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make kinematic grab set entities kinematic in bullet and update entity position

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This commit is contained in:
Seth Alves 2015-10-30 11:03:13 -07:00
parent a37c94bd3c
commit 93503d0a21
4 changed files with 46 additions and 7 deletions
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24
examples/controllers/handControllerGrab.js
View file

@ -55,6 +55,7 @@ var NEAR_GRABBING_VELOCITY_SMOOTH_RATIO = 1.0; // adjust time-averaging of held
var NEAR_PICK_MAX_DISTANCE = 0.3; // max length of pick-ray for close grabbing to be selected
var RELEASE_VELOCITY_MULTIPLIER = 1.5; // affects throwing things
var PICK_BACKOFF_DISTANCE = 0.2; // helps when hand is intersecting the grabble object
var NEAR_GRABBING_KINEMATIC = true; // force objects to be kinematic when near-grabbed
/////////////////////////////////////////////////////////////////
//
@ -404,8 +405,9 @@ function MyController(hand, triggerAction) {
var handControllerPosition = Controller.getSpatialControlPosition(this.palm);
var handRotation = Quat.multiply(MyAvatar.orientation, Controller.getSpatialControlRawRotation(this.palm));
var grabbedProperties = Entities.getEntityProperties(this.grabbedEntity, ["position", "rotation",
"gravity", "ignoreForCollisions"]);
var grabbedProperties = Entities.getEntityProperties(this.grabbedEntity, ["position", "rotation", "gravity",
"ignoreForCollisions",
"collisionsWillMove"]);
var now = Date.now();
// add the action and initialize some variables
@ -549,8 +551,14 @@ function MyController(hand, triggerAction) {
this.lineOff();
var grabbedProperties = Entities.getEntityProperties(this.grabbedEntity,
["position", "rotation", "gravity", "ignoreForCollisions"]);
["position", "rotation", "gravity",
"ignoreForCollisions", "collisionsWillMove"]);
this.activateEntity(this.grabbedEntity, grabbedProperties);
if (grabbedProperties.collisionsWillMove && NEAR_GRABBING_KINEMATIC) {
Entities.editEntity(this.grabbedEntity, {
collisionsWillMove: false
});
}
var handRotation = this.getHandRotation();
var handPosition = this.getHandPosition();
@ -579,7 +587,8 @@ function MyController(hand, triggerAction) {
timeScale: NEAR_GRABBING_ACTION_TIMEFRAME,
relativePosition: this.offsetPosition,
relativeRotation: this.offsetRotation,
ttl: ACTION_TTL
ttl: ACTION_TTL,
kinematic: NEAR_GRABBING_KINEMATIC
});
if (this.actionID === NULL_ACTION_ID) {
this.actionID = null;
@ -631,7 +640,8 @@ function MyController(hand, triggerAction) {
timeScale: NEAR_GRABBING_ACTION_TIMEFRAME,
relativePosition: this.offsetPosition,
relativeRotation: this.offsetRotation,
ttl: ACTION_TTL
ttl: ACTION_TTL,
kinematic: NEAR_GRABBING_KINEMATIC
});
this.actionTimeout = now + (ACTION_TTL * MSEC_PER_SEC);
}
@ -828,6 +838,7 @@ function MyController(hand, triggerAction) {
if (data["refCount"] == 1) {
data["gravity"] = grabbedProperties.gravity;
data["ignoreForCollisions"] = grabbedProperties.ignoreForCollisions;
data["collisionsWillMove"] = grabbedProperties.collisionsWillMove;
var whileHeldProperties = {gravity: {x:0, y:0, z:0}};
if (invertSolidWhileHeld) {
whileHeldProperties["ignoreForCollisions"] = ! grabbedProperties.ignoreForCollisions;
@ -845,7 +856,8 @@ function MyController(hand, triggerAction) {
if (data["refCount"] < 1) {
Entities.editEntity(entityID, {
gravity: data["gravity"],
ignoreForCollisions: data["ignoreForCollisions"]
ignoreForCollisions: data["ignoreForCollisions"],
collisionsWillMove: data["collisionsWillMove"]
});
data = null;
}

5
interface/src/avatar/AvatarActionHold.cpp
View file

@ -119,6 +119,9 @@ void AvatarActionHold::doKinematicUpdate(float deltaTimeStep) {
worldTrans.setRotation(glmToBullet(_rotationalTarget));
rigidBody->setWorldTransform(worldTrans);
ownerEntity->setPosition(_positionalTarget);
ownerEntity->setRotation(_rotationalTarget);
_previousPositionalTarget = _positionalTarget;
_previousRotationalTarget = _rotationalTarget;
_previousSet = true;
@ -224,6 +227,8 @@ QVariantMap AvatarActionHold::getArguments() {
arguments["relativeRotation"] = glmToQMap(_relativeRotation);
arguments["timeScale"] = _linearTimeScale;
arguments["hand"] = _hand;
arguments["kinematic"] = _kinematic;
arguments["kinematicSetVelocity"] = _kinematicSetVelocity;
});
return arguments;
}

15
libraries/physics/src/ObjectAction.cpp
View file

@ -35,7 +35,9 @@ void ObjectAction::updateAction(btCollisionWorld* collisionWorld, btScalar delta
if (ownerEntityExpired) {
qDebug() << "warning -- action with no entity removing self from btCollisionWorld.";
btDynamicsWorld* dynamicsWorld = static_cast<btDynamicsWorld*>(collisionWorld);
dynamicsWorld->removeAction(this);
if (dynamicsWorld) {
dynamicsWorld->removeAction(this);
}
return;
}
@ -120,6 +122,17 @@ QVariantMap ObjectAction::getArguments() {
arguments["ttl"] = (float)(_expires - now) / (float)USECS_PER_SECOND;
}
arguments["tag"] = _tag;
EntityItemPointer entity = _ownerEntity.lock();
if (entity) {
ObjectMotionState* motionState = static_cast<ObjectMotionState*>(entity->getPhysicsInfo());
if (motionState) {
arguments["::active"] = motionState->isActive();
arguments["::motion-type"] = motionTypeToString(motionState->getMotionType());
} else {
arguments["::no-motion-state"] = true;
}
}
});
return arguments;
}

9
libraries/physics/src/ObjectMotionState.h
View file

@ -29,6 +29,15 @@ enum MotionType {
MOTION_TYPE_KINEMATIC // keyframed motion
};
inline QString motionTypeToString(MotionType motionType) {
switch(motionType) {
case MOTION_TYPE_STATIC: return QString("static");
case MOTION_TYPE_DYNAMIC: return QString("dynamic");
case MOTION_TYPE_KINEMATIC: return QString("kinematic");
}
return QString("unknown");
}
enum MotionStateType {
MOTIONSTATE_TYPE_INVALID,
MOTIONSTATE_TYPE_ENTITY,