Mirrors/overte
3
0
Fork 0
mirror of https://github.com/overte-org/overte.git synced 2025-04-20 04:44:11 +02:00
Code Issues Projects Releases Packages Wiki Activity Actions

Remove ObjectActionSpring

Browse source
This commit is contained in:
Andrew Meadows 2017-05-15 22:11:42 -07:00
parent 66a1dbfcfe
commit 9e08dadaf4
5 changed files with 6 additions and 449 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

4
interface/src/InterfaceDynamicFactory.cpp
View file

@ -14,7 +14,6 @@
#include <avatar/AvatarActionHold.h>
#include <avatar/AvatarActionFarGrab.h>
#include <ObjectActionOffset.h>
#include <ObjectActionSpring.h>
#include <ObjectActionTractor.h>
#include <ObjectActionTravelOriented.h>
#include <ObjectConstraintHinge.h>
@ -33,7 +32,8 @@ EntityDynamicPointer interfaceDynamicFactory(EntityDynamicType type, const QUuid
case DYNAMIC_TYPE_OFFSET:
return std::make_shared<ObjectActionOffset>(id, ownerEntity);
case DYNAMIC_TYPE_SPRING:
return std::make_shared<ObjectActionSpring>(id, ownerEntity);
// the old "Spring" action moved to "Tractor"
return std::make_shared<ObjectActionTractor>(id, ownerEntity);
case DYNAMIC_TYPE_TRACTOR:
return std::make_shared<ObjectActionTractor>(id, ownerEntity);
case DYNAMIC_TYPE_HOLD:

8
libraries/entities/src/EntityDynamicInterface.cpp
View file

@ -43,7 +43,7 @@
| |
+--------------------+ +-----------------------+
| | | |
| ObjectActionSpring | | ObjectConstraintHinge |
| ObjectActionTractor| | ObjectConstraintHinge |
| (physics) | | (physics) |
+--------------------+ +-----------------------+
@ -60,7 +60,7 @@ script or when receiving information via an EntityTree data-stream (either over
svo file).
In the interface, if an EntityItem has dynamics, this EntityItem will have pointers to ObjectDynamic
subclass (like ObjectDynamicSpring) instantiations. Code in the entities library affects a dynamic-object
subclass (like ObjectDynamicTractor) instantiations. Code in the entities library affects a dynamic-object
via the EntityDynamicInterface (which knows nothing about bullet). When the ObjectDynamic subclass
instance is created, it is registered as a dynamic with bullet. Bullet will call into code in this
instance with the btDynamicInterface every physics-simulation step.
@ -75,11 +75,11 @@ right now the AssignmentDynamic class is a place-holder.
The dynamic-objects are instantiated by singleton (dependecy) subclasses of EntityDynamicFactoryInterface.
In the interface, the subclass is an InterfaceDynamicFactory and it will produce things like
ObjectDynamicSpring. In an entity-server the subclass is an AssignmentDynamicFactory and it always
ObjectDynamicTractor. In an entity-server the subclass is an AssignmentDynamicFactory and it always
produces AssignmentDynamics.
Depending on the dynamic's type, it will have various arguments. When a script changes an argument of an
dynamic, the argument-holding member-variables of ObjectDynamicSpring (in this example) are updated and
dynamic, the argument-holding member-variables of ObjectDynamicTractor (in this example) are updated and
also serialized into _dynamicData in the EntityItem. Each subclass of ObjectDynamic knows how to serialize
and deserialize its own arguments. _dynamicData is what gets sent over the wire or saved in an svo file.
When a packet-reader receives data for _dynamicData, it will save it in the EntityItem; this causes the

9
libraries/entities/src/EntityDynamicInterface.h
View file

@ -94,15 +94,6 @@ public:
QString argumentName, bool& ok, bool required = true);
protected:
virtual glm::vec3 getPosition() = 0;
// virtual void setPosition(glm::vec3 position) = 0;
virtual glm::quat getRotation() = 0;
// virtual void setRotation(glm::quat rotation) = 0;
virtual glm::vec3 getLinearVelocity() = 0;
virtual void setLinearVelocity(glm::vec3 linearVelocity) = 0;
virtual glm::vec3 getAngularVelocity() = 0;
virtual void setAngularVelocity(glm::vec3 angularVelocity) = 0;
QUuid _id;
EntityDynamicType _type;
bool _active { false };

