blender/source/gameengine/Converter/BL_ArmatureChannel.cpp

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/*
* ***** BEGIN GPL 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.
*
* 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,
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* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, 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 LICENSE BLOCK *****
*/
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/** \file gameengine/Converter/BL_ArmatureChannel.cpp
* \ingroup bgeconv
*/
#include "DNA_armature_types.h"
#include "BL_ArmatureChannel.h"
#include "BL_ArmatureObject.h"
#include "BL_ArmatureConstraint.h"
#include "BLI_math.h"
#include "BLI_string.h"
#include <stddef.h>
#ifdef WITH_PYTHON
PyTypeObject BL_ArmatureChannel::Type = {
PyVarObject_HEAD_INIT(NULL, 0)
"BL_ArmatureChannel",
sizeof(PyObjectPlus_Proxy),
0,
py_base_dealloc,
0,
0,
0,
0,
py_base_repr,
0,0,0,0,0,0,0,0,0,
Py_TPFLAGS_DEFAULT | Py_TPFLAGS_BASETYPE,
0,0,0,0,0,0,0,
Methods,
0,
0,
&CValue::Type,
0,0,0,0,0,0,
py_base_new
};
PyObject* BL_ArmatureChannel::py_repr(void)
{
return PyUnicode_FromString(m_posechannel->name);
}
PyObject *BL_ArmatureChannel::GetProxy()
{
return GetProxyPlus_Ext(this, &Type, m_posechannel);
}
PyObject *BL_ArmatureChannel::NewProxy(bool py_owns)
{
return NewProxyPlus_Ext(this, &Type, m_posechannel, py_owns);
}
#endif // WITH_PYTHON
BL_ArmatureChannel::BL_ArmatureChannel(
BL_ArmatureObject *armature,
bPoseChannel *posechannel)
: PyObjectPlus(), m_posechannel(posechannel), m_armature(armature)
{
}
BL_ArmatureChannel::~BL_ArmatureChannel()
{
}
#ifdef WITH_PYTHON
// PYTHON
PyMethodDef BL_ArmatureChannel::Methods[] = {
{NULL,NULL} //Sentinel
};
// order of definition of attributes, must match Attributes[] array
#define BCA_BONE 0
#define BCA_PARENT 1
PyAttributeDef BL_ArmatureChannel::Attributes[] = {
// Keep these attributes in order of BCA_ defines!!! used by py_attr_getattr and py_attr_setattr
KX_PYATTRIBUTE_RO_FUNCTION("bone",BL_ArmatureChannel,py_attr_getattr),
KX_PYATTRIBUTE_RO_FUNCTION("parent",BL_ArmatureChannel,py_attr_getattr),
{ NULL } //Sentinel
};
/* attributes directly taken from bPoseChannel */
PyAttributeDef BL_ArmatureChannel::AttributesPtr[] = {
KX_PYATTRIBUTE_CHAR_RO("name",bPoseChannel,name),
KX_PYATTRIBUTE_FLAG_RO("has_ik",bPoseChannel,flag, POSE_CHAIN),
KX_PYATTRIBUTE_FLAG_NEGATIVE_RO("ik_dof_x",bPoseChannel,ikflag, BONE_IK_NO_XDOF),
KX_PYATTRIBUTE_FLAG_NEGATIVE_RO("ik_dof_y",bPoseChannel,ikflag, BONE_IK_NO_YDOF),
KX_PYATTRIBUTE_FLAG_NEGATIVE_RO("ik_dof_z",bPoseChannel,ikflag, BONE_IK_NO_ZDOF),
KX_PYATTRIBUTE_FLAG_RO("ik_limit_x",bPoseChannel,ikflag, BONE_IK_XLIMIT),
KX_PYATTRIBUTE_FLAG_RO("ik_limit_y",bPoseChannel,ikflag, BONE_IK_YLIMIT),
KX_PYATTRIBUTE_FLAG_RO("ik_limit_z",bPoseChannel,ikflag, BONE_IK_ZLIMIT),
KX_PYATTRIBUTE_FLAG_RO("ik_rot_control",bPoseChannel,ikflag, BONE_IK_ROTCTL),
KX_PYATTRIBUTE_FLAG_RO("ik_lin_control",bPoseChannel,ikflag, BONE_IK_LINCTL),
