Merge pull request #9 from AndrewMeadows/motor-action

remove unused parameters from Hinge and ConeTwist constraints

libraries/physics/src/ObjectActionMotor.cpp

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

libraries/physics/src/ObjectConstraintConeTwist.cpp

@@ -15,8 +15,8 @@
 #include "ObjectConstraintConeTwist.h"
 #include "PhysicsLogging.h"
 
-
+const uint16_t CONE_TWIST_VERSION_WITH_UNUSED_PAREMETERS = 1;
-const uint16_t ObjectConstraintConeTwist::constraintVersion = 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,
+                         twistSpan);
-                         softness,
-                         biasFactor,
-                         relaxationFactor);
 }
 
 
@@ -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 ||
+            twistSpan != _twistSpan) {
-            softness != _softness ||
-            biasFactor != _biasFactor ||
-            relaxationFactor != _relaxationFactor) {
             // 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;
+        if (serializationVersion == CONE_TWIST_VERSION_WITH_UNUSED_PAREMETERS) {
-        dataStream >> _biasFactor;
+            float softness, biasFactor, relaxationFactor;
-        dataStream >> _relaxationFactor;
+            dataStream >> softness;
+            dataStream >> biasFactor;
+            dataStream >> relaxationFactor;
+        }
 
         _active = true;
     });

libraries/physics/src/ObjectConstraintConeTwist.h

@@ -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

libraries/physics/src/ObjectConstraintHinge.cpp

@@ -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 ||
+            high != _high) {
-            softness != _softness ||
-            biasFactor != _biasFactor ||
-            relaxationFactor != _relaxationFactor) {
             // 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;
+        if (serializationVersion == HINGE_VERSION_WITH_UNUSED_PAREMETERS) {
-        dataStream >> _biasFactor;
+            float softness, biasFactor, relaxationFactor;
-        dataStream >> _relaxationFactor;
+            dataStream >> softness;
+            dataStream >> biasFactor;
+            dataStream >> relaxationFactor;
+        }
 
         quint64 serverExpires;
         dataStream >> serverExpires;

libraries/physics/src/ObjectConstraintHinge.h

@@ -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: unused
-    //           softness would make the hinge rotate easily like it's oiled then.
+    // biasFactor: unused
-    // biasFactor: an offset for the relaxed rotation of the hinge. It won't be right in the middle of the low and high angles
+    // relaxationFactor: unused
-    //           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 };
 };
 
 #endif // hifi_ObjectConstraintHinge_h