShapeURL: puckCollisionModel,
collisionSoundURL: hitSound1,
position: Vec3.sum(center, { x: 0, y: DROP_HEIGHT, z: 0 }),
dimensions: { x: PUCK_SIZE, y: PUCK_THICKNESS, z: PUCK_SIZE },
@ -162,13 +176,13 @@ function makeNewProp(which) {
else if (which == "paddle1") {
return Entities.addEntity(
{ type: "Model",
modelURL: "http://headache.hungry.com/~seth/hifi/puck.obj",
compoundShapeURL: "http://headache.hungry.com/~seth/hifi/puck.obj",
modelURL: paddleModel,
compoundShapeURL: paddleCollisionModel,
collisionSoundURL: hitSound2,
position: Vec3.sum(center, { x: 0, y: DROP_HEIGHT, z: FIELD_LENGTH * 0.35 }),
position: Vec3.sum(center, { x: 0, y: DROP_HEIGHT * 1.5, z: FIELD_LENGTH * 0.35 }),
dimensions: { x: PADDLE_SIZE, y: PADDLE_THICKNESS, z: PADDLE_SIZE },
gravity: { x: 0, y: GRAVITY, z: 0 },
velocity: { x: 0, y: 0.05, z: 0 },
velocity: { x: 0, y: 0.07, z: 0 },
ignoreCollisions: false,
damping: PADDLE_DAMPING,
angularDamping: PADDLE_ANGULAR_DAMPING,
@ -178,13 +192,13 @@ function makeNewProp(which) {
else if (which == "paddle2") {
return Entities.addEntity(
{ type: "Model",
modelURL: "http://headache.hungry.com/~seth/hifi/puck.obj",
compoundShapeURL: "http://headache.hungry.com/~seth/hifi/puck.obj",
modelURL: paddleModel,
compoundShapeURL: paddleCollisionModel,
collisionSoundURL: hitSound2,
position: Vec3.sum(center, { x: 0, y: DROP_HEIGHT, z: -FIELD_LENGTH * 0.35 }),
position: Vec3.sum(center, { x: 0, y: DROP_HEIGHT * 1.5, z: -FIELD_LENGTH * 0.35 }),
dimensions: { x: PADDLE_SIZE, y: PADDLE_THICKNESS, z: PADDLE_SIZE },
gravity: { x: 0, y: GRAVITY, z: 0 },
velocity: { x: 0, y: 0.05, z: 0 },
velocity: { x: 0, y: 0.07, z: 0 },
ignoreCollisions: false,
damping: PADDLE_DAMPING,
angularDamping: PADDLE_ANGULAR_DAMPING,

10
examples/example/games/hydraGrabHockey.js
View file

@ -16,8 +16,8 @@
// See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
//
var addedVelocity, newVelocity, angularVelocity, dT, cameraEntityDistance;
var LEFT = 0;
var RIGHT = 1;
var LASER_WIDTH = 3;
var LASER_COLOR = {
@ -50,10 +50,11 @@ var grabSound = SoundCache.getSound("https://hifi-public.s3.amazonaws.com/eric/s
var releaseSound = SoundCache.getSound("https://hifi-public.s3.amazonaws.com/eric/sounds/ReleaseClamp.wav");
function getRayIntersection(pickRay) {
var intersection = Entities.findRayIntersection(pickRay);
var intersection = Entities.findRayIntersection(pickRay, true);
return intersection;
}
function controller(side) {
this.triggerHeld = false;
this.triggerThreshold = 0.9;
@ -190,7 +191,7 @@ function controller(side) {
origin: this.palmPosition,
direction: Vec3.normalize(Vec3.subtract(this.tipPosition, this.palmPosition))
};
var intersection = getRayIntersection(pickRay);
var intersection = getRayIntersection(pickRay, true);
if (intersection.intersects && intersection.properties.collisionsWillMove) {
this.laserWasHovered = true;
if (this.triggerHeld && !this.grabbing) {
@ -282,10 +283,12 @@ function controller(side) {
function update(deltaTime) {
rightController.update(deltaTime);
leftController.update(deltaTime);
}
function scriptEnding() {
rightController.cleanup();
leftController.cleanup();
}
function vectorIsZero(v) {
@ -293,6 +296,7 @@ function vectorIsZero(v) {
}
var rightController = new controller(RIGHT);
var leftController = new controller(LEFT);
Script.update.connect(update);