KX_PYATTRIBUTE_FLOAT_VECTOR_RW("location",-FLT_MAX,FLT_MAX,bPoseChannel,loc,3),
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),
KX_PYATTRIBUTE_FLOAT_VECTOR_RW("rotation_euler",-10.f,10.f,bPoseChannel,eul,3),
KX_PYATTRIBUTE_SHORT_RW("rotation_mode",ROT_MODE_MIN,ROT_MODE_MAX,false,bPoseChannel,rotmode),
KX_PYATTRIBUTE_FLOAT_MATRIX_RO("channel_matrix",bPoseChannel,chan_mat,4),
KX_PYATTRIBUTE_FLOAT_MATRIX_RO("pose_matrix",bPoseChannel,pose_mat,4),
KX_PYATTRIBUTE_FLOAT_VECTOR_RO("pose_head",bPoseChannel,pose_head,3),
KX_PYATTRIBUTE_FLOAT_VECTOR_RO("pose_tail",bPoseChannel,pose_tail,3),
KX_PYATTRIBUTE_FLOAT_RO("ik_min_x",bPoseChannel,limitmin[0]),
KX_PYATTRIBUTE_FLOAT_RO("ik_max_x",bPoseChannel,limitmax[0]),
KX_PYATTRIBUTE_FLOAT_RO("ik_min_y",bPoseChannel,limitmin[1]),
KX_PYATTRIBUTE_FLOAT_RO("ik_max_y",bPoseChannel,limitmax[1]),
KX_PYATTRIBUTE_FLOAT_RO("ik_min_z",bPoseChannel,limitmin[2]),
KX_PYATTRIBUTE_FLOAT_RO("ik_max_z",bPoseChannel,limitmax[2]),
KX_PYATTRIBUTE_FLOAT_RO("ik_stiffness_x",bPoseChannel,stiffness[0]),
KX_PYATTRIBUTE_FLOAT_RO("ik_stiffness_y",bPoseChannel,stiffness[1]),
KX_PYATTRIBUTE_FLOAT_RO("ik_stiffness_z",bPoseChannel,stiffness[2]),
KX_PYATTRIBUTE_FLOAT_RO("ik_stretch",bPoseChannel,ikstretch),
KX_PYATTRIBUTE_FLOAT_RW("ik_rot_weight",0,1.0f,bPoseChannel,ikrotweight),
KX_PYATTRIBUTE_FLOAT_RW("ik_lin_weight",0,1.0f,bPoseChannel,iklinweight),
KX_PYATTRIBUTE_RW_FUNCTION("joint_rotation",BL_ArmatureChannel,py_attr_get_joint_rotation,py_attr_set_joint_rotation),
{ NULL } //Sentinel
};
PyObject* BL_ArmatureChannel::py_attr_getattr(void *self_v, const struct KX_PYATTRIBUTE_DEF *attrdef)
{
BL_ArmatureChannel* self= static_cast<BL_ArmatureChannel*>(self_v);
bPoseChannel* channel = self->m_posechannel;
int attr_order = attrdef-Attributes;
if (!channel) {
PyErr_SetString(PyExc_AttributeError, "channel is NULL");
return NULL;
}
switch (attr_order) {
case BCA_BONE:
// bones are standalone proxy
return NewProxyPlus_Ext(NULL,&BL_ArmatureBone::Type,channel->bone,false);
case BCA_PARENT:
{
BL_ArmatureChannel* parent = self->m_armature->GetChannel(channel->parent);
if (parent)
return parent->GetProxy();
else
Py_RETURN_NONE;
}
}
PyErr_SetString(PyExc_AttributeError, "channel unknown attribute");
return NULL;
}
int BL_ArmatureChannel::py_attr_setattr(void *self_v, const struct KX_PYATTRIBUTE_DEF *attrdef, PyObject *value)
{
BL_ArmatureChannel* self= static_cast<BL_ArmatureChannel*>(self_v);
bPoseChannel* channel = self->m_posechannel;
int attr_order = attrdef-Attributes;
// int ival;
// double dval;
// char* sval;
// KX_GameObject *oval;
if (!channel) {
PyErr_SetString(PyExc_AttributeError, "channel is NULL");
return PY_SET_ATTR_FAIL;
}
switch (attr_order) {
default:
break;
}
PyErr_SetString(PyExc_AttributeError, "channel unknown attribute");
return PY_SET_ATTR_FAIL;
}
PyObject* BL_ArmatureChannel::py_attr_get_joint_rotation(void *self_v, const struct KX_PYATTRIBUTE_DEF *attrdef)
{
bPoseChannel* pchan = static_cast<bPoseChannel*>(self_v);
// decompose the pose matrix in euler rotation
float rest_mat[3][3];
