/* * $Id$ * * ***** BEGIN GPL/BL DUAL LICENSE BLOCK ***** * * This program is free software; you can redistribute it and/or * modify it under the terms of the GNU General Public License * as published by the Free Software Foundation; either version 2 * of the License, or (at your option) any later version. The Blender * Foundation also sells licenses for use in proprietary software under * the Blender License. See http://www.blender.org/BL/ for information * about this. * * This program is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU General Public License for more details. * * You should have received a copy of the GNU General Public License * along with this program; if not, write to the Free Software Foundation, * Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. * * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV. * All rights reserved. * * The Original Code is: all of this file. * * Contributor(s): none yet. * * ***** END GPL/BL DUAL LICENSE BLOCK ***** * Camera in the gameengine. Cameras are also used for views. */ #include "KX_Camera.h" #include "KX_Scene.h" #include "KX_PythonInit.h" #include "KX_Python.h" #include "KX_PyMath.h" #ifdef HAVE_CONFIG_H #include #endif KX_Camera::KX_Camera(void* sgReplicationInfo, SG_Callbacks callbacks, const RAS_CameraData& camdata, bool frustum_culling, PyTypeObject *T) : KX_GameObject(sgReplicationInfo,callbacks,T), m_camdata(camdata), m_dirty(true), m_normalized(false), m_frustum_culling(frustum_culling && camdata.m_perspective), m_set_projection_matrix(false), m_set_frustum_center(false) { // setting a name would be nice... m_name = "cam"; m_projection_matrix.setIdentity(); m_modelview_matrix.setIdentity(); SetProperty("camera",new CIntValue(1)); } KX_Camera::~KX_Camera() { } MT_Transform KX_Camera::GetWorldToCamera() const { MT_Transform camtrans; camtrans.invert(MT_Transform(NodeGetWorldPosition(), NodeGetWorldOrientation())); return camtrans; } MT_Transform KX_Camera::GetCameraToWorld() const { return MT_Transform(NodeGetWorldPosition(), NodeGetWorldOrientation()); } void KX_Camera::CorrectLookUp(MT_Scalar speed) { } const MT_Point3 KX_Camera::GetCameraLocation() const { /* this is the camera locatio in cam coords... */ //return m_trans1.getOrigin(); //return MT_Point3(0,0,0); <----- /* .... I want it in world coords */ //MT_Transform trans; //trans.setBasis(NodeGetWorldOrientation()); return NodeGetWorldPosition(); } /* I want the camera orientation as well. */ const MT_Quaternion KX_Camera::GetCameraOrientation() const { return NodeGetWorldOrientation().getRotation(); } /** * Sets the projection matrix that is used by the rasterizer. */ void KX_Camera::SetProjectionMatrix(const MT_Matrix4x4 & mat) { m_projection_matrix = mat; m_dirty = true; m_set_projection_matrix = true; m_set_frustum_center = false; } /** * Sets the modelview matrix that is used by the rasterizer. */ void KX_Camera::SetModelviewMatrix(const MT_Matrix4x4 & mat) { m_modelview_matrix = mat; m_dirty = true; m_set_frustum_center = false; } /** * Gets the projection matrix that is used by the rasterizer. */ const MT_Matrix4x4& KX_Camera::GetProjectionMatrix() const { return m_projection_matrix; } /** * Gets the modelview matrix that is used by the rasterizer. */ const MT_Matrix4x4& KX_Camera::GetModelviewMatrix() const { return m_modelview_matrix; } bool KX_Camera::hasValidProjectionMatrix() const { return m_set_projection_matrix; } void KX_Camera::InvalidateProjectionMatrix(bool valid) { m_set_projection_matrix = valid; } /* * These getters retrieve the clip data and the focal length */ float KX_Camera::GetLens() const { return m_camdata.m_lens; } float KX_Camera::GetCameraNear() const { return m_camdata.m_clipstart; } float KX_Camera::GetCameraFar() const { return m_camdata.m_clipend; } RAS_CameraData* KX_Camera::GetCameraData() { return &m_camdata; } void KX_Camera::ExtractClipPlanes() { if (!m_dirty) return; MT_Matrix4x4 m = m_projection_matrix * m_modelview_matrix; // Left clip plane m_planes[0] = m[3] + m[0]; // Right clip plane m_planes[1] = m[3] - m[0]; // Top clip plane m_planes[2] = m[3] - m[1]; // Bottom clip plane m_planes[3] = m[3] + m[1]; // Near clip plane m_planes[4] = m[3] + m[2]; // Far clip plane m_planes[5] = m[3] - m[2]; m_dirty = false; m_normalized = false; } void KX_Camera::NormalizeClipPlanes() { if (m_normalized) return; for (unsigned int p = 0; p < 6; p++) { MT_Scalar factor = sqrt(m_planes[p][0]*m_planes[p][0] + m_planes[p][1]*m_planes[p][1] + m_planes[p][2]*m_planes[p][2]); if (!MT_fuzzyZero(factor)) m_planes[p] /= factor; } m_normalized = true; } void KX_Camera::ExtractFrustumSphere() { if (m_set_frustum_center) return; // The most extreme points on the near and far plane. (normalized device coords) MT_Vector4 hnear(1., 1., 0., 1.), hfar(1., 1., 1., 1.); MT_Matrix4x4 clip_camcs_matrix = m_projection_matrix; clip_camcs_matrix.invert(); // Transform to hom camera local space hnear = clip_camcs_matrix*hnear; hfar = clip_camcs_matrix*hfar; // Tranform to 3d camera local space. MT_Point3 nearpoint(hnear[0]/hnear[3], hnear[1]/hnear[3], hnear[2]/hnear[3]); MT_Point3 farpoint(hfar[0]/hfar[3], hfar[1]/hfar[3], hfar[2]/hfar[3]); // Compute center m_frustum_center = MT_Point3(0., 0., (nearpoint.dot(nearpoint) - farpoint.dot(farpoint))/(2.0*(m_camdata.m_clipend - m_camdata.m_clipstart))); m_frustum_radius = m_frustum_center.distance(farpoint); // Transform to world space. m_frustum_center = GetCameraToWorld()(m_frustum_center); m_frustum_radius /= fabs(NodeGetWorldScaling()[NodeGetWorldScaling().closestAxis()]); m_set_frustum_center = true; } bool KX_Camera::PointInsideFrustum(const MT_Point3& x) { ExtractClipPlanes(); for( unsigned int i = 0; i < 6 ; i++ ) { if (m_planes[i][0]*x[0] + m_planes[i][1]*x[1] + m_planes[i][2]*x[2] + m_planes[i][3] < 0.) return false; } return true; } int KX_Camera::BoxInsideFrustum(const MT_Point3 *box) { ExtractClipPlanes(); unsigned int insideCount = 0; // 6 view frustum planes for( unsigned int p = 0; p < 6 ; p++ ) { unsigned int behindCount = 0; // 8 box verticies. for (unsigned int v = 0; v < 8 ; v++) { if (m_planes[p][0]*box[v][0] + m_planes[p][1]*box[v][1] + m_planes[p][2]*box[v][2] + m_planes[p][3] < 0.) behindCount++; } // 8 points behind this plane if (behindCount == 8) return OUTSIDE; // Every box vertex is on the front side of this plane if (!behindCount) insideCount++; } // All box verticies are on the front side of all frustum planes. if (insideCount == 6) return INSIDE; return INTERSECT; } int KX_Camera::SphereInsideFrustum(const MT_Point3& center, const MT_Scalar &radius) { ExtractFrustumSphere(); if (center.distance2(m_frustum_center) > (radius + m_frustum_radius)*(radius + m_frustum_radius)) return OUTSIDE; unsigned int p; ExtractClipPlanes(); NormalizeClipPlanes(); MT_Scalar distance; int intersect = INSIDE; // distance: <-------- OUTSIDE -----|----- INTERSECT -----0----- INTERSECT -----|----- INSIDE --------> // -radius radius for (p = 0; p < 6; p++) { distance = m_planes[p][0]*center[0] + m_planes[p][1]*center[1] + m_planes[p][2]*center[2] + m_planes[p][3]; if (fabs(distance) <= radius) intersect = INTERSECT; else if (distance < -radius) return OUTSIDE; } return intersect; } bool KX_Camera::GetFrustumCulling() const { return m_frustum_culling; } void KX_Camera::EnableViewport(bool viewport) { m_camdata.m_viewport = viewport; } void KX_Camera::SetViewport(int left, int bottom, int right, int top) { m_camdata.m_viewportleft = left; m_camdata.m_viewportbottom = bottom; m_camdata.m_viewportright = right; m_camdata.m_viewporttop = top; } bool KX_Camera::GetViewport() const { return m_camdata.m_viewport; } int KX_Camera::GetViewportLeft() const { return m_camdata.m_viewportleft; } int KX_Camera::GetViewportBottom() const { return m_camdata.m_viewportbottom; } int KX_Camera::GetViewportRight() const { return m_camdata.m_viewportright; } int KX_Camera::GetViewportTop() const { return m_camdata.m_viewporttop; } //---------------------------------------------------------------------------- //Python PyMethodDef KX_Camera::Methods[] = { KX_PYMETHODTABLE(KX_Camera, sphereInsideFrustum), KX_PYMETHODTABLE(KX_Camera, boxInsideFrustum), KX_PYMETHODTABLE(KX_Camera, pointInsideFrustum), KX_PYMETHODTABLE(KX_Camera, getCameraToWorld), KX_PYMETHODTABLE(KX_Camera, getWorldToCamera), KX_PYMETHODTABLE(KX_Camera, getProjectionMatrix), KX_PYMETHODTABLE(KX_Camera, setProjectionMatrix), KX_PYMETHODTABLE(KX_Camera, enableViewport), KX_PYMETHODTABLE(KX_Camera, setViewport), KX_PYMETHODTABLE(KX_Camera, setOnTop), {NULL,NULL} //Sentinel }; char KX_Camera::doc[] = "Module KX_Camera\n\n" "Constants:\n" "\tINSIDE\n" "\tINTERSECT\n" "\tOUTSIDE\n" "Attributes:\n" "\tlens -> float\n" "\t\tThe camera's lens value\n" "\tnear -> float\n" "\t\tThe camera's near clip distance\n" "\tfar -> float\n" "\t\tThe camera's far clip distance\n" "\tfrustum_culling -> bool\n" "\t\tNon zero if this camera is frustum culling.\n" "\tprojection_matrix -> [[float]]\n" "\t\tThis camera's projection matrix.\n" "\tmodelview_matrix -> [[float]] (read only)\n" "\t\tThis camera's model view matrix.\n" "\t\tRegenerated every frame from the camera's position and orientation.\n" "\tcamera_to_world -> [[float]] (read only)\n" "\t\tThis camera's camera to world transform.\n" "\t\tRegenerated every frame from the camera's position and orientation.\n" "\tworld_to_camera -> [[float]] (read only)\n" "\t\tThis camera's world to camera transform.\n" "\t\tRegenerated every frame from the camera's position and orientation.\n" "\t\tThis is camera_to_world inverted.\n"; PyTypeObject KX_Camera::Type = { PyObject_HEAD_INIT(&PyType_Type) 0, "KX_Camera", sizeof(KX_Camera), 0, PyDestructor, 0, __getattr, __setattr, 0, //&MyPyCompare, __repr, 0, //&cvalue_as_number, 0, 0, 0, 0, 0, 0, 0, 0, 0, doc }; PyParentObject KX_Camera::Parents[] = { &KX_Camera::Type, &KX_GameObject::Type, &SCA_IObject::Type, &CValue::Type, NULL }; PyObject* KX_Camera::_getattr(const STR_String& attr) { if (attr == "INSIDE") return PyInt_FromLong(INSIDE); /* new ref */ if (attr == "OUTSIDE") return PyInt_FromLong(OUTSIDE); /* new ref */ if (attr == "INTERSECT") return PyInt_FromLong(INTERSECT); /* new ref */ if (attr == "lens") return PyFloat_FromDouble(GetLens()); /* new ref */ if (attr == "near") return PyFloat_FromDouble(GetCameraNear()); /* new ref */ if (attr == "far") return PyFloat_FromDouble(GetCameraFar()); /* new ref */ if (attr == "frustum_culling") return PyInt_FromLong(m_frustum_culling); /* new ref */ if (attr == "perspective") return PyInt_FromLong(m_camdata.m_perspective); /* new ref */ if (attr == "projection_matrix") return PyObjectFrom(GetProjectionMatrix()); /* new ref */ if (attr == "modelview_matrix") return PyObjectFrom(GetModelviewMatrix()); /* new ref */ if (attr == "camera_to_world") return PyObjectFrom(GetCameraToWorld()); /* new ref */ if (attr == "world_to_camera") return PyObjectFrom(GetWorldToCamera()); /* new ref */ _getattr_up(KX_GameObject); } int KX_Camera::_setattr(const STR_String &attr, PyObject *pyvalue) { if (PyInt_Check(pyvalue)) { if (attr == "frustum_culling") { m_frustum_culling = PyInt_AsLong(pyvalue); return 0; } if (attr == "perspective") { m_camdata.m_perspective = PyInt_AsLong(pyvalue); return 0; } } if (PyFloat_Check(pyvalue)) { if (attr == "lens") { m_camdata.m_lens = PyFloat_AsDouble(pyvalue); m_set_projection_matrix = false; return 0; } if (attr == "near") { m_camdata.m_clipstart = PyFloat_AsDouble(pyvalue); m_set_projection_matrix = false; return 0; } if (attr == "far") { m_camdata.m_clipend = PyFloat_AsDouble(pyvalue); m_set_projection_matrix = false; return 0; } } if (PyObject_IsMT_Matrix(pyvalue, 4)) { if (attr == "projection_matrix") { MT_Matrix4x4 mat; if (PyMatTo(pyvalue, mat)) { SetProjectionMatrix(mat); return 0; } return 1; } } return KX_GameObject::_setattr(attr, pyvalue); } KX_PYMETHODDEF_DOC(KX_Camera, sphereInsideFrustum, "sphereInsideFrustum(center, radius) -> Integer\n" "\treturns INSIDE, OUTSIDE or INTERSECT if the given sphere is\n" "\tinside/outside/intersects this camera's viewing frustum.\n\n" "\tcenter = the center of the sphere (in world coordinates.)\n" "\tradius = the radius of the sphere\n\n" "\tExample:\n" "\timport GameLogic\n\n" "\tco = GameLogic.getCurrentController()\n" "\tcam = co.GetOwner()\n\n" "\t# A sphere of radius 4.0 located at [x, y, z] = [1.0, 1.0, 1.0]\n" "\tif (cam.sphereInsideFrustum([1.0, 1.0, 1.0], 4) != cam.OUTSIDE):\n" "\t\t# Sphere is inside frustum !\n" "\t\t# Do something useful !\n" "\telse:\n" "\t\t# Sphere is outside frustum\n" ) { PyObject *pycenter; float radius; if (PyArg_ParseTuple(args, "Of", &pycenter, &radius)) { MT_Point3 center; if (PyVecTo(pycenter, center)) { return PyInt_FromLong(SphereInsideFrustum(center, radius)); /* new ref */ } } PyErr_SetString(PyExc_TypeError, "sphereInsideFrustum: Expected arguments: (center, radius)"); Py_Return; } KX_PYMETHODDEF_DOC(KX_Camera, boxInsideFrustum, "boxInsideFrustum(box) -> Integer\n" "\treturns INSIDE, OUTSIDE or INTERSECT if the given box is\n" "\tinside/outside/intersects this camera's viewing frustum.\n\n" "\tbox = a list of the eight (8) corners of the box (in world coordinates.)\n\n" "\tExample:\n" "\timport GameLogic\n\n" "\tco = GameLogic.getCurrentController()\n" "\tcam = co.GetOwner()\n\n" "\tbox = []\n" "\tbox.append([-1.0, -1.0, -1.0])\n" "\tbox.append([-1.0, -1.0, 1.0])\n" "\tbox.append([-1.0, 1.0, -1.0])\n" "\tbox.append([-1.0, 1.0, 1.0])\n" "\tbox.append([ 1.0, -1.0, -1.0])\n" "\tbox.append([ 1.0, -1.0, 1.0])\n" "\tbox.append([ 1.0, 1.0, -1.0])\n" "\tbox.append([ 1.0, 1.0, 1.0])\n\n" "\tif (cam.boxInsideFrustum(box) != cam.OUTSIDE):\n" "\t\t# Box is inside/intersects frustum !\n" "\t\t# Do something useful !\n" "\telse:\n" "\t\t# Box is outside the frustum !\n" ) { PyObject *pybox; if (PyArg_ParseTuple(args, "O", &pybox)) { unsigned int num_points = PySequence_Size(pybox); if (num_points != 8) { PyErr_Format(PyExc_TypeError, "boxInsideFrustum: Expected eight (8) points, got %d", num_points); return NULL; } MT_Point3 box[8]; for (unsigned int p = 0; p < 8 ; p++) { PyObject *item = PySequence_GetItem(pybox, p); /* new ref */ bool error = !PyVecTo(item, box[p]); Py_DECREF(item); if (error) return NULL; } return PyInt_FromLong(BoxInsideFrustum(box)); /* new ref */ } PyErr_SetString(PyExc_TypeError, "boxInsideFrustum: Expected argument: list of points."); return NULL; } KX_PYMETHODDEF_DOC(KX_Camera, pointInsideFrustum, "pointInsideFrustum(point) -> Bool\n" "\treturns 1 if the given point is inside this camera's viewing frustum.\n\n" "\tpoint = The point to test (in world coordinates.)