From 8f25e54027bfaf9e858b4d131a546b839809189a Mon Sep 17 00:00:00 2001
From: James Pollack <james@highfidelity.io>
Date: Fri, 25 Sep 2015 18:34:34 -0700
Subject: [PATCH 01/37] Hoop, ball, ground

---
 examples/toys/basketball/createHoop.js | 101 +++++++++++++++++++++++++
 1 file changed, 101 insertions(+)
 create mode 100644 examples/toys/basketball/createHoop.js

diff --git a/examples/toys/basketball/createHoop.js b/examples/toys/basketball/createHoop.js
new file mode 100644
index 0000000000..778c73915c
--- /dev/null
+++ b/examples/toys/basketball/createHoop.js
@@ -0,0 +1,101 @@
+//
+//  createFlashlight.js
+//  examples/entityScripts
+//
+//  Created by Sam Gateau on 9/9/15.
+//  Copyright 2015 High Fidelity, Inc.
+//
+//  This is a toy script that create a flashlight entity that lit when grabbed
+//  This can be run from an interface and the flashlight will get deleted from the domain when quitting
+//
+//  Distributed under the Apache License, Version 2.0.
+//  See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
+//
+/*global MyAvatar, Entities, AnimationCache, SoundCache, Scene, Camera, Overlays, HMD, AvatarList, AvatarManager, Controller, UndoStack, Window, Account, GlobalServices, Script, ScriptDiscoveryService, LODManager, Menu, Vec3, Quat, AudioDevice, Paths, Clipboard, Settings, XMLHttpRequest, randFloat, randInt */
+Script.include("../../utilities.js");
+Script.include("../../libraries/utils.js");
+
+var groundURL = "https://hifi-public.s3.amazonaws.com/eric/models/woodFloor.fbx";
+var basketballURL = "https://hifi-public.s3.amazonaws.com/models/content/basketball2.fbx";
+var hoopURL = "http://hifi-public.s3.amazonaws.com/models/basketball/new_hoop_2.fbx";
+var hoopCollisionHullURL = "http://hifi-public.s3.amazonaws.com/models/basketball/new_basketball_hoop_collision_hull.obj";
+var ballCollisionSound = "https://hifi-public.s3.amazonaws.com/sounds/basketball/basketball.wav";
+
+var basePosition = {
+    x: 0,
+    y: 0,
+    z: 0
+};
+
+var hoopStartPosition = {
+    x: 0,
+    y: 3.25,
+    z: 0
+};
+
+
+var ground = Entities.addEntity({
+    type: "Model",
+    modelURL: groundURL,
+    dimensions: {
+        x: 100,
+        y: 2,
+        z: 100
+    },
+    position: basePosition,
+    shapeType: 'box'
+});
+
+var BALL_DIAMETER = 0.30;
+var DISTANCE_IN_FRONT_OF_ME = 1.0;
+
+var ballPosition = Vec3.sum(MyAvatar.position,
+    Vec3.multiplyQbyV(MyAvatar.orientation, {
+        x: 0,
+        y: 0.0,
+        z: -DISTANCE_IN_FRONT_OF_ME
+    }));
+
+var ballRotation = Quat.multiply(MyAvatar.orientation,
+    Quat.fromPitchYawRollDegrees(0, -90, 0));
+
+var basketball = Entities.addEntity({
+    type: "Model",
+    position: ballPosition,
+    rotation: ballRotation,
+    dimensions: {
+        x: BALL_DIAMETER,
+        y: BALL_DIAMETER,
+        z: BALL_DIAMETER
+    },
+    gravity: {
+        x: 0,
+        y: -9.8,
+        z: 0
+    },
+    collisionsWillMove: true,
+    collisionSoundURL: ballCollisionSound,
+    modelURL: basketballURL,
+    restitution: 1.0,
+    linearDamping: 0.00001,
+    shapeType: "sphere"
+});
+
+
+var hoop = Entities.addEntity({
+    type: "Model",
+    modelURL: hoopURL,
+    position: hoopStartPosition,
+    shapeType: 'compound',
+    gravity: {
+        x: 0,
+        y: -9.8,
+        z: 0
+    },
+    dimensions: {
+        x: 1.89,
+        y: 3.99,
+        z: 3.79
+    },
+    compoundShapeURL: hoopCollisionHullURL
+});
\ No newline at end of file

From ade78fda9ec9e739a2d00e2ee56ecc5add5dbb59 Mon Sep 17 00:00:00 2001
From: James Pollack <james@highfidelity.io>
Date: Mon, 28 Sep 2015 12:24:21 -0700
Subject: [PATCH 02/37] balls

---
 examples/toys/basketball/createHoop.js | 13 +++++++++++--
 1 file changed, 11 insertions(+), 2 deletions(-)

diff --git a/examples/toys/basketball/createHoop.js b/examples/toys/basketball/createHoop.js
index 778c73915c..9a80ccaace 100644
--- a/examples/toys/basketball/createHoop.js
+++ b/examples/toys/basketball/createHoop.js
@@ -17,7 +17,7 @@ Script.include("../../libraries/utils.js");
 
 var groundURL = "https://hifi-public.s3.amazonaws.com/eric/models/woodFloor.fbx";
 var basketballURL = "https://hifi-public.s3.amazonaws.com/models/content/basketball2.fbx";
-var hoopURL = "http://hifi-public.s3.amazonaws.com/models/basketball/new_hoop_2.fbx";
+var hoopURL = "http://hifi-public.s3.amazonaws.com/models/basketball/new_hoop_3.fbx";
 var hoopCollisionHullURL = "http://hifi-public.s3.amazonaws.com/models/basketball/new_basketball_hoop_collision_hull.obj";
 var ballCollisionSound = "https://hifi-public.s3.amazonaws.com/sounds/basketball/basketball.wav";
 
@@ -98,4 +98,13 @@ var hoop = Entities.addEntity({
         z: 3.79
     },
     compoundShapeURL: hoopCollisionHullURL
-});
\ No newline at end of file
+});
+
+
+
+function cleanup() {
+    Entities.deleteEntity(basketball);
+    Entities.deleteEntity(hoop);
+    Entities.deleteEntity(ground);
+}
+Script.scriptEnding.connect(cleanup);
\ No newline at end of file

From afa179b9c44d06b56782e18f8dd9d9f587e0aa12 Mon Sep 17 00:00:00 2001
From: James Pollack <james@highfidelity.io>
Date: Mon, 28 Sep 2015 15:08:48 -0700
Subject: [PATCH 03/37] hoop

---
 examples/toys/basketball/createHoop.js | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/examples/toys/basketball/createHoop.js b/examples/toys/basketball/createHoop.js
index 9a80ccaace..a4044d4adf 100644
--- a/examples/toys/basketball/createHoop.js
+++ b/examples/toys/basketball/createHoop.js
@@ -17,7 +17,7 @@ Script.include("../../libraries/utils.js");
 
 var groundURL = "https://hifi-public.s3.amazonaws.com/eric/models/woodFloor.fbx";
 var basketballURL = "https://hifi-public.s3.amazonaws.com/models/content/basketball2.fbx";
-var hoopURL = "http://hifi-public.s3.amazonaws.com/models/basketball/new_hoop_3.fbx";
+var hoopURL = "http://hifi-public.s3.amazonaws.com/models/basketball/basketball_hoop_10.fbx";
 var hoopCollisionHullURL = "http://hifi-public.s3.amazonaws.com/models/basketball/new_basketball_hoop_collision_hull.obj";
 var ballCollisionSound = "https://hifi-public.s3.amazonaws.com/sounds/basketball/basketball.wav";
 

From 4c86b1ce03abf3dd92e4c887455f872a3f39ede4 Mon Sep 17 00:00:00 2001
From: "James B. Pollack" <jamesbradenpollack@gmail.com>
Date: Mon, 28 Sep 2015 18:47:32 -0700
Subject: [PATCH 04/37] ballin

---
 examples/toys/basketball/createHoop.js | 59 ++++++++++++++------------
 1 file changed, 31 insertions(+), 28 deletions(-)

diff --git a/examples/toys/basketball/createHoop.js b/examples/toys/basketball/createHoop.js
index 778c73915c..bd3fc32411 100644
--- a/examples/toys/basketball/createHoop.js
+++ b/examples/toys/basketball/createHoop.js
@@ -15,40 +15,40 @@
 Script.include("../../utilities.js");
 Script.include("../../libraries/utils.js");
 
-var groundURL = "https://hifi-public.s3.amazonaws.com/eric/models/woodFloor.fbx";
+var courtURL = "https://hifi-public.s3.amazonaws.com/eric/models/woodFloor.fbx";
 var basketballURL = "https://hifi-public.s3.amazonaws.com/models/content/basketball2.fbx";
-var hoopURL = "http://hifi-public.s3.amazonaws.com/models/basketball/new_hoop_2.fbx";
-var hoopCollisionHullURL = "http://hifi-public.s3.amazonaws.com/models/basketball/new_basketball_hoop_collision_hull.obj";
 var ballCollisionSound = "https://hifi-public.s3.amazonaws.com/sounds/basketball/basketball.wav";
-
-var basePosition = {
-    x: 0,
-    y: 0,
-    z: 0
-};
-
-var hoopStartPosition = {
-    x: 0,
-    y: 3.25,
-    z: 0
-};
-
-
-var ground = Entities.addEntity({
-    type: "Model",
-    modelURL: groundURL,
-    dimensions: {
-        x: 100,
-        y: 2,
-        z: 100
-    },
-    position: basePosition,
-    shapeType: 'box'
-});
+var hoopURL = "http://hifi-public.s3.amazonaws.com/models/basketball_hoop/basketball_hoop.fbx";
+var hoopCollisionHullURL = "http://hifi-public.s3.amazonaws.com/models/basketball_hoop/basketball_hoop_collision_hull.obj";
 
 var BALL_DIAMETER = 0.30;
 var DISTANCE_IN_FRONT_OF_ME = 1.0;
 
+var hoopStartPosition =
+    Vec3.sum(MyAvatar.position,
+        Vec3.multiplyQbyV(MyAvatar.orientation, {
+            x: 0,
+            y: 0.0,
+            z: -DISTANCE_IN_FRONT_OF_ME * 2
+        }));
+
+// courtStartPosition.y = hoopStartPosition.y - 2
+
+
+// var court = Entities.addEntity({
+//     type: "Model",
+//     modelURL: courtURL,
+//     dimensions: {
+//         x: 28.65,
+//         y: 0.02,
+//         z: 15.24
+//     },
+//     position: courtStartPosition,
+//     shapeType: 'box'
+// });
+
+
+
 var ballPosition = Vec3.sum(MyAvatar.position,
     Vec3.multiplyQbyV(MyAvatar.orientation, {
         x: 0,
@@ -56,6 +56,8 @@ var ballPosition = Vec3.sum(MyAvatar.position,
         z: -DISTANCE_IN_FRONT_OF_ME
     }));
 
+
+
 var ballRotation = Quat.multiply(MyAvatar.orientation,
     Quat.fromPitchYawRollDegrees(0, -90, 0));
 
@@ -92,6 +94,7 @@ var hoop = Entities.addEntity({
         y: -9.8,
         z: 0
     },
+    // rotation: Quat.fromPitchYawRollDegrees(0, -90, 0)),
     dimensions: {
         x: 1.89,
         y: 3.99,

From cbd55ddba62cfa4558df3459a9cb9834a55aea18 Mon Sep 17 00:00:00 2001
From: James Pollack <james@highfidelity.io>
Date: Tue, 29 Sep 2015 13:24:49 -0700
Subject: [PATCH 05/37] Add the hoop

---
 examples/toys/basketball/createHoop.js      | 113 --------------------
 examples/toys/basketball_hoop/createHoop.js |  49 +++++++++
 2 files changed, 49 insertions(+), 113 deletions(-)
 delete mode 100644 examples/toys/basketball/createHoop.js
 create mode 100644 examples/toys/basketball_hoop/createHoop.js

diff --git a/examples/toys/basketball/createHoop.js b/examples/toys/basketball/createHoop.js
deleted file mode 100644
index 7af54767f3..0000000000
--- a/examples/toys/basketball/createHoop.js
+++ /dev/null
@@ -1,113 +0,0 @@
-//
-//  createFlashlight.js
-//  examples/entityScripts
-//
-//  Created by Sam Gateau on 9/9/15.
-//  Copyright 2015 High Fidelity, Inc.
-//
-//  This is a toy script that create a flashlight entity that lit when grabbed
-//  This can be run from an interface and the flashlight will get deleted from the domain when quitting
-//a
-//  Distributed under the Apache License, Version 2.0.
-//  See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
-//
-/*global MyAvatar, Entities, AnimationCache, SoundCache, Scene, Camera, Overlays, HMD, AvatarList, AvatarManager, Controller, UndoStack, Window, Account, GlobalServices, Script, ScriptDiscoveryService, LODManager, Menu, Vec3, Quat, AudioDevice, Paths, Clipboard, Settings, XMLHttpRequest, randFloat, randInt */
-Script.include("../../utilities.js");
-Script.include("../../libraries/utils.js");
-
-var courtURL = "https://hifi-public.s3.amazonaws.com/eric/models/woodFloor.fbx";
-var basketballURL = "https://hifi-public.s3.amazonaws.com/models/content/basketball2.fbx";
-var ballCollisionSound = "https://hifi-public.s3.amazonaws.com/sounds/basketball/basketball.wav";
-var hoopURL = "http://hifi-public.s3.amazonaws.com/models/basketball_hoop/basketball_hoop.fbx";
-var hoopCollisionHullURL = "http://hifi-public.s3.amazonaws.com/models/basketball_hoop/basketball_hoop_collision_hull.obj";
-
-var BALL_DIAMETER = 0.30;
-var DISTANCE_IN_FRONT_OF_ME = 1.0;
-
-var hoopStartPosition =
-    Vec3.sum(MyAvatar.position,
-        Vec3.multiplyQbyV(MyAvatar.orientation, {
-            x: 0,
-            y: 0.0,
-            z: -DISTANCE_IN_FRONT_OF_ME * 2
-        }));
-
-// courtStartPosition.y = hoopStartPosition.y - 2
-
-
-// var court = Entities.addEntity({
-//     type: "Model",
-//     modelURL: courtURL,
-//     dimensions: {
-//         x: 28.65,
-//         y: 0.02,
-//         z: 15.24
-//     },
-//     position: courtStartPosition,
-//     shapeType: 'box'
-// });
-
-
-
-var ballPosition = Vec3.sum(MyAvatar.position,
-    Vec3.multiplyQbyV(MyAvatar.orientation, {
-        x: 0,
-        y: 0.0,
-        z: -DISTANCE_IN_FRONT_OF_ME
-    }));
-
-
-
-var ballRotation = Quat.multiply(MyAvatar.orientation,
-    Quat.fromPitchYawRollDegrees(0, -90, 0));
-
-var basketball = Entities.addEntity({
-    type: "Model",
-    position: ballPosition,
-    rotation: ballRotation,
-    dimensions: {
-        x: BALL_DIAMETER,
-        y: BALL_DIAMETER,
-        z: BALL_DIAMETER
-    },
-    gravity: {
-        x: 0,
-        y: -9.8,
-        z: 0
-    },
-    collisionsWillMove: true,
-    collisionSoundURL: ballCollisionSound,
-    modelURL: basketballURL,
-    restitution: 1.0,
-    linearDamping: 0.00001,
-    shapeType: "sphere"
-});
-
-
-var hoop = Entities.addEntity({
-    type: "Model",
-    modelURL: hoopURL,
-    position: hoopStartPosition,
-    shapeType: 'compound',
-    gravity: {
-        x: 0,
-        y: -9.8,
-        z: 0
-    },
-    // rotation: Quat.fromPitchYawRollDegrees(0, -90, 0)),
-    dimensions: {
-        x: 1.89,
-        y: 3.99,
-        z: 3.79
-    },
-    compoundShapeURL: hoopCollisionHullURL
-});
-
-
-
-function cleanup() {
-    Entities.deleteEntity(basketball);
-    Entities.deleteEntity(hoop);
-    // Entities.deleteEntity(court);
-}
-Script.scriptEnding.connect(cleanup);
\ No newline at end of file
diff --git a/examples/toys/basketball_hoop/createHoop.js b/examples/toys/basketball_hoop/createHoop.js
new file mode 100644
index 0000000000..26fb7347d1
--- /dev/null
+++ b/examples/toys/basketball_hoop/createHoop.js
@@ -0,0 +1,49 @@
+//
+//  createHoop.js
+//  examples/entityScripts
+//
+//  Created by James B. Pollack on 9/29/2015
+//  Copyright 2015 High Fidelity, Inc.
+//
+//  This is a script that creates a persistent basketball hoop with a working collision hull.  Feel free to move it.
+//  Run basketball.js to make a basketball.
+//
+//  Distributed under the Apache License, Version 2.0.
+//  See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
+//
+/*global MyAvatar, Entities, AnimationCache, SoundCache, Scene, Camera, Overlays, HMD, AvatarList, AvatarManager, Controller, UndoStack, Window, Account, GlobalServices, Script, ScriptDiscoveryService, LODManager, Menu, Vec3, Quat, AudioDevice, Paths, Clipboard, Settings, XMLHttpRequest, randFloat, randInt */
+Script.include("../../utilities.js");
+Script.include("../../libraries/utils.js");
+
+var hoopURL = "http://hifi-public.s3.amazonaws.com/models/basketball_hoop/basketball_hoop.fbx";
+var hoopCollisionHullURL = "http://hifi-public.s3.amazonaws.com/models/basketball_hoop/basketball_hoop_collision_hull.obj";
+
+
+var DISTANCE_IN_FRONT_OF_ME = 1.0;
+
+var hoopStartPosition =
+    Vec3.sum(MyAvatar.position,
+        Vec3.multiplyQbyV(MyAvatar.orientation, {
+            x: 0,
+            y: 0.0,
+            z: -DISTANCE_IN_FRONT_OF_ME * 2
+        }));
+
+
+var hoop = Entities.addEntity({
+    type: "Model",
+    modelURL: hoopURL,
+    position: hoopStartPosition,
+    shapeType: 'compound',
+    gravity: {
+        x: 0,
+        y: -9.8,
+        z: 0
+    },
+    dimensions: {
+        x: 1.89,
+        y: 3.99,
+        z: 3.79
+    },
+    compoundShapeURL: hoopCollisionHullURL
+});
\ No newline at end of file

