494 lines
12 KiB
C++
494 lines
12 KiB
C++
/** \file gameengine/Ketsji/KX_TrackToActuator.cpp
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* \ingroup ketsji
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*/
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//
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// Replace the mesh for this actuator's parent
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//
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//
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// ***** BEGIN GPL LICENSE BLOCK *****
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//
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// This program is free software; you can redistribute it and/or
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// modify it under the terms of the GNU General Public License
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// as published by the Free Software Foundation; either version 2
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// of the License, or (at your option) any later version.
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//
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// This program is distributed in the hope that it will be useful,
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// but WITHOUT ANY WARRANTY; without even the implied warranty of
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// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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// GNU General Public License for more details.
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//
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// You should have received a copy of the GNU General Public License
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// along with this program; if not, write to the Free Software Foundation,
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// Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
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//
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// The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
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// All rights reserved.
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//
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// The Original Code is: all of this file.
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//
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// Contributor(s): none yet.
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//
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// ***** END GPL LICENSE BLOCK *****
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// todo: not all trackflags / upflags are implemented/tested !
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// m_trackflag is used to determine the forward tracking direction
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// m_upflag for the up direction
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// normal situation is +y for forward, +z for up
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#include "MT_Scalar.h"
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#include "SCA_IActuator.h"
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#include "KX_TrackToActuator.h"
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#include "SCA_IScene.h"
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#include "SCA_LogicManager.h"
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#include <math.h>
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#include <iostream>
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#include "KX_GameObject.h"
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#include "PyObjectPlus.h"
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/* ------------------------------------------------------------------------- */
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/* Native functions */
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/* ------------------------------------------------------------------------- */
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KX_TrackToActuator::KX_TrackToActuator(SCA_IObject *gameobj,
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SCA_IObject *ob,
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int time,
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bool allow3D,
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int trackflag,
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int upflag)
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: SCA_IActuator(gameobj, KX_ACT_TRACKTO)
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{
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m_time = time;
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m_allow3D = allow3D;
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m_object = ob;
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m_trackflag = trackflag;
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m_upflag = upflag;
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m_parentobj = 0;
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if (m_object)
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m_object->RegisterActuator(this);
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{
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// if the object is vertex parented, don't check parent orientation as the link is broken
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if (!((KX_GameObject*)gameobj)->IsVertexParent()){
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m_parentobj = ((KX_GameObject*)gameobj)->GetParent(); // check if the object is parented
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if (m_parentobj) {
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// if so, store the initial local rotation
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// this is needed to revert the effect of the parent inverse node (TBC)
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m_parentlocalmat = m_parentobj->GetSGNode()->GetLocalOrientation();
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// use registration mechanism rather than AddRef, it creates zombie objects
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m_parentobj->RegisterActuator(this);
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// GetParent did AddRef, undo here
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m_parentobj->Release();
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}
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}
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}
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} /* End of constructor */
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/* old function from Blender */
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MT_Matrix3x3 EulToMat3(float *eul)
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{
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MT_Matrix3x3 mat;
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float ci, cj, ch, si, sj, sh, cc, cs, sc, ss;
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ci = cos(eul[0]);
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cj = cos(eul[1]);
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ch = cos(eul[2]);
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si = sin(eul[0]);
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sj = sin(eul[1]);
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sh = sin(eul[2]);
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cc = ci*ch;
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cs = ci*sh;
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sc = si*ch;
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ss = si*sh;
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mat[0][0] = cj*ch;
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mat[1][0] = sj*sc-cs;
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mat[2][0] = sj*cc+ss;
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mat[0][1] = cj*sh;
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mat[1][1] = sj*ss+cc;
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mat[2][1] = sj*cs-sc;
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mat[0][2] = -sj;
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mat[1][2] = cj*si;
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mat[2][2] = cj*ci;
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return mat;
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}
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/* old function from Blender */
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void Mat3ToEulOld(MT_Matrix3x3 mat, float *eul)
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{
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MT_Scalar cy;
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cy = sqrt(mat[0][0]*mat[0][0] + mat[0][1]*mat[0][1]);
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if (cy > 16.0*FLT_EPSILON) {
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eul[0] = atan2(mat[1][2], mat[2][2]);
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eul[1] = atan2(-mat[0][2], cy);
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eul[2] = atan2(mat[0][1], mat[0][0]);
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} else {
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eul[0] = atan2(-mat[2][1], mat[1][1]);
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eul[1] = atan2(-mat[0][2], cy);
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eul[2] = 0.0;
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}
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}
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/* old function from Blender */
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void compatible_eulFast(float *eul, float *oldrot)
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{
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float dx, dy, dz;
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/* angular difference of 360 degrees */
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dx= eul[0] - oldrot[0];
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dy= eul[1] - oldrot[1];
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dz= eul[2] - oldrot[2];
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if( fabs(dx) > MT_PI) {
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if(dx > 0.0) eul[0] -= MT_2_PI; else eul[0]+= MT_2_PI;
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}
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if( fabs(dy) > MT_PI) {
