blender/source/gameengine/Converter/BL_ActionActuator.cpp

/**
* $Id$
*
 * ***** 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,
 * 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 *****
*/

#if defined (__sgi)
#include <math.h>
#else
#include <cmath>
#endif

#include "SCA_LogicManager.h"
#include "BL_ActionActuator.h"
#include "BL_ArmatureObject.h"
#include "BL_SkinDeformer.h"
#include "KX_GameObject.h"
#include "STR_HashedString.h"
#include "MEM_guardedalloc.h"
#include "DNA_nla_types.h"
#include "DNA_action_types.h"
#include "DNA_armature_types.h"
#include "DNA_scene_types.h"
#include "BLI_blenlib.h"
#include "BLI_math.h"
#include "BLI_utildefines.h"
#include "MT_Matrix4x4.h"

#include "BKE_action.h"
#include "FloatValue.h"
#include "PyObjectPlus.h"
#include "KX_PyMath.h"

extern "C" {
#include "BKE_animsys.h"
#include "BKE_action.h"
#include "RNA_access.h"
#include "RNA_define.h"
}

BL_ActionActuator::~BL_ActionActuator()
{
	if (m_pose