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Other avatar detailed collisions on motion state

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This commit is contained in:
luiscuenca 2019-01-08 14:09:13 -07:00
parent 21a4da4d5f
commit f19201fc92
9 changed files with 62 additions and 79 deletions
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13
interface/src/avatar/AvatarManager.cpp
View file

@ -431,12 +431,13 @@ void AvatarManager::buildPhysicsTransaction(PhysicsEngine::Transaction& transact
auto& detailedMotionStates = avatar->getDetailedMotionStates();
if (detailedMotionStates.size() == 0) {
for (int i = 0; i < avatar->getJointCount(); i++) {
avatar->addNewMotionState(avatar, i);
auto dMotionState = avatar->createDetailedMotionStateForJoint(avatar, i);
if (dMotionState) {
detailedMotionStates.push_back(dMotionState);
transaction.objectsToAdd.push_back(dMotionState);
}
}
for (auto& mState : detailedMotionStates) {
transaction.objectsToAdd.push_back(mState);
}
qCDebug(animation) << "Creating " << detailedMotionStates.size() << " detailed motion states from " << avatar->getSessionUUID();
//qCDebug(animation) << "Creating " << detailedMotionStates.size() << " detailed motion states from " << avatar->getSessionUUID();
}
if (avatar->_motionState == nullptr || detailedMotionStates.size() == 0) {
failedShapeBuilds.insert(avatar);
@ -450,7 +451,7 @@ void AvatarManager::buildPhysicsTransaction(PhysicsEngine::Transaction& transact
transaction.objectsToChange.push_back(mState);
}
}
qCDebug(animation) << "Updating " << detailedMotionStates.size() << " detailed motion states from " << avatar->getSessionUUID();
//qCDebug(animation) << "Updating " << detailedMotionStates.size() << " detailed motion states from " << avatar->getSessionUUID();
}
}
_avatarsToChangeInPhysics.swap(failedShapeBuilds);

1
interface/src/avatar/AvatarMotionState.cpp
View file

@ -58,6 +58,7 @@ PhysicsMotionType AvatarMotionState::computePhysicsMotionType() const {
const btCollisionShape* AvatarMotionState::computeNewShape() {
ShapeInfo shapeInfo;
_avatar->computeShapeInfo(shapeInfo);
qDebug() << "Creating new Capsule Shape";
return getShapeManager()->getShape(shapeInfo);
}

