C++ EntityItemProperties::setAngularVelocity方法代码示例

void EntityMotionState::sendBid(OctreeEditPacketSender* packetSender, uint32_t step) {
    DETAILED_PROFILE_RANGE(simulation_physics, "Bid");
    assert(entityTreeIsLocked());

    updateSendVelocities();

    EntityItemProperties properties;
    Transform localTransform;
    glm::vec3 linearVelocity;
    glm::vec3 angularVelocity;
    _entity->getLocalTransformAndVelocities(localTransform, linearVelocity, angularVelocity);
    properties.setPosition(localTransform.getTranslation());
    properties.setRotation(localTransform.getRotation());
    properties.setVelocity(linearVelocity);
    properties.setAcceleration(_entity->getAcceleration());
    properties.setAngularVelocity(angularVelocity);

    // we don't own the simulation for this entity yet, but we're sending a bid for it
    quint64 now = usecTimestampNow();
    uint8_t finalBidPriority = computeFinalBidPriority();
    _entity->prepareForSimulationOwnershipBid(properties, now, finalBidPriority);

    EntityTreeElementPointer element = _entity->getElement();
    EntityTreePointer tree = element ? element->getTree() : nullptr;

    EntityItemID id(_entity->getID());
    EntityEditPacketSender* entityPacketSender = static_cast<EntityEditPacketSender*>(packetSender);
    entityPacketSender->queueEditEntityMessage(PacketType::EntityPhysics, tree, id, properties);

    // NOTE: we don't descend to children for ownership bid.  Instead, if we win ownership of the parent
    // then in sendUpdate() we'll walk descendents and send updates for their QueryAACubes if necessary.

    _lastStep = step;
    _nextBidExpiry = now + USECS_BETWEEN_OWNERSHIP_BIDS;

    // after sending a bid/update we clear _bumpedPriority
    // which might get promoted again next frame (after local script or simulation interaction)
    // or we might win the bid
    _bumpedPriority = 0;
}

void EntityMotionState::sendUpdate(OctreeEditPacketSender* packetSender, const QUuid& sessionID, uint32_t step) {
    assert(_entity);
    assert(entityTreeIsLocked());

    bool active = _body->isActive();
    if (!active) {
        // make sure all derivatives are zero
        glm::vec3 zero(0.0f);
        _entity->setVelocity(zero);
        _entity->setAngularVelocity(zero);
        _entity->setAcceleration(zero);
        _sentInactive = true;
    } else {
        float gravityLength = glm::length(_entity->getGravity());
        float accVsGravity = glm::abs(glm::length(_measuredAcceleration) - gravityLength);
        if (accVsGravity < ACCELERATION_EQUIVALENT_EPSILON_RATIO * gravityLength) {
            // acceleration measured during the most recent simulation step was close to gravity.
            if (getAccelerationNearlyGravityCount() < STEPS_TO_DECIDE_BALLISTIC) {
                // only increment this if we haven't reached the threshold yet.  this is to avoid
                // overflowing the counter.
                incrementAccelerationNearlyGravityCount();
            }
        } else {
            // acceleration wasn't similar to this entities gravity, so reset the went-ballistic counter
            resetAccelerationNearlyGravityCount();
        }

        // if this entity has been accelerated at close to gravity for a certain number of simulation-steps, let
        // the entity server's estimates include gravity.
        if (getAccelerationNearlyGravityCount() >= STEPS_TO_DECIDE_BALLISTIC) {
            _entity->setAcceleration(_entity->getGravity());
        } else {
            _entity->setAcceleration(glm::vec3(0.0f));
        }

        const float DYNAMIC_LINEAR_VELOCITY_THRESHOLD = 0.05f;  // 5 cm/sec
        const float DYNAMIC_ANGULAR_VELOCITY_THRESHOLD = 0.087266f;  // ~5 deg/sec

        bool movingSlowlyLinear =
            glm::length2(_entity->getVelocity()) < (DYNAMIC_LINEAR_VELOCITY_THRESHOLD * DYNAMIC_LINEAR_VELOCITY_THRESHOLD);
        bool movingSlowlyAngular = glm::length2(_entity->getAngularVelocity()) <
                (DYNAMIC_ANGULAR_VELOCITY_THRESHOLD * DYNAMIC_ANGULAR_VELOCITY_THRESHOLD);
        bool movingSlowly = movingSlowlyLinear && movingSlowlyAngular && _entity->getAcceleration() == glm::vec3(0.0f);

        if (movingSlowly) {
            // velocities might not be zero, but we'll fake them as such, which will hopefully help convince
            // other simulating observers to deactivate their own copies
            glm::vec3 zero(0.0f);
            _entity->setVelocity(zero);
            _entity->setAngularVelocity(zero);
        }
        _sentInactive = false;
    }

