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Merge pull request #10332 from sethalves/bullet-constraints-5
Bullet constraints
This commit is contained in:
Seth Alves
GitHub
commit
a259d00b63
21 changed files with 2226 additions and 70 deletions
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@ -17,6 +17,9 @@
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#include <ObjectActionSpring.h>
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#include <ObjectActionTravelOriented.h>
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#include <ObjectConstraintHinge.h>
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#include <ObjectConstraintSlider.h>
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#include <ObjectConstraintBallSocket.h>
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#include <ObjectConstraintConeTwist.h>
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#include <LogHandler.h>
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#include "InterfaceDynamicFactory.h"
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@ -38,9 +41,15 @@ EntityDynamicPointer interfaceDynamicFactory(EntityDynamicType type, const QUuid
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return std::make_shared<ObjectConstraintHinge>(id, ownerEntity);
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case DYNAMIC_TYPE_FAR_GRAB:
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return std::make_shared<AvatarActionFarGrab>(id, ownerEntity);
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case DYNAMIC_TYPE_SLIDER:
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return std::make_shared<ObjectConstraintSlider>(id, ownerEntity);
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case DYNAMIC_TYPE_BALL_SOCKET:
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return std::make_shared<ObjectConstraintBallSocket>(id, ownerEntity);
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case DYNAMIC_TYPE_CONE_TWIST:
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return std::make_shared<ObjectConstraintConeTwist>(id, ownerEntity);
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}
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Q_ASSERT_X(false, Q_FUNC_INFO, "Unknown entity dynamic type");
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qDebug() << "Unknown entity dynamic type";
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return EntityDynamicPointer();
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}
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@ -113,7 +113,8 @@ void AvatarActionHold::prepareForPhysicsSimulation() {
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}
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bool AvatarActionHold::getTarget(float deltaTimeStep, glm::quat& rotation, glm::vec3& position,
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glm::vec3& linearVelocity, glm::vec3& angularVelocity) {
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glm::vec3& linearVelocity, glm::vec3& angularVelocity,
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float& linearTimeScale, float& angularTimeScale) {
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auto avatarManager = DependencyManager::get<AvatarManager>();
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auto holdingAvatar = std::static_pointer_cast<Avatar>(avatarManager->getAvatarBySessionID(_holderID));
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@ -213,6 +214,9 @@ bool AvatarActionHold::getTarget(float deltaTimeStep, glm::quat& rotation, glm::
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// update linearVelocity based on offset via _relativePosition;
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linearVelocity = linearVelocity + glm::cross(angularVelocity, position - palmPosition);
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linearTimeScale = _linearTimeScale;
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angularTimeScale = _angularTimeScale;
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});
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return true;
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@ -38,7 +38,8 @@ public:
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bool getAvatarRigidBodyLocation(glm::vec3& avatarRigidBodyPosition, glm::quat& avatarRigidBodyRotation);
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virtual bool getTarget(float deltaTimeStep, glm::quat& rotation, glm::vec3& position,
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glm::vec3& linearVelocity, glm::vec3& angularVelocity) override;
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glm::vec3& linearVelocity, glm::vec3& angularVelocity,
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float& linearTimeScale, float& angularTimeScale) override;
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virtual void prepareForPhysicsSimulation() override;
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@ -117,6 +117,15 @@ EntityDynamicType EntityDynamicInterface::dynamicTypeFromString(QString dynamicT
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if (normalizedDynamicTypeString == "fargrab") {
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return DYNAMIC_TYPE_FAR_GRAB;
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}
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if (normalizedDynamicTypeString == "slider") {
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return DYNAMIC_TYPE_SLIDER;
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}
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if (normalizedDynamicTypeString == "ballsocket") {
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return DYNAMIC_TYPE_BALL_SOCKET;
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}
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if (normalizedDynamicTypeString == "conetwist") {
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return DYNAMIC_TYPE_CONE_TWIST;
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}
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qCDebug(entities) << "Warning -- EntityDynamicInterface::dynamicTypeFromString got unknown dynamic-type name"
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<< dynamicTypeString;
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@ -139,6 +148,12 @@ QString EntityDynamicInterface::dynamicTypeToString(EntityDynamicType dynamicTyp
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return "hinge";
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case DYNAMIC_TYPE_FAR_GRAB:
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return "far-grab";
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case DYNAMIC_TYPE_SLIDER:
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return "slider";
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case DYNAMIC_TYPE_BALL_SOCKET:
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return "ball-socket";
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case DYNAMIC_TYPE_CONE_TWIST:
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return "cone-twist";
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}
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assert(false);
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return "none";
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@ -31,7 +31,10 @@ enum EntityDynamicType {
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DYNAMIC_TYPE_HOLD = 3000,
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DYNAMIC_TYPE_TRAVEL_ORIENTED = 4000,
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DYNAMIC_TYPE_HINGE = 5000,
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DYNAMIC_TYPE_FAR_GRAB = 6000
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DYNAMIC_TYPE_FAR_GRAB = 6000,
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DYNAMIC_TYPE_SLIDER = 7000,
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DYNAMIC_TYPE_BALL_SOCKET = 8000,
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DYNAMIC_TYPE_CONE_TWIST = 9000
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};
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@ -49,7 +49,7 @@ PacketVersion versionForPacketType(PacketType packetType) {
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case PacketType::EntityEdit:
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case PacketType::EntityData:
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case PacketType::EntityPhysics:
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return VERSION_ENTITIES_HINGE_CONSTRAINT;
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return VERSION_ENTITIES_BULLET_DYNAMICS;
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case PacketType::EntityQuery:
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return static_cast<PacketVersion>(EntityQueryPacketVersion::JSONFilterWithFamilyTree);
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case PacketType::AvatarIdentity:
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@ -208,6 +208,7 @@ const PacketVersion VERSION_ENTITIES_SERVER_SCRIPTS = 66;
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const PacketVersion VERSION_ENTITIES_PHYSICS_PACKET = 67;
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const PacketVersion VERSION_ENTITIES_ZONE_FILTERS = 68;
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const PacketVersion VERSION_ENTITIES_HINGE_CONSTRAINT = 69;
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const PacketVersion VERSION_ENTITIES_BULLET_DYNAMICS = 70;
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enum class EntityQueryPacketVersion: PacketVersion {
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JSONFilter = 18,
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@ -16,6 +16,7 @@
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#include "PhysicsLogging.h"
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const float SPRING_MAX_SPEED = 10.0f;
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const float MAX_SPRING_TIMESCALE = 600.0f; // 10 min is a long time
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const uint16_t ObjectActionSpring::springVersion = 1;
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@ -41,12 +42,65 @@ ObjectActionSpring::~ObjectActionSpring() {
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#endif
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}
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SpatiallyNestablePointer ObjectActionSpring::getOther() {
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SpatiallyNestablePointer other;
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withWriteLock([&]{
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if (_otherID == QUuid()) {
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// no other
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return;
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}
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other = _other.lock();
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if (other && other->getID() == _otherID) {
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// other is already up-to-date
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return;
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}
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if (other) {
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// we have a pointer to other, but it's wrong
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other.reset();
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_other.reset();
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}
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// we have an other-id but no pointer to other cached
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QSharedPointer<SpatialParentFinder> parentFinder = DependencyManager::get<SpatialParentFinder>();
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if (!parentFinder) {
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return;
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}
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EntityItemPointer ownerEntity = _ownerEntity.lock();
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if (!ownerEntity) {
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return;
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}
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bool success;
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_other = parentFinder->find(_otherID, success, ownerEntity->getParentTree());
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if (success) {
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other = _other.lock();
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}
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});
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return other;
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}
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bool ObjectActionSpring::getTarget(float deltaTimeStep, glm::quat& rotation, glm::vec3& position,
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glm::vec3& linearVelocity, glm::vec3& angularVelocity) {
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rotation = _desiredRotationalTarget;
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position = _desiredPositionalTarget;
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linearVelocity = glm::vec3();
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angularVelocity = glm::vec3();
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glm::vec3& linearVelocity, glm::vec3& angularVelocity,
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float& linearTimeScale, float& angularTimeScale) {
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SpatiallyNestablePointer other = getOther();
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withReadLock([&]{
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linearTimeScale = _linearTimeScale;
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angularTimeScale = _angularTimeScale;
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if (!_otherID.isNull()) {
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if (other) {
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rotation = _desiredRotationalTarget * other->getRotation();
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position = other->getRotation() * _desiredPositionalTarget + other->getPosition();
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} else {
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// we should have an "other" but can't find it, so disable the spring.
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linearTimeScale = FLT_MAX;
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angularTimeScale = FLT_MAX;
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}
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} else {
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rotation = _desiredRotationalTarget;
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position = _desiredPositionalTarget;
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}
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linearVelocity = glm::vec3();
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angularVelocity = glm::vec3();
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});
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return true;
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}
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@ -61,8 +115,10 @@ bool ObjectActionSpring::prepareForSpringUpdate(btScalar deltaTimeStep) {
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glm::vec3 linearVelocity;
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glm::vec3 angularVelocity;
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bool valid = false;
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int springCount = 0;
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bool linearValid = false;
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int linearSpringCount = 0;
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bool angularValid = false;
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int angularSpringCount = 0;
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QList<EntityDynamicPointer> springDerivedActions;
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springDerivedActions.append(ownerEntity->getActionsOfType(DYNAMIC_TYPE_SPRING));
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@ -73,41 +129,55 @@ bool ObjectActionSpring::prepareForSpringUpdate(btScalar deltaTimeStep) {
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std::shared_ptr<ObjectActionSpring> springAction = std::static_pointer_cast<ObjectActionSpring>(action);
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glm::quat rotationForAction;
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glm::vec3 positionForAction;
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glm::vec3 linearVelocityForAction, angularVelocityForAction;
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bool success = springAction->getTarget(deltaTimeStep, rotationForAction,
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positionForAction, linearVelocityForAction,
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angularVelocityForAction);
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glm::vec3 linearVelocityForAction;
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glm::vec3 angularVelocityForAction;
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float linearTimeScale;
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float angularTimeScale;
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bool success = springAction->getTarget(deltaTimeStep,
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rotationForAction, positionForAction,
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linearVelocityForAction, angularVelocityForAction,
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linearTimeScale, angularTimeScale);
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if (success) {
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springCount ++;
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if (springAction.get() == this) {
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// only use the rotation for this action
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valid = true;
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rotation = rotationForAction;
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if (angularTimeScale < MAX_SPRING_TIMESCALE) {
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angularValid = true;
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angularSpringCount++;
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angularVelocity += angularVelocityForAction;
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if (springAction.get() == this) {
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// only use the rotation for this action
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rotation = rotationForAction;
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}
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}
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position += positionForAction;
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linearVelocity += linearVelocityForAction;
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angularVelocity += angularVelocityForAction;
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if (linearTimeScale < MAX_SPRING_TIMESCALE) {
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linearValid = true;
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linearSpringCount++;
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position += positionForAction;
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linearVelocity += linearVelocityForAction;
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}
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}
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}
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if (valid && springCount > 0) {
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position /= springCount;
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linearVelocity /= springCount;
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angularVelocity /= springCount;
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if ((angularValid && angularSpringCount > 0) || (linearValid && linearSpringCount > 0)) {
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withWriteLock([&]{
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_positionalTarget = position;
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_rotationalTarget = rotation;
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_linearVelocityTarget = linearVelocity;
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_angularVelocityTarget = angularVelocity;
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_positionalTargetSet = true;
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_rotationalTargetSet = true;
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_active = true;
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if (linearValid && linearSpringCount > 0) {
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position /= linearSpringCount;
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linearVelocity /= linearSpringCount;
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_positionalTarget = position;
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_linearVelocityTarget = linearVelocity;
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_positionalTargetSet = true;
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_active = true;
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}
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if (angularValid && angularSpringCount > 0) {
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angularVelocity /= angularSpringCount;
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_rotationalTarget = rotation;
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_angularVelocityTarget = angularVelocity;
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_rotationalTargetSet = true;
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_active = true;
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}
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});
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}
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return valid;
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return linearValid || angularValid;
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}
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@ -133,8 +203,7 @@ void ObjectActionSpring::updateActionWorker(btScalar deltaTimeStep) {
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return;
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}
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const float MAX_TIMESCALE = 600.0f; // 10 min is a long time
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if (_linearTimeScale < MAX_TIMESCALE) {
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if (_linearTimeScale < MAX_SPRING_TIMESCALE) {
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btVector3 targetVelocity(0.0f, 0.0f, 0.0f);
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btVector3 offset = rigidBody->getCenterOfMassPosition() - glmToBullet(_positionalTarget);
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float offsetLength = offset.length();
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@ -150,7 +219,7 @@ void ObjectActionSpring::updateActionWorker(btScalar deltaTimeStep) {
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rigidBody->setLinearVelocity(targetVelocity);
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}
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if (_angularTimeScale < MAX_TIMESCALE) {
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if (_angularTimeScale < MAX_SPRING_TIMESCALE) {
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btVector3 targetVelocity(0.0f, 0.0f, 0.0f);
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btQuaternion bodyRotation = rigidBody->getOrientation();
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@ -189,6 +258,8 @@ bool ObjectActionSpring::updateArguments(QVariantMap arguments) {
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float linearTimeScale;
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glm::quat rotationalTarget;
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float angularTimeScale;
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QUuid otherID;
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bool needUpdate = false;
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bool somethingChanged = ObjectDynamic::updateArguments(arguments);
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@ -218,11 +289,19 @@ bool ObjectActionSpring::updateArguments(QVariantMap arguments) {
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angularTimeScale = _angularTimeScale;
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}
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ok = true;
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otherID = QUuid(EntityDynamicInterface::extractStringArgument("spring action",
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arguments, "otherID", ok, false));
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if (!ok) {
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otherID = _otherID;
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}
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if (somethingChanged ||
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positionalTarget != _desiredPositionalTarget ||
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linearTimeScale != _linearTimeScale ||
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rotationalTarget != _desiredRotationalTarget ||
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angularTimeScale != _angularTimeScale) {
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angularTimeScale != _angularTimeScale ||
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otherID != _otherID) {
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// something changed
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needUpdate = true;
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}
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@ -234,6 +313,7 @@ bool ObjectActionSpring::updateArguments(QVariantMap arguments) {
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_linearTimeScale = glm::max(MIN_TIMESCALE, glm::abs(linearTimeScale));
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_desiredRotationalTarget = rotationalTarget;
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_angularTimeScale = glm::max(MIN_TIMESCALE, glm::abs(angularTimeScale));
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_otherID = otherID;
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_active = true;
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auto ownerEntity = _ownerEntity.lock();
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@ -256,6 +336,8 @@ QVariantMap ObjectActionSpring::getArguments() {
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arguments["targetRotation"] = glmToQMap(_desiredRotationalTarget);
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arguments["angularTimeScale"] = _angularTimeScale;
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arguments["otherID"] = _otherID;
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});
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return arguments;
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}
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@ -270,6 +352,7 @@ void ObjectActionSpring::serializeParameters(QDataStream& dataStream) const {
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dataStream << _rotationalTargetSet;
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dataStream << localTimeToServerTime(_expires);
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dataStream << _tag;
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dataStream << _otherID;
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});
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}
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@ -302,6 +385,8 @@ void ObjectActionSpring::deserializeParameters(QByteArray serializedArguments, Q
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dataStream >> _tag;
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dataStream >> _otherID;
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_active = true;
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});
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}
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@ -28,7 +28,8 @@ public:
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virtual void deserialize(QByteArray serializedArguments) override;
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virtual bool getTarget(float deltaTimeStep, glm::quat& rotation, glm::vec3& position,
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glm::vec3& linearVelocity, glm::vec3& angularVelocity);
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glm::vec3& linearVelocity, glm::vec3& angularVelocity,
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float& linearTimeScale, float& angularTimeScale);
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protected:
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static const uint16_t springVersion;
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@ -46,6 +47,10 @@ protected:
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glm::vec3 _linearVelocityTarget;
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glm::vec3 _angularVelocityTarget;
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EntityItemID _otherID;
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SpatiallyNestableWeakPointer _other;
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SpatiallyNestablePointer getOther();
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virtual bool prepareForSpringUpdate(btScalar deltaTimeStep);
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void serializeParameters(QDataStream& dataStream) const;
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240
libraries/physics/src/ObjectConstraintBallSocket.cpp
Normal file
240
libraries/physics/src/ObjectConstraintBallSocket.cpp
Normal file
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@ -0,0 +1,240 @@
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//
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// ObjectConstraintBallSocket.cpp
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// libraries/physics/src
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//
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// Created by Seth Alves 2017-4-29
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// Copyright 2017 High Fidelity, Inc.
