Mirrors/overte
3
0
Fork 0
mirror of https://github.com/overte-org/overte.git synced 2025-04-20 11:45:36 +02:00
Code Issues Projects Releases Packages Wiki Activity Actions

allow hinge constraint between two entities

Browse source
This commit is contained in:
Seth Alves 2017-04-13 15:37:28 -07:00
parent 7695d2ac05
commit afa8fc161b
8 changed files with 156 additions and 25 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

1
libraries/entities/src/EntityDynamicInterface.h
View file

@ -42,6 +42,7 @@ public:
EntityDynamicType getType() const { return _type; }
virtual bool isAction() const { return false; }
virtual bool isConstraint() const { return false; }
virtual bool isReadyForAdd() const { return true; }
bool isActive() { return _active; }

132
libraries/physics/src/ObjectConstraintHinge.cpp
View file

@ -11,8 +11,8 @@
#include "QVariantGLM.h"
#include "EntityTree.h"
#include "ObjectConstraintHinge.h"
#include "PhysicsLogging.h"
@ -22,7 +22,7 @@ const uint16_t ObjectConstraintHinge::constraintVersion = 1;
ObjectConstraintHinge::ObjectConstraintHinge(const QUuid& id, EntityItemPointer ownerEntity) :
ObjectConstraint(DYNAMIC_TYPE_HINGE, id, ownerEntity),
_pivotInA(glm::vec3(0.0f)),
_axis(glm::vec3(0.0f))
_axisInA(glm::vec3(0.0f))
{
#if WANT_DEBUG
qCDebug(physics) << "ObjectConstraintHinge::ObjectConstraintHinge";
@ -36,8 +36,23 @@ ObjectConstraintHinge::~ObjectConstraintHinge() {
}
btTypedConstraint* ObjectConstraintHinge::getConstraint() {
if (_constraint) {
return _constraint;
btHingeConstraint* constraint { nullptr };
QUuid otherEntityID;
glm::vec3 pivotInA;
glm::vec3 axisInA;
glm::vec3 pivotInB;
glm::vec3 axisInB;
withReadLock([&]{
constraint = static_cast<btHingeConstraint*>(_constraint);
pivotInA = _pivotInA;
axisInA = _axisInA;
otherEntityID = _otherEntityID;
pivotInB = _pivotInB;
axisInB = _axisInB;
});
if (constraint) {
return constraint;
}
btRigidBody* rigidBodyA = getRigidBody();
@ -48,22 +63,67 @@ btTypedConstraint* ObjectConstraintHinge::getConstraint() {
bool useReferenceFrameA { false };
btTransform rigidBodyAFrame(btQuaternion(0.0f, 0.0f, 0.0f, 1.0f), glmToBullet(_pivotInA));
if (!otherEntityID.isNull()) {
// This hinge is between two entities... find the other rigid body.
EntityItemPointer otherEntity = getEntityByID(otherEntityID);
if (!otherEntity) {
return nullptr;
}
btHingeConstraint* constraint = new btHingeConstraint(*rigidBodyA, rigidBodyAFrame, useReferenceFrameA);
// constraint->setAngularOnly(true);
void* otherPhysicsInfo = otherEntity->getPhysicsInfo();
if (!otherPhysicsInfo) {
return nullptr;
}
ObjectMotionState* otherMotionState = static_cast<ObjectMotionState*>(otherPhysicsInfo);
if (!otherMotionState) {
return nullptr;
}
btRigidBody* rigidBodyB = otherMotionState->getRigidBody();
if (!rigidBodyB) {
return nullptr;
}
btVector3 axisInA = glmToBullet(_axis);
constraint->setAxis(axisInA);
btTransform rigidBodyAFrame(btQuaternion(0.0f, 0.0f, 0.0f, 1.0f), glmToBullet(pivotInA));
btTransform rigidBodyBFrame(btQuaternion(0.0f, 0.0f, 0.0f, 1.0f), glmToBullet(pivotInB));
_constraint = constraint;
return constraint;
constraint = new btHingeConstraint(*rigidBodyA, *rigidBodyB,
rigidBodyAFrame, rigidBodyBFrame,
useReferenceFrameA);
btVector3 bulletAxisInA = glmToBullet(axisInA);
constraint->setAxis(bulletAxisInA);
withWriteLock([&]{
_otherEntity = otherEntity; // save weak-pointer to the other entity
_constraint = constraint;
});
return constraint;
} else {
