Merge pull request #10417 from sethalves/motor-action

misc action/constraint changes

assignment-client/src/AssignmentDynamic.h

@@ -24,6 +24,8 @@ public:
     AssignmentDynamic(EntityDynamicType type, const QUuid& id, EntityItemPointer ownerEntity);
     virtual ~AssignmentDynamic();
 
+    virtual void remapIDs(QHash<EntityItemID, EntityItemID>& map) override {};
+
     virtual void removeFromSimulation(EntitySimulationPointer simulation) const override;
     virtual EntityItemWeakPointer getOwnerEntity() const override { return _ownerEntity; }
     virtual void setOwnerEntity(const EntityItemPointer ownerEntity) override { _ownerEntity = ownerEntity; }

interface/src/InterfaceDynamicFactory.cpp

@@ -15,6 +15,7 @@
 #include <avatar/AvatarActionFarGrab.h>
 #include <ObjectActionOffset.h>
 #include <ObjectActionSpring.h>
+#include <ObjectActionTractor.h>
 #include <ObjectActionTravelOriented.h>
 #include <ObjectConstraintHinge.h>
 #include <ObjectConstraintSlider.h>
@@ -33,6 +34,8 @@ EntityDynamicPointer interfaceDynamicFactory(EntityDynamicType type, const QUuid
             return std::make_shared<ObjectActionOffset>(id, ownerEntity);
         case DYNAMIC_TYPE_SPRING:
             return std::make_shared<ObjectActionSpring>(id, ownerEntity);
+        case DYNAMIC_TYPE_TRACTOR:
+            return std::make_shared<ObjectActionTractor>(id, ownerEntity);
         case DYNAMIC_TYPE_HOLD:
             return std::make_shared<AvatarActionHold>(id, ownerEntity);
         case DYNAMIC_TYPE_TRAVEL_ORIENTED:

interface/src/avatar/AvatarActionFarGrab.cpp

@@ -12,7 +12,7 @@
 #include "AvatarActionFarGrab.h"
 
 AvatarActionFarGrab::AvatarActionFarGrab(const QUuid& id, EntityItemPointer ownerEntity) :
-    ObjectActionSpring(id, ownerEntity) {
+    ObjectActionTractor(id, ownerEntity) {
     _type = DYNAMIC_TYPE_FAR_GRAB;
 #if WANT_DEBUG
     qDebug() << "AvatarActionFarGrab::AvatarActionFarGrab";
@@ -32,7 +32,7 @@ QByteArray AvatarActionFarGrab::serialize() const {
 
     dataStream << DYNAMIC_TYPE_FAR_GRAB;
     dataStream << getID();
-    dataStream << ObjectActionSpring::springVersion;
+    dataStream << ObjectActionTractor::tractorVersion;
 
     serializeParameters(dataStream);
 
@@ -55,7 +55,7 @@ void AvatarActionFarGrab::deserialize(QByteArray serializedArguments) {
 
     uint16_t serializationVersion;
     dataStream >> serializationVersion;
-    if (serializationVersion != ObjectActionSpring::springVersion) {
+    if (serializationVersion != ObjectActionTractor::tractorVersion) {
         assert(false);
         return;
     }

interface/src/avatar/AvatarActionFarGrab.h

@@ -13,9 +13,9 @@
 #define hifi_AvatarActionFarGrab_h
 
 #include <EntityItem.h>
-#include <ObjectActionSpring.h>
+#include <ObjectActionTractor.h>
 
-class AvatarActionFarGrab : public ObjectActionSpring {
+class AvatarActionFarGrab : public ObjectActionTractor {
 public:
     AvatarActionFarGrab(const QUuid& id, EntityItemPointer ownerEntity);
     virtual ~AvatarActionFarGrab();

interface/src/avatar/AvatarActionHold.cpp

@@ -21,7 +21,7 @@ const int AvatarActionHold::velocitySmoothFrames = 6;
 
 
 AvatarActionHold::AvatarActionHold(const QUuid& id, EntityItemPointer ownerEntity) :
-    ObjectActionSpring(id, ownerEntity)
+    ObjectActionTractor(id, ownerEntity)
 {
     _type = DYNAMIC_TYPE_HOLD;
     _measuredLinearVelocities.resize(AvatarActionHold::velocitySmoothFrames);
@@ -224,12 +224,12 @@ bool AvatarActionHold::getTarget(float deltaTimeStep, glm::quat& rotation, glm::
 
 void AvatarActionHold::updateActionWorker(float deltaTimeStep) {
     if (_kinematic) {
-        if (prepareForSpringUpdate(deltaTimeStep)) {
+        if (prepareForTractorUpdate(deltaTimeStep)) {
             doKinematicUpdate(deltaTimeStep);
         }
     } else {
         forceBodyNonStatic();
-        ObjectActionSpring::updateActionWorker(deltaTimeStep);
+        ObjectActionTractor::updateActionWorker(deltaTimeStep);
     }
 }
 

interface/src/avatar/AvatarActionHold.h

@@ -16,12 +16,12 @@
 
 #include <EntityItem.h>
 #include <AnimPose.h>
-#include <ObjectActionSpring.h>
+#include <ObjectActionTractor.h>
 
 #include "avatar/MyAvatar.h"
 
 
-class AvatarActionHold : public ObjectActionSpring {
+class AvatarActionHold : public ObjectActionTractor {
 public:
     AvatarActionHold(const QUuid& id, EntityItemPointer ownerEntity);
     virtual ~AvatarActionHold();

libraries/entities/src/EntityDynamicInterface.cpp

@@ -105,6 +105,9 @@ EntityDynamicType EntityDynamicInterface::dynamicTypeFromString(QString dynamicT
     if (normalizedDynamicTypeString == "spring") {
         return DYNAMIC_TYPE_SPRING;
     }
+    if (normalizedDynamicTypeString == "tractor") {
+        return DYNAMIC_TYPE_TRACTOR;
+    }
     if (normalizedDynamicTypeString == "hold") {
         return DYNAMIC_TYPE_HOLD;
     }
@@ -140,6 +143,8 @@ QString EntityDynamicInterface::dynamicTypeToString(EntityDynamicType dynamicTyp
             return "offset";
         case DYNAMIC_TYPE_SPRING:
             return "spring";
+        case DYNAMIC_TYPE_TRACTOR:
+            return "tractor";
         case DYNAMIC_TYPE_HOLD:
             return "hold";
         case DYNAMIC_TYPE_TRAVEL_ORIENTED:

libraries/entities/src/EntityDynamicInterface.h

@@ -17,6 +17,7 @@
 #include <glm/glm.hpp>
 
 class EntityItem;
+class EntityItemID;
 class EntitySimulation;
 using EntityItemPointer = std::shared_ptr<EntityItem>;
 using EntityItemWeakPointer = std::weak_ptr<EntityItem>;
@@ -28,6 +29,7 @@ enum EntityDynamicType {
     DYNAMIC_TYPE_NONE = 0,
     DYNAMIC_TYPE_OFFSET = 1000,
     DYNAMIC_TYPE_SPRING = 2000,
+    DYNAMIC_TYPE_TRACTOR = 2100,
     DYNAMIC_TYPE_HOLD = 3000,
     DYNAMIC_TYPE_TRAVEL_ORIENTED = 4000,
     DYNAMIC_TYPE_HINGE = 5000,
@@ -44,6 +46,9 @@ public:
     virtual ~EntityDynamicInterface() { }
     const QUuid& getID() const { return _id; }
     EntityDynamicType getType() const { return _type; }
+
+    virtual void remapIDs(QHash<EntityItemID, EntityItemID>& map) = 0;
+
     virtual bool isAction() const { return false; }
     virtual bool isConstraint() const { return false; }
     virtual bool isReadyForAdd() const { return true; }

libraries/entities/src/EntityTree.cpp

@@ -25,6 +25,8 @@
 #include "RecurseOctreeToMapOperator.h"
 #include "LogHandler.h"
 #include "EntityEditFilters.h"
+#include "EntityDynamicFactoryInterface.h"
+
 
 static const quint64 DELETED_ENTITIES_EXTRA_USECS_TO_CONSIDER = USECS_PER_MSEC * 50;
 const float EntityTree::DEFAULT_MAX_TMP_ENTITY_LIFETIME = 60 * 60; // 1 hour
@@ -1527,6 +1529,48 @@ void EntityTree::pruneTree() {
     recurseTreeWithOperator(&theOperator);
 }
 
