Merge pull request #4500 from AndrewMeadows/inertia

avatar can jump when using CharacterController

interface/src/Application.cpp

@@ -1909,8 +1909,6 @@ void Application::init() {
     _physicsEngine.init(&_entityEditSender);
 
 
-    _physicsEngine.setAvatarData(_myAvatar);
-
     auto entityScriptingInterface = DependencyManager::get<EntityScriptingInterface>();
 
     connect(&_physicsEngine, &EntitySimulation::entityCollisionWithEntity,
@@ -2197,6 +2195,7 @@ void Application::update(float deltaTime) {
 
     {
         PerformanceTimer perfTimer("physics");
+        _myAvatar->preSimulation();
         _physicsEngine.stepSimulation();
     }
 
@@ -4208,7 +4207,7 @@ void Application::checkSkeleton() {
         _myAvatar->setSkeletonModelURL(DEFAULT_BODY_MODEL_URL);
         _myAvatar->sendIdentityPacket();
     } else {
-        _myAvatar->updateLocalAABox();
-        _physicsEngine.setAvatarData(_myAvatar);
+        _myAvatar->updateCharacterController();
+        _physicsEngine.setCharacterController(_myAvatar->getCharacterController());
     }
 }

interface/src/avatar/MyAvatar.cpp

@@ -70,7 +70,6 @@ MyAvatar::MyAvatar() :
 	Avatar(),
     _turningKeyPressTime(0.0f),
     _gravity(0.0f, 0.0f, 0.0f),
-    _shouldJump(false),
     _wasPushing(false),
     _isPushing(false),
     _isBraking(false),
@@ -82,6 +81,8 @@ MyAvatar::MyAvatar() :
     _scriptedMotorTimescale(DEFAULT_SCRIPTED_MOTOR_TIMESCALE),
     _scriptedMotorFrame(SCRIPTED_MOTOR_CAMERA_FRAME),
     _motionBehaviors(AVATAR_MOTION_DEFAULTS),
+    _enablePhysics(false),
+    _characterController(this),
     _lookAtTargetAvatar(),
     _shouldRender(true),
     _billboardValid(false),
@@ -954,15 +955,15 @@ glm::vec3 MyAvatar::getSkeletonPosition() const {
     return Avatar::getPosition();
 }
 
-void MyAvatar::updateLocalAABox() {
+void MyAvatar::updateCharacterController() {
+    // compute localAABox
     const CapsuleShape& capsule = _skeletonModel.getBoundingShape();
     float radius = capsule.getRadius();
     float height = 2.0f * (capsule.getHalfHeight() + radius);
-    glm::vec3 offset = _skeletonModel.getBoundingShapeOffset();
     glm::vec3 corner(-radius, -0.5f * height, -radius);
-    corner += offset;
+    corner += _skeletonModel.getBoundingShapeOffset();
     glm::vec3 scale(2.0f * radius, height, 2.0f * radius);
-    _localAABox.setBox(corner, scale);
+    _characterController.setLocalBoundingBox(corner, scale);
 }
 
 QString MyAvatar::getScriptedMotorFrame() const {
@@ -1580,6 +1581,10 @@ glm::vec3 MyAvatar::getLaserPointerTipPosition(const PalmData* palm) {
     return palm->getPosition();
 }
 
+void MyAvatar::preSimulation() {
+    _characterController.setEnabled(_enablePhysics);
+}
+
 void MyAvatar::clearDriveKeys() {
     for (int i = 0; i < MAX_DRIVE_KEYS; ++i) {
         _driveKeys[i] = 0.0f;

interface/src/avatar/MyAvatar.h

@@ -13,6 +13,7 @@
 #define hifi_MyAvatar_h
 
 #include <SettingHandle.h>
+#include <CharacterController.h>
 
 #include "Avatar.h"
 
@@ -88,7 +89,7 @@ public:
     void clearDriveKeys();
     void setDriveKeys(int key, float val) { _driveKeys[key] = val; };
     bool getDriveKeys(int key) { return _driveKeys[key] != 0.0f; };
-    void jump() { _shouldJump = true; };
+    void jump() { _characterController.jump(); }
     
     bool isMyAvatar() { return true; }
     
@@ -122,6 +123,8 @@ public:
 
     virtual glm::vec3 getSkeletonPosition() const;
     void updateLocalAABox();
+    CharacterController* getCharacterController() { return &_characterController; }
+    void updateCharacterController();
     
     void clearJointAnimationPriorities();
 
