//// ObjectActionTractor.cpp// libraries/physics/src//// Created by Seth Alves 2015-5-8// Copyright 2017 High Fidelity, Inc.//// Distributed under the Apache License, Version 2.0.// See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html// #include "ObjectActionTractor.h" #include <EntityItem.h>#include <QVariantGLM.h> #include "PhysicsLogging.h" const float TRACTOR_MAX_SPEED = 10.0f;const float MAX_TRACTOR_TIMESCALE = 600.0f; // 10 min is a long time const uint16_t ObjectActionTractor::tractorVersion = 1; ObjectActionTractor::ObjectActionTractor(const QUuid& id, EntityItemPointer ownerEntity) : ObjectAction(DYNAMIC_TYPE_TRACTOR, id, ownerEntity), _positionalTarget(0.0f), _desiredPositionalTarget(0.0f), _linearTimeScale(FLT_MAX), _positionalTargetSet(false), _rotationalTarget(), _desiredRotationalTarget(), _angularTimeScale(FLT_MAX), _rotationalTargetSet(true), _linearVelocityTarget(0.0f){#if WANT_DEBUG qCDebug(physics) << "ObjectActionTractor::ObjectActionTractor";#endif} ObjectActionTractor::~ObjectActionTractor() {#if WANT_DEBUG qCDebug(physics) << "ObjectActionTractor::~ObjectActionTractor";#endif} bool ObjectActionTractor::getTarget(float deltaTimeStep, glm::quat& rotation, glm::vec3& position, glm::vec3& linearVelocity, glm::vec3& angularVelocity, float& linearTimeScale, float& angularTimeScale) { SpatiallyNestablePointer other = getOther(); return resultWithReadLock<bool>([&]{ linearTimeScale = _linearTimeScale; angularTimeScale = _angularTimeScale; if (!_otherID.isNull()) { bool otherIsReady { true }; if (other && other->getNestableType() == NestableType::Entity) { EntityItemPointer otherEntity = std::static_pointer_cast<EntityItem>(other); otherIsReady = otherEntity->isReadyToComputeShape(); } if (other && otherIsReady) { bool success; glm::vec3 otherWorldPosition = other->getJointWorldPosition(_otherJointIndex, success); if (!success) { linearTimeScale = FLT_MAX; angularTimeScale = FLT_MAX; return false; } glm::quat otherWorldOrientation = other->getWorldOrientation(_otherJointIndex, success); if (!success) { linearTimeScale = FLT_MAX; angularTimeScale = FLT_MAX; return false; } rotation = otherWorldOrientation * _desiredRotationalTarget; position = otherWorldOrientation * _desiredPositionalTarget + otherWorldPosition; } else { // we should have an "other" but can't find it, or its collision shape isn't loaded, // so disable the tractor. linearTimeScale = FLT_MAX; angularTimeScale = FLT_MAX; return false; } } else { rotation = _desiredRotationalTarget; position = _desiredPositionalTarget; } linearVelocity = glm::vec3(); angularVelocity = glm::vec3(); return true; });} bool ObjectActionTractor::prepareForTractorUpdate(btScalar deltaTimeStep) { auto ownerEntity = _ownerEntity.lock(); if (!ownerEntity) { return false; } bool doLinearTraction = _positionalTargetSet && (_linearTimeScale < MAX_TRACTOR_TIMESCALE); bool doAngularTraction = _rotationalTargetSet && (_angularTimeScale < MAX_TRACTOR_TIMESCALE); if (!doLinearTraction && !doAngularTraction) { // nothing to do return false; } glm::quat rotation; glm::vec3 position; glm::vec3 angularVelocity; int linearTractorCount = 0; int angularTractorCount = 0; QList<EntityDynamicPointer> tractorDerivedActions; tractorDerivedActions.append(ownerEntity->getActionsOfType(DYNAMIC_TYPE_TRACTOR)); tractorDerivedActions.append(ownerEntity->getActionsOfType(DYNAMIC_TYPE_FAR_GRAB)); tractorDerivedActions.append(ownerEntity->getActionsOfType(DYNAMIC_TYPE_HOLD)); foreach (EntityDynamicPointer action, tractorDerivedActions) { std::shared_ptr<ObjectActionTractor> tractorAction = std::static_pointer_cast<ObjectActionTractor>(action); glm::quat rotationForAction; glm::vec3 positionForAction; glm::vec3 linearVelocityForAction; glm::vec3 angularVelocityForAction; float linearTimeScale; float angularTimeScale; bool success = tractorAction->getTarget(deltaTimeStep, rotationForAction, positionForAction, linearVelocityForAction, angularVelocityForAction, linearTimeScale, angularTimeScale); if (success) { if (angularTimeScale < MAX_TRACTOR_TIMESCALE) { angularTractorCount++; angularVelocity += angularVelocityForAction; if (tractorAction.get() == this) { // only use the rotation for this action rotation = rotationForAction; } } if (linearTimeScale < MAX_TRACTOR_TIMESCALE) { linearTractorCount++; position += positionForAction; } } else { return false; // we don't have both entities loaded, so don't do anything } } if (angularTractorCount > 0 || linearTractorCount > 0) { withWriteLock([&]{ if (doLinearTraction && linearTractorCount > 0) { position /= linearTractorCount; _lastPositionTarget = _positionalTarget; _positionalTarget = position; if (deltaTimeStep > EPSILON) { if (_havePositionTargetHistory) { // blend the new velocity with the old (low-pass filter) glm::vec3 newVelocity = (1.0f / deltaTimeStep) * (_positionalTarget - _lastPositionTarget); const float blend = 0.25f; _linearVelocityTarget = (1.0f - blend) * _linearVelocityTarget + blend * newVelocity; } else { _havePositionTargetHistory = true; } } _active = true; } if (doAngularTraction && angularTractorCount > 0) { angularVelocity /= angularTractorCount; _rotationalTarget = rotation; _angularVelocityTarget = angularVelocity; _active = true; } }); } return true;} void ObjectActionTractor::updateActionWorker(btScalar deltaTimeStep) { if (!prepareForTractorUpdate(deltaTimeStep)) { return; } withReadLock([&]{ auto ownerEntity = _ownerEntity.lock(); if (!ownerEntity) { return; } void* physicsInfo = ownerEntity->getPhysicsInfo(); if (!physicsInfo) { return; } ObjectMotionState* motionState = static_cast<ObjectMotionState*>(physicsInfo); btRigidBody* rigidBody = motionState->getRigidBody(); if (!rigidBody) { qCDebug(physics) << "ObjectActionTractor::updateActionWorker no rigidBody"; return; } if (_linearTimeScale < MAX_TRACTOR_TIMESCALE) { btVector3 offsetVelocity(0.0f, 0.0f, 0.0f); btVector3 offset = rigidBody->getCenterOfMassPosition() - glmToBullet(_positionalTarget); float offsetLength = offset.length(); if (offsetLength > FLT_EPSILON) { float speed = glm::min(offsetLength / _linearTimeScale, TRACTOR_MAX_SPEED); offsetVelocity = (-speed / offsetLength) * offset; if (speed > rigidBody->getLinearSleepingThreshold()) { forceBodyNonStatic(); rigidBody->activate(); } } // this action is aggresively critically damped and defeats the current velocity rigidBody->setLinearVelocity(glmToBullet(_linearVelocityTarget) + offsetVelocity); } if (_angularTimeScale < MAX_TRACTOR_TIMESCALE) { btVector3 targetVelocity(0.0f, 0.0f, 0.0f); btQuaternion bodyRotation = rigidBody->getOrientation(); auto alignmentDot = bodyRotation.dot(glmToBullet(_rotationalTarget)); const float ALMOST_ONE = 0.99999f; if (glm::abs(alignmentDot) < ALMOST_ONE) { btQuaternion target = glmToBullet(_rotationalTarget); if (alignmentDot < 0.0f) { target = -target; } // if dQ is the incremental rotation that gets an object from Q0 to Q1 then: // // Q1 = dQ * Q0 // // solving for dQ gives: // // dQ = Q1 * Q0^ btQuaternion deltaQ = target * bodyRotation.inverse(); float speed = deltaQ.getAngle() / _angularTimeScale; targetVelocity = speed * deltaQ.getAxis(); if (speed > rigidBody->getAngularSleepingThreshold()) { rigidBody->activate(); } } // this action is aggresively critically damped and defeats the current velocity rigidBody->setAngularVelocity(targetVelocity); } });} const float MIN_TIMESCALE = 0.1f; bool ObjectActionTractor::updateArguments(QVariantMap arguments) { glm::vec3 positionalTarget; float linearTimeScale; glm::quat rotationalTarget; float angularTimeScale; QUuid otherID; int otherJointIndex; bool needUpdate = false; bool somethingChanged = ObjectDynamic::updateArguments(arguments); withReadLock([&]{ // targets are required, tractor-constants are optional bool ok = true; positionalTarget = EntityDynamicInterface::extractVec3Argument("tractor action", arguments, "targetPosition", ok, false); if (ok) { _positionalTargetSet = true; } else { positionalTarget = _desiredPositionalTarget; } ok = true; linearTimeScale = EntityDynamicInterface::extractFloatArgument("tractor action", arguments, "linearTimeScale", ok, false); if (!ok || linearTimeScale <= 0.0f) { linearTimeScale = _linearTimeScale; } ok = true; rotationalTarget = EntityDynamicInterface::extractQuatArgument("tractor action", arguments, "targetRotation", ok, false); if (ok) { _rotationalTargetSet = true; } else { rotationalTarget = _desiredRotationalTarget; } ok = true; angularTimeScale = EntityDynamicInterface::extractFloatArgument("tractor action", arguments, "angularTimeScale", ok, false); if (!ok) { angularTimeScale = _angularTimeScale; } ok = true; otherID = QUuid(EntityDynamicInterface::extractStringArgument("tractor action", arguments, "otherID", ok, false)); if (!ok) { otherID = _otherID; } ok = true; otherJointIndex = EntityDynamicInterface::extractIntegerArgument("tractor action", arguments, "otherJointIndex", ok, false); if (!ok) { otherJointIndex = _otherJointIndex; } if (somethingChanged || positionalTarget != _desiredPositionalTarget || linearTimeScale != _linearTimeScale || rotationalTarget != _desiredRotationalTarget || angularTimeScale != _angularTimeScale || otherID != _otherID || otherJointIndex != _otherJointIndex) { // something changed needUpdate = true; } }); if (needUpdate) { withWriteLock([&] { _desiredPositionalTarget = positionalTarget; _linearTimeScale = glm::max(MIN_TIMESCALE, glm::abs(linearTimeScale)); _desiredRotationalTarget = rotationalTarget; _angularTimeScale = glm::max(MIN_TIMESCALE, glm::abs(angularTimeScale)); _otherID = otherID; _otherJointIndex = otherJointIndex; _active = true; auto ownerEntity = _ownerEntity.lock(); if (ownerEntity) { ownerEntity->setDynamicDataDirty(true); ownerEntity->setDynamicDataNeedsTransmit(true); } }); activateBody(); } return true;} /*@jsdoc * The <code>"tractor"</code> {@link Entities.ActionType|ActionType} moves and rotates an entity to a target position and * orientation, optionally relative to another entity. * It has arguments in addition to the common {@link Entities.ActionArguments|ActionArguments}: * * @typedef {object} Entities.ActionArguments-Tractor * @property {Uuid} otherID=null - If an entity ID, the <code>targetPosition</code> and <code>targetRotation</code> are * relative to the entity's position and rotation. * @property {Uuid} otherJointIndex=null - If a joint index in the <code>otherID</code> entity, the <code>targetPosition</code> * and <code>targetRotation</code> are relative to the entity joint's position and rotation. * @property {Vec3} targetPosition=0,0,0 - The target position. * @property {Quat} targetRotation=0,0,0,1 - The target rotation. * @property {number} linearTimeScale=3.4e+38 - Controls how long it takes for the entity's position to catch up with the * target position. The value is the time for the action to catch up to 1/e = 0.368 of the target value, where the action * is applied using an exponential decay. * @property {number} angularTimeScale=3.4e+38 - Controls how long it takes for the entity's orientation to catch up with the * target orientation. The value is the time for the action to catch up to 1/e = 0.368 of the target value, where the * action is applied using an exponential decay. */QVariantMap ObjectActionTractor::getArguments() { QVariantMap arguments = ObjectDynamic::getArguments(); withReadLock([&] { arguments["linearTimeScale"] = _linearTimeScale; arguments["targetPosition"] = vec3ToQMap(_desiredPositionalTarget); arguments["targetRotation"] = quatToQMap(_desiredRotationalTarget); arguments["angularTimeScale"] = _angularTimeScale; arguments["otherID"] = _otherID; arguments["otherJointIndex"] = _otherJointIndex; }); return arguments;} void ObjectActionTractor::serializeParameters(QDataStream& dataStream) const { withReadLock([&] { dataStream << _desiredPositionalTarget; dataStream << _linearTimeScale; dataStream << _positionalTargetSet; dataStream << _desiredRotationalTarget; dataStream << _angularTimeScale; dataStream << _rotationalTargetSet; dataStream << localTimeToServerTime(_expires); dataStream << _tag; dataStream << _otherID; dataStream << _otherJointIndex; });} QByteArray ObjectActionTractor::serialize() const { QByteArray serializedActionArguments; QDataStream dataStream(&serializedActionArguments, QIODevice::WriteOnly); dataStream << DYNAMIC_TYPE_TRACTOR; dataStream << getID(); dataStream << ObjectActionTractor::tractorVersion; serializeParameters(dataStream); return serializedActionArguments;} void ObjectActionTractor::deserializeParameters(QByteArray serializedArguments, QDataStream& dataStream) { withWriteLock([&] { dataStream >> _desiredPositionalTarget; dataStream >> _linearTimeScale; dataStream >> _positionalTargetSet; dataStream >> _desiredRotationalTarget; dataStream >> _angularTimeScale; dataStream >> _rotationalTargetSet; quint64 serverExpires; dataStream >> serverExpires; _expires = serverTimeToLocalTime(serverExpires); dataStream >> _tag; dataStream >> _otherID; dataStream >> _otherJointIndex; _active = true; });} void ObjectActionTractor::deserialize(QByteArray serializedArguments) { QDataStream dataStream(serializedArguments); EntityDynamicType type; dataStream >> type; assert(type == getType() || type == DYNAMIC_TYPE_SPRING); QUuid id; dataStream >> id; assert(id == getID()); uint16_t serializationVersion; dataStream >> serializationVersion; if (serializationVersion != ObjectActionTractor::tractorVersion) { assert(false); return; } deserializeParameters(serializedArguments, dataStream);}
//
// ObjectActionTractor.cpp
// libraries/physics/src
//
// Created by Seth Alves 2015-5-8
// Copyright 2017 High Fidelity, Inc.
//
// Distributed under the Apache License, Version 2.0.
// See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
//
#include "ObjectActionTractor.h"
#include <EntityItem.h>
#include <QVariantGLM.h>
#include "PhysicsLogging.h"
const float TRACTOR_MAX_SPEED = 10.0f;
const float MAX_TRACTOR_TIMESCALE = 600.0f; // 10 min is a long time
const uint16_t ObjectActionTractor::tractorVersion = 1;
ObjectActionTractor::ObjectActionTractor(const QUuid& id, EntityItemPointer ownerEntity) :
ObjectAction(DYNAMIC_TYPE_TRACTOR, id, ownerEntity),
_positionalTarget(0.0f),
_desiredPositionalTarget(0.0f),
_linearTimeScale(FLT_MAX),
_positionalTargetSet(false),
_rotationalTarget(),
_desiredRotationalTarget(),
_angularTimeScale(FLT_MAX),
_rotationalTargetSet(true),
_linearVelocityTarget(0.0f)
{
#if WANT_DEBUG
qCDebug(physics) << "ObjectActionTractor::ObjectActionTractor";
#endif
}
ObjectActionTractor::~ObjectActionTractor() {
#if WANT_DEBUG
qCDebug(physics) << "ObjectActionTractor::~ObjectActionTractor";
#endif
}
bool ObjectActionTractor::getTarget(float deltaTimeStep, glm::quat& rotation, glm::vec3& position,
glm::vec3& linearVelocity, glm::vec3& angularVelocity,
float& linearTimeScale, float& angularTimeScale) {
SpatiallyNestablePointer other = getOther();
return resultWithReadLock<bool>([&]{
linearTimeScale = _linearTimeScale;
angularTimeScale = _angularTimeScale;
if (!_otherID.isNull()) {
bool otherIsReady { true };
if (other && other->getNestableType() == NestableType::Entity) {
EntityItemPointer otherEntity = std::static_pointer_cast<EntityItem>(other);
otherIsReady = otherEntity->isReadyToComputeShape();
}
if (other && otherIsReady) {
bool success;
glm::vec3 otherWorldPosition = other->getJointWorldPosition(_otherJointIndex, success);
if (!success) {
linearTimeScale = FLT_MAX;
angularTimeScale = FLT_MAX;
return false;
}
glm::quat otherWorldOrientation = other->getWorldOrientation(_otherJointIndex, success);
if (!success) {
linearTimeScale = FLT_MAX;
angularTimeScale = FLT_MAX;
return false;
}
rotation = otherWorldOrientation * _desiredRotationalTarget;
position = otherWorldOrientation * _desiredPositionalTarget + otherWorldPosition;
} else {
// we should have an "other" but can't find it, or its collision shape isn't loaded,
// so disable the tractor.