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if(dy > 0.0) eul[1] -= MT_2_PI; else eul[1]+= MT_2_PI;
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}
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if( fabs(dz) > MT_PI ) {
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if(dz > 0.0) eul[2] -= MT_2_PI; else eul[2]+= MT_2_PI;
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}
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}
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MT_Matrix3x3 matrix3x3_interpol(MT_Matrix3x3 oldmat, MT_Matrix3x3 mat, int m_time)
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{
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float eul[3], oldeul[3];
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Mat3ToEulOld(oldmat, oldeul);
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Mat3ToEulOld(mat, eul);
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compatible_eulFast(eul, oldeul);
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eul[0]= (m_time*oldeul[0] + eul[0])/(1.0+m_time);
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eul[1]= (m_time*oldeul[1] + eul[1])/(1.0+m_time);
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eul[2]= (m_time*oldeul[2] + eul[2])/(1.0+m_time);
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return EulToMat3(eul);
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}
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KX_TrackToActuator::~KX_TrackToActuator()
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{
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if (m_object)
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m_object->UnregisterActuator(this);
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if (m_parentobj)
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m_parentobj->UnregisterActuator(this);
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} /* end of destructor */
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void KX_TrackToActuator::ProcessReplica()
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{
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// the replica is tracking the same object => register it
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if (m_object)
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m_object->RegisterActuator(this);
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if (m_parentobj)
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m_parentobj->RegisterActuator(this);
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SCA_IActuator::ProcessReplica();
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}
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bool KX_TrackToActuator::UnlinkObject(SCA_IObject* clientobj)
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{
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if (clientobj == m_object)
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{
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// this object is being deleted, we cannot continue to track it.
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m_object = NULL;
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return true;
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}
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if (clientobj == m_parentobj)
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{
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m_parentobj = NULL;
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return true;
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}
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return false;
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}
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void KX_TrackToActuator::Relink(CTR_Map<CTR_HashedPtr, void*> *obj_map)
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{
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void **h_obj = (*obj_map)[m_object];
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if (h_obj) {
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if (m_object)
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m_object->UnregisterActuator(this);
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m_object = (SCA_IObject*)(*h_obj);
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m_object->RegisterActuator(this);
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}
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void **h_parobj = (*obj_map)[m_parentobj];
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if (h_parobj) {
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if (m_parentobj)
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m_parentobj->UnregisterActuator(this);
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m_parentobj= (KX_GameObject*)(*h_parobj);
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m_parentobj->RegisterActuator(this);
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}
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}
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bool KX_TrackToActuator::Update(double curtime, bool frame)
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{
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bool result = false;
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bool bNegativeEvent = IsNegativeEvent();
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RemoveAllEvents();
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if (bNegativeEvent)
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{
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// do nothing on negative events
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}
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else if (m_object)
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{
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KX_GameObject* curobj = (KX_GameObject*) GetParent();
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MT_Vector3 dir = ((KX_GameObject*)m_object)->NodeGetWorldPosition() - curobj->NodeGetWorldPosition();
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if (dir.length2())
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dir.normalize();
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MT_Vector3 up(0,0,1);
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#ifdef DSADSA
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switch (m_upflag)
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{
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case 0:
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{
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up.setValue(1.0,0,0);
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break;
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}
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case 1:
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{
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up.setValue(0,1.0,0);
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break;
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}
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case 2:
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default:
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{
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up.setValue(0,0,1.0);
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}
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}
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#endif
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if (m_allow3D)
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{
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up = (up - up.dot(dir) * dir).safe_normalized();
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}
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else
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{
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dir = (dir - up.dot(dir)*up).safe_normalized();
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}
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MT_Vector3 left;
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MT_Matrix3x3 mat;
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switch (m_trackflag)
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{
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case 0: // TRACK X
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{
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// (1.0 , 0.0 , 0.0 ) x direction is forward, z (0.0 , 0.0 , 1.0 ) up
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left = dir.safe_normalized();
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dir = (left.cross(up)).safe_normalized();
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mat.setValue (
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left[0], dir[0],up[0],
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left[1], dir[1],up[1],
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left[2], dir[2],up[2]
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);
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break;
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};
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case 1: // TRACK Y
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{
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// (0.0 , 1.0 , 0.0 ) y direction is forward, z (0.0 , 0.0 , 1.0 ) up
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left = (dir.cross(up)).safe_normalized();
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mat.setValue (
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left[0], dir[0],up[0],
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left[1], dir[1],up[1],
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left[2], dir[2],up[2]
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);
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break;
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}
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case 2: // track Z
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{
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left = up.safe_normalized();
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up = dir.safe_normalized();
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dir = left;
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left = (dir.cross(up)).safe_normalized();
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mat.setValue (
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left[0], dir[0],up[0],
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left[1], dir[1],up[1],
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left[2], dir[2],up[2]
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);