@@ -145,6 +148,11 @@ public:
     
     const RecorderPointer getRecorder() const { return _recorder; }
     const PlayerPointer getPlayer() const { return _player; }
+
+    void togglePhysicsEnabled() { _enablePhysics = !_enablePhysics; }
+    bool isPhysicsEnabled() { return _enablePhysics; }
+    void setPhysicsEnabled(bool enablePhysics) { _enablePhysics = enablePhysics; }
+    void preSimulation();
     
 public slots:
     void increaseSize();
@@ -186,7 +194,6 @@ private:
     float _turningKeyPressTime;
     glm::vec3 _gravity;
 
-    bool _shouldJump;
     float _driveKeys[MAX_DRIVE_KEYS];
     bool _wasPushing;
     bool _isPushing;
@@ -202,6 +209,9 @@ private:
     int _scriptedMotorFrame;
     quint32 _motionBehaviors;
 
+    bool _enablePhysics;
+    CharacterController _characterController;
+
     QWeakPointer<AvatarData> _lookAtTargetAvatar;
     glm::vec3 _targetAvatarPosition;
     bool _shouldRender;

libraries/avatars/src/AvatarData.h

@@ -300,16 +300,6 @@ public:
     const AABox& getLocalAABox() const { return _localAABox; }
     const Referential* getReferential() const { return _referential; }
 
-    void togglePhysicsEnabled() { _enablePhysics = !_enablePhysics; }
-    bool isPhysicsEnabled() { return _enablePhysics; }
-    void setPhysicsEnabled(bool enablePhysics) { _enablePhysics = enablePhysics; }
-
-    void lockForRead() { _lock.lockForRead(); }
-    bool tryLockForRead() { return _lock.tryLockForRead(); }
-    void lockForWrite() { _lock.lockForWrite(); }
-    bool tryLockForWrite() { return _lock.tryLockForWrite(); }
-    void unlock() { _lock.unlock(); }
-
     void setVelocity(const glm::vec3 velocity) { _velocity = velocity; }
     Q_INVOKABLE glm::vec3 getVelocity() const { return _velocity; }
 
@@ -409,9 +399,6 @@ private:
     // privatize the copy constructor and assignment operator so they cannot be called
     AvatarData(const AvatarData&);
     AvatarData& operator= (const AvatarData&);
-
-    QReadWriteLock _lock;
-    bool _enablePhysics = false;
 };
 Q_DECLARE_METATYPE(AvatarData*)
 

libraries/physics/src/CharacterController.h

@@ -1,6 +1,7 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
 Copyright (c) 2003-2008 Erwin Coumans  http://bulletphysics.com
+2015.03.25 -- modified by Andrew Meadows andrew@highfidelity.io
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
@@ -37,59 +38,57 @@ class btPairCachingGhostObject;
 ///It uses a ghost object and convex sweep test to test for upcoming collisions. This is combined with discrete collision detection to recover from penetrations.
 ///Interaction between btKinematicCharacterController and dynamic rigid bodies needs to be explicity implemented by the user.
 
+
 ATTRIBUTE_ALIGNED16(class) CharacterController : public btCharacterControllerInterface
 {
 protected:
 
-    AvatarData* m_avatarData = NULL;
-    btPairCachingGhostObject* m_ghostObject;
-    glm::vec3 m_shapeLocalOffset;
+    AvatarData* _avatarData = NULL;
+    btPairCachingGhostObject* _ghostObject;
 
-    btConvexShape* m_convexShape;//is also in m_ghostObject, but it needs to be convex, so we store it here to avoid upcast
-    btScalar m_radius;
-    btScalar m_halfHeight;
+    btConvexShape* _convexShape;//is also in _ghostObject, but it needs to be convex, so we store it here to avoid upcast
+    btScalar _radius;
+    btScalar _halfHeight;
 
-    btScalar m_verticalVelocity;
-    btScalar m_verticalOffset; // fall distance from velocity this frame
-    btScalar m_maxFallSpeed;
-    btScalar m_jumpSpeed;
-    btScalar m_maxJumpHeight;
-    btScalar m_maxSlopeRadians; // Slope angle that is set (used for returning the exact value)
-    btScalar m_maxSlopeCosine;  // Cosine equivalent of m_maxSlopeRadians (calculated once when set, for optimization)
-    btScalar m_gravity;
+    btScalar _verticalVelocity;
+    btScalar _verticalOffset; // fall distance from velocity this frame
+    btScalar _maxFallSpeed;
+    btScalar _jumpSpeed;
+    btScalar _maxJumpHeight;
+    btScalar _maxSlopeRadians; // Slope angle that is set (used for returning the exact value)
+    btScalar _maxSlopeCosine;  // Cosine equivalent of _maxSlopeRadians (calculated once when set, for optimization)
+    btScalar _gravity;
 
