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EntityMotionState now uses parent-relative position and rotation and velocity when deciding if it needs to send an edit packet to the entity-server

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This commit is contained in:
Seth Alves 2016-06-10 11:49:15 -07:00
parent 5650ef9d52
commit e1ae2a193f
4 changed files with 110 additions and 27 deletions
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41
libraries/physics/src/EntityMotionState.cpp
View file

@ -85,10 +85,10 @@ void EntityMotionState::updateServerPhysicsVariables() {
return;
}
_serverPosition = _entity->getPosition();
_serverRotation = _entity->getRotation();
_serverVelocity = _entity->getVelocity();
_serverAngularVelocity = _entity->getAngularVelocity();
Transform localTransform;
_entity->getLocalTransformAndVelocities(localTransform, _serverVelocity, _serverAngularVelocity);
_serverPosition = localTransform.getTranslation();
_serverRotation = localTransform.getRotation();
_serverAcceleration = _entity->getAcceleration();
_serverActionData = _entity->getActionData();
}
@ -274,11 +274,11 @@ bool EntityMotionState::remoteSimulationOutOfSync(uint32_t simulationStep) {
// if we've never checked before, our _lastStep will be 0, and we need to initialize our state
if (_lastStep == 0) {
btTransform xform = _body->getWorldTransform();
_serverPosition = bulletToGLM(xform.getOrigin());
_serverRotation = bulletToGLM(xform.getRotation());
_serverVelocity = getBodyLinearVelocityGTSigma();
_serverPosition = _entity->worldPositionToParent(bulletToGLM(xform.getOrigin()));
_serverRotation = _entity->worldRotationToParent(bulletToGLM(xform.getRotation()));
_serverVelocity = _entity->worldVelocityToParent(getBodyLinearVelocityGTSigma());
_serverAcceleration = Vectors::ZERO;
_serverAngularVelocity = bulletToGLM(_body->getAngularVelocity());
_serverAngularVelocity = _entity->worldVelocityToParent(bulletToGLM(_body->getAngularVelocity()));
_lastStep = simulationStep;
_serverActionData = _entity->getActionData();
_numInactiveUpdates = 1;
@ -315,9 +315,6 @@ bool EntityMotionState::remoteSimulationOutOfSync(uint32_t simulationStep) {
_lastStep = simulationStep;
if (glm::length2(_serverVelocity) > 0.0f) {
_serverVelocity += _serverAcceleration * dt;
_serverVelocity *= powf(1.0f - _body->getLinearDamping(), dt);
// the entity-server doesn't know where avatars are, so it doesn't do simple extrapolation for children of
// avatars. We are trying to guess what values the entity server has, so we don't do it here, either. See
// related code in EntitySimulation::moveSimpleKinematics.
@ -326,6 +323,9 @@ bool EntityMotionState::remoteSimulationOutOfSync(uint32_t simulationStep) {
bool hasAvatarAncestor = _entity->hasAncestorOfType(NestableType::Avatar);
if (ancestryIsKnown && !hasAvatarAncestor) {
_serverVelocity += _serverAcceleration * dt;