65
interface/src/avatar/DetailedMotionState.cpp
View file

@ -20,7 +20,6 @@ DetailedMotionState::DetailedMotionState(OtherAvatarPointer avatar, const btColl
ObjectMotionState(shape), _avatar(avatar), _jointIndex(jointIndex) {
assert(_avatar);
_type = MOTIONSTATE_TYPE_DETAILED;
cacheShapeDiameter();
}
void DetailedMotionState::handleEasyChanges(uint32_t& flags) {
@ -37,6 +36,9 @@ bool DetailedMotionState::handleHardAndEasyChanges(uint32_t& flags, PhysicsEngin
DetailedMotionState::~DetailedMotionState() {
assert(_avatar);
_avatar = nullptr;
if (_shape) {
delete _shape;
}
}
// virtual
@ -57,9 +59,8 @@ PhysicsMotionType DetailedMotionState::computePhysicsMotionType() const {
// virtual and protected
const btCollisionShape* DetailedMotionState::computeNewShape() {
ShapeInfo shapeInfo;
_avatar->computeShapeInfo(shapeInfo);
return getShapeManager()->getShape(shapeInfo);
auto shape = _avatar->createDetailedCollisionShapeForJoint(_jointIndex);
return shape;
}
// virtual
@ -71,37 +72,11 @@ bool DetailedMotionState::isMoving() const {
void DetailedMotionState::getWorldTransform(btTransform& worldTrans) const {
worldTrans.setOrigin(glmToBullet(getObjectPosition()));
worldTrans.setRotation(glmToBullet(getObjectRotation()));
if (_body) {
_body->setLinearVelocity(glmToBullet(getObjectLinearVelocity()));
_body->setAngularVelocity(glmToBullet(getObjectAngularVelocity()));
}
}
// virtual
void DetailedMotionState::setWorldTransform(const btTransform& worldTrans) {
const float SPRING_TIMESCALE = 0.5f;
float tau = PHYSICS_ENGINE_FIXED_SUBSTEP / SPRING_TIMESCALE;
btVector3 currentPosition = worldTrans.getOrigin();
btVector3 offsetToTarget = glmToBullet(getObjectPosition()) - currentPosition;
float distance = offsetToTarget.length();
if ((1.0f - tau) * distance > _diameter) {
// the avatar body is far from its target --> slam position
btTransform newTransform;
newTransform.setOrigin(currentPosition + offsetToTarget);
newTransform.setRotation(glmToBullet(getObjectRotation()));
_body->setWorldTransform(newTransform);
_body->setLinearVelocity(glmToBullet(getObjectLinearVelocity()));
_body->setAngularVelocity(glmToBullet(getObjectAngularVelocity()));
} else {
// the avatar body is near its target --> slam velocity
btVector3 velocity = glmToBullet(getObjectLinearVelocity()) + (1.0f / SPRING_TIMESCALE) * offsetToTarget;
_body->setLinearVelocity(velocity);
_body->setAngularVelocity(glmToBullet(getObjectAngularVelocity()));
// slam its rotation
btTransform newTransform = worldTrans;
newTransform.setRotation(glmToBullet(getObjectRotation()));
_body->setWorldTransform(newTransform);
}
_body->setWorldTransform(worldTrans);
}
// These pure virtual methods must be implemented for each MotionState type
@ -139,20 +114,17 @@ glm::quat DetailedMotionState::getObjectRotation() const {
// virtual
glm::vec3 DetailedMotionState::getObjectLinearVelocity() const {
return _avatar->getWorldVelocity();
return glm::vec3(0.0f);
}
// virtual
glm::vec3 DetailedMotionState::getObjectAngularVelocity() const {
// HACK: avatars use a capusle collision shape and their angularVelocity in the local simulation is unimportant.
// Therefore, as optimization toward support for larger crowds we ignore it and return zero.
//return _avatar->getWorldAngularVelocity();
return glm::vec3(0.0f);
}
// virtual
glm::vec3 DetailedMotionState::getObjectGravity() const {
return _avatar->getAcceleration();
return glm::vec3(0.0f);
}
// virtual
@ -161,7 +133,7 @@ const QUuid DetailedMotionState::getObjectID() const {
}
QString DetailedMotionState::getName() const {
return _avatar->getName();
return _avatar->getName() + "_" + _jointIndex;
}
// virtual
@ -171,26 +143,13 @@ QUuid DetailedMotionState::getSimulatorID() const {
// virtual
void DetailedMotionState::computeCollisionGroupAndMask(int32_t& group, int32_t& mask) const {
group = BULLET_COLLISION_GROUP_OTHER_AVATAR;
group = BULLET_COLLISION_GROUP_DETAILED_AVATAR;
mask = Physics::getDefaultCollisionMask(group);
}
// virtual
float DetailedMotionState::getMass() const {
return _avatar->computeMass();
}
void DetailedMotionState::cacheShapeDiameter() {
if (_shape) {
// shape is capsuleY
btVector3 aabbMin, aabbMax;
btTransform transform;
transform.setIdentity();
_shape->getAabb(transform, aabbMin, aabbMax);
_diameter = (aabbMax - aabbMin).getX();
} else {
_diameter = 0.0f;
}
return 0.0f;
}
void DetailedMotionState::setRigidBody(btRigidBody* body) {
@ -203,5 +162,5 @@ void DetailedMotionState::setRigidBody(btRigidBody* body) {
void DetailedMotionState::setShape(const btCollisionShape* shape) {
ObjectMotionState::setShape(shape);
cacheShapeDiameter();
}

