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https://github.com/overte-org/overte.git
synced 2025-04-20 11:45:36 +02:00
remove motor from hinge. fix hinge limits
This commit is contained in:
Seth Alves
parent
4c4e0dffcc
commit
e52c94895e
2 changed files with 3 additions and 122 deletions
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@ -49,50 +49,6 @@ QList<btRigidBody*> ObjectConstraintHinge::getRigidBodies() {
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}
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void ObjectConstraintHinge::prepareForPhysicsSimulation() {
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// setting the motor velocity doesn't appear to work for anyone. constantly adjusting the
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// target angle seems to work.
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// https://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?f=9&t=7020
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if (!isMine()) {
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// TODO
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// don't activate motor for someone else's action?
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// maybe don't if this interface isn't the sim owner?
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return;
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}
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uint64_t now = usecTimestampNow();
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withWriteLock([&]{
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btHingeConstraint* constraint = static_cast<btHingeConstraint*>(_constraint);
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if (!constraint) {
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return;
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}
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if (_previousMotorTime == 0) {
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_previousMotorTime = now;
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return;
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}
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if (_motorVelocity != 0.0f) {
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if (_startMotorTime == 0) {
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_startMotorTime = now;
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}
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float dt = (float)(now - _previousMotorTime) / (float)USECS_PER_SECOND;
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float t = (float)(now - _startMotorTime) / (float)USECS_PER_SECOND;
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float motorTarget = _motorVelocity * t;
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if (!_motorEnabled) {
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constraint->enableMotor(true);
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_motorEnabled = true;
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}
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constraint->setMaxMotorImpulse(_maxImpulse);
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constraint->setMotorTarget(motorTarget, dt);
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} else if (_motorTargetTimeScale > 0.0f) {
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// TODO -- we probably want a spring-like action here
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} else if (_motorEnabled) {
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constraint->enableMotor(false);
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_motorEnabled = false;
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_startMotorTime = 0;
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}
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_previousMotorTime = now;
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});
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}
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void ObjectConstraintHinge::updateHinge() {
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@ -103,9 +59,6 @@ void ObjectConstraintHinge::updateHinge() {
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float softness;
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float biasFactor;
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float relaxationFactor;
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float motorVelocity;
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float motorTarget;
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float motorTargetTimeScale;
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float maxImpulse;
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withReadLock([&]{
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@ -116,13 +69,6 @@ void ObjectConstraintHinge::updateHinge() {
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maxImpulse = _maxImpulse;
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biasFactor = _biasFactor;
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relaxationFactor = _relaxationFactor;
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// under the hood, motorTarget sets a veloctiy and must be called repeatedly to maintain
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// a velocity. _motorTargetTimeScale of 0.0f means the target isn't set. motorVelocity is
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// only considered when motorTarget isn't set.
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motorVelocity = _motorVelocity;
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motorTarget = _motorTarget;
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motorTargetTimeScale = _motorTargetTimeScale;
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softness = _softness;
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});
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@ -132,6 +78,7 @@ void ObjectConstraintHinge::updateHinge() {
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auto bulletAxisInA = glmToBullet(axisInA);
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constraint->setAxis(bulletAxisInA);
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constraint->setLimit(low, high, softness, biasFactor, relaxationFactor);
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}
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@ -187,7 +134,7 @@ btTypedConstraint* ObjectConstraintHinge::getConstraint() {
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forceBodyNonStatic();
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activateBody();
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// updateHinge();
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updateHinge();
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return constraint;
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}
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@ -204,10 +151,6 @@ bool ObjectConstraintHinge::updateArguments(QVariantMap arguments) {
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float softness;
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float biasFactor;
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float relaxationFactor;
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float motorVelocity;
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float motorTarget;
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float motorTargetTimeScale;
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float maxImpulse;
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bool needUpdate = false;
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bool somethingChanged = ObjectDynamic::updateArguments(arguments);
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@ -274,34 +217,6 @@ bool ObjectConstraintHinge::updateArguments(QVariantMap arguments) {
