465 lines
14 KiB
C++
465 lines
14 KiB
C++
/**
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* $Id$
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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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*/
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#include "DNA_armature_types.h"
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#include "BL_ArmatureChannel.h"
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#include "BL_ArmatureObject.h"
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#include "BL_ArmatureConstraint.h"
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#include "BLI_math.h"
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#include "BLI_string.h"
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#ifndef DISABLE_PYTHON
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PyTypeObject BL_ArmatureChannel::Type = {
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PyVarObject_HEAD_INIT(NULL, 0)
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"BL_ArmatureChannel",
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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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&CValue::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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PyObject* BL_ArmatureChannel::py_repr(void)
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{
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return PyUnicode_FromString(m_posechannel->name);
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}
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PyObject *BL_ArmatureChannel::GetProxy()
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{
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return GetProxyPlus_Ext(this, &Type, m_posechannel);
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}
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PyObject *BL_ArmatureChannel::NewProxy(bool py_owns)
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{
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return NewProxyPlus_Ext(this, &Type, m_posechannel, py_owns);
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}
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#endif // DISABLE_PYTHON
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BL_ArmatureChannel::BL_ArmatureChannel(
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BL_ArmatureObject *armature,
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bPoseChannel *posechannel)
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: PyObjectPlus(), m_posechannel(posechannel), m_armature(armature)
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{
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}
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BL_ArmatureChannel::~BL_ArmatureChannel()
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{
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}
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#ifndef DISABLE_PYTHON
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// PYTHON
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PyMethodDef BL_ArmatureChannel::Methods[] = {
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{NULL,NULL} //Sentinel
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};
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// order of definition of attributes, must match Attributes[] array
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#define BCA_BONE 0
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#define BCA_PARENT 1
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PyAttributeDef BL_ArmatureChannel::Attributes[] = {
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// Keep these attributes in order of BCA_ defines!!! used by py_attr_getattr and py_attr_setattr
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KX_PYATTRIBUTE_RO_FUNCTION("bone",BL_ArmatureChannel,py_attr_getattr),
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KX_PYATTRIBUTE_RO_FUNCTION("parent",BL_ArmatureChannel,py_attr_getattr),
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{ NULL } //Sentinel
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};
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/* attributes directly taken from bPoseChannel */
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PyAttributeDef BL_ArmatureChannel::AttributesPtr[] = {
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KX_PYATTRIBUTE_CHAR_RO("name",bPoseChannel,name),
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KX_PYATTRIBUTE_FLAG_RO("is_in_ik_chain",bPoseChannel,flag, POSE_CHAIN),
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KX_PYATTRIBUTE_FLAG_NEGATIVE_RO("ik_dof_x",bPoseChannel,ikflag, BONE_IK_NO_XDOF),
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KX_PYATTRIBUTE_FLAG_NEGATIVE_RO("ik_dof_y",bPoseChannel,ikflag, BONE_IK_NO_YDOF),
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KX_PYATTRIBUTE_FLAG_NEGATIVE_RO("ik_dof_z",bPoseChannel,ikflag, BONE_IK_NO_ZDOF),
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KX_PYATTRIBUTE_FLAG_RO("use_ik_limit_x",bPoseChannel,ikflag, BONE_IK_XLIMIT),
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KX_PYATTRIBUTE_FLAG_RO("use_ik_limit_y",bPoseChannel,ikflag, BONE_IK_YLIMIT),
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KX_PYATTRIBUTE_FLAG_RO("use_ik_limit_z",bPoseChannel,ikflag, BONE_IK_ZLIMIT),
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KX_PYATTRIBUTE_FLAG_RO("use_ik_rotation_control",bPoseChannel,ikflag, BONE_IK_ROTCTL),
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KX_PYATTRIBUTE_FLAG_RO("use_ik_linear_control",bPoseChannel,ikflag, BONE_IK_LINCTL),
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KX_PYATTRIBUTE_FLOAT_VECTOR_RW("location",-FLT_MAX,FLT_MAX,bPoseChannel,loc,3),
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KX_PYATTRIBUTE_FLOAT_VECTOR_RW("scale",-FLT_MAX,FLT_MAX,bPoseChannel,size,3),