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//
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// Distributed under the Apache License, Version 2.0.
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// See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
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//
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#include "QVariantGLM.h"
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#include "EntityTree.h"
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#include "ObjectConstraintBallSocket.h"
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#include "PhysicsLogging.h"
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const uint16_t ObjectConstraintBallSocket::constraintVersion = 1;
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ObjectConstraintBallSocket::ObjectConstraintBallSocket(const QUuid& id, EntityItemPointer ownerEntity) :
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ObjectConstraint(DYNAMIC_TYPE_BALL_SOCKET, id, ownerEntity),
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_pivotInA(glm::vec3(0.0f)),
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_pivotInB(glm::vec3(0.0f))
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{
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#if WANT_DEBUG
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qCDebug(physics) << "ObjectConstraintBallSocket::ObjectConstraintBallSocket";
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#endif
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||||
}
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ObjectConstraintBallSocket::~ObjectConstraintBallSocket() {
|
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#if WANT_DEBUG
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||||
qCDebug(physics) << "ObjectConstraintBallSocket::~ObjectConstraintBallSocket";
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#endif
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}
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||||
|
||||
QList<btRigidBody*> ObjectConstraintBallSocket::getRigidBodies() {
|
||||
QList<btRigidBody*> result;
|
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result += getRigidBody();
|
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QUuid otherEntityID;
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||||
withReadLock([&]{
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otherEntityID = _otherEntityID;
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||||
});
|
||||
if (!otherEntityID.isNull()) {
|
||||
result += getOtherRigidBody(otherEntityID);
|
||||
}
|
||||
return result;
|
||||
}
|
||||
|
||||
void ObjectConstraintBallSocket::prepareForPhysicsSimulation() {
|
||||
}
|
||||
|
||||
void ObjectConstraintBallSocket::updateBallSocket() {
|
||||
btPoint2PointConstraint* constraint { nullptr };
|
||||
|
||||
withReadLock([&]{
|
||||
constraint = static_cast<btPoint2PointConstraint*>(_constraint);
|
||||
});
|
||||
|
||||
if (!constraint) {
|
||||
return;
|
||||
}
|
||||
|
||||
constraint->setPivotA(glmToBullet(_pivotInA));
|
||||
constraint->setPivotB(glmToBullet(_pivotInB));
|
||||
}
|
||||
|
||||
|
||||
btTypedConstraint* ObjectConstraintBallSocket::getConstraint() {
|
||||
btPoint2PointConstraint* constraint { nullptr };
|
||||
QUuid otherEntityID;
|
||||
glm::vec3 pivotInA;
|
||||
glm::vec3 pivotInB;
|
||||
|
||||
withReadLock([&]{
|
||||
constraint = static_cast<btPoint2PointConstraint*>(_constraint);
|
||||
pivotInA = _pivotInA;
|
||||
otherEntityID = _otherEntityID;
|
||||
pivotInB = _pivotInB;
|
||||
});
|
||||
if (constraint) {
|
||||
return constraint;
|
||||
}
|
||||
|
||||
btRigidBody* rigidBodyA = getRigidBody();
|
||||
if (!rigidBodyA) {
|
||||
qCDebug(physics) << "ObjectConstraintBallSocket::getConstraint -- no rigidBodyA";
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
if (!otherEntityID.isNull()) {
|
||||
// This constraint is between two entities... find the other rigid body.
|
||||
|
||||
btRigidBody* rigidBodyB = getOtherRigidBody(otherEntityID);
|
||||
if (!rigidBodyB) {
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
constraint = new btPoint2PointConstraint(*rigidBodyA, *rigidBodyB, glmToBullet(pivotInA), glmToBullet(pivotInB));
|
||||
} else {
|
||||
// This constraint is between an entity and the world-frame.
|
||||
|
||||
constraint = new btPoint2PointConstraint(*rigidBodyA, glmToBullet(pivotInA));
|
||||
}
|
||||
|
||||
withWriteLock([&]{
|
||||
_constraint = constraint;
|
||||
});
|
||||
|
||||
// if we don't wake up rigidBodyA, we may not send the dynamicData property over the network
|
||||
forceBodyNonStatic();
|
||||
activateBody();
|
||||
|
||||
updateBallSocket();
|
||||
|
||||
return constraint;
|
||||
}
|
||||
|
||||
|
||||
bool ObjectConstraintBallSocket::updateArguments(QVariantMap arguments) {
|
||||
glm::vec3 pivotInA;
|
||||
QUuid otherEntityID;
|
||||
glm::vec3 pivotInB;
|
||||
|
||||
bool needUpdate = false;
|
||||
bool somethingChanged = ObjectDynamic::updateArguments(arguments);
|
||||
withReadLock([&]{
|
||||
bool ok = true;
|
||||
pivotInA = EntityDynamicInterface::extractVec3Argument("ball-socket constraint", arguments, "pivot", ok, false);
|
||||
if (!ok) {
|
||||
pivotInA = _pivotInA;
|
||||
}
|
||||
|
||||
ok = true;
|
||||
otherEntityID = QUuid(EntityDynamicInterface::extractStringArgument("ball-socket constraint",
|
||||
arguments, "otherEntityID", ok, false));
|
||||
if (!ok) {
|
||||
otherEntityID = _otherEntityID;
|
||||
}
|
||||
|
||||
ok = true;
|
||||
pivotInB = EntityDynamicInterface::extractVec3Argument("ball-socket constraint", arguments, "otherPivot", ok, false);
|
||||
if (!ok) {
|
||||
pivotInB = _pivotInB;
|
||||
}
|
||||
|
||||
if (somethingChanged ||
|
||||
pivotInA != _pivotInA ||
|
||||
otherEntityID != _otherEntityID ||
|
||||
pivotInB != _pivotInB) {
|
||||
// something changed
|
||||
needUpdate = true;
|
||||
}
|
||||
});
|
||||
|
||||
if (needUpdate) {
|
||||
withWriteLock([&] {
|
||||
_pivotInA = pivotInA;
|
||||
_otherEntityID = otherEntityID;
|
||||
_pivotInB = pivotInB;
|
||||
|
||||
_active = true;
|
||||
|
||||
auto ownerEntity = _ownerEntity.lock();
|
||||
if (ownerEntity) {
|
||||
ownerEntity->setDynamicDataDirty(true);
|
||||
ownerEntity->setDynamicDataNeedsTransmit(true);
|
||||
}
|
||||
});
|
||||
|
||||
updateBallSocket();
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
QVariantMap ObjectConstraintBallSocket::getArguments() {
|
||||
QVariantMap arguments = ObjectDynamic::getArguments();
|
||||
withReadLock([&] {
|
||||
if (_constraint) {
|
||||
arguments["pivot"] = glmToQMap(_pivotInA);
|
||||
arguments["otherEntityID"] = _otherEntityID;
|
||||
arguments["otherPivot"] = glmToQMap(_pivotInB);
|
||||
}
|
||||
});
|
||||
return arguments;
|
||||
}
|
||||
|
||||
QByteArray ObjectConstraintBallSocket::serialize() const {
|
||||
QByteArray serializedConstraintArguments;
|
||||
QDataStream dataStream(&serializedConstraintArguments, QIODevice::WriteOnly);
|
||||
|
||||
dataStream << DYNAMIC_TYPE_BALL_SOCKET;
|
||||
dataStream << getID();
|
||||
dataStream << ObjectConstraintBallSocket::constraintVersion;
|
||||
|
||||
withReadLock([&] {
|
||||
dataStream << localTimeToServerTime(_expires);
|
||||
dataStream << _tag;
|
||||
|
||||
dataStream << _pivotInA;
|
||||
dataStream << _otherEntityID;
|
||||
dataStream << _pivotInB;
|
||||
});
|
||||
|
||||
return serializedConstraintArguments;
|
||||
}
|
||||
|
||||
void ObjectConstraintBallSocket::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 != ObjectConstraintBallSocket::constraintVersion) {
|
||||
assert(false);
|
||||
return;
|
||||
}
|
||||
|
||||
withWriteLock([&] {
|
||||
quint64 serverExpires;
|
||||
dataStream >> serverExpires;
|
||||
_expires = serverTimeToLocalTime(serverExpires);
|
||||
dataStream >> _tag;
|
||||
|
||||
dataStream >> _pivotInA;
|
||||
dataStream >> _otherEntityID;
|
||||
dataStream >> _pivotInB;
|
||||
|
||||
_active = true;
|
||||
});
|
||||
}
|
||||
46
libraries/physics/src/ObjectConstraintBallSocket.h
Normal file
46
libraries/physics/src/ObjectConstraintBallSocket.h
Normal file
|
|
@ -0,0 +1,46 @@
|
|||
//
|
||||
// ObjectConstraintBallSocket.h
|
||||
// libraries/physics/src
|
||||
//
|
||||
// Created by Seth Alves 2017-4-29
|
||||
// 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_ObjectConstraintBallSocket_h
|
||||
#define hifi_ObjectConstraintBallSocket_h
|
||||
|
||||
#include "ObjectConstraint.h"
|
||||
|
||||
// http://bulletphysics.org/Bullet/BulletFull/classbtBallSocketConstraint.html
|
||||
|
||||
class ObjectConstraintBallSocket : public ObjectConstraint {
|
||||
public:
|
||||
ObjectConstraintBallSocket(const QUuid& id, EntityItemPointer ownerEntity);
|
||||
virtual ~ObjectConstraintBallSocket();
|
||||
|
||||
virtual void prepareForPhysicsSimulation() override;
|
||||
|
||||
virtual bool updateArguments(QVariantMap arguments) override;
|
||||
virtual QVariantMap getArguments() override;
|
||||
|
||||
virtual QByteArray serialize() const override;
|
||||
virtual void deserialize(QByteArray serializedArguments) override;
|
||||
|
||||
virtual QList<btRigidBody*> getRigidBodies() override;
|
||||
virtual btTypedConstraint* getConstraint() override;
|
||||
|
||||
protected:
|
||||
static const uint16_t constraintVersion;
|
||||
|
||||
void updateBallSocket();
|
||||
|
||||
glm::vec3 _pivotInA;
|
||||
|
||||
EntityItemID _otherEntityID;
|
||||
glm::vec3 _pivotInB;
|
||||
};
|
||||
|
||||
#endif // hifi_ObjectConstraintBallSocket_h
|
||||
367
libraries/physics/src/ObjectConstraintConeTwist.cpp
Normal file
367
libraries/physics/src/ObjectConstraintConeTwist.cpp
Normal file
|
|
@ -0,0 +1,367 @@
|
|||
//
|
||||
// ObjectConstraintConeTwist.cpp
|
||||
// libraries/physics/src
|
||||
//
|
||||
// Created by Seth Alves 2017-4-29
|
||||
// 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 "EntityTree.h"
|
||||
#include "ObjectConstraintConeTwist.h"
|
||||
#include "PhysicsLogging.h"
|
||||
|
||||
|
||||
const uint16_t ObjectConstraintConeTwist::constraintVersion = 1;
|
||||
|
||||
|
||||
ObjectConstraintConeTwist::ObjectConstraintConeTwist(const QUuid& id, EntityItemPointer ownerEntity) :
