6f3e593105
remove constraint fixed, Bullet timestep now subdivides Blender game engine timestep, so it runs 60 hertz, SphereShape reverted to old style, so no support for non-uniform scaled spheres for now,
465 lines
12 KiB
C++
465 lines
12 KiB
C++
/**
|
|
* $Id$
|
|
*
|
|
* ***** 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 *****
|
|
*/
|
|
#include "KX_PyConstraintBinding.h"
|
|
#include "PHY_IPhysicsEnvironment.h"
|
|
#include "KX_ConstraintWrapper.h"
|
|
#include "KX_PhysicsObjectWrapper.h"
|
|
#include "PHY_IPhysicsController.h"
|
|
|
|
#ifdef HAVE_CONFIG_H
|
|
#include <config.h>
|
|
#endif
|
|
|
|
// nasty glob variable to connect scripting language
|
|
// if there is a better way (without global), please do so!
|
|
static PHY_IPhysicsEnvironment* g_CurrentActivePhysicsEnvironment = NULL;
|
|
|
|
static char PhysicsConstraints_module_documentation[] =
|
|
"This is the Python API for the Physics Constraints";
|
|
|
|
|
|
static char gPySetGravity__doc__[] = "setGravity(float x,float y,float z)";
|
|
static char gPySetDebugMode__doc__[] = "setDebugMode(int mode)";
|
|
|
|
static char gPySetNumIterations__doc__[] = "setNumIterations(int numiter) This sets the number of iterations for an iterative constraint solver";
|
|
static char gPySetDeactivationTime__doc__[] = "setDeactivationTime(float time) This sets the time after which a resting rigidbody gets deactived";
|
|
static char gPySetDeactivationLinearTreshold__doc__[] = "setDeactivationLinearTreshold(float linearTreshold)";
|
|
static char gPySetDeactivationAngularTreshold__doc__[] = "setDeactivationAngularTreshold(float angularTreshold)";
|
|
static char gPySetContactBreakingTreshold__doc__[] = "setContactBreakingTreshold(float breakingTreshold) Reasonable default is 0.02 (if units are meters)";
|
|
|
|
static char gPySetCcdMode__doc__[] = "setCcdMode(int ccdMode) Very experimental, not recommended";
|
|
static char gPySetSorConstant__doc__[] = "setSorConstant(float sor) Very experimental, not recommended";
|
|
static char gPySetSolverTau__doc__[] = "setTau(float tau) Very experimental, not recommended";
|
|
static char gPySetSolverDamping__doc__[] = "setDamping(float damping) Very experimental, not recommended";
|
|
static char gPySetLinearAirDamping__doc__[] = "setLinearAirDamping(float damping) Very experimental, not recommended";
|
|
static char gPySetUseEpa__doc__[] = "setUseEpa(int epa) Very experimental, not recommended";
|
|
static char gPySetSolverType__doc__[] = "setSolverType(int solverType) Very experimental, not recommended";
|
|
|
|
|
|
static char gPyCreateConstraint__doc__[] = "createConstraint(ob1,ob2,float restLength,float restitution,float damping)";
|
|
static char gPyRemoveConstraint__doc__[] = "removeConstraint(constraint id)";
|
|
|
|
|
|
|
|
|
|
|
|
static PyObject* gPySetGravity(PyObject* self,
|
|
PyObject* args,
|
|
PyObject* kwds)
|
|
{
|
|
float x,y,z;
|
|
int len = PyTuple_Size(args);
|
|
if ((len == 3) && PyArg_ParseTuple(args,"fff",&x,&y,&z))
|
|
{
|
|
if (PHY_GetActiveEnvironment())
|
|
PHY_GetActiveEnvironment()->setGravity(x,y,z);
|
|
}
|
|
Py_INCREF(Py_None); return Py_None;
