From 0b87df45b5bb586a15a092fe322ef20e224a7dde Mon Sep 17 00:00:00 2001
From: Andrew Meadows <andrew@highfidelity.io>
Date: Tue, 10 Jul 2018 11:16:56 -0700
Subject: [PATCH 1/4] cleanup return statement
---
libraries/entities/src/EntityItem.cpp | 6 +-----
1 file changed, 1 insertion(+), 5 deletions(-)
diff --git a/libraries/entities/src/EntityItem.cpp b/libraries/entities/src/EntityItem.cpp
index 31ec189cf9..8e382fabd4 100644
--- a/libraries/entities/src/EntityItem.cpp
+++ b/libraries/entities/src/EntityItem.cpp
@@ -2414,11 +2414,7 @@ bool EntityItem::shouldSuppressLocationEdits() const {
}
// if any of the ancestors are MyAvatar, suppress
- if (isChildOfMyAvatar()) {
- return true;
- }
-
- return false;
+ return isChildOfMyAvatar();
}
QList<EntityDynamicPointer> EntityItem::getActionsOfType(EntityDynamicType typeToGet) const {
From 9171fcbe8bdbf08a48a0550188818d0c54b6d011 Mon Sep 17 00:00:00 2001
From: Andrew Meadows <andrew@highfidelity.io>
Date: Tue, 10 Jul 2018 11:17:13 -0700
Subject: [PATCH 2/4] explicit insert/erase into _simpleKinematicEntities
---
.../physics/src/PhysicalEntitySimulation.cpp | 55 +++++++++++++------
1 file changed, 38 insertions(+), 17 deletions(-)
diff --git a/libraries/physics/src/PhysicalEntitySimulation.cpp b/libraries/physics/src/PhysicalEntitySimulation.cpp
index b990d3612b..5666e75aa1 100644
--- a/libraries/physics/src/PhysicalEntitySimulation.cpp
+++ b/libraries/physics/src/PhysicalEntitySimulation.cpp
@@ -59,7 +59,10 @@ void PhysicalEntitySimulation::addEntityInternal(EntityItemPointer entity) {
_entitiesToAddToPhysics.insert(entity);
}
} else if (canBeKinematic && entity->isMovingRelativeToParent()) {
- _simpleKinematicEntities.insert(entity);
+ SetOfEntities::iterator itr = _simpleKinematicEntities.find(entity);
+ if (itr == _simpleKinematicEntities.end()) {
+ _simpleKinematicEntities.insert(entity);
+ }
}
}
@@ -150,7 +153,10 @@ void PhysicalEntitySimulation::changeEntityInternal(EntityItemPointer entity) {
removeOwnershipData(motionState);
_entitiesToRemoveFromPhysics.insert(entity);
if (canBeKinematic && entity->isMovingRelativeToParent()) {
- _simpleKinematicEntities.insert(entity);
+ SetOfEntities::iterator itr = _simpleKinematicEntities.find(entity);
+ if (itr == _simpleKinematicEntities.end()) {
+ _simpleKinematicEntities.insert(entity);
+ }
}
} else {
_incomingChanges.insert(motionState);
@@ -160,11 +166,20 @@ void PhysicalEntitySimulation::changeEntityInternal(EntityItemPointer entity) {
// The intent is for this object to be in the PhysicsEngine, but it has no MotionState yet.
// Perhaps it's shape has changed and it can now be added?