|
||||
ObjectConstraint(DYNAMIC_TYPE_CONE_TWIST, id, ownerEntity),
|
||||
_pivotInA(glm::vec3(0.0f)),
|
||||
_axisInA(glm::vec3(0.0f))
|
||||
{
|
||||
#if WANT_DEBUG
|
||||
qCDebug(physics) << "ObjectConstraintConeTwist::ObjectConstraintConeTwist";
|
||||
#endif
|
||||
}
|
||||
|
||||
ObjectConstraintConeTwist::~ObjectConstraintConeTwist() {
|
||||
#if WANT_DEBUG
|
||||
qCDebug(physics) << "ObjectConstraintConeTwist::~ObjectConstraintConeTwist";
|
||||
#endif
|
||||
}
|
||||
|
||||
QList<btRigidBody*> ObjectConstraintConeTwist::getRigidBodies() {
|
||||
QList<btRigidBody*> result;
|
||||
result += getRigidBody();
|
||||
QUuid otherEntityID;
|
||||
withReadLock([&]{
|
||||
otherEntityID = _otherEntityID;
|
||||
});
|
||||
if (!otherEntityID.isNull()) {
|
||||
result += getOtherRigidBody(otherEntityID);
|
||||
}
|
||||
return result;
|
||||
}
|
||||
|
||||
void ObjectConstraintConeTwist::prepareForPhysicsSimulation() {
|
||||
}
|
||||
|
||||
void ObjectConstraintConeTwist::updateConeTwist() {
|
||||
btConeTwistConstraint* constraint { nullptr };
|
||||
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) {
|
||||
return;
|
||||
}
|
||||
|
||||
constraint->setLimit(swingSpan1,
|
||||
swingSpan2,
|
||||
twistSpan,
|
||||
softness,
|
||||
biasFactor,
|
||||
relaxationFactor);
|
||||
}
|
||||
|
||||
|
||||
btTypedConstraint* ObjectConstraintConeTwist::getConstraint() {
|
||||
btConeTwistConstraint* constraint { nullptr };
|
||||
QUuid otherEntityID;
|
||||
glm::vec3 pivotInA;
|
||||
glm::vec3 axisInA;
|
||||
glm::vec3 pivotInB;
|
||||
glm::vec3 axisInB;
|
||||
|
||||
withReadLock([&]{
|
||||
constraint = static_cast<btConeTwistConstraint*>(_constraint);
|
||||
pivotInA = _pivotInA;
|
||||
axisInA = _axisInA;
|
||||
otherEntityID = _otherEntityID;
|
||||
pivotInB = _pivotInB;
|
||||
axisInB = _axisInB;
|
||||
});
|
||||
if (constraint) {
|
||||
return constraint;
|
||||
}
|
||||
|
||||
btRigidBody* rigidBodyA = getRigidBody();
|
||||
if (!rigidBodyA) {
|
||||
qCDebug(physics) << "ObjectConstraintConeTwist::getConstraint -- no rigidBodyA";
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
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));
|
||||
glm::quat rotB = glm::rotation(glm::vec3(1.0f, 0.0f, 0.0f), glm::normalize(axisInB));
|
||||
|
||||
btTransform frameInA(glmToBullet(rotA), glmToBullet(pivotInA));
|
||||
btTransform frameInB(glmToBullet(rotB), glmToBullet(pivotInB));
|
||||
|
||||
btRigidBody* rigidBodyB = getOtherRigidBody(otherEntityID);
|
||||
if (!rigidBodyB) {
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
constraint = new btConeTwistConstraint(*rigidBodyA, *rigidBodyB, frameInA, frameInB);
|
||||
} 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));
|
||||
|
||||
btTransform frameInA(glmToBullet(rot), glmToBullet(pivotInA));
|
||||
|
||||
constraint = new btConeTwistConstraint(*rigidBodyA, frameInA);
|
||||
}
|
||||
|
||||
withWriteLock([&]{
|
||||
_constraint = constraint;
|
||||
});
|
||||
|
||||
// if we don't wake up rigidBodyA, we may not send the dynamicData property over the network
|
||||
forceBodyNonStatic();
|
||||
activateBody();
|
||||
|
||||
updateConeTwist();
|
||||
|
||||
return constraint;
|
||||
}
|
||||
|
||||
|
||||
bool ObjectConstraintConeTwist::updateArguments(QVariantMap arguments) {
|
||||
glm::vec3 pivotInA;
|
||||
glm::vec3 axisInA;
|
||||
QUuid otherEntityID;
|
||||
glm::vec3 pivotInB;
|
||||
glm::vec3 axisInB;
|
||||
float swingSpan1;
|
||||
float swingSpan2;
|
||||
float twistSpan;
|
||||
float softness;
|
||||
float biasFactor;
|
||||
float relaxationFactor;
|
||||
|
||||
bool needUpdate = false;
|
||||
bool somethingChanged = ObjectDynamic::updateArguments(arguments);
|
||||
withReadLock([&]{
|
||||
bool ok = true;
|
||||
pivotInA = EntityDynamicInterface::extractVec3Argument("coneTwist constraint", arguments, "pivot", ok, false);
|
||||
if (!ok) {
|
||||
pivotInA = _pivotInA;
|
||||
}
|
||||
|
||||
ok = true;
|
||||
axisInA = EntityDynamicInterface::extractVec3Argument("coneTwist constraint", arguments, "axis", ok, false);
|
||||
if (!ok) {
|
||||
axisInA = _axisInA;
|
||||
}
|
||||
|
||||
ok = true;
|
||||
otherEntityID = QUuid(EntityDynamicInterface::extractStringArgument("coneTwist constraint",
|
||||
arguments, "otherEntityID", ok, false));
|
||||
if (!ok) {
|
||||
otherEntityID = _otherEntityID;
|
||||
}
|
||||
|
||||
ok = true;
|
||||
pivotInB = EntityDynamicInterface::extractVec3Argument("coneTwist constraint", arguments, "otherPivot", ok, false);
|
||||
if (!ok) {
|
||||
pivotInB = _pivotInB;
|
||||
}
|
||||
|
||||
ok = true;
|
||||
axisInB = EntityDynamicInterface::extractVec3Argument("coneTwist constraint", arguments, "otherAxis", ok, false);
|
||||
if (!ok) {
|
||||
axisInB = _axisInB;
|
||||
}
|
||||
|
||||
ok = true;
|
||||
swingSpan1 = EntityDynamicInterface::extractFloatArgument("coneTwist constraint", arguments, "swingSpan1", ok, false);
|
||||
if (!ok) {
|
||||
swingSpan1 = _swingSpan1;
|
||||
}
|
||||
|
||||
ok = true;
|
||||
swingSpan2 = EntityDynamicInterface::extractFloatArgument("coneTwist constraint", arguments, "swingSpan2", ok, false);
|
||||
if (!ok) {
|
||||
swingSpan2 = _swingSpan2;
|
||||
}
|
||||
|
||||
ok = true;
|
||||
twistSpan = EntityDynamicInterface::extractFloatArgument("coneTwist constraint", arguments, "twistSpan", ok, false);
|
||||
if (!ok) {
|
||||
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 ||
|
||||
pivotInB != _pivotInB ||
|
||||
axisInB != _axisInB ||
|
||||
swingSpan1 != _swingSpan1 ||
|
||||
swingSpan2 != _swingSpan2 ||
|
||||
twistSpan != _twistSpan ||
|
||||
softness != _softness ||
|
||||
biasFactor != _biasFactor ||
|
||||
relaxationFactor != _relaxationFactor) {
|
||||
// something changed
|
||||
needUpdate = true;
|
||||
}
|
||||
});
|
||||
|
||||
if (needUpdate) {
|
||||
withWriteLock([&] {
|
||||
_pivotInA = pivotInA;
|
||||
_axisInA = axisInA;
|
||||
_otherEntityID = otherEntityID;
|
||||
_pivotInB = pivotInB;
|
||||
_axisInB = axisInB;
|
||||
_swingSpan1 = swingSpan1;
|
||||
_swingSpan2 = swingSpan2;
|
||||
_twistSpan = twistSpan;
|
||||
_softness = softness;
|
||||
_biasFactor = biasFactor;
|
||||
_relaxationFactor = relaxationFactor;
|
||||
|
||||
_active = true;
|
||||
|
||||
auto ownerEntity = _ownerEntity.lock();
|
||||
if (ownerEntity) {
|
||||
ownerEntity->setDynamicDataDirty(true);
|
||||
ownerEntity->setDynamicDataNeedsTransmit(true);
|
||||
}
|
||||
});
|
||||
|
||||
updateConeTwist();
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
QVariantMap ObjectConstraintConeTwist::getArguments() {
|
||||
QVariantMap arguments = ObjectDynamic::getArguments();
|
||||
withReadLock([&] {
|
||||
if (_constraint) {
|
||||
arguments["pivot"] = glmToQMap(_pivotInA);
|
||||
arguments["axis"] = glmToQMap(_axisInA);
|
||||
arguments["otherEntityID"] = _otherEntityID;
|
||||
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;
|
||||
}
|
||||
|
||||
QByteArray ObjectConstraintConeTwist::serialize() const {
|
||||
QByteArray serializedConstraintArguments;
|
||||
QDataStream dataStream(&serializedConstraintArguments, QIODevice::WriteOnly);
|
||||
|
||||
dataStream << DYNAMIC_TYPE_CONE_TWIST;
|
||||
dataStream << getID();
|
||||
dataStream << ObjectConstraintConeTwist::constraintVersion;
|
||||
|
||||
withReadLock([&] {
|
||||
dataStream << localTimeToServerTime(_expires);
|
||||
dataStream << _tag;
|
||||
|
||||
dataStream << _pivotInA;
|
||||
dataStream << _axisInA;
|
||||
dataStream << _otherEntityID;
|
||||
dataStream << _pivotInB;
|
||||
dataStream << _axisInB;
|
||||
dataStream << _swingSpan1;
|
||||
dataStream << _swingSpan2;
|
||||
dataStream << _twistSpan;
|
||||
dataStream << _softness;
|
||||
dataStream << _biasFactor;
|
||||
dataStream << _relaxationFactor;
|
||||
});
|
||||
|
||||
return serializedConstraintArguments;
|
||||
}
|
||||
|
||||
void ObjectConstraintConeTwist::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 != ObjectConstraintConeTwist::constraintVersion) {
|
||||
assert(false);
|
||||
return;
|
||||
}
|
||||
|
||||
withWriteLock([&] {
|
||||
quint64 serverExpires;
|
||||
dataStream >> serverExpires;
|
||||
_expires = serverTimeToLocalTime(serverExpires);
|
||||
dataStream >> _tag;
|
||||
|
||||
dataStream >> _pivotInA;
|
||||
dataStream >> _axisInA;
|
||||
dataStream >> _otherEntityID;
|
||||
dataStream >> _pivotInB;
|
||||
dataStream >> _axisInB;
|
||||
dataStream >> _swingSpan1;
|
||||
dataStream >> _swingSpan2;
|
||||
dataStream >> _twistSpan;
|
||||
dataStream >> _softness;
|
||||
dataStream >> _biasFactor;
|
||||
dataStream >> _relaxationFactor;
|
||||
|
||||
_active = true;
|
||||
});
|
||||
}
|
||||
55
libraries/physics/src/ObjectConstraintConeTwist.h
Normal file
55
libraries/physics/src/ObjectConstraintConeTwist.h
Normal file
|
|
@ -0,0 +1,55 @@
|
|||
//
|
||||
// ObjectConstraintConeTwist.h
|
||||
// libraries/physics/src
|
||||
//
|
||||
// Created by Seth Alves 2017-4-23
|
||||
// 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_ObjectConstraintConeTwist_h
|
||||
#define hifi_ObjectConstraintConeTwist_h
|
||||
|
||||
#include "ObjectConstraint.h"
|
||||
|
||||
// http://bulletphysics.org/Bullet/BulletFull/classbtConeTwistConstraint.html
|
||||
|
||||
class ObjectConstraintConeTwist : public ObjectConstraint {
|
||||
public:
|
||||
ObjectConstraintConeTwist(const QUuid& id, EntityItemPointer ownerEntity);
|
||||
virtual ~ObjectConstraintConeTwist();
|
||||
|
||||
virtual void prepareForPhysicsSimulation() override;
|
||||
|
||||
virtual bool updateArguments(QVariantMap arguments) override;
|
||||
virtual QVariantMap getArguments() override;
|
||||
|
||||
virtual QByteArray serialize() const override;
|
||||
virtual void deserialize(QByteArray serializedArguments) override;
|
||||
|
||||
virtual QList<btRigidBody*> getRigidBodies() override;
|
||||
virtual btTypedConstraint* getConstraint() override;
|
||||
|
||||
protected:
|
||||
static const uint16_t constraintVersion;
|
||||
|
||||
void updateConeTwist();
|
||||
|
||||
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
|
||||
|
|
@ -48,23 +48,26 @@ QList<btRigidBody*> ObjectConstraintHinge::getRigidBodies() {
|
|||
return result;
|
