Revision: 20370
http://projects.blender.org/plugins/scmsvn/viewcvs.php?view=rev&root=bf-blender&revision=20370
Author: erwin
Date: 2009-05-24 02:42:40 +0200 (Sun, 24 May 2009)
Log Message:
-----------
fix generic 6dof constraint support -> convert 3 values into euler angles and
convert those into a full constraint frame
(same values as Rigid Body constraint Generic 6DOF values), and add 'setLimit'
support for generic 6DOF constraint. todo: enableMotor
Modified Paths:
--------------
trunk/blender/source/gameengine/Ketsji/KX_ConstraintWrapper.cpp
trunk/blender/source/gameengine/Ketsji/KX_ConstraintWrapper.h
trunk/blender/source/gameengine/Ketsji/KX_PyConstraintBinding.cpp
Modified: trunk/blender/source/gameengine/Ketsji/KX_ConstraintWrapper.cpp
===================================================================
--- trunk/blender/source/gameengine/Ketsji/KX_ConstraintWrapper.cpp
2009-05-23 22:35:47 UTC (rev 20369)
+++ trunk/blender/source/gameengine/Ketsji/KX_ConstraintWrapper.cpp
2009-05-24 00:42:40 UTC (rev 20370)
@@ -54,6 +54,31 @@
return PyInt_FromLong(m_constraintId);
}
+PyObject* KX_ConstraintWrapper::PySetLimit(PyObject* args, PyObject* kwds)
+{
+ int len = PyTuple_Size(args);
+ int success = 1;
+
+ if (len == 3)
+ {
+ int dof;
+ float minLimit,maxLimit;
+ success = PyArg_ParseTuple(args,"iff",&dof,&minLimit,&maxLimit);
+ if (success)
+ {
+
m_physenv->setConstraintParam(m_constraintId,dof,minLimit,maxLimit);
+ Py_RETURN_NONE;
+ }
+ }
+ return NULL;
+}
+
+PyObject* KX_ConstraintWrapper::PyEnableMotor(PyObject* args, PyObject* kwds)
+{
+ ///will add it soon
+ return PyInt_FromLong(0);
+}
+
//python specific stuff
PyTypeObject KX_ConstraintWrapper::Type = {
#if (PY_VERSION_HEX >= 0x02060000)
@@ -100,8 +125,13 @@
};
+
+
+
PyMethodDef KX_ConstraintWrapper::Methods[] = {
{"getConstraintId",(PyCFunction)
KX_ConstraintWrapper::sPyGetConstraintId, METH_VARARGS},
+ {"setLimit",(PyCFunction) KX_ConstraintWrapper::sPySetLimit,
METH_VARARGS},
+ {"enableMotor",(PyCFunction) KX_ConstraintWrapper::sPyEnableMotor,
METH_VARARGS},
{NULL,NULL} //Sentinel
};
Modified: trunk/blender/source/gameengine/Ketsji/KX_ConstraintWrapper.h
===================================================================
--- trunk/blender/source/gameengine/Ketsji/KX_ConstraintWrapper.h
2009-05-23 22:35:47 UTC (rev 20369)
+++ trunk/blender/source/gameengine/Ketsji/KX_ConstraintWrapper.h
2009-05-24 00:42:40 UTC (rev 20370)
@@ -45,6 +45,8 @@
KX_PYMETHOD(KX_ConstraintWrapper,TestMethod);
KX_PYMETHOD(KX_ConstraintWrapper,GetConstraintId);
+ KX_PYMETHOD(KX_ConstraintWrapper,SetLimit);
+ KX_PYMETHOD(KX_ConstraintWrapper,EnableMotor);
private:
int m_constraintId;
Modified: trunk/blender/source/gameengine/Ketsji/KX_PyConstraintBinding.cpp
===================================================================
--- trunk/blender/source/gameengine/Ketsji/KX_PyConstraintBinding.cpp
2009-05-23 22:35:47 UTC (rev 20369)
+++ trunk/blender/source/gameengine/Ketsji/KX_PyConstraintBinding.cpp
2009-05-24 00:42:40 UTC (rev 20370)
@@ -33,6 +33,7 @@
#include "KX_PhysicsObjectWrapper.h"
#include "PHY_IPhysicsController.h"
#include "PHY_IVehicle.h"
+#include "MT_Matrix3x3.h"
#include "PyObjectPlus.h"
@@ -435,7 +436,31 @@
PHY_IPhysicsController* physctrl2 =
(PHY_IPhysicsController*) physicsid2;
if (physctrl) //TODO:check for existance of this
pointer!
{
- int constraintid =
PHY_GetActiveEnvironment()->createConstraint(physctrl,physctrl2,(enum
PHY_ConstraintType)constrainttype,pivotX,pivotY,pivotZ,axisX,axisY,axisZ,0);
+ PHY_ConstraintType ct = (PHY_ConstraintType)
constrainttype;
+ int constraintid =0;
+
+ if (ct == PHY_GENERIC_6DOF_CONSTRAINT)
+ {
+ //convert from euler angle into axis
+ float radsPerDeg =
6.283185307179586232f / 360.f;
+
+ //we need to pass a full constraint
frame, not just axis
+ //localConstraintFrameBasis
+ MT_Matrix3x3
localCFrame(MT_Vector3(radsPerDeg*axisX,radsPerDeg*axisY,radsPerDeg*axisZ));
+ MT_Vector3 axis0 =
localCFrame.getColumn(0);
+ MT_Vector3 axis1 =
localCFrame.getColumn(1);
+ MT_Vector3 axis2 =
localCFrame.getColumn(2);
+
+ constraintid =
PHY_GetActiveEnvironment()->createConstraint(physctrl,physctrl2,(enum
PHY_ConstraintType)constrainttype,
+ pivotX,pivotY,pivotZ,
+
(float)axis0.x(),(float)axis0.y(),(float)axis0.z(),
+
(float)axis1.x(),(float)axis1.y(),(float)axis1.z(),
+
(float)axis2.x(),(float)axis2.y(),(float)axis2.z(),0);//dat->flag); //flag?
+
+ } else
+ {
+ constraintid =
PHY_GetActiveEnvironment()->createConstraint(physctrl,physctrl2,(enum
PHY_ConstraintType)constrainttype,pivotX,pivotY,pivotZ,axisX,axisY,axisZ,0);
+ }
KX_ConstraintWrapper* wrap = new
KX_ConstraintWrapper((enum
PHY_ConstraintType)constrainttype,constraintid,PHY_GetActiveEnvironment());
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