From f4bc3f8e388a6b38456f880dd7a3904150dae072 Mon Sep 17 00:00:00 2001
From: Stephen Birarda <commit@birarda.com>
Date: Tue, 29 Sep 2015 16:35:24 -0400
Subject: [PATCH 06/37] fix a timer leak, line width in PacketList

---
 libraries/networking/src/ThreadedAssignment.cpp | 5 +++--
 libraries/networking/src/udt/PacketList.h       | 3 ++-
 2 files changed, 5 insertions(+), 3 deletions(-)

diff --git a/libraries/networking/src/ThreadedAssignment.cpp b/libraries/networking/src/ThreadedAssignment.cpp
index 5f0db9412c..0422c03297 100644
--- a/libraries/networking/src/ThreadedAssignment.cpp
+++ b/libraries/networking/src/ThreadedAssignment.cpp
@@ -49,7 +49,8 @@ void ThreadedAssignment::setFinished(bool isFinished) {
             }
 
             if (_statsTimer) {
-                _statsTimer->stop();
+                _statsTimer->deleteLater();
+                _statsTimer = nullptr;
             }
 
             // call our virtual aboutToFinish method - this gives the ThreadedAssignment subclass a chance to cleanup
@@ -105,7 +106,7 @@ void ThreadedAssignment::sendStatsPacket() {
 void ThreadedAssignment::startSendingStats() {
     // send the stats packet every 1s
     if (!_statsTimer) {
-        _statsTimer = new QTimer();
+        _statsTimer = new QTimer;
         connect(_statsTimer, &QTimer::timeout, this, &ThreadedAssignment::sendStatsPacket);
     }
     
diff --git a/libraries/networking/src/udt/PacketList.h b/libraries/networking/src/udt/PacketList.h
index ae783dabe3..7978e77ad7 100644
--- a/libraries/networking/src/udt/PacketList.h
+++ b/libraries/networking/src/udt/PacketList.h
@@ -28,7 +28,8 @@ class Packet;
 class PacketList : public QIODevice {
     Q_OBJECT
 public:
-    static std::unique_ptr<PacketList> create(PacketType packetType, QByteArray extendedHeader = QByteArray(), bool isReliable = false, bool isOrdered = false);
+    static std::unique_ptr<PacketList> create(PacketType packetType, QByteArray extendedHeader = QByteArray(),
+                                              bool isReliable = false, bool isOrdered = false);
     static std::unique_ptr<PacketList> fromReceivedPackets(std::list<std::unique_ptr<Packet>>&& packets);
     
     bool isReliable() const { return _isReliable; }

From b9a83be4d33f8ddc1d1e4dacde414467acce0c2f Mon Sep 17 00:00:00 2001
From: James Pollack <james@highfidelity.io>
Date: Tue, 29 Sep 2015 14:31:13 -0700
Subject: [PATCH 07/37] cleanup

---
 examples/toys/basketball_hoop/createHoop.js | 12 +++---------
 1 file changed, 3 insertions(+), 9 deletions(-)

diff --git a/examples/toys/basketball_hoop/createHoop.js b/examples/toys/basketball_hoop/createHoop.js
index 26fb7347d1..3887e0b421 100644
--- a/examples/toys/basketball_hoop/createHoop.js
+++ b/examples/toys/basketball_hoop/createHoop.js
@@ -10,26 +10,19 @@
 //
 //  Distributed under the Apache License, Version 2.0.
 //  See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
-//
 /*global MyAvatar, Entities, AnimationCache, SoundCache, Scene, Camera, Overlays, HMD, AvatarList, AvatarManager, Controller, UndoStack, Window, Account, GlobalServices, Script, ScriptDiscoveryService, LODManager, Menu, Vec3, Quat, AudioDevice, Paths, Clipboard, Settings, XMLHttpRequest, randFloat, randInt */
-Script.include("../../utilities.js");
-Script.include("../../libraries/utils.js");
 
 var hoopURL = "http://hifi-public.s3.amazonaws.com/models/basketball_hoop/basketball_hoop.fbx";
 var hoopCollisionHullURL = "http://hifi-public.s3.amazonaws.com/models/basketball_hoop/basketball_hoop_collision_hull.obj";
 
-
-var DISTANCE_IN_FRONT_OF_ME = 1.0;
-
 var hoopStartPosition =
     Vec3.sum(MyAvatar.position,
         Vec3.multiplyQbyV(MyAvatar.orientation, {
             x: 0,
             y: 0.0,
-            z: -DISTANCE_IN_FRONT_OF_ME * 2
+            z: -2
         }));
 
-
 var hoop = Entities.addEntity({
     type: "Model",
     modelURL: hoopURL,
@@ -46,4 +39,5 @@ var hoop = Entities.addEntity({
         z: 3.79
     },
     compoundShapeURL: hoopCollisionHullURL
-});
\ No newline at end of file
+});
+

From cdae16e07bd2e8649d310b7c5e0e2a49e5075d20 Mon Sep 17 00:00:00 2001
From: Andrew Meadows <andrew@highfidelity.io>
Date: Tue, 29 Sep 2015 16:11:27 -0700
Subject: [PATCH 08/37] fix bug: IK attenuates fast underpose animations

---
 .../animation/src/AnimInverseKinematics.cpp   | 61 ++++++++++++-------
 .../animation/src/AnimInverseKinematics.h     |  2 +-
 2 files changed, 39 insertions(+), 24 deletions(-)

diff --git a/libraries/animation/src/AnimInverseKinematics.cpp b/libraries/animation/src/AnimInverseKinematics.cpp
index de226092f1..ff5d2a6a3f 100644
--- a/libraries/animation/src/AnimInverseKinematics.cpp
+++ b/libraries/animation/src/AnimInverseKinematics.cpp
@@ -89,7 +89,7 @@ static int findRootJointInSkeleton(AnimSkeleton::ConstPointer skeleton, int inde
     return rootIndex;
 }
 
-void AnimInverseKinematics::computeTargets(const AnimVariantMap& animVars, std::vector<IKTarget>& targets) {
+void AnimInverseKinematics::computeTargets(const AnimVariantMap& animVars, std::vector<IKTarget>& targets, const AnimPoseVec& underPoses) {
     // build a list of valid targets from _targetVarVec and animVars
     _maxTargetIndex = -1;
     bool removeUnfoundJoints = false;
@@ -107,7 +107,7 @@ void AnimInverseKinematics::computeTargets(const AnimVariantMap& animVars, std::
             }
         } else {
             IKTarget target;
-            AnimPose defaultPose = _skeleton->getAbsolutePose(targetVar.jointIndex, _relativePoses);
+            AnimPose defaultPose = _skeleton->getAbsolutePose(targetVar.jointIndex, underPoses);
             target.pose.trans = animVars.lookup(targetVar.positionVar, defaultPose.trans);
             target.pose.rot = animVars.lookup(targetVar.rotationVar, defaultPose.rot);
             target.setType(animVars.lookup(targetVar.typeVar, QString("")));
@@ -154,7 +154,6 @@ void AnimInverseKinematics::solveWithCyclicCoordinateDescent(const std::vector<I
     do {
         int lowestMovedIndex = _relativePoses.size();
         for (auto& target: targets) {
-            int tipIndex = target.index;
             if (target.type == IKTarget::Type::RotationOnly) {
                 // the final rotation will be enforced after the iterations
                 continue;
@@ -162,6 +161,7 @@ void AnimInverseKinematics::solveWithCyclicCoordinateDescent(const std::vector<I
             AnimPose targetPose = target.pose;
 
             // cache tip absolute transform
+            int tipIndex = target.index;
             glm::vec3 tipPosition = absolutePoses[tipIndex].trans;
             glm::quat tipRotation = absolutePoses[tipIndex].rot;
 
@@ -288,6 +288,17 @@ void AnimInverseKinematics::solveWithCyclicCoordinateDescent(const std::vector<I
         }
     } while (numLoops < MAX_IK_LOOPS);
 
+    /* KEEP: example code for measuring endeffector error of IK solution
+    for (uint32_t i = 0; i < targets.size(); ++i) {
+        auto& target = targets[i];
+        if (target.type == IKTarget::Type::RotationOnly) {
+            continue;
+        }
+        glm::vec3 tipPosition = absolutePoses[target.index].trans;
+        std::cout << i << " IK error = " << glm::distance(tipPosition, target.pose.trans) << std::endl;  // adebug
+    }
+    */
+
     // finally set the relative rotation of each tip to agree with absolute target rotation
     for (auto& target: targets) {
         int tipIndex = target.index;
@@ -312,25 +323,8 @@ void AnimInverseKinematics::solveWithCyclicCoordinateDescent(const std::vector<I
 
 //virtual
 const AnimPoseVec& AnimInverseKinematics::evaluate(const AnimVariantMap& animVars, float dt, AnimNode::Triggers& triggersOut) {
-    if (!_relativePoses.empty()) {
-        // build a list of targets from _targetVarVec
-        std::vector<IKTarget> targets;
-        computeTargets(animVars, targets);
-    
-        if (targets.empty()) {
-            // no IK targets but still need to enforce constraints
-            std::map<int, RotationConstraint*>::iterator constraintItr = _constraints.begin();
-            while (constraintItr != _constraints.end()) {
-                int index = constraintItr->first;
-                glm::quat rotation = _relativePoses[index].rot;
-                constraintItr->second->apply(rotation);
-                _relativePoses[index].rot = rotation;
-                ++constraintItr;
-            }
-        } else {
-            solveWithCyclicCoordinateDescent(targets);
-        }
-    }
+    // don't call this function, call overlay() instead
+    assert(false);
     return _relativePoses;
 }
 
@@ -356,7 +350,28 @@ const AnimPoseVec& AnimInverseKinematics::overlay(const AnimVariantMap& animVars
             }
         }
     }
-    return evaluate(animVars, dt, triggersOut);
+
+    if (!_relativePoses.empty()) {
+        // build a list of targets from _targetVarVec
+        std::vector<IKTarget> targets;
+        computeTargets(animVars, targets, underPoses);
+    
+        if (targets.empty()) {
+            // no IK targets but still need to enforce constraints
+            std::map<int, RotationConstraint*>::iterator constraintItr = _constraints.begin();
+            while (constraintItr != _constraints.end()) {
+                int index = constraintItr->first;
+                glm::quat rotation = _relativePoses[index].rot;
+                constraintItr->second->apply(rotation);
+                _relativePoses[index].rot = rotation;
+                ++constraintItr;
+            }
+        } else {
+            solveWithCyclicCoordinateDescent(targets);
+        }
+    }
+    return _relativePoses;
+    //return underPoses;
 }
 
 RotationConstraint* AnimInverseKinematics::getConstraint(int index) {
diff --git a/libraries/animation/src/AnimInverseKinematics.h b/libraries/animation/src/AnimInverseKinematics.h
index 121b35bd9d..2eb0d9b08e 100644
--- a/libraries/animation/src/AnimInverseKinematics.h
+++ b/libraries/animation/src/AnimInverseKinematics.h
@@ -50,7 +50,7 @@ protected:
         void setType(const QString& typeVar) { type = ((typeVar == "RotationOnly") ?  Type::RotationOnly : Type::RotationAndPosition); }
     };
 
-    void computeTargets(const AnimVariantMap& animVars, std::vector<IKTarget>& targets);
+    void computeTargets(const AnimVariantMap& animVars, std::vector<IKTarget>& targets, const AnimPoseVec& underPoses);
     void solveWithCyclicCoordinateDescent(const std::vector<IKTarget>& targets);
     virtual void setSkeletonInternal(AnimSkeleton::ConstPointer skeleton);
 

From a052f5e125f7d75fb4d36929c05b2ba2cc6e28df Mon Sep 17 00:00:00 2001
From: Andrew Meadows <andrew@highfidelity.io>
Date: Tue, 29 Sep 2015 16:21:08 -0700
Subject: [PATCH 09/37] remove commented out debug line