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break;
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}
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case 3: // TRACK -X
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{
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// (1.0 , 0.0 , 0.0 ) x direction is forward, z (0.0 , 0.0 , 1.0 ) up
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left = -dir.safe_normalized();
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dir = -(left.cross(up)).safe_normalized();
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mat.setValue (
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left[0], dir[0],up[0],
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left[1], dir[1],up[1],
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left[2], dir[2],up[2]
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);
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break;
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};
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case 4: // TRACK -Y
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{
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// (0.0 , -1.0 , 0.0 ) -y direction is forward, z (0.0 , 0.0 , 1.0 ) up
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left = (-dir.cross(up)).safe_normalized();
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mat.setValue (
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left[0], -dir[0],up[0],
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left[1], -dir[1],up[1],
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left[2], -dir[2],up[2]
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);
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break;
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}
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case 5: // track -Z
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{
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left = up.safe_normalized();
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up = -dir.safe_normalized();
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dir = left;
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left = (dir.cross(up)).safe_normalized();
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mat.setValue (
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left[0], dir[0],up[0],
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left[1], dir[1],up[1],
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left[2], dir[2],up[2]
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);
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break;
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}
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default:
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{
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// (1.0 , 0.0 , 0.0 ) -x direction is forward, z (0.0 , 0.0 , 1.0 ) up
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left = -dir.safe_normalized();
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dir = -(left.cross(up)).safe_normalized();
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mat.setValue (
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left[0], dir[0],up[0],
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left[1], dir[1],up[1],
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left[2], dir[2],up[2]
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);
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}
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}
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MT_Matrix3x3 oldmat;
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oldmat= curobj->NodeGetWorldOrientation();
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/* erwin should rewrite this! */
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mat= matrix3x3_interpol(oldmat, mat, m_time);
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if(m_parentobj){ // check if the model is parented and calculate the child transform
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MT_Point3 localpos;
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localpos = curobj->GetSGNode()->GetLocalPosition();
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// Get the inverse of the parent matrix
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MT_Matrix3x3 parentmatinv;
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parentmatinv = m_parentobj->NodeGetWorldOrientation ().inverse ();
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// transform the local coordinate system into the parents system
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mat = parentmatinv * mat;
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// append the initial parent local rotation matrix
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mat = m_parentlocalmat * mat;
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// set the models tranformation properties
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curobj->NodeSetLocalOrientation(mat);
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curobj->NodeSetLocalPosition(localpos);
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//curobj->UpdateTransform();
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}
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else
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{
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curobj->NodeSetLocalOrientation(mat);
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}
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result = true;
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}
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return result;
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}
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#ifdef WITH_PYTHON
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/* ------------------------------------------------------------------------- */
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/* Python functions */
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/* ------------------------------------------------------------------------- */
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/* Integration hooks ------------------------------------------------------- */
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PyTypeObject KX_TrackToActuator::Type = {
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PyVarObject_HEAD_INIT(NULL, 0)
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"KX_TrackToActuator",
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sizeof(PyObjectPlus_Proxy),
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0,
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py_base_dealloc,
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0,
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0,
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0,
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0,
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py_base_repr,
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0,0,0,0,0,0,0,0,0,
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Py_TPFLAGS_DEFAULT | Py_TPFLAGS_BASETYPE,
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0,0,0,0,0,0,0,
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Methods,
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0,
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0,
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&SCA_IActuator::Type,
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0,0,0,0,0,0,
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py_base_new
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};
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PyMethodDef KX_TrackToActuator::Methods[] = {
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{NULL,NULL} //Sentinel
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};
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PyAttributeDef KX_TrackToActuator::Attributes[] = {
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KX_PYATTRIBUTE_INT_RW("time",0,1000,true,KX_TrackToActuator,m_time),
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KX_PYATTRIBUTE_BOOL_RW("use3D",KX_TrackToActuator,m_allow3D),
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KX_PYATTRIBUTE_RW_FUNCTION("object", KX_TrackToActuator, pyattr_get_object, pyattr_set_object),
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{ NULL } //Sentinel
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};
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PyObject* KX_TrackToActuator::pyattr_get_object(void *self, const struct KX_PYATTRIBUTE_DEF *attrdef)
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{
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KX_TrackToActuator* actuator = static_cast<KX_TrackToActuator*>(self);
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if (!actuator->m_object)
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Py_RETURN_NONE;
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else
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return actuator->m_object->GetProxy();
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}
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int KX_TrackToActuator::pyattr_set_object(void *self, const struct KX_PYATTRIBUTE_DEF *attrdef, PyObject *value)
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{
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KX_TrackToActuator* actuator = static_cast<KX_TrackToActuator*>(self);
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KX_GameObject *gameobj;
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if (!ConvertPythonToGameObject(value, &gameobj, true, "actuator.object = value: KX_TrackToActuator"))
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return PY_SET_ATTR_FAIL; // ConvertPythonToGameObject sets the error
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if (actuator->m_object != NULL)
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actuator->m_object->UnregisterActuator(actuator);
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actuator->m_object = (SCA_IObject*) gameobj;
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if (actuator->m_object)
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actuator->m_object->RegisterActuator(actuator);
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return PY_SET_ATTR_SUCCESS;
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}
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#endif // WITH_PYTHON
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/* eof */
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