_entitiesToAddToPhysics.insert(entity);
- _simpleKinematicEntities.remove(entity); // just in case it's non-physical-kinematic
+ SetOfEntities::iterator itr = _simpleKinematicEntities.find(entity);
+ if (itr != _simpleKinematicEntities.end()) {
+ _simpleKinematicEntities.erase(itr);
+ }
} else if (canBeKinematic && entity->isMovingRelativeToParent()) {
- _simpleKinematicEntities.insert(entity);
+ SetOfEntities::iterator itr = _simpleKinematicEntities.find(entity);
+ if (itr == _simpleKinematicEntities.end()) {
+ _simpleKinematicEntities.insert(entity);
+ }
} else {
- _simpleKinematicEntities.remove(entity); // just in case it's non-physical-kinematic
+ SetOfEntities::iterator itr = _simpleKinematicEntities.find(entity);
+ if (itr != _simpleKinematicEntities.end()) {
+ _simpleKinematicEntities.erase(itr);
+ }
}
}
@@ -212,7 +227,6 @@ const VectorOfMotionStates& PhysicalEntitySimulation::getObjectsToRemoveFromPhys
assert(motionState);
// TODO CLEan this, just a n extra check to avoid the crash that shouldn;t happen
if (motionState) {
-
_entitiesToAddToPhysics.remove(entity);
if (entity->isDead() && entity->getElement()) {
_deadEntities.insert(entity);
@@ -255,7 +269,10 @@ void PhysicalEntitySimulation::getObjectsToAddToPhysics(VectorOfMotionStates& re
// this entity should no longer be on the internal _entitiesToAddToPhysics
entityItr = _entitiesToAddToPhysics.erase(entityItr);
if (entity->isMovingRelativeToParent()) {
- _simpleKinematicEntities.insert(entity);
+ SetOfEntities::iterator itr = _simpleKinematicEntities.find(entity);
+ if (itr == _simpleKinematicEntities.end()) {
+ _simpleKinematicEntities.insert(entity);
+ }
}
} else if (entity->isReadyToComputeShape()) {
ShapeInfo shapeInfo;
@@ -375,19 +392,21 @@ void PhysicalEntitySimulation::handleChangedMotionStates(const VectorOfMotionSta
}
void PhysicalEntitySimulation::addOwnershipBid(EntityMotionState* motionState) {
- if (!getEntityTree()->isServerlessMode()) {
- motionState->initForBid();
- motionState->sendBid(_entityPacketSender, _physicsEngine->getNumSubsteps());
- _bids.push_back(motionState);
- _nextBidExpiry = glm::min(_nextBidExpiry, motionState->getNextBidExpiry());
+ if (getEntityTree()->isServerlessMode()) {
+ return;
}
+ motionState->initForBid();
+ motionState->sendBid(_entityPacketSender, _physicsEngine->getNumSubsteps());
+ _bids.push_back(motionState);
+ _nextBidExpiry = glm::min(_nextBidExpiry, motionState->getNextBidExpiry());
}
void PhysicalEntitySimulation::addOwnership(EntityMotionState* motionState) {
- if (!getEntityTree()->isServerlessMode()) {
- motionState->initForOwned();
- _owned.push_back(motionState);
+ if (getEntityTree()->isServerlessMode()) {
+ return;
}
+ motionState->initForOwned();
+ _owned.push_back(motionState);
}
void PhysicalEntitySimulation::sendOwnershipBids(uint32_t numSubsteps) {
@@ -426,7 +445,9 @@ void PhysicalEntitySimulation::sendOwnershipBids(uint32_t numSubsteps) {
}
void PhysicalEntitySimulation::sendOwnedUpdates(uint32_t numSubsteps) {
- bool serverlessMode = getEntityTree()->isServerlessMode();
+ if (getEntityTree()->isServerlessMode()) {
+ return;
+ }
PROFILE_RANGE_EX(simulation_physics, "Update", 0x00000000, (uint64_t)_owned.size());
uint32_t i = 0;
while (i < _owned.size()) {
@@ -438,7 +459,7 @@ void PhysicalEntitySimulation::sendOwnedUpdates(uint32_t numSubsteps) {
}
_owned.remove(i);
} else {