80
libraries/physics/src/ShapeInfoUtil.cpp
View file

@ -15,36 +15,48 @@
#include "BulletUtil.h"
// find the average point on a convex shape
glm::vec3 findCenter(const QVector<glm::vec3>& points) {
glm::vec3 result = glm::vec3(0);
for (int i = 0; i < points.size(); i++) {
result += points[i];
btConvexHullShape* ShapeInfoUtil::createConvexHull(const QVector<glm::vec3>& points) {
assert(points.size() > 0);
btConvexHullShape* hull = new btConvexHullShape();
glm::vec3 center = points[0];
glm::vec3 maxCorner = center;
glm::vec3 minCorner = center;
for (int i = 1; i < points.size(); i++) {
center += points[i];
maxCorner = glm::max(maxCorner, points[i]);
minCorner = glm::min(minCorner, points[i]);
}
return result * (1.0f / points.size());
}
center /= (float)(points.size());
float margin = hull->getMargin();
// bullet puts "margins" around all the collision shapes. This can cause shapes will hulls
// to float a bit above what they are sitting on, etc. One option is to call:
//
// compound->setMargin(0.01);
//
// to reduce the size of the margin, but this has some consequences for the
// performance and stability of the simulation. Instead, we clench in all the points of
// the hull by the margin. These clenched points + bullets margin will but the actual
// collision hull fairly close to the visual edge of the object.
QVector<glm::vec3> shrinkByMargin(const QVector<glm::vec3>& points, const glm::vec3 center, float margin) {
QVector<glm::vec3> result(points.size());
for (int i = 0; i < points.size(); i++) {
glm::vec3 pVec = points[ i ] - center;
glm::vec3 pVecNorm = glm::normalize(pVec);
result[ i ] = center + pVec - (pVecNorm * margin);
// Bullet puts "margins" around all the collision shapes. This can cause objects that use ConvexHull shapes
// to have visible gaps between them and the surface they touch. One option is to reduce the size of the margin
// but this can reduce the performance and stability of the simulation (e.g. the GJK algorithm will fail to provide
// nearest contact points and narrow-phase collisions will fall into more expensive code paths). Alternatively
// one can shift the geometry of the shape to make the margin surface approximately close to the visible surface.
// This is the strategy we try, but if the object is too small then we start to reduce the margin down to some minimum.
const float MIN_MARGIN = 0.01f;
glm::vec3 diagonal = maxCorner - minCorner;
float minDimension = glm::min(diagonal[0], diagonal[1]);
minDimension = glm::min(minDimension, diagonal[2]);
margin = glm::min(glm::max(0.5f * minDimension, MIN_MARGIN), margin);
hull->setMargin(margin);
// add the points, correcting for margin
glm::vec3 relativeScale = (diagonal - glm::vec3(2.0f * margin)) / diagonal;
glm::vec3 correctedPoint;
for (int i = 0; i < points.size(); ++i) {
correctedPoint = (points[i] - center) * relativeScale + center;
hull->addPoint(btVector3(correctedPoint[0], correctedPoint[1], correctedPoint[2]), false);
}
return result;
hull->recalcLocalAabb();
return hull;
}
btCollisionShape* ShapeInfoUtil::createShapeFromInfo(const ShapeInfo& info) {
btCollisionShape* shape = NULL;
switch(info.getType()) {
@ -68,30 +80,14 @@ btCollisionShape* ShapeInfoUtil::createShapeFromInfo(const ShapeInfo& info) {
const QVector<QVector<glm::vec3>>& points = info.getPoints();
uint32_t numSubShapes = info.getNumSubShapes();
if (numSubShapes == 1) {
auto hull = new btConvexHullShape();
const QVector<QVector<glm::vec3>>& points = info.getPoints();
glm::vec3 center = findCenter(points[0]);
QVector<glm::vec3> shrunken = shrinkByMargin(points[0], center, hull->getMargin());
foreach (glm::vec3 point, shrunken) {
btVector3 btPoint(point[0], point[1], point[2]);
hull->addPoint(btPoint, false);
}
hull->recalcLocalAabb();
shape = hull;
shape = createConvexHull(info.getPoints()[0]);
} else {
assert(numSubShapes > 1);
auto compound = new btCompoundShape();
btTransform trans;
trans.setIdentity();
foreach (QVector<glm::vec3> hullPoints, points) {
auto hull = new btConvexHullShape();
glm::vec3 center = findCenter(points[0]);
QVector<glm::vec3> shrunken = shrinkByMargin(hullPoints, center, hull->getMargin());
foreach (glm::vec3 point, shrunken) {
btVector3 btPoint(point[0], point[1], point[2]);
hull->addPoint(btPoint, false);
}
hull->recalcLocalAabb();
btConvexHullShape* hull = createConvexHull(hullPoints);
compound->addChildShape (trans, hull);
}
shape = compound;

2
libraries/physics/src/ShapeInfoUtil.h
View file

@ -22,6 +22,8 @@
// TODO: rename this to ShapeFactory
namespace ShapeInfoUtil {
btConvexHullShape* createConvexHull(const QVector<glm::vec3>& points);
btCollisionShape* createShapeFromInfo(const ShapeInfo& info);
};