-    btScalar m_turnAngle;
+    btScalar _stepHeight; // height of stepUp prior to stepForward
 
-    btScalar m_stepHeight; // height of stepUp prior to stepForward
-
-    btScalar m_addedMargin;//@todo: remove this and fix the code
+    btScalar _addedMargin;//@todo: remove this and fix the code
 
     ///this is the desired walk direction, set by the user
-    btVector3 m_walkDirection;
-    btVector3 m_normalizedDirection;
+    btVector3 _walkDirection;
+    btVector3 _normalizedDirection;
 
     //some internal variables
-    btVector3 m_currentPosition;
-    btVector3 m_targetPosition;
-    btScalar  m_lastStepUp;
+    btVector3 _currentPosition;
+    btQuaternion _currentRotation;
+    btVector3 _targetPosition;
+    btScalar  _lastStepUp;
 
     ///keep track of the contact manifolds
-    btManifoldArray m_manifoldArray;
+    btManifoldArray _manifoldArray;
 
-    bool m_touchingContact;
-    btVector3 m_floorNormal; // points from object to character
+    bool _touchingContact;
+    btVector3 _floorNormal; // points from object to character
 
-    bool m_enabled;
-    bool m_wasOnGround;
-    bool m_wasJumping;
-    bool m_useWalkDirection;
-    btScalar m_velocityTimeInterval;
-    int m_upAxis;
+    bool _enabled;
+    bool _wasOnGround;
+    bool _wasJumping;
+    btScalar _velocityTimeInterval;
+    uint32_t _pendingFlags;
 
-    static btVector3* getUpAxisDirections();
-    bool  m_interpolateUp;
-    bool  full_drop;
-    bool  bounce_fix;
+    glm::vec3 _shapeLocalOffset;
+    glm::vec3 _boxScale; // used to compute capsule shape
+
+    btDynamicsWorld* _dynamicsWorld = NULL;
 
     btVector3 computeReflectionDirection(const btVector3& direction, const btVector3& normal);
     btVector3 parallelComponent(const btVector3& direction, const btVector3& normal);
@@ -118,14 +117,6 @@ public:
     ///btActionInterface interface
     void debugDraw(btIDebugDraw* debugDrawer);
 
-    void setUpAxis(int axis) {
-        if (axis < 0)
-            axis = 0;
-        if (axis > 2)
-            axis = 2;
-        m_upAxis = axis;
-    }
-
     /// This should probably be called setPositionIncrementPerSimulatorStep.
     /// This is neither a direction nor a velocity, but the amount to
     /// increment the position each simulation iteration, regardless
@@ -141,18 +132,19 @@ public:
     virtual void setVelocityForTimeInterval(const btVector3& velocity,
             btScalar timeInterval);
 
-    void reset(btCollisionWorld* collisionWorld );
-    void warp(const btVector3& origin);
+    virtual void reset(btCollisionWorld* collisionWorld );
+    virtual void warp(const btVector3& origin);
 
-    void preStep(btCollisionWorld* collisionWorld);
-    void playerStep(btCollisionWorld* collisionWorld, btScalar dt);
+    virtual void preStep(btCollisionWorld* collisionWorld);
+    virtual void playerStep(btCollisionWorld* collisionWorld, btScalar dt);
+
+    virtual bool canJump() const;
+    virtual void jump();
+    virtual bool onGround() const;
 
     void setMaxFallSpeed(btScalar speed);
     void setJumpSpeed(btScalar jumpSpeed);
     void setMaxJumpHeight(btScalar maxJumpHeight);
-    bool canJump() const;
-
-    void jump();
 
     void setGravity(btScalar gravity);
     btScalar getGravity() const;
@@ -164,11 +156,16 @@ public:
 
     btPairCachingGhostObject* getGhostObject();
 
-    bool onGround() const;
     void setUpInterpolate(bool value);
 