linearTimeScale = FLT_MAX;
angularTimeScale = FLT_MAX;
return false;
}
} else {
rotation = _desiredRotationalTarget;
position = _desiredPositionalTarget;
}
linearVelocity = glm::vec3();
angularVelocity = glm::vec3();
return true;
});
}
bool ObjectActionTractor::prepareForTractorUpdate(btScalar deltaTimeStep) {
auto ownerEntity = _ownerEntity.lock();
if (!ownerEntity) {
return false;
}
bool doLinearTraction = _positionalTargetSet && (_linearTimeScale < MAX_TRACTOR_TIMESCALE);
bool doAngularTraction = _rotationalTargetSet && (_angularTimeScale < MAX_TRACTOR_TIMESCALE);
if (!doLinearTraction && !doAngularTraction) {
// nothing to do
return false;
}
glm::quat rotation;
glm::vec3 position;
glm::vec3 angularVelocity;
int linearTractorCount = 0;
int angularTractorCount = 0;
QList<EntityDynamicPointer> tractorDerivedActions;
tractorDerivedActions.append(ownerEntity->getActionsOfType(DYNAMIC_TYPE_TRACTOR));
tractorDerivedActions.append(ownerEntity->getActionsOfType(DYNAMIC_TYPE_FAR_GRAB));
tractorDerivedActions.append(ownerEntity->getActionsOfType(DYNAMIC_TYPE_HOLD));
foreach (EntityDynamicPointer action, tractorDerivedActions) {
std::shared_ptr<ObjectActionTractor> tractorAction = std::static_pointer_cast<ObjectActionTractor>(action);
glm::quat rotationForAction;
glm::vec3 positionForAction;
glm::vec3 linearVelocityForAction;
glm::vec3 angularVelocityForAction;
float linearTimeScale;
float angularTimeScale;
bool success = tractorAction->getTarget(deltaTimeStep,
rotationForAction, positionForAction,
linearVelocityForAction, angularVelocityForAction,
linearTimeScale, angularTimeScale);
if (success) {
if (angularTimeScale < MAX_TRACTOR_TIMESCALE) {
angularTractorCount++;
angularVelocity += angularVelocityForAction;
if (tractorAction.get() == this) {
// only use the rotation for this action
rotation = rotationForAction;
}
}
if (linearTimeScale < MAX_TRACTOR_TIMESCALE) {
linearTractorCount++;
position += positionForAction;
}
} else {
return false; // we don't have both entities loaded, so don't do anything
}
}
if (angularTractorCount > 0 || linearTractorCount > 0) {
withWriteLock([&]{
if (doLinearTraction && linearTractorCount > 0) {
position /= linearTractorCount;
_lastPositionTarget = _positionalTarget;
_positionalTarget = position;
if (deltaTimeStep > EPSILON) {
if (_havePositionTargetHistory) {
// blend the new velocity with the old (low-pass filter)
glm::vec3 newVelocity = (1.0f / deltaTimeStep) * (_positionalTarget - _lastPositionTarget);
const float blend = 0.25f;
_linearVelocityTarget = (1.0f - blend) * _linearVelocityTarget + blend * newVelocity;
} else {
_havePositionTargetHistory = true;
}
}
_active = true;
}
if (doAngularTraction && angularTractorCount > 0) {
angularVelocity /= angularTractorCount;
_rotationalTarget = rotation;
_angularVelocityTarget = angularVelocity;
_active = true;
}
});
}
return true;
}
void ObjectActionTractor::updateActionWorker(btScalar deltaTimeStep) {
if (!prepareForTractorUpdate(deltaTimeStep)) {
return;
}
withReadLock([&]{
auto ownerEntity = _ownerEntity.lock();
if (!ownerEntity) {
return;
}
void* physicsInfo = ownerEntity->getPhysicsInfo();
if (!physicsInfo) {
return;
}
ObjectMotionState* motionState = static_cast<ObjectMotionState*>(physicsInfo);
btRigidBody* rigidBody = motionState->getRigidBody();
if (!rigidBody) {
qCDebug(physics) << "ObjectActionTractor::updateActionWorker no rigidBody";
return;
}
if (_linearTimeScale < MAX_TRACTOR_TIMESCALE) {
btVector3 offsetVelocity(0.0f, 0.0f, 0.0f);
btVector3 offset = rigidBody->getCenterOfMassPosition() - glmToBullet(_positionalTarget);
float offsetLength = offset.length();
if (offsetLength > FLT_EPSILON) {
float speed = glm::min(offsetLength / _linearTimeScale, TRACTOR_MAX_SPEED);
offsetVelocity = (-speed / offsetLength) * offset;