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KX_PYATTRIBUTE_FLOAT_VECTOR_RW("rotation_quaternion",-1.0f,1.0f,bPoseChannel,quat,4),
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KX_PYATTRIBUTE_FLOAT_VECTOR_RW("rotation_euler",-10.f,10.f,bPoseChannel,eul,3),
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KX_PYATTRIBUTE_SHORT_RW("rotation_mode",0,ROT_MODE_MAX-1,false,bPoseChannel,rotmode),
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KX_PYATTRIBUTE_FLOAT_MATRIX_RO("channel_matrix",bPoseChannel,chan_mat,4),
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KX_PYATTRIBUTE_FLOAT_MATRIX_RO("pose_matrix",bPoseChannel,pose_mat,4),
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KX_PYATTRIBUTE_FLOAT_VECTOR_RO("pose_head",bPoseChannel,pose_head,3),
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KX_PYATTRIBUTE_FLOAT_VECTOR_RO("pose_tail",bPoseChannel,pose_tail,3),
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KX_PYATTRIBUTE_FLOAT_RO("ik_min_x",bPoseChannel,limitmin[0]),
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KX_PYATTRIBUTE_FLOAT_RO("ik_max_x",bPoseChannel,limitmax[0]),
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KX_PYATTRIBUTE_FLOAT_RO("ik_min_y",bPoseChannel,limitmin[1]),
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KX_PYATTRIBUTE_FLOAT_RO("ik_max_y",bPoseChannel,limitmax[1]),
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KX_PYATTRIBUTE_FLOAT_RO("ik_min_z",bPoseChannel,limitmin[2]),
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KX_PYATTRIBUTE_FLOAT_RO("ik_max_z",bPoseChannel,limitmax[2]),
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KX_PYATTRIBUTE_FLOAT_RO("ik_stiffness_x",bPoseChannel,stiffness[0]),
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KX_PYATTRIBUTE_FLOAT_RO("ik_stiffness_y",bPoseChannel,stiffness[1]),
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KX_PYATTRIBUTE_FLOAT_RO("ik_stiffness_z",bPoseChannel,stiffness[2]),
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KX_PYATTRIBUTE_FLOAT_RO("ik_stretch",bPoseChannel,ikstretch),
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KX_PYATTRIBUTE_FLOAT_RW("ik_rotation_weight",0,1.0f,bPoseChannel,ikrotweight),
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KX_PYATTRIBUTE_FLOAT_RW("ik_linear_weight",0,1.0f,bPoseChannel,iklinweight),
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KX_PYATTRIBUTE_RW_FUNCTION("joint_rotation",BL_ArmatureChannel,py_attr_get_joint_rotation,py_attr_set_joint_rotation),
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{ NULL } //Sentinel
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};
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PyObject* BL_ArmatureChannel::py_attr_getattr(void *self_v, const struct KX_PYATTRIBUTE_DEF *attrdef)
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{
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BL_ArmatureChannel* self= static_cast<BL_ArmatureChannel*>(self_v);
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bPoseChannel* channel = self->m_posechannel;
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int attr_order = attrdef-Attributes;
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if (!channel) {
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PyErr_SetString(PyExc_AttributeError, "channel is NULL");
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return NULL;
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}
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switch (attr_order) {
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case BCA_BONE:
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// bones are standalone proxy
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return NewProxyPlus_Ext(NULL,&BL_ArmatureBone::Type,channel->bone,false);
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case BCA_PARENT:
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{
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BL_ArmatureChannel* parent = self->m_armature->GetChannel(channel->parent);
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if (parent)
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return parent->GetProxy();
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else
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Py_RETURN_NONE;
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}
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}
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PyErr_SetString(PyExc_AttributeError, "channel unknown attribute");
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return NULL;
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}
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int BL_ArmatureChannel::py_attr_setattr(void *self_v, const struct KX_PYATTRIBUTE_DEF *attrdef, PyObject *value)
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{
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BL_ArmatureChannel* self= static_cast<BL_ArmatureChannel*>(self_v);
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bPoseChannel* channel = self->m_posechannel;
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int attr_order = attrdef-Attributes;
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// int ival;
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// double dval;
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// char* sval;
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// KX_GameObject *oval;
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if (!channel) {
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PyErr_SetString(PyExc_AttributeError, "channel is NULL");
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return PY_SET_ATTR_FAIL;
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}
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switch (attr_order) {
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default:
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break;
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}
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PyErr_SetString(PyExc_AttributeError, "channel unknown attribute");
