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integrate active kinematic even when grabbed

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This commit is contained in:
Andrew Meadows 2018-07-10 11:20:18 -07:00
parent dd6be374fa
commit 8ea18e3359
1 changed files with 23 additions and 17 deletions
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40
libraries/physics/src/EntityMotionState.cpp
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@ -234,7 +234,7 @@ void EntityMotionState::getWorldTransform(btTransform& worldTrans) const {
return; return;
} }
assert(entityTreeIsLocked()); assert(entityTreeIsLocked());
if (_motionType == MOTION_TYPE_KINEMATIC && !_entity->hasAncestorOfType(NestableType::Avatar)) { if (_motionType == MOTION_TYPE_KINEMATIC) {
BT_PROFILE("kinematicIntegration"); BT_PROFILE("kinematicIntegration");
// This is physical kinematic motion which steps strictly by the subframe count // This is physical kinematic motion which steps strictly by the subframe count
// of the physics simulation and uses full gravity for acceleration. // of the physics simulation and uses full gravity for acceleration.
@ -327,13 +327,6 @@ bool EntityMotionState::remoteSimulationOutOfSync(uint32_t simulationStep) {
return true; return true;
} }
bool parentTransformSuccess;
Transform localToWorld = _entity->getParentTransform(parentTransformSuccess);
Transform worldToLocal;
if (parentTransformSuccess) {
localToWorld.evalInverse(worldToLocal);
}
int numSteps = simulationStep - _lastStep; int numSteps = simulationStep - _lastStep;
float dt = (float)(numSteps) * PHYSICS_ENGINE_FIXED_SUBSTEP; float dt = (float)(numSteps) * PHYSICS_ENGINE_FIXED_SUBSTEP;
@ -361,6 +354,10 @@ bool EntityMotionState::remoteSimulationOutOfSync(uint32_t simulationStep) {
return true; return true;
} }
if (_body->isStaticOrKinematicObject()) {
return false;
}
_lastStep = simulationStep; _lastStep = simulationStep;
if (glm::length2(_serverVelocity) > 0.0f) { if (glm::length2(_serverVelocity) > 0.0f) {
// the entity-server doesn't know where avatars are, so it doesn't do simple extrapolation for children of // the entity-server doesn't know where avatars are, so it doesn't do simple extrapolation for children of
@ -388,6 +385,12 @@ bool EntityMotionState::remoteSimulationOutOfSync(uint32_t simulationStep) {
// TODO: compensate for _worldOffset offset here // TODO: compensate for _worldOffset offset here
// compute position error // compute position error
bool parentTransformSuccess;
Transform localToWorld = _entity->getParentTransform(parentTransformSuccess);
Transform worldToLocal;
if (parentTransformSuccess) {
localToWorld.evalInverse(worldToLocal);
}
btTransform worldTrans = _body->getWorldTransform(); btTransform worldTrans = _body->getWorldTransform();
glm::vec3 position = worldToLocal.transform(bulletToGLM(worldTrans.getOrigin())); glm::vec3 position = worldToLocal.transform(bulletToGLM(worldTrans.getOrigin()));
@ -407,20 +410,23 @@ bool EntityMotionState::remoteSimulationOutOfSync(uint32_t simulationStep) {
if (glm::length2(_serverAngularVelocity) > 0.0f) { if (glm::length2(_serverAngularVelocity) > 0.0f) {
// compute rotation error // compute rotation error
float attenuation = powf(1.0f - _body->getAngularDamping(), dt); //
_serverAngularVelocity *= attenuation;
// Bullet caps the effective rotation velocity inside its rotation integration step, therefore // Bullet caps the effective rotation velocity inside its rotation integration step, therefore
// we must integrate with the same algorithm and timestep in order achieve similar results. // we must integrate with the same algorithm and timestep in order achieve similar results.
for (int i = 0; i < numSteps; ++i) { float attenuation = powf(1.0f - _body->getAngularDamping(), PHYSICS_ENGINE_FIXED_SUBSTEP);
_serverRotation = glm::normalize(computeBulletRotationStep(_serverAngularVelocity, _serverAngularVelocity *= attenuation;
PHYSICS_ENGINE_FIXED_SUBSTEP) * _serverRotation); glm::quat rotation = computeBulletRotationStep(_serverAngularVelocity, PHYSICS_ENGINE_FIXED_SUBSTEP);
for (int i = 1; i < numSteps; ++i) {
_serverAngularVelocity *= attenuation;
rotation = computeBulletRotationStep(_serverAngularVelocity, PHYSICS_ENGINE_FIXED_SUBSTEP) * rotation;
} }
_serverRotation = glm::normalize(rotation * _serverRotation);
const float MIN_ROTATION_DOT = 0.99999f; // This corresponds to about 0.5 degrees of rotation
glm::quat actualRotation = worldToLocal.getRotation() * bulletToGLM(worldTrans.getRotation());
return (fabsf(glm::dot(actualRotation, _serverRotation)) < MIN_ROTATION_DOT);
} }
const float MIN_ROTATION_DOT = 0.99999f; // This corresponds to about 0.5 degrees of rotation return false;
glm::quat actualRotation = worldToLocal.getRotation() * bulletToGLM(worldTrans.getRotation());
return (fabsf(glm::dot(actualRotation, _serverRotation)) < MIN_ROTATION_DOT);
} }
bool EntityMotionState::shouldSendUpdate(uint32_t simulationStep) { bool EntityMotionState::shouldSendUpdate(uint32_t simulationStep) {