|
|
}
|
|
|
|
static PyObject* gPySetDebugMode(PyObject* self,
|
|
PyObject* args,
|
|
PyObject* kwds)
|
|
{
|
|
int mode;
|
|
if (PyArg_ParseTuple(args,"i",&mode))
|
|
{
|
|
if (PHY_GetActiveEnvironment())
|
|
{
|
|
PHY_GetActiveEnvironment()->setDebugMode(mode);
|
|
|
|
}
|
|
|
|
}
|
|
Py_INCREF(Py_None); return Py_None;
|
|
}
|
|
|
|
static PyObject* gPySetNumIterations(PyObject* self,
|
|
PyObject* args,
|
|
PyObject* kwds)
|
|
{
|
|
int iter;
|
|
if (PyArg_ParseTuple(args,"i",&iter))
|
|
{
|
|
if (PHY_GetActiveEnvironment())
|
|
{
|
|
PHY_GetActiveEnvironment()->setNumIterations(iter);
|
|
}
|
|
}
|
|
Py_INCREF(Py_None); return Py_None;
|
|
}
|
|
|
|
|
|
|
|
static PyObject* gPySetDeactivationTime(PyObject* self,
|
|
PyObject* args,
|
|
PyObject* kwds)
|
|
{
|
|
float deactive_time;
|
|
if (PyArg_ParseTuple(args,"f",&deactive_time))
|
|
{
|
|
if (PHY_GetActiveEnvironment())
|
|
{
|
|
PHY_GetActiveEnvironment()->setDeactivationTime(deactive_time);
|
|
}
|
|
}
|
|
Py_INCREF(Py_None); return Py_None;
|
|
}
|
|
|
|
|
|
static PyObject* gPySetDeactivationLinearTreshold(PyObject* self,
|
|
PyObject* args,
|
|
PyObject* kwds)
|
|
{
|
|
float linearDeactivationTreshold;
|
|
if (PyArg_ParseTuple(args,"f",&linearDeactivationTreshold))
|
|
{
|
|
if (PHY_GetActiveEnvironment())
|
|
{
|
|
PHY_GetActiveEnvironment()->setDeactivationLinearTreshold( linearDeactivationTreshold);
|
|
}
|
|
}
|
|
Py_INCREF(Py_None); return Py_None;
|
|
}
|
|
|
|
|
|
static PyObject* gPySetDeactivationAngularTreshold(PyObject* self,
|
|
PyObject* args,
|
|
PyObject* kwds)
|
|
{
|
|
float angularDeactivationTreshold;
|
|
if (PyArg_ParseTuple(args,"f",&angularDeactivationTreshold))
|
|
{
|
|
if (PHY_GetActiveEnvironment())
|
|
{
|
|
PHY_GetActiveEnvironment()->setDeactivationAngularTreshold( angularDeactivationTreshold);
|
|
}
|
|
}
|
|
Py_INCREF(Py_None); return Py_None;
|
|
}
|
|
|
|
static PyObject* gPySetContactBreakingTreshold(PyObject* self,
|
|
PyObject* args,
|
|
PyObject* kwds)
|
|
{
|
|
float contactBreakingTreshold;
|
|
if (PyArg_ParseTuple(args,"f",&contactBreakingTreshold))
|
|
{
|
|
if (PHY_GetActiveEnvironment())
|
|
{
|
|
PHY_GetActiveEnvironment()->setContactBreakingTreshold( contactBreakingTreshold);
|
|
}
|
|
}
|
|
Py_INCREF(Py_None); return Py_None;
|
|
}
|
|
|
|
|
|
static PyObject* gPySetCcdMode(PyObject* self,
|
|
PyObject* args,
|
|
PyObject* kwds)
|
|
{
|
|
float ccdMode;
|
|
if (PyArg_ParseTuple(args,"f",&ccdMode))
|
|
{
|
|
if (PHY_GetActiveEnvironment())
|
|
{
|
|
PHY_GetActiveEnvironment()->setCcdMode( ccdMode);
|
|
}
|
|
}
|
|
Py_INCREF(Py_None); return Py_None;
|
|
}
|
|
|
|
static PyObject* gPySetSorConstant(PyObject* self,
|
|
PyObject* args,
|
|
PyObject* kwds)
|
|
{
|
|
float sor;
|
|
if (PyArg_ParseTuple(args,"f",&sor))
|
|
{
|
|
if (PHY_GetActiveEnvironment())
|
|
{
|
|
PHY_GetActiveEnvironment()->setSolverSorConstant( sor);
|
|
}
|
|
}
|
|
Py_INCREF(Py_None); return Py_None;
|
|
}
|
|
|
|
static PyObject* gPySetSolverTau(PyObject* self,
|
|
PyObject* args,
|
|
PyObject* kwds)
|
|
{
|
|
float tau;
|
|
if (PyArg_ParseTuple(args,"f",&tau))
|
|
{
|
|
if (PHY_GetActiveEnvironment())