-    bool needsShapeUpdate();
-    void updateShape();
+    bool needsRemoval() const;
+    bool needsAddition() const;
+    void setEnabled(bool enabled);
+    void setDynamicsWorld(btDynamicsWorld* world);
+
+    void setLocalBoundingBox(const glm::vec3& corner, const glm::vec3& scale);
+    bool needsShapeUpdate() const;
+    void updateShapeIfNecessary();
 
     void preSimulation(btScalar timeStep);
     void postSimulation();

libraries/physics/src/PhysicsEngine.cpp

@@ -280,12 +280,12 @@ void PhysicsEngine::init(EntityEditPacketSender* packetSender) {
 void PhysicsEngine::stepSimulation() {
     lock();
     // NOTE: the grand order of operations is:
-    // (1) relay incoming changes
+    // (1) pull incoming changes
     // (2) step simulation
     // (3) synchronize outgoing motion states
     // (4) send outgoing packets
 
-    // This is step (1).
+    // This is step (1) pull incoming changes
     relayIncomingChangesToSimulation();
 
     const int MAX_NUM_SUBSTEPS = 4;
@@ -294,16 +294,25 @@ void PhysicsEngine::stepSimulation() {
     _clock.reset();
     float timeStep = btMin(dt, MAX_TIMESTEP);
 
-    // This is step (2).
+    // TODO: move character->preSimulation() into relayIncomingChanges
     if (_characterController) {
+        if (_characterController->needsRemoval()) {
+            _characterController->setDynamicsWorld(NULL);
+        }
+        _characterController->updateShapeIfNecessary();
+        if (_characterController->needsAddition()) {
+            _characterController->setDynamicsWorld(_dynamicsWorld);
+        }
         _characterController->preSimulation(timeStep);
     }
 
+    // This is step (2) step simulation
     int numSubsteps = _dynamicsWorld->stepSimulation(timeStep, MAX_NUM_SUBSTEPS, PHYSICS_ENGINE_FIXED_SUBSTEP);
     _numSubsteps += (uint32_t)numSubsteps;
     stepNonPhysicalKinematics(usecTimestampNow());
     unlock();
 
+    // TODO: make all of this harvest stuff into one function: relayOutgoingChanges()
     if (numSubsteps > 0) {
         // This is step (3) which is done outside of stepSimulation() so we can lock _entityTree.
         //
@@ -598,34 +607,10 @@ bool PhysicsEngine::updateObjectHard(btRigidBody* body, ObjectMotionState* motio
     return true;
 }
 
-void PhysicsEngine::setAvatarData(AvatarData *avatarData) {
-    if (_characterController) {
-        bool needsShapeUpdate = _characterController->needsShapeUpdate();
-        if (needsShapeUpdate) {
-            lock();
-            // remove old info
-            _dynamicsWorld->removeCollisionObject(_characterController->getGhostObject());
-            _dynamicsWorld->removeAction(_characterController);
-            // update shape
-            _characterController->updateShape();
-            // insert new info
-            _dynamicsWorld->addCollisionObject(_characterController->getGhostObject(), 
-                    btBroadphaseProxy::CharacterFilter,
-                    btBroadphaseProxy::StaticFilter | btBroadphaseProxy::DefaultFilter);
-            _dynamicsWorld->addAction(_characterController);
-            _characterController->reset(_dynamicsWorld);
-            unlock();
-        }
-    } else {
-        // initialize _characterController
-        assert(avatarData); // don't pass NULL argument
+void PhysicsEngine::setCharacterController(CharacterController* character) {
+    if (!_characterController) {
         lock();
-        _characterController = new CharacterController(avatarData);
-        _dynamicsWorld->addCollisionObject(_characterController->getGhostObject(), 
-                btBroadphaseProxy::CharacterFilter,
-                btBroadphaseProxy::StaticFilter | btBroadphaseProxy::DefaultFilter);
-        _dynamicsWorld->addAction(_characterController);
-        _characterController->reset(_dynamicsWorld);
+        _characterController = character;
         unlock();
     }
 }

libraries/physics/src/PhysicsEngine.h

@@ -17,9 +17,7 @@
 #include <QSet>
 #include <btBulletDynamicsCommon.h>
 #include <BulletCollision/CollisionDispatch/btGhostObject.h>
-//#include <BulletCollision/CollisionShapes/btCapsuleShape.h>
 
-#include <AvatarData.h>
 #include <EntityItem.h>
 #include <EntitySimulation.h>
 
@@ -86,7 +84,7 @@ public:
     /// process queue of changed from external sources
     void relayIncomingChangesToSimulation();
 
-    void setAvatarData(AvatarData *avatarData);
+    void setCharacterController(CharacterController* character);
 
 private:
     /// \param motionState pointer to Object's MotionState