Rigidbody velocity get set

[aclegg3]

Motivation and Context

We can currently manipulate objects kinematically via position|orientation and dynamically via force|torque. This change sets the stage for velocity control by adding support for getting|setting rigid body linear|angular velocity via Bullet physics.

Viewer demo updates: (for demo purposes: happy to modify/remove for final merge)

• Added velocity control 'E' and anti-gravity mode 'G' for most recently added object with on-screen text to display current setting.
• Added commandVelocity variable to store and apply a velocity control setting.

Notes:

• This enables setting initial velocity for a sim step, not constant velocity (forces will change the velocity within the simulation step). Therefore use shorter steps and remove/counter forces (such as gravity) for more accurate control.
• This does not allow setting velocity for objects with MotionType::KINEMATIC or MotionType::STATIC. In other words, it only currently enables velocity manipulation for MotionType::DYNAMIC BulletRigidObjects.

How Has This Been Tested

New C++ test and viewer demo:

Example 1: anti-grav velocity control of cheezit box

Example 2: velocity control with gravity of chef_can

Types of changes

• Docs change / refactoring / dependency upgrade
• Bug fix (non-breaking change which fixes an issue)
• New feature (non-breaking change which adds functionality)
• Breaking change (fix or feature that would cause existing functionality to change)

Checklist

• My code follows the code style of this project.
• My change requires a change to the documentation.
• I have updated the documentation accordingly.
• I have read the CONTRIBUTING document.
• I have completed my CLA (see CONTRIBUTING)
• I have added tests to cover my changes.
• All new and existing tests passed.

[1heart]

Codecov Report

Merging #464 into master will increase coverage by 0.14%.
The diff coverage is n/a.

@@            Coverage Diff             @@
##           master     #464      +/-   ##
==========================================
+ Coverage   57.81%   57.96%   +0.14%     
==========================================
  Files         161      161              
  Lines        7067     7123      +56     
  Branches       84       84              
==========================================
+ Hits         4086     4129      +43     
- Misses       2981     2994      +13     

Flag	Coverage Δ
#CPP	52.90% <76.78%> (+0.32%)	⬆️
#JavaScript	10.00% <ø> (ø)	⬆️
#Python	79.20% <ø> (ø)	⬆️

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[bigbike]

See my inline comments. Thanks!

[codecov]

Codecov Report

Merging #464 into master will increase coverage by 1.22%.
The diff coverage is 95.96%.

@@            Coverage Diff             @@
##           master     #464      +/-   ##
==========================================
+ Coverage   57.96%   59.19%   +1.22%     
==========================================
  Files         161      165       +4     
  Lines        7123     7347     +224     
  Branches       84       84              
==========================================
+ Hits         4129     4349     +220     
- Misses       2994     2998       +4

Flag	Coverage Δ
#CPP	52.18% <94.84%> (-0.73%)	⬇️
#JavaScript	100% <ø> (+90%)	⬆️
#Python	79.73% <98.87%> (+0.53%)	⬆️

Impacted Files	Coverage Δ
src/esp/gfx/PTexMeshDrawable.h	0% <ø> (ø)	⬆️
src/esp/gfx/Drawable.h	50% <ø> (ø)	⬆️
src/esp/gfx/RenderCamera.h	100% <ø> (ø)	⬆️
src/tests/ResourceManagerTest.cpp	100% <ø> (+3.44%)	⬆️
src/esp/gfx/GenericDrawable.h	100% <ø> (ø)	⬆️
src/esp/gfx/PrimitiveIDDrawable.h	0% <ø> (ø)	⬆️
src/esp/gfx/GenericDrawable.cpp	100% <ø> (ø)	⬆️
src/esp/assets/ResourceManager.h	100% <ø> (ø)	⬆️
src/esp/physics/PhysicsManager.h	31.81% <ø> (ø)	⬆️
src/esp/gfx/PTexMeshDrawable.cpp	0% <0%> (ø)	⬆️
... and 35 more

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[aclegg3]

See my inline comments. Thanks!

Thanks for the comments. The viewer changes were really just to demonstrate the functionality in the videos and I've removed them until the full velocity control feature set is ready.