+
+QByteArray EntityTree::remapActionDataIDs(QByteArray actionData, QHash<EntityItemID, EntityItemID>& map) {
+    if (actionData.isEmpty()) {
+        return actionData;
+    }
+
+    QDataStream serializedActionsStream(actionData);
+    QVector<QByteArray> serializedActions;
+    serializedActionsStream >> serializedActions;
+
+    auto actionFactory = DependencyManager::get<EntityDynamicFactoryInterface>();
+
+    QHash<QUuid, EntityDynamicPointer> remappedActions;
+    foreach(QByteArray serializedAction, serializedActions) {
+        QDataStream serializedActionStream(serializedAction);
+        EntityDynamicType actionType;
+        QUuid oldActionID;
+        serializedActionStream >> actionType;
+        serializedActionStream >> oldActionID;
+        EntityDynamicPointer action = actionFactory->factoryBA(nullptr, serializedAction);
+        if (action) {
+            action->remapIDs(map);
+            remappedActions[action->getID()] = action;
+        }
+    }
+
+    QVector<QByteArray> remappedSerializedActions;
+
+    QHash<QUuid, EntityDynamicPointer>::const_iterator i = remappedActions.begin();
+    while (i != remappedActions.end()) {
+        EntityDynamicPointer action = i.value();
+        QByteArray bytesForAction = action->serialize();
+        remappedSerializedActions << bytesForAction;
+        i++;
+    }
+
+    QByteArray result;
+    QDataStream remappedSerializedActionsStream(&result, QIODevice::WriteOnly);
+    remappedSerializedActionsStream << remappedSerializedActions;
+    return result;
+}
+
 QVector<EntityItemID> EntityTree::sendEntities(EntityEditPacketSender* packetSender, EntityTreePointer localTree,
                                                float x, float y, float z) {
     SendEntitiesOperationArgs args;
@@ -1543,71 +1587,67 @@ QVector<EntityItemID> EntityTree::sendEntities(EntityEditPacketSender* packetSen
     });
     packetSender->releaseQueuedMessages();
 
+    // the values from map are used as the list of successfully "sent" entities.  If some didn't actually make it,
+    // pull them out.  Bogus entries could happen if part of the imported data makes some reference to an entity
+    // that isn't in the data being imported.
+    QHash<EntityItemID, EntityItemID>::iterator i = map.begin();
+    while (i != map.end()) {
+        EntityItemID newID = i.value();
+        if (localTree->findEntityByEntityItemID(newID)) {
+            i++;
+        } else {
+            i = map.erase(i);
+        }
+    }
+
     return map.values().toVector();
 }
 
 bool EntityTree::sendEntitiesOperation(OctreeElementPointer element, void* extraData) {
     SendEntitiesOperationArgs* args = static_cast<SendEntitiesOperationArgs*>(extraData);
     EntityTreeElementPointer entityTreeElement = std::static_pointer_cast<EntityTreeElement>(element);
-    std::function<const EntityItemID(EntityItemPointer&)> getMapped = [&](EntityItemPointer& item) -> const EntityItemID {
+
-        EntityItemID oldID = item->getEntityItemID();
+    auto getMapped = [&args](EntityItemID oldID) {
-        if (args->map->contains(oldID)) { // Already been handled (e.g., as a parent of somebody that we've processed).
+        if (oldID.isNull()) {
-            return args->map->value(oldID);
+            return EntityItemID();
         }
+
+        QHash<EntityItemID, EntityItemID>::iterator iter = args->map->find(oldID);
+        if (iter == args->map->end()) {
             EntityItemID newID = QUuid::createUuid();
             args->map->insert(oldID, newID);
+            return newID;
+        }
+        return iter.value();
+    };
 
+    entityTreeElement->forEachEntity([&args, &getMapped, &element](EntityItemPointer item) {
+        EntityItemID oldID = item->getEntityItemID();
+        EntityItemID newID = getMapped(oldID);
         EntityItemProperties properties = item->getProperties();
+
         EntityItemID oldParentID = properties.getParentID();
         if (oldParentID.isInvalidID()) {  // no parent
             properties.setPosition(properties.getPosition() + args->root);
         } else {
             EntityItemPointer parentEntity = args->ourTree->findEntityByEntityItemID(oldParentID);
             if (parentEntity) { // map the parent
-                // Warning: (non-tail) recursion of getMapped could blow the call stack if the parent hierarchy is VERY deep.
+                properties.setParentID(getMapped(parentEntity->getID()));
-                properties.setParentID(getMapped(parentEntity));
                 // But do not add root offset in this case.
             } else { // Should not happen, but let's try to be helpful...
                 item->globalizeProperties(properties, "Cannot find %3 parent of %2 %1", args->root);
             }
         }
 
-        if (!properties.getXNNeighborID().isInvalidID()) {
+        properties.setXNNeighborID(getMapped(properties.getXNNeighborID()));
-            auto neighborEntity = args->ourTree->findEntityByEntityItemID(properties.getXNNeighborID());
+        properties.setXPNeighborID(getMapped(properties.getXPNeighborID()));
-            if (neighborEntity) {
+        properties.setYNNeighborID(getMapped(properties.getYNNeighborID()));
-                properties.setXNNeighborID(getMapped(neighborEntity));
+        properties.setYPNeighborID(getMapped(properties.getYPNeighborID()));
-            }
+        properties.setZNNeighborID(getMapped(properties.getZNNeighborID()));
-        }
+        properties.setZPNeighborID(getMapped(properties.getZPNeighborID()));
-        if (!properties.getXPNeighborID().isInvalidID()) {
+
-            auto neighborEntity = args->ourTree->findEntityByEntityItemID(properties.getXPNeighborID());
+        QByteArray actionData = properties.getActionData();
-            if (neighborEntity) {
+        properties.setActionData(remapActionDataIDs(actionData, *args->map));
-                properties.setXPNeighborID(getMapped(neighborEntity));
-            }
-        }
-        if (!properties.getYNNeighborID().isInvalidID()) {
-            auto neighborEntity = args->ourTree->findEntityByEntityItemID(properties.getYNNeighborID());
-            if (neighborEntity) {
-                properties.setYNNeighborID(getMapped(neighborEntity));
-            }
-        }
-        if (!properties.getYPNeighborID().isInvalidID()) {
-            auto neighborEntity = args->ourTree->findEntityByEntityItemID(properties.getYPNeighborID());
-            if (neighborEntity) {
-                properties.setYPNeighborID(getMapped(neighborEntity));
-            }
-        }
-        if (!properties.getZNNeighborID().isInvalidID()) {
-            auto neighborEntity = args->ourTree->findEntityByEntityItemID(properties.getZNNeighborID());
-            if (neighborEntity) {
-                properties.setZNNeighborID(getMapped(neighborEntity));
-            }
-        }
-        if (!properties.getZPNeighborID().isInvalidID()) {
-            auto neighborEntity = args->ourTree->findEntityByEntityItemID(properties.getZPNeighborID());
-            if (neighborEntity) {
-                properties.setZPNeighborID(getMapped(neighborEntity));
-            }
-        }
 
         // set creation time to "now" for imported entities
         properties.setCreated(usecTimestampNow());
@@ -1623,13 +1663,13 @@ bool EntityTree::sendEntitiesOperation(OctreeElementPointer element, void* extra
         // also update the local tree instantly (note: this is not our tree, but an alternate tree)
         if (args->otherTree) {
             args->otherTree->withWriteLock([&] {
-                args->otherTree->addEntity(newID, properties);
+                EntityItemPointer entity = args->otherTree->addEntity(newID, properties);
+                entity->deserializeActions();
             });
         }
         return newID;
-    };
+    });
 
-    entityTreeElement->forEachEntity(getMapped);
     return true;
 }
 

libraries/entities/src/EntityTree.h

@@ -205,6 +205,8 @@ public:
     virtual void dumpTree() override;
     virtual void pruneTree() override;
 
+    static QByteArray remapActionDataIDs(QByteArray actionData, QHash<EntityItemID, EntityItemID>& map);
+
     QVector<EntityItemID> sendEntities(EntityEditPacketSender* packetSender, EntityTreePointer localTree,
                                        float x, float y, float z);
 

libraries/physics/src/ObjectActionSpring.cpp

@@ -42,41 +42,6 @@ ObjectActionSpring::~ObjectActionSpring() {
     #endif
 }
 
-SpatiallyNestablePointer ObjectActionSpring::getOther() {
-    SpatiallyNestablePointer other;
-    withWriteLock([&]{
-        if (_otherID == QUuid()) {
-            // no other
-            return;
-        }
-        other = _other.lock();
-        if (other && other->getID() == _otherID) {
-            // other is already up-to-date
-            return;
-        }
-        if (other) {
-            // we have a pointer to other, but it's wrong
-            other.reset();
-            _other.reset();
-        }
-        // we have an other-id but no pointer to other cached
-        QSharedPointer<SpatialParentFinder> parentFinder = DependencyManager::get<SpatialParentFinder>();
-        if (!parentFinder) {
-            return;
-        }
-        EntityItemPointer ownerEntity = _ownerEntity.lock();
-        if (!ownerEntity) {
-            return;
-        }
-        bool success;
-        _other = parentFinder->find(_otherID, success, ownerEntity->getParentTree());
-        if (success) {
-            other = _other.lock();
-        }
-    });
-    return other;
-}
-
 bool ObjectActionSpring::getTarget(float deltaTimeStep, glm::quat& rotation, glm::vec3& position,
                                    glm::vec3& linearVelocity, glm::vec3& angularVelocity,
                                    float& linearTimeScale, float& angularTimeScale) {

libraries/physics/src/ObjectActionSpring.h

@@ -47,10 +47,6 @@ protected:
     glm::vec3 _linearVelocityTarget;
     glm::vec3 _angularVelocityTarget;
 
