From 005c5e63711e92677547ec2477238fd1f016fb30 Mon Sep 17 00:00:00 2001 From: Benoit Bolsee Date: Tue, 23 Sep 2008 20:07:15 +0000 Subject: [PATCH] BGE bug #17657 fixed: dRotY doesn't work properly after 90 degrees rotation. This problem is caused by discontinuities in the conversion orientation matrix -> euler angles: the angle sign can switch and thus the direction of the rotation produced by the dRot Ipo. To avoid this bug, the matrix->euler conversion must be avoided during the game. I took the following approach that is compatible with Blender (identical effect in the game and in the 3D view): - no change in Add mode: Rot and dRot are treated as additional rotation to the orientation at the start of the Ipo. There is no matrix->euler conversion and thus no discontinuities. - Rot Ipo are treated as absolute rotation. All 3 axis should be specified but if they are not, the startup object orientation will be used to set the unspecified axis. By doing a matrix-> euler conversion once at the start, the discontinuities are avoided. If there are also dRot curves, they are treated as delta of the corresponding Rot curve or startup angle. - dRot Ipo are treated as Add mode in Local axis. Note about Add mode: Rot and dRot curves are treated identically during the game. However, only dRot curves make sense because they don't interfere with the object orientation in the 3D view. --- .../gameengine/Ketsji/KX_IPO_SGController.cpp | 115 ++++++++++++------ .../gameengine/Ketsji/KX_IPO_SGController.h | 6 + 2 files changed, 85 insertions(+), 36 deletions(-) diff --git a/source/gameengine/Ketsji/KX_IPO_SGController.cpp b/source/gameengine/Ketsji/KX_IPO_SGController.cpp index 6223643f75a..67d54cf0b0b 100644 --- a/source/gameengine/Ketsji/KX_IPO_SGController.cpp +++ b/source/gameengine/Ketsji/KX_IPO_SGController.cpp @@ -59,7 +59,9 @@ KX_IpoSGController::KX_IpoSGController() m_ipo_local(false), m_modified(true), m_ipo_start_initialized(false), - m_ipotime(1.0) + m_ipotime(1.0), + m_ipo_start_euler(0.0,0.0,0.0), + m_ipo_euler_initialized(false) { m_game_object = NULL; for (int i=0; i < KX_MAX_IPO_CHANNELS; i++) @@ -136,6 +138,11 @@ bool KX_IpoSGController::Update(double currentTime) m_ipo_start_orient = ob->GetLocalOrientation(); m_ipo_start_scale = ob->GetLocalScale(); m_ipo_start_initialized = true; + if (!m_ipo_euler_initialized) { + // do it only once to avoid angle discontinuities + m_ipo_start_orient.getEuler(m_ipo_start_euler[0], m_ipo_start_euler[1], m_ipo_start_euler[2]); + m_ipo_euler_initialized = true; + } } //modifies position? @@ -199,51 +206,87 @@ bool KX_IpoSGController::Update(double currentTime) ob->GetWorldOrientation() * m_ipo_xform.GetEulerAngles() : m_ipo_xform.GetEulerAngles(), false); } - } else { - double yaw=0, pitch=0, roll=0; //final Euler angles - double tempYaw=0, tempPitch=0, tempRoll=0; //temp holders - if (!m_ipo_add) - ob->GetLocalOrientation().getEuler(yaw, pitch, roll); + } else if (m_ipo_add) { + if (m_ipo_start_initialized) { + double yaw=0, pitch=0, roll=0; //delta Euler angles - //RotX and dRotX - if (m_ipo_channels_active[OB_ROT_X]) { - yaw = (m_ipo_channels_active[OB_DROT_X] ? (m_ipo_xform.GetEulerAngles()[0] + m_ipo_xform.GetDeltaEulerAngles()[0]) : m_ipo_xform.GetEulerAngles()[0] ); - } - else if (m_ipo_channels_active[OB_DROT_X] && m_ipo_start_initialized) { - if (!m_ipo_add) - m_ipo_start_orient.getEuler(tempYaw, tempPitch, tempRoll); - yaw = tempYaw + m_ipo_xform.GetDeltaEulerAngles()[0]; - } + //RotX and dRotX + if (m_ipo_channels_active[OB_ROT_X]) + yaw += m_ipo_xform.GetEulerAngles()[0]; + if (m_ipo_channels_active[OB_DROT_X]) + yaw += m_ipo_xform.GetDeltaEulerAngles()[0]; + + //RotY dRotY + if (m_ipo_channels_active[OB_ROT_Y]) + pitch += m_ipo_xform.GetEulerAngles()[1]; + if (m_ipo_channels_active[OB_DROT_Y]) + pitch += m_ipo_xform.GetDeltaEulerAngles()[1]; + + //RotZ and dRotZ + if (m_ipo_channels_active[OB_ROT_Z]) + roll += m_ipo_xform.GetEulerAngles()[2]; + if (m_ipo_channels_active[OB_DROT_Z]) + roll += m_ipo_xform.GetDeltaEulerAngles()[2]; - //RotY dRotY - if (m_ipo_channels_active[OB_ROT_Y]) { - pitch = (m_ipo_channels_active[OB_DROT_Y] ? (m_ipo_xform.GetEulerAngles()[1] + m_ipo_xform.GetDeltaEulerAngles()[1]) : m_ipo_xform.GetEulerAngles()[1] ); - } - else if (m_ipo_channels_active[OB_DROT_Y] && m_ipo_start_initialized) { - if (!m_ipo_add) - m_ipo_start_orient.getEuler(tempYaw, tempPitch, tempRoll); - pitch = tempPitch + m_ipo_xform.GetDeltaEulerAngles()[1]; - } - - //RotZ and dRotZ - if (m_ipo_channels_active[OB_ROT_Z]) { - roll = (m_ipo_channels_active[OB_DROT_Z] ? (m_ipo_xform.GetEulerAngles()[2] + m_ipo_xform.GetDeltaEulerAngles()[2]) : m_ipo_xform.GetEulerAngles()[2] ); - } - else if (m_ipo_channels_active[OB_DROT_Z] && m_ipo_start_initialized) { - if (!m_ipo_add) - m_ipo_start_orient.getEuler(tempYaw, tempPitch, tempRoll); - roll = tempRoll + m_ipo_xform.GetDeltaEulerAngles()[2]; - } - if (m_ipo_add) { MT_Matrix3x3 rotation(MT_Vector3(yaw, pitch, roll)); if (m_ipo_local) rotation = m_ipo_start_orient * rotation; else rotation = rotation * m_ipo_start_orient; ob->SetLocalOrientation(rotation); - } else { + } + } else if (m_ipo_channels_active[OB_ROT_X] || m_ipo_channels_active[OB_ROT_Y] || m_ipo_channels_active[OB_ROT_Z]) { + if (m_ipo_euler_initialized) { + // assume all channel absolute + // All 3 channels should be specified but if they are not, we will take + // the value at the start of the game to avoid angle sign reversal + double yaw=m_ipo_start_euler[0], pitch=m_ipo_start_euler[1], roll=m_ipo_start_euler[2]; + + //RotX and dRotX + if (m_ipo_channels_active[OB_ROT_X]) { + yaw = (m_ipo_channels_active[OB_DROT_X] ? (m_ipo_xform.GetEulerAngles()[0] + m_ipo_xform.GetDeltaEulerAngles()[0]) : m_ipo_xform.GetEulerAngles()[0] ); + } + else if (m_ipo_channels_active[OB_DROT_X]) { + yaw += m_ipo_xform.GetDeltaEulerAngles()[0]; + } + + //RotY dRotY + if (m_ipo_channels_active[OB_ROT_Y]) { + pitch = (m_ipo_channels_active[OB_DROT_Y] ? (m_ipo_xform.GetEulerAngles()[1] + m_ipo_xform.GetDeltaEulerAngles()[1]) : m_ipo_xform.GetEulerAngles()[1] ); + } + else if (m_ipo_channels_active[OB_DROT_Y]) { + pitch += m_ipo_xform.GetDeltaEulerAngles()[1]; + } + + //RotZ and dRotZ + if (m_ipo_channels_active[OB_ROT_Z]) { + roll = (m_ipo_channels_active[OB_DROT_Z] ? (m_ipo_xform.GetEulerAngles()[2] + m_ipo_xform.GetDeltaEulerAngles()[2]) : m_ipo_xform.GetEulerAngles()[2] ); + } + else if (m_ipo_channels_active[OB_DROT_Z]) { + roll += m_ipo_xform.GetDeltaEulerAngles()[2]; + } ob->SetLocalOrientation(MT_Vector3(yaw, pitch, roll)); } + } else if (m_ipo_start_initialized) { + // only DROT, treat as Add + double yaw=0, pitch=0, roll=0; //delta Euler angles + + //dRotX + if (m_ipo_channels_active[OB_DROT_X]) + yaw = m_ipo_xform.GetDeltaEulerAngles()[0]; + + //dRotY + if (m_ipo_channels_active[OB_DROT_Y]) + pitch = m_ipo_xform.GetDeltaEulerAngles()[1]; + + //dRotZ + if (m_ipo_channels_active[OB_DROT_Z]) + roll = m_ipo_xform.GetDeltaEulerAngles()[2]; + + // dRot are always local + MT_Matrix3x3 rotation(MT_Vector3(yaw, pitch, roll)); + rotation = m_ipo_start_orient * rotation; + ob->SetLocalOrientation(rotation); } } //modifies scale? diff --git a/source/gameengine/Ketsji/KX_IPO_SGController.h b/source/gameengine/Ketsji/KX_IPO_SGController.h index 0bd8980f11c..031b74294ce 100644 --- a/source/gameengine/Ketsji/KX_IPO_SGController.h +++ b/source/gameengine/Ketsji/KX_IPO_SGController.h @@ -72,6 +72,12 @@ class KX_IpoSGController : public SG_Controller /** if IPO initial position has been set for local normal IPO */ bool m_ipo_start_initialized; + /** Euler angles at the start of the game, needed for incomplete ROT Ipo curves */ + class MT_Vector3 m_ipo_start_euler; + + /** true is m_ipo_start_euler has been initialized */ + bool m_ipo_euler_initialized; + /** A reference to the original game object. */ class KX_GameObject* m_game_object;