// This hinge is between an entity and the world-frame.
btTransform rigidBodyAFrame(btQuaternion(0.0f, 0.0f, 0.0f, 1.0f), glmToBullet(pivotInA));
constraint = new btHingeConstraint(*rigidBodyA, rigidBodyAFrame, useReferenceFrameA);
// constraint->setAngularOnly(true);
btVector3 bulletAxisInA = glmToBullet(axisInA);
constraint->setAxis(bulletAxisInA);
withWriteLock([&]{
_otherEntity.reset();
_constraint = constraint;
});
return constraint;
}
}
bool ObjectConstraintHinge::updateArguments(QVariantMap arguments) {
glm::vec3 pivotInA;
glm::vec3 axis;
glm::vec3 axisInA;
QUuid otherEntityID;
glm::vec3 pivotInB;
glm::vec3 axisInB;
bool needUpdate = false;
bool somethingChanged = ObjectDynamic::updateArguments(arguments);
@ -75,14 +135,35 @@ bool ObjectConstraintHinge::updateArguments(QVariantMap arguments) {
}
ok = true;
axis = EntityDynamicInterface::extractVec3Argument("hinge constraint", arguments, "axis", ok, false);
axisInA = EntityDynamicInterface::extractVec3Argument("hinge constraint", arguments, "axis", ok, false);
if (!ok) {
axis = _axis;
axisInA = _axisInA;
}
ok = true;
otherEntityID = QUuid(EntityDynamicInterface::extractStringArgument("hinge constraint",
arguments, "otherEntityID", ok, false));
if (!ok) {
otherEntityID = QUuid();
}
ok = true;
pivotInB = EntityDynamicInterface::extractVec3Argument("hinge constraint", arguments, "otherPivot", ok, false);
if (!ok) {
pivotInB = _pivotInB;
}
ok = true;
axisInB = EntityDynamicInterface::extractVec3Argument("hinge constraint", arguments, "otherAxis", ok, false);
if (!ok) {
axisInB = _axisInB;
}
if (somethingChanged ||
pivotInA != _pivotInA ||
axis != _axis) {
axisInA != _axisInA ||
pivotInB != _pivotInB ||
axisInB != _axisInB) {
// something changed
needUpdate = true;
}
@ -91,7 +172,11 @@ bool ObjectConstraintHinge::updateArguments(QVariantMap arguments) {
if (needUpdate) {
withWriteLock([&] {
_pivotInA = pivotInA;
_axis = axis;
_axisInA = axisInA;
_otherEntityID = otherEntityID;
_pivotInB = pivotInB;
_axisInB = axisInB;
_active = true;
auto ownerEntity = _ownerEntity.lock();
@ -110,7 +195,10 @@ QVariantMap ObjectConstraintHinge::getArguments() {
QVariantMap arguments = ObjectDynamic::getArguments();
withReadLock([&] {
arguments["pivot"] = glmToQMap(_pivotInA);
arguments["axis"] = glmToQMap(_axis);
arguments["axis"] = glmToQMap(_axisInA);
arguments["otherEntityID"] = _otherEntityID;
arguments["otherPivot"] = glmToQMap(_pivotInB);
arguments["otherAxis"] = glmToQMap(_axisInB);
});
return arguments;
}
@ -125,7 +213,10 @@ QByteArray ObjectConstraintHinge::serialize() const {
withReadLock([&] {
dataStream << _pivotInA;
dataStream << _axis;
dataStream << _axisInA;
dataStream << _otherEntityID;
dataStream << _pivotInB;
dataStream << _axisInB;
dataStream << localTimeToServerTime(_expires);
dataStream << _tag;
});
@ -153,7 +244,10 @@ void ObjectConstraintHinge::deserialize(QByteArray serializedArguments) {
withWriteLock([&] {
dataStream >> _pivotInA;
dataStream >> _axis;
dataStream >> _axisInA;
dataStream >> _otherEntityID;
dataStream >> _pivotInB;
dataStream >> _axisInB;
quint64 serverExpires;
dataStream >> serverExpires;

7
libraries/physics/src/ObjectConstraintHinge.h
View file

@ -33,7 +33,12 @@ protected:
static const uint16_t constraintVersion;
glm::vec3 _pivotInA;
glm::vec3 _axis;
glm::vec3 _axisInA;
QUuid _otherEntityID;
EntityItemWeakPointer _otherEntity;
glm::vec3 _pivotInB;
glm::vec3 _axisInB;
};
#endif // hifi_ObjectConstraintHinge_h