-    EntityItemID _otherID;
-    SpatiallyNestableWeakPointer _other;
-    SpatiallyNestablePointer getOther();
-
     virtual bool prepareForSpringUpdate(btScalar deltaTimeStep);
 
     void serializeParameters(QDataStream& dataStream) const;

libraries/physics/src/ObjectActionTractor.cpp

@@ -0,0 +1,378 @@
+//
+//  ObjectActionTractor.cpp
+//  libraries/physics/src
+//
+//  Created by Seth Alves 2015-5-8
+//  Copyright 2017 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
+//
+
+#include "QVariantGLM.h"
+
+#include "ObjectActionTractor.h"
+
+#include "PhysicsLogging.h"
+
+const float TRACTOR_MAX_SPEED = 10.0f;
+const float MAX_TRACTOR_TIMESCALE = 600.0f; // 10 min is a long time
+
+const uint16_t ObjectActionTractor::tractorVersion = 1;
+
+
+ObjectActionTractor::ObjectActionTractor(const QUuid& id, EntityItemPointer ownerEntity) :
+    ObjectAction(DYNAMIC_TYPE_TRACTOR, id, ownerEntity),
+    _positionalTarget(glm::vec3(0.0f)),
+    _desiredPositionalTarget(glm::vec3(0.0f)),
+    _linearTimeScale(FLT_MAX),
+    _positionalTargetSet(true),
+    _rotationalTarget(glm::quat()),
+    _desiredRotationalTarget(glm::quat()),
+    _angularTimeScale(FLT_MAX),
+    _rotationalTargetSet(true) {
+    #if WANT_DEBUG
+    qCDebug(physics) << "ObjectActionTractor::ObjectActionTractor";
+    #endif
+}
+
+ObjectActionTractor::~ObjectActionTractor() {
+    #if WANT_DEBUG
+    qCDebug(physics) << "ObjectActionTractor::~ObjectActionTractor";
+    #endif
+}
+
+bool ObjectActionTractor::getTarget(float deltaTimeStep, glm::quat& rotation, glm::vec3& position,
+                                   glm::vec3& linearVelocity, glm::vec3& angularVelocity,
+                                   float& linearTimeScale, float& angularTimeScale) {
+    SpatiallyNestablePointer other = getOther();
+    withReadLock([&]{
+        linearTimeScale = _linearTimeScale;
+        angularTimeScale = _angularTimeScale;
+
+        if (!_otherID.isNull()) {
+            if (other) {
+                rotation = _desiredRotationalTarget * other->getRotation();
+                position = other->getRotation() * _desiredPositionalTarget + other->getPosition();
+            } else {
+                // we should have an "other" but can't find it, so disable the tractor.
+                linearTimeScale = FLT_MAX;
+                angularTimeScale = FLT_MAX;
+            }
+        } else {
+            rotation = _desiredRotationalTarget;
+            position = _desiredPositionalTarget;
+        }
+        linearVelocity = glm::vec3();
+        angularVelocity = glm::vec3();
+    });
+    return true;
+}
+
+bool ObjectActionTractor::prepareForTractorUpdate(btScalar deltaTimeStep) {
+    auto ownerEntity = _ownerEntity.lock();
+    if (!ownerEntity) {
+        return false;
+    }
+
+    glm::quat rotation;
+    glm::vec3 position;
+    glm::vec3 linearVelocity;
+    glm::vec3 angularVelocity;
+
+    bool linearValid = false;
+    int linearTractorCount = 0;
+    bool angularValid = false;
+    int angularTractorCount = 0;
+
+    QList<EntityDynamicPointer> tractorDerivedActions;
+    tractorDerivedActions.append(ownerEntity->getActionsOfType(DYNAMIC_TYPE_TRACTOR));
+    tractorDerivedActions.append(ownerEntity->getActionsOfType(DYNAMIC_TYPE_FAR_GRAB));
+    tractorDerivedActions.append(ownerEntity->getActionsOfType(DYNAMIC_TYPE_HOLD));
+
+    foreach (EntityDynamicPointer action, tractorDerivedActions) {
+        std::shared_ptr<ObjectActionTractor> tractorAction = std::static_pointer_cast<ObjectActionTractor>(action);
+        glm::quat rotationForAction;
+        glm::vec3 positionForAction;
+        glm::vec3 linearVelocityForAction;
+        glm::vec3 angularVelocityForAction;
+        float linearTimeScale;
+        float angularTimeScale;
+        bool success = tractorAction->getTarget(deltaTimeStep,
+                                               rotationForAction, positionForAction,
+                                               linearVelocityForAction, angularVelocityForAction,
+                                               linearTimeScale, angularTimeScale);
+        if (success) {
+            if (angularTimeScale < MAX_TRACTOR_TIMESCALE) {
+                angularValid = true;
+                angularTractorCount++;
+                angularVelocity += angularVelocityForAction;
+                if (tractorAction.get() == this) {
+                    // only use the rotation for this action
+                    rotation = rotationForAction;
+                }
+            }
+
+            if (linearTimeScale < MAX_TRACTOR_TIMESCALE) {
+                linearValid = true;
+                linearTractorCount++;
+                position += positionForAction;
+                linearVelocity += linearVelocityForAction;
+            }
+        }
+    }
+
+    if ((angularValid && angularTractorCount > 0) || (linearValid && linearTractorCount > 0)) {
+        withWriteLock([&]{
+            if (linearValid && linearTractorCount > 0) {
+                position /= linearTractorCount;
+                linearVelocity /= linearTractorCount;
+                _positionalTarget = position;
+                _linearVelocityTarget = linearVelocity;
+                _positionalTargetSet = true;
+                _active = true;
+            }
+            if (angularValid && angularTractorCount > 0) {
+                angularVelocity /= angularTractorCount;
+                _rotationalTarget = rotation;
+                _angularVelocityTarget = angularVelocity;
+                _rotationalTargetSet = true;
+                _active = true;
+            }
+        });
+    }
+
+    return linearValid || angularValid;
+}
+
+
+void ObjectActionTractor::updateActionWorker(btScalar deltaTimeStep) {
+    if (!prepareForTractorUpdate(deltaTimeStep)) {
+        return;
+    }
+
+    withReadLock([&]{
+        auto ownerEntity = _ownerEntity.lock();
+        if (!ownerEntity) {
+            return;
+        }
+
+        void* physicsInfo = ownerEntity->getPhysicsInfo();
+        if (!physicsInfo) {
+            return;
+        }
+        ObjectMotionState* motionState = static_cast<ObjectMotionState*>(physicsInfo);
+        btRigidBody* rigidBody = motionState->getRigidBody();
+        if (!rigidBody) {
+            qCDebug(physics) << "ObjectActionTractor::updateActionWorker no rigidBody";
+            return;
+        }
+
+        if (_linearTimeScale < MAX_TRACTOR_TIMESCALE) {
+            btVector3 targetVelocity(0.0f, 0.0f, 0.0f);
+            btVector3 offset = rigidBody->getCenterOfMassPosition() - glmToBullet(_positionalTarget);
+            float offsetLength = offset.length();
+            if (offsetLength > FLT_EPSILON) {
+                float speed = glm::min(offsetLength / _linearTimeScale, TRACTOR_MAX_SPEED);
+                targetVelocity = (-speed / offsetLength) * offset;
+                if (speed > rigidBody->getLinearSleepingThreshold()) {
+                    forceBodyNonStatic();
+                    rigidBody->activate();
+                }
+            }
+            // this action is aggresively critically damped and defeats the current velocity
+            rigidBody->setLinearVelocity(targetVelocity);
+        }
+
+        if (_angularTimeScale < MAX_TRACTOR_TIMESCALE) {
+            btVector3 targetVelocity(0.0f, 0.0f, 0.0f);
+
+            btQuaternion bodyRotation = rigidBody->getOrientation();
+            auto alignmentDot = bodyRotation.dot(glmToBullet(_rotationalTarget));
+            const float ALMOST_ONE = 0.99999f;
+            if (glm::abs(alignmentDot) < ALMOST_ONE) {
+                btQuaternion target = glmToBullet(_rotationalTarget);
+                if (alignmentDot < 0.0f) {
+                    target = -target;
+                }
+                // if dQ is the incremental rotation that gets an object from Q0 to Q1 then:
+                //
+                //      Q1 = dQ * Q0
+                //
+                // solving for dQ gives:
+                //
+                //      dQ = Q1 * Q0^
+                btQuaternion deltaQ = target * bodyRotation.inverse();
+                float speed = deltaQ.getAngle() / _angularTimeScale;
+                targetVelocity = speed * deltaQ.getAxis();
+                if (speed > rigidBody->getAngularSleepingThreshold()) {
+                    rigidBody->activate();
+                }
+            }
+            // this action is aggresively critically damped and defeats the current velocity
+            rigidBody->setAngularVelocity(targetVelocity);
+        }
+    });
+}
+
+const float MIN_TIMESCALE = 0.1f;
+
+
+bool ObjectActionTractor::updateArguments(QVariantMap arguments) {
+    glm::vec3 positionalTarget;
+    float linearTimeScale;
+    glm::quat rotationalTarget;
+    float angularTimeScale;
+    QUuid otherID;
+
+
+    bool needUpdate = false;
+    bool somethingChanged = ObjectDynamic::updateArguments(arguments);
+    withReadLock([&]{
+        // targets are required, tractor-constants are optional
+        bool ok = true;
+        positionalTarget = EntityDynamicInterface::extractVec3Argument("tractor action", arguments, "targetPosition", ok, false);
+        if (!ok) {
+            positionalTarget = _desiredPositionalTarget;
+        }
+        ok = true;
+        linearTimeScale = EntityDynamicInterface::extractFloatArgument("tractor action", arguments, "linearTimeScale", ok, false);
+        if (!ok || linearTimeScale <= 0.0f) {
+            linearTimeScale = _linearTimeScale;
+        }
+
+        ok = true;
+        rotationalTarget = EntityDynamicInterface::extractQuatArgument("tractor action", arguments, "targetRotation", ok, false);
+        if (!ok) {
+            rotationalTarget = _desiredRotationalTarget;
+        }
+
+        ok = true;
+        angularTimeScale =
+            EntityDynamicInterface::extractFloatArgument("tractor action", arguments, "angularTimeScale", ok, false);
+        if (!ok) {
+            angularTimeScale = _angularTimeScale;
+        }
+
+        ok = true;
+        otherID = QUuid(EntityDynamicInterface::extractStringArgument("tractor action",
+                                                                            arguments, "otherID", ok, false));
+        if (!ok) {
+            otherID = _otherID;
+        }
+
+        if (somethingChanged ||
+            positionalTarget != _desiredPositionalTarget ||
+            linearTimeScale != _linearTimeScale ||
+            rotationalTarget != _desiredRotationalTarget ||
+            angularTimeScale != _angularTimeScale ||
+            otherID != _otherID) {
+            // something changed
+            needUpdate = true;
+        }
+    });
+
+    if (needUpdate) {
+        withWriteLock([&] {
+            _desiredPositionalTarget = positionalTarget;
+            _linearTimeScale = glm::max(MIN_TIMESCALE, glm::abs(linearTimeScale));
+            _desiredRotationalTarget = rotationalTarget;
+            _angularTimeScale = glm::max(MIN_TIMESCALE, glm::abs(angularTimeScale));
+            _otherID = otherID;
+            _active = true;
+
+            auto ownerEntity = _ownerEntity.lock();
+            if (ownerEntity) {
+                ownerEntity->setDynamicDataDirty(true);
+                ownerEntity->setDynamicDataNeedsTransmit(true);
+            }
+        });
+        activateBody();
+    }
+
+    return true;
+}
+
+QVariantMap ObjectActionTractor::getArguments() {
+    QVariantMap arguments = ObjectDynamic::getArguments();
+    withReadLock([&] {
+        arguments["linearTimeScale"] = _linearTimeScale;
+        arguments["targetPosition"] = glmToQMap(_desiredPositionalTarget);
+
+        arguments["targetRotation"] = glmToQMap(_desiredRotationalTarget);
+        arguments["angularTimeScale"] = _angularTimeScale;
+
+        arguments["otherID"] = _otherID;
+    });
+    return arguments;
+}
+
+void ObjectActionTractor::serializeParameters(QDataStream& dataStream) const {
+    withReadLock([&] {
+        dataStream << _desiredPositionalTarget;
+        dataStream << _linearTimeScale;
+        dataStream << _positionalTargetSet;
+        dataStream << _desiredRotationalTarget;
+        dataStream << _angularTimeScale;
+        dataStream << _rotationalTargetSet;
+        dataStream << localTimeToServerTime(_expires);
+        dataStream << _tag;
+        dataStream << _otherID;
+    });
+}
+
+QByteArray ObjectActionTractor::serialize() const {
+    QByteArray serializedActionArguments;
+    QDataStream dataStream(&serializedActionArguments, QIODevice::WriteOnly);
+
+    dataStream << DYNAMIC_TYPE_TRACTOR;
+    dataStream << getID();
+    dataStream << ObjectActionTractor::tractorVersion;
+
+    serializeParameters(dataStream);
+
+    return serializedActionArguments;
+}
+
+void ObjectActionTractor::deserializeParameters(QByteArray serializedArguments, QDataStream& dataStream) {
+    withWriteLock([&] {
+        dataStream >> _desiredPositionalTarget;
+        dataStream >> _linearTimeScale;
+        dataStream >> _positionalTargetSet;
+
+        dataStream >> _desiredRotationalTarget;
+        dataStream >> _angularTimeScale;
+        dataStream >> _rotationalTargetSet;
+
+        quint64 serverExpires;
+        dataStream >> serverExpires;
+        _expires = serverTimeToLocalTime(serverExpires);
+
+        dataStream >> _tag;
+
+        dataStream >> _otherID;
+
+        _active = true;
+    });
+}
+
+void ObjectActionTractor::deserialize(QByteArray serializedArguments) {
+    QDataStream dataStream(serializedArguments);
+
+    EntityDynamicType type;
+    dataStream >> type;
+    assert(type == getType());
+
+    QUuid id;
+    dataStream >> id;
+    assert(id == getID());
+
+    uint16_t serializationVersion;
+    dataStream >> serializationVersion;
+    if (serializationVersion != ObjectActionTractor::tractorVersion) {
+        assert(false);
+        return;
+    }
+
+    deserializeParameters(serializedArguments, dataStream);
+}