    // remember properties for local server prediction
    _serverPosition = _entity->getPosition();
    _serverRotation = _entity->getRotation();
    _serverVelocity = _entity->getVelocity();
    _serverAcceleration = _entity->getAcceleration();
    _serverAngularVelocity = _entity->getAngularVelocity();
    _serverActionData = _entity->getActionData();

    EntityItemProperties properties;

    // explicitly set the properties that changed so that they will be packed
    properties.setPosition(_entity->getLocalPosition());
    properties.setRotation(_entity->getLocalOrientation());

    properties.setVelocity(_serverVelocity);
    properties.setAcceleration(_serverAcceleration);
    properties.setAngularVelocity(_serverAngularVelocity);
    if (_entity->actionDataNeedsTransmit()) {
        _entity->setActionDataNeedsTransmit(false);
        properties.setActionData(_serverActionData);
    }

    if (properties.parentRelatedPropertyChanged() && _entity->computePuffedQueryAACube()) {
        // due to parenting, the server may not know where something is in world-space, so include the bounding cube.
        properties.setQueryAACube(_entity->getQueryAACube());
    }

    // set the LastEdited of the properties but NOT the entity itself
    quint64 now = usecTimestampNow();
    properties.setLastEdited(now);

    #ifdef WANT_DEBUG
        quint64 lastSimulated = _entity->getLastSimulated();
        qCDebug(physics) << "EntityMotionState::sendUpdate()";
        qCDebug(physics) << "        EntityItemId:" << _entity->getEntityItemID()
                         << "---------------------------------------------";
        qCDebug(physics) << "       lastSimulated:" << debugTime(lastSimulated, now);
    #endif //def WANT_DEBUG

    if (sessionID == _entity->getSimulatorID()) {
        // we think we own the simulation
        if (!active) {
            // we own the simulation but the entity has stopped, so we tell the server that we're clearing simulatorID
            // but we remember that we do still own it...  and rely on the server to tell us that we don't
            properties.clearSimulationOwner();
            _outgoingPriority = NO_PRORITY;
//.........这里部分代码省略.........

void EntityMotionState::sendUpdate(OctreeEditPacketSender* packetSender, uint32_t step) {
    DETAILED_PROFILE_RANGE(simulation_physics, "Send");
    assert(entityTreeIsLocked());
    assert(isLocallyOwned());

    updateSendVelocities();

    // remember _serverFoo data for local prediction of server state
    Transform localTransform;
    _entity->getLocalTransformAndVelocities(localTransform, _serverVelocity, _serverAngularVelocity);
    _serverPosition = localTransform.getTranslation();
    _serverRotation = localTransform.getRotation();
    _serverAcceleration = _entity->getAcceleration();
    _serverActionData = _entity->getDynamicData();

    EntityItemProperties properties;
    properties.setPosition(_entity->getLocalPosition());
    properties.setRotation(_entity->getLocalOrientation());
    properties.setVelocity(_serverVelocity);
    properties.setAcceleration(_serverAcceleration);
    properties.setAngularVelocity(_serverAngularVelocity);
    if (_entity->dynamicDataNeedsTransmit()) {
        _entity->setDynamicDataNeedsTransmit(false);
        properties.setActionData(_serverActionData);
    }

    if (_entity->updateQueryAACube()) {
        // due to parenting, the server may not know where something is in world-space, so include the bounding cube.
        properties.setQueryAACube(_entity->getQueryAACube());
    }