3
interface/src/avatar/DetailedMotionState.h
View file

@ -62,8 +62,6 @@ public:
virtual QString getName() const override;
virtual QUuid getSimulatorID() const override;
void setBoundingBox(const glm::vec3& corner, const glm::vec3& diagonal);
void addDirtyFlags(uint32_t flags) { _dirtyFlags |= flags; }
virtual void computeCollisionGroupAndMask(int32_t& group, int32_t& mask) const override;
@ -76,7 +74,6 @@ public:
protected:
void setRigidBody(btRigidBody* body) override;
void setShape(const btCollisionShape* shape) override;
void cacheShapeDiameter();
// the dtor had been made protected to force the compiler to verify that it is only
// ever called by the Avatar class dtor.

27
interface/src/avatar/OtherAvatar.cpp
View file

@ -117,7 +117,7 @@ int OtherAvatar::parseDataFromBuffer(const QByteArray& buffer) {
return bytesRead;
}
void OtherAvatar::addNewMotionState(std::shared_ptr<OtherAvatar> avatar, int jointIndex) {
btCollisionShape* OtherAvatar::createDetailedCollisionShapeForJoint(int jointIndex) {
if (jointIndex > -1 && jointIndex < _multiSphereShapes.size()) {
auto& data = _multiSphereShapes[jointIndex].getSpheresData();
std::vector<btVector3> positions;
@ -127,15 +127,19 @@ void OtherAvatar::addNewMotionState(std::shared_ptr<OtherAvatar> avatar, int joi
radiuses.push_back(sphere._radius);
}
btCollisionShape* shape = new btMultiSphereShape(positions.data(), radiuses.data(), (int)positions.size());
if (shape) {
DetailedMotionState* motionState = new DetailedMotionState(avatar, shape, jointIndex);
motionState->setMass(computeMass());
assert(_detailedMotionStates.size() == jointIndex);
_detailedMotionStates.push_back(motionState);
} else {
_detailedMotionStates.push_back(nullptr);
}
return shape;
}
return nullptr;
}
DetailedMotionState* OtherAvatar::createDetailedMotionStateForJoint(std::shared_ptr<OtherAvatar> avatar, int jointIndex) {
auto shape = createDetailedCollisionShapeForJoint(jointIndex);
if (shape) {
DetailedMotionState* motionState = new DetailedMotionState(avatar, shape, jointIndex);
motionState->setMass(computeMass());
return motionState;
}
return nullptr;
}
void OtherAvatar::resetDetailedMotionStates() {
@ -162,4 +166,9 @@ void OtherAvatar::rebuildCollisionShape() {
if (_motionState) {
_motionState->addDirtyFlags(Simulation::DIRTY_SHAPE | Simulation::DIRTY_MASS);
}
for (size_t i = 0; i < _detailedMotionStates.size(); i++) {
if (_detailedMotionStates[i]) {
_detailedMotionStates[i]->addDirtyFlags(Simulation::DIRTY_SHAPE | Simulation::DIRTY_MASS);
}
}
}

5
interface/src/avatar/OtherAvatar.h
View file

@ -46,8 +46,9 @@ public:
bool shouldBeInPhysicsSimulation() const;
bool needsPhysicsUpdate() const;
void addNewMotionState(std::shared_ptr<OtherAvatar> avatar, int jointIndex);
const std::vector<DetailedMotionState*>& getDetailedMotionStates() { return _detailedMotionStates; }
btCollisionShape* OtherAvatar::createDetailedCollisionShapeForJoint(int jointIndex);
DetailedMotionState* createDetailedMotionStateForJoint(std::shared_ptr<OtherAvatar> avatar, int jointIndex);
std::vector<DetailedMotionState*>& getDetailedMotionStates() { return _detailedMotionStates; }
void resetDetailedMotionStates();
friend AvatarManager;