libraries/physics/src/ObjectActionTractor.h

@@ -0,0 +1,56 @@
+//
+//  ObjectActionTractor.h
+//  libraries/physics/src
+//
+//  Created by Seth Alves 2017-5-8
+//  Copyright 2017 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
+//
+
+#ifndef hifi_ObjectActionTractor_h
+#define hifi_ObjectActionTractor_h
+
+#include "ObjectAction.h"
+
+class ObjectActionTractor : public ObjectAction {
+public:
+    ObjectActionTractor(const QUuid& id, EntityItemPointer ownerEntity);
+    virtual ~ObjectActionTractor();
+
+    virtual bool updateArguments(QVariantMap arguments) override;
+    virtual QVariantMap getArguments() override;
+
+    virtual void updateActionWorker(float deltaTimeStep) override;
+
+    virtual QByteArray serialize() const override;
+    virtual void deserialize(QByteArray serializedArguments) override;
+
+    virtual bool getTarget(float deltaTimeStep, glm::quat& rotation, glm::vec3& position,
+                           glm::vec3& linearVelocity, glm::vec3& angularVelocity,
+                           float& linearTimeScale, float& angularTimeScale);
+
+protected:
+    static const uint16_t tractorVersion;
+
+    glm::vec3 _positionalTarget;
+    glm::vec3 _desiredPositionalTarget;
+    float _linearTimeScale;
+    bool _positionalTargetSet;
+
+    glm::quat _rotationalTarget;
+    glm::quat _desiredRotationalTarget;
+    float _angularTimeScale;
+    bool _rotationalTargetSet;
+
+    glm::vec3 _linearVelocityTarget;
+    glm::vec3 _angularVelocityTarget;
+
+    virtual bool prepareForTractorUpdate(btScalar deltaTimeStep);
+
+    void serializeParameters(QDataStream& dataStream) const;
+    void deserializeParameters(QByteArray serializedArguments, QDataStream& dataStream);
+};
+
+#endif // hifi_ObjectActionTractor_h

