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Use degrees instead of radians for rigidbody constraint axis (euler angles). Radians can't specifiy 90-degree angles precisely, the input is only 3 decimals accurate...

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This commit is contained in:
Erwin Coumans 2006-12-18 07:51:12 +00:00
parent abda078196
commit 0e6518731f
4 changed files with 17 additions and 10 deletions
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2
source/blender/blenkernel/intern/constraint.c
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@ -745,7 +745,7 @@ void *new_constraint_data (short type)
data->pivZ=0.0;
data->axX=0.0;
data->axY=0.0;
data->axZ=1.0;
data->axZ=0.0;
for (i=0;i<6;i++)
{
data->minLimit[i]=0.0;

14
source/blender/src/buttons_object.c
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@ -1152,7 +1152,7 @@ static void draw_constraint (uiBlock *block, ListBase *list, bConstraint *con, s
int textButWidth = ((width/2)-togButWidth);
uiDefButI(block, MENU, B_CONSTRAINT_TEST, "Joint Types%t|Ball%x1|Hinge%x2|Generic6DOF%x12",//|Extra Force%x6",
uiDefButI(block, MENU, B_CONSTRAINT_TEST, "Joint Types%t|Ball%x1|Hinge%x2|Generic (experimental)%x12",//|Extra Force%x6",
*xco, *yco-25, 150, 18, &data->type, 0, 0, 0, 0, "Choose the joint type");
height = 140;
if (data->type==CONSTRAINT_RB_GENERIC6DOF){
@ -1165,13 +1165,13 @@ static void draw_constraint (uiBlock *block, ListBase *list, bConstraint *con, s
uiDefButBitS(block, TOG, CONSTRAINT_DRAW_PIVOT, B_CONSTRAINT_TEST, "ShowPivot", *xco+135, *yco-50, 130, 18, &data->flag, 0, 24, 0, 0, "Show pivot position and rotation");
//if (data->tar)
// uiDefIDPoinBut(block, test_obpoin_but, ID_OB, B_CONSTRAINT_CHANGETARGET, "Child:", *xco+135, *yco-50, 130, 18, &data->child, "Child2 Object (if this exist then this object will be the pivot Only)");
uiDefButF(block, NUM, B_CONSTRAINT_TEST, "Pivot X:", *xco, *yco-75, 130, 18, &data->pivX, -1000, 1000, 0.1, 0.0, "Offset pivot on X");
uiDefButF(block, NUM, B_CONSTRAINT_TEST, "Pivot Y:", *xco, *yco-100, 130, 18, &data->pivY, -1000, 1000, 0.1, 0.0, "Offset pivot on Y");
uiDefButF(block, NUM, B_CONSTRAINT_TEST, "Pivot Z:", *xco, *yco-125, 130, 18, &data->pivZ, -1000, 1000, 0.1, 0.0, "Offset pivot on z");
uiDefButF(block, NUM, B_CONSTRAINT_TEST, "Pivot X:", *xco, *yco-75, 130, 18, &data->pivX, -1000, 1000, 100, 0.0, "Offset pivot on X");
uiDefButF(block, NUM, B_CONSTRAINT_TEST, "Pivot Y:", *xco, *yco-100, 130, 18, &data->pivY, -1000, 1000, 100, 0.0, "Offset pivot on Y");
uiDefButF(block, NUM, B_CONSTRAINT_TEST, "Pivot Z:", *xco, *yco-125, 130, 18, &data->pivZ, -1000, 1000, 100, 0.0, "Offset pivot on z");
uiDefButF(block, NUM, B_CONSTRAINT_TEST, "AxEX:", *xco+135, *yco-75, 130, 18, &data->axX, -3.141592, 3.141592, 0.1, 0.0, "Rotate pivot on X Axis");
uiDefButF(block, NUM, B_CONSTRAINT_TEST, "AxEY:", *xco+135, *yco-100, 130, 18, &data->axY, -3.141592, 3.141592, 0.1, 0.0, "Rotate pivot on Y Axis");
uiDefButF(block, NUM, B_CONSTRAINT_TEST, "AxEZ:", *xco+135, *yco-125, 130, 18, &data->axZ, -3.141592, 3.141592, 0.1, 0.0, "Rotate pivot on Z Axis");
uiDefButF(block, NUM, B_CONSTRAINT_TEST, "Ax X:", *xco+135, *yco-75, 130, 18, &data->axX, -360, 360, 1500, 0.0, "Rotate pivot on X Axis (in degrees)");
uiDefButF(block, NUM, B_CONSTRAINT_TEST, "Ax Y:", *xco+135, *yco-100, 130, 18, &data->axY, -360, 360, 1500, 0.0, "Rotate pivot on Y Axis (in degrees)");
uiDefButF(block, NUM, B_CONSTRAINT_TEST, "Ax Z:", *xco+135, *yco-125, 130, 18, &data->axZ, -360, 360, 1500, 0.0, "Rotate pivot on Z Axis (in degrees)");
if (data->type==CONSTRAINT_RB_GENERIC6DOF){
/* Draw Pairs of LimitToggle+LimitValue */

7
source/blender/src/drawobject.c
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@ -3636,12 +3636,17 @@ static void draw_hooks(Object *ob)
}
}
//<rcruiz>
void drawRBpivot(bRigidBodyJointConstraint *data){
float radsPerDeg = 6.283185307179586232f / 360.f;
float size=1.0f;
int axis;
float v1[3]= {data->pivX, data->pivY, data->pivZ};
float eu[3]= {data->axX, data->axY, data->axZ};
float eu[3]= {radsPerDeg*data->axX, radsPerDeg*data->axY, radsPerDeg*data->axZ};
float mat[4][4];
EulToMat4(eu,mat);
glLineWidth (4.0f);

4
source/gameengine/Converter/BL_BlenderDataConversion.cpp
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@ -2012,11 +2012,13 @@ void BL_ConvertBlenderObjects(struct Main* maggie,
if (gameobj->GetPhysicsController())
{
float radsPerDeg = 6.283185307179586232f / 360.f;
PHY_IPhysicsController* physctrl = (PHY_IPhysicsController*) gameobj->GetPhysicsController()->GetUserData();
//we need to pass a full constraint frame, not just axis
//localConstraintFrameBasis
MT_Matrix3x3 localCFrame(MT_Vector3(dat->axX,dat->axY,dat->axZ));
MT_Matrix3x3 localCFrame(MT_Vector3(radsPerDeg*dat->axX,radsPerDeg*dat->axY,radsPerDeg*dat->axZ));
MT_Vector3 axis0 = localCFrame.getColumn(0);
MT_Vector3 axis1 = localCFrame.getColumn(1);
MT_Vector3 axis2 = localCFrame.getColumn(2);