||||
}
|
||||
|
||||
void ObjectConstraintHinge::prepareForPhysicsSimulation() {
|
||||
}
|
||||
|
||||
void ObjectConstraintHinge::updateHinge() {
|
||||
btHingeConstraint* constraint { nullptr };
|
||||
glm::vec3 axisInA;
|
||||
float low;
|
||||
float high;
|
||||
float softness;
|
||||
float biasFactor;
|
||||
float relaxationFactor;
|
||||
float motorVelocity;
|
||||
|
||||
withReadLock([&]{
|
||||
axisInA = _axisInA;
|
||||
constraint = static_cast<btHingeConstraint*>(_constraint);
|
||||
low = _low;
|
||||
high = _high;
|
||||
softness = _softness;
|
||||
biasFactor = _biasFactor;
|
||||
relaxationFactor = _relaxationFactor;
|
||||
motorVelocity = _motorVelocity;
|
||||
softness = _softness;
|
||||
});
|
||||
|
||||
if (!constraint) {
|
||||
|
|
@ -72,12 +75,6 @@ void ObjectConstraintHinge::updateHinge() {
|
|||
}
|
||||
|
||||
constraint->setLimit(low, high, softness, biasFactor, relaxationFactor);
|
||||
if (motorVelocity != 0.0f) {
|
||||
constraint->setMotorTargetVelocity(motorVelocity);
|
||||
constraint->enableMotor(true);
|
||||
} else {
|
||||
constraint->enableMotor(false);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
|
@ -150,7 +147,6 @@ bool ObjectConstraintHinge::updateArguments(QVariantMap arguments) {
|
|||
float softness;
|
||||
float biasFactor;
|
||||
float relaxationFactor;
|
||||
float motorVelocity;
|
||||
|
||||
bool needUpdate = false;
|
||||
bool somethingChanged = ObjectDynamic::updateArguments(arguments);
|
||||
|
|
@ -217,13 +213,6 @@ bool ObjectConstraintHinge::updateArguments(QVariantMap arguments) {
|
|||
relaxationFactor = _relaxationFactor;
|
||||
}
|
||||
|
||||
ok = true;
|
||||
motorVelocity = EntityDynamicInterface::extractFloatArgument("hinge constraint", arguments,
|
||||
"motorVelocity", ok, false);
|
||||
if (!ok) {
|
||||
motorVelocity = _motorVelocity;
|
||||
}
|
||||
|
||||
if (somethingChanged ||
|
||||
pivotInA != _pivotInA ||
|
||||
axisInA != _axisInA ||
|
||||
|
|
@ -234,8 +223,7 @@ bool ObjectConstraintHinge::updateArguments(QVariantMap arguments) {
|
|||
high != _high ||
|
||||
softness != _softness ||
|
||||
biasFactor != _biasFactor ||
|
||||
relaxationFactor != _relaxationFactor ||
|
||||
motorVelocity != _motorVelocity) {
|
||||
relaxationFactor != _relaxationFactor) {
|
||||
// something changed
|
||||
needUpdate = true;
|
||||
}
|
||||
|
|
@ -253,7 +241,6 @@ bool ObjectConstraintHinge::updateArguments(QVariantMap arguments) {
|
|||
_softness = softness;
|
||||
_biasFactor = biasFactor;
|
||||
_relaxationFactor = relaxationFactor;
|
||||
_motorVelocity = motorVelocity;
|
||||
|
||||
_active = true;
|
||||
|
||||
|
|
@ -284,7 +271,6 @@ QVariantMap ObjectConstraintHinge::getArguments() {
|
|||
arguments["softness"] = _softness;
|
||||
arguments["biasFactor"] = _biasFactor;
|
||||
arguments["relaxationFactor"] = _relaxationFactor;
|
||||
arguments["motorVelocity"] = _motorVelocity;
|
||||
arguments["angle"] = static_cast<btHingeConstraint*>(_constraint)->getHingeAngle(); // [-PI,PI]
|
||||
}
|
||||
});
|
||||
|
|
@ -313,8 +299,6 @@ QByteArray ObjectConstraintHinge::serialize() const {
|
|||
|
||||
dataStream << localTimeToServerTime(_expires);
|
||||
dataStream << _tag;
|
||||
|
||||
dataStream << _motorVelocity;
|
||||
});
|
||||
|
||||
return serializedConstraintArguments;
|
||||
|
|
@ -356,8 +340,6 @@ void ObjectConstraintHinge::deserialize(QByteArray serializedArguments) {
|
|||
|
||||
dataStream >> _tag;
|
||||
|
||||
dataStream >> _motorVelocity;
|
||||
|
||||
_active = true;
|
||||
});
|
||||
}
|
||||
|
|
|
|||
|
|
@ -21,6 +21,8 @@ public:
|
|||
ObjectConstraintHinge(const QUuid& id, EntityItemPointer ownerEntity);
|
||||
virtual ~ObjectConstraintHinge();
|
||||
|
||||
virtual void prepareForPhysicsSimulation() override;
|
||||
|
||||
virtual bool updateArguments(QVariantMap arguments) override;
|
||||
virtual QVariantMap getArguments() override;
|
||||
|
||||
|
|
@ -42,12 +44,32 @@ protected:
|
|||
glm::vec3 _pivotInB;
|
||||
glm::vec3 _axisInB;
|
||||
|
||||
float _low { -2.0f * PI };
|
||||
float _high { 2.0f * PI };
|
||||
float _low { -TWO_PI };
|
||||
float _high { TWO_PI };
|
||||
|
||||
// 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 would make the hinge rotate easily like it's oiled then.
|
||||
// biasFactor: an offset for the relaxed rotation of the hinge. It won't be right in the middle of the low and high angles
|
||||
// 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 };
|
||||
float _motorVelocity { 0.0f };
|
||||
};
|
||||
|
||||
#endif // hifi_ObjectConstraintHinge_h
|
||||
|
|
|
|||
326
libraries/physics/src/ObjectConstraintSlider.cpp
Normal file
326
libraries/physics/src/ObjectConstraintSlider.cpp
Normal file
|
|
@ -0,0 +1,326 @@
|
|||
//
|
||||
// ObjectConstraintSlider.cpp
|
||||
// libraries/physics/src
|
||||
//
|
||||
// Created by Seth Alves 2017-4-23
|
||||
// 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 "EntityTree.h"
|
||||
#include "ObjectConstraintSlider.h"
|
||||
#include "PhysicsLogging.h"
|
||||
|
||||
|
||||
const uint16_t ObjectConstraintSlider::constraintVersion = 1;
|
||||
|
||||
|
||||
ObjectConstraintSlider::ObjectConstraintSlider(const QUuid& id, EntityItemPointer ownerEntity) :
|
||||
ObjectConstraint(DYNAMIC_TYPE_SLIDER, id, ownerEntity),
|
||||
_pointInA(glm::vec3(0.0f)),
|
||||
_axisInA(glm::vec3(0.0f))
|
||||
{
|
||||
}
|
||||
|
||||
ObjectConstraintSlider::~ObjectConstraintSlider() {
|
||||
}
|
||||
|
||||
QList<btRigidBody*> ObjectConstraintSlider::getRigidBodies() {
|
||||
QList<btRigidBody*> result;
|
||||
result += getRigidBody();
|
||||
QUuid otherEntityID;
|
||||
withReadLock([&]{
|
||||
otherEntityID = _otherEntityID;
|
||||
});
|
||||
if (!otherEntityID.isNull()) {
|
||||
result += getOtherRigidBody(otherEntityID);
|
||||
}
|
||||
return result;
|
||||
}
|
||||
|
||||
void ObjectConstraintSlider::prepareForPhysicsSimulation() {
|
||||
}
|
||||
|
||||
void ObjectConstraintSlider::updateSlider() {
|
||||
btSliderConstraint* constraint { nullptr };
|
||||
|
||||
withReadLock([&]{
|
||||
constraint = static_cast<btSliderConstraint*>(_constraint);
|
||||
});
|
||||
|
||||
if (!constraint) {
|
||||
return;
|
||||
}
|
||||
|
||||
// constraint->setFrames (const btTransform &frameA, const btTransform &frameB);
|
||||
constraint->setLowerLinLimit(_linearLow);
|
||||
constraint->setUpperLinLimit(_linearHigh);
|
||||
constraint->setLowerAngLimit(_angularLow);
|
||||
constraint->setUpperAngLimit(_angularHigh);
|
||||
|
||||
}
|
||||
|
||||
|
||||
btTypedConstraint* ObjectConstraintSlider::getConstraint() {
|
||||
btSliderConstraint* constraint { nullptr };
|
||||
QUuid otherEntityID;
|
||||
glm::vec3 pointInA;
|
||||
glm::vec3 axisInA;
|
||||
glm::vec3 pointInB;
|
||||
glm::vec3 axisInB;
|
||||
|
||||
withReadLock([&]{
|
||||
constraint = static_cast<btSliderConstraint*>(_constraint);
|
||||
pointInA = _pointInA;
|
||||
axisInA = _axisInA;
|
||||
otherEntityID = _otherEntityID;
|
||||
pointInB = _pointInB;
|
||||
axisInB = _axisInB;
|
||||
});
|
||||
if (constraint) {
|
||||
return constraint;
|
||||
}
|
||||
|
||||
btRigidBody* rigidBodyA = getRigidBody();
|
||||
if (!rigidBodyA) {
|
||||
qCDebug(physics) << "ObjectConstraintSlider::getConstraint -- no rigidBodyA";
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
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));
|
||||
glm::quat rotB = glm::rotation(glm::vec3(1.0f, 0.0f, 0.0f), glm::normalize(axisInB));
|
||||
|
||||
btTransform frameInA(glmToBullet(rotA), glmToBullet(pointInA));
|
||||
btTransform frameInB(glmToBullet(rotB), glmToBullet(pointInB));
|
||||
|
||||
btRigidBody* rigidBodyB = getOtherRigidBody(otherEntityID);
|
||||
if (!rigidBodyB) {
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
constraint = new btSliderConstraint(*rigidBodyA, *rigidBodyB, frameInA, frameInB, true);
|
||||
} 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));
|
||||
|
||||
btTransform frameInA(glmToBullet(rot), glmToBullet(pointInA));
|
||||
|
||||
constraint = new btSliderConstraint(*rigidBodyA, frameInA, true);
|
||||
}
|
||||
|
||||
withWriteLock([&]{
|
||||
_constraint = constraint;
|
||||
});
|
||||
|
||||
// if we don't wake up rigidBodyA, we may not send the dynamicData property over the network
|
||||
forceBodyNonStatic();
|
||||
activateBody();
|
||||
|
||||
updateSlider();
|
||||
|
||||
return constraint;
|
||||
}
|
||||
|
||||
|
||||
bool ObjectConstraintSlider::updateArguments(QVariantMap arguments) {
|
||||
glm::vec3 pointInA;
|
||||
glm::vec3 axisInA;
|
||||
QUuid otherEntityID;
|
||||
glm::vec3 pointInB;
|
||||
glm::vec3 axisInB;
|
||||
float linearLow;
|
||||
float linearHigh;
|
||||
float angularLow;
|
||||
float angularHigh;
|
||||
|
||||
bool needUpdate = false;
|
||||
bool somethingChanged = ObjectDynamic::updateArguments(arguments);
|
||||
withReadLock([&]{
|
||||
bool ok = true;
|
||||
pointInA = EntityDynamicInterface::extractVec3Argument("slider constraint", arguments, "point", ok, false);
|
||||
if (!ok) {
|
||||
pointInA = _pointInA;
|
||||
}
|
||||
|
||||
ok = true;
|
||||
axisInA = EntityDynamicInterface::extractVec3Argument("slider constraint", arguments, "axis", ok, false);
|
||||
if (!ok) {
|
||||
axisInA = _axisInA;
|
||||
}
|
||||
|
||||
ok = true;
|
||||
otherEntityID = QUuid(EntityDynamicInterface::extractStringArgument("slider constraint",
|
||||
arguments, "otherEntityID", ok, false));
|
||||
if (!ok) {
|
||||
otherEntityID = _otherEntityID;
|
||||
}
|
||||
|
||||
ok = true;
|
||||
pointInB = EntityDynamicInterface::extractVec3Argument("slider constraint", arguments, "otherPoint", ok, false);
|
||||
if (!ok) {
|
||||
pointInB = _pointInB;
|
||||
}
|
||||
|
||||
ok = true;
|
||||
axisInB = EntityDynamicInterface::extractVec3Argument("slider constraint", arguments, "otherAxis", ok, false);
|
||||
if (!ok) {
|
||||
axisInB = _axisInB;
|
||||
}
|
||||
|
||||
ok = true;
|
||||
linearLow = EntityDynamicInterface::extractFloatArgument("slider constraint", arguments, "linearLow", ok, false);
|
||||
if (!ok) {
|
||||
linearLow = _linearLow;
|
||||
}
|
||||
|
||||
ok = true;
|
||||
linearHigh = EntityDynamicInterface::extractFloatArgument("slider constraint", arguments, "linearHigh", ok, false);