libraries/physics/src/ObjectConstraintBallSocket.cpp

@@ -40,7 +40,7 @@ QList<btRigidBody*> ObjectConstraintBallSocket::getRigidBodies() {
     result += getRigidBody();
     QUuid otherEntityID;
     withReadLock([&]{
-        otherEntityID = _otherEntityID;
+        otherEntityID = _otherID;
     });
     if (!otherEntityID.isNull()) {
         result += getOtherRigidBody(otherEntityID);
@@ -76,7 +76,7 @@ btTypedConstraint* ObjectConstraintBallSocket::getConstraint() {
     withReadLock([&]{
         constraint = static_cast<btPoint2PointConstraint*>(_constraint);
         pivotInA = _pivotInA;
-        otherEntityID = _otherEntityID;
+        otherEntityID = _otherID;
         pivotInB = _pivotInB;
     });
     if (constraint) {
@@ -136,7 +136,7 @@ bool ObjectConstraintBallSocket::updateArguments(QVariantMap arguments) {
         otherEntityID = QUuid(EntityDynamicInterface::extractStringArgument("ball-socket constraint",
                                                                             arguments, "otherEntityID", ok, false));
         if (!ok) {
-            otherEntityID = _otherEntityID;
+            otherEntityID = _otherID;
         }
 
         ok = true;
@@ -147,7 +147,7 @@ bool ObjectConstraintBallSocket::updateArguments(QVariantMap arguments) {
 
         if (somethingChanged ||
             pivotInA != _pivotInA ||
-            otherEntityID != _otherEntityID ||
+            otherEntityID != _otherID ||
             pivotInB != _pivotInB) {
             // something changed
             needUpdate = true;
@@ -157,7 +157,7 @@ bool ObjectConstraintBallSocket::updateArguments(QVariantMap arguments) {
     if (needUpdate) {
         withWriteLock([&] {
             _pivotInA = pivotInA;
-            _otherEntityID = otherEntityID;
+            _otherID = otherEntityID;
             _pivotInB = pivotInB;
 
             _active = true;
@@ -178,11 +178,9 @@ bool ObjectConstraintBallSocket::updateArguments(QVariantMap arguments) {
 QVariantMap ObjectConstraintBallSocket::getArguments() {
     QVariantMap arguments = ObjectDynamic::getArguments();
     withReadLock([&] {
-        if (_constraint) {
         arguments["pivot"] = glmToQMap(_pivotInA);
-            arguments["otherEntityID"] = _otherEntityID;
+        arguments["otherEntityID"] = _otherID;
         arguments["otherPivot"] = glmToQMap(_pivotInB);
-        }
     });
     return arguments;
 }
@@ -200,7 +198,7 @@ QByteArray ObjectConstraintBallSocket::serialize() const {
         dataStream << _tag;
 
         dataStream << _pivotInA;
-        dataStream << _otherEntityID;
+        dataStream << _otherID;
         dataStream << _pivotInB;
     });
 
@@ -232,7 +230,7 @@ void ObjectConstraintBallSocket::deserialize(QByteArray serializedArguments) {
         dataStream >> _tag;
 
         dataStream >> _pivotInA;
-        dataStream >> _otherEntityID;
+        dataStream >> _otherID;
         dataStream >> _pivotInB;
 
         _active = true;

libraries/physics/src/ObjectConstraintBallSocket.h

@@ -38,8 +38,6 @@ protected:
     void updateBallSocket();
 
     glm::vec3 _pivotInA;
-
-    EntityItemID _otherEntityID;
     glm::vec3 _pivotInB;
 };
 

libraries/physics/src/ObjectConstraintConeTwist.cpp

@@ -15,14 +15,14 @@
 #include "ObjectConstraintConeTwist.h"
 #include "PhysicsLogging.h"
 
-
+const uint16_t CONE_TWIST_VERSION_WITH_UNUSED_PAREMETERS = 1;
-const uint16_t ObjectConstraintConeTwist::constraintVersion = 1;
+const uint16_t ObjectConstraintConeTwist::constraintVersion = 2;
-
+const glm::vec3 DEFAULT_CONE_TWIST_AXIS(1.0f, 0.0f, 0.0f);
 
 ObjectConstraintConeTwist::ObjectConstraintConeTwist(const QUuid& id, EntityItemPointer ownerEntity) :
     ObjectConstraint(DYNAMIC_TYPE_CONE_TWIST, id, ownerEntity),
-    _pivotInA(glm::vec3(0.0f)),
+    _axisInA(DEFAULT_CONE_TWIST_AXIS),
-    _axisInA(glm::vec3(0.0f))
+    _axisInB(DEFAULT_CONE_TWIST_AXIS)
 {
     #if WANT_DEBUG
     qCDebug(physics) << "ObjectConstraintConeTwist::ObjectConstraintConeTwist";
@@ -40,7 +40,7 @@ QList<btRigidBody*> ObjectConstraintConeTwist::getRigidBodies() {
     result += getRigidBody();
     QUuid otherEntityID;
     withReadLock([&]{
-        otherEntityID = _otherEntityID;
+        otherEntityID = _otherID;
     });
     if (!otherEntityID.isNull()) {
         result += getOtherRigidBody(otherEntityID);
@@ -56,18 +56,12 @@ void ObjectConstraintConeTwist::updateConeTwist() {
     float swingSpan1;
     float swingSpan2;
     float twistSpan;
-    float softness;
-    float biasFactor;
-    float relaxationFactor;
 
     withReadLock([&]{
         constraint = static_cast<btConeTwistConstraint*>(_constraint);
         swingSpan1 = _swingSpan1;
         swingSpan2 = _swingSpan2;
         twistSpan = _twistSpan;
-        softness = _softness;
-        biasFactor = _biasFactor;
-        relaxationFactor = _relaxationFactor;
     });
 
     if (!constraint) {
@@ -76,10 +70,7 @@ void ObjectConstraintConeTwist::updateConeTwist() {
 
     constraint->setLimit(swingSpan1,
                          swingSpan2,
-                         twistSpan,
+                         twistSpan);
-                         softness,
-                         biasFactor,
-                         relaxationFactor);
 }
 
 
@@ -95,7 +86,7 @@ btTypedConstraint* ObjectConstraintConeTwist::getConstraint() {
         constraint = static_cast<btConeTwistConstraint*>(_constraint);
         pivotInA = _pivotInA;
         axisInA = _axisInA;
-        otherEntityID = _otherEntityID;
+        otherEntityID = _otherID;
         pivotInB = _pivotInB;
         axisInB = _axisInB;
     });
@@ -109,11 +100,25 @@ btTypedConstraint* ObjectConstraintConeTwist::getConstraint() {
         return nullptr;
     }
 
+    if (glm::length(axisInA) < FLT_EPSILON) {
+        qCWarning(physics) << "cone-twist axis cannot be a zero vector";
+        axisInA = DEFAULT_CONE_TWIST_AXIS;
+    } else {
+        axisInA = glm::normalize(axisInA);
+    }
+
     if (!otherEntityID.isNull()) {
         // This coneTwist is between two entities... find the other rigid body.
 
-        glm::quat rotA = glm::rotation(glm::vec3(1.0f, 0.0f, 0.0f), glm::normalize(axisInA));
+        if (glm::length(axisInB) < FLT_EPSILON) {
-        glm::quat rotB = glm::rotation(glm::vec3(1.0f, 0.0f, 0.0f), glm::normalize(axisInB));
+            qCWarning(physics) << "cone-twist axis cannot be a zero vector";
+            axisInB = DEFAULT_CONE_TWIST_AXIS;
+        } else {
+            axisInB = glm::normalize(axisInB);
+        }
+
+        glm::quat rotA = glm::rotation(DEFAULT_CONE_TWIST_AXIS, axisInA);
+        glm::quat rotB = glm::rotation(DEFAULT_CONE_TWIST_AXIS, axisInB);
 
         btTransform frameInA(glmToBullet(rotA), glmToBullet(pivotInA));
         btTransform frameInB(glmToBullet(rotB), glmToBullet(pivotInB));
@@ -127,7 +132,7 @@ btTypedConstraint* ObjectConstraintConeTwist::getConstraint() {
     } else {
         // This coneTwist is between an entity and the world-frame.
 