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relaxationFactor = _relaxationFactor;
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}
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ok = true;
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motorVelocity = EntityDynamicInterface::extractFloatArgument("hinge constraint", arguments,
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"motorVelocity", ok, false);
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if (!ok) {
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motorVelocity = _motorVelocity;
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}
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ok = true;
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motorTarget = EntityDynamicInterface::extractFloatArgument("hinge constraint", arguments,
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"motorTarget", ok, false);
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if (!ok) {
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motorTarget = _motorTarget;
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}
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ok = true;
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motorTargetTimeScale = EntityDynamicInterface::extractFloatArgument("hinge constraint", arguments,
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"motorTargetTimeScale", ok, false);
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if (!ok) {
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motorTargetTimeScale = _motorTargetTimeScale;
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}
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ok = true;
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maxImpulse = EntityDynamicInterface::extractFloatArgument("hinge constraint", arguments, "maxImpulse", ok, false);
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if (!ok) {
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maxImpulse = _maxImpulse;
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}
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if (somethingChanged ||
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pivotInA != _pivotInA ||
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axisInA != _axisInA ||
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@ -312,11 +227,7 @@ bool ObjectConstraintHinge::updateArguments(QVariantMap arguments) {
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high != _high ||
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softness != _softness ||
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biasFactor != _biasFactor ||
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relaxationFactor != _relaxationFactor ||
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motorVelocity != _motorVelocity ||
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motorTarget != _motorTarget ||
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motorTargetTimeScale != _motorTargetTimeScale ||
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maxImpulse != _maxImpulse) {
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relaxationFactor != _relaxationFactor) {
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// something changed
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needUpdate = true;
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}
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@ -334,10 +245,6 @@ bool ObjectConstraintHinge::updateArguments(QVariantMap arguments) {
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_softness = softness;
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_biasFactor = biasFactor;
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_relaxationFactor = relaxationFactor;
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_motorVelocity = motorVelocity;
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_motorTarget = motorTarget;
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_motorTargetTimeScale = motorTargetTimeScale;
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_maxImpulse = maxImpulse;
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_active = true;
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@ -368,10 +275,6 @@ QVariantMap ObjectConstraintHinge::getArguments() {
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arguments["softness"] = _softness;
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arguments["biasFactor"] = _biasFactor;
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arguments["relaxationFactor"] = _relaxationFactor;
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arguments["motorVelocity"] = _motorVelocity;
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arguments["motorTarget"] = _motorTarget;
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arguments["motorTargetTimeScale"] = _motorTargetTimeScale;
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arguments["maxImpulse"] = _maxImpulse;
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arguments["angle"] = static_cast<btHingeConstraint*>(_constraint)->getHingeAngle(); // [-PI,PI]
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}
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});
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@ -400,11 +303,6 @@ QByteArray ObjectConstraintHinge::serialize() const {
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dataStream << localTimeToServerTime(_expires);
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dataStream << _tag;
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dataStream << _motorVelocity;
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dataStream << _motorTarget;
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dataStream << _motorTargetTimeScale;
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dataStream << _maxImpulse;
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});
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return serializedConstraintArguments;
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@ -446,11 +344,6 @@ void ObjectConstraintHinge::deserialize(QByteArray serializedArguments) {
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dataStream >> _tag;
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dataStream >> _motorVelocity;
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dataStream >> _motorTarget;
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dataStream >> _motorTargetTimeScale;
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dataStream >> _maxImpulse;
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_active = true;
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});
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}
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@ -68,21 +68,9 @@ protected:
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float _maxImpulse { 1.0f };
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float _softness { 0.9f };
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float _biasFactor { 0.3f };
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float _relaxationFactor { 1.0f };
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float _motorVelocity { 0.0f };
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float _motorTarget { 0.0f };
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float _motorTargetTimeScale { 0.0f };
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uint64_t _startMotorTime { 0 };
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uint64_t _previousMotorTime { 0 };
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bool _motorEnabled { false };
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};
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#endif // hifi_ObjectConstraintHinge_h
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