|
||||
if (!ok) {
|
||||
linearHigh = _linearHigh;
|
||||
}
|
||||
|
||||
ok = true;
|
||||
angularLow = EntityDynamicInterface::extractFloatArgument("slider constraint", arguments, "angularLow", ok, false);
|
||||
if (!ok) {
|
||||
angularLow = _angularLow;
|
||||
}
|
||||
|
||||
ok = true;
|
||||
angularHigh = EntityDynamicInterface::extractFloatArgument("slider constraint", arguments, "angularHigh", ok, false);
|
||||
if (!ok) {
|
||||
angularHigh = _angularHigh;
|
||||
}
|
||||
|
||||
if (somethingChanged ||
|
||||
pointInA != _pointInA ||
|
||||
axisInA != _axisInA ||
|
||||
otherEntityID != _otherEntityID ||
|
||||
pointInB != _pointInB ||
|
||||
axisInB != _axisInB ||
|
||||
linearLow != _linearLow ||
|
||||
linearHigh != _linearHigh ||
|
||||
angularLow != _angularLow ||
|
||||
angularHigh != _angularHigh) {
|
||||
// something changed
|
||||
needUpdate = true;
|
||||
}
|
||||
});
|
||||
|
||||
if (needUpdate) {
|
||||
withWriteLock([&] {
|
||||
_pointInA = pointInA;
|
||||
_axisInA = axisInA;
|
||||
_otherEntityID = otherEntityID;
|
||||
_pointInB = pointInB;
|
||||
_axisInB = axisInB;
|
||||
_linearLow = linearLow;
|
||||
_linearHigh = linearHigh;
|
||||
_angularLow = angularLow;
|
||||
_angularHigh = angularHigh;
|
||||
|
||||
_active = true;
|
||||
|
||||
auto ownerEntity = _ownerEntity.lock();
|
||||
if (ownerEntity) {
|
||||
ownerEntity->setDynamicDataDirty(true);
|
||||
ownerEntity->setDynamicDataNeedsTransmit(true);
|
||||
}
|
||||
});
|
||||
|
||||
updateSlider();
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
QVariantMap ObjectConstraintSlider::getArguments() {
|
||||
QVariantMap arguments = ObjectDynamic::getArguments();
|
||||
withReadLock([&] {
|
||||
if (_constraint) {
|
||||
arguments["point"] = glmToQMap(_pointInA);
|
||||
arguments["axis"] = glmToQMap(_axisInA);
|
||||
arguments["otherEntityID"] = _otherEntityID;
|
||||
arguments["otherPoint"] = glmToQMap(_pointInB);
|
||||
arguments["otherAxis"] = glmToQMap(_axisInB);
|
||||
arguments["linearLow"] = _linearLow;
|
||||
arguments["linearHigh"] = _linearHigh;
|
||||
arguments["angularLow"] = _angularLow;
|
||||
arguments["angularHigh"] = _angularHigh;
|
||||
arguments["linearPosition"] = static_cast<btSliderConstraint*>(_constraint)->getLinearPos();
|
||||
arguments["angularPosition"] = static_cast<btSliderConstraint*>(_constraint)->getAngularPos();
|
||||
}
|
||||
});
|
||||
return arguments;
|
||||
}
|
||||
|
||||
QByteArray ObjectConstraintSlider::serialize() const {
|
||||
QByteArray serializedConstraintArguments;
|
||||
QDataStream dataStream(&serializedConstraintArguments, QIODevice::WriteOnly);
|
||||
|
||||
dataStream << DYNAMIC_TYPE_SLIDER;
|
||||
dataStream << getID();
|
||||
dataStream << ObjectConstraintSlider::constraintVersion;
|
||||
|
||||
withReadLock([&] {
|
||||
dataStream << localTimeToServerTime(_expires);
|
||||
dataStream << _tag;
|
||||
|
||||
dataStream << _pointInA;
|
||||
dataStream << _axisInA;
|
||||
dataStream << _otherEntityID;
|
||||
dataStream << _pointInB;
|
||||
dataStream << _axisInB;
|
||||
dataStream << _linearLow;
|
||||
dataStream << _linearHigh;
|
||||
dataStream << _angularLow;
|
||||
dataStream << _angularHigh;
|
||||
});
|
||||
|
||||
return serializedConstraintArguments;
|
||||
}
|
||||
|
||||
void ObjectConstraintSlider::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 != ObjectConstraintSlider::constraintVersion) {
|
||||
assert(false);
|
||||
return;
|
||||
}
|
||||
|
||||
withWriteLock([&] {
|
||||
quint64 serverExpires;
|
||||
dataStream >> serverExpires;
|
||||
_expires = serverTimeToLocalTime(serverExpires);
|
||||
dataStream >> _tag;
|
||||
|
||||
dataStream >> _pointInA;
|
||||
dataStream >> _axisInA;
|
||||
dataStream >> _otherEntityID;
|
||||
dataStream >> _pointInB;
|
||||
dataStream >> _axisInB;
|
||||
dataStream >> _linearLow;
|
||||
dataStream >> _linearHigh;
|
||||
dataStream >> _angularLow;
|
||||
dataStream >> _angularHigh;
|
||||
|
||||
_active = true;
|
||||
});
|
||||
}
|
||||
54
libraries/physics/src/ObjectConstraintSlider.h
Normal file
54
libraries/physics/src/ObjectConstraintSlider.h
Normal file
|
|
@ -0,0 +1,54 @@
|
|||
//
|
||||
// ObjectConstraintSlider.h
|
||||
// libraries/physics/src
|
||||
//
|
||||
// Created by Seth Alves 2017-4-23
|
||||
// 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_ObjectConstraintSlider_h
|
||||
#define hifi_ObjectConstraintSlider_h
|
||||
|
||||
#include "ObjectConstraint.h"
|
||||
|
||||
// http://bulletphysics.org/Bullet/BulletFull/classbtSliderConstraint.html
|
||||
|
||||
class ObjectConstraintSlider : public ObjectConstraint {
|
||||
public:
|
||||
ObjectConstraintSlider(const QUuid& id, EntityItemPointer ownerEntity);
|
||||
virtual ~ObjectConstraintSlider();
|
||||
|
||||
virtual void prepareForPhysicsSimulation() override;
|
||||
|
||||
virtual bool updateArguments(QVariantMap arguments) override;
|
||||
virtual QVariantMap getArguments() override;
|
||||
|
||||
virtual QByteArray serialize() const override;
|
||||
virtual void deserialize(QByteArray serializedArguments) override;
|
||||
|
||||
virtual QList<btRigidBody*> getRigidBodies() override;
|
||||
virtual btTypedConstraint* getConstraint() override;
|
||||
|
||||
protected:
|
||||
static const uint16_t constraintVersion;
|
||||
|
||||
void updateSlider();
|
||||
|
||||
glm::vec3 _pointInA;
|
||||
glm::vec3 _axisInA;
|
||||
|
||||
EntityItemID _otherEntityID;
|
||||
glm::vec3 _pointInB;
|
||||
glm::vec3 _axisInB;
|
||||
|
||||
float _linearLow { std::numeric_limits<float>::max() };
|
||||
float _linearHigh { std::numeric_limits<float>::min() };
|
||||
|
||||
float _angularLow { -TWO_PI };
|
||||
float _angularHigh { TWO_PI };
|
||||
};
|
||||
|
||||
#endif // hifi_ObjectConstraintSlider_h
|
||||
76
scripts/developer/tests/dynamics/dynamics-tests-interface.js
Normal file
76
scripts/developer/tests/dynamics/dynamics-tests-interface.js
Normal file
|
|
@ -0,0 +1,76 @@
|
|||
//
|
||||
// dynamics-tests-interface.js
|
||||
// scripts/developer/tests/dynamics/
|
||||
//
|
||||
// Created by Seth Alves 2017-4-30
|
||||
// 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
|
||||
//
|
||||
|
||||
|
||||
"use strict";
|
||||
/* globals $, EventBridge */
|
||||
|
||||
var parameters = {
|
||||
"lifetime":"integer"
|
||||
};
|
||||
|
||||
|
||||
function getQueryArgByName(name, url) {
|
||||
if (!url) {
|
||||
url = window.location.href;
|
||||
}
|
||||
name = name.replace(/[\[\]]/g, "\\$&");
|
||||
var regex = new RegExp("[?&]" + name + "(=([^&#]*)|&|#|$)"),
|
||||
results = regex.exec(url);
|
||||
if (!results) return null;
|
||||
if (!results[2]) return '';
|
||||
return decodeURIComponent(results[2].replace(/\+/g, " "));
|
||||
}
|
||||
|
||||
|
||||
function addCommandParameters(params) {
|
||||
// copy from html elements into an associative-array which will get passed (as JSON) through the EventBridge
|
||||
for (var parameterName in parameters) {
|
||||
if (parameters.hasOwnProperty(parameterName)) {
|
||||
var parameterType = parameters[parameterName];
|
||||
var strVal = $("#" + parameterName).val();
|
||||
if (parameterType == "integer") {
|
||||
params[parameterName] = parseInt(strVal);
|
||||
} else if (parameterType == "float") {
|
||||
params[parameterName] = parseFloat(strVal);
|
||||
} else {
|
||||
params[parameterName] = strVal;
|
||||
}
|
||||
}
|
||||
}
|
||||
return params;
|
||||
}
|
||||
|
||||
|
||||
$(document).ready(function() {
|
||||
// hook all buttons to EventBridge
|
||||
$(":button").each(function(index) {
|
||||
$(this).click(function() {
|
||||
EventBridge.emitWebEvent(JSON.stringify(addCommandParameters({ "dynamics-tests-command": this.id })));
|
||||
});
|
||||
});
|
||||
|
||||
// copy parameters from query-args into elements
|
||||
for (var parameterName in parameters) {
|
||||
if (parameters.hasOwnProperty(parameterName)) {
|
||||
var val = getQueryArgByName(parameterName);
|
||||
if (val) {
|
||||
var parameterType = parameters[parameterName];
|
||||
if (parameterType == "integer") {
|
||||
val = parseInt(val);
|
||||
} else if (parameterType == "float") {
|
||||
val = parseFloat(val);
|
||||
}
|
||||
$("#" + parameterName).val(val.toString());
|
||||
}
|
||||
}
|
||||
}
|
||||
});
|
||||
37
scripts/developer/tests/dynamics/dynamics-tests.html
Normal file
37
scripts/developer/tests/dynamics/dynamics-tests.html
Normal file
|
|
@ -0,0 +1,37 @@
|
|||
<html>
|
||||
<head>
|
||||
<title>Dynamics Tests</title>
|
||||
<meta charset="utf-8">
|
||||
<script src="https://ajax.googleapis.com/ajax/libs/jquery/3.1.1/jquery.min.js"></script>
|
||||
<script src="dynamics-tests-interface.js"></script>
|
||||
</head>
|
||||
<body>
|
||||
|
||||
lifetime: <input id="lifetime" type="text" size=6>
|
||||
<hr>
|
||||
<input type="button" id="cone-twist-and-spring-lever-test" value="Cone-Twist and Spring-Action Lever"><br>
|
||||
A platform with a lever. The lever can be moved in a cone and rotated. A spring brings it back to its neutral position.
|
||||
<hr>
|
||||
<input type="button" id="door-vs-world-test" value="Hinge Between Swinging Door and World"><br>
|
||||
A grabbable door with a hinge between it and world-space.
|
||||
<hr>
|
||||
<input type="button" id="hinge-chain-test" value="Hinge Chain"><br>
|
||||
A chain of blocks connected by hinges.
|
||||
<hr>
|
||||
<input type="button" id="slider-vs-world-test" value="Slider vs World"><br>
|
||||
The block can only move up and down over a range of 1/2 meter.
|
||||
<hr>
|
||||
<input type="button" id="slider-chain-test" value="Slider Chain"><br>
|
||||
A chain of blocks connected by slider constraints.
|
||||
<hr>
|
||||
<input type="button" id="ball-socket-between-test" value="Ball-Socket Between Spheres Chain"><br>
|
||||
A chain of spheres connected by ball-and-socket joints between the spheres.
|
||||
<hr>
|
||||
<input type="button" id="ball-socket-coincident-test" value="Ball-Socket Coincident Spheres Chain"><br>
|
||||
A chain of spheres connected by ball-and-socket joints coincident-with the spheres.
|
||||
<hr>
|
||||
<input type="button" id="ragdoll-test" value="Ragdoll"><br>
|
||||
A self-righting ragdoll. The head is on a weak spring vs the body.