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return PY_SET_ATTR_FAIL;
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}
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PyObject* BL_ArmatureChannel::py_attr_get_joint_rotation(void *self_v, const struct KX_PYATTRIBUTE_DEF *attrdef)
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{
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bPoseChannel* pchan = static_cast<bPoseChannel*>(self_v);
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// decompose the pose matrix in euler rotation
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float rest_mat[3][3];
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float pose_mat[3][3];
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float joint_mat[3][3];
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float joints[3];
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float norm;
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double sa, ca;
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// get rotation in armature space
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copy_m3_m4(pose_mat, pchan->pose_mat);
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normalize_m3(pose_mat);
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if (pchan->parent) {
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// bone has a parent, compute the rest pose of the bone taking actual pose of parent
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mul_m3_m3m4(rest_mat, pchan->bone->bone_mat, pchan->parent->pose_mat);
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normalize_m3(rest_mat);
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} else {
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// otherwise, the bone matrix in armature space is the rest pose
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copy_m3_m4(rest_mat, pchan->bone->arm_mat);
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}
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// remove the rest pose to get the joint movement
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transpose_m3(rest_mat);
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mul_m3_m3m3(joint_mat, rest_mat, pose_mat);
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joints[0] = joints[1] = joints[2] = 0.f;
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// returns a 3 element list that gives corresponding joint
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int flag = 0;
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if (!(pchan->ikflag & BONE_IK_NO_XDOF))
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flag |= 1;
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if (!(pchan->ikflag & BONE_IK_NO_YDOF))
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flag |= 2;
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if (!(pchan->ikflag & BONE_IK_NO_ZDOF))
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flag |= 4;
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switch (flag) {
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case 0: // fixed joint
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break;
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case 1: // X only
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mat3_to_eulO( joints, EULER_ORDER_XYZ,joint_mat);
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joints[1] = joints[2] = 0.f;
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break;
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case 2: // Y only
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mat3_to_eulO( joints, EULER_ORDER_XYZ,joint_mat);
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joints[0] = joints[2] = 0.f;
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break;
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case 3: // X+Y
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mat3_to_eulO( joints, EULER_ORDER_ZYX,joint_mat);
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joints[2] = 0.f;
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break;
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case 4: // Z only
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mat3_to_eulO( joints, EULER_ORDER_XYZ,joint_mat);
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joints[0] = joints[1] = 0.f;
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break;
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case 5: // X+Z
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// decompose this as an equivalent rotation vector in X/Z plane
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joints[0] = joint_mat[1][2];
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joints[2] = -joint_mat[1][0];
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norm = normalize_v3(joints);
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if (norm < FLT_EPSILON) {
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norm = (joint_mat[1][1] < 0.f) ? M_PI : 0.f;
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} else {
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norm = acos(joint_mat[1][1]);
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}
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mul_v3_fl(joints, norm);
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break;
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case 6: // Y+Z
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mat3_to_eulO( joints, EULER_ORDER_XYZ,joint_mat);
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joints[0] = 0.f;
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break;
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case 7: // X+Y+Z
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// equivalent axis
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joints[0] = (joint_mat[1][2]-joint_mat[2][1])*0.5f;
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joints[1] = (joint_mat[2][0]-joint_mat[0][2])*0.5f;
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joints[2] = (joint_mat[0][1]-joint_mat[1][0])*0.5f;