---
 libraries/animation/src/AnimInverseKinematics.cpp | 1 -
 1 file changed, 1 deletion(-)

diff --git a/libraries/animation/src/AnimInverseKinematics.cpp b/libraries/animation/src/AnimInverseKinematics.cpp
index ff5d2a6a3f..c0adba0ad6 100644
--- a/libraries/animation/src/AnimInverseKinematics.cpp
+++ b/libraries/animation/src/AnimInverseKinematics.cpp
@@ -371,7 +371,6 @@ const AnimPoseVec& AnimInverseKinematics::overlay(const AnimVariantMap& animVars
         }
     }
     return _relativePoses;
-    //return underPoses;
 }
 
 RotationConstraint* AnimInverseKinematics::getConstraint(int index) {

From b192d0a9cdfdada443fc3957804287cfff0d08ab Mon Sep 17 00:00:00 2001
From: Andrew Meadows <andrew@highfidelity.io>
Date: Tue, 29 Sep 2015 17:39:17 -0700
Subject: [PATCH 10/37] make neck IK target type same as head

---
 .../meshes/defaultAvatar_full/avatar-animation.json          | 5 +++--
 libraries/animation/src/Rig.cpp                              | 4 ++--
 2 files changed, 5 insertions(+), 4 deletions(-)

diff --git a/interface/resources/meshes/defaultAvatar_full/avatar-animation.json b/interface/resources/meshes/defaultAvatar_full/avatar-animation.json
index 72eefaf7e8..dceecddfe0 100644
--- a/interface/resources/meshes/defaultAvatar_full/avatar-animation.json
+++ b/interface/resources/meshes/defaultAvatar_full/avatar-animation.json
@@ -26,13 +26,14 @@
                         {
                             "jointName": "Neck",
                             "positionVar": "neckPosition",
-                            "rotationVar": "neckRotation"
+                            "rotationVar": "neckRotation",
+                            "typeVar": "headAndNeckType"
                         },
                         {
                             "jointName": "Head",
                             "positionVar": "headPosition",
                             "rotationVar": "headRotation",
-                            "typeVar": "headType"
+                            "typeVar": "headAndNeckType"
                         }
                     ]
                 },
diff --git a/libraries/animation/src/Rig.cpp b/libraries/animation/src/Rig.cpp
index 0022749d51..ceef68f85b 100644
--- a/libraries/animation/src/Rig.cpp
+++ b/libraries/animation/src/Rig.cpp
@@ -1079,7 +1079,7 @@ void Rig::updateNeckJoint(int index, const HeadParameters& params) {
 
                 _animVars.set("headPosition", headPos);
                 _animVars.set("headRotation", headRot);
-                _animVars.set("headType", QString("RotationAndPosition"));
+                _animVars.set("headAndNeckType", QString("RotationAndPosition"));
                 _animVars.set("neckPosition", neckPos);
                 _animVars.set("neckRotation", neckRot);
 
@@ -1092,7 +1092,7 @@ void Rig::updateNeckJoint(int index, const HeadParameters& params) {
 
                 _animVars.unset("headPosition");
                 _animVars.set("headRotation", realLocalHeadOrientation);
-                _animVars.set("headType", QString("RotationOnly"));
+                _animVars.set("headAndNeckType", QString("RotationOnly"));
                 _animVars.unset("neckPosition");
                 _animVars.unset("neckRotation");
             }

From 96d0df49e478a436c33e6546993b0722a15d40ac Mon Sep 17 00:00:00 2001
From: Seth Alves <seth.alves@gmail.com>
Date: Wed, 30 Sep 2015 10:41:39 -0700
Subject: [PATCH 11/37] script to display entity-action details in an overlay

---
 examples/actionInspector.js | 127 ++++++++++++++++++++++++++++++++++++
 1 file changed, 127 insertions(+)
 create mode 100644 examples/actionInspector.js

diff --git a/examples/actionInspector.js b/examples/actionInspector.js
new file mode 100644
index 0000000000..74f5912fc0
--- /dev/null
+++ b/examples/actionInspector.js
@@ -0,0 +1,127 @@
+//
+//  actionInspector.js
+//  examples
+//
+//  Created by Seth Alves on 2015-9-30.
+//  Copyright 2015 High Fidelity, Inc.
+//
+//  Distributed under the Apache License, Version 2.0.
+//  See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
+//
+
+Script.include("libraries/utils.js");
+
+
+var INSPECT_RADIUS = 10;
+var overlays = {};
+
+
+var toType = function(obj) {
+  return ({}).toString.call(obj).match(/\s([a-zA-Z]+)/)[1].toLowerCase()
+}
+
+
+function actionArgumentsToString(actionArguments) {
+    var result = "type: " + actionArguments["type"] + "\n";
+    for (var argumentName in actionArguments) {
+        if (actionArguments.hasOwnProperty(argumentName)) {
+            if (argumentName == "type") {
+                continue;
+            }
+            var arg = actionArguments[argumentName];
+            var argType = toType(arg);
+            var argString = arg;
+            if (argType == "object") {
+                if (Object.keys(arg).length == 3) {
+                    argString = vec3toStr(arg, 1);
+                }
+            } else if (argType == "number") {
+                argString = arg.toFixed(2);
+            }
+            result += argumentName + ": "
+                // + toType(arg) + " -- "
+                + argString + "\n";
+        }
+    }
+
+    return result;
+}
+
+
+function updateOverlay(entityID, actionText) {
+    var properties = Entities.getEntityProperties(entityID, ["position"]);
+    var position = Vec3.sum(properties.position, {x:0, y:1, z:0});
+    // print("position: " + vec3toStr(position) + " " + actionText);
+    if (entityID in overlays) {
+        var overlay = overlays[entityID];
+        Overlays.editOverlay(overlay, {
+            text: actionText,
+            position: position
+        });
+    } else {
+        var lines = actionText.split(/\r\n|\r|\n/);
+
+        var maxLineLength = lines[0].length;
+        for (var i = 1; i < lines.length; i++) {
+            if (lines[i].length > maxLineLength) {
+                maxLineLength = lines[i].length;
+            }
+        }
+
+        var textWidth = maxLineLength * 0.034; // XXX how to know this?
+        var textHeight = .5;
+        var numberOfLines = lines.length;
+        var textMargin = 0.05;
+        var lineHeight = (textHeight - (2 * textMargin)) / numberOfLines;
+
+        overlays[entityID] = Overlays.addOverlay("text3d", {
+            position: position,
+            dimensions: { x: textWidth, y: textHeight },
+            backgroundColor: { red: 0, green: 0, blue: 0},
+            color: { red: 255, green: 255, blue: 255},
+            topMargin: textMargin,
+            leftMargin: textMargin,
+            bottomMargin: textMargin,
+            rightMargin: textMargin,
+            text: actionText,
+            lineHeight: lineHeight,
+            alpha: 0.9,
+            backgroundAlpha: 0.9,
+            ignoreRayIntersection: true,
+            visible: true,
+            isFacingAvatar: true
+        });
+    }
+}
+
+
+function cleanup() {
+    for (var entityID in overlays) {
+        Overlays.deleteOverlay(overlays[entityID]);
+    }
+}
+
+
+Script.setInterval(function() {
+    var nearbyEntities = Entities.findEntities(MyAvatar.position, INSPECT_RADIUS);
+    for (var entityIndex = 0; entityIndex < nearbyEntities.length; entityIndex++) {
+        var entityID = nearbyEntities[entityIndex];
+        var actionIDs = Entities.getActionIDs(entityID);
+        var actionText = ""
+        for (var actionIndex = 0; actionIndex < actionIDs.length; actionIndex++) {
+            var actionID = actionIDs[actionIndex];
+            var actionArguments = Entities.getActionArguments(entityID, actionID);
+            var actionArgumentText = actionArgumentsToString(actionArguments);
+            if (actionArgumentText != "") {
+                actionText += "-----------------\n";
+                actionText += actionArgumentText;
+            }
+        }
+        if (actionText != "") {
+            updateOverlay(entityID, actionText);
+        }
+    }
+}, 1000);
+
+
+Script.scriptEnding.connect(cleanup);

From 898e3917e3fd0a9221c24911be592077da2fc204 Mon Sep 17 00:00:00 2001
From: Seth Alves <seth.alves@gmail.com>
Date: Wed, 30 Sep 2015 10:57:52 -0700
Subject: [PATCH 12/37] improve actionInspector.js

---
 examples/actionInspector.js | 21 ++++++++++++++++++++-
 1 file changed, 20 insertions(+), 1 deletion(-)

diff --git a/examples/actionInspector.js b/examples/actionInspector.js
index 74f5912fc0..7e342b9e11 100644
--- a/examples/actionInspector.js
+++ b/examples/actionInspector.js
@@ -120,8 +120,27 @@ Script.setInterval(function() {
         if (actionText != "") {
             updateOverlay(entityID, actionText);
         }
+
+        // if an entity no longer has an action, remove its overlay
+        if (actionIDs.length == 0) {
+            if (entityID in overlays) {
+                Overlays.deleteOverlay(overlays[entityID]);
+                delete overlays[entityID];
+            }
+        }
     }
-}, 1000);
+
+
+    // if an entity is too far away, remove its overlay
+    for (var entityID in overlays) {
+        var position = Entities.getEntityProperties(entityID, ["position"]).position;
+        if (Vec3.distance(position, MyAvatar.position) > INSPECT_RADIUS) {
+            Overlays.deleteOverlay(overlays[entityID]);
+            delete overlays[entityID];
+        }
+    }
+
+}, 100);
 
 
 Script.scriptEnding.connect(cleanup);

From cc6b0adb7d1263fe5eb84d3b16919655ea6f9288 Mon Sep 17 00:00:00 2001
From: Stephen Birarda <commit@birarda.com>
Date: Wed, 30 Sep 2015 14:13:36 -0400
Subject: [PATCH 13/37] guard insert/get in SentPacketHistory

---
 libraries/networking/src/SentPacketHistory.cpp | 6 ++++--
 libraries/networking/src/SentPacketHistory.h   | 7 +++++--
 2 files changed, 9 insertions(+), 4 deletions(-)

diff --git a/libraries/networking/src/SentPacketHistory.cpp b/libraries/networking/src/SentPacketHistory.cpp
index c6eec8eb63..d0fcecd171 100644
--- a/libraries/networking/src/SentPacketHistory.cpp
+++ b/libraries/networking/src/SentPacketHistory.cpp
@@ -35,10 +35,11 @@ void SentPacketHistory::packetSent(uint16_t sequenceNumber, const NLPacket& pack
     }
     _newestSequenceNumber = sequenceNumber;
 
+    QWriteLocker locker(&_packetsLock);
     _sentPackets.insert(NLPacket::createCopy(packet));
 }
 
-const NLPacket* SentPacketHistory::getPacket(uint16_t sequenceNumber) const {
+const NLPacket* SentPacketHistory::getPacket(uint16_t sequenceNumber) {
 
     const int UINT16_RANGE = std::numeric_limits<uint16_t>::max() + 1;
 
@@ -48,6 +49,7 @@ const NLPacket* SentPacketHistory::getPacket(uint16_t sequenceNumber) const {
     if (seqDiff < 0) {
         seqDiff += UINT16_RANGE;
     }
-
+    
+    QReadLocker locker(&_packetsLock);
     return _sentPackets.get(seqDiff)->get();
 }
diff --git a/libraries/networking/src/SentPacketHistory.h b/libraries/networking/src/SentPacketHistory.h
index 1808e0020b..78b6914c2d 100644
--- a/libraries/networking/src/SentPacketHistory.h
+++ b/libraries/networking/src/SentPacketHistory.h
@@ -12,7 +12,9 @@
 #define hifi_SentPacketHistory_h
 
 #include <stdint.h>
-#include <qbytearray.h>
+
+#include <QtCore/QByteArray>
+#include <QtCore/QReadWriteLock>
 
 #include "NLPacket.h"
 #include "RingBufferHistory.h"
@@ -26,9 +28,10 @@ public:
     SentPacketHistory(int size = MAX_REASONABLE_SEQUENCE_GAP);
 
     void packetSent(uint16_t sequenceNumber, const NLPacket& packet);
-    const NLPacket* getPacket(uint16_t sequenceNumber) const;
+    const NLPacket* getPacket(uint16_t sequenceNumber);
 
 private:
+    QReadWriteLock _packetsLock { QReadWriteLock::Recursive };
     RingBufferHistory<std::unique_ptr<NLPacket>> _sentPackets;    // circular buffer
 
     uint16_t _newestSequenceNumber;

From f7e7b07441e014f3875cb1db0440252cee354342 Mon Sep 17 00:00:00 2001
From: Stephen Birarda <commit@birarda.com>
Date: Wed, 30 Sep 2015 14:15:22 -0400
Subject: [PATCH 14/37] fix constness of SentPacketHistory in OEPS

---
 libraries/networking/src/NLPacketList.cpp       | 3 ++-
 libraries/octree/src/OctreeEditPacketSender.cpp | 2 +-
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/libraries/networking/src/NLPacketList.cpp b/libraries/networking/src/NLPacketList.cpp
index 3b115c558b..318fb037a1 100644
--- a/libraries/networking/src/NLPacketList.cpp
+++ b/libraries/networking/src/NLPacketList.cpp
@@ -23,7 +23,8 @@ std::unique_ptr<NLPacketList> NLPacketList::create(PacketType packetType, QByteA
 }
 
 std::unique_ptr<NLPacketList> NLPacketList::fromPacketList(std::unique_ptr<PacketList> packetList) {
-    auto nlPacketList = std::unique_ptr<NLPacketList>(new NLPacketList(std::move(*packetList.release())));    nlPacketList->open(ReadOnly);
+    auto nlPacketList = std::unique_ptr<NLPacketList>(new NLPacketList(std::move(*packetList.release())));
+    nlPacketList->open(ReadOnly);
     return nlPacketList;
 }
 
diff --git a/libraries/octree/src/OctreeEditPacketSender.cpp b/libraries/octree/src/OctreeEditPacketSender.cpp
index 1be271cbdd..d4bd939196 100644
--- a/libraries/octree/src/OctreeEditPacketSender.cpp
+++ b/libraries/octree/src/OctreeEditPacketSender.cpp
@@ -346,7 +346,7 @@ void OctreeEditPacketSender::processNackPacket(NLPacket& packet, SharedNodePoint
     if (_sentPacketHistories.count(sendingNode->getUUID()) == 0) {
         return;
     }
-    const SentPacketHistory& sentPacketHistory = _sentPacketHistories[sendingNode->getUUID()];
+    SentPacketHistory& sentPacketHistory = _sentPacketHistories[sendingNode->getUUID()];
 
     // read sequence numbers and queue packets for resend
     while (packet.bytesLeftToRead() > 0) {

From 82ac0b1a27da3600dfca483c39ef495e877ce384 Mon Sep 17 00:00:00 2001
From: Stephen Birarda <commit@birarda.com>
Date: Wed, 30 Sep 2015 14:23:18 -0400
Subject: [PATCH 15/37] use a mutable mutex to keep const-ness

