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Merge pull request #9 from AndrewMeadows/motor-action

Browse source 
remove unused parameters from Hinge and ConeTwist constraints
This commit is contained in:
Seth Alves 2017-05-12 13:14:02 -07:00 committed by GitHub
commit f40c7bde71
5 changed files with 28 additions and 127 deletions
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8
libraries/physics/src/ObjectActionMotor.cpp
View file

@ -59,11 +59,9 @@ void ObjectActionMotor::updateActionWorker(btScalar deltaTimeStep) {
if (_angularTimeScale < MAX_MOTOR_TIMESCALE) {
if (!_otherID.isNull()) {
if (other) {
glm::vec3 otherAngularVelocity = other->getAngularVelocity();
rigidBody->setAngularVelocity(glmToBullet(_angularVelocityTarget + otherAngularVelocity));
}
if (other) {
glm::vec3 otherAngularVelocity = other->getAngularVelocity();
rigidBody->setAngularVelocity(glmToBullet(_angularVelocityTarget + otherAngularVelocity));
} else {
rigidBody->setAngularVelocity(glmToBullet(_angularVelocityTarget));
}

62
libraries/physics/src/ObjectConstraintConeTwist.cpp
View file

@ -15,8 +15,8 @@
#include "ObjectConstraintConeTwist.h"
#include "PhysicsLogging.h"
const uint16_t ObjectConstraintConeTwist::constraintVersion = 1;
const uint16_t CONE_TWIST_VERSION_WITH_UNUSED_PAREMETERS = 1;
const uint16_t ObjectConstraintConeTwist::constraintVersion = 2;
const glm::vec3 DEFAULT_CONE_TWIST_AXIS(1.0f, 0.0f, 0.0f);
ObjectConstraintConeTwist::ObjectConstraintConeTwist(const QUuid& id, EntityItemPointer ownerEntity) :
@ -56,18 +56,12 @@ void ObjectConstraintConeTwist::updateConeTwist() {
float swingSpan1;
float swingSpan2;
float twistSpan;
float softness;
float biasFactor;
float relaxationFactor;
withReadLock([&]{
constraint = static_cast<btConeTwistConstraint*>(_constraint);
swingSpan1 = _swingSpan1;
swingSpan2 = _swingSpan2;
twistSpan = _twistSpan;
softness = _softness;
biasFactor = _biasFactor;
relaxationFactor = _relaxationFactor;
});
if (!constraint) {
@ -76,10 +70,7 @@ void ObjectConstraintConeTwist::updateConeTwist() {
constraint->setLimit(swingSpan1,
swingSpan2,
twistSpan,
softness,
biasFactor,
relaxationFactor);
twistSpan);
}
@ -171,9 +162,6 @@ bool ObjectConstraintConeTwist::updateArguments(QVariantMap arguments) {
float swingSpan1;
float swingSpan2;
float twistSpan;
float softness;
float biasFactor;
float relaxationFactor;
bool needUpdate = false;
bool somethingChanged = ObjectDynamic::updateArguments(arguments);
@ -227,25 +215,6 @@ bool ObjectConstraintConeTwist::updateArguments(QVariantMap arguments) {
twistSpan = _twistSpan;
}
ok = true;
softness = EntityDynamicInterface::extractFloatArgument("coneTwist constraint", arguments, "softness", ok, false);
if (!ok) {
softness = _softness;
}
ok = true;
biasFactor = EntityDynamicInterface::extractFloatArgument("coneTwist constraint", arguments, "biasFactor", ok, false);
if (!ok) {
biasFactor = _biasFactor;
}
ok = true;
relaxationFactor =
EntityDynamicInterface::extractFloatArgument("coneTwist constraint", arguments, "relaxationFactor", ok, false);
if (!ok) {
relaxationFactor = _relaxationFactor;
}
if (somethingChanged ||
pivotInA != _pivotInA ||
axisInA != _axisInA ||
@ -254,10 +223,7 @@ bool ObjectConstraintConeTwist::updateArguments(QVariantMap arguments) {
axisInB != _axisInB ||
swingSpan1 != _swingSpan1 ||
swingSpan2 != _swingSpan2 ||
twistSpan != _twistSpan ||
softness != _softness ||
biasFactor != _biasFactor ||
relaxationFactor != _relaxationFactor) {
twistSpan != _twistSpan) {
// something changed
needUpdate = true;
}
@ -273,9 +239,6 @@ bool ObjectConstraintConeTwist::updateArguments(QVariantMap arguments) {
_swingSpan1 = swingSpan1;
_swingSpan2 = swingSpan2;
_twistSpan = twistSpan;
_softness = softness;
_biasFactor = biasFactor;
_relaxationFactor = relaxationFactor;
_active = true;
@ -303,9 +266,6 @@ QVariantMap ObjectConstraintConeTwist::getArguments() {
arguments["swingSpan1"] = _swingSpan1;
arguments["swingSpan2"] = _swingSpan2;
arguments["twistSpan"] = _twistSpan;
arguments["softness"] = _softness;
arguments["biasFactor"] = _biasFactor;
arguments["relaxationFactor"] = _relaxationFactor;
});
return arguments;
}
@ -330,9 +290,6 @@ QByteArray ObjectConstraintConeTwist::serialize() const {
dataStream << _swingSpan1;
dataStream << _swingSpan2;
dataStream << _twistSpan;
dataStream << _softness;
dataStream << _biasFactor;
dataStream << _relaxationFactor;
});
return serializedConstraintArguments;
@ -351,7 +308,7 @@ void ObjectConstraintConeTwist::deserialize(QByteArray serializedArguments) {
uint16_t serializationVersion;
dataStream >> serializationVersion;
if (serializationVersion != ObjectConstraintConeTwist::constraintVersion) {
if (serializationVersion > ObjectConstraintConeTwist::constraintVersion) {
assert(false);
return;
}
@ -370,9 +327,12 @@ void ObjectConstraintConeTwist::deserialize(QByteArray serializedArguments) {
dataStream >> _swingSpan1;
dataStream >> _swingSpan2;
dataStream >> _twistSpan;
dataStream >> _softness;
dataStream >> _biasFactor;
dataStream >> _relaxationFactor;
if (serializationVersion == CONE_TWIST_VERSION_WITH_UNUSED_PAREMETERS) {
float softness, biasFactor, relaxationFactor;
dataStream >> softness;
dataStream >> biasFactor;
dataStream >> relaxationFactor;
}
_active = true;
});