- if (!serverlessMode && _owned[i]->shouldSendUpdate(numSubsteps)) {
+ if (_owned[i]->shouldSendUpdate(numSubsteps)) {
_owned[i]->sendUpdate(_entityPacketSender, numSubsteps);
}
++i;
From dd6be374fadd79227e411c116175f3f0002d6559 Mon Sep 17 00:00:00 2001
From: Andrew Meadows <andrew@highfidelity.io>
Date: Tue, 10 Jul 2018 11:18:38 -0700
Subject: [PATCH 3/4] cleanup and optimization rotational integration
---
libraries/shared/src/PhysicsHelpers.cpp | 25 +++++++++++++++----------
1 file changed, 15 insertions(+), 10 deletions(-)
diff --git a/libraries/shared/src/PhysicsHelpers.cpp b/libraries/shared/src/PhysicsHelpers.cpp
index b43d55020e..988af98c46 100644
--- a/libraries/shared/src/PhysicsHelpers.cpp
+++ b/libraries/shared/src/PhysicsHelpers.cpp
@@ -42,22 +42,27 @@ glm::quat computeBulletRotationStep(const glm::vec3& angularVelocity, float time
// Exponential map
// google for "Practical Parameterization of Rotations Using the Exponential Map", F. Sebastian Grassia
- float speed = glm::length(angularVelocity);
+ glm::vec3 axis = angularVelocity;
+ float angle = glm::length(axis) * timeStep;
// limit the angular motion because the exponential approximation fails for large steps
const float ANGULAR_MOTION_THRESHOLD = 0.5f * PI_OVER_TWO;
- if (speed * timeStep > ANGULAR_MOTION_THRESHOLD) {
- speed = ANGULAR_MOTION_THRESHOLD / timeStep;
+ if (angle > ANGULAR_MOTION_THRESHOLD) {
+ angle = ANGULAR_MOTION_THRESHOLD;
}
- glm::vec3 axis = angularVelocity;
- if (speed < 0.001f) {
- // use Taylor's expansions of sync function
- axis *= (0.5f * timeStep - (timeStep * timeStep * timeStep) * (0.020833333333f * speed * speed));
+ const float MIN_ANGLE = 0.001f;
+ if (angle < MIN_ANGLE) {
+ // for small angles use Taylor's expansion of sin(x):
+ // sin(x) = x - (x^3)/(3!) + ...
+ // where: x = angle/2
+ // sin(angle/2) = angle/2 - (angle*angle*angle)/48
+ // but (angle = speed * timeStep) and we want to normalize the axis by dividing by speed
+ // which gives us:
+ axis *= timeStep * (0.5f - 0.020833333333f * angle * angle);
} else {
- // sync(speed) = sin(c * speed)/t
- axis *= (sinf(0.5f * speed * timeStep) / speed );
+ axis *= (sinf(0.5f * angle) * timeStep / angle);
}
- return glm::quat(cosf(0.5f * speed * timeStep), axis.x, axis.y, axis.z);
+ return glm::quat(cosf(0.5f * angle), axis.x, axis.y, axis.z);
}
/* end Bullet code derivation*/
From 8ea18e3359405eefdb97afc27ba2958c7e2f376d Mon Sep 17 00:00:00 2001
From: Andrew Meadows <andrew@highfidelity.io>
Date: Tue, 10 Jul 2018 11:20:18 -0700
Subject: [PATCH 4/4] integrate active kinematic even when grabbed
---
libraries/physics/src/EntityMotionState.cpp | 40 ++++++++++++---------
1 file changed, 23 insertions(+), 17 deletions(-)
diff --git a/libraries/physics/src/EntityMotionState.cpp b/libraries/physics/src/EntityMotionState.cpp
index 9089f02aaf..a610a6f2a6 100644
--- a/libraries/physics/src/EntityMotionState.cpp
+++ b/libraries/physics/src/EntityMotionState.cpp
@@ -234,7 +234,7 @@ void EntityMotionState::getWorldTransform(btTransform& worldTrans) const {
return;
}
assert(entityTreeIsLocked());
- if (_motionType == MOTION_TYPE_KINEMATIC && !_entity->hasAncestorOfType(NestableType::Avatar)) {
+ if (_motionType == MOTION_TYPE_KINEMATIC) {
BT_PROFILE("kinematicIntegration");
// This is physical kinematic motion which steps strictly by the subframe count
// of the physics simulation and uses full gravity for acceleration.