|
||||
|
||||
</body>
|
||||
</html>
|
||||
759
scripts/developer/tests/dynamics/dynamicsTests.js
Normal file
759
scripts/developer/tests/dynamics/dynamicsTests.js
Normal file
|
|
@ -0,0 +1,759 @@
|
|||
//
|
||||
// dynamicsTests.js
|
||||
// scripts/developer/tests/dynamics/
|
||||
//
|
||||
// Created by Seth Alves 2017-4-30
|
||||
// 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
|
||||
//
|
||||
|
||||
"use strict";
|
||||
|
||||
/* global Entities, Script, Tablet, MyAvatar, Vec3 */
|
||||
|
||||
(function() { // BEGIN LOCAL_SCOPE
|
||||
|
||||
var DYNAMICS_TESTS_URL = Script.resolvePath("dynamics-tests.html");
|
||||
var DEFAULT_LIFETIME = 120; // seconds
|
||||
|
||||
var tablet = Tablet.getTablet("com.highfidelity.interface.tablet.system");
|
||||
|
||||
var button = tablet.addButton({
|
||||
icon: Script.resolvePath("dynamicsTests.svg"),
|
||||
text: "Dynamics",
|
||||
sortOrder: 15
|
||||
});
|
||||
|
||||
|
||||
|
||||
function coneTwistAndSpringLeverTest(params) {
|
||||
var pos = Vec3.sum(MyAvatar.position, Vec3.multiplyQbyV(MyAvatar.orientation, {x: 0, y: -0.5, z: -2}));
|
||||
var lifetime = params.lifetime;
|
||||
|
||||
var baseID = Entities.addEntity({
|
||||
name: "cone-twist test -- base",
|
||||
type: "Box",
|
||||
color: { blue: 128, green: 100, red: 20 },
|
||||
dimensions: { x: 0.5, y: 0.2, z: 0.5 },
|
||||
position: Vec3.sum(pos, { x: 0, y: 0, z:0 }),
|
||||
dynamic: true,
|
||||
collisionless: false,
|
||||
gravity: { x: 0, y: 0, z: 0 },
|
||||
lifetime: lifetime,
|
||||
userData: "{ \"grabbableKey\": { \"grabbable\": true, \"kinematic\": false } }"
|
||||
});
|
||||
|
||||
var leverID = Entities.addEntity({
|
||||
name: "cone-twist test -- lever",
|
||||
type: "Box",
|
||||
color: { blue: 128, green: 100, red: 200 },
|
||||
dimensions: { x: 0.05, y: 1, z: 0.05 },
|
||||
position: Vec3.sum(pos, { x: 0, y: 0.7, z:0 }),
|
||||
dynamic: true,
|
||||
collisionless: false,
|
||||
gravity: { x: 0, y: 0, z: 0 },
|
||||
lifetime: lifetime,
|
||||
userData: "{ \"grabbableKey\": { \"grabbable\": true, \"kinematic\": false } }"
|
||||
});
|
||||
|
||||
Entities.addEntity({
|
||||
name: "cone-twist test -- handle",
|
||||
type: "Box",
|
||||
color: { blue: 30, green: 100, red: 200 },
|
||||
dimensions: { x: 0.1, y: 0.08, z: 0.08 },
|
||||
position: Vec3.sum(pos, { x: 0, y: 0.7 + 0.5, z:0 }),
|
||||
dynamic: false,
|
||||
collisionless: true,
|
||||
gravity: { x: 0, y: 0, z: 0 },
|
||||
lifetime: lifetime,
|
||||
parentID: leverID,
|
||||
userData: "{ \"grabbableKey\": { \"grabbable\": false } }"
|
||||
});
|
||||
|
||||
Entities.addAction("cone-twist", baseID, {
|
||||
pivot: { x: 0, y: 0.2, z: 0 },
|
||||
axis: { x: 0, y: 1, z: 0 },
|
||||
otherEntityID: leverID,
|
||||
otherPivot: { x: 0, y: -0.55, z: 0 },
|
||||
otherAxis: { x: 0, y: 1, z: 0 },
|
||||
swingSpan1: Math.PI / 4,
|
||||
swingSpan2: Math.PI / 4,
|
||||
twistSpan: Math.PI / 2,
|
||||
tag: "cone-twist test"
|
||||
});
|
||||
|
||||
Entities.addAction("spring", leverID, {
|
||||
targetRotation: { x: 0, y: 0, z: 0, w: 1 },
|
||||
angularTimeScale: 0.2,
|
||||
tag: "cone-twist test spring"
|
||||
});
|
||||
|
||||
|
||||
Entities.editEntity(baseID, { gravity: { x: 0, y: -5, z: 0 } });
|
||||
}
|
||||
|
||||
function doorVSWorldTest(params) {
|
||||
var pos = Vec3.sum(MyAvatar.position, Vec3.multiplyQbyV(MyAvatar.orientation, {x: 0, y: 0.1, z: -2}));
|
||||
var lifetime = params.lifetime;
|
||||
|
||||
var doorID = Entities.addEntity({
|
||||
name: "door test",
|
||||
type: "Box",
|
||||
color: { blue: 128, green: 20, red: 20 },
|
||||
dimensions: { x: 1.0, y: 2, z: 0.1 },
|
||||
position: pos,
|
||||
dynamic: true,
|
||||
collisionless: false,
|
||||
lifetime: lifetime,
|
||||
gravity: { x: 0, y: 0, z: 0 },
|
||||
userData: "{ \"grabbableKey\": { \"grabbable\": true, \"kinematic\": false } }"
|
||||
});
|
||||
|
||||
Entities.addAction("hinge", doorID, {
|
||||
pivot: { x: -0.5, y: 0, z: 0 },
|
||||
axis: { x: 0, y: 1, z: 0 },
|
||||
low: 0,
|
||||
high: Math.PI,
|
||||
tag: "door hinge test"
|
||||
});
|
||||
}
|
||||
|
||||
function hingeChainTest(params) {
|
||||
var pos = Vec3.sum(MyAvatar.position, Vec3.multiplyQbyV(MyAvatar.orientation, {x: 0, y: 0.1, z: -2}));
|
||||
var lifetime = params.lifetime;
|
||||
|
||||
var offset = 0.28;
|
||||
var prevEntityID = null;
|
||||
for (var i = 0; i < 5; i++) {
|
||||
var newID = Entities.addEntity({
|
||||
name: "hinge test " + i,
|
||||
type: "Box",
|
||||
color: { blue: 128, green: 40 * i, red: 20 },
|
||||
dimensions: { x: 0.2, y: 0.2, z: 0.1 },
|
||||
position: Vec3.sum(pos, {x: 0, y: offset * i, z:0}),
|
||||
dynamic: true,
|
||||
collisionless: false,
|
||||
lifetime: lifetime,
|
||||
gravity: { x: 0, y: 0, z: 0 },
|
||||
userData: "{ \"grabbableKey\": { \"grabbable\": true, \"kinematic\": false } }"
|
||||
});
|
||||
if (prevEntityID) {
|
||||
Entities.addAction("hinge", prevEntityID, {
|
||||
pivot: { x: 0, y: offset / 2, z: 0 },
|
||||
axis: { x: 1, y: 0, z: 0 },
|
||||
otherEntityID: newID,
|
||||
otherPivot: { x: 0, y: -offset / 2, z: 0 },
|
||||
otherAxis: { x: 1, y: 0, z: 0 },
|
||||
tag: "A/B hinge test " + i
|
||||
});
|
||||
}
|
||||
prevEntityID = newID;
|
||||
}
|
||||
}
|
||||
|
||||
function sliderVSWorldTest(params) {
|
||||
var pos = Vec3.sum(MyAvatar.position, Vec3.multiplyQbyV(MyAvatar.orientation, {x: 0, y: 0.1, z: -2}));
|
||||
var lifetime = params.lifetime;
|
||||
|
||||
var sliderEntityID = Entities.addEntity({
|
||||
name: "slider test",
|
||||
type: "Box",
|
||||
color: { blue: 128, green: 20, red: 20 },
|
||||
dimensions: { x: 0.2, y: 0.2, z: 0.2 },
|
||||
position: pos,
|
||||
dynamic: true,
|
||||
collisionless: false,
|
||||
gravity: { x: 0, y: 0, z: 0 },
|
||||
lifetime: lifetime,
|
||||
userData: "{ \"grabbableKey\": { \"grabbable\": true, \"kinematic\": false } }"
|
||||
});
|
||||
|
||||
Entities.addAction("slider", sliderEntityID, {
|
||||
point: { x: -0.5, y: 0, z: 0 },
|
||||
axis: { x: 0, y: 1, z: 0 },
|
||||
linearLow: 0,
|
||||
linearHigh: 0.6,
|
||||
tag: "slider test"
|
||||
});
|
||||
}
|
||||
|
||||
function sliderChainTest(params) {
|
||||
var pos = Vec3.sum(MyAvatar.position, Vec3.multiplyQbyV(MyAvatar.orientation, {x: 0, y: 0.1, z: -2}));
|
||||
var lifetime = params.lifetime;
|
||||
|
||||
var offset = 0.28;
|
||||
var prevEntityID = null;
|
||||
for (var i = 0; i < 7; i++) {
|
||||
var newID = Entities.addEntity({
|
||||
name: "hinge test " + i,
|
||||
type: "Box",
|
||||
color: { blue: 128, green: 40 * i, red: 20 },
|
||||
dimensions: { x: 0.2, y: 0.1, z: 0.2 },
|
||||
position: Vec3.sum(pos, {x: 0, y: offset * i, z:0}),
|
||||
dynamic: true,
|
||||
collisionless: false,
|
||||
gravity: { x: 0, y: 0, z: 0 },
|
||||
lifetime: lifetime,
|
||||
userData: "{ \"grabbableKey\": { \"grabbable\": true, \"kinematic\": false } }"
|
||||
});
|
||||
if (prevEntityID) {
|
||||
Entities.addAction("slider", prevEntityID, {
|
||||
point: { x: 0, y: 0, z: 0 },
|
||||
axis: { x: 0, y: 1, z: 0 },
|
||||
otherEntityID: newID,
|
||||
otherPoint: { x: 0, y: -offset / 2, z: 0 },
|
||||
otherAxis: { x: 0, y: 1, z: 0 },
|
||||
linearLow: 0,
|
||||
linearHigh: 0.6,
|
||||
tag: "A/B slider test " + i
|
||||
});
|
||||
}
|
||||
prevEntityID = newID;
|
||||
}
|
||||
}
|
||||
|
||||
function ballSocketBetweenTest(params) {
|
||||
var pos = Vec3.sum(MyAvatar.position, Vec3.multiplyQbyV(MyAvatar.orientation, {x: 0, y: 0.1, z: -2}));
|
||||
var lifetime = params.lifetime;
|
||||
|
||||
var offset = 0.2;
|
||||
var diameter = offset - 0.01;
|
||||
var prevEntityID = null;
|
||||
for (var i = 0; i < 7; i++) {
|
||||
var newID = Entities.addEntity({
|
||||
name: "ball and socket test " + i,
|
||||
type: "Sphere",
|
||||
color: { blue: 128, green: 40 * i, red: 20 },
|
||||
dimensions: { x: diameter, y: diameter, z: diameter },
|
||||
position: Vec3.sum(pos, {x: 0, y: offset * i, z:0}),
|
||||
dynamic: true,
|
||||
collisionless: false,
|
||||
lifetime: lifetime,
|
||||
gravity: { x: 0, y: 0, z: 0 },
|
||||
userData: "{ \"grabbableKey\": { \"grabbable\": true, \"kinematic\": false } }"
|
||||
});
|
||||
if (prevEntityID) {
|
||||
Entities.addAction("ball-socket", prevEntityID, {
|
||||
pivot: { x: 0, y: offset / 2, z: 0 },
|
||||
otherEntityID: newID,
|
||||
otherPivot: { x: 0, y: -offset / 2, z: 0 },
|
||||
tag: "A/B ball-and-socket test " + i
|
||||
});
|
||||
}
|
||||
prevEntityID = newID;
|
||||
}
|
||||
}
|
||||
|
||||
function ballSocketCoincidentTest(params) {
|
||||
var pos = Vec3.sum(MyAvatar.position, Vec3.multiplyQbyV(MyAvatar.orientation, {x: 0, y: 0.1, z: -2}));
|
||||
var lifetime = params.lifetime;
|
||||
|
||||
var offset = 0.2;
|
||||
var diameter = offset - 0.01;
|
||||
var prevEntityID = null;
|
||||
for (var i = 0; i < 7; i++) {
|
||||
var newID = Entities.addEntity({
|
||||
name: "ball and socket test " + i,
|
||||
type: "Sphere",
|
||||
color: { blue: 128, green: 40 * i, red: 20 },
|
||||
dimensions: { x: diameter, y: diameter, z: diameter },
|
||||
position: Vec3.sum(pos, {x: 0, y: offset * i, z:0}),
|
||||
dynamic: true,
|
||||
collisionless: false,
|
||||
lifetime: lifetime,
|
||||
gravity: { x: 0, y: 0, z: 0 },
|
||||
userData: "{ \"grabbableKey\": { \"grabbable\": true, \"kinematic\": false } }"
|
||||
});
|
||||
if (prevEntityID) {
|
||||
Entities.addAction("ball-socket", prevEntityID, {
|
||||
pivot: { x: 0, y: 0, z: 0 },
|
||||
otherEntityID: newID,
|
||||
otherPivot: { x: 0, y: offset, z: 0 },
|
||||
tag: "A/B ball-and-socket test " + i
|
||||
});
|
||||
}
|
||||
prevEntityID = newID;
|
||||
}
|
||||
}
|
||||
|
||||
function ragdollTest(params) {
|
||||
var scale = 1.6;
|
||||
var lifetime = params.lifetime;
|
||||