---
 libraries/networking/src/SentPacketHistory.cpp  | 2 +-
 libraries/networking/src/SentPacketHistory.h    | 4 ++--
 libraries/octree/src/OctreeEditPacketSender.cpp | 3 ++-
 3 files changed, 5 insertions(+), 4 deletions(-)

diff --git a/libraries/networking/src/SentPacketHistory.cpp b/libraries/networking/src/SentPacketHistory.cpp
index d0fcecd171..14b4677fc3 100644
--- a/libraries/networking/src/SentPacketHistory.cpp
+++ b/libraries/networking/src/SentPacketHistory.cpp
@@ -39,7 +39,7 @@ void SentPacketHistory::packetSent(uint16_t sequenceNumber, const NLPacket& pack
     _sentPackets.insert(NLPacket::createCopy(packet));
 }
 
-const NLPacket* SentPacketHistory::getPacket(uint16_t sequenceNumber) {
+const NLPacket* SentPacketHistory::getPacket(uint16_t sequenceNumber) const {
 
     const int UINT16_RANGE = std::numeric_limits<uint16_t>::max() + 1;
 
diff --git a/libraries/networking/src/SentPacketHistory.h b/libraries/networking/src/SentPacketHistory.h
index 78b6914c2d..72150658e3 100644
--- a/libraries/networking/src/SentPacketHistory.h
+++ b/libraries/networking/src/SentPacketHistory.h
@@ -28,10 +28,10 @@ public:
     SentPacketHistory(int size = MAX_REASONABLE_SEQUENCE_GAP);
 
     void packetSent(uint16_t sequenceNumber, const NLPacket& packet);
-    const NLPacket* getPacket(uint16_t sequenceNumber);
+    const NLPacket* getPacket(uint16_t sequenceNumber) const;
 
 private:
-    QReadWriteLock _packetsLock { QReadWriteLock::Recursive };
+    mutable QReadWriteLock _packetsLock { QReadWriteLock::Recursive };
     RingBufferHistory<std::unique_ptr<NLPacket>> _sentPackets;    // circular buffer
 
     uint16_t _newestSequenceNumber;
diff --git a/libraries/octree/src/OctreeEditPacketSender.cpp b/libraries/octree/src/OctreeEditPacketSender.cpp
index d4bd939196..495effc825 100644
--- a/libraries/octree/src/OctreeEditPacketSender.cpp
+++ b/libraries/octree/src/OctreeEditPacketSender.cpp
@@ -346,7 +346,8 @@ void OctreeEditPacketSender::processNackPacket(NLPacket& packet, SharedNodePoint
     if (_sentPacketHistories.count(sendingNode->getUUID()) == 0) {
         return;
     }
-    SentPacketHistory& sentPacketHistory = _sentPacketHistories[sendingNode->getUUID()];
+    
+    const SentPacketHistory& sentPacketHistory = _sentPacketHistories[sendingNode->getUUID()];
 
     // read sequence numbers and queue packets for resend
     while (packet.bytesLeftToRead() > 0) {

From 1e9593029c260c5c346479972e13be7417c3a038 Mon Sep 17 00:00:00 2001
From: Ryan Huffman <ryanhuffman@gmail.com>
Date: Wed, 30 Sep 2015 11:32:41 -0700
Subject: [PATCH 16/37] Fix infinite recursion error with CC rng

On some std::random implementations tryin get a range [low, high) where
high < low will cause infinite recursion.
---
 .../networking/src/udt/CongestionControl.cpp    | 17 ++++++++++-------
 1 file changed, 10 insertions(+), 7 deletions(-)

diff --git a/libraries/networking/src/udt/CongestionControl.cpp b/libraries/networking/src/udt/CongestionControl.cpp
index ea46d60acb..c1feae3911 100644
--- a/libraries/networking/src/udt/CongestionControl.cpp
+++ b/libraries/networking/src/udt/CongestionControl.cpp
@@ -161,13 +161,16 @@ void DefaultCC::onLoss(SequenceNumber rangeStart, SequenceNumber rangeEnd) {
         
         _lastDecreaseMaxSeq = _sendCurrSeqNum;
         
-        // avoid synchronous rate decrease across connections using randomization
-        std::random_device rd;
-        std::mt19937 generator(rd());
-        std::uniform_int_distribution<> distribution(1, _avgNAKNum);
-        
-        _randomDecreaseThreshold = distribution(generator);
-        
+        if (_avgNAKNum < 1) {
+            _randomDecreaseThreshold = 1;
+        } else {
+            // avoid synchronous rate decrease across connections using randomization
+            std::random_device rd;
+            std::mt19937 generator(rd());
+            std::uniform_int_distribution<> distribution(1, std::max(1, _avgNAKNum));
+
+            _randomDecreaseThreshold = distribution(generator);
+        }
     } else if ((_decreaseCount++ < MAX_DECREASES_PER_CONGESTION_EPOCH) && ((++_nakCount % _randomDecreaseThreshold) == 0)) {
         // there have been fewer than MAX_DECREASES_PER_CONGESTION_EPOCH AND this NAK matches the random count at which we
         // decided we would decrease the packet send period

From 83c3f65b1f6c8f92c4cf2c9681ab1d307d84f4a4 Mon Sep 17 00:00:00 2001
From: "Anthony J. Thibault" <tony@highfidelity.io>
Date: Wed, 30 Sep 2015 11:34:38 -0700
Subject: [PATCH 17/37] Prevent taking a reference to a QUrl rvalue.

---
 libraries/avatars/src/AvatarData.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/libraries/avatars/src/AvatarData.cpp b/libraries/avatars/src/AvatarData.cpp
index 3bd147d398..f64504d662 100644
--- a/libraries/avatars/src/AvatarData.cpp
+++ b/libraries/avatars/src/AvatarData.cpp
@@ -966,7 +966,8 @@ bool AvatarData::hasIdentityChangedAfterParsing(NLPacket& packet) {
 QByteArray AvatarData::identityByteArray() {
     QByteArray identityData;
     QDataStream identityStream(&identityData, QIODevice::Append);
-    const QUrl& urlToSend = (_skeletonModelURL == AvatarData::defaultFullAvatarModelUrl()) ? QUrl("") : _skeletonModelURL;
+    QUrl emptyURL("");
+    const QUrl& urlToSend = (_skeletonModelURL == AvatarData::defaultFullAvatarModelUrl()) ? emptyURL : _skeletonModelURL;
 
     identityStream << QUuid() << _faceModelURL << urlToSend << _attachmentData << _displayName;
 

From 7c6846c260b89f52ecc34aba67b52d0703152a9a Mon Sep 17 00:00:00 2001
From: Seth Alves <seth.alves@gmail.com>
Date: Wed, 30 Sep 2015 13:09:41 -0700
Subject: [PATCH 18/37] add lifetime and tag arguments to actions

---
 examples/controllers/handControllerGrab.js    |  7 ++-
 examples/grab.js                              |  6 +-
 interface/src/InterfaceActionFactory.cpp      |  7 +++
 interface/src/avatar/AvatarActionHold.cpp     |  5 +-
 .../entities/src/EntityActionInterface.h      |  2 +
 libraries/physics/src/ObjectAction.cpp        | 57 +++++++++++++++++++
 libraries/physics/src/ObjectAction.h          | 12 ++--
 libraries/physics/src/ObjectActionOffset.cpp  | 13 ++++-
 libraries/physics/src/ObjectActionSpring.cpp  | 11 +++-
 9 files changed, 106 insertions(+), 14 deletions(-)

diff --git a/examples/controllers/handControllerGrab.js b/examples/controllers/handControllerGrab.js
index 388c042285..144500e4de 100644
--- a/examples/controllers/handControllerGrab.js
+++ b/examples/controllers/handControllerGrab.js
@@ -324,7 +324,9 @@ function MyController(hand, triggerAction) {
             targetPosition: this.currentObjectPosition,
             linearTimeScale: DISTANCE_HOLDING_ACTION_TIMEFRAME,
             targetRotation: this.currentObjectRotation,
-            angularTimeScale: DISTANCE_HOLDING_ACTION_TIMEFRAME
+            angularTimeScale: DISTANCE_HOLDING_ACTION_TIMEFRAME,
+            tag: "grab",
+            lifetime: 5
         });
         if (this.actionID === NULL_ACTION_ID) {
             this.actionID = null;
@@ -424,7 +426,8 @@ function MyController(hand, triggerAction) {
             targetPosition: this.currentObjectPosition,
             linearTimeScale: DISTANCE_HOLDING_ACTION_TIMEFRAME,
             targetRotation: this.currentObjectRotation,
-            angularTimeScale: DISTANCE_HOLDING_ACTION_TIMEFRAME
+            angularTimeScale: DISTANCE_HOLDING_ACTION_TIMEFRAME,
+            lifetime: 5
         });
     };
 
diff --git a/examples/grab.js b/examples/grab.js
index 05bcf128e2..15bab17f20 100644
--- a/examples/grab.js
+++ b/examples/grab.js
@@ -288,7 +288,7 @@ Grabber.prototype.moveEvent = function(event) {
     }
     this.currentPosition = entityProperties.position;
 
-    var actionArgs = {};
+    var actionArgs = {tag: "grab", lifetime: 5};
 
     if (this.mode === "rotate") {
         var drag = mouse.getDrag();
@@ -303,7 +303,7 @@ Grabber.prototype.moveEvent = function(event) {
         // var qZero = entityProperties.rotation;
         //var qZero = this.lastRotation;
         this.lastRotation = Quat.multiply(deltaQ, this.lastRotation);
-        actionArgs = {targetRotation: this.lastRotation, angularTimeScale: 0.1};
+        actionArgs = {targetRotation: this.lastRotation, angularTimeScale: 0.1, tag: "grab", lifetime: 5};
     } else {
         var newPointOnPlane;
         if (this.mode === "verticalCylinder") {
@@ -327,7 +327,7 @@ Grabber.prototype.moveEvent = function(event) {
             }
         }
         this.targetPosition = Vec3.subtract(newPointOnPlane, this.offset);
-        actionArgs = {targetPosition: this.targetPosition, linearTimeScale: 0.1};
+        actionArgs = {targetPosition: this.targetPosition, linearTimeScale: 0.1, tag: "grab", lifetime: 5};
 
         beacon.updatePosition(this.targetPosition);
     }
diff --git a/interface/src/InterfaceActionFactory.cpp b/interface/src/InterfaceActionFactory.cpp
index dca1015ecc..2879c19eaa 100644
--- a/interface/src/InterfaceActionFactory.cpp
+++ b/interface/src/InterfaceActionFactory.cpp
@@ -43,6 +43,9 @@ EntityActionPointer InterfaceActionFactory::factory(EntityActionType type,
     if (action) {
         bool ok = action->updateArguments(arguments);
         if (ok) {
+            if (action->lifetimeIsOver()) {
+                return nullptr;
+            }
             return action;
         }
     }
@@ -63,5 +66,9 @@ EntityActionPointer InterfaceActionFactory::factoryBA(EntityItemPointer ownerEnt
     if (action) {
         action->deserialize(data);
     }
+    if (action->lifetimeIsOver()) {
+        return nullptr;
+    }
+
     return action;
 }
diff --git a/interface/src/avatar/AvatarActionHold.cpp b/interface/src/avatar/AvatarActionHold.cpp
index 4ecdb692ac..1fa50b79fd 100644
--- a/interface/src/avatar/AvatarActionHold.cpp
+++ b/interface/src/avatar/AvatarActionHold.cpp
@@ -84,6 +84,9 @@ void AvatarActionHold::updateActionWorker(float deltaTimeStep) {
 
 
 bool AvatarActionHold::updateArguments(QVariantMap arguments) {
+    if (!ObjectAction::updateArguments(arguments)) {
+        return false;
+    }
     bool ok = true;
     glm::vec3 relativePosition =
         EntityActionInterface::extractVec3Argument("hold", arguments, "relativePosition", ok, false);
@@ -134,7 +137,7 @@ bool AvatarActionHold::updateArguments(QVariantMap arguments) {
 
 
 QVariantMap AvatarActionHold::getArguments() {
-    QVariantMap arguments;
+    QVariantMap arguments = ObjectAction::getArguments();
     withReadLock([&]{
         if (!_mine) {
             arguments = ObjectActionSpring::getArguments();
diff --git a/libraries/entities/src/EntityActionInterface.h b/libraries/entities/src/EntityActionInterface.h
index a4f1c8ea15..e61019c98c 100644
--- a/libraries/entities/src/EntityActionInterface.h
+++ b/libraries/entities/src/EntityActionInterface.h
@@ -46,6 +46,8 @@ public:
     static EntityActionType actionTypeFromString(QString actionTypeString);
     static QString actionTypeToString(EntityActionType actionType);
 
+    virtual bool lifetimeIsOver() { return false; }
+
 protected:
     virtual glm::vec3 getPosition() = 0;
     virtual void setPosition(glm::vec3 position) = 0;
diff --git a/libraries/physics/src/ObjectAction.cpp b/libraries/physics/src/ObjectAction.cpp
index 5205e08c62..8c382f8dad 100644
--- a/libraries/physics/src/ObjectAction.cpp
+++ b/libraries/physics/src/ObjectAction.cpp
@@ -30,6 +30,18 @@ void ObjectAction::updateAction(btCollisionWorld* collisionWorld, btScalar delta
         dynamicsWorld->removeAction(this);
         return;
     }
+
+    if (_expires > 0.0f) {
+        float now = (float)usecTimestampNow() / USECS_PER_SECOND;
+        if (now > _expires) {
+            EntityItemPointer ownerEntity = _ownerEntity.lock();
+            _active = false;
+            if (ownerEntity) {
+                ownerEntity->removeAction(nullptr, getID());
+            }
+        }
+    }
+
     if (!_active) {
         return;
     }
@@ -37,6 +49,40 @@ void ObjectAction::updateAction(btCollisionWorld* collisionWorld, btScalar delta
     updateActionWorker(deltaTimeStep);
 }
 
+bool ObjectAction::updateArguments(QVariantMap arguments) {
+    bool lifetimeSet = true;
+    float lifetime = EntityActionInterface::extractFloatArgument("action", arguments, "lifetime", lifetimeSet, false);
+    if (lifetimeSet) {
+        float now = (float)usecTimestampNow() / USECS_PER_SECOND;
+        _expires = now + lifetime;
+    } else {
+        _expires = 0.0f;
+    }
+
+    bool tagSet = true;
+    QString tag = EntityActionInterface::extractStringArgument("action", arguments, "tag", tagSet, false);
+    if (tagSet) {
+        _tag = tag;
+    } else {
+        tag = "";
+    }
+
+    return true;
+}
+
+QVariantMap ObjectAction::getArguments() {
+    QVariantMap arguments;
+    float now = (float)usecTimestampNow() / USECS_PER_SECOND;
+    if (_expires == 0.0f) {
+        arguments["lifetime"] = 0.0f;
+    } else {
+        arguments["lifetime"] = _expires - now;
+    }
+    arguments["tag"] = _tag;
+    return arguments;
+}
+
+
 void ObjectAction::debugDraw(btIDebugDraw* debugDrawer) {
 }
 