@@ -327,13 +327,6 @@ bool EntityMotionState::remoteSimulationOutOfSync(uint32_t simulationStep) {
return true;
}
- bool parentTransformSuccess;
- Transform localToWorld = _entity->getParentTransform(parentTransformSuccess);
- Transform worldToLocal;
- if (parentTransformSuccess) {
- localToWorld.evalInverse(worldToLocal);
- }
-
int numSteps = simulationStep - _lastStep;
float dt = (float)(numSteps) * PHYSICS_ENGINE_FIXED_SUBSTEP;
@@ -361,6 +354,10 @@ bool EntityMotionState::remoteSimulationOutOfSync(uint32_t simulationStep) {
return true;
}
+ if (_body->isStaticOrKinematicObject()) {
+ return false;
+ }
+
_lastStep = simulationStep;
if (glm::length2(_serverVelocity) > 0.0f) {
// the entity-server doesn't know where avatars are, so it doesn't do simple extrapolation for children of
@@ -388,6 +385,12 @@ bool EntityMotionState::remoteSimulationOutOfSync(uint32_t simulationStep) {
// TODO: compensate for _worldOffset offset here
// compute position error
+ bool parentTransformSuccess;
+ Transform localToWorld = _entity->getParentTransform(parentTransformSuccess);
+ Transform worldToLocal;
+ if (parentTransformSuccess) {
+ localToWorld.evalInverse(worldToLocal);
+ }
btTransform worldTrans = _body->getWorldTransform();
glm::vec3 position = worldToLocal.transform(bulletToGLM(worldTrans.getOrigin()));
@@ -407,20 +410,23 @@ bool EntityMotionState::remoteSimulationOutOfSync(uint32_t simulationStep) {
if (glm::length2(_serverAngularVelocity) > 0.0f) {
// compute rotation error
- float attenuation = powf(1.0f - _body->getAngularDamping(), dt);
- _serverAngularVelocity *= attenuation;
+ //
// Bullet caps the effective rotation velocity inside its rotation integration step, therefore
// we must integrate with the same algorithm and timestep in order achieve similar results.
- for (int i = 0; i < numSteps; ++i) {
- _serverRotation = glm::normalize(computeBulletRotationStep(_serverAngularVelocity,
- PHYSICS_ENGINE_FIXED_SUBSTEP) * _serverRotation);
+ float attenuation = powf(1.0f - _body->getAngularDamping(), PHYSICS_ENGINE_FIXED_SUBSTEP);
+ _serverAngularVelocity *= attenuation;
+ glm::quat rotation = computeBulletRotationStep(_serverAngularVelocity, PHYSICS_ENGINE_FIXED_SUBSTEP);
+ for (int i = 1; i < numSteps; ++i) {
+ _serverAngularVelocity *= attenuation;
+ rotation = computeBulletRotationStep(_serverAngularVelocity, PHYSICS_ENGINE_FIXED_SUBSTEP) * rotation;
}
+ _serverRotation = glm::normalize(rotation * _serverRotation);
+ const float MIN_ROTATION_DOT = 0.99999f; // This corresponds to about 0.5 degrees of rotation
+ glm::quat actualRotation = worldToLocal.getRotation() * bulletToGLM(worldTrans.getRotation());
+ return (fabsf(glm::dot(actualRotation, _serverRotation)) < MIN_ROTATION_DOT);
}
- const float MIN_ROTATION_DOT = 0.99999f; // This corresponds to about 0.5 degrees of rotation
- glm::quat actualRotation = worldToLocal.getRotation() * bulletToGLM(worldTrans.getRotation());
-
- return (fabsf(glm::dot(actualRotation, _serverRotation)) < MIN_ROTATION_DOT);
+ return false;
}
bool EntityMotionState::shouldSendUpdate(uint32_t simulationStep) {