if (speed > rigidBody->getLinearSleepingThreshold()) {
forceBodyNonStatic();
rigidBody->activate();
}
}
// this action is aggresively critically damped and defeats the current velocity
rigidBody->setLinearVelocity(glmToBullet(_linearVelocityTarget) + offsetVelocity);
}
if (_angularTimeScale < MAX_TRACTOR_TIMESCALE) {
btVector3 targetVelocity(0.0f, 0.0f, 0.0f);
btQuaternion bodyRotation = rigidBody->getOrientation();
auto alignmentDot = bodyRotation.dot(glmToBullet(_rotationalTarget));
const float ALMOST_ONE = 0.99999f;
if (glm::abs(alignmentDot) < ALMOST_ONE) {
btQuaternion target = glmToBullet(_rotationalTarget);
if (alignmentDot < 0.0f) {
target = -target;
}
// if dQ is the incremental rotation that gets an object from Q0 to Q1 then:
//
// Q1 = dQ * Q0
//
// solving for dQ gives:
//
// dQ = Q1 * Q0^
btQuaternion deltaQ = target * bodyRotation.inverse();
float speed = deltaQ.getAngle() / _angularTimeScale;
targetVelocity = speed * deltaQ.getAxis();
if (speed > rigidBody->getAngularSleepingThreshold()) {
rigidBody->activate();
}
}
// this action is aggresively critically damped and defeats the current velocity
rigidBody->setAngularVelocity(targetVelocity);
}
});
}
const float MIN_TIMESCALE = 0.1f;
bool ObjectActionTractor::updateArguments(QVariantMap arguments) {
glm::vec3 positionalTarget;
float linearTimeScale;
glm::quat rotationalTarget;
float angularTimeScale;
QUuid otherID;
int otherJointIndex;
bool needUpdate = false;
bool somethingChanged = ObjectDynamic::updateArguments(arguments);
withReadLock([&]{
// targets are required, tractor-constants are optional
bool ok = true;
positionalTarget = EntityDynamicInterface::extractVec3Argument("tractor action", arguments, "targetPosition", ok, false);
if (ok) {
_positionalTargetSet = true;
} else {
positionalTarget = _desiredPositionalTarget;
}
ok = true;
linearTimeScale = EntityDynamicInterface::extractFloatArgument("tractor action", arguments, "linearTimeScale", ok, false);
if (!ok || linearTimeScale <= 0.0f) {
linearTimeScale = _linearTimeScale;
}
ok = true;
rotationalTarget = EntityDynamicInterface::extractQuatArgument("tractor action", arguments, "targetRotation", ok, false);
if (ok) {
_rotationalTargetSet = true;
} else {
rotationalTarget = _desiredRotationalTarget;
}
ok = true;
angularTimeScale =
EntityDynamicInterface::extractFloatArgument("tractor action", arguments, "angularTimeScale", ok, false);
if (!ok) {
angularTimeScale = _angularTimeScale;
}
ok = true;
otherID = QUuid(EntityDynamicInterface::extractStringArgument("tractor action", arguments, "otherID", ok, false));
if (!ok) {
otherID = _otherID;
}
ok = true;
otherJointIndex = EntityDynamicInterface::extractIntegerArgument("tractor action", arguments,
"otherJointIndex", ok, false);
if (!ok) {
otherJointIndex = _otherJointIndex;
}
if (somethingChanged ||
positionalTarget != _desiredPositionalTarget ||
linearTimeScale != _linearTimeScale ||
rotationalTarget != _desiredRotationalTarget ||
angularTimeScale != _angularTimeScale ||
otherID != _otherID ||
otherJointIndex != _otherJointIndex) {
// something changed
needUpdate = true;
}
});
if (needUpdate) {
withWriteLock([&] {
_desiredPositionalTarget = positionalTarget;
_linearTimeScale = glm::max(MIN_TIMESCALE, glm::abs(linearTimeScale));
_desiredRotationalTarget = rotationalTarget;
_angularTimeScale = glm::max(MIN_TIMESCALE, glm::abs(angularTimeScale));
_otherID = otherID;
_otherJointIndex = otherJointIndex;
_active = true;
auto ownerEntity = _ownerEntity.lock();
if (ownerEntity) {
ownerEntity->setDynamicDataDirty(true);
ownerEntity->setDynamicDataNeedsTransmit(true);
}
});
activateBody();
}
return true;
}
/*@jsdoc
* The <code>"tractor"</code> {@link Entities.ActionType|ActionType} moves and rotates an entity to a target position and
* orientation, optionally relative to another entity.