|
|
{
|
|
PHY_GetActiveEnvironment()->setSolverTau( tau);
|
|
}
|
|
}
|
|
Py_INCREF(Py_None); return Py_None;
|
|
}
|
|
|
|
|
|
static PyObject* gPySetSolverDamping(PyObject* self,
|
|
PyObject* args,
|
|
PyObject* kwds)
|
|
{
|
|
float damping;
|
|
if (PyArg_ParseTuple(args,"f",&damping))
|
|
{
|
|
if (PHY_GetActiveEnvironment())
|
|
{
|
|
PHY_GetActiveEnvironment()->setSolverDamping( damping);
|
|
}
|
|
}
|
|
Py_INCREF(Py_None); return Py_None;
|
|
}
|
|
|
|
static PyObject* gPySetLinearAirDamping(PyObject* self,
|
|
PyObject* args,
|
|
PyObject* kwds)
|
|
{
|
|
float damping;
|
|
if (PyArg_ParseTuple(args,"f",&damping))
|
|
{
|
|
if (PHY_GetActiveEnvironment())
|
|
{
|
|
PHY_GetActiveEnvironment()->setLinearAirDamping( damping);
|
|
}
|
|
}
|
|
Py_INCREF(Py_None); return Py_None;
|
|
}
|
|
|
|
|
|
static PyObject* gPySetUseEpa(PyObject* self,
|
|
PyObject* args,
|
|
PyObject* kwds)
|
|
{
|
|
int epa;
|
|
if (PyArg_ParseTuple(args,"i",&epa))
|
|
{
|
|
if (PHY_GetActiveEnvironment())
|
|
{
|
|
PHY_GetActiveEnvironment()->setUseEpa(epa);
|
|
}
|
|
}
|
|
Py_INCREF(Py_None); return Py_None;
|
|
}
|
|
static PyObject* gPySetSolverType(PyObject* self,
|
|
PyObject* args,
|
|
PyObject* kwds)
|
|
{
|
|
int solverType;
|
|
if (PyArg_ParseTuple(args,"i",&solverType))
|
|
{
|
|
if (PHY_GetActiveEnvironment())
|
|
{
|
|
PHY_GetActiveEnvironment()->setSolverType(solverType);
|
|
}
|
|
}
|
|
Py_INCREF(Py_None); return Py_None;
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
static PyObject* gPyCreateConstraint(PyObject* self,
|
|
PyObject* args,
|
|
PyObject* kwds)
|
|
{
|
|
int physicsid=0,physicsid2 = 0,constrainttype=0,extrainfo=0;
|
|
int len = PyTuple_Size(args);
|
|
int success = 1;
|
|
float pivotX=1,pivotY=1,pivotZ=1,axisX=0,axisY=0,axisZ=1;
|
|
if (len == 3)
|
|
{
|
|
success = PyArg_ParseTuple(args,"iii",&physicsid,&physicsid2,&constrainttype);
|
|
}
|
|
else
|
|
if (len ==6)
|
|
{
|
|
success = PyArg_ParseTuple(args,"iiifff",&physicsid,&physicsid2,&constrainttype,
|
|
&pivotX,&pivotY,&pivotZ);
|
|
}
|
|
else if (len == 9)
|
|
{
|
|
success = PyArg_ParseTuple(args,"iiiffffff",&physicsid,&physicsid2,&constrainttype,
|
|
&pivotX,&pivotY,&pivotZ,&axisX,&axisY,&axisZ);
|
|
}
|
|
else if (len==4)
|
|
{
|
|
success = PyArg_ParseTuple(args,"iiii",&physicsid,&physicsid2,&constrainttype,&extrainfo);
|
|
pivotX=extrainfo;
|
|
}
|
|
|
|
if (success)
|
|
{
|
|
if (PHY_GetActiveEnvironment())
|
|
{
|
|
|
|
PHY_IPhysicsController* physctrl = (PHY_IPhysicsController*) physicsid;
|
|
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);
|
|
|
|
KX_ConstraintWrapper* wrap = new KX_ConstraintWrapper((enum PHY_ConstraintType)constrainttype,constraintid,PHY_GetActiveEnvironment());
|
|
|
|
|
|
return wrap;
|
|
}
|
|
|
|
|
|
}
|
|
}
|
|
|
|
Py_INCREF(Py_None); return Py_None;
|
|
}
|
|
|
|
|
|
static PyObject* gPyRemoveConstraint(PyObject* self,
|
|
PyObject* args,
|
|
PyObject* kwds)
|
|
{
|
|
#if defined(_WIN64)
|
|
__int64 constraintid;
|
|
if (PyArg_ParseTuple(args,"L",&constraintid))
|
|
#else
|
|
long constraintid;
|
|
if (PyArg_ParseTuple(args,"l",&constraintid))
|
|
#endif
|
|
{
|