var pos = Vec3.sum(MyAvatar.position, Vec3.multiplyQbyV(MyAvatar.orientation, {x: 0, y: 1.0, z: -2}));
|
||||
|
||||
var neckLength = scale * 0.05;
|
||||
var shoulderGap = scale * 0.1;
|
||||
var elbowGap = scale * 0.06;
|
||||
var hipGap = scale * 0.07;
|
||||
var kneeGap = scale * 0.08;
|
||||
var ankleGap = scale * 0.06;
|
||||
var ankleMin = 0;
|
||||
var ankleMax = Math.PI / 4;
|
||||
|
||||
var headSize = scale * 0.2;
|
||||
|
||||
var bodyHeight = scale * 0.4;
|
||||
var bodyWidth = scale * 0.3;
|
||||
var bodyDepth = scale * 0.2;
|
||||
|
||||
var upperArmThickness = scale * 0.05;
|
||||
var upperArmLength = scale * 0.2;
|
||||
|
||||
var lowerArmThickness = scale * 0.05;
|
||||
var lowerArmLength = scale * 0.2;
|
||||
|
||||
var legLength = scale * 0.3;
|
||||
var legThickness = scale * 0.08;
|
||||
|
||||
var shinLength = scale * 0.2;
|
||||
var shinThickness = scale * 0.06;
|
||||
|
||||
var footLength = scale * 0.2;
|
||||
var footThickness = scale * 0.03;
|
||||
var footWidth = scale * 0.08;
|
||||
|
||||
|
||||
//
|
||||
// body
|
||||
//
|
||||
|
||||
var bodyID = Entities.addEntity({
|
||||
name: "ragdoll body",
|
||||
type: "Box",
|
||||
color: { blue: 128, green: 100, red: 20 },
|
||||
dimensions: { x: bodyDepth, y: bodyHeight, z: bodyWidth },
|
||||
position: Vec3.sum(pos, { x: 0, y: scale * 0.0, z:0 }),
|
||||
dynamic: true,
|
||||
collisionless: false,
|
||||
gravity: { x: 0, y: 0, z: 0 },
|
||||
lifetime: lifetime,
|
||||
userData: "{ \"grabbableKey\": { \"grabbable\": true, \"kinematic\": false } }"
|
||||
});
|
||||
|
||||
//
|
||||
// head
|
||||
//
|
||||
|
||||
var headID = Entities.addEntity({
|
||||
name: "ragdoll head",
|
||||
type: "Box",
|
||||
color: { blue: 128, green: 100, red: 20 },
|
||||
dimensions: { x: headSize, y: headSize, z: headSize },
|
||||
position: Vec3.sum(pos, { x: 0, y: bodyHeight / 2 + headSize / 2 + neckLength, z:0 }),
|
||||
dynamic: true,
|
||||
collisionless: false,
|
||||
gravity: { x: 0, y: 0.5, z: 0 },
|
||||
lifetime: lifetime,
|
||||
userData: "{ \"grabbableKey\": { \"grabbable\": true, \"kinematic\": false } }"
|
||||
});
|
||||
|
||||
Entities.addAction("spring", headID, {
|
||||
targetRotation: { x: 0, y: 0, z: 0, w: 1 },
|
||||
angularTimeScale: 2.0,
|
||||
otherID: bodyID,
|
||||
tag: "cone-twist test spring"
|
||||
});
|
||||
|
||||
|
||||
var noseID = Entities.addEntity({
|
||||
name: "ragdoll nose",
|
||||
type: "Box",
|
||||
color: { blue: 128, green: 100, red: 100 },
|
||||
dimensions: { x: headSize / 5, y: headSize / 5, z: headSize / 5 },
|
||||
localPosition: { x: headSize / 2 + headSize / 10, y: 0, z: 0 },
|
||||
dynamic: false,
|
||||
collisionless: true,
|
||||
lifetime: lifetime,
|
||||
parentID: headID,
|
||||
userData: "{ \"grabbableKey\": { \"grabbable\": false } }"
|
||||
});
|
||||
|
||||
Entities.addAction("cone-twist", headID, {
|
||||
pivot: { x: 0, y: -headSize / 2 - neckLength / 2, z: 0 },
|
||||
axis: { x: 0, y: 1, z: 0 },
|
||||
otherEntityID: bodyID,
|
||||
otherPivot: { x: 0, y: bodyHeight / 2 + neckLength / 2, z: 0 },
|
||||
otherAxis: { x: 0, y: 1, z: 0 },
|
||||
swingSpan1: Math.PI / 4,
|
||||
swingSpan2: Math.PI / 4,
|
||||
twistSpan: Math.PI / 2,
|
||||
tag: "ragdoll neck joint"
|
||||
});
|
||||
|
||||
//
|
||||
// right upper arm
|
||||
//
|
||||
|
||||
var rightUpperArmID = Entities.addEntity({
|
||||
name: "ragdoll right arm",
|
||||
type: "Box",
|
||||
color: { blue: 128, green: 100, red: 20 },
|
||||
dimensions: { x: upperArmThickness, y: upperArmThickness, z: upperArmLength },
|
||||
position: Vec3.sum(pos, { x: 0,
|
||||
y: bodyHeight / 2 + upperArmThickness / 2,
|
||||
z: bodyWidth / 2 + shoulderGap + upperArmLength / 2
|
||||
}),
|
||||
dynamic: true,
|
||||
collisionless: false,
|
||||
gravity: { x: 0, y: 0, z: 0 },
|
||||
lifetime: lifetime,
|
||||
userData: "{ \"grabbableKey\": { \"grabbable\": true, \"kinematic\": false } }"
|
||||
});
|
||||
|
||||
Entities.addAction("cone-twist", bodyID, {
|
||||
pivot: { x: 0, y: bodyHeight / 2 + upperArmThickness / 2, z: bodyWidth / 2 + shoulderGap / 2 },
|
||||
axis: { x: 0, y: 0, z: 1 },
|
||||
otherEntityID: rightUpperArmID,
|
||||
otherPivot: { x: 0, y: 0, z: -upperArmLength / 2 - shoulderGap / 2 },
|
||||
otherAxis: { x: 0, y: 0, z: 1 },
|
||||
swingSpan1: Math.PI / 2,
|
||||
swingSpan2: Math.PI / 2,
|
||||
twistSpan: 0,
|
||||
tag: "ragdoll right shoulder joint"
|
||||
});
|
||||
|
||||
//
|
||||
// left upper arm
|
||||
//
|
||||
|
||||
var leftUpperArmID = Entities.addEntity({
|
||||
name: "ragdoll left arm",
|
||||
type: "Box",
|
||||
color: { blue: 128, green: 100, red: 20 },
|
||||
dimensions: { x: upperArmThickness, y: upperArmThickness, z: upperArmLength },
|
||||
position: Vec3.sum(pos, { x: 0,
|
||||
y: bodyHeight / 2 + upperArmThickness / 2,
|
||||
z: -bodyWidth / 2 - shoulderGap - upperArmLength / 2
|
||||
}),
|
||||
dynamic: true,
|
||||
collisionless: false,
|
||||
gravity: { x: 0, y: 0, z: 0 },
|
||||
lifetime: lifetime,
|
||||
userData: "{ \"grabbableKey\": { \"grabbable\": true, \"kinematic\": false } }"
|
||||
});
|
||||
|
||||
Entities.addAction("cone-twist", bodyID, {
|
||||
pivot: { x: 0, y: bodyHeight / 2 + upperArmThickness / 2, z: -bodyWidth / 2 - shoulderGap / 2 },
|
||||
axis: { x: 0, y: 0, z: -1 },
|
||||
otherEntityID: leftUpperArmID,
|
||||
otherPivot: { x: 0, y: 0, z: upperArmLength / 2 + shoulderGap / 2 },
|
||||
otherAxis: { x: 0, y: 0, z: -1 },
|
||||
swingSpan1: Math.PI / 2,
|
||||
swingSpan2: Math.PI / 2,
|
||||
twistSpan: 0,
|
||||
tag: "ragdoll left shoulder joint"
|
||||
});
|
||||
|
||||
//
|
||||
// right lower arm
|
||||
//
|
||||
|
||||
var rightLowerArmID = Entities.addEntity({
|
||||
name: "ragdoll right lower arm",
|
||||
type: "Box",
|
||||
color: { blue: 128, green: 100, red: 20 },
|
||||
dimensions: { x: lowerArmThickness, y: lowerArmThickness, z: lowerArmLength },
|
||||
position: Vec3.sum(pos, { x: 0,
|
||||
y: bodyHeight / 2 - upperArmThickness / 2,
|
||||
z: bodyWidth / 2 + shoulderGap + upperArmLength + elbowGap + lowerArmLength / 2
|
||||
}),
|
||||
dynamic: true,
|
||||
collisionless: false,
|
||||
gravity: { x: 0, y: -1, z: 0 },
|
||||
lifetime: lifetime,
|
||||
userData: "{ \"grabbableKey\": { \"grabbable\": true, \"kinematic\": false } }"
|
||||
});
|
||||
|
||||
Entities.addAction("hinge", rightLowerArmID, {
|
||||
pivot: { x: 0, y: 0, z: -lowerArmLength / 2 - elbowGap / 2 },
|
||||
axis: { x: 0, y: 1, z: 0 },
|
||||
otherEntityID: rightUpperArmID,
|
||||
otherPivot: { x: 0, y: 0, z: upperArmLength / 2 + elbowGap / 2 },
|
||||
otherAxis: { x: 0, y: 1, z: 0 },
|
||||
low: Math.PI / -2,
|
||||
high: 0,
|
||||
tag: "ragdoll right elbow joint"
|
||||
});
|
||||
|
||||
//
|
||||
// left lower arm
|
||||
//
|
||||
|
||||
var leftLowerArmID = Entities.addEntity({
|
||||
name: "ragdoll left lower arm",
|
||||
type: "Box",
|
||||
color: { blue: 128, green: 100, red: 20 },
|
||||
dimensions: { x: lowerArmThickness, y: lowerArmThickness, z: lowerArmLength },
|
||||
position: Vec3.sum(pos, { x: 0,
|
||||
y: bodyHeight / 2 - upperArmThickness / 2,
|
||||
z: -bodyWidth / 2 - shoulderGap - upperArmLength - elbowGap - lowerArmLength / 2
|
||||
}),
|
||||
dynamic: true,
|
||||
collisionless: false,
|
||||
gravity: { x: 0, y: -1, z: 0 },
|
||||
lifetime: lifetime,
|
||||
userData: "{ \"grabbableKey\": { \"grabbable\": true, \"kinematic\": false } }"
|
||||
});
|
||||
|
||||
Entities.addAction("hinge", leftLowerArmID, {
|
||||
pivot: { x: 0, y: 0, z: lowerArmLength / 2 + elbowGap / 2 },
|
||||
axis: { x: 0, y: 1, z: 0 },
|
||||
otherEntityID: leftUpperArmID,
|
||||
otherPivot: { x: 0, y: 0, z: -upperArmLength / 2 - elbowGap / 2 },
|
||||
otherAxis: { x: 0, y: 1, z: 0 },
|
||||
low: 0,
|
||||
high: Math.PI / 2,
|
||||
tag: "ragdoll left elbow joint"
|
||||
});
|
||||
|
||||
//
|
||||
// right leg
|
||||
//
|
||||
|
||||
var rightLegID = Entities.addEntity({
|
||||
name: "ragdoll right arm",
|
||||
type: "Box",
|
||||
color: { blue: 20, green: 200, red: 20 },
|
||||
dimensions: { x: legThickness, y: legLength, z: legThickness },
|
||||
position: Vec3.sum(pos, { x: 0, y: -bodyHeight / 2 - hipGap - legLength / 2, z: bodyWidth / 2 - legThickness / 2 }),
|
||||
dynamic: true,
|
||||
collisionless: false,
|
||||
gravity: { x: 0, y: 0, z: 0 },
|
||||
lifetime: lifetime,
|
||||
userData: "{ \"grabbableKey\": { \"grabbable\": true, \"kinematic\": false } }"
|
||||
});
|
||||
|
||||
Entities.addAction("cone-twist", rightLegID, {
|
||||
pivot: { x: 0, y: legLength / 2 + hipGap / 2, z: 0 },
|
||||
axis: { x: 0, y: 1, z: 0 },
|
||||
otherEntityID: bodyID,
|
||||
otherPivot: { x: 0, y: -bodyHeight / 2 - hipGap / 2, z: bodyWidth / 2 - legThickness / 2 },
|
||||
otherAxis: Vec3.normalize({ x: -1, y: 1, z: 0 }),
|
||||
swingSpan1: Math.PI / 4,
|
||||
swingSpan2: Math.PI / 4,
|
||||
twistSpan: 0,
|
||||
tag: "ragdoll right hip joint"
|
||||
});
|
||||
|
||||
//
|
||||
// left leg
|
||||
//
|
||||
|
||||
var leftLegID = Entities.addEntity({
|
||||
name: "ragdoll left arm",
|
||||
type: "Box",
|
||||
color: { blue: 20, green: 200, red: 20 },
|
||||
dimensions: { x: legThickness, y: legLength, z: legThickness },
|
||||
position: Vec3.sum(pos, { x: 0, y: -bodyHeight / 2 - hipGap - legLength / 2, z: -bodyWidth / 2 + legThickness / 2 }),
|
||||
dynamic: true,
|
||||
collisionless: false,
|
||||
gravity: { x: 0, y: 0, z: 0 },
|
||||
lifetime: lifetime,
|
||||
userData: "{ \"grabbableKey\": { \"grabbable\": true, \"kinematic\": false } }"
|
||||
});
|
||||
|
||||
Entities.addAction("cone-twist", leftLegID, {
|
||||
pivot: { x: 0, y: legLength / 2 + hipGap / 2, z: 0 },
|
||||
axis: { x: 0, y: 1, z: 0 },
|
||||
otherEntityID: bodyID,
|
||||