@@ -136,3 +182,14 @@ void ObjectAction::activateBody() {
     }
 }
 
+bool ObjectAction::lifetimeIsOver() {
+    if (_expires == 0.0f) {
+        return false;
+    }
+
+    float now = (float)usecTimestampNow() / USECS_PER_SECOND;
+    if (now >= _expires) {
+        return true;
+    }
+    return false;
+}
diff --git a/libraries/physics/src/ObjectAction.h b/libraries/physics/src/ObjectAction.h
index 4d91d0dbb1..380263577a 100644
--- a/libraries/physics/src/ObjectAction.h
+++ b/libraries/physics/src/ObjectAction.h
@@ -33,8 +33,8 @@ public:
     virtual EntityItemWeakPointer getOwnerEntity() const { return _ownerEntity; }
     virtual void setOwnerEntity(const EntityItemPointer ownerEntity) { _ownerEntity = ownerEntity; }
 
-    virtual bool updateArguments(QVariantMap arguments) = 0;
-    virtual QVariantMap getArguments() = 0;
+    virtual bool updateArguments(QVariantMap arguments);
+    virtual QVariantMap getArguments();
 
     // this is called from updateAction and should be overridden by subclasses
     virtual void updateActionWorker(float deltaTimeStep) = 0;
@@ -46,6 +46,8 @@ public:
     virtual QByteArray serialize() const = 0;
     virtual void deserialize(QByteArray serializedArguments) = 0;
 
+    virtual bool lifetimeIsOver();
+
 protected:
 
     virtual btRigidBody* getRigidBody();
@@ -59,11 +61,11 @@ protected:
     virtual void setAngularVelocity(glm::vec3 angularVelocity);
     virtual void activateBody();
 
-private:
-
-protected:
     bool _active;
     EntityItemWeakPointer _ownerEntity;
+
+    float _expires; // in seconds since epoch
+    QString _tag;
 };
 
 #endif // hifi_ObjectAction_h
diff --git a/libraries/physics/src/ObjectActionOffset.cpp b/libraries/physics/src/ObjectActionOffset.cpp
index 2c1b391ba5..448ec34689 100644
--- a/libraries/physics/src/ObjectActionOffset.cpp
+++ b/libraries/physics/src/ObjectActionOffset.cpp
@@ -80,6 +80,9 @@ void ObjectActionOffset::updateActionWorker(btScalar deltaTimeStep) {
 
 
 bool ObjectActionOffset::updateArguments(QVariantMap arguments) {
+    if (!ObjectAction::updateArguments(arguments)) {
+        return false;
+    }
     bool ok = true;
     glm::vec3 pointToOffsetFrom =
         EntityActionInterface::extractVec3Argument("offset action", arguments, "pointToOffsetFrom", ok, true);
@@ -90,7 +93,7 @@ bool ObjectActionOffset::updateArguments(QVariantMap arguments) {
     ok = true;
     float linearTimeScale =
         EntityActionInterface::extractFloatArgument("offset action", arguments, "linearTimeScale", ok, false);
-    if (!ok) { 
+    if (!ok) {
         linearTimeScale = _linearTimeScale;
     }
 
@@ -119,7 +122,7 @@ bool ObjectActionOffset::updateArguments(QVariantMap arguments) {
 }
 
 QVariantMap ObjectActionOffset::getArguments() {
-    QVariantMap arguments;
+    QVariantMap arguments = ObjectAction::getArguments();
     withReadLock([&] {
         arguments["pointToOffsetFrom"] = glmToQMap(_pointToOffsetFrom);
         arguments["linearTimeScale"] = _linearTimeScale;
@@ -140,6 +143,9 @@ QByteArray ObjectActionOffset::serialize() const {
     dataStream << _linearTimeScale;
     dataStream << _positionalTargetSet;
 
+    dataStream << _expires;
+    dataStream << _tag;
+
     return ba;
 }
 
@@ -165,5 +171,8 @@ void ObjectActionOffset::deserialize(QByteArray serializedArguments) {
     dataStream >> _linearTimeScale;
     dataStream >> _positionalTargetSet;
 
+    dataStream >> _expires;
+    dataStream >> _tag;
+
     _active = true;
 }
diff --git a/libraries/physics/src/ObjectActionSpring.cpp b/libraries/physics/src/ObjectActionSpring.cpp
index d163933299..7d0bab5143 100644
--- a/libraries/physics/src/ObjectActionSpring.cpp
+++ b/libraries/physics/src/ObjectActionSpring.cpp
@@ -109,6 +109,9 @@ void ObjectActionSpring::updateActionWorker(btScalar deltaTimeStep) {
 const float MIN_TIMESCALE = 0.1f;
 
 bool ObjectActionSpring::updateArguments(QVariantMap arguments) {
+    if (!ObjectAction::updateArguments(arguments)) {
+        return false;
+    }
     // targets are required, spring-constants are optional
     bool ok = true;
     glm::vec3 positionalTarget =
@@ -155,7 +158,7 @@ bool ObjectActionSpring::updateArguments(QVariantMap arguments) {
 }
 
 QVariantMap ObjectActionSpring::getArguments() {
-    QVariantMap arguments;
+    QVariantMap arguments = ObjectAction::getArguments();
     withReadLock([&] {
         arguments["linearTimeScale"] = _linearTimeScale;
         arguments["targetPosition"] = glmToQMap(_positionalTarget);
@@ -182,6 +185,9 @@ QByteArray ObjectActionSpring::serialize() const {
     dataStream << _angularTimeScale;
     dataStream << _rotationalTargetSet;
 
+    dataStream << _expires;
+    dataStream << _tag;
+
     return serializedActionArguments;
 }
 
@@ -210,5 +216,8 @@ void ObjectActionSpring::deserialize(QByteArray serializedArguments) {
     dataStream >> _angularTimeScale;
     dataStream >> _rotationalTargetSet;
 
+    dataStream >> _expires;
+    dataStream >> _tag;
+
     _active = true;
 }

From b34ea6ded499a401f92057b1b7ac5936ba82d52f Mon Sep 17 00:00:00 2001
From: Seth Alves <seth.alves@gmail.com>
Date: Wed, 30 Sep 2015 13:46:23 -0700
Subject: [PATCH 19/37] store action lifetime as an expires integer

---
 examples/grab.js                       | 37 +++++++++++++++++++++++---
 libraries/physics/src/ObjectAction.cpp | 20 +++++++-------
 libraries/physics/src/ObjectAction.h   |  2 +-
 3 files changed, 44 insertions(+), 15 deletions(-)

diff --git a/examples/grab.js b/examples/grab.js
index 15bab17f20..52b2a66546 100644
--- a/examples/grab.js
+++ b/examples/grab.js
@@ -15,6 +15,33 @@ var ZERO_VEC3 = {x: 0, y: 0, z: 0};
 var IDENTITY_QUAT = {x: 0, y: 0, z: 0, w: 0};
 
 
+if (typeof String.prototype.startsWith != 'function') {
+  // see below for better implementation!
+  String.prototype.startsWith = function (str){
+    return this.indexOf(str) === 0;
+  };
+}
+
+function getTag() {
+    return "grab-" + MyAvatar.sessionUUID;
+}
+
+function entityIsGrabbedByOther(entityID) {
+    var actionIDs = Entities.getActionIDs(entityID);
+    for (var actionIndex = 0; actionIndex < actionIDs.length; actionIndex++) {
+        var actionID = actionIDs[actionIndex];
+        var actionArguments = Entities.getActionArguments(entityID, actionID);
+        var tag = actionArguments["tag"];
+        if (tag == getTag()) {
+            continue;
+        }
+        if (tag.startsWith("grab-")) {
+            return true;
+        }
+    }
+    return false;
+}
+
 // helper function
 function mouseIntersectionWithPlane(pointOnPlane, planeNormal, event, maxDistance) {
     var cameraPosition = Camera.getPosition();
@@ -288,7 +315,7 @@ Grabber.prototype.moveEvent = function(event) {
     }
     this.currentPosition = entityProperties.position;
 
-    var actionArgs = {tag: "grab", lifetime: 5};
+    var actionArgs = {tag: getTag(), lifetime: 5};
 
     if (this.mode === "rotate") {
         var drag = mouse.getDrag();
@@ -303,7 +330,7 @@ Grabber.prototype.moveEvent = function(event) {
         // var qZero = entityProperties.rotation;
         //var qZero = this.lastRotation;
         this.lastRotation = Quat.multiply(deltaQ, this.lastRotation);
-        actionArgs = {targetRotation: this.lastRotation, angularTimeScale: 0.1, tag: "grab", lifetime: 5};
+        actionArgs = {targetRotation: this.lastRotation, angularTimeScale: 0.1, tag: getTag(), lifetime: 5};
     } else {
         var newPointOnPlane;
         if (this.mode === "verticalCylinder") {
@@ -327,13 +354,15 @@ Grabber.prototype.moveEvent = function(event) {
             }
         }
         this.targetPosition = Vec3.subtract(newPointOnPlane, this.offset);
-        actionArgs = {targetPosition: this.targetPosition, linearTimeScale: 0.1, tag: "grab", lifetime: 5};
+        actionArgs = {targetPosition: this.targetPosition, linearTimeScale: 0.1, tag: getTag(), lifetime: 5};
 
         beacon.updatePosition(this.targetPosition);
     }
 
     if (!this.actionID) {
-        this.actionID = Entities.addAction("spring", this.entityID, actionArgs);
+        if (!entityIsGrabbedByOther(this.entityID)) {
+            this.actionID = Entities.addAction("spring", this.entityID, actionArgs);
+        }
     } else {
         Entities.updateAction(this.entityID, this.actionID, actionArgs);
     }
diff --git a/libraries/physics/src/ObjectAction.cpp b/libraries/physics/src/ObjectAction.cpp
index 8c382f8dad..82395c21cf 100644
--- a/libraries/physics/src/ObjectAction.cpp
+++ b/libraries/physics/src/ObjectAction.cpp
@@ -31,8 +31,8 @@ void ObjectAction::updateAction(btCollisionWorld* collisionWorld, btScalar delta
         return;
     }
 
-    if (_expires > 0.0f) {
-        float now = (float)usecTimestampNow() / USECS_PER_SECOND;
+    if (_expires > 0) {
+        quint64 now = usecTimestampNow();
         if (now > _expires) {
             EntityItemPointer ownerEntity = _ownerEntity.lock();
             _active = false;
@@ -53,10 +53,10 @@ bool ObjectAction::updateArguments(QVariantMap arguments) {
     bool lifetimeSet = true;
     float lifetime = EntityActionInterface::extractFloatArgument("action", arguments, "lifetime", lifetimeSet, false);
     if (lifetimeSet) {
-        float now = (float)usecTimestampNow() / USECS_PER_SECOND;
-        _expires = now + lifetime;
+        quint64 now = usecTimestampNow();
+        _expires = now + (quint64)(lifetime * USECS_PER_SECOND);
     } else {
-        _expires = 0.0f;
+        _expires = 0;
     }
 
     bool tagSet = true;
@@ -72,11 +72,11 @@ bool ObjectAction::updateArguments(QVariantMap arguments) {
 
 QVariantMap ObjectAction::getArguments() {
     QVariantMap arguments;
-    float now = (float)usecTimestampNow() / USECS_PER_SECOND;
-    if (_expires == 0.0f) {
+    if (_expires == 0) {
         arguments["lifetime"] = 0.0f;
     } else {
-        arguments["lifetime"] = _expires - now;
+        quint64 now = usecTimestampNow();
+        arguments["lifetime"] = (float)(_expires - now) / (float)USECS_PER_SECOND;
     }
     arguments["tag"] = _tag;
     return arguments;
@@ -183,11 +183,11 @@ void ObjectAction::activateBody() {
 }
 
 bool ObjectAction::lifetimeIsOver() {
-    if (_expires == 0.0f) {
+    if (_expires == 0) {
         return false;
     }
 
-    float now = (float)usecTimestampNow() / USECS_PER_SECOND;
+    quint64 now = usecTimestampNow();
     if (now >= _expires) {
         return true;
     }
diff --git a/libraries/physics/src/ObjectAction.h b/libraries/physics/src/ObjectAction.h
index 380263577a..5c29ac9892 100644
--- a/libraries/physics/src/ObjectAction.h
+++ b/libraries/physics/src/ObjectAction.h
@@ -64,7 +64,7 @@ protected:
     bool _active;
     EntityItemWeakPointer _ownerEntity;
 
-    float _expires; // in seconds since epoch
+    quint64 _expires; // in seconds since epoch
     QString _tag;
 };
 

From f746a970de5c849d5c687ca9ddb1c3c1a015c380 Mon Sep 17 00:00:00 2001
From: Seth Alves <seth.alves@gmail.com>
Date: Wed, 30 Sep 2015 14:03:10 -0700
Subject: [PATCH 20/37] don't grab something if someone else is already
 grabbing it

---
 examples/controllers/handControllerGrab.js | 69 ++++++++++++++++------
 1 file changed, 50 insertions(+), 19 deletions(-)

diff --git a/examples/controllers/handControllerGrab.js b/examples/controllers/handControllerGrab.js
index 144500e4de..6bd1949cd3 100644
--- a/examples/controllers/handControllerGrab.js
+++ b/examples/controllers/handControllerGrab.js
@@ -91,6 +91,27 @@ var currentAvatarCollisionsMenu = initialAvatarCollisionsMenu;
 var noCollisionsCount = 0; // how many hands want collisions disabled?
 
