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fix up kinematic hold

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This commit is contained in:
Seth Alves 2015-10-02 17:14:53 -07:00
parent cf8955a8c5
commit 89c848d8c8
4 changed files with 28 additions and 4 deletions
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2
examples/controllers/handControllerGrab.js
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@ -444,7 +444,7 @@ function MyController(hand, triggerAction) {
var offsetPosition = Vec3.multiplyQbyV(Quat.inverse(Quat.multiply(handRotation, offsetRotation)), offset);
this.actionID = NULL_ACTION_ID;
this.actionID = Entities.addAction("hold", this.grabbedEntity, {
this.actionID = Entities.addAction("kinematic-hold", this.grabbedEntity, {
hand: this.hand === RIGHT_HAND ? "right" : "left",
timeScale: NEAR_GRABBING_ACTION_TIMEFRAME,
relativePosition: offsetPosition,

24
interface/src/avatar/AvatarActionKinematicHold.cpp
View file

@ -22,7 +22,9 @@ AvatarActionKinematicHold::AvatarActionKinematicHold(const QUuid& id, EntityItem
_relativePosition(glm::vec3(0.0f)),
_relativeRotation(glm::quat()),
_hand("right"),
_mine(false)
_mine(false),
_previousPositionalTarget(Vectors::ZERO),
_previousRotationalTarget(Quaternions::IDENTITY)
{
_type = ACTION_TYPE_HOLD;
#if WANT_DEBUG
@ -44,6 +46,10 @@ void AvatarActionKinematicHold::updateActionWorker(float deltaTimeStep) {
return;
}
if (deltaTimeStep <= 0.0f) {
return;
}
glm::quat rotation;
glm::vec3 position;
glm::vec3 offset;
@ -81,10 +87,24 @@ void AvatarActionKinematicHold::updateActionWorker(float deltaTimeStep) {
return;
}
btTransform worldTrans;
btTransform worldTrans = rigidBody->getWorldTransform();
worldTrans.setOrigin(glmToBullet(_positionalTarget));
worldTrans.setRotation(glmToBullet(_rotationalTarget));
rigidBody->setWorldTransform(worldTrans);
if (_previousSet) {
glm::vec3 positionalVelocity = (_positionalTarget - _previousPositionalTarget) / deltaTimeStep;
rigidBody->setLinearVelocity(glmToBullet(positionalVelocity));
glm::quat rotationalDelta = glm::inverse(_previousRotationalTarget) * _rotationalTarget;
glm::vec3 rotationalDeltaAxis = glm::axis(rotationalDelta);
float rotationalDeltaAngle = glm::angle(rotationalDelta);
glm::vec3 rotationalVelocity = glm::normalize(rotationalDeltaAxis) * rotationalDeltaAngle / deltaTimeStep;
rigidBody->setAngularVelocity(glmToBullet(rotationalVelocity));
}
_previousPositionalTarget = _positionalTarget;
_previousRotationalTarget = _rotationalTarget;
_previousSet = true;
}
}
}

4
interface/src/avatar/AvatarActionKinematicHold.h
View file

@ -36,6 +36,10 @@ private:
glm::quat _relativeRotation;
QString _hand;
bool _mine = false;
bool _previousSet = false;
glm::vec3 _previousPositionalTarget;
glm::quat _previousRotationalTarget;
};
#endif // hifi_AvatarActionKinematicHold_h

2
libraries/entities/src/EntityActionInterface.cpp
View file

@ -100,7 +100,7 @@ EntityActionType EntityActionInterface::actionTypeFromString(QString actionTypeS
if (normalizedActionTypeString == "hold") {
return ACTION_TYPE_HOLD;
}
if (normalizedActionTypeString == "kinematic-hold") {
if (normalizedActionTypeString == "kinematichold") {
return ACTION_TYPE_KINEMATIC_HOLD;
}