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Merge pull request #7214 from sethalves/handle-parenting-loops

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handle parenting loops
This commit is contained in:
Andrew Meadows 2016-02-29 12:57:25 -08:00
commit 5f6f576166
2 changed files with 29 additions and 14 deletions
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37
libraries/shared/src/SpatiallyNestable.cpp
View file

@ -15,6 +15,7 @@
#include "SpatiallyNestable.h" #include "SpatiallyNestable.h"
const float defaultAACubeSize = 1.0f; const float defaultAACubeSize = 1.0f;
const int maxParentingChain = 30;
SpatiallyNestable::SpatiallyNestable(NestableType nestableType, QUuid id) : SpatiallyNestable::SpatiallyNestable(NestableType nestableType, QUuid id) :
_nestableType(nestableType), _nestableType(nestableType),
@ -56,14 +57,14 @@ void SpatiallyNestable::setParentID(const QUuid& parentID) {
}); });
} }
Transform SpatiallyNestable::getParentTransform(bool& success) const { Transform SpatiallyNestable::getParentTransform(bool& success, int depth) const {
Transform result; Transform result;
SpatiallyNestablePointer parent = getParentPointer(success); SpatiallyNestablePointer parent = getParentPointer(success);
if (!success) { if (!success) {
return result; return result;
} }
if (parent) { if (parent) {
Transform parentTransform = parent->getTransform(_parentJointIndex, success); Transform parentTransform = parent->getTransform(_parentJointIndex, success, depth + 1);
result = parentTransform.setScale(1.0f); // TODO: scaling result = parentTransform.setScale(1.0f); // TODO: scaling
} }
return result; return result;
@ -393,11 +394,11 @@ void SpatiallyNestable::setOrientation(const glm::quat& orientation) {
glm::vec3 SpatiallyNestable::getVelocity(bool& success) const { glm::vec3 SpatiallyNestable::getVelocity(bool& success) const {
glm::vec3 result; glm::vec3 result;
glm::vec3 parentVelocity = getParentVelocity(success); Transform parentTransform = getParentTransform(success);
if (!success) { if (!success) {
return result; return result;
} }
Transform parentTransform = getParentTransform(success); glm::vec3 parentVelocity = getParentVelocity(success);
if (!success) { if (!success) {
return result; return result;
} }
@ -448,11 +449,11 @@ glm::vec3 SpatiallyNestable::getParentVelocity(bool& success) const {
glm::vec3 SpatiallyNestable::getAngularVelocity(bool& success) const { glm::vec3 SpatiallyNestable::getAngularVelocity(bool& success) const {
glm::vec3 result; glm::vec3 result;
glm::vec3 parentAngularVelocity = getParentAngularVelocity(success); Transform parentTransform = getParentTransform(success);
if (!success) { if (!success) {
return result; return result;
} }
Transform parentTransform = getParentTransform(success); glm::vec3 parentAngularVelocity = getParentAngularVelocity(success);
if (!success) { if (!success) {
return result; return result;
} }
@ -499,22 +500,36 @@ glm::vec3 SpatiallyNestable::getParentAngularVelocity(bool& success) const {
return result; return result;
} }
const Transform SpatiallyNestable::getTransform(bool& success) const { const Transform SpatiallyNestable::getTransform(bool& success, int depth) const {
// return a world-space transform for this object's location
Transform parentTransform = getParentTransform(success);
Transform result; Transform result;
// return a world-space transform for this object's location
Transform parentTransform = getParentTransform(success, depth);
_transformLock.withReadLock([&] { _transformLock.withReadLock([&] {
Transform::mult(result, parentTransform, _transform); Transform::mult(result, parentTransform, _transform);
}); });
return result; return result;
} }
const Transform SpatiallyNestable::getTransform(int jointIndex, bool& success) const { const Transform SpatiallyNestable::getTransform(int jointIndex, bool& success, int depth) const {
// this returns the world-space transform for this object. It finds its parent's transform (which may // this returns the world-space transform for this object. It finds its parent's transform (which may
// cause this object's parent to query its parent, etc) and multiplies this object's local transform onto it. // cause this object's parent to query its parent, etc) and multiplies this object's local transform onto it.
Transform jointInWorldFrame; Transform jointInWorldFrame;
Transform worldTransform = getTransform(success); if (depth > maxParentingChain) {
success = false;
// someone created a loop. break it...
qDebug() << "Parenting loop detected.";
SpatiallyNestablePointer _this = getThisPointer();
_this->setParentID(QUuid());
bool setPositionSuccess;
AACube aaCube = getQueryAACube(setPositionSuccess);
if (setPositionSuccess) {
_this->setPosition(aaCube.calcCenter());
}
return jointInWorldFrame;
}
Transform worldTransform = getTransform(success, depth);
worldTransform.setScale(1.0f); // TODO -- scale; worldTransform.setScale(1.0f); // TODO -- scale;
if (!success) { if (!success) {
return jointInWorldFrame; return jointInWorldFrame;

6
libraries/shared/src/SpatiallyNestable.h
View file

@ -52,10 +52,10 @@ public:
static glm::quat localToWorld(const glm::quat& orientation, const QUuid& parentID, int parentJointIndex, bool& success); static glm::quat localToWorld(const glm::quat& orientation, const QUuid& parentID, int parentJointIndex, bool& success);
// world frame // world frame
virtual const Transform getTransform(bool& success) const; virtual const Transform getTransform(bool& success, int depth = 0) const;
virtual void setTransform(const Transform& transform, bool& success); virtual void setTransform(const Transform& transform, bool& success);
virtual Transform getParentTransform(bool& success) const; virtual Transform getParentTransform(bool& success, int depth = 0) const;
virtual glm::vec3 getPosition(bool& success) const; virtual glm::vec3 getPosition(bool& success) const;
virtual glm::vec3 getPosition() const; virtual glm::vec3 getPosition() const;
@ -92,7 +92,7 @@ public:
virtual void setScale(const glm::vec3& scale); virtual void setScale(const glm::vec3& scale);
// get world-frame values for a specific joint // get world-frame values for a specific joint
virtual const Transform getTransform(int jointIndex, bool& success) const; virtual const Transform getTransform(int jointIndex, bool& success, int depth = 0) const;
virtual glm::vec3 getPosition(int jointIndex, bool& success) const; virtual glm::vec3 getPosition(int jointIndex, bool& success) const;
virtual glm::vec3 getScale(int jointIndex) const; virtual glm::vec3 getScale(int jointIndex) const;