-        glm::quat rot = glm::rotation(glm::vec3(1.0f, 0.0f, 0.0f), glm::normalize(axisInA));
+        glm::quat rot = glm::rotation(DEFAULT_CONE_TWIST_AXIS, axisInA);
 
         btTransform frameInA(glmToBullet(rot), glmToBullet(pivotInA));
 
@@ -157,9 +162,6 @@ bool ObjectConstraintConeTwist::updateArguments(QVariantMap arguments) {
     float swingSpan1;
     float swingSpan2;
     float twistSpan;
-    float softness;
-    float biasFactor;
-    float relaxationFactor;
 
     bool needUpdate = false;
     bool somethingChanged = ObjectDynamic::updateArguments(arguments);
@@ -180,7 +182,7 @@ bool ObjectConstraintConeTwist::updateArguments(QVariantMap arguments) {
         otherEntityID = QUuid(EntityDynamicInterface::extractStringArgument("coneTwist constraint",
                                                                             arguments, "otherEntityID", ok, false));
         if (!ok) {
-            otherEntityID = _otherEntityID;
+            otherEntityID = _otherID;
         }
 
         ok = true;
@@ -213,37 +215,15 @@ bool ObjectConstraintConeTwist::updateArguments(QVariantMap arguments) {
             twistSpan = _twistSpan;
         }
 
-        ok = true;
-        softness = EntityDynamicInterface::extractFloatArgument("coneTwist constraint", arguments, "softness", ok, false);
-        if (!ok) {
-            softness = _softness;
-        }
-
-        ok = true;
-        biasFactor = EntityDynamicInterface::extractFloatArgument("coneTwist constraint", arguments, "biasFactor", ok, false);
-        if (!ok) {
-            biasFactor = _biasFactor;
-        }
-
-        ok = true;
-        relaxationFactor =
-            EntityDynamicInterface::extractFloatArgument("coneTwist constraint", arguments, "relaxationFactor", ok, false);
-        if (!ok) {
-            relaxationFactor = _relaxationFactor;
-        }
-
         if (somethingChanged ||
             pivotInA != _pivotInA ||
             axisInA != _axisInA ||
-            otherEntityID != _otherEntityID ||
+            otherEntityID != _otherID ||
             pivotInB != _pivotInB ||
             axisInB != _axisInB ||
             swingSpan1 != _swingSpan1 ||
             swingSpan2 != _swingSpan2 ||
-            twistSpan != _twistSpan ||
+            twistSpan != _twistSpan) {
-            softness != _softness ||
-            biasFactor != _biasFactor ||
-            relaxationFactor != _relaxationFactor) {
             // something changed
             needUpdate = true;
         }
@@ -253,15 +233,12 @@ bool ObjectConstraintConeTwist::updateArguments(QVariantMap arguments) {
         withWriteLock([&] {
             _pivotInA = pivotInA;
             _axisInA = axisInA;
-            _otherEntityID = otherEntityID;
+            _otherID = otherEntityID;
             _pivotInB = pivotInB;
             _axisInB = axisInB;
             _swingSpan1 = swingSpan1;
             _swingSpan2 = swingSpan2;
             _twistSpan = twistSpan;
-            _softness = softness;
-            _biasFactor = biasFactor;
-            _relaxationFactor = relaxationFactor;
 
             _active = true;
 
@@ -281,19 +258,14 @@ bool ObjectConstraintConeTwist::updateArguments(QVariantMap arguments) {
 QVariantMap ObjectConstraintConeTwist::getArguments() {
     QVariantMap arguments = ObjectDynamic::getArguments();
     withReadLock([&] {
-        if (_constraint) {
         arguments["pivot"] = glmToQMap(_pivotInA);
         arguments["axis"] = glmToQMap(_axisInA);
-            arguments["otherEntityID"] = _otherEntityID;
+        arguments["otherEntityID"] = _otherID;
         arguments["otherPivot"] = glmToQMap(_pivotInB);
         arguments["otherAxis"] = glmToQMap(_axisInB);
         arguments["swingSpan1"] = _swingSpan1;
         arguments["swingSpan2"] = _swingSpan2;
         arguments["twistSpan"] = _twistSpan;
-            arguments["softness"] = _softness;
-            arguments["biasFactor"] = _biasFactor;
-            arguments["relaxationFactor"] = _relaxationFactor;
-        }
     });
     return arguments;
 }
@@ -312,15 +284,12 @@ QByteArray ObjectConstraintConeTwist::serialize() const {
 
         dataStream << _pivotInA;
         dataStream << _axisInA;
-        dataStream << _otherEntityID;
+        dataStream << _otherID;
         dataStream << _pivotInB;
         dataStream << _axisInB;
         dataStream << _swingSpan1;
         dataStream << _swingSpan2;
         dataStream << _twistSpan;
-        dataStream << _softness;
-        dataStream << _biasFactor;
-        dataStream << _relaxationFactor;
     });
 
     return serializedConstraintArguments;
@@ -339,7 +308,7 @@ void ObjectConstraintConeTwist::deserialize(QByteArray serializedArguments) {
 
     uint16_t serializationVersion;
     dataStream >> serializationVersion;
-    if (serializationVersion != ObjectConstraintConeTwist::constraintVersion) {
+    if (serializationVersion > ObjectConstraintConeTwist::constraintVersion) {
         assert(false);
         return;
     }
@@ -352,15 +321,18 @@ void ObjectConstraintConeTwist::deserialize(QByteArray serializedArguments) {
 
         dataStream >> _pivotInA;
         dataStream >> _axisInA;
-        dataStream >> _otherEntityID;
+        dataStream >> _otherID;
         dataStream >> _pivotInB;
         dataStream >> _axisInB;
         dataStream >> _swingSpan1;
         dataStream >> _swingSpan2;
         dataStream >> _twistSpan;
-        dataStream >> _softness;
+        if (serializationVersion == CONE_TWIST_VERSION_WITH_UNUSED_PAREMETERS) {
-        dataStream >> _biasFactor;
+            float softness, biasFactor, relaxationFactor;
-        dataStream >> _relaxationFactor;
+            dataStream >> softness;
+            dataStream >> biasFactor;
+            dataStream >> relaxationFactor;
+        }
 
         _active = true;
     });

libraries/physics/src/ObjectConstraintConeTwist.h

@@ -40,16 +40,12 @@ protected:
     glm::vec3 _pivotInA;
     glm::vec3 _axisInA;
 
-    EntityItemID _otherEntityID;
     glm::vec3 _pivotInB;
     glm::vec3 _axisInB;
 
     float _swingSpan1 { TWO_PI };
     float _swingSpan2 { TWO_PI };;
     float _twistSpan { TWO_PI };;
-    float _softness { 1.0f };
-    float _biasFactor {0.3f };
-    float _relaxationFactor { 1.0f };
 };
 
 #endif // hifi_ObjectConstraintConeTwist_h

libraries/physics/src/ObjectConstraintHinge.cpp

@@ -16,7 +16,8 @@
 #include "PhysicsLogging.h"
 
 
-const uint16_t ObjectConstraintHinge::constraintVersion = 1;
+const uint16_t HINGE_VERSION_WITH_UNUSED_PAREMETERS = 1;
+const uint16_t ObjectConstraintHinge::constraintVersion = 2;
 const glm::vec3 DEFAULT_HINGE_AXIS(1.0f, 0.0f, 0.0f);
 
 ObjectConstraintHinge::ObjectConstraintHinge(const QUuid& id, EntityItemPointer ownerEntity) :
@@ -40,7 +41,7 @@ QList<btRigidBody*> ObjectConstraintHinge::getRigidBodies() {
     result += getRigidBody();
     QUuid otherEntityID;
     withReadLock([&]{
-        otherEntityID = _otherEntityID;
+        otherEntityID = _otherID;
     });
     if (!otherEntityID.isNull()) {
         result += getOtherRigidBody(otherEntityID);
@@ -56,25 +57,19 @@ void ObjectConstraintHinge::updateHinge() {
     glm::vec3 axisInA;
     float low;
     float high;
-    float softness;
-    float biasFactor;
-    float relaxationFactor;
 
     withReadLock([&]{
         axisInA = _axisInA;
         constraint = static_cast<btHingeConstraint*>(_constraint);
         low = _low;
         high = _high;
-        biasFactor = _biasFactor;
-        relaxationFactor = _relaxationFactor;
-        softness = _softness;
     });
 
     if (!constraint) {
         return;
     }
 
-    constraint->setLimit(low, high, softness, biasFactor, relaxationFactor);
+    constraint->setLimit(low, high);
 }
 
 
@@ -90,7 +85,7 @@ btTypedConstraint* ObjectConstraintHinge::getConstraint() {
         constraint = static_cast<btHingeConstraint*>(_constraint);
         pivotInA = _pivotInA;
         axisInA = _axisInA;
-        otherEntityID = _otherEntityID;
+        otherEntityID = _otherID;
         pivotInB = _pivotInB;
         axisInB = _axisInB;
     });
@@ -159,9 +154,6 @@ bool ObjectConstraintHinge::updateArguments(QVariantMap arguments) {
     glm::vec3 axisInB;
     float low;
     float high;
-    float softness;
-    float biasFactor;
-    float relaxationFactor;
 
     bool needUpdate = false;
     bool somethingChanged = ObjectDynamic::updateArguments(arguments);
@@ -182,7 +174,7 @@ bool ObjectConstraintHinge::updateArguments(QVariantMap arguments) {
         otherEntityID = QUuid(EntityDynamicInterface::extractStringArgument("hinge constraint",
                                                                             arguments, "otherEntityID", ok, false));
         if (!ok) {
-            otherEntityID = _otherEntityID;
+            otherEntityID = _otherID;
         }
 
         ok = true;
@@ -209,36 +201,14 @@ bool ObjectConstraintHinge::updateArguments(QVariantMap arguments) {
             high = _high;
         }
 
