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Merge pull request #6757 from sethalves/improve-grab-action-reliability

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be more careful about grab action -- if it somehow expires, reinstate it
This commit is contained in:
Howard Stearns 2016-01-05 12:21:09 -08:00
commit 95e74318df
3 changed files with 65 additions and 51 deletions
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102
examples/controllers/handControllerGrab.js
View file

@ -1257,16 +1257,39 @@ function MyController(hand) {
this.handleSpotlight(this.grabbedEntity);
}
Entities.updateAction(this.grabbedEntity, this.actionID, {
var success = Entities.updateAction(this.grabbedEntity, this.actionID, {
targetPosition: targetPosition,
linearTimeScale: DISTANCE_HOLDING_ACTION_TIMEFRAME,
targetRotation: this.currentObjectRotation,
angularTimeScale: DISTANCE_HOLDING_ACTION_TIMEFRAME,
ttl: ACTION_TTL
});
if (success) {
this.actionTimeout = now + (ACTION_TTL * MSEC_PER_SEC);
} else {
print("continueDistanceHolding -- updateAction failed");
}
};
this.setupHoldAction = function() {
this.actionID = Entities.addAction("hold", this.grabbedEntity, {
hand: this.hand === RIGHT_HAND ? "right" : "left",
timeScale: NEAR_GRABBING_ACTION_TIMEFRAME,
relativePosition: this.offsetPosition,
relativeRotation: this.offsetRotation,
ttl: ACTION_TTL,
kinematic: NEAR_GRABBING_KINEMATIC,
kinematicSetVelocity: true,
ignoreIK: this.ignoreIK
});
if (this.actionID === NULL_ACTION_ID) {
this.actionID = null;
return false;
}
var now = Date.now();
this.actionTimeout = now + (ACTION_TTL * MSEC_PER_SEC);
return true;
};
this.projectVectorAlongAxis = function(position, axisStart, axisEnd) {
@ -1296,7 +1319,7 @@ function MyController(hand) {
return projection
},
};
this.nearGrabbing = function() {
var now = Date.now();
@ -1340,43 +1363,29 @@ function MyController(hand) {
this.offsetPosition = Vec3.multiplyQbyV(Quat.inverse(Quat.multiply(handRotation, this.offsetRotation)), offset);
}
this.actionID = NULL_ACTION_ID;
this.actionID = Entities.addAction("hold", this.grabbedEntity, {
hand: this.hand === RIGHT_HAND ? "right" : "left",
timeScale: NEAR_GRABBING_ACTION_TIMEFRAME,
relativePosition: this.offsetPosition,
relativeRotation: this.offsetRotation,
ttl: ACTION_TTL,
kinematic: NEAR_GRABBING_KINEMATIC,
kinematicSetVelocity: true,
ignoreIK: this.ignoreIK
});
if (this.actionID === NULL_ACTION_ID) {
this.actionID = null;
} else {
this.actionTimeout = now + (ACTION_TTL * MSEC_PER_SEC);
if (this.state == STATE_NEAR_GRABBING) {
this.setState(STATE_CONTINUE_NEAR_GRABBING);
} else {
// equipping
Entities.callEntityMethod(this.grabbedEntity, "startEquip", [JSON.stringify(this.hand)]);
this.startHandGrasp();
this.setState(STATE_CONTINUE_EQUIP_BD);
}
if (this.hand === RIGHT_HAND) {
Entities.callEntityMethod(this.grabbedEntity, "setRightHand");
} else {
Entities.callEntityMethod(this.grabbedEntity, "setLeftHand");
}
Entities.callEntityMethod(this.grabbedEntity, "setHand", [this.hand]);
Entities.callEntityMethod(this.grabbedEntity, "startNearGrab");
if (!this.setupHoldAction()) {
return;
}
if (this.state == STATE_NEAR_GRABBING) {
this.setState(STATE_CONTINUE_NEAR_GRABBING);
} else {
// equipping
Entities.callEntityMethod(this.grabbedEntity, "startEquip", [JSON.stringify(this.hand)]);
this.startHandGrasp();
this.setState(STATE_CONTINUE_EQUIP_BD);
}
if (this.hand === RIGHT_HAND) {
Entities.callEntityMethod(this.grabbedEntity, "setRightHand");
} else {
Entities.callEntityMethod(this.grabbedEntity, "setLeftHand");
}
Entities.callEntityMethod(this.grabbedEntity, "setHand", [this.hand]);
Entities.callEntityMethod(this.grabbedEntity, "startNearGrab");
this.currentHandControllerTipPosition =
(this.hand === RIGHT_HAND) ? MyAvatar.rightHandTipPosition : MyAvatar.leftHandTipPosition;
@ -1426,7 +1435,7 @@ function MyController(hand) {
if (this.actionTimeout - now < ACTION_TTL_REFRESH * MSEC_PER_SEC) {
// if less than a 5 seconds left, refresh the actions ttl
Entities.updateAction(this.grabbedEntity, this.actionID, {
var success = Entities.updateAction(this.grabbedEntity, this.actionID, {
hand: this.hand === RIGHT_HAND ? "right" : "left",
timeScale: NEAR_GRABBING_ACTION_TIMEFRAME,
relativePosition: this.offsetPosition,
@ -1436,7 +1445,13 @@ function MyController(hand) {
kinematicSetVelocity: true,
ignoreIK: this.ignoreIK
});
this.actionTimeout = now + (ACTION_TTL * MSEC_PER_SEC);
if (success) {
this.actionTimeout = now + (ACTION_TTL * MSEC_PER_SEC);
} else {
print("continueNearGrabbing -- updateAction failed");
Entities.deleteAction(this.grabbedEntity, this.actionID);
this.setupHoldAction();
}
}
};
@ -1483,7 +1498,7 @@ function MyController(hand) {
return;
}
} else {
Entities.updateAction(this.grabbedEntity, this.equipSpringID, {
var success = Entities.updateAction(this.grabbedEntity, this.equipSpringID, {
targetPosition: targetPosition,
linearTimeScale: EQUIP_SPRING_TIMEFRAME,
targetRotation: targetRotation,
@ -1491,6 +1506,9 @@ function MyController(hand) {
ttl: ACTION_TTL,
ignoreIK: ignoreIK
});
if (!success) {
print("pullTowardEquipPosition -- updateActionfailed");
}
}
if (Vec3.distance(grabbedProperties.position, targetPosition) < EQUIP_SPRING_SHUTOFF_DISTANCE) {
@ -1896,4 +1914,4 @@ function renewParticleBeamLifetimes(deltaTime) {
}
rightController.renewParticleBeamLifetime();
leftController.renewParticleBeamLifetime();
}
}