3
libraries/physics/src/ObjectConstraintConeTwist.h
View file

@ -46,9 +46,6 @@ protected:
float _swingSpan1 { TWO_PI };
float _swingSpan2 { TWO_PI };;
float _twistSpan { TWO_PI };;
float _softness { 1.0f };
float _biasFactor {0.3f };
float _relaxationFactor { 1.0f };
};
#endif // hifi_ObjectConstraintConeTwist_h

58
libraries/physics/src/ObjectConstraintHinge.cpp
View file

@ -16,7 +16,8 @@
#include "PhysicsLogging.h"
const uint16_t ObjectConstraintHinge::constraintVersion = 1;
const uint16_t HINGE_VERSION_WITH_UNUSED_PAREMETERS = 1;
const uint16_t ObjectConstraintHinge::constraintVersion = 2;
const glm::vec3 DEFAULT_HINGE_AXIS(1.0f, 0.0f, 0.0f);
ObjectConstraintHinge::ObjectConstraintHinge(const QUuid& id, EntityItemPointer ownerEntity) :
@ -56,25 +57,19 @@ void ObjectConstraintHinge::updateHinge() {
glm::vec3 axisInA;
float low;
float high;
float softness;
float biasFactor;
float relaxationFactor;
withReadLock([&]{
axisInA = _axisInA;
constraint = static_cast<btHingeConstraint*>(_constraint);
low = _low;
high = _high;
biasFactor = _biasFactor;
relaxationFactor = _relaxationFactor;
softness = _softness;
});
if (!constraint) {
return;
}
constraint->setLimit(low, high, softness, biasFactor, relaxationFactor);
constraint->setLimit(low, high);
}
@ -159,9 +154,6 @@ bool ObjectConstraintHinge::updateArguments(QVariantMap arguments) {
glm::vec3 axisInB;
float low;
float high;
float softness;
float biasFactor;
float relaxationFactor;
bool needUpdate = false;
bool somethingChanged = ObjectDynamic::updateArguments(arguments);
@ -209,25 +201,6 @@ bool ObjectConstraintHinge::updateArguments(QVariantMap arguments) {
high = _high;
}
ok = true;
softness = EntityDynamicInterface::extractFloatArgument("hinge constraint", arguments, "softness", ok, false);
if (!ok) {
softness = _softness;
}
ok = true;
biasFactor = EntityDynamicInterface::extractFloatArgument("hinge constraint", arguments, "biasFactor", ok, false);
if (!ok) {
biasFactor = _biasFactor;
}
ok = true;
relaxationFactor = EntityDynamicInterface::extractFloatArgument("hinge constraint", arguments,
"relaxationFactor", ok, false);
if (!ok) {
relaxationFactor = _relaxationFactor;
}
if (somethingChanged ||
pivotInA != _pivotInA ||
axisInA != _axisInA ||
@ -235,10 +208,7 @@ bool ObjectConstraintHinge::updateArguments(QVariantMap arguments) {
pivotInB != _pivotInB ||
axisInB != _axisInB ||
low != _low ||
high != _high ||
softness != _softness ||
biasFactor != _biasFactor ||
relaxationFactor != _relaxationFactor) {
high != _high) {
// something changed
needUpdate = true;
}
@ -253,9 +223,6 @@ bool ObjectConstraintHinge::updateArguments(QVariantMap arguments) {
_axisInB = axisInB;
_low = low;
_high = high;
_softness = softness;
_biasFactor = biasFactor;
_relaxationFactor = relaxationFactor;
_active = true;
@ -282,9 +249,6 @@ QVariantMap ObjectConstraintHinge::getArguments() {
arguments["otherAxis"] = glmToQMap(_axisInB);
arguments["low"] = _low;
arguments["high"] = _high;