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sa = len_v3(joints);
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ca = (joint_mat[0][0]+joint_mat[1][1]+joint_mat[1][1]-1.0f)*0.5f;
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if (sa > FLT_EPSILON) {
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norm = atan2(sa,ca)/sa;
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} else {
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if (ca < 0.0) {
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norm = M_PI;
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mul_v3_fl(joints,0.f);
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if (joint_mat[0][0] > 0.f) {
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joints[0] = 1.0f;
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} else if (joint_mat[1][1] > 0.f) {
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joints[1] = 1.0f;
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} else {
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joints[2] = 1.0f;
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}
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} else {
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norm = 0.0;
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}
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}
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mul_v3_fl(joints,norm);
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break;
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}
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return newVectorObject(joints, 3, Py_NEW, NULL);
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}
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int BL_ArmatureChannel::py_attr_set_joint_rotation(void *self_v, const struct KX_PYATTRIBUTE_DEF *attrdef, PyObject *value)
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{
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BL_ArmatureChannel* self= static_cast<BL_ArmatureChannel*>(self_v);
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bPoseChannel* pchan = self->m_posechannel;
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PyObject *item;
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float joints[3];
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float quat[4];
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if (!PySequence_Check(value) || PySequence_Size(value) != 3) {
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PyErr_SetString(PyExc_AttributeError, "expected a sequence of [3] floats");
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return PY_SET_ATTR_FAIL;
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}
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for (int i=0; i<3; i++) {
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item = PySequence_GetItem(value, i); /* new ref */
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joints[i] = PyFloat_AsDouble(item);
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Py_DECREF(item);
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if (joints[i] == -1.0f && PyErr_Occurred()) {
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PyErr_SetString(PyExc_AttributeError, "expected a sequence of [3] floats");
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return PY_SET_ATTR_FAIL;
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}
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}
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int flag = 0;
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if (!(pchan->ikflag & BONE_IK_NO_XDOF))
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flag |= 1;
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if (!(pchan->ikflag & BONE_IK_NO_YDOF))
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flag |= 2;
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if (!(pchan->ikflag & BONE_IK_NO_ZDOF))
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flag |= 4;
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unit_qt(quat);
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switch (flag) {
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case 0: // fixed joint
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break;
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case 1: // X only
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joints[1] = joints[2] = 0.f;
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eulO_to_quat( quat,joints, EULER_ORDER_XYZ);
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break;
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case 2: // Y only
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joints[0] = joints[2] = 0.f;
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eulO_to_quat( quat,joints, EULER_ORDER_XYZ);
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break;
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case 3: // X+Y
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joints[2] = 0.f;
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eulO_to_quat( quat,joints, EULER_ORDER_ZYX);
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break;
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case 4: // Z only
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joints[0] = joints[1] = 0.f;
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eulO_to_quat( quat,joints, EULER_ORDER_XYZ);
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break;
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case 5: // X+Z
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// X and Z are components of an equivalent rotation axis
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joints[1] = 0;
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axis_angle_to_quat( quat,joints, len_v3(joints));
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break;
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case 6: // Y+Z
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joints[0] = 0.f;
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eulO_to_quat( quat,joints, EULER_ORDER_XYZ);