* It has arguments in addition to the common {@link Entities.ActionArguments|ActionArguments}:
*
* @typedef {object} Entities.ActionArguments-Tractor
* @property {Uuid} otherID=null - If an entity ID, the <code>targetPosition</code> and <code>targetRotation</code> are
* relative to the entity's position and rotation.
* @property {Uuid} otherJointIndex=null - If a joint index in the <code>otherID</code> entity, the <code>targetPosition</code>
* and <code>targetRotation</code> are relative to the entity joint's position and rotation.
* @property {Vec3} targetPosition=0,0,0 - The target position.
* @property {Quat} targetRotation=0,0,0,1 - The target rotation.
* @property {number} linearTimeScale=3.4e+38 - Controls how long it takes for the entity's position to catch up with the
* target position. The value is the time for the action to catch up to 1/e = 0.368 of the target value, where the action
* is applied using an exponential decay.
* @property {number} angularTimeScale=3.4e+38 - Controls how long it takes for the entity's orientation to catch up with the
* target orientation. The value is the time for the action to catch up to 1/e = 0.368 of the target value, where the
* action is applied using an exponential decay.
*/
QVariantMap ObjectActionTractor::getArguments() {
QVariantMap arguments = ObjectDynamic::getArguments();
withReadLock([&] {
arguments["linearTimeScale"] = _linearTimeScale;
arguments["targetPosition"] = vec3ToQMap(_desiredPositionalTarget);
arguments["targetRotation"] = quatToQMap(_desiredRotationalTarget);
arguments["angularTimeScale"] = _angularTimeScale;
arguments["otherID"] = _otherID;
arguments["otherJointIndex"] = _otherJointIndex;
});
return arguments;
}
void ObjectActionTractor::serializeParameters(QDataStream& dataStream) const {
withReadLock([&] {
dataStream << _desiredPositionalTarget;
dataStream << _linearTimeScale;
dataStream << _positionalTargetSet;
dataStream << _desiredRotationalTarget;
dataStream << _angularTimeScale;
dataStream << _rotationalTargetSet;
dataStream << localTimeToServerTime(_expires);
dataStream << _tag;
dataStream << _otherID;
dataStream << _otherJointIndex;
});
}
QByteArray ObjectActionTractor::serialize() const {
QByteArray serializedActionArguments;
QDataStream dataStream(&serializedActionArguments, QIODevice::WriteOnly);
dataStream << DYNAMIC_TYPE_TRACTOR;
dataStream << getID();
dataStream << ObjectActionTractor::tractorVersion;
serializeParameters(dataStream);
return serializedActionArguments;
}
void ObjectActionTractor::deserializeParameters(QByteArray serializedArguments, QDataStream& dataStream) {
withWriteLock([&] {
dataStream >> _desiredPositionalTarget;
dataStream >> _linearTimeScale;
dataStream >> _positionalTargetSet;
dataStream >> _desiredRotationalTarget;
dataStream >> _angularTimeScale;
dataStream >> _rotationalTargetSet;
quint64 serverExpires;
dataStream >> serverExpires;
_expires = serverTimeToLocalTime(serverExpires);
dataStream >> _tag;
dataStream >> _otherID;
dataStream >> _otherJointIndex;
_active = true;
});
}
void ObjectActionTractor::deserialize(QByteArray serializedArguments) {
QDataStream dataStream(serializedArguments);
EntityDynamicType type;
dataStream >> type;
assert(type == getType() || type == DYNAMIC_TYPE_SPRING);
QUuid id;
dataStream >> id;
assert(id == getID());
uint16_t serializationVersion;
dataStream >> serializationVersion;
if (serializationVersion != ObjectActionTractor::tractorVersion) {
assert(false);
return;
}
deserializeParameters(serializedArguments, dataStream);
}