491 lines
11 KiB
C++
491 lines
11 KiB
C++
//
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// Replace the mesh for this actuator's parent
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//
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// $Id$
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//
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// ***** BEGIN GPL/BL DUAL 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. The Blender
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// Foundation also sells licenses for use in proprietary software under
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// the Blender License. See http://www.blender.org/BL/ for information
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// about this.
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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., 59 Temple Place - Suite 330, Boston, MA 02111-1307, 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/BL DUAL 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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#ifdef HAVE_CONFIG_H
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#include <config.h>
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#endif
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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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PyTypeObject* T)
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:
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SCA_IActuator(gameobj, T)
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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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} /* 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 Mat3ToEul(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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/* verschillen van ong 360 graden corrigeren */
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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) > 5.1) {
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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) > 5.1) {
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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) > 5.1 ) {
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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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Mat3ToEul(oldmat, oldeul);
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Mat3ToEul(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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// there's nothing to be done here, really....
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} /* end of destructor */
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bool KX_TrackToActuator::Update(double curtime,double deltatime)
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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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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 = MT_Vector3(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 = MT_Vector3(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 = MT_Vector3(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).normalized();
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}
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else
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{
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dir = (dir - up.dot(dir)*up).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.normalized();
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dir = (left.cross(up)).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)).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.normalized();
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up = dir.normalized();
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dir = left;
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left = (dir.cross(up)).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.normalized();
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dir = -(left.cross(up)).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)).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.normalized();
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up = -dir.normalized();
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dir = left;
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left = (dir.cross(up)).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.normalized();
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dir = -(left.cross(up)).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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curobj->NodeSetLocalOrientation(mat);
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//cout << "\n TrackTo!";
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result = true;
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}
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return result;
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}
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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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PyObject_HEAD_INIT(&PyType_Type)
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0,
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"KX_TrackToActuator",
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sizeof(KX_TrackToActuator),
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0,
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PyDestructor,
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0,
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__getattr,
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__setattr,
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0, //&MyPyCompare,
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__repr,
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0, //&cvalue_as_number,
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0,
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0,
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0,
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0
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};
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PyParentObject KX_TrackToActuator::Parents[] = {
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&KX_TrackToActuator::Type,
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&SCA_IActuator::Type,
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&SCA_ILogicBrick::Type,
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&CValue::Type,
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NULL
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};
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PyMethodDef KX_TrackToActuator::Methods[] = {
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{"setObject", (PyCFunction) KX_TrackToActuator::sPySetObject, METH_VARARGS, SetObject_doc},
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{"getObject", (PyCFunction) KX_TrackToActuator::sPyGetObject, METH_VARARGS, GetObject_doc},
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{"setTime", (PyCFunction) KX_TrackToActuator::sPySetTime, METH_VARARGS, SetTime_doc},
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{"getTime", (PyCFunction) KX_TrackToActuator::sPyGetTime, METH_VARARGS, GetTime_doc},
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{"setUse3D", (PyCFunction) KX_TrackToActuator::sPySetUse3D, METH_VARARGS, SetUse3D_doc},
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{"getUse3D", (PyCFunction) KX_TrackToActuator::sPyGetUse3D, METH_VARARGS, GetUse3D_doc},
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{NULL,NULL} //Sentinel
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};
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PyObject* KX_TrackToActuator::_getattr(const STR_String& attr)
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{
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_getattr_up(SCA_IActuator);
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}
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/* 1. setObject */
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char KX_TrackToActuator::SetObject_doc[] =
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"setObject(object)\n"
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"\t- object: string\n"
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"\tSet the object to track with the parent of this actuator.\n";
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PyObject* KX_TrackToActuator::PySetObject(PyObject* self, PyObject* args, PyObject* kwds) {
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char* nameArg;
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if (!PyArg_ParseTuple(args, "s", &nameArg)) {
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return NULL;
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}
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CValue* gameobj = SCA_ILogicBrick::m_sCurrentLogicManager->GetGameObjectByName(STR_String(nameArg));
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m_object= (SCA_IObject*)gameobj;
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Py_Return;
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}
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/* 2. getObject */
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char KX_TrackToActuator::GetObject_doc[] =
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"getObject()\n"
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"\tReturns the object to track with the parent of this actuator.\n";
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PyObject* KX_TrackToActuator::PyGetObject(PyObject* self, PyObject* args, PyObject* kwds)
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{
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return PyString_FromString(m_object->GetName());
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}
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/* 3. setTime */
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char KX_TrackToActuator::SetTime_doc[] =
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"setTime(time)\n"
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"\t- time: integer\n"
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"\tSet the time in frames with which to delay the tracking motion.\n";
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PyObject* KX_TrackToActuator::PySetTime(PyObject* self, PyObject* args, PyObject* kwds)
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{
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int timeArg;
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if (!PyArg_ParseTuple(args, "i", &timeArg))
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{
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return NULL;
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}
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m_time= timeArg;
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Py_Return;
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}
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/* 4.getTime */
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char KX_TrackToActuator::GetTime_doc[] =
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"getTime()\n"
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"\t- time: integer\n"
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"\tReturn the time in frames with which the tracking motion is delayed.\n";
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PyObject* KX_TrackToActuator::PyGetTime(PyObject* self, PyObject* args, PyObject* kwds)
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{
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return PyInt_FromLong(m_time);
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}
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/* 5. getUse3D */
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char KX_TrackToActuator::GetUse3D_doc[] =
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"getUse3D()\n"
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"\tReturns 1 if the motion is allowed to extend in the z-direction.\n";
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PyObject* KX_TrackToActuator::PyGetUse3D(PyObject* self, PyObject* args, PyObject* kwds)
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{
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return PyInt_FromLong(!(m_allow3D == 0));
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}
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/* 6. setUse3D */
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char KX_TrackToActuator::SetUse3D_doc[] =
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"setUse3D(value)\n"
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"\t- value: 0 or 1\n"
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"\tSet to 1 to allow the tracking motion to extend in the z-direction,\n"
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"\tset to 0 to lock the tracking motion to the x-y plane.\n";
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PyObject* KX_TrackToActuator::PySetUse3D(PyObject* self, PyObject* args, PyObject* kwds)
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{
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int boolArg;
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if (!PyArg_ParseTuple(args, "i", &boolArg)) {
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return NULL;
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}
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m_allow3D = !(boolArg == 0);
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Py_Return;
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}
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/* eof */
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