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break;
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case 7: // X+Y+Z
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// equivalent axis
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axis_angle_to_quat( quat,joints, len_v3(joints));
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break;
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}
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if (pchan->rotmode > 0) {
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quat_to_eulO( joints, pchan->rotmode,quat);
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copy_v3_v3(pchan->eul, joints);
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} else
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copy_qt_qt(pchan->quat, quat);
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return PY_SET_ATTR_SUCCESS;
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}
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// *************************
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// BL_ArmatureBone
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//
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// Access to Bone structure
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PyTypeObject BL_ArmatureBone::Type = {
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PyVarObject_HEAD_INIT(NULL, 0)
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"BL_ArmatureBone",
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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_bone_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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&CValue::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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// not used since this class is never instantiated
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PyObject *BL_ArmatureBone::GetProxy()
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{
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return NULL;
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}
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PyObject *BL_ArmatureBone::NewProxy(bool py_owns)
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{
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return NULL;
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}
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PyObject *BL_ArmatureBone::py_bone_repr(PyObject *self)
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{
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Bone* bone = static_cast<Bone*>BGE_PROXY_PTR(self);
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return PyUnicode_FromString(bone->name);
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}
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PyMethodDef BL_ArmatureBone::Methods[] = {
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{NULL,NULL} //Sentinel
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};
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/* no attributes on C++ class since it is never instantiated */
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PyAttributeDef BL_ArmatureBone::Attributes[] = {
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{ NULL } //Sentinel
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};
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// attributes that work on proxy ptr (points to a Bone structure)
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PyAttributeDef BL_ArmatureBone::AttributesPtr[] = {
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KX_PYATTRIBUTE_CHAR_RO("name",Bone,name),
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KX_PYATTRIBUTE_FLAG_RO("connected",Bone,flag, BONE_CONNECTED),
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KX_PYATTRIBUTE_FLAG_RO("hinge",Bone,flag, BONE_HINGE),
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KX_PYATTRIBUTE_FLAG_NEGATIVE_RO("inherit_scale",Bone,flag, BONE_NO_SCALE),
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KX_PYATTRIBUTE_SHORT_RO("bbone_segments",Bone,segments),
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KX_PYATTRIBUTE_FLOAT_RO("roll",Bone,roll),
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KX_PYATTRIBUTE_FLOAT_VECTOR_RO("head",Bone,head,3),
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KX_PYATTRIBUTE_FLOAT_VECTOR_RO("tail",Bone,tail,3),
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KX_PYATTRIBUTE_FLOAT_RO("length",Bone,length),
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KX_PYATTRIBUTE_FLOAT_VECTOR_RO("arm_head",Bone,arm_head,3),
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KX_PYATTRIBUTE_FLOAT_VECTOR_RO("arm_tail",Bone,arm_tail,3),
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KX_PYATTRIBUTE_FLOAT_MATRIX_RO("arm_mat",Bone,arm_mat,4),
|
|
KX_PYATTRIBUTE_FLOAT_MATRIX_RO("bone_mat",Bone,bone_mat,4),
|
|
KX_PYATTRIBUTE_RO_FUNCTION("parent",BL_ArmatureBone,py_bone_get_parent),
|
|
KX_PYATTRIBUTE_RO_FUNCTION("children",BL_ArmatureBone,py_bone_get_children),
|
|
{ NULL } //Sentinel
|
|
};
|
|
|
|
PyObject *BL_ArmatureBone::py_bone_get_parent(void *self, const struct KX_PYATTRIBUTE_DEF *attrdef)
|
|
{
|
|
Bone* bone = reinterpret_cast<Bone*>(self);
|
|
if (bone->parent) {
|
|
// create a proxy unconnected to any GE object
|
|
return NewProxyPlus_Ext(NULL,&Type,bone->parent,false);
|
|
}
|
|
Py_RETURN_NONE;
|
|
}
|
|
|
|
PyObject *BL_ArmatureBone::py_bone_get_children(void *self, const struct KX_PYATTRIBUTE_DEF *attrdef)
|
|
{
|
|
Bone* bone = reinterpret_cast<Bone*>(self);
|
|
Bone* child;
|
|
int count = 0;
|
|
for (child=(Bone*)bone->childbase.first; child; child=(Bone*)child->next)
|
|
count++;
|
|
|
|
PyObject* childrenlist = PyList_New(count);
|
|
|
|
for (count = 0, child=(Bone*)bone->childbase.first; child; child=(Bone*)child->next, ++count)
|
|
PyList_SET_ITEM(childrenlist,count,NewProxyPlus_Ext(NULL,&Type,child,false));
|
|
|
|
return childrenlist;
|
|
}
|
|
|
|
#endif // DISABLE_PYTHON
|