float pose_mat[3][3];
float joint_mat[3][3];
float joints[3];
float norm;
double sa, ca;
// get rotation in armature space
copy_m3_m4(pose_mat, pchan->pose_mat);
normalize_m3(pose_mat);
if (pchan->parent) {
// bone has a parent, compute the rest pose of the bone taking actual pose of parent
mult_m3_m3m4(rest_mat, pchan->parent->pose_mat, pchan->bone->bone_mat);
normalize_m3(rest_mat);
} else {
// otherwise, the bone matrix in armature space is the rest pose
copy_m3_m4(rest_mat, pchan->bone->arm_mat);
}
// remove the rest pose to get the joint movement
transpose_m3(rest_mat);
mul_m3_m3m3(joint_mat, rest_mat, pose_mat);
joints[0] = joints[1] = joints[2] = 0.f;
// returns a 3 element list that gives corresponding joint
int flag = 0;
if (!(pchan->ikflag & BONE_IK_NO_XDOF))
flag |= 1;
if (!(pchan->ikflag & BONE_IK_NO_YDOF))
flag |= 2;
if (!(pchan->ikflag & BONE_IK_NO_ZDOF))
flag |= 4;
switch (flag) {
case 0: // fixed joint
break;
case 1: // X only
mat3_to_eulO( joints, EULER_ORDER_XYZ,joint_mat);
joints[1] = joints[2] = 0.f;
break;
case 2: // Y only
mat3_to_eulO( joints, EULER_ORDER_XYZ,joint_mat);
joints[0] = joints[2] = 0.f;
break;
case 3: // X+Y
mat3_to_eulO( joints, EULER_ORDER_ZYX,joint_mat);
joints[2] = 0.f;
break;
case 4: // Z only
mat3_to_eulO( joints, EULER_ORDER_XYZ,joint_mat);
joints[0] = joints[1] = 0.f;
break;
case 5: // X+Z
// decompose this as an equivalent rotation vector in X/Z plane
joints[0] = joint_mat[1][2];
joints[2] = -joint_mat[1][0];
norm = normalize_v3(joints);
if (norm < FLT_EPSILON) {
norm = (joint_mat[1][1] < 0.f) ? M_PI : 0.f;
} else {
norm = acos(joint_mat[1][1]);
}
mul_v3_fl(joints, norm);
break;
case 6: // Y+Z
mat3_to_eulO( joints, EULER_ORDER_XYZ,joint_mat);
joints[0] = 0.f;
break;
case 7: // X+Y+Z
// equivalent axis
joints[0] = (joint_mat[1][2]-joint_mat[2][1])*0.5f;
joints[1] = (joint_mat[2][0]-joint_mat[0][2])*0.5f;
joints[2] = (joint_mat[0][1]-joint_mat[1][0])*0.5f;
sa = len_v3(joints);
ca = (joint_mat[0][0]+joint_mat[1][1]+joint_mat[1][1]-1.0f)*0.5f;
if (sa > FLT_EPSILON) {
norm = atan2(sa,ca)/sa;
} else {
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if (ca < 0.0) {
norm = M_PI;
mul_v3_fl(joints,0.f);
if (joint_mat[0][0] > 0.f) {
joints[0] = 1.0f;
} else if (joint_mat[1][1] > 0.f) {
joints[1] = 1.0f;
} else {
joints[2] = 1.0f;
}
} else {
norm = 0.0;
}
}
mul_v3_fl(joints,norm);
break;
}
return Vector_CreatePyObject(joints, 3, Py_NEW, NULL);
}
int BL_ArmatureChannel::py_attr_set_joint_rotation(void *self_v, const struct KX_PYATTRIBUTE_DEF *attrdef, PyObject *value)
{
BL_ArmatureChannel* self= static_cast<BL_ArmatureChannel*>(self_v);
bPoseChannel* pchan = self->m_posechannel;
PyObject *item;
float joints[3];
float quat[4];
if (!PySequence_Check(value) || PySequence_Size(value) != 3) {
PyErr_SetString(PyExc_AttributeError, "expected a sequence of [3] floats");
return PY_SET_ATTR_FAIL;
}
for (int i=0; i<3; i++) {
item = PySequence_GetItem(value, i); /* new ref */
joints[i] = PyFloat_AsDouble(item);
Py_DECREF(item);
if (joints[i] == -1.0f && PyErr_Occurred()) {
