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

examples/controllers/hydra/hydraGrab.js

@@ -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);

examples/example/games/airHockey.js

@@ -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 PUCK_THICKNESS = 0.05;
-var PADDLE_SIZE = 0.12;
+var PADDLE_SIZE = 0.15;
-var PADDLE_THICKNESS = 0.03;
+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 ANGULAR_DAMPING = 0.4;
-var PADDLE_ANGULAR_DAMPING = 0.35;
+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",
+	    	modelURL: puckModel,
-	    	compoundShapeURL: "http://headache.hungry.com/~seth/hifi/puck.obj",
+	    	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",
+	    	modelURL: paddleModel,
-	    	compoundShapeURL: "http://headache.hungry.com/~seth/hifi/puck.obj",
+	    	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",
+	    	modelURL: paddleModel,
-	    	compoundShapeURL: "http://headache.hungry.com/~seth/hifi/puck.obj",
+	    	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,

examples/example/games/hydraGrabHockey.js

@@ -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);

libraries/physics/src/ShapeInfoUtil.cpp

@@ -15,36 +15,48 @@
 #include "BulletUtil.h"
 
 
-// find the average point on a convex shape
+
-glm::vec3 findCenter(const QVector<glm::vec3>& points) {
+btConvexHullShape* ShapeInfoUtil::createConvexHull(const QVector<glm::vec3>& points) {
-    glm::vec3 result = glm::vec3(0);
+    assert(points.size() > 0);
-    for (int i = 0; i < points.size(); i++) {
+
-        result += points[i];
+    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
+    // Bullet puts "margins" around all the collision shapes.  This can cause objects that use ConvexHull shapes
-// to float a bit above what they are sitting on, etc.  One option is to call:
+    // 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
-//    compound->setMargin(0.01);
+    // 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.
-// to reduce the size of the margin, but this has some consequences for the
+    // This is the strategy we try, but if the object is too small then we start to reduce the margin down to some minimum.
-// 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
+    const float MIN_MARGIN = 0.01f;
-// collision hull fairly close to the visual edge of the object.
+    glm::vec3 diagonal = maxCorner - minCorner;
-QVector<glm::vec3> shrinkByMargin(const QVector<glm::vec3>& points, const glm::vec3 center, float margin) {
+    float minDimension = glm::min(diagonal[0], diagonal[1]);
-    QVector<glm::vec3> result(points.size());
+    minDimension = glm::min(minDimension, diagonal[2]);
-    for (int i = 0; i < points.size(); i++) {
+    margin = glm::min(glm::max(0.5f * minDimension, MIN_MARGIN), margin);
-        glm::vec3 pVec = points[ i ] - center;
+    hull->setMargin(margin);
-        glm::vec3 pVecNorm = glm::normalize(pVec);
+
-        result[ i ] = center + pVec - (pVecNorm * 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();
+                shape = createConvexHull(info.getPoints()[0]);
-                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;
             } else {
                 assert(numSubShapes > 1);
                 auto compound = new btCompoundShape();
                 btTransform trans;
                 trans.setIdentity();
                 foreach (QVector<glm::vec3> hullPoints, points) {
-                    auto hull = new btConvexHullShape();
+                    btConvexHullShape* hull = createConvexHull(hullPoints);
-                    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();
                     compound->addChildShape (trans, hull);
                 }
                 shape = compound;

libraries/physics/src/ShapeInfoUtil.h

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