6
interface/src/avatar/AvatarActionHold.cpp
View file

@ -89,6 +89,8 @@ void AvatarActionHold::prepareForPhysicsSimulation() {
// code here for future reference.
// _palmRotationFromRigidBody = avatarRotationInverse * palmRotation;
});
activateBody();
}
std::shared_ptr<Avatar> AvatarActionHold::getTarget(glm::quat& rotation, glm::vec3& position) {
@ -197,7 +199,6 @@ void AvatarActionHold::updateActionWorker(float deltaTimeStep) {
if (_kinematic) {
doKinematicUpdate(deltaTimeStep);
} else {
activateBody();
forceBodyNonStatic();
ObjectActionSpring::updateActionWorker(deltaTimeStep);
}
@ -247,7 +248,6 @@ void AvatarActionHold::doKinematicUpdate(float deltaTimeStep) {
_previousSet = true;
});
activateBody();
forceBodyNonStatic();
}
@ -344,7 +344,6 @@ bool AvatarActionHold::updateArguments(QVariantMap arguments) {
ownerEntity->setActionDataNeedsTransmit(true);
}
});
activateBody();
}
return true;
@ -431,6 +430,5 @@ void AvatarActionHold::deserialize(QByteArray serializedArguments) {
_active = true;
});
activateBody();
forceBodyNonStatic();
}

8
libraries/physics/src/ObjectAction.cpp
View file

@ -23,15 +23,15 @@ ObjectAction::~ObjectAction() {
}
void ObjectAction::updateAction(btCollisionWorld* collisionWorld, btScalar deltaTimeStep) {
bool ownerEntityExpired = false;
quint64 expiresWhen = 0;
EntityItemPointer ownerEntity = nullptr;
withReadLock([&]{
ownerEntityExpired = _ownerEntity.expired();
ownerEntity = _ownerEntity.lock();
expiresWhen = _expires;
});
if (ownerEntityExpired) {
if (!ownerEntity) {
qDebug() << "warning -- action with no entity removing self from btCollisionWorld.";
btDynamicsWorld* dynamicsWorld = static_cast<btDynamicsWorld*>(collisionWorld);
if (dynamicsWorld) {
@ -43,10 +43,8 @@ void ObjectAction::updateAction(btCollisionWorld* collisionWorld, btScalar delta
if (expiresWhen > 0) {
quint64 now = usecTimestampNow();
if (now > expiresWhen) {
EntityItemPointer ownerEntity = nullptr;
QUuid myID;
withWriteLock([&]{
ownerEntity = _ownerEntity.lock();
_active = false;
myID = getID();
});