    // set the LastEdited of the properties but NOT the entity itself
    quint64 now = usecTimestampNow();
    properties.setLastEdited(now);
    _entity->setSimulationOwnershipExpiry(now + MAX_OUTGOING_SIMULATION_UPDATE_PERIOD);

    if (_numInactiveUpdates > 0 && _entity->getScriptSimulationPriority() == 0) {
        // the entity is stopped and inactive so we tell the server we're clearing simulatorID
        // but we remember we do still own it...  and rely on the server to tell us we don't
        properties.clearSimulationOwner();
        _entity->setPendingOwnershipPriority(0);
    } else {
        uint8_t newPriority = computeFinalBidPriority();
        _entity->clearScriptSimulationPriority();
        // if we get here then we own the simulation and the object is NOT going inactive
        // if newPriority is zero, then it must be outside of R1, which means we should really set it to YIELD
        // which we achive by just setting it to the max of the two
        newPriority = glm::max(newPriority, YIELD_SIMULATION_PRIORITY);
        if (newPriority != _entity->getSimulationPriority() &&
                !(newPriority == VOLUNTEER_SIMULATION_PRIORITY && _entity->getSimulationPriority() == RECRUIT_SIMULATION_PRIORITY)) {
            // our desired priority has changed
            if (newPriority == 0) {
                // we should release ownership
                properties.clearSimulationOwner();
            } else {
                // we just need to inform the entity-server
                properties.setSimulationOwner(Physics::getSessionUUID(), newPriority);
            }
            _entity->setPendingOwnershipPriority(newPriority);
        }
    }

    EntityItemID id(_entity->getID());
    EntityEditPacketSender* entityPacketSender = static_cast<EntityEditPacketSender*>(packetSender);

    EntityTreeElementPointer element = _entity->getElement();
    EntityTreePointer tree = element ? element->getTree() : nullptr;

    properties.setEntityHostType(_entity->getEntityHostType());
    properties.setOwningAvatarID(_entity->getOwningAvatarID());

    entityPacketSender->queueEditEntityMessage(PacketType::EntityPhysics, tree, id, properties);
    _entity->setLastBroadcast(now); // for debug/physics status icons

    // if we've moved an entity with children, check/update the queryAACube of all descendents and tell the server
    // if they've changed.
    _entity->forEachDescendant([&](SpatiallyNestablePointer descendant) {
        if (descendant->getNestableType() == NestableType::Entity) {
            EntityItemPointer entityDescendant = std::static_pointer_cast<EntityItem>(descendant);
            if (descendant->updateQueryAACube()) {
                EntityItemProperties newQueryCubeProperties;
                newQueryCubeProperties.setQueryAACube(descendant->getQueryAACube());
                newQueryCubeProperties.setLastEdited(properties.getLastEdited());
                newQueryCubeProperties.setEntityHostType(entityDescendant->getEntityHostType());
                newQueryCubeProperties.setOwningAvatarID(entityDescendant->getOwningAvatarID());

                entityPacketSender->queueEditEntityMessage(PacketType::EntityPhysics, tree,
                                                           descendant->getID(), newQueryCubeProperties);
                entityDescendant->setLastBroadcast(now); // for debug/physics status icons
            }
        }
    });

    _lastStep = step;

    // after sending a bid/update we clear _bumpedPriority
    // which might get promoted again next frame (after local script or simulation interaction)
    // or we might win the bid
    _bumpedPriority = 0;
}

void EntityMotionState::sendUpdate(OctreeEditPacketSender* packetSender, uint32_t frame) {
    if (!_entity->isKnownID()) {
        return; // never update entities that are unknown
    }
    if (_outgoingPacketFlags) {
        EntityItemProperties properties = _entity->getProperties();

        if (_outgoingPacketFlags & EntityItem::DIRTY_POSITION) {
            btTransform worldTrans = _body->getWorldTransform();
            _sentPosition = bulletToGLM(worldTrans.getOrigin());
            properties.setPosition(_sentPosition + ObjectMotionState::getWorldOffset());

            _sentRotation = bulletToGLM(worldTrans.getRotation());
            properties.setRotation(_sentRotation);
        }

        if (_outgoingPacketFlags & EntityItem::DIRTY_VELOCITY) {
            if (_body->isActive()) {
                _sentVelocity = bulletToGLM(_body->getLinearVelocity());
                _sentAngularVelocity = bulletToGLM(_body->getAngularVelocity());