_serverVelocity *= powf(1.0f - _body->getLinearDamping(), dt);
// NOTE: we ignore the second-order acceleration term when integrating
// the position forward because Bullet also does this.
_serverPosition += dt * _serverVelocity;
@ -351,7 +351,7 @@ bool EntityMotionState::remoteSimulationOutOfSync(uint32_t simulationStep) {
// compute position error
btTransform worldTrans = _body->getWorldTransform();
glm::vec3 position = bulletToGLM(worldTrans.getOrigin());
glm::vec3 position = _entity->worldPositionToParent(bulletToGLM(worldTrans.getOrigin()));
float dx2 = glm::distance2(position, _serverPosition);
const float MAX_POSITION_ERROR_SQUARED = 0.000004f; // corresponds to 2mm
@ -386,7 +386,7 @@ bool EntityMotionState::remoteSimulationOutOfSync(uint32_t simulationStep) {
}
}
const float MIN_ROTATION_DOT = 0.99999f; // This corresponds to about 0.5 degrees of rotation
glm::quat actualRotation = bulletToGLM(worldTrans.getRotation());
glm::quat actualRotation = _entity->worldRotationToParent(bulletToGLM(worldTrans.getRotation()));
#ifdef WANT_DEBUG
if ((fabsf(glm::dot(actualRotation, _serverRotation)) < MIN_ROTATION_DOT)) {
@ -491,11 +491,11 @@ void EntityMotionState::sendUpdate(OctreeEditPacketSender* packetSender, uint32_
}
// remember properties for local server prediction
_serverPosition = _entity->getPosition();
_serverRotation = _entity->getRotation();
_serverVelocity = _entity->getVelocity();
Transform localTransform;
_entity->getLocalTransformAndVelocities(localTransform, _serverVelocity, _serverAngularVelocity);
_serverPosition = localTransform.getTranslation();
_serverRotation = localTransform.getRotation();
_serverAcceleration = _entity->getAcceleration();
_serverAngularVelocity = _entity->getAngularVelocity();
_serverActionData = _entity->getActionData();
EntityItemProperties properties;
@ -600,7 +600,7 @@ uint32_t EntityMotionState::getIncomingDirtyFlags() {
if (_body && _entity) {
dirtyFlags = _entity->getDirtyFlags();
if (dirtyFlags | Simulation::DIRTY_SIMULATOR_ID) {
if (dirtyFlags & Simulation::DIRTY_SIMULATOR_ID) {
// when SIMULATOR_ID changes we must check for reinterpretation of asymmetric collision mask
// bits for the avatar groups (e.g. MY_AVATAR vs OTHER_AVATAR)
uint8_t entityCollisionMask = _entity->getCollisionless() ? 0 : _entity->getCollisionMask();
@ -613,8 +613,9 @@ uint32_t EntityMotionState::getIncomingDirtyFlags() {
// we add DIRTY_MOTION_TYPE if the body's motion type disagrees with entity velocity settings
int bodyFlags = _body->getCollisionFlags();
bool isMoving = _entity->isMovingRelativeToParent();
if (((bodyFlags & btCollisionObject::CF_STATIC_OBJECT) && isMoving) ||
(bodyFlags & btCollisionObject::CF_KINEMATIC_OBJECT && !isMoving)) {
if (((bodyFlags & btCollisionObject::CF_STATIC_OBJECT) && isMoving) // ||
// (bodyFlags & btCollisionObject::CF_KINEMATIC_OBJECT && !isMoving)
) {
dirtyFlags |= Simulation::DIRTY_MOTION_TYPE;
}
}

