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measure linear velocity of tractor position

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This commit is contained in:
Andrew Meadows 2017-06-16 16:55:00 -07:00
parent 8d19395b0a
commit b105ad8338
2 changed files with 23 additions and 13 deletions
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35
libraries/physics/src/ObjectActionTractor.cpp
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@ -23,14 +23,16 @@ const uint16_t ObjectActionTractor::tractorVersion = 1;
ObjectActionTractor::ObjectActionTractor(const QUuid& id, EntityItemPointer ownerEntity) : ObjectActionTractor::ObjectActionTractor(const QUuid& id, EntityItemPointer ownerEntity) :
ObjectAction(DYNAMIC_TYPE_TRACTOR, id, ownerEntity), ObjectAction(DYNAMIC_TYPE_TRACTOR, id, ownerEntity),
_positionalTarget(glm::vec3(0.0f)), _positionalTarget(0.0f),
_desiredPositionalTarget(glm::vec3(0.0f)), _desiredPositionalTarget(0.0f),
_linearTimeScale(FLT_MAX), _linearTimeScale(FLT_MAX),
_positionalTargetSet(true), _positionalTargetSet(false),
_rotationalTarget(glm::quat()), _rotationalTarget(),
_desiredRotationalTarget(glm::quat()), _desiredRotationalTarget(),
_angularTimeScale(FLT_MAX), _angularTimeScale(FLT_MAX),
_rotationalTargetSet(true) { _rotationalTargetSet(true),
_linearVelocityTarget(0.0f)
{
#if WANT_DEBUG #if WANT_DEBUG
qCDebug(physics) << "ObjectActionTractor::ObjectActionTractor"; qCDebug(physics) << "ObjectActionTractor::ObjectActionTractor";
#endif #endif
@ -77,7 +79,6 @@ bool ObjectActionTractor::prepareForTractorUpdate(btScalar deltaTimeStep) {
glm::quat rotation; glm::quat rotation;
glm::vec3 position; glm::vec3 position;
glm::vec3 linearVelocity;
glm::vec3 angularVelocity; glm::vec3 angularVelocity;
bool linearValid = false; bool linearValid = false;
@ -117,7 +118,6 @@ bool ObjectActionTractor::prepareForTractorUpdate(btScalar deltaTimeStep) {
linearValid = true; linearValid = true;
linearTractorCount++; linearTractorCount++;
position += positionForAction; position += positionForAction;
linearVelocity += linearVelocityForAction;
} }
} }
} }
@ -126,9 +126,18 @@ bool ObjectActionTractor::prepareForTractorUpdate(btScalar deltaTimeStep) {
withWriteLock([&]{ withWriteLock([&]{
if (linearValid && linearTractorCount > 0) { if (linearValid && linearTractorCount > 0) {
position /= linearTractorCount; position /= linearTractorCount;
linearVelocity /= linearTractorCount; if (_positionalTargetSet) {
_lastPositionTarget = _positionalTarget;
} else {
_lastPositionTarget = position;
}
_positionalTarget = position; _positionalTarget = position;
_linearVelocityTarget = linearVelocity; if (deltaTimeStep > EPSILON) {
// blend the new velocity with the old (low-pass filter)
glm::vec3 newVelocity = (1.0f / deltaTimeStep) * (position - _lastPositionTarget);
const float blend = 0.25f;
_linearVelocityTarget = (1.0f - blend) * _linearVelocityTarget + blend * newVelocity;
}
_positionalTargetSet = true; _positionalTargetSet = true;
_active = true; _active = true;
} }
@ -169,19 +178,19 @@ void ObjectActionTractor::updateActionWorker(btScalar deltaTimeStep) {
} }
if (_linearTimeScale < MAX_TRACTOR_TIMESCALE) { if (_linearTimeScale < MAX_TRACTOR_TIMESCALE) {
btVector3 targetVelocity(0.0f, 0.0f, 0.0f); btVector3 offsetVelocity(0.0f, 0.0f, 0.0f);
btVector3 offset = rigidBody->getCenterOfMassPosition() - glmToBullet(_positionalTarget); btVector3 offset = rigidBody->getCenterOfMassPosition() - glmToBullet(_positionalTarget);
float offsetLength = offset.length(); float offsetLength = offset.length();
if (offsetLength > FLT_EPSILON) { if (offsetLength > FLT_EPSILON) {
float speed = glm::min(offsetLength / _linearTimeScale, TRACTOR_MAX_SPEED); float speed = glm::min(offsetLength / _linearTimeScale, TRACTOR_MAX_SPEED);
targetVelocity = (-speed / offsetLength) * offset; offsetVelocity = (-speed / offsetLength) * offset;
if (speed > rigidBody->getLinearSleepingThreshold()) { if (speed > rigidBody->getLinearSleepingThreshold()) {
forceBodyNonStatic(); forceBodyNonStatic();
rigidBody->activate(); rigidBody->activate();
} }
} }
// this action is aggresively critically damped and defeats the current velocity // this action is aggresively critically damped and defeats the current velocity
rigidBody->setLinearVelocity(targetVelocity); rigidBody->setLinearVelocity(glmToBullet(_linearVelocityTarget) + offsetVelocity);
} }
if (_angularTimeScale < MAX_TRACTOR_TIMESCALE) { if (_angularTimeScale < MAX_TRACTOR_TIMESCALE) {

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

@ -36,6 +36,7 @@ protected:
glm::vec3 _positionalTarget; glm::vec3 _positionalTarget;
glm::vec3 _desiredPositionalTarget; glm::vec3 _desiredPositionalTarget;
glm::vec3 _lastPositionTarget;
float _linearTimeScale; float _linearTimeScale;
bool _positionalTargetSet; bool _positionalTargetSet;