PyErr_SetString(PyExc_AttributeError, "expected a sequence of [3] floats");
return PY_SET_ATTR_FAIL;
}
}
int flag = 0;
if (!(pchan->ikflag & BONE_IK_NO_XDOF))
flag |= 1;
if (!(pchan->ikflag & BONE_IK_NO_YDOF))
flag |= 2;
if (!(pchan->ikflag & BONE_IK_NO_ZDOF))
flag |= 4;
unit_qt(quat);
switch (flag) {
case 0: // fixed joint
break;
case 1: // X only
joints[1] = joints[2] = 0.f;
eulO_to_quat( quat,joints, EULER_ORDER_XYZ);
break;
case 2: // Y only
joints[0] = joints[2] = 0.f;
eulO_to_quat( quat,joints, EULER_ORDER_XYZ);
break;
case 3: // X+Y
joints[2] = 0.f;
eulO_to_quat( quat,joints, EULER_ORDER_ZYX);
break;
case 4: // Z only
joints[0] = joints[1] = 0.f;
eulO_to_quat( quat,joints, EULER_ORDER_XYZ);
break;
case 5: // X+Z
// X and Z are components of an equivalent rotation axis
joints[1] = 0;
axis_angle_to_quat( quat,joints, len_v3(joints));
break;
case 6: // Y+Z
joints[0] = 0.f;
eulO_to_quat( quat,joints, EULER_ORDER_XYZ);
break;
case 7: // X+Y+Z
// equivalent axis
axis_angle_to_quat( quat,joints, len_v3(joints));
break;
}
if (pchan->rotmode > 0) {
quat_to_eulO( joints, pchan->rotmode,quat);
copy_v3_v3(pchan->eul, joints);
} else
copy_qt_qt(pchan->quat, quat);
return PY_SET_ATTR_SUCCESS;
}
// *************************
// BL_ArmatureBone
//
// Access to Bone structure
PyTypeObject BL_ArmatureBone::Type = {
PyVarObject_HEAD_INIT(NULL, 0)
"BL_ArmatureBone",
sizeof(PyObjectPlus_Proxy),
0,
py_base_dealloc,
0,
0,
0,
0,
py_bone_repr,
0,0,0,0,0,0,0,0,0,
Py_TPFLAGS_DEFAULT | Py_TPFLAGS_BASETYPE,
0,0,0,0,0,0,0,
Methods,
0,
0,
&CValue::Type,
0,0,0,0,0,0,
py_base_new
};
// not used since this class is never instantiated
PyObject *BL_ArmatureBone::GetProxy()
{
return NULL;
}
PyObject *BL_ArmatureBone::NewProxy(bool py_owns)
{
return NULL;
}
PyObject *BL_ArmatureBone::py_bone_repr(PyObject *self)
{
Bone* bone = static_cast<Bone*>BGE_PROXY_PTR(self);
return PyUnicode_FromString(bone->name);
}
PyMethodDef BL_ArmatureBone::Methods[] = {
{NULL,NULL} //Sentinel
};
/* no attributes on C++ class since it is never instantiated */
PyAttributeDef BL_ArmatureBone::Attributes[] = {
{ NULL } //Sentinel
};
// attributes that work on proxy ptr (points to a Bone structure)
PyAttributeDef BL_ArmatureBone::AttributesPtr[] = {
KX_PYATTRIBUTE_CHAR_RO("name",Bone,name),
KX_PYATTRIBUTE_FLAG_RO("connected",Bone,flag, BONE_CONNECTED),
KX_PYATTRIBUTE_FLAG_RO("hinge",Bone,flag, BONE_HINGE),
KX_PYATTRIBUTE_FLAG_NEGATIVE_RO("inherit_scale",Bone,flag, BONE_NO_SCALE),
KX_PYATTRIBUTE_SHORT_RO("bbone_segments",Bone,segments),
KX_PYATTRIBUTE_FLOAT_RO("roll",Bone,roll),
KX_PYATTRIBUTE_FLOAT_VECTOR_RO("head",Bone,head,3),
KX_PYATTRIBUTE_FLOAT_VECTOR_RO("tail",Bone,tail,3),
KX_PYATTRIBUTE_FLOAT_RO("length",Bone,length),
KX_PYATTRIBUTE_FLOAT_VECTOR_RO("arm_head",Bone,arm_head,3),
KX_PYATTRIBUTE_FLOAT_VECTOR_RO("arm_tail",Bone,arm_tail,3),
KX_PYATTRIBUTE_FLOAT_MATRIX_RO("arm_mat",Bone,arm_mat,4),
KX_PYATTRIBUTE_FLOAT_MATRIX_RO("bone_mat",Bone,bone_mat,3),
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 // WITH_PYTHON