5
libraries/physics/src/PhysicsEngine.cpp
View file

@ -75,6 +75,7 @@ void PhysicsEngine::addObjectToDynamicsWorld(ObjectMotionState* motionState) {
motionState->setMotionType(motionType);
switch(motionType) {
case MOTION_TYPE_KINEMATIC: {
qDebug() << " --> KINEMATIC";
if (!body) {
btCollisionShape* shape = motionState->getShape();
assert(shape);
@ -91,6 +92,8 @@ void PhysicsEngine::addObjectToDynamicsWorld(ObjectMotionState* motionState) {
break;
}
case MOTION_TYPE_DYNAMIC: {
qDebug() << " --> DYNAMIC";
mass = motionState->getMass();
btCollisionShape* shape = motionState->getShape();
assert(shape);
@ -117,6 +120,8 @@ void PhysicsEngine::addObjectToDynamicsWorld(ObjectMotionState* motionState) {
}
case MOTION_TYPE_STATIC:
default: {
qDebug() << " --> STATIC";
if (!body) {
assert(motionState->getShape());
body = new btRigidBody(mass, motionState, motionState->getShape(), inertia);

69
libraries/shared/src/SpatiallyNestable.cpp
View file

@ -174,6 +174,66 @@ glm::vec3 SpatiallyNestable::worldToLocal(const glm::vec3& position,
return result.getTranslation();
}
glm::vec3 SpatiallyNestable::worldPositionToParent(const glm::vec3& position) {
bool success;
glm::vec3 result = SpatiallyNestable::worldToLocal(position, getParentID(), getParentJointIndex(), success);
if (!success) {
qDebug() << "Warning -- worldToLocal failed" << getID();
}
return result;
}
glm::vec3 SpatiallyNestable::worldVelocityToLocal(const glm::vec3& velocity, // can be linear or angular
const QUuid& parentID, int parentJointIndex,
bool& success) {
Transform result;
QSharedPointer<SpatialParentFinder> parentFinder = DependencyManager::get<SpatialParentFinder>();
if (!parentFinder) {
success = false;
return glm::vec3();
}
Transform parentTransform;
auto parentWP = parentFinder->find(parentID, success);
if (!success) {
return glm::vec3();
}
auto parent = parentWP.lock();
if (!parentID.isNull() && !parent) {
success = false;
return glm::vec3();
}
if (parent) {
parentTransform = parent->getTransform(parentJointIndex, success);
if (!success) {
return glm::vec3();
}
parentTransform.setScale(1.0f); // TODO: scale
}
success = true;
parentTransform.setTranslation(glm::vec3(0.0f));
Transform velocityTransform;
velocityTransform.setTranslation(velocity);
Transform myWorldTransform;
Transform::mult(myWorldTransform, parentTransform, velocityTransform);
myWorldTransform.setTranslation(velocity);
Transform::inverseMult(result, parentTransform, myWorldTransform);
return result.getTranslation();
}
glm::vec3 SpatiallyNestable::worldVelocityToParent(const glm::vec3& velocity) {
bool success;
glm::vec3 result = SpatiallyNestable::worldVelocityToLocal(velocity, getParentID(), getParentJointIndex(), success);
if (!success) {
qDebug() << "Warning -- worldVelocityToLocal failed" << getID();
}
return result;
}
glm::quat SpatiallyNestable::worldToLocal(const glm::quat& orientation,
const QUuid& parentID, int parentJointIndex,
bool& success) {
@ -214,6 +274,15 @@ glm::quat SpatiallyNestable::worldToLocal(const glm::quat& orientation,
return result.getRotation();
}
glm::quat SpatiallyNestable::worldRotationToParent(const glm::quat& orientation) {
bool success;
glm::quat result = SpatiallyNestable::worldToLocal(orientation, getParentID(), getParentJointIndex(), success);
if (!success) {
qDebug() << "Warning -- worldToLocal failed" << getID();
}
return result;
}
glm::vec3 SpatiallyNestable::localToWorld(const glm::vec3& position,
const QUuid& parentID, int parentJointIndex,
bool& success) {

22
libraries/shared/src/SpatiallyNestable.h
View file

@ -46,11 +46,17 @@ public:
virtual void setParentJointIndex(quint16 parentJointIndex);
static glm::vec3 worldToLocal(const glm::vec3& position, const QUuid& parentID, int parentJointIndex, bool& success);
static glm::vec3 worldVelocityToLocal(const glm::vec3& position, const QUuid& parentID,
int parentJointIndex, bool& success);
static glm::quat worldToLocal(const glm::quat& orientation, const QUuid& parentID, int parentJointIndex, bool& success);
static glm::vec3 localToWorld(const glm::vec3& position, const QUuid& parentID, int parentJointIndex, bool& success);
static glm::quat localToWorld(const glm::quat& orientation, const QUuid& parentID, int parentJointIndex, bool& success);
glm::vec3 worldPositionToParent(const glm::vec3& position);
glm::vec3 worldVelocityToParent(const glm::vec3& velocity);
glm::quat worldRotationToParent(const glm::quat& orientation);
// world frame
virtual const Transform getTransform(bool& success, int depth = 0) const;
virtual void setTransform(const Transform& transform, bool& success);
@ -144,6 +150,15 @@ public:
bool hasAncestorOfType(NestableType nestableType);
void getLocalTransformAndVelocities(Transform& localTransform,
glm::vec3& localVelocity,
glm::vec3& localAngularVelocity) const;
void setLocalTransformAndVelocities(
const Transform& localTransform,
const glm::vec3& localVelocity,
const glm::vec3& localAngularVelocity);
protected:
const NestableType _nestableType; // EntityItem or an AvatarData
QUuid _id;
@ -151,13 +166,6 @@ protected:
quint16 _parentJointIndex { 0 }; // which joint of the parent is this relative to?
SpatiallyNestablePointer getParentPointer(bool& success) const;
void getLocalTransformAndVelocities(Transform& localTransform, glm::vec3& localVelocity, glm::vec3& localAngularVelocity) const;
void setLocalTransformAndVelocities(
const Transform& localTransform,
const glm::vec3& localVelocity,
const glm::vec3& localAngularVelocity);
mutable SpatiallyNestableWeakPointer _parent;
virtual void beParentOfChild(SpatiallyNestablePointer newChild) const;