18
libraries/physics/src/ObjectMotionState.cpp
View file

@ -195,10 +195,14 @@ void ObjectMotionState::setRigidBody(btRigidBody* body) {
void ObjectMotionState::setShape(const btCollisionShape* shape) {
if (_shape != shape) {
if (_shape) {
getShapeManager()->releaseShape(_shape);
if (_type == MOTIONSTATE_TYPE_DETAILED) {
delete _shape;
} else {
getShapeManager()->releaseShape(_shape);
}
}
_shape = shape;
if (_body) {
if (_body && _type != MOTIONSTATE_TYPE_DETAILED) {
updateCCDConfiguration();
}
}
@ -292,7 +296,7 @@ bool ObjectMotionState::handleHardAndEasyChanges(uint32_t& flags, PhysicsEngine*
if (!isReadyToComputeShape()) {
return false;
}
const btCollisionShape* newShape = _type != MOTIONSTATE_TYPE_DETAILED ? computeNewShape() : nullptr;
const btCollisionShape* newShape = computeNewShape();
if (!newShape) {
qCDebug(physics) << "Warning: failed to generate new shape!";
// failed to generate new shape! --> keep old shape and remove shape-change flag
@ -309,8 +313,12 @@ bool ObjectMotionState::handleHardAndEasyChanges(uint32_t& flags, PhysicsEngine*
if (_shape == newShape) {
// the shape didn't actually change, so we clear the DIRTY_SHAPE flag
flags &= ~Simulation::DIRTY_SHAPE;
// and clear the reference we just created
getShapeManager()->releaseShape(_shape);
if (_type == MOTIONSTATE_TYPE_DETAILED) {
delete _shape;
} else {
// and clear the reference we just created
getShapeManager()->releaseShape(_shape);
}
} else {
_body->setCollisionShape(const_cast<btCollisionShape*>(newShape));
setShape(newShape);

5
libraries/shared/src/PhysicsCollisionGroups.h
View file

@ -39,6 +39,8 @@ const int32_t BULLET_COLLISION_GROUP_DYNAMIC = 1 << 1;
const int32_t BULLET_COLLISION_GROUP_KINEMATIC = 1 << 2;
const int32_t BULLET_COLLISION_GROUP_MY_AVATAR = 1 << 3;
const int32_t BULLET_COLLISION_GROUP_OTHER_AVATAR = 1 << 4;
const int32_t BULLET_COLLISION_GROUP_DETAILED_AVATAR = 1 << 5;
const int32_t BULLET_COLLISION_GROUP_DETAILED_RAY = 1 << 6;
// ...
const int32_t BULLET_COLLISION_GROUP_COLLISIONLESS = 1 << 31;
@ -64,7 +66,8 @@ const int32_t BULLET_COLLISION_MASK_MY_AVATAR = ~(BULLET_COLLISION_GROUP_COLLISI
// to move its avatar around correctly and to communicate its motion through the avatar-mixer.
// Therefore, they only need to collide against things that can be affected by their motion: dynamic and MyAvatar
const int32_t BULLET_COLLISION_MASK_OTHER_AVATAR = BULLET_COLLISION_GROUP_DYNAMIC | BULLET_COLLISION_GROUP_MY_AVATAR;
const int32_t BULLET_COLLISION_MASK_DETAILED_AVATAR = BULLET_COLLISION_GROUP_DETAILED_RAY;
const int32_t BULLET_COLLISION_MASK_DETAILED_RAY = BULLET_COLLISION_GROUP_DETAILED_AVATAR;
// COLLISIONLESS gets an empty mask.
const int32_t BULLET_COLLISION_MASK_COLLISIONLESS = 0;

4
libraries/shared/src/PhysicsHelpers.cpp
View file

@ -78,6 +78,10 @@ int32_t Physics::getDefaultCollisionMask(int32_t group) {
return BULLET_COLLISION_MASK_MY_AVATAR;
case BULLET_COLLISION_GROUP_OTHER_AVATAR:
return BULLET_COLLISION_MASK_OTHER_AVATAR;
case BULLET_COLLISION_GROUP_DETAILED_AVATAR:
return BULLET_COLLISION_MASK_DETAILED_AVATAR;
case BULLET_COLLISION_GROUP_DETAILED_RAY:
return BULLET_COLLISION_MASK_DETAILED_RAY;
default:
break;
};