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try to make code that converts bullet-calculated values to parent-frame values more effecient

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This commit is contained in:
Seth Alves 2016-06-13 14:26:41 -07:00
parent 998a5594c0
commit eba518cb65
3 changed files with 17 additions and 67 deletions
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53
libraries/physics/src/EntityMotionState.cpp
View file

@ -271,44 +271,25 @@ bool EntityMotionState::isCandidateForOwnership() const {
bool EntityMotionState::remoteSimulationOutOfSync(uint32_t simulationStep) { bool EntityMotionState::remoteSimulationOutOfSync(uint32_t simulationStep) {
// NOTE: we only get here if we think we own the simulation // NOTE: we only get here if we think we own the simulation
assert(_body); assert(_body);
bool parentTransformSuccess;
Transform localToWorld = _entity->getParentTransform(parentTransformSuccess);
Transform worldToLocal;
Transform worldVelocityToLocal;
if (parentTransformSuccess) {
localToWorld.evalInverse(worldToLocal);
worldVelocityToLocal = worldToLocal;
worldVelocityToLocal.setTranslation(glm::vec3(0.0f));
}
// if we've never checked before, our _lastStep will be 0, and we need to initialize our state // if we've never checked before, our _lastStep will be 0, and we need to initialize our state
if (_lastStep == 0) { if (_lastStep == 0) {
btTransform xform = _body->getWorldTransform(); btTransform xform = _body->getWorldTransform();
_serverPosition = worldToLocal.transform(bulletToGLM(xform.getOrigin()));
// _serverPosition = _entity->worldPositionToParent(bulletToGLM(xform.getOrigin())); _serverRotation = worldToLocal.getRotation() * bulletToGLM(xform.getRotation());
// _serverRotation = _entity->worldRotationToParent(bulletToGLM(xform.getRotation())); _serverVelocity = worldVelocityToLocal.transform(getBodyLinearVelocityGTSigma());
// _serverVelocity = _entity->worldVelocityToParent(getBodyLinearVelocityGTSigma());
_serverPosition = bulletToGLM(xform.getOrigin());
_serverRotation = bulletToGLM(xform.getRotation());
_serverVelocity = getBodyLinearVelocityGTSigma();
bool success;
Transform parentTransform = _entity->getParentTransform(success);
if (success) {
Transform bodyTransform;
bodyTransform.setTranslation(_serverPosition);
bodyTransform.setRotation(_serverRotation);
Transform result;
Transform::inverseMult(result, parentTransform, bodyTransform);
_serverPosition = result.getTranslation();
_serverRotation = result.getRotation();
// transform velocity into parent-frame
parentTransform.setTranslation(glm::vec3(0.0f));
Transform velocityTransform;
velocityTransform.setTranslation(_serverVelocity);
Transform myWorldTransform;
Transform::mult(myWorldTransform, parentTransform, velocityTransform);
myWorldTransform.setTranslation(_serverVelocity);
Transform::inverseMult(result, parentTransform, myWorldTransform);
_serverVelocity = result.getTranslation();
}
_serverAcceleration = Vectors::ZERO; _serverAcceleration = Vectors::ZERO;
_serverAngularVelocity = _entity->worldVelocityToParent(bulletToGLM(_body->getAngularVelocity())); _serverAngularVelocity = worldVelocityToLocal.transform(bulletToGLM(_body->getAngularVelocity()));
_lastStep = simulationStep; _lastStep = simulationStep;
_serverActionData = _entity->getActionData(); _serverActionData = _entity->getActionData();
_numInactiveUpdates = 1; _numInactiveUpdates = 1;
@ -381,7 +362,7 @@ bool EntityMotionState::remoteSimulationOutOfSync(uint32_t simulationStep) {
// compute position error // compute position error
btTransform worldTrans = _body->getWorldTransform(); btTransform worldTrans = _body->getWorldTransform();
glm::vec3 position = _entity->worldPositionToParent(bulletToGLM(worldTrans.getOrigin())); glm::vec3 position = worldToLocal.transform(bulletToGLM(worldTrans.getOrigin()));
float dx2 = glm::distance2(position, _serverPosition); float dx2 = glm::distance2(position, _serverPosition);
const float MAX_POSITION_ERROR_SQUARED = 0.000004f; // corresponds to 2mm const float MAX_POSITION_ERROR_SQUARED = 0.000004f; // corresponds to 2mm
@ -416,7 +397,7 @@ bool EntityMotionState::remoteSimulationOutOfSync(uint32_t simulationStep) {
} }
} }
const float MIN_ROTATION_DOT = 0.99999f; // This corresponds to about 0.5 degrees of rotation const float MIN_ROTATION_DOT = 0.99999f; // This corresponds to about 0.5 degrees of rotation
glm::quat actualRotation = _entity->worldRotationToParent(bulletToGLM(worldTrans.getRotation())); glm::quat actualRotation = worldToLocal.getRotation() * bulletToGLM(worldTrans.getRotation());
#ifdef WANT_DEBUG #ifdef WANT_DEBUG
if ((fabsf(glm::dot(actualRotation, _serverRotation)) < MIN_ROTATION_DOT)) { if ((fabsf(glm::dot(actualRotation, _serverRotation)) < MIN_ROTATION_DOT)) {

27
libraries/shared/src/SpatiallyNestable.cpp
View file

@ -174,15 +174,6 @@ glm::vec3 SpatiallyNestable::worldToLocal(const glm::vec3& position,
return result.getTranslation(); 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 glm::vec3 SpatiallyNestable::worldVelocityToLocal(const glm::vec3& velocity, // can be linear or angular
const QUuid& parentID, int parentJointIndex, const QUuid& parentID, int parentJointIndex,
bool& success) { bool& success) {
@ -225,15 +216,6 @@ glm::vec3 SpatiallyNestable::worldVelocityToLocal(const glm::vec3& velocity, //
return result.getTranslation(); 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, glm::quat SpatiallyNestable::worldToLocal(const glm::quat& orientation,
const QUuid& parentID, int parentJointIndex, const QUuid& parentID, int parentJointIndex,
bool& success) { bool& success) {
@ -274,15 +256,6 @@ glm::quat SpatiallyNestable::worldToLocal(const glm::quat& orientation,
return result.getRotation(); 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, glm::vec3 SpatiallyNestable::localToWorld(const glm::vec3& position,
const QUuid& parentID, int parentJointIndex, const QUuid& parentID, int parentJointIndex,
bool& success) { bool& success) {

4
libraries/shared/src/SpatiallyNestable.h
View file

@ -53,10 +53,6 @@ public:
static glm::vec3 localToWorld(const glm::vec3& position, 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); 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 // world frame
virtual const Transform getTransform(bool& success, int depth = 0) const; virtual const Transform getTransform(bool& success, int depth = 0) const;
virtual void setTransform(const Transform& transform, bool& success); virtual void setTransform(const Transform& transform, bool& success);