378
libraries/physics/src/ObjectActionSpring.cpp
View file

@ -1,378 +0,0 @@
//
// ObjectActionSpring.cpp
// libraries/physics/src
//
// Created by Seth Alves 2015-6-5
// Copyright 2015 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 "ObjectActionSpring.h"
#include "PhysicsLogging.h"
const float SPRING_MAX_SPEED = 10.0f;
const float MAX_SPRING_TIMESCALE = 600.0f; // 10 min is a long time
const uint16_t ObjectActionSpring::springVersion = 1;
ObjectActionSpring::ObjectActionSpring(const QUuid& id, EntityItemPointer ownerEntity) :
ObjectAction(DYNAMIC_TYPE_SPRING, 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) << "ObjectActionSpring::ObjectActionSpring";
#endif
}
ObjectActionSpring::~ObjectActionSpring() {
#if WANT_DEBUG
qCDebug(physics) << "ObjectActionSpring::~ObjectActionSpring";
#endif
}
bool ObjectActionSpring::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 spring.
linearTimeScale = FLT_MAX;
angularTimeScale = FLT_MAX;
}
} else {
rotation = _desiredRotationalTarget;
position = _desiredPositionalTarget;
}
linearVelocity = glm::vec3();
angularVelocity = glm::vec3();
});
return true;
}
bool ObjectActionSpring::prepareForSpringUpdate(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 linearSpringCount = 0;
bool angularValid = false;
int angularSpringCount = 0;
QList<EntityDynamicPointer> springDerivedActions;
springDerivedActions.append(ownerEntity->getActionsOfType(DYNAMIC_TYPE_SPRING));
springDerivedActions.append(ownerEntity->getActionsOfType(DYNAMIC_TYPE_FAR_GRAB));
springDerivedActions.append(ownerEntity->getActionsOfType(DYNAMIC_TYPE_HOLD));
foreach (EntityDynamicPointer action, springDerivedActions) {
std::shared_ptr<ObjectActionSpring> springAction = std::static_pointer_cast<ObjectActionSpring>(action);
glm::quat rotationForAction;
glm::vec3 positionForAction;
glm::vec3 linearVelocityForAction;
glm::vec3 angularVelocityForAction;
float linearTimeScale;
float angularTimeScale;
bool success = springAction->getTarget(deltaTimeStep,
rotationForAction, positionForAction,
linearVelocityForAction, angularVelocityForAction,
linearTimeScale, angularTimeScale);
if (success) {
if (angularTimeScale < MAX_SPRING_TIMESCALE) {
angularValid = true;
angularSpringCount++;
angularVelocity += angularVelocityForAction;
if (springAction.get() == this) {
// only use the rotation for this action
rotation = rotationForAction;
}
}
if (linearTimeScale < MAX_SPRING_TIMESCALE) {
linearValid = true;
linearSpringCount++;
position += positionForAction;
linearVelocity += linearVelocityForAction;
}
}
}
if ((angularValid && angularSpringCount > 0) || (linearValid && linearSpringCount > 0)) {
withWriteLock([&]{
if (linearValid && linearSpringCount > 0) {
position /= linearSpringCount;
linearVelocity /= linearSpringCount;
_positionalTarget = position;
_linearVelocityTarget = linearVelocity;
_positionalTargetSet = true;
_active = true;
}
if (angularValid && angularSpringCount > 0) {
angularVelocity /= angularSpringCount;
_rotationalTarget = rotation;
_angularVelocityTarget = angularVelocity;
_rotationalTargetSet = true;
_active = true;
}
});
}
return linearValid || angularValid;
}
void ObjectActionSpring::updateActionWorker(btScalar deltaTimeStep) {
if (!prepareForSpringUpdate(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) << "ObjectActionSpring::updateActionWorker no rigidBody";
return;
}
if (_linearTimeScale < MAX_SPRING_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, SPRING_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_SPRING_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 ObjectActionSpring::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, spring-constants are optional
bool ok = true;
positionalTarget = EntityDynamicInterface::extractVec3Argument("spring action", arguments, "targetPosition", ok, false);
if (!ok) {
positionalTarget = _desiredPositionalTarget;
}
ok = true;
linearTimeScale = EntityDynamicInterface::extractFloatArgument("spring action", arguments, "linearTimeScale", ok, false);
if (!ok || linearTimeScale <= 0.0f) {
linearTimeScale = _linearTimeScale;
}
ok = true;
rotationalTarget = EntityDynamicInterface::extractQuatArgument("spring action", arguments, "targetRotation", ok, false);
if (!ok) {
rotationalTarget = _desiredRotationalTarget;
}
ok = true;
angularTimeScale =
EntityDynamicInterface::extractFloatArgument("spring action", arguments, "angularTimeScale", ok, false);
if (!ok) {
angularTimeScale = _angularTimeScale;
}
ok = true;
otherID = QUuid(EntityDynamicInterface::extractStringArgument("spring 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 ObjectActionSpring::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 ObjectActionSpring::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 ObjectActionSpring::serialize() const {
QByteArray serializedActionArguments;
QDataStream dataStream(&serializedActionArguments, QIODevice::WriteOnly);
dataStream << DYNAMIC_TYPE_SPRING;
dataStream << getID();
dataStream << ObjectActionSpring::springVersion;
serializeParameters(dataStream);
return serializedActionArguments;
}
void ObjectActionSpring::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 ObjectActionSpring::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 != ObjectActionSpring::springVersion) {
assert(false);
return;
}
deserializeParameters(serializedArguments, dataStream);
}

56
libraries/physics/src/ObjectActionSpring.h
View file

@ -1,56 +0,0 @@
//
// ObjectActionSpring.h
// libraries/physics/src
//
// Created by Seth Alves 2015-6-5
// Copyright 2015 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_ObjectActionSpring_h
#define hifi_ObjectActionSpring_h
#include "ObjectAction.h"
class ObjectActionSpring : public ObjectAction {
public:
ObjectActionSpring(const QUuid& id, EntityItemPointer ownerEntity);
virtual ~ObjectActionSpring();
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 springVersion;
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 prepareForSpringUpdate(btScalar deltaTimeStep);
void serializeParameters(QDataStream& dataStream) const;
void deserializeParameters(QByteArray serializedArguments, QDataStream& dataStream);
};
#endif // hifi_ObjectActionSpring_h