                // if the speeds are very small we zero them out
                const float MINIMUM_EXTRAPOLATION_SPEED_SQUARED = 1.0e-4f; // 1cm/sec
                bool zeroSpeed = (glm::length2(_sentVelocity) < MINIMUM_EXTRAPOLATION_SPEED_SQUARED);
                if (zeroSpeed) {
                    _sentVelocity = glm::vec3(0.0f);
                }
                const float MINIMUM_EXTRAPOLATION_SPIN_SQUARED = 0.004f; // ~0.01 rotation/sec
                bool zeroSpin = glm::length2(_sentAngularVelocity) < MINIMUM_EXTRAPOLATION_SPIN_SQUARED;
                if (zeroSpin) {
                    _sentAngularVelocity = glm::vec3(0.0f);
                }

                _sentMoving = ! (zeroSpeed && zeroSpin);
            } else {
                _sentVelocity = _sentAngularVelocity = glm::vec3(0.0f);
                _sentMoving = false;
            }
            properties.setVelocity(_sentVelocity);
            _sentAcceleration = bulletToGLM(_body->getGravity());
            properties.setGravity(_sentAcceleration);
            // DANGER! EntityItem stores angularVelocity in degrees/sec!!!
            properties.setAngularVelocity(glm::degrees(_sentAngularVelocity));
        }

        // RELIABLE_SEND_HACK: count number of updates for entities at rest so we can stop sending them after some limit.
        if (_sentMoving) {
            _numNonMovingUpdates = 0;
        } else {
            _numNonMovingUpdates++;
        }
        if (_numNonMovingUpdates <= 1) {
            // we only update lastEdited when we're sending new physics data
            // (i.e. NOT when we just simulate the positions forward, nore when we resend non-moving data)
            // NOTE: Andrew & Brad to discuss. Let's make sure we're using lastEdited, lastSimulated, and lastUpdated correctly
            quint64 lastSimulated = _entity->getLastSimulated();
            _entity->setLastEdited(lastSimulated);
            properties.setLastEdited(lastSimulated);
        } else {
            properties.setLastEdited(_entity->getLastEdited());
        }

        EntityItemID id(_entity->getID());
        EntityEditPacketSender* entityPacketSender = static_cast<EntityEditPacketSender*>(packetSender);
        entityPacketSender->queueEditEntityMessage(PacketTypeEntityAddOrEdit, id, properties);

        // The outgoing flags only itemized WHAT to send, not WHETHER to send, hence we always set them
        // to the full set.  These flags may be momentarily cleared by incoming external changes.
        _outgoingPacketFlags = DIRTY_PHYSICS_FLAGS;
        _sentFrame = frame;
    }
}

void EntityMotionState::sendUpdate(OctreeEditPacketSender* packetSender, const QUuid& sessionID, uint32_t step) {
    assert(_entity);
    assert(_entity->isKnownID());

    bool active = _body->isActive();
    if (!active) {
        // make sure all derivatives are zero
        glm::vec3 zero(0.0f);
        _entity->setVelocity(zero);
        _entity->setAngularVelocity(zero);
        _entity->setAcceleration(zero);
        _sentActive = false;
    } else {
        float gravityLength = glm::length(_entity->getGravity());
        float accVsGravity = glm::abs(glm::length(_measuredAcceleration) - gravityLength);
        if (accVsGravity < ACCELERATION_EQUIVALENT_EPSILON_RATIO * gravityLength) {
            // acceleration measured during the most recent simulation step was close to gravity.
            if (getAccelerationNearlyGravityCount() < STEPS_TO_DECIDE_BALLISTIC) {
                // only increment this if we haven't reached the threshold yet.  this is to avoid
                // overflowing the counter.
                incrementAccelerationNearlyGravityCount();
            }
        } else {
            // acceleration wasn't similar to this entities gravity, so reset the went-ballistic counter
            resetAccelerationNearlyGravityCount();
        }