 
+function getTag() {
+    return "grab-" + MyAvatar.sessionUUID;
+}
+
+function entityIsGrabbedByOther(entityID) {
+    var actionIDs = Entities.getActionIDs(entityID);
+    for (var actionIndex = 0; actionIndex < actionIDs.length; actionIndex++) {
+        var actionID = actionIDs[actionIndex];
+        var actionArguments = Entities.getActionArguments(entityID, actionID);
+        var tag = actionArguments["tag"];
+        if (tag == getTag()) {
+            continue;
+        }
+        if (tag.startsWith("grab-")) {
+            return true;
+        }
+    }
+    return false;
+}
+
+
 function MyController(hand, triggerAction) {
     this.hand = hand;
     if (this.hand === RIGHT_HAND) {
@@ -320,14 +341,17 @@ function MyController(hand, triggerAction) {
         this.handPreviousPosition = handControllerPosition;
         this.handPreviousRotation = handRotation;
 
-        this.actionID = Entities.addAction("spring", this.grabbedEntity, {
-            targetPosition: this.currentObjectPosition,
-            linearTimeScale: DISTANCE_HOLDING_ACTION_TIMEFRAME,
-            targetRotation: this.currentObjectRotation,
-            angularTimeScale: DISTANCE_HOLDING_ACTION_TIMEFRAME,
-            tag: "grab",
-            lifetime: 5
-        });
+        this.actionID = NULL_ACTION_ID;
+        if (!entityIsGrabbedByOther(this.grabbedEntity)) {
+            this.actionID = Entities.addAction("spring", this.grabbedEntity, {
+                targetPosition: this.currentObjectPosition,
+                linearTimeScale: DISTANCE_HOLDING_ACTION_TIMEFRAME,
+                targetRotation: this.currentObjectRotation,
+                angularTimeScale: DISTANCE_HOLDING_ACTION_TIMEFRAME,
+                tag: getTag(),
+                lifetime: 5
+            });
+        }
         if (this.actionID === NULL_ACTION_ID) {
             this.actionID = null;
         }
@@ -392,11 +416,11 @@ function MyController(hand, triggerAction) {
         var handMovementFromTurning = Vec3.subtract(Quat.multiply(avatarDeltaOrientation, handToAvatar), handToAvatar); 
         var objectMovementFromTurning = Vec3.subtract(Quat.multiply(avatarDeltaOrientation, objectToAvatar), objectToAvatar); 
         this.currentAvatarOrientation = currentOrientation;
-      
+
         // how far did hand move this timestep?
         var handMoved = Vec3.subtract(handControllerPosition, this.handPreviousPosition);
         this.handPreviousPosition = handControllerPosition;
-        
+
         //  magnify the hand movement but not the change from avatar movement & rotation
         handMoved = Vec3.subtract(handMoved, avatarDeltaPosition);
         handMoved = Vec3.subtract(handMoved, handMovementFromTurning);
@@ -439,7 +463,7 @@ function MyController(hand, triggerAction) {
         if (this.triggerSmoothedReleased()) {
             // HACK -- until we have collision groups, don't allow held object to collide with avatar
             this.revertAvatarCollisions();
-            
+
             this.state = STATE_RELEASE;
             return;
         }
@@ -460,12 +484,17 @@ function MyController(hand, triggerAction) {
         var offset = Vec3.subtract(currentObjectPosition, handPosition);
         var offsetPosition = Vec3.multiplyQbyV(Quat.inverse(Quat.multiply(handRotation, offsetRotation)), offset);
 
-        this.actionID = Entities.addAction("hold", this.grabbedEntity, {
-            hand: this.hand === RIGHT_HAND ? "right" : "left",
-            timeScale: NEAR_GRABBING_ACTION_TIMEFRAME,
-            relativePosition: offsetPosition,
-            relativeRotation: offsetRotation
-        });
+        this.actionID = NULL_ACTION_ID;
+        if (!entityIsGrabbedByOther(this.grabbedEntity)) {
+            this.actionID = Entities.addAction("hold", this.grabbedEntity, {
+                hand: this.hand === RIGHT_HAND ? "right" : "left",
+                timeScale: NEAR_GRABBING_ACTION_TIMEFRAME,
+                relativePosition: offsetPosition,
+                relativeRotation: offsetRotation,
+                tag: getTag(),
+                lifetime: 5
+            });
+        }
         if (this.actionID === NULL_ACTION_ID) {
             this.actionID = null;
         } else {
@@ -488,7 +517,7 @@ function MyController(hand, triggerAction) {
         if (this.triggerSmoothedReleased()) {
             // HACK -- until we have collision groups, don't allow held object to collide with avatar
             this.revertAvatarCollisions();
-            
+
             this.state = STATE_RELEASE;
             return;
         }
@@ -498,7 +527,7 @@ function MyController(hand, triggerAction) {
         // object's actual held offset is an idea intended to make it easier to throw things:
         // Because we might catch something or transfer it between hands without a good idea 
         // of it's actual offset, let's try imparting a velocity which is at a fixed radius
-        // from the palm.  
+        // from the palm.
 
         var handControllerPosition = Controller.getSpatialControlPosition(this.tip);
         var now = Date.now();
@@ -510,6 +539,8 @@ function MyController(hand, triggerAction) {
         this.currentHandControllerTipPosition = handControllerPosition;
         this.currentObjectTime = now;
         Entities.callEntityMethod(this.grabbedEntity, "continueNearGrab");
+
+        Entities.updateAction(this.grabbedEntity, this.actionID, {lifetime: 5});
     };
 
     this.nearGrabbingNonColliding = function() {

From c27766facbcaad439d98127a031a781c23f0efec Mon Sep 17 00:00:00 2001
From: Seth Alves <seth.alves@gmail.com>
Date: Wed, 30 Sep 2015 14:07:23 -0700
Subject: [PATCH 21/37] move string startswith to utils.js

---
 examples/grab.js            | 8 --------
 examples/libraries/utils.js | 6 ++++++
 2 files changed, 6 insertions(+), 8 deletions(-)

diff --git a/examples/grab.js b/examples/grab.js
index 52b2a66546..3a9ce9921d 100644
--- a/examples/grab.js
+++ b/examples/grab.js
@@ -14,14 +14,6 @@ var MAX_SOLID_ANGLE = 0.01; // objects that appear smaller than this can't be gr
 var ZERO_VEC3 = {x: 0, y: 0, z: 0};
 var IDENTITY_QUAT = {x: 0, y: 0, z: 0, w: 0};
 
-
-if (typeof String.prototype.startsWith != 'function') {
-  // see below for better implementation!
-  String.prototype.startsWith = function (str){
-    return this.indexOf(str) === 0;
-  };
-}
-
 function getTag() {
     return "grab-" + MyAvatar.sessionUUID;
 }
diff --git a/examples/libraries/utils.js b/examples/libraries/utils.js
index f6f635c73a..2ee9bdd5fb 100644
--- a/examples/libraries/utils.js
+++ b/examples/libraries/utils.js
@@ -179,3 +179,9 @@ pointInExtents = function(point, minPoint, maxPoint) {
            (point.y >= minPoint.y && point.y <= maxPoint.y) &&
            (point.z >= minPoint.z && point.z <= maxPoint.z);
 }
+
+if (typeof String.prototype.startsWith != 'function') {
+  String.prototype.startsWith = function (str){
+    return this.slice(0, str.length) == str;
+  };
+}

From b417abc3de44acda7caadd4e76b64e88433dd2d3 Mon Sep 17 00:00:00 2001
From: Seth Alves <seth.alves@gmail.com>
Date: Wed, 30 Sep 2015 14:16:07 -0700
Subject: [PATCH 22/37] try again on string startswith

---
 examples/controllers/handControllerGrab.js | 2 +-
 examples/grab.js                           | 2 +-
 examples/libraries/utils.js                | 6 ------
 3 files changed, 2 insertions(+), 8 deletions(-)

diff --git a/examples/controllers/handControllerGrab.js b/examples/controllers/handControllerGrab.js
index 6bd1949cd3..aaa894a887 100644
--- a/examples/controllers/handControllerGrab.js
+++ b/examples/controllers/handControllerGrab.js
@@ -104,7 +104,7 @@ function entityIsGrabbedByOther(entityID) {
         if (tag == getTag()) {
             continue;
         }
-        if (tag.startsWith("grab-")) {
+        if (tag.slice(0, 5) == "grab-") {
             return true;
         }
     }
diff --git a/examples/grab.js b/examples/grab.js
index 3a9ce9921d..3e0212bbba 100644
--- a/examples/grab.js
+++ b/examples/grab.js
@@ -27,7 +27,7 @@ function entityIsGrabbedByOther(entityID) {
         if (tag == getTag()) {
             continue;
         }
-        if (tag.startsWith("grab-")) {
+        if (tag.slice(0, 5) == "grab-") {
             return true;
         }
     }
diff --git a/examples/libraries/utils.js b/examples/libraries/utils.js
index 2ee9bdd5fb..f6f635c73a 100644
--- a/examples/libraries/utils.js
+++ b/examples/libraries/utils.js
@@ -179,9 +179,3 @@ pointInExtents = function(point, minPoint, maxPoint) {
            (point.y >= minPoint.y && point.y <= maxPoint.y) &&
            (point.z >= minPoint.z && point.z <= maxPoint.z);
 }
-
-if (typeof String.prototype.startsWith != 'function') {
-  String.prototype.startsWith = function (str){
-    return this.slice(0, str.length) == str;
-  };
-}

From 9cf49597a69bba1dee45d0a14d01d877990c3cd9 Mon Sep 17 00:00:00 2001
From: Brad Hefta-Gaub <brad@highfidelity.io>
Date: Wed, 30 Sep 2015 14:16:41 -0700
Subject: [PATCH 23/37] fix possible crash from null coming from _sentPackets

---
 libraries/networking/src/SentPacketHistory.cpp | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/libraries/networking/src/SentPacketHistory.cpp b/libraries/networking/src/SentPacketHistory.cpp
index 14b4677fc3..fbb7eff41a 100644
--- a/libraries/networking/src/SentPacketHistory.cpp
+++ b/libraries/networking/src/SentPacketHistory.cpp
@@ -51,5 +51,9 @@ const NLPacket* SentPacketHistory::getPacket(uint16_t sequenceNumber) const {
     }
     
     QReadLocker locker(&_packetsLock);
-    return _sentPackets.get(seqDiff)->get();
+    auto packet = _sentPackets.get(seqDiff);
+    if (packet) {
+        return packet->get();
+    }
+    return nullptr;
 }

From dd0a16df047d9472088c469defe6c7d486f6a803 Mon Sep 17 00:00:00 2001
From: Seth Alves <seth@highfidelity.io>
Date: Wed, 30 Sep 2015 14:19:59 -0700
Subject: [PATCH 24/37] don't leave search state if we intersect something that
 someone else is already grabbing

---
 examples/actionInspector.js                |  4 ++--
 examples/controllers/handControllerGrab.js | 21 ++++++++++-----------
 2 files changed, 12 insertions(+), 13 deletions(-)

diff --git a/examples/actionInspector.js b/examples/actionInspector.js
index 7e342b9e11..934120ddf6 100644
--- a/examples/actionInspector.js
+++ b/examples/actionInspector.js
@@ -49,8 +49,8 @@ function actionArgumentsToString(actionArguments) {
 
 
 function updateOverlay(entityID, actionText) {
-    var properties = Entities.getEntityProperties(entityID, ["position"]);
-    var position = Vec3.sum(properties.position, {x:0, y:1, z:0});
+    var properties = Entities.getEntityProperties(entityID, ["position", "dimensions"]);
+    var position = Vec3.sum(properties.position, {x:0, y:properties.dimensions.y, z:0});
     // print("position: " + vec3toStr(position) + " " + actionText);
     if (entityID in overlays) {
         var overlay = overlays[entityID];
diff --git a/examples/controllers/handControllerGrab.js b/examples/controllers/handControllerGrab.js
index aaa894a887..4037ae66dc 100644
--- a/examples/controllers/handControllerGrab.js
+++ b/examples/controllers/handControllerGrab.js
@@ -273,7 +273,8 @@ function MyController(hand, triggerAction) {
         var intersection = Entities.findRayIntersection(pickRay, true);
         if (intersection.intersects &&
             intersection.properties.collisionsWillMove === 1 &&
-            intersection.properties.locked === 0) {
+            intersection.properties.locked === 0 &&
+            !entityIsGrabbedByOther(intersection.entityID)) {
             // the ray is intersecting something we can move.
             var handControllerPosition = Controller.getSpatialControlPosition(this.palm);
             var intersectionDistance = Vec3.distance(handControllerPosition, intersection.intersection);
@@ -342,16 +343,14 @@ function MyController(hand, triggerAction) {
         this.handPreviousRotation = handRotation;
 
         this.actionID = NULL_ACTION_ID;
-        if (!entityIsGrabbedByOther(this.grabbedEntity)) {
-            this.actionID = Entities.addAction("spring", this.grabbedEntity, {
-                targetPosition: this.currentObjectPosition,
-                linearTimeScale: DISTANCE_HOLDING_ACTION_TIMEFRAME,
-                targetRotation: this.currentObjectRotation,
-                angularTimeScale: DISTANCE_HOLDING_ACTION_TIMEFRAME,
-                tag: getTag(),
-                lifetime: 5
-            });
-        }
+        this.actionID = Entities.addAction("spring", this.grabbedEntity, {
+            targetPosition: this.currentObjectPosition,
+            linearTimeScale: DISTANCE_HOLDING_ACTION_TIMEFRAME,
+            targetRotation: this.currentObjectRotation,
+            angularTimeScale: DISTANCE_HOLDING_ACTION_TIMEFRAME,
+            tag: getTag(),
+            lifetime: 5
+        });
         if (this.actionID === NULL_ACTION_ID) {
             this.actionID = null;
         }

From 0063eee4a07b9d39c5993b4fd11cd0a0d3fc89d3 Mon Sep 17 00:00:00 2001
From: Ryan Huffman <ryanhuffman@gmail.com>
Date: Wed, 30 Sep 2015 14:47:12 -0700
Subject: [PATCH 25/37] Fix issue with nackPacketList being accessed after
 being moved

---
 .../octree/OctreeInboundPacketProcessor.cpp   | 22 +++++++++----------
 1 file changed, 11 insertions(+), 11 deletions(-)

diff --git a/assignment-client/src/octree/OctreeInboundPacketProcessor.cpp b/assignment-client/src/octree/OctreeInboundPacketProcessor.cpp
index 4ae07042e8..cb94990037 100644
--- a/assignment-client/src/octree/OctreeInboundPacketProcessor.cpp
+++ b/assignment-client/src/octree/OctreeInboundPacketProcessor.cpp
@@ -238,7 +238,6 @@ int OctreeInboundPacketProcessor::sendNackPackets() {
         return 0;
     }
 
-    auto nackPacketList = NLPacketList::create(_myServer->getMyEditNackType());
     auto nodeList = DependencyManager::get<NodeList>();
     int packetsSent = 0;
 
@@ -272,18 +271,19 @@ int OctreeInboundPacketProcessor::sendNackPackets() {
 
         auto it = missingSequenceNumbers.constBegin();
 
-        while (it != missingSequenceNumbers.constEnd()) {
-            unsigned short int sequenceNumber = *it;
-            nackPacketList->writePrimitive(sequenceNumber);
-            ++it;
-        }
-        
-        
-        if (nackPacketList->getNumPackets()) {
+        if (it != missingSequenceNumbers.constEnd()) {
+            auto nackPacketList = NLPacketList::create(_myServer->getMyEditNackType());
+
+            while (it != missingSequenceNumbers.constEnd()) {
+                unsigned short int sequenceNumber = *it;
+                nackPacketList->writePrimitive(sequenceNumber);
+                ++it;
+            }
+
             qDebug() << "NACK Sent back to editor/client... destinationNode=" << nodeUUID;
-            
+
             packetsSent += nackPacketList->getNumPackets();
-            
+
             // send the list of nack packets
             nodeList->sendPacketList(std::move(nackPacketList), *destinationNode);
         }

From 34dc8bdbcb8de07f6e6726efefd9462c67f241d5 Mon Sep 17 00:00:00 2001
From: Brad Hefta-Gaub <brad@highfidelity.io>
Date: Wed, 30 Sep 2015 15:34:35 -0700
Subject: [PATCH 26/37] fix possible crash in agent

---
 assignment-client/src/Agent.cpp | 10 +++++++---
 1 file changed, 7 insertions(+), 3 deletions(-)

diff --git a/assignment-client/src/Agent.cpp b/assignment-client/src/Agent.cpp
index 157154606f..47db78b5e4 100644
--- a/assignment-client/src/Agent.cpp
+++ b/assignment-client/src/Agent.cpp
@@ -364,10 +364,14 @@ void Agent::processAgentAvatarAndAudio(float deltaTime) {
 }
 
 void Agent::aboutToFinish() {
-    _scriptEngine->stop();
+    if (_scriptEngine) {
+        _scriptEngine->stop();
+    }
 
-    _pingTimer->stop();
-    delete _pingTimer;
+    if (_pingTimer) {
+        _pingTimer->stop();
+        delete _pingTimer;
+    }
 