-        ok = true;
-        softness = EntityDynamicInterface::extractFloatArgument("hinge constraint", arguments, "softness", ok, false);
-        if (!ok) {
-            softness = _softness;
-        }
-
-        ok = true;
-        biasFactor = EntityDynamicInterface::extractFloatArgument("hinge constraint", arguments, "biasFactor", ok, false);
-        if (!ok) {
-            biasFactor = _biasFactor;
-        }
-
-        ok = true;
-        relaxationFactor = EntityDynamicInterface::extractFloatArgument("hinge constraint", arguments,
-                                                                        "relaxationFactor", ok, false);
-        if (!ok) {
-            relaxationFactor = _relaxationFactor;
-        }
-
         if (somethingChanged ||
             pivotInA != _pivotInA ||
             axisInA != _axisInA ||
-            otherEntityID != _otherEntityID ||
+            otherEntityID != _otherID ||
             pivotInB != _pivotInB ||
             axisInB != _axisInB ||
             low != _low ||
-            high != _high ||
+            high != _high) {
-            softness != _softness ||
-            biasFactor != _biasFactor ||
-            relaxationFactor != _relaxationFactor) {
             // something changed
             needUpdate = true;
         }
@@ -248,14 +218,11 @@ bool ObjectConstraintHinge::updateArguments(QVariantMap arguments) {
         withWriteLock([&] {
             _pivotInA = pivotInA;
             _axisInA = axisInA;
-            _otherEntityID = otherEntityID;
+            _otherID = otherEntityID;
             _pivotInB = pivotInB;
             _axisInB = axisInB;
             _low = low;
             _high = high;
-            _softness = softness;
-            _biasFactor = biasFactor;
-            _relaxationFactor = relaxationFactor;
 
             _active = true;
 
@@ -275,18 +242,17 @@ bool ObjectConstraintHinge::updateArguments(QVariantMap arguments) {
 QVariantMap ObjectConstraintHinge::getArguments() {
     QVariantMap arguments = ObjectDynamic::getArguments();
     withReadLock([&] {
-        if (_constraint) {
         arguments["pivot"] = glmToQMap(_pivotInA);
         arguments["axis"] = glmToQMap(_axisInA);
-            arguments["otherEntityID"] = _otherEntityID;
+        arguments["otherEntityID"] = _otherID;
         arguments["otherPivot"] = glmToQMap(_pivotInB);
         arguments["otherAxis"] = glmToQMap(_axisInB);
         arguments["low"] = _low;
         arguments["high"] = _high;
-            arguments["softness"] = _softness;
+        if (_constraint) {
-            arguments["biasFactor"] = _biasFactor;
-            arguments["relaxationFactor"] = _relaxationFactor;
             arguments["angle"] = static_cast<btHingeConstraint*>(_constraint)->getHingeAngle(); // [-PI,PI]
+        } else {
+            arguments["angle"] = 0.0f;
         }
     });
     return arguments;
@@ -303,14 +269,11 @@ QByteArray ObjectConstraintHinge::serialize() const {
     withReadLock([&] {
         dataStream << _pivotInA;
         dataStream << _axisInA;
-        dataStream << _otherEntityID;
+        dataStream << _otherID;
         dataStream << _pivotInB;
         dataStream << _axisInB;
         dataStream << _low;
         dataStream << _high;
-        dataStream << _softness;
-        dataStream << _biasFactor;
-        dataStream << _relaxationFactor;
 
         dataStream << localTimeToServerTime(_expires);
         dataStream << _tag;
@@ -332,7 +295,7 @@ void ObjectConstraintHinge::deserialize(QByteArray serializedArguments) {
 
     uint16_t serializationVersion;
     dataStream >> serializationVersion;
-    if (serializationVersion != ObjectConstraintHinge::constraintVersion) {
+    if (serializationVersion > ObjectConstraintHinge::constraintVersion) {
         assert(false);
         return;
     }
@@ -340,14 +303,17 @@ void ObjectConstraintHinge::deserialize(QByteArray serializedArguments) {
     withWriteLock([&] {
         dataStream >> _pivotInA;
         dataStream >> _axisInA;
-        dataStream >> _otherEntityID;
+        dataStream >> _otherID;
         dataStream >> _pivotInB;
         dataStream >> _axisInB;
         dataStream >> _low;
         dataStream >> _high;
-        dataStream >> _softness;
+        if (serializationVersion == HINGE_VERSION_WITH_UNUSED_PAREMETERS) {
-        dataStream >> _biasFactor;
+            float softness, biasFactor, relaxationFactor;
-        dataStream >> _relaxationFactor;
+            dataStream >> softness;
+            dataStream >> biasFactor;
+            dataStream >> relaxationFactor;
+        }
 
         quint64 serverExpires;
         dataStream >> serverExpires;

libraries/physics/src/ObjectConstraintHinge.h

@@ -40,7 +40,6 @@ protected:
     glm::vec3 _pivotInA;
     glm::vec3 _axisInA;
 
-    EntityItemID _otherEntityID;
     glm::vec3 _pivotInB;
     glm::vec3 _axisInB;
 
@@ -49,27 +48,9 @@ protected:
 
     // https://gamedev.stackexchange.com/questions/71436/what-are-the-parameters-for-bthingeconstraintsetlimit
     //
-    // softness: a negative measure of the friction that determines how much the hinge rotates for a given force. A high
+    // softness: unused
-    //           softness would make the hinge rotate easily like it's oiled then.
+    // biasFactor: unused
-    // biasFactor: an offset for the relaxed rotation of the hinge. It won't be right in the middle of the low and high angles
+    // relaxationFactor: unused
-    //           anymore. 1.0f is the neural value.
-    // relaxationFactor: a measure of how much force is applied internally to bring the hinge in its central rotation.
-    //           This is right in the middle of the low and high angles. For example, consider a western swing door. After
-    //           walking through it will swing in both directions but at the end it stays right in the middle.
-
-    // http://javadoc.jmonkeyengine.org/com/jme3/bullet/joints/HingeJoint.html
-    //
-    // _softness - the factor at which the velocity error correction starts operating, i.e. a softness of 0.9 means that
-    //             the vel. corr starts at 90% of the limit range.
-    // _biasFactor - the magnitude of the position correction. It tells you how strictly the position error (drift) is
-    //             corrected.
-    // _relaxationFactor - the rate at which velocity errors are corrected. This can be seen as the strength of the
-    //             limits. A low value will make the the limits more spongy.
-
-
-    float _softness { 0.9f };
-    float _biasFactor { 0.3f };
-    float _relaxationFactor { 1.0f };
 };
 
 #endif // hifi_ObjectConstraintHinge_h

libraries/physics/src/ObjectConstraintSlider.cpp

@@ -17,12 +17,12 @@
 
 
 const uint16_t ObjectConstraintSlider::constraintVersion = 1;
-
+const glm::vec3 DEFAULT_SLIDER_AXIS(1.0f, 0.0f, 0.0f);
 
 ObjectConstraintSlider::ObjectConstraintSlider(const QUuid& id, EntityItemPointer ownerEntity) :
     ObjectConstraint(DYNAMIC_TYPE_SLIDER, id, ownerEntity),
-    _pointInA(glm::vec3(0.0f)),
+    _axisInA(DEFAULT_SLIDER_AXIS),
-    _axisInA(glm::vec3(0.0f))
+    _axisInB(DEFAULT_SLIDER_AXIS)
 {
 }
 
@@ -34,7 +34,7 @@ QList<btRigidBody*> ObjectConstraintSlider::getRigidBodies() {
     result += getRigidBody();
     QUuid otherEntityID;
     withReadLock([&]{
-        otherEntityID = _otherEntityID;
+        otherEntityID = _otherID;
     });
     if (!otherEntityID.isNull()) {
         result += getOtherRigidBody(otherEntityID);
@@ -77,7 +77,7 @@ btTypedConstraint* ObjectConstraintSlider::getConstraint() {
         constraint = static_cast<btSliderConstraint*>(_constraint);
         pointInA = _pointInA;
         axisInA = _axisInA;
-        otherEntityID = _otherEntityID;
+        otherEntityID = _otherID;
         pointInB = _pointInB;
         axisInB = _axisInB;
     });
@@ -91,11 +91,25 @@ btTypedConstraint* ObjectConstraintSlider::getConstraint() {
         return nullptr;
     }
 
+    if (glm::length(axisInA) < FLT_EPSILON) {
+        qCWarning(physics) << "slider axis cannot be a zero vector";
+        axisInA = DEFAULT_SLIDER_AXIS;
+    } else {
+        axisInA = glm::normalize(axisInA);
+    }
+
     if (!otherEntityID.isNull()) {
         // This slider is between two entities... find the other rigid body.
 