        // if this entity has been accelerated at close to gravity for a certain number of simulation-steps, let
        // the entity server's estimates include gravity.
        if (getAccelerationNearlyGravityCount() >= STEPS_TO_DECIDE_BALLISTIC) {
            _entity->setAcceleration(_entity->getGravity());
        } else {
            _entity->setAcceleration(glm::vec3(0.0f));
        }

        const float DYNAMIC_LINEAR_VELOCITY_THRESHOLD = 0.05f;  // 5 cm/sec
        const float DYNAMIC_ANGULAR_VELOCITY_THRESHOLD = 0.087266f;  // ~5 deg/sec
        bool movingSlowly = glm::length2(_entity->getVelocity()) < (DYNAMIC_LINEAR_VELOCITY_THRESHOLD * DYNAMIC_LINEAR_VELOCITY_THRESHOLD)
            && glm::length2(_entity->getAngularVelocity()) < (DYNAMIC_ANGULAR_VELOCITY_THRESHOLD * DYNAMIC_ANGULAR_VELOCITY_THRESHOLD)
            && _entity->getAcceleration() == glm::vec3(0.0f);

        if (movingSlowly) {
            // velocities might not be zero, but we'll fake them as such, which will hopefully help convince
            // other simulating observers to deactivate their own copies
            glm::vec3 zero(0.0f);
            _entity->setVelocity(zero);
            _entity->setAngularVelocity(zero);
        }
        _sentActive = true;
    }

    // remember properties for local server prediction
    _serverPosition = _entity->getPosition();
    _serverRotation = _entity->getRotation();
    _serverVelocity = _entity->getVelocity();
    _serverAcceleration = _entity->getAcceleration();
    _serverAngularVelocity = _entity->getAngularVelocity();

    EntityItemProperties properties = _entity->getProperties();

    // explicitly set the properties that changed so that they will be packed
    properties.setPosition(_serverPosition);
    properties.setRotation(_serverRotation);
    properties.setVelocity(_serverVelocity);
    properties.setAcceleration(_serverAcceleration);
    properties.setAngularVelocity(_serverAngularVelocity);

    // we only update lastEdited when we're sending new physics data 
    quint64 lastSimulated = _entity->getLastSimulated();
    _entity->setLastEdited(lastSimulated);
    properties.setLastEdited(lastSimulated);

    #ifdef WANT_DEBUG
        quint64 now = usecTimestampNow();
        qCDebug(physics) << "EntityMotionState::sendUpdate()";
        qCDebug(physics) << "        EntityItemId:" << _entity->getEntityItemID()
                         << "---------------------------------------------";
        qCDebug(physics) << "       lastSimulated:" << debugTime(lastSimulated, now);
    #endif //def WANT_DEBUG

    if (sessionID == _entity->getSimulatorID()) {
        // we think we own the simulation
        if (!active) {
            // we own the simulation but the entity has stopped, so we tell the server that we're clearing simulatorID
            // but we remember that we do still own it...  and rely on the server to tell us that we don't
            properties.setSimulatorID(QUuid());
        } else {
            // explicitly set the property's simulatorID so that it is flagged as changed and will be packed
            properties.setSimulatorID(sessionID);
        }
    } else {
        // we don't own the simulation for this entity yet, but we're sending a bid for it
        properties.setSimulatorID(sessionID);
    }

    if (EntityItem::getSendPhysicsUpdates()) {
        EntityItemID id(_entity->getID());
        EntityEditPacketSender* entityPacketSender = static_cast<EntityEditPacketSender*>(packetSender);
        #ifdef WANT_DEBUG
            qCDebug(physics) << "EntityMotionState::sendUpdate()... calling queueEditEntityMessage()...";
//.........这里部分代码省略.........

void EntityMotionState::sendUpdate(OctreeEditPacketSender* packetSender, uint32_t step) {
    assert(_entity);
    assert(entityTreeIsLocked());

    if (!_body->isActive()) {
        // make sure all derivatives are zero
        _entity->setVelocity(Vectors::ZERO);
        _entity->setAngularVelocity(Vectors::ZERO);
        _entity->setAcceleration(Vectors::ZERO);
        _numInactiveUpdates++;
    } else {
        glm::vec3 gravity = _entity->getGravity();