     // our entity tree is going to go away so tell that to the EntityScriptingInterface
     DependencyManager::get<EntityScriptingInterface>()->setEntityTree(NULL);

From 42d90457707248eff86e10b15626d3bf42387005 Mon Sep 17 00:00:00 2001
From: Brad Hefta-Gaub <brad@highfidelity.io>
Date: Wed, 30 Sep 2015 16:02:33 -0700
Subject: [PATCH 27/37] possible fix for crashing agents acting like avatars

---
 assignment-client/src/Agent.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/assignment-client/src/Agent.cpp b/assignment-client/src/Agent.cpp
index 47db78b5e4..4438782ae5 100644
--- a/assignment-client/src/Agent.cpp
+++ b/assignment-client/src/Agent.cpp
@@ -364,6 +364,7 @@ void Agent::processAgentAvatarAndAudio(float deltaTime) {
 }
 
 void Agent::aboutToFinish() {
+    setIsAvatar(false);// will stop timers for sending billboards and identity packets
     if (_scriptEngine) {
         _scriptEngine->stop();
     }

From 4e057e5adafcbc47b48cdc724d9d8a46c2c14064 Mon Sep 17 00:00:00 2001
From: Seth Alves <seth.alves@gmail.com>
Date: Wed, 30 Sep 2015 16:03:54 -0700
Subject: [PATCH 28/37] increase action lifetime to be more forgiving of clock
 skew.  remove code that makes avatar a ghost while holding something

---
 examples/controllers/handControllerGrab.js | 56 ++--------------------
 1 file changed, 5 insertions(+), 51 deletions(-)

diff --git a/examples/controllers/handControllerGrab.js b/examples/controllers/handControllerGrab.js
index aaa894a887..cf2562af62 100644
--- a/examples/controllers/handControllerGrab.js
+++ b/examples/controllers/handControllerGrab.js
@@ -66,6 +66,7 @@ var MSEC_PER_SEC = 1000.0;
 // these control how long an abandoned pointer line will hang around
 var startTime = Date.now();
 var LIFETIME = 10;
+var ACTION_LIFETIME = 120; // 2 minutes
 
 // states for the state machine
 var STATE_OFF = 0;
@@ -81,16 +82,6 @@ var STATE_RELEASE = 8;
 var GRAB_USER_DATA_KEY = "grabKey";
 var GRABBABLE_DATA_KEY = "grabbableKey";
 
-// HACK -- until we have collision groups, don't allow held object to collide with avatar
-var AVATAR_COLLISIONS_MENU_ITEM = "Enable avatar collisions";
-
-
-// HACK -- until we have collision groups, don't allow held object to collide with avatar
-var initialAvatarCollisionsMenu = Menu.isOptionChecked(AVATAR_COLLISIONS_MENU_ITEM);
-var currentAvatarCollisionsMenu = initialAvatarCollisionsMenu;
-var noCollisionsCount = 0; // how many hands want collisions disabled?
-
-
 function getTag() {
     return "grab-" + MyAvatar.sessionUUID;
 }
@@ -173,28 +164,6 @@ function MyController(hand, triggerAction) {
         }
     };
 
-    // HACK -- until we have collision groups, don't allow held object to collide with avatar
-    this.disableAvatarCollisions = function() {
-        noCollisionsCount += 1;
-        if (currentAvatarCollisionsMenu != false) {
-            currentAvatarCollisionsMenu = false;
-            Menu.setIsOptionChecked(AVATAR_COLLISIONS_MENU_ITEM, false);
-            MyAvatar.updateMotionBehaviorFromMenu();
-        }
-    }
-
-    // HACK -- until we have collision groups, don't allow held object to collide with avatar
-    this.revertAvatarCollisions = function() {
-        noCollisionsCount -= 1;
-        if (noCollisionsCount < 1) {
-            if (currentAvatarCollisionsMenu != initialAvatarCollisionsMenu) {
-                currentAvatarCollisionsMenu = initialAvatarCollisionsMenu;
-                Menu.setIsOptionChecked(AVATAR_COLLISIONS_MENU_ITEM, initialAvatarCollisionsMenu);
-                MyAvatar.updateMotionBehaviorFromMenu();
-            }
-        }
-    }
-
     this.lineOn = function(closePoint, farPoint, color) {
         // draw a line
         if (this.pointer === null) {
@@ -327,9 +296,6 @@ function MyController(hand, triggerAction) {
 
     this.distanceHolding = function() {
 
-        // HACK -- until we have collision groups, don't allow held object to collide with avatar
-        this.disableAvatarCollisions();
-
         var handControllerPosition = Controller.getSpatialControlPosition(this.palm);
         var handRotation = Quat.multiply(MyAvatar.orientation, Controller.getSpatialControlRawRotation(this.palm));
         var grabbedProperties = Entities.getEntityProperties(this.grabbedEntity, ["position", "rotation"]);
@@ -349,7 +315,7 @@ function MyController(hand, triggerAction) {
                 targetRotation: this.currentObjectRotation,
                 angularTimeScale: DISTANCE_HOLDING_ACTION_TIMEFRAME,
                 tag: getTag(),
-                lifetime: 5
+                lifetime: ACTION_LIFETIME
             });
         }
         if (this.actionID === NULL_ACTION_ID) {
@@ -374,9 +340,6 @@ function MyController(hand, triggerAction) {
 
     this.continueDistanceHolding = function() {
         if (this.triggerSmoothedReleased()) {
-            // HACK -- until we have collision groups, don't allow held object to collide with avatar
-            this.revertAvatarCollisions();
-
             this.state = STATE_RELEASE;
             return;
         }
@@ -451,19 +414,13 @@ function MyController(hand, triggerAction) {
             linearTimeScale: DISTANCE_HOLDING_ACTION_TIMEFRAME,
             targetRotation: this.currentObjectRotation,
             angularTimeScale: DISTANCE_HOLDING_ACTION_TIMEFRAME,
-            lifetime: 5
+            lifetime: ACTION_LIFETIME
         });
     };
 
     this.nearGrabbing = function() {
 
-        // HACK -- until we have collision groups, don't allow held object to collide with avatar
-        this.disableAvatarCollisions();
-
         if (this.triggerSmoothedReleased()) {
-            // HACK -- until we have collision groups, don't allow held object to collide with avatar
-            this.revertAvatarCollisions();
-
             this.state = STATE_RELEASE;
             return;
         }
@@ -492,7 +449,7 @@ function MyController(hand, triggerAction) {
                 relativePosition: offsetPosition,
                 relativeRotation: offsetRotation,
                 tag: getTag(),
-                lifetime: 5
+                lifetime: ACTION_LIFETIME
             });
         }
         if (this.actionID === NULL_ACTION_ID) {
@@ -515,9 +472,6 @@ function MyController(hand, triggerAction) {
 
     this.continueNearGrabbing = function() {
         if (this.triggerSmoothedReleased()) {
-            // HACK -- until we have collision groups, don't allow held object to collide with avatar
-            this.revertAvatarCollisions();
-
             this.state = STATE_RELEASE;
             return;
         }
@@ -540,7 +494,7 @@ function MyController(hand, triggerAction) {
         this.currentObjectTime = now;
         Entities.callEntityMethod(this.grabbedEntity, "continueNearGrab");
 
-        Entities.updateAction(this.grabbedEntity, this.actionID, {lifetime: 5});
+        Entities.updateAction(this.grabbedEntity, this.actionID, {lifetime: ACTION_LIFETIME});
     };
 
     this.nearGrabbingNonColliding = function() {

From 91965db5abc61ce3d4a8601bc9ecab2451f3746b Mon Sep 17 00:00:00 2001
From: Seth Alves <seth.alves@gmail.com>
Date: Wed, 30 Sep 2015 16:07:22 -0700
Subject: [PATCH 29/37] increase action lifetime to be more forgiving of clock
 skew.  remove code that makes avatar a ghost while holding something

---
 examples/grab.js | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/examples/grab.js b/examples/grab.js
index 3e0212bbba..43a5ed220b 100644
--- a/examples/grab.js
+++ b/examples/grab.js
@@ -13,6 +13,7 @@
 var MAX_SOLID_ANGLE = 0.01; // objects that appear smaller than this can't be grabbed
 var ZERO_VEC3 = {x: 0, y: 0, z: 0};
 var IDENTITY_QUAT = {x: 0, y: 0, z: 0, w: 0};
+var ACTION_LIFETIME = 120; // 2 minutes
 
 function getTag() {
     return "grab-" + MyAvatar.sessionUUID;
@@ -307,7 +308,7 @@ Grabber.prototype.moveEvent = function(event) {
     }
     this.currentPosition = entityProperties.position;
 
-    var actionArgs = {tag: getTag(), lifetime: 5};
+    var actionArgs = {tag: getTag(), lifetime: ACTION_LIFETIME};
 
     if (this.mode === "rotate") {
         var drag = mouse.getDrag();
@@ -322,7 +323,7 @@ Grabber.prototype.moveEvent = function(event) {
         // var qZero = entityProperties.rotation;
         //var qZero = this.lastRotation;
         this.lastRotation = Quat.multiply(deltaQ, this.lastRotation);
-        actionArgs = {targetRotation: this.lastRotation, angularTimeScale: 0.1, tag: getTag(), lifetime: 5};
+        actionArgs = {targetRotation: this.lastRotation, angularTimeScale: 0.1, tag: getTag(), lifetime: ACTION_LIFETIME};
     } else {
         var newPointOnPlane;
         if (this.mode === "verticalCylinder") {
@@ -346,7 +347,7 @@ Grabber.prototype.moveEvent = function(event) {
             }
         }
         this.targetPosition = Vec3.subtract(newPointOnPlane, this.offset);
-        actionArgs = {targetPosition: this.targetPosition, linearTimeScale: 0.1, tag: getTag(), lifetime: 5};
+        actionArgs = {targetPosition: this.targetPosition, linearTimeScale: 0.1, tag: getTag(), lifetime: ACTION_LIFETIME};
 
         beacon.updatePosition(this.targetPosition);
     }

From d993d397184a24d3d7b742fcadee6821cc96d10c Mon Sep 17 00:00:00 2001
From: "Anthony J. Thibault" <tony@highfidelity.io>
Date: Wed, 30 Sep 2015 16:28:33 -0700
Subject: [PATCH 30/37] Bug fix for deriveBodyFromHMDSensor calculations

The calculation that determined where the body position relative to the HMD
was incorrect, one of the components was in the wrong coordinate frame.

Now use the skeleton's bind pose to compute the proper avatar offsets for the eyes, neck and hips.
Use these offsets to calculate where the hips should be given a specific hmd position and orientation.

Also, added a bug fix for Rig, which would cause a -1 index deference when an avatar was missing
certain named joints, such as, "LeftEye", "Neck" and "Head".
---
 interface/src/avatar/MyAvatar.cpp | 62 +++++++++++++++++++++++++++----
 libraries/animation/src/Rig.cpp   | 17 +++++++--
 2 files changed, 68 insertions(+), 11 deletions(-)

diff --git a/interface/src/avatar/MyAvatar.cpp b/interface/src/avatar/MyAvatar.cpp
index 8f7af63a81..a57740a691 100644
--- a/interface/src/avatar/MyAvatar.cpp
+++ b/interface/src/avatar/MyAvatar.cpp
@@ -271,6 +271,25 @@ glm::mat4 MyAvatar::getSensorToWorldMatrix() const {
     return _sensorToWorldMatrix;
 }
 
+// returns true if pos is OUTSIDE of the vertical capsule
+// where the middle cylinder length is defined by capsuleLen and the radius by capsuleRad.
+static bool capsuleCheck(const glm::vec3& pos, float capsuleLen, float capsuleRad) {
+    const float halfCapsuleLen = capsuleLen / 2.0f;
+    if (fabs(pos.y) <= halfCapsuleLen) {
+        // cylinder check for middle capsule
+        glm::vec2 horizPos(pos.x, pos.z);
+        return glm::length(horizPos) > capsuleRad;
+    } else if (pos.y > halfCapsuleLen) {
+        glm::vec3 center(0.0f, halfCapsuleLen, 0.0f);
+        return glm::length(center - pos) > capsuleRad;
+    } else if (pos.y < halfCapsuleLen) {
+        glm::vec3 center(0.0f, -halfCapsuleLen, 0.0f);
+        return glm::length(center - pos) > capsuleRad;
+    } else {
+        return false;
+    }
+}
+
 // Pass a recent sample of the HMD to the avatar.
 // This can also update the avatar's position to follow the HMD
 // as it moves through the world.
@@ -289,11 +308,14 @@ void MyAvatar::updateFromHMDSensorMatrix(const glm::mat4& hmdSensorMatrix) {
     _hmdSensorOrientation = glm::quat_cast(hmdSensorMatrix);
 
     const float STRAIGHTING_LEAN_DURATION = 0.5f;  // seconds
-    const float STRAIGHTING_LEAN_THRESHOLD = 0.2f;  // meters
+
+    // define a vertical capsule
+    const float STRAIGHTING_LEAN_CAPSULE_RADIUS = 0.2f;  // meters
+    const float STRAIGHTING_LEAN_CAPSULE_LENGTH = 0.05f;  // length of the cylinder part of the capsule in meters.
 
     auto newBodySensorMatrix = deriveBodyFromHMDSensor();
     glm::vec3 diff = extractTranslation(newBodySensorMatrix) - extractTranslation(_bodySensorMatrix);
-    if (!_straightingLean && glm::length(diff) > STRAIGHTING_LEAN_THRESHOLD) {
+    if (!_straightingLean && capsuleCheck(diff, STRAIGHTING_LEAN_CAPSULE_LENGTH, STRAIGHTING_LEAN_CAPSULE_RADIUS)) {
 
         // begin homing toward derived body position.
         _straightingLean = true;
@@ -1854,13 +1876,39 @@ glm::mat4 MyAvatar::deriveBodyFromHMDSensor() const {
     const glm::quat hmdOrientation = getHMDSensorOrientation();
     const glm::quat hmdOrientationYawOnly = cancelOutRollAndPitch(hmdOrientation);
 