otherPivot: { x: 0, y: -bodyHeight / 2 - hipGap / 2, z: -bodyWidth / 2 + legThickness / 2 },
|
||||
otherAxis: Vec3.normalize({ x: -1, y: 1, z: 0 }),
|
||||
swingSpan1: Math.PI / 4,
|
||||
swingSpan2: Math.PI / 4,
|
||||
twistSpan: 0,
|
||||
tag: "ragdoll left hip joint"
|
||||
});
|
||||
|
||||
//
|
||||
// right shin
|
||||
//
|
||||
|
||||
var rightShinID = Entities.addEntity({
|
||||
name: "ragdoll right shin",
|
||||
type: "Box",
|
||||
color: { blue: 20, green: 200, red: 20 },
|
||||
dimensions: { x: shinThickness, y: shinLength, z: shinThickness },
|
||||
position: Vec3.sum(pos, { x: 0,
|
||||
y: -bodyHeight / 2 - hipGap - legLength - kneeGap - shinLength / 2,
|
||||
z: bodyWidth / 2 - legThickness / 2
|
||||
}),
|
||||
dynamic: true,
|
||||
collisionless: false,
|
||||
gravity: { x: 0, y: -2, z: 0 },
|
||||
lifetime: lifetime,
|
||||
userData: "{ \"grabbableKey\": { \"grabbable\": true, \"kinematic\": false } }"
|
||||
});
|
||||
|
||||
Entities.addAction("hinge", rightShinID, {
|
||||
pivot: { x: 0, y: shinLength / 2 + kneeGap / 2, z: 0 },
|
||||
axis: { x: 0, y: 0, z: 1 },
|
||||
otherEntityID: rightLegID,
|
||||
otherPivot: { x: 0, y: -legLength / 2 - kneeGap / 2, z: 0 },
|
||||
otherAxis: { x: 0, y: 0, z: 1 },
|
||||
low: 0,
|
||||
high: Math.PI / 2,
|
||||
tag: "ragdoll right knee joint"
|
||||
});
|
||||
|
||||
|
||||
//
|
||||
// left shin
|
||||
//
|
||||
|
||||
var leftShinID = Entities.addEntity({
|
||||
name: "ragdoll left shin",
|
||||
type: "Box",
|
||||
color: { blue: 20, green: 200, red: 20 },
|
||||
dimensions: { x: shinThickness, y: shinLength, z: shinThickness },
|
||||
position: Vec3.sum(pos, { x: 0,
|
||||
y: -bodyHeight / 2 - hipGap - legLength - kneeGap - shinLength / 2,
|
||||
z: -bodyWidth / 2 + legThickness / 2
|
||||
}),
|
||||
dynamic: true,
|
||||
collisionless: false,
|
||||
gravity: { x: 0, y: -2, z: 0 },
|
||||
lifetime: lifetime,
|
||||
userData: "{ \"grabbableKey\": { \"grabbable\": true, \"kinematic\": false } }"
|
||||
});
|
||||
|
||||
Entities.addAction("hinge", leftShinID, {
|
||||
pivot: { x: 0, y: shinLength / 2 + kneeGap / 2, z: 0 },
|
||||
axis: { x: 0, y: 0, z: 1 },
|
||||
otherEntityID: leftLegID,
|
||||
otherPivot: { x: 0, y: -legLength / 2 - kneeGap / 2, z: 0 },
|
||||
otherAxis: { x: 0, y: 0, z: 1 },
|
||||
low: 0,
|
||||
high: Math.PI / 2,
|
||||
tag: "ragdoll left knee joint"
|
||||
});
|
||||
|
||||
//
|
||||
// right foot
|
||||
//
|
||||
|
||||
var rightFootID = Entities.addEntity({
|
||||
name: "ragdoll right foot",
|
||||
type: "Box",
|
||||
color: { blue: 128, green: 100, red: 20 },
|
||||
dimensions: { x: footLength, y: footThickness, z: footWidth },
|
||||
position: Vec3.sum(pos, { x: -shinThickness / 2 + footLength / 2,
|
||||
y: -bodyHeight / 2 - hipGap - legLength - kneeGap - shinLength - ankleGap - footThickness / 2,
|
||||
z: bodyWidth / 2 - legThickness / 2
|
||||
}),
|
||||
dynamic: true,
|
||||
collisionless: false,
|
||||
gravity: { x: 0, y: -5, z: 0 },
|
||||
lifetime: lifetime,
|
||||
userData: "{ \"grabbableKey\": { \"grabbable\": true, \"kinematic\": false } }"
|
||||
});
|
||||
|
||||
Entities.addAction("hinge", rightFootID, {
|
||||
pivot: { x: -footLength / 2 + shinThickness / 2, y: ankleGap / 2, z: 0 },
|
||||
axis: { x: 0, y: 0, z: 1 },
|
||||
otherEntityID: rightShinID,
|
||||
otherPivot: { x: 0, y: -shinLength / 2 - ankleGap / 2, z: 0 },
|
||||
otherAxis: { x: 0, y: 0, z: 1 },
|
||||
low: ankleMin,
|
||||
high: ankleMax,
|
||||
tag: "ragdoll right ankle joint"
|
||||
});
|
||||
|
||||
//
|
||||
// left foot
|
||||
//
|
||||
|
||||
var leftFootID = Entities.addEntity({
|
||||
name: "ragdoll left foot",
|
||||
type: "Box",
|
||||
color: { blue: 128, green: 100, red: 20 },
|
||||
dimensions: { x: footLength, y: footThickness, z: footWidth },
|
||||
position: Vec3.sum(pos, { x: -shinThickness / 2 + footLength / 2,
|
||||
y: -bodyHeight / 2 - hipGap - legLength - kneeGap - shinLength - ankleGap - footThickness / 2,
|
||||
z: bodyWidth / 2 - legThickness / 2
|
||||
}),
|
||||
dynamic: true,
|
||||
collisionless: false,
|
||||
gravity: { x: 0, y: -5, z: 0 },
|
||||
lifetime: lifetime,
|
||||
userData: "{ \"grabbableKey\": { \"grabbable\": true, \"kinematic\": false } }"
|
||||
});
|
||||
|
||||
Entities.addAction("hinge", leftFootID, {
|
||||
pivot: { x: -footLength / 2 + shinThickness / 2, y: ankleGap / 2, z: 0 },
|
||||
axis: { x: 0, y: 0, z: 1 },
|
||||
otherEntityID: leftShinID,
|
||||
otherPivot: { x: 0, y: -shinLength / 2 - ankleGap / 2, z: 0 },
|
||||
otherAxis: { x: 0, y: 0, z: 1 },
|
||||
low: ankleMin,
|
||||
high: ankleMax,
|
||||
tag: "ragdoll left ankle joint"
|
||||
});
|
||||
|
||||
}
|
||||
|
||||
function onWebEventReceived(eventString) {
|
||||
print("received web event: " + JSON.stringify(eventString));
|
||||
if (typeof eventString === "string") {
|
||||
var event;
|
||||
try {
|
||||
event = JSON.parse(eventString);
|
||||
} catch(e) {
|
||||
return;
|
||||
}
|
||||
|
||||
if (event["dynamics-tests-command"]) {
|
||||
var commandToFunctionMap = {
|
||||
"cone-twist-and-spring-lever-test": coneTwistAndSpringLeverTest,
|
||||
"door-vs-world-test": doorVSWorldTest,
|
||||
"hinge-chain-test": hingeChainTest,
|
||||
"slider-vs-world-test": sliderVSWorldTest,
|
||||
"slider-chain-test": sliderChainTest,
|
||||
"ball-socket-between-test": ballSocketBetweenTest,
|
||||
"ball-socket-coincident-test": ballSocketCoincidentTest,
|
||||
"ragdoll-test": ragdollTest
|
||||
};
|
||||
|
||||
var cmd = event["dynamics-tests-command"];
|
||||
if (commandToFunctionMap.hasOwnProperty(cmd)) {
|
||||
var func = commandToFunctionMap[cmd];
|
||||
func(event);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
var onDynamicsTestsScreen = false;
|
||||
var shouldActivateButton = false;
|
||||
|
||||
function onClicked() {
|
||||
if (onDynamicsTestsScreen) {
|
||||
tablet.gotoHomeScreen();
|
||||
} else {
|
||||
shouldActivateButton = true;
|
||||
tablet.gotoWebScreen(DYNAMICS_TESTS_URL +
|
||||
"?lifetime=" + DEFAULT_LIFETIME.toString()
|
||||
);
|
||||
onDynamicsTestsScreen = true;
|
||||
}
|
||||
}
|
||||
|
||||
function onScreenChanged() {
|
||||
// for toolbar mode: change button to active when window is first openend, false otherwise.
|
||||
button.editProperties({isActive: shouldActivateButton});
|
||||
shouldActivateButton = false;
|
||||
onDynamicsTestsScreen = shouldActivateButton;
|
||||
}
|
||||
|
||||
function cleanup() {
|
||||
button.clicked.disconnect(onClicked);
|
||||
tablet.removeButton(button);
|
||||
}
|
||||
|
||||
button.clicked.connect(onClicked);
|
||||
tablet.webEventReceived.connect(onWebEventReceived);
|
||||
tablet.screenChanged.connect(onScreenChanged);
|
||||
Script.scriptEnding.connect(cleanup);
|
||||
}()); // END LOCAL_SCOPE
|
||||
69
scripts/developer/tests/dynamics/dynamicsTests.svg
Normal file
69
scripts/developer/tests/dynamics/dynamicsTests.svg
Normal file
|
|
@ -0,0 +1,69 @@
|
|||
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
|
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|
||||
|
||||
<svg
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xmlns:dc="http://purl.org/dc/elements/1.1/"
|
||||
xmlns:cc="http://creativecommons.org/ns#"
|
||||
xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
|
||||
xmlns:svg="http://www.w3.org/2000/svg"
|
||||
xmlns="http://www.w3.org/2000/svg"
|
||||
xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
|
||||
xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
|
||||
width="210mm"
|
||||
height="297mm"
|
||||
viewBox="0 0 744.09448819 1052.3622047"
|
||||
id="svg2"
|
||||
version="1.1"
|
||||
inkscape:version="0.91 r13725"
|
||||
sodipodi:docname="dynamicsTests.svg">
|
||||
<defs
|
||||
id="defs4" />
|
||||
<sodipodi:namedview
|
||||
id="base"
|
||||
pagecolor="#ffffff"
|
||||
bordercolor="#666666"
|
||||
borderopacity="1.0"
|
||||
inkscape:pageopacity="0.0"
|
||||
inkscape:pageshadow="2"
|
||||
inkscape:zoom="0.35"
|
||||
inkscape:cx="-482.14286"
|
||||
inkscape:cy="520"
|
||||
inkscape:document-units="px"
|
||||
inkscape:current-layer="layer1"
|
||||
showgrid="false"
|
||||
inkscape:window-width="2815"
|
||||
inkscape:window-height="1776"
|
||||
inkscape:window-x="65"
|
||||
inkscape:window-y="24"
|
||||
inkscape:window-maximized="1" />
|
||||
<metadata
|
||||
id="metadata7">
|
||||
<rdf:RDF>
|
||||
<cc:Work
|
||||
rdf:about="">
|
||||
<dc:format>image/svg+xml</dc:format>
|
||||
<dc:type
|
||||
rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
|
||||
<dc:title />
|
||||
</cc:Work>
|
||||
</rdf:RDF>
|
||||
</metadata>
|
||||
<g
|
||||
inkscape:label="Layer 1"
|
||||
inkscape:groupmode="layer"
|
||||
id="layer1">
|
||||
<path
|
||||
sodipodi:type="spiral"
|
||||
style="fill:none;fill-rule:evenodd;stroke:#000000;stroke-width:20;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
|
||||
id="path4136"
|
||||
sodipodi:cx="351.42856"
|
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sodipodi:cy="532.36218"
|
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sodipodi:expansion="1"
|
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sodipodi:revolution="3"
|
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sodipodi:radius="189.2628"
|
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sodipodi:argument="-18.34539"
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sodipodi:t0="0"
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||||
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|
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transform="matrix(1.6331701,0,0,2.2153757,-219.59811,-629.37371)" />
|
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</g>
|
||||
</svg>
|
||||
|
After Width: | Height: | Size: 2.8 KiB |
Loading…
Reference in a new issue