arguments["softness"] = _softness;
arguments["biasFactor"] = _biasFactor;
arguments["relaxationFactor"] = _relaxationFactor;
if (_constraint) {
arguments["angle"] = static_cast<btHingeConstraint*>(_constraint)->getHingeAngle(); // [-PI,PI]
} else {
@ -310,9 +274,6 @@ QByteArray ObjectConstraintHinge::serialize() const {
dataStream << _axisInB;
dataStream << _low;
dataStream << _high;
dataStream << _softness;
dataStream << _biasFactor;
dataStream << _relaxationFactor;
dataStream << localTimeToServerTime(_expires);
dataStream << _tag;
@ -334,7 +295,7 @@ void ObjectConstraintHinge::deserialize(QByteArray serializedArguments) {
uint16_t serializationVersion;
dataStream >> serializationVersion;
if (serializationVersion != ObjectConstraintHinge::constraintVersion) {
if (serializationVersion > ObjectConstraintHinge::constraintVersion) {
assert(false);
return;
}
@ -347,9 +308,12 @@ void ObjectConstraintHinge::deserialize(QByteArray serializedArguments) {
dataStream >> _axisInB;
dataStream >> _low;
dataStream >> _high;
dataStream >> _softness;
dataStream >> _biasFactor;
dataStream >> _relaxationFactor;
if (serializationVersion == HINGE_VERSION_WITH_UNUSED_PAREMETERS) {
float softness, biasFactor, relaxationFactor;
dataStream >> softness;
dataStream >> biasFactor;
dataStream >> relaxationFactor;
}
quint64 serverExpires;
dataStream >> serverExpires;

24
libraries/physics/src/ObjectConstraintHinge.h
View file

@ -48,27 +48,9 @@ protected:
// https://gamedev.stackexchange.com/questions/71436/what-are-the-parameters-for-bthingeconstraintsetlimit
//
// softness: a negative measure of the friction that determines how much the hinge rotates for a given force. A high
// softness would make the hinge rotate easily like it's oiled then.
// biasFactor: an offset for the relaxed rotation of the hinge. It won't be right in the middle of the low and high angles
// anymore. 1.0f is the neural value.
// relaxationFactor: a measure of how much force is applied internally to bring the hinge in its central rotation.
// This is right in the middle of the low and high angles. For example, consider a western swing door. After
// walking through it will swing in both directions but at the end it stays right in the middle.
// http://javadoc.jmonkeyengine.org/com/jme3/bullet/joints/HingeJoint.html
//
// _softness - the factor at which the velocity error correction starts operating, i.e. a softness of 0.9 means that
// the vel. corr starts at 90% of the limit range.
// _biasFactor - the magnitude of the position correction. It tells you how strictly the position error (drift) is
// corrected.
// _relaxationFactor - the rate at which velocity errors are corrected. This can be seen as the strength of the
// limits. A low value will make the the limits more spongy.
float _softness { 0.9f };
float _biasFactor { 0.3f };
float _relaxationFactor { 1.0f };
// softness: unused
// biasFactor: unused
// relaxationFactor: unused
};
#endif // hifi_ObjectConstraintHinge_h