14
libraries/physics/src/ObjectDynamic.cpp
View file

@ -106,6 +106,20 @@ void ObjectDynamic::removeFromSimulation(EntitySimulationPointer simulation) con
simulation->removeDynamic(myID);
}
EntityItemPointer ObjectDynamic::getEntityByID(EntityItemID entityID) const {
EntityItemPointer ownerEntity;
withReadLock([&]{
ownerEntity = _ownerEntity.lock();
});
EntityTreeElementPointer element = ownerEntity ? ownerEntity->getElement() : nullptr;
EntityTreePointer tree = element ? element->getTree() : nullptr;
if (!tree) {
return nullptr;
}
return tree->findEntityByID(entityID);
}
btRigidBody* ObjectDynamic::getRigidBody() {
ObjectMotionState* motionState = nullptr;
withReadLock([&]{

1
libraries/physics/src/ObjectDynamic.h
View file

@ -47,6 +47,7 @@ protected:
quint64 localTimeToServerTime(quint64 timeValue) const;
quint64 serverTimeToLocalTime(quint64 timeValue) const;
EntityItemPointer getEntityByID(EntityItemID entityID) const;
virtual btRigidBody* getRigidBody();
virtual glm::vec3 getPosition() override;
virtual void setPosition(glm::vec3 position) override;

10
libraries/physics/src/PhysicalEntitySimulation.cpp
View file

@ -346,6 +346,7 @@ void PhysicalEntitySimulation::addDynamic(EntityDynamicPointer dynamic) {
}
void PhysicalEntitySimulation::applyDynamicChanges() {
QList<EntityDynamicPointer> dynamicsFailedToAdd;
if (_physicsEngine) {
// FIXME put fine grain locking into _physicsEngine
QMutexLocker lock(&_mutex);
@ -354,9 +355,16 @@ void PhysicalEntitySimulation::applyDynamicChanges() {
}
foreach (EntityDynamicPointer dynamicToAdd, _dynamicsToAdd) {
if (!_dynamicsToRemove.contains(dynamicToAdd->getID())) {
_physicsEngine->addDynamic(dynamicToAdd);
if (!_physicsEngine->addDynamic(dynamicToAdd)) {
dynamicsFailedToAdd += dynamicToAdd;
}
}
}
}
// applyDynamicChanges will clear _dynamicsToRemove and _dynamicsToAdd
EntitySimulation::applyDynamicChanges();
// put back the ones that couldn't yet be added
foreach (EntityDynamicPointer dynamicFailedToAdd, dynamicsFailedToAdd) {
addDynamic(dynamicFailedToAdd);
}
}

14
libraries/physics/src/PhysicsEngine.cpp
View file

@ -555,12 +555,17 @@ EntityDynamicPointer PhysicsEngine::getDynamicByID(const QUuid& dynamicID) const
return nullptr;
}
void PhysicsEngine::addDynamic(EntityDynamicPointer dynamic) {
bool PhysicsEngine::addDynamic(EntityDynamicPointer dynamic) {
assert(dynamic);
if (!dynamic->isReadyForAdd()) {
return false;
}
const QUuid& dynamicID = dynamic->getID();
if (_objectDynamics.contains(dynamicID)) {
if (_objectDynamics[dynamicID] == dynamic) {
return;
return true;
}
removeDynamic(dynamic->getID());
}
@ -572,13 +577,16 @@ void PhysicsEngine::addDynamic(EntityDynamicPointer dynamic) {
if (dynamic->isAction()) {
ObjectAction* objectAction = static_cast<ObjectAction*>(dynamic.get());
_dynamicsWorld->addAction(objectAction);
return true;
} else if (dynamic->isConstraint()) {
ObjectConstraint* objectConstraint = static_cast<ObjectConstraint*>(dynamic.get());
btTypedConstraint* constraint = objectConstraint->getConstraint();
if (constraint) {
_dynamicsWorld->addConstraint(constraint);
return true;
} else {
qDebug() << "PhysicsEngine::addDynamic of constraint failed"; // XXX
// perhaps not all the rigid bodies are available, yet
return false;
}
}
}

2
libraries/physics/src/PhysicsEngine.h
View file

@ -86,7 +86,7 @@ public:
void dumpNextStats() { _dumpNextStats = true; }
EntityDynamicPointer getDynamicByID(const QUuid& dynamicID) const;
void addDynamic(EntityDynamicPointer dynamic);
bool addDynamic(EntityDynamicPointer dynamic);
void removeDynamic(const QUuid dynamicID);
void forEachDynamic(std::function<void(EntityDynamicPointer)> actor);