-        glm::quat rotA = glm::rotation(glm::vec3(1.0f, 0.0f, 0.0f), glm::normalize(axisInA));
+        if (glm::length(axisInB) < FLT_EPSILON) {
-        glm::quat rotB = glm::rotation(glm::vec3(1.0f, 0.0f, 0.0f), glm::normalize(axisInB));
+            qCWarning(physics) << "slider axis cannot be a zero vector";
+            axisInB = DEFAULT_SLIDER_AXIS;
+        } else {
+            axisInB = glm::normalize(axisInB);
+        }
+
+        glm::quat rotA = glm::rotation(DEFAULT_SLIDER_AXIS, axisInA);
+        glm::quat rotB = glm::rotation(DEFAULT_SLIDER_AXIS, axisInB);
 
         btTransform frameInA(glmToBullet(rotA), glmToBullet(pointInA));
         btTransform frameInB(glmToBullet(rotB), glmToBullet(pointInB));
@@ -109,7 +123,7 @@ btTypedConstraint* ObjectConstraintSlider::getConstraint() {
     } else {
         // This slider is between an entity and the world-frame.
 
-        glm::quat rot = glm::rotation(glm::vec3(1.0f, 0.0f, 0.0f), glm::normalize(axisInA));
+        glm::quat rot = glm::rotation(DEFAULT_SLIDER_AXIS, axisInA);
 
         btTransform frameInA(glmToBullet(rot), glmToBullet(pointInA));
 
@@ -160,7 +174,7 @@ bool ObjectConstraintSlider::updateArguments(QVariantMap arguments) {
         otherEntityID = QUuid(EntityDynamicInterface::extractStringArgument("slider constraint",
                                                                             arguments, "otherEntityID", ok, false));
         if (!ok) {
-            otherEntityID = _otherEntityID;
+            otherEntityID = _otherID;
         }
 
         ok = true;
@@ -202,7 +216,7 @@ bool ObjectConstraintSlider::updateArguments(QVariantMap arguments) {
         if (somethingChanged ||
             pointInA != _pointInA ||
             axisInA != _axisInA ||
-            otherEntityID != _otherEntityID ||
+            otherEntityID != _otherID ||
             pointInB != _pointInB ||
             axisInB != _axisInB ||
             linearLow != _linearLow ||
@@ -218,7 +232,7 @@ bool ObjectConstraintSlider::updateArguments(QVariantMap arguments) {
         withWriteLock([&] {
             _pointInA = pointInA;
             _axisInA = axisInA;
-            _otherEntityID = otherEntityID;
+            _otherID = otherEntityID;
             _pointInB = pointInB;
             _axisInB = axisInB;
             _linearLow = linearLow;
@@ -244,18 +258,21 @@ bool ObjectConstraintSlider::updateArguments(QVariantMap arguments) {
 QVariantMap ObjectConstraintSlider::getArguments() {
     QVariantMap arguments = ObjectDynamic::getArguments();
     withReadLock([&] {
-        if (_constraint) {
         arguments["point"] = glmToQMap(_pointInA);
         arguments["axis"] = glmToQMap(_axisInA);
-            arguments["otherEntityID"] = _otherEntityID;
+        arguments["otherEntityID"] = _otherID;
         arguments["otherPoint"] = glmToQMap(_pointInB);
         arguments["otherAxis"] = glmToQMap(_axisInB);
         arguments["linearLow"] = _linearLow;
         arguments["linearHigh"] = _linearHigh;
         arguments["angularLow"] = _angularLow;
         arguments["angularHigh"] = _angularHigh;
+        if (_constraint) {
             arguments["linearPosition"] = static_cast<btSliderConstraint*>(_constraint)->getLinearPos();
             arguments["angularPosition"] = static_cast<btSliderConstraint*>(_constraint)->getAngularPos();
+        } else {
+            arguments["linearPosition"] = 0.0f;
+            arguments["angularPosition"] = 0.0f;
         }
     });
     return arguments;
@@ -275,7 +292,7 @@ QByteArray ObjectConstraintSlider::serialize() const {
 
         dataStream << _pointInA;
         dataStream << _axisInA;
-        dataStream << _otherEntityID;
+        dataStream << _otherID;
         dataStream << _pointInB;
         dataStream << _axisInB;
         dataStream << _linearLow;
@@ -313,7 +330,7 @@ void ObjectConstraintSlider::deserialize(QByteArray serializedArguments) {
 
         dataStream >> _pointInA;
         dataStream >> _axisInA;
-        dataStream >> _otherEntityID;
+        dataStream >> _otherID;
         dataStream >> _pointInB;
         dataStream >> _axisInB;
         dataStream >> _linearLow;

libraries/physics/src/ObjectConstraintSlider.h

@@ -40,7 +40,6 @@ protected:
     glm::vec3 _pointInA;
     glm::vec3 _axisInA;
 
-    EntityItemID _otherEntityID;
     glm::vec3 _pointInB;
     glm::vec3 _axisInB;
 

libraries/physics/src/ObjectDynamic.cpp

@@ -24,6 +24,27 @@ ObjectDynamic::ObjectDynamic(EntityDynamicType type, const QUuid& id, EntityItem
 ObjectDynamic::~ObjectDynamic() {
 }
 
+void ObjectDynamic::remapIDs(QHash<EntityItemID, EntityItemID>& map) {
+    withWriteLock([&]{
+        if (!_id.isNull()) {
+            // just force our ID to something new -- action IDs don't go into the map
+            _id = QUuid::createUuid();
+        }
+
+        if (!_otherID.isNull()) {
+            QHash<EntityItemID, EntityItemID>::iterator iter = map.find(_otherID);
+            if (iter == map.end()) {
+                // not found, add it
+                QUuid oldOtherID = _otherID;
+                _otherID = QUuid::createUuid();
+                map.insert(oldOtherID, _otherID);
+            } else {
+                _otherID = iter.value();
+            }
+        }
+    });
+}
+
 qint64 ObjectDynamic::getEntityServerClockSkew() const {
     auto nodeList = DependencyManager::get<NodeList>();
 
@@ -274,3 +295,38 @@ QList<btRigidBody*> ObjectDynamic::getRigidBodies() {
     result += getRigidBody();
     return result;
 }
+
+SpatiallyNestablePointer ObjectDynamic::getOther() {
+    SpatiallyNestablePointer other;
+    withWriteLock([&]{
+        if (_otherID == QUuid()) {
+            // no other
+            return;
+        }
+        other = _other.lock();
+        if (other && other->getID() == _otherID) {
+            // other is already up-to-date
+            return;
+        }
+        if (other) {
+            // we have a pointer to other, but it's wrong
+            other.reset();
+            _other.reset();
+        }
+        // we have an other-id but no pointer to other cached
+        QSharedPointer<SpatialParentFinder> parentFinder = DependencyManager::get<SpatialParentFinder>();
+        if (!parentFinder) {
+            return;
+        }
+        EntityItemPointer ownerEntity = _ownerEntity.lock();
+        if (!ownerEntity) {
+            return;
+        }
+        bool success;
+        _other = parentFinder->find(_otherID, success, ownerEntity->getParentTree());
+        if (success) {
+            other = _other.lock();
+        }
+    });
+    return other;
+}

libraries/physics/src/ObjectDynamic.h

@@ -29,6 +29,8 @@ public:
     ObjectDynamic(EntityDynamicType type, const QUuid& id, EntityItemPointer ownerEntity);
     virtual ~ObjectDynamic();
 
+    virtual void remapIDs(QHash<EntityItemID, EntityItemID>& map) override;
+
     virtual void removeFromSimulation(EntitySimulationPointer simulation) const override;
     virtual EntityItemWeakPointer getOwnerEntity() const override { return _ownerEntity; }
     virtual void setOwnerEntity(const EntityItemPointer ownerEntity) override { _ownerEntity = ownerEntity; }
@@ -67,6 +69,10 @@ protected:
     QString _tag;
     quint64 _expires { 0 }; // in seconds since epoch
 
+    EntityItemID _otherID;
+    SpatiallyNestableWeakPointer _other;
+    SpatiallyNestablePointer getOther();
+
 private:
     qint64 getEntityServerClockSkew() const;
 };