        // if this entity has been accelerated at close to gravity for a certain number of simulation-steps, let
        // the entity server's estimates include gravity.
        const uint8_t STEPS_TO_DECIDE_BALLISTIC = 4;
        if (_accelerationNearlyGravityCount >= STEPS_TO_DECIDE_BALLISTIC) {
            _entity->setAcceleration(gravity);
        } else {
            _entity->setAcceleration(Vectors::ZERO);
        }

        if (!_body->isStaticOrKinematicObject()) {
            const float DYNAMIC_LINEAR_VELOCITY_THRESHOLD = 0.05f;  // 5 cm/sec
            const float DYNAMIC_ANGULAR_VELOCITY_THRESHOLD = 0.087266f;  // ~5 deg/sec

            bool movingSlowlyLinear =
                glm::length2(_entity->getVelocity()) < (DYNAMIC_LINEAR_VELOCITY_THRESHOLD * DYNAMIC_LINEAR_VELOCITY_THRESHOLD);
            bool movingSlowlyAngular = glm::length2(_entity->getAngularVelocity()) <
                    (DYNAMIC_ANGULAR_VELOCITY_THRESHOLD * DYNAMIC_ANGULAR_VELOCITY_THRESHOLD);
            bool movingSlowly = movingSlowlyLinear && movingSlowlyAngular && _entity->getAcceleration() == Vectors::ZERO;

            if (movingSlowly) {
                // velocities might not be zero, but we'll fake them as such, which will hopefully help convince
                // other simulating observers to deactivate their own copies
                glm::vec3 zero(0.0f);
                _entity->setVelocity(zero);
                _entity->setAngularVelocity(zero);
            }
        }
        _numInactiveUpdates = 0;
    }

    // remember properties for local server prediction
    Transform localTransform;
    _entity->getLocalTransformAndVelocities(localTransform, _serverVelocity, _serverAngularVelocity);
    _serverPosition = localTransform.getTranslation();
    _serverRotation = localTransform.getRotation();
    _serverAcceleration = _entity->getAcceleration();
    _serverActionData = _entity->getActionData();

    EntityItemProperties properties;

    // explicitly set the properties that changed so that they will be packed
    properties.setPosition(_entity->getLocalPosition());
    properties.setRotation(_entity->getLocalOrientation());

    properties.setVelocity(_serverVelocity);
    properties.setAcceleration(_serverAcceleration);
    properties.setAngularVelocity(_serverAngularVelocity);
    if (_entity->actionDataNeedsTransmit()) {
        _entity->setActionDataNeedsTransmit(false);
        properties.setActionData(_serverActionData);
    }

    if (properties.parentRelatedPropertyChanged() && _entity->computePuffedQueryAACube()) {
        // due to parenting, the server may not know where something is in world-space, so include the bounding cube.
        properties.setQueryAACube(_entity->getQueryAACube());
    }

    // set the LastEdited of the properties but NOT the entity itself
    quint64 now = usecTimestampNow();
    properties.setLastEdited(now);

    #ifdef WANT_DEBUG
        quint64 lastSimulated = _entity->getLastSimulated();
        qCDebug(physics) << "EntityMotionState::sendUpdate()";
        qCDebug(physics) << "        EntityItemId:" << _entity->getEntityItemID()
                         << "---------------------------------------------";
        qCDebug(physics) << "       lastSimulated:" << debugTime(lastSimulated, now);
    #endif //def WANT_DEBUG

    if (_numInactiveUpdates > 0) {
        // we own the simulation but the entity has stopped so we tell the server we're clearing simulatorID
        // but we remember we do still own it...  and rely on the server to tell us we don't
        properties.clearSimulationOwner();
        _outgoingPriority = 0;
        _entity->setPendingOwnershipPriority(_outgoingPriority, now);
    } else if (Physics::getSessionUUID() != _entity->getSimulatorID()) {
        // we don't own the simulation for this entity yet, but we're sending a bid for it
        quint8 bidPriority = glm::max<uint8_t>(_outgoingPriority, VOLUNTEER_SIMULATION_PRIORITY);
        properties.setSimulationOwner(Physics::getSessionUUID(), bidPriority);
        _nextOwnershipBid = now + USECS_BETWEEN_OWNERSHIP_BIDS;
        // copy _outgoingPriority into pendingPriority...
        _entity->setPendingOwnershipPriority(_outgoingPriority, now);
        // ...then reset _outgoingPriority in preparation for the next frame
        _outgoingPriority = 0;
    } else if (_outgoingPriority != _entity->getSimulationPriority()) {
        // we own the simulation but our desired priority has changed
        if (_outgoingPriority == 0) {
//.........这里部分代码省略.........