|
if (PHY_GetActiveEnvironment())
|
|
{
|
|
PHY_GetActiveEnvironment()->removeConstraint(constraintid);
|
|
}
|
|
}
|
|
Py_INCREF(Py_None); return Py_None;
|
|
}
|
|
|
|
|
|
static struct PyMethodDef physicsconstraints_methods[] = {
|
|
{"setGravity",(PyCFunction) gPySetGravity,
|
|
METH_VARARGS, gPySetGravity__doc__},
|
|
{"setDebugMode",(PyCFunction) gPySetDebugMode,
|
|
METH_VARARGS, gPySetDebugMode__doc__},
|
|
|
|
/// settings that influence quality of the rigidbody dynamics
|
|
{"setNumIterations",(PyCFunction) gPySetNumIterations,
|
|
METH_VARARGS, gPySetNumIterations__doc__},
|
|
|
|
{"setDeactivationTime",(PyCFunction) gPySetDeactivationTime,
|
|
METH_VARARGS, gPySetDeactivationTime__doc__},
|
|
|
|
{"setDeactivationLinearTreshold",(PyCFunction) gPySetDeactivationLinearTreshold,
|
|
METH_VARARGS, gPySetDeactivationLinearTreshold__doc__},
|
|
{"setDeactivationAngularTreshold",(PyCFunction) gPySetDeactivationAngularTreshold,
|
|
METH_VARARGS, gPySetDeactivationAngularTreshold__doc__},
|
|
|
|
{"setContactBreakingTreshold",(PyCFunction) gPySetContactBreakingTreshold,
|
|
METH_VARARGS, gPySetContactBreakingTreshold__doc__},
|
|
{"setCcdMode",(PyCFunction) gPySetCcdMode,
|
|
METH_VARARGS, gPySetCcdMode__doc__},
|
|
{"setSorConstant",(PyCFunction) gPySetSorConstant,
|
|
METH_VARARGS, gPySetSorConstant__doc__},
|
|
{"setSolverTau",(PyCFunction) gPySetSolverTau,
|
|
METH_VARARGS, gPySetSolverTau__doc__},
|
|
{"setSolverDamping",(PyCFunction) gPySetSolverDamping,
|
|
METH_VARARGS, gPySetSolverDamping__doc__},
|
|
|
|
{"setLinearAirDamping",(PyCFunction) gPySetLinearAirDamping,
|
|
METH_VARARGS, gPySetLinearAirDamping__doc__},
|
|
|
|
{"setUseEpa",(PyCFunction) gPySetUseEpa,
|
|
METH_VARARGS, gPySetUseEpa__doc__},
|
|
{"setSolverType",(PyCFunction) gPySetSolverType,
|
|
METH_VARARGS, gPySetSolverType__doc__},
|
|
|
|
|
|
|
|
{"createConstraint",(PyCFunction) gPyCreateConstraint,
|
|
METH_VARARGS, gPyCreateConstraint__doc__},
|
|
{"removeConstraint",(PyCFunction) gPyRemoveConstraint,
|
|
METH_VARARGS, gPyRemoveConstraint__doc__},
|
|
|
|
//sentinel
|
|
{ NULL, (PyCFunction) NULL, 0, NULL }
|
|
};
|
|
|
|
|
|
|
|
PyObject* initPythonConstraintBinding()
|
|
{
|
|
|
|
PyObject* ErrorObject;
|
|
PyObject* m;
|
|
PyObject* d;
|
|
|
|
|
|
m = Py_InitModule4("PhysicsConstraints", physicsconstraints_methods,
|
|
PhysicsConstraints_module_documentation,
|
|
(PyObject*)NULL,PYTHON_API_VERSION);
|
|
|
|
// Add some symbolic constants to the module
|
|
d = PyModule_GetDict(m);
|
|
ErrorObject = PyString_FromString("PhysicsConstraints.error");
|
|
PyDict_SetItemString(d, "error", ErrorObject);
|
|
|
|
// XXXX Add constants here
|
|
|
|
// Check for errors
|
|
if (PyErr_Occurred())
|
|
{
|
|
Py_FatalError("can't initialize module PhysicsConstraints");
|
|
}
|
|
|
|
return d;
|
|
}
|
|
|
|
|
|
void KX_RemovePythonConstraintBinding()
|
|
{
|
|
}
|
|
|
|
void PHY_SetActiveEnvironment(class PHY_IPhysicsEnvironment* env)
|
|
{
|
|
g_CurrentActivePhysicsEnvironment = env;
|
|
}
|
|
|
|
PHY_IPhysicsEnvironment* PHY_GetActiveEnvironment()
|
|
{
|
|
return g_CurrentActivePhysicsEnvironment;
|
|
}
|
|
|