-    // In sensor space, figure out where the avatar body should be,
-    // by applying offsets from the avatar's neck & head joints.
-    vec3 localEyes = _skeletonModel.getDefaultEyeModelPosition();
-    vec3 localNeck(0.0f, 0.48f, 0.0f);  // start with some kind of guess if the skeletonModel is not loaded yet.
-    _skeletonModel.getLocalNeckPosition(localNeck);
+    const glm::vec3 DEFAULT_RIGHT_EYE_POS(-0.3f, 1.6f, 0.0f);
+    const glm::vec3 DEFAULT_LEFT_EYE_POS(0.3f, 1.6f, 0.0f);
+    const glm::vec3 DEFAULT_NECK_POS(0.0f, 1.5f, 0.0f);
+    const glm::vec3 DEFAULT_HIPS_POS(0.0f, 1.0f, 0.0f);
+
+    vec3 localEyes, localNeck;
+    if (!_debugDrawSkeleton) {
+        const glm::quat rotY180 = glm::angleAxis((float)PI, glm::vec3(0.0f, 1.0f, 0.0f));
+        localEyes = rotY180 * (((DEFAULT_RIGHT_EYE_POS + DEFAULT_LEFT_EYE_POS) / 2.0f) - DEFAULT_HIPS_POS);
+        localNeck = rotY180 * (DEFAULT_NECK_POS - DEFAULT_HIPS_POS);
+    } else {
+        // TODO: At the moment MyAvatar does not have access to the rig, which has the skeleton, which has the bind poses.
+        // for now use the _debugDrawSkeleton, which is initialized with the same FBX model as the rig.
+
+        // TODO: cache these indices.
+        int rightEyeIndex = _debugDrawSkeleton->nameToJointIndex("RightEye");
+        int leftEyeIndex = _debugDrawSkeleton->nameToJointIndex("LeftEye");
+        int neckIndex = _debugDrawSkeleton->nameToJointIndex("Neck");
+        int hipsIndex = _debugDrawSkeleton->nameToJointIndex("Hips");
+
+        glm::vec3 absRightEyePos = rightEyeIndex != -1 ? _debugDrawSkeleton->getAbsoluteBindPose(rightEyeIndex).trans : DEFAULT_RIGHT_EYE_POS;
+        glm::vec3 absLeftEyePos = leftEyeIndex != -1 ? _debugDrawSkeleton->getAbsoluteBindPose(leftEyeIndex).trans : DEFAULT_LEFT_EYE_POS;
+        glm::vec3 absNeckPos = neckIndex != -1 ? _debugDrawSkeleton->getAbsoluteBindPose(neckIndex).trans : DEFAULT_NECK_POS;
+        glm::vec3 absHipsPos = neckIndex != -1 ? _debugDrawSkeleton->getAbsoluteBindPose(hipsIndex).trans : DEFAULT_HIPS_POS;
+
+        const glm::quat rotY180 = glm::angleAxis((float)PI, glm::vec3(0.0f, 1.0f, 0.0f));
+        localEyes = rotY180 * (((absRightEyePos + absLeftEyePos) / 2.0f) - absHipsPos);
+        localNeck = rotY180 * (absNeckPos - absHipsPos);
+    }
 
     // apply simplistic head/neck model
+    // figure out where the avatar body should be by applying offsets from the avatar's neck & head joints.
+
     // eyeToNeck offset is relative full HMD orientation.
     // while neckToRoot offset is only relative to HMDs yaw.
     glm::vec3 eyeToNeck = hmdOrientation * (localNeck - localEyes);
diff --git a/libraries/animation/src/Rig.cpp b/libraries/animation/src/Rig.cpp
index 0022749d51..1e512ee767 100644
--- a/libraries/animation/src/Rig.cpp
+++ b/libraries/animation/src/Rig.cpp
@@ -1026,12 +1026,21 @@ static void computeHeadNeckAnimVars(AnimSkeleton::ConstPointer skeleton, const A
     const glm::quat hmdOrientation = hmdPose.rot * rotY180;  // rotY180 will make z forward not -z
 
     // TODO: cache jointIndices
+    int rightEyeIndex = skeleton->nameToJointIndex("RightEye");
+    int leftEyeIndex = skeleton->nameToJointIndex("LeftEye");
+    int headIndex = skeleton->nameToJointIndex("Head");
+    int neckIndex = skeleton->nameToJointIndex("Neck");
+
+    const glm::vec3 DEFAULT_RIGHT_EYE_POS(-0.3f, 1.6f, 0.0f);
+    const glm::vec3 DEFAULT_LEFT_EYE_POS(0.3f, 1.6f, 0.0f);
+    const glm::vec3 DEFAULT_HEAD_POS(0.0f, 1.55f, 0.0f);
+    const glm::vec3 DEFAULT_NECK_POS(0.0f, 1.5f, 0.0f);
 
     // Use absolute bindPose positions just in case the relBindPose have rotations we don't expect.
-    glm::vec3 absRightEyePos = skeleton->getAbsoluteBindPose(skeleton->nameToJointIndex("RightEye")).trans;
-    glm::vec3 absLeftEyePos = skeleton->getAbsoluteBindPose(skeleton->nameToJointIndex("LeftEye")).trans;
-    glm::vec3 absHeadPos = skeleton->getAbsoluteBindPose(skeleton->nameToJointIndex("Head")).trans;
-    glm::vec3 absNeckPos = skeleton->getAbsoluteBindPose(skeleton->nameToJointIndex("Neck")).trans;
+    glm::vec3 absRightEyePos = rightEyeIndex != -1 ? skeleton->getAbsoluteBindPose(rightEyeIndex).trans : DEFAULT_RIGHT_EYE_POS;
+    glm::vec3 absLeftEyePos = leftEyeIndex != -1 ? skeleton->getAbsoluteBindPose(leftEyeIndex).trans : DEFAULT_LEFT_EYE_POS;
+    glm::vec3 absHeadPos = headIndex != -1 ? skeleton->getAbsoluteBindPose(headIndex).trans : DEFAULT_HEAD_POS;
+    glm::vec3 absNeckPos = neckIndex != -1 ? skeleton->getAbsoluteBindPose(neckIndex).trans : DEFAULT_NECK_POS;
 
     glm::vec3 absCenterEyePos = (absRightEyePos + absLeftEyePos) / 2.0f;
     glm::vec3 eyeOffset = absCenterEyePos - absHeadPos;

From c01077a0d7c425ceadac7f9f3f1335c5107b44ca Mon Sep 17 00:00:00 2001
From: Brad Hefta-Gaub <brad@highfidelity.io>
Date: Wed, 30 Sep 2015 17:30:34 -0700
Subject: [PATCH 31/37] real fix

---
 assignment-client/src/Agent.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/assignment-client/src/Agent.cpp b/assignment-client/src/Agent.cpp
index 4438782ae5..d9109703cb 100644
--- a/assignment-client/src/Agent.cpp
+++ b/assignment-client/src/Agent.cpp
@@ -233,8 +233,8 @@ void Agent::setIsAvatar(bool isAvatar) {
         }
         
         if (_avatarBillboardTimer) {
-            _avatarIdentityTimer->stop();
-            delete _avatarIdentityTimer;
+            _avatarBillboardTimer->stop();
+            delete _avatarBillboardTimer;
             _avatarBillboardTimer = nullptr;
         }
     }

From 5da5bd47af36c83eb5d19bdb7f494c93b509abb9 Mon Sep 17 00:00:00 2001
From: Stephen Birarda <commit@birarda.com>
Date: Wed, 30 Sep 2015 21:45:22 -0400
Subject: [PATCH 32/37] add a missing rename for socket Q_ASSERT_X

---
 libraries/networking/src/udt/Connection.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/networking/src/udt/Connection.cpp b/libraries/networking/src/udt/Connection.cpp
index 1bda840a6c..e8b22f6ab8 100644
--- a/libraries/networking/src/udt/Connection.cpp
+++ b/libraries/networking/src/udt/Connection.cpp
@@ -32,7 +32,7 @@ Connection::Connection(Socket* parentSocket, HifiSockAddr destination, std::uniq
     _destination(destination),
     _congestionControl(move(congestionControl))
 {
-    Q_ASSERT_X(socket, "Connection::Connection", "Must be called with a valid Socket*");
+    Q_ASSERT_X(parentSocket, "Connection::Connection", "Must be called with a valid Socket*");
     
     Q_ASSERT_X(_congestionControl, "Connection::Connection", "Must be called with a valid CongestionControl object");
     _congestionControl->init();

From d4f954a0e2ee1c5c27bcd161bb6fd1a8be880923 Mon Sep 17 00:00:00 2001
From: Seth Alves <seth.alves@gmail.com>
Date: Thu, 1 Oct 2015 10:25:30 -0700
Subject: [PATCH 33/37] allow more than one near-grab on an object

---
 examples/controllers/handControllerGrab.js | 24 +++++++++++-----------
 1 file changed, 12 insertions(+), 12 deletions(-)

diff --git a/examples/controllers/handControllerGrab.js b/examples/controllers/handControllerGrab.js
index e756866b1c..4dd9dca7a2 100644
--- a/examples/controllers/handControllerGrab.js
+++ b/examples/controllers/handControllerGrab.js
@@ -242,8 +242,7 @@ function MyController(hand, triggerAction) {
         var intersection = Entities.findRayIntersection(pickRay, true);
         if (intersection.intersects &&
             intersection.properties.collisionsWillMove === 1 &&
-            intersection.properties.locked === 0 &&
-            !entityIsGrabbedByOther(intersection.entityID)) {
+            intersection.properties.locked === 0) {
             // the ray is intersecting something we can move.
             var handControllerPosition = Controller.getSpatialControlPosition(this.palm);
             var intersectionDistance = Vec3.distance(handControllerPosition, intersection.intersection);
@@ -258,6 +257,10 @@ function MyController(hand, triggerAction) {
                 this.state = STATE_NEAR_GRABBING;
 
             } else {
+                if (entityIsGrabbedByOther(intersection.entityID)) {
+                    // don't allow two people to distance grab the same object
+                    return;
+                }
                 // the hand is far from the intersected object.  go into distance-holding mode
                 this.state = STATE_DISTANCE_HOLDING;
                 this.lineOn(pickRay.origin, Vec3.multiply(pickRay.direction, LINE_LENGTH), NO_INTERSECT_COLOR);
@@ -441,16 +444,13 @@ function MyController(hand, triggerAction) {
         var offsetPosition = Vec3.multiplyQbyV(Quat.inverse(Quat.multiply(handRotation, offsetRotation)), offset);
 
         this.actionID = NULL_ACTION_ID;
-        if (!entityIsGrabbedByOther(this.grabbedEntity)) {
-            this.actionID = Entities.addAction("hold", this.grabbedEntity, {
-                hand: this.hand === RIGHT_HAND ? "right" : "left",
-                timeScale: NEAR_GRABBING_ACTION_TIMEFRAME,
-                relativePosition: offsetPosition,
-                relativeRotation: offsetRotation,
-                tag: getTag(),
-                lifetime: ACTION_LIFETIME
-            });
-        }
+        this.actionID = Entities.addAction("hold", this.grabbedEntity, {
+            hand: this.hand === RIGHT_HAND ? "right" : "left",
+            timeScale: NEAR_GRABBING_ACTION_TIMEFRAME,
+            relativePosition: offsetPosition,
+            relativeRotation: offsetRotation,
+            lifetime: ACTION_LIFETIME
+        });
         if (this.actionID === NULL_ACTION_ID) {
             this.actionID = null;
         } else {

From 2700529b33921a9c2fc1f526256faca759a42c47 Mon Sep 17 00:00:00 2001
From: Seth Alves <seth.alves@gmail.com>
Date: Thu, 1 Oct 2015 10:41:43 -0700
Subject: [PATCH 34/37] lower action lifetime

---
 examples/controllers/handControllerGrab.js | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/examples/controllers/handControllerGrab.js b/examples/controllers/handControllerGrab.js
index 4dd9dca7a2..5705bd4498 100644
--- a/examples/controllers/handControllerGrab.js
+++ b/examples/controllers/handControllerGrab.js
@@ -66,7 +66,7 @@ var MSEC_PER_SEC = 1000.0;
 // these control how long an abandoned pointer line will hang around
 var startTime = Date.now();
 var LIFETIME = 10;
-var ACTION_LIFETIME = 120; // 2 minutes
+var ACTION_LIFETIME = 10; // seconds
 
 // states for the state machine
 var STATE_OFF = 0;

From 335d87134b73d80adaf14ad40984dbfab7a0f0c0 Mon Sep 17 00:00:00 2001
From: Howard Stearns <howard@highfidelity.io>
Date: Thu, 1 Oct 2015 10:58:31 -0700
Subject: [PATCH 35/37] Squash compiler warning in AnimVariant.

---
 libraries/animation/src/AnimVariant.h | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/libraries/animation/src/AnimVariant.h b/libraries/animation/src/AnimVariant.h
index 700a8b4121..cb886cd369 100644
--- a/libraries/animation/src/AnimVariant.h
+++ b/libraries/animation/src/AnimVariant.h
@@ -184,6 +184,8 @@ public:
             case AnimVariant::Type::String:
                 qCDebug(animation) << "    " << pair.first << "=" << pair.second.getString();
                 break;
+            default:
+                assert("AnimVariant::Type" == "valid");
             }
         }
     }

From d0bec38603a9de2b97852ca5e96797826aec53e8 Mon Sep 17 00:00:00 2001
From: Atlante45 <clement.brisset@gmail.com>
Date: Thu, 1 Oct 2015 11:30:50 -0700
Subject: [PATCH 36/37] Fix currentAPI.js

---
 examples/utilities/tools/currentAPI.js | 14 +++++++-------
 1 file changed, 7 insertions(+), 7 deletions(-)

diff --git a/examples/utilities/tools/currentAPI.js b/examples/utilities/tools/currentAPI.js
index 30b24910f9..cb9f152794 100644
--- a/examples/utilities/tools/currentAPI.js
+++ b/examples/utilities/tools/currentAPI.js
@@ -10,22 +10,21 @@
 //
 
 var array = [];
-var buffer = "\n\n\n\n\n======= JS API list =======";
 function listKeys(string, object) {
-    if (string == "listKeys" || string == "array" || string == "buffer" || string == "i") {
+    if (string === "listKeys" || string === "array" || string === "buffer" || string === "i") {
         return;
     }
     
-    if (typeof(object) != "object") {
+    if (typeof(object) !== "object" || object === null) {
         array.push(string + " " + typeof(object));
         return;
     }
     
     var keys = Object.keys(object);
     for (var i = 0; i < keys.length; ++i) {
-        if (string == "") {
+        if (string === "") {
             listKeys(keys[i], object[keys[i]]);
-        } else {
+        } else if (keys[i] !== "parent") {
             listKeys(string + "." + keys[i], object[keys[i]]);
         }
     }
@@ -34,9 +33,10 @@ function listKeys(string, object) {
 listKeys("", this);
 array.sort();
 
+var buffer = "\n======= JS API list =======";
 for (var i = 0; i < array.length; ++i) {
-    buffer = buffer + "\n" + array[i];
+    buffer += "\n" + array[i];
 }
-buffer = buffer + "\n========= API END =========\n\n\n\n\n";
+buffer += "\n========= API END =========\n";
 
 print(buffer);

From b37bf2b1b68cb191bc8e01760b107a5f0cb22300 Mon Sep 17 00:00:00 2001
From: Atlante45 <clement.brisset@gmail.com>
Date: Thu, 1 Oct 2015 13:18:22 -0700
Subject: [PATCH 37/37] Remove extra debug

---
 interface/resources/qml/VrMenu.qml | 1 -
 1 file changed, 1 deletion(-)

diff --git a/interface/resources/qml/VrMenu.qml b/interface/resources/qml/VrMenu.qml
index ef7ae852d4..14a4a449fd 100644
--- a/interface/resources/qml/VrMenu.qml
+++ b/interface/resources/qml/VrMenu.qml
@@ -196,7 +196,6 @@ Hifi.VrMenu {
 
     function insertItem(menu, beforeItem, newMenuItem) {
         for (var i = 0; i < menu.items.length; ++i) {
-            console.log(menu.items[i]);
             if (menu.items[i] === beforeItem) {
                 return menu.insertItem(i, newMenuItem);
             }