\n\n" "\tExample:\n" "\timport GameLogic\n\n" "\tco = GameLogic.getCurrentController()\n" "\tcam = co.GetOwner()\n\n" "\t# Test point [0.0, 0.0, 0.0]" "\tif (cam.pointInsideFrustum([0.0, 0.0, 0.0])):\n" "\t\t# Point is inside frustum !\n" "\t\t# Do something useful !\n" "\telse:\n" "\t\t# Box is outside the frustum !\n" ) { MT_Point3 point; if (PyVecArgTo(args, point)) { return PyInt_FromLong(PointInsideFrustum(point)); /* new ref */ } PyErr_SetString(PyExc_TypeError, "pointInsideFrustum: Expected point argument."); return NULL; } KX_PYMETHODDEF_DOC(KX_Camera, getCameraToWorld, "getCameraToWorld() -> Matrix4x4\n" "\treturns the camera to world transformation matrix, as a list of four lists of four values.\n\n" "\tie: [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]])\n" ) { return PyObjectFrom(GetCameraToWorld()); /* new ref */ } KX_PYMETHODDEF_DOC(KX_Camera, getWorldToCamera, "getWorldToCamera() -> Matrix4x4\n" "\treturns the world to camera transformation matrix, as a list of four lists of four values.\n\n" "\tie: [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]])\n" ) { return PyObjectFrom(GetWorldToCamera()); /* new ref */ } KX_PYMETHODDEF_DOC(KX_Camera, getProjectionMatrix, "getProjectionMatrix() -> Matrix4x4\n" "\treturns this camera's projection matrix, as a list of four lists of four values.\n\n" "\tie: [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]])\n" ) { return PyObjectFrom(GetProjectionMatrix()); /* new ref */ } KX_PYMETHODDEF_DOC(KX_Camera, setProjectionMatrix, "setProjectionMatrix(MT_Matrix4x4 m) -> None\n" "\tSets this camera's projection matrix\n" "\n" "\tExample:\n" "\timport GameLogic\n" "\t# Set a perspective projection matrix\n" "\tdef Perspective(left, right, bottom, top, near, far):\n" "\t\tm = MT_Matrix4x4()\n" "\t\tm[0][0] = m[0][2] = right - left\n" "\t\tm[1][1] = m[1][2] = top - bottom\n" "\t\tm[2][2] = m[2][3] = -far - near\n" "\t\tm[3][2] = -1\n" "\t\tm[3][3] = 0\n" "\t\treturn m\n" "\n" "\t# Set an orthographic projection matrix\n" "\tdef Orthographic(left, right, bottom, top, near, far):\n" "\t\tm = MT_Matrix4x4()\n" "\t\tm[0][0] = right - left\n" "\t\tm[0][3] = -right - left\n" "\t\tm[1][1] = top - bottom\n" "\t\tm[1][3] = -top - bottom\n" "\t\tm[2][2] = far - near\n" "\t\tm[2][3] = -far - near\n" "\t\tm[3][3] = 1\n" "\t\treturn m\n" "\n" "\t# Set an isometric projection matrix\n" "\tdef Isometric(left, right, bottom, top, near, far):\n" "\t\tm = MT_Matrix4x4()\n" "\t\tm[0][0] = m[0][2] = m[1][1] = 0.8660254037844386\n" "\t\tm[1][0] = 0.25\n" "\t\tm[1][2] = -0.25\n" "\t\tm[3][3] = 1\n" "\t\treturn m\n" "\n" "\t" "\tco = GameLogic.getCurrentController()\n" "\tcam = co.getOwner()\n" "\tcam.setProjectionMatrix(Perspective(-1.0, 1.0, -1.0, 1.0, 0.1, 1))\n") { PyObject *pymat; if (PyArg_ParseTuple(args, "O", &pymat)) { MT_Matrix4x4 mat; if (PyMatTo(pymat, mat)) { SetProjectionMatrix(mat); Py_Return; } } PyErr_SetString(PyExc_TypeError, "setProjectionMatrix: Expected 4x4 list as matrix argument."); return NULL; } KX_PYMETHODDEF_DOC(KX_Camera, enableViewport, "enableViewport(viewport)\n" "Sets this camera's viewport status\n" ) { int viewport; if (PyArg_ParseTuple(args,"i",&viewport)) { if(viewport) EnableViewport(true); else EnableViewport(false); } Py_Return; } KX_PYMETHODDEF_DOC(KX_Camera, setViewport, "setViewport(left, bottom, right, top)\n" "Sets this camera's viewport\n") { int left, bottom, right, top; if (PyArg_ParseTuple(args,"iiii",&left, &bottom, &right, &top)) { SetViewport(left, bottom, right, top); } Py_Return; } KX_PYMETHODDEF_DOC(KX_Camera, setOnTop, "setOnTop()\n" "Sets this camera's viewport on top\n") { class KX_Scene* scene; scene = PHY_GetActiveScene(); MT_assert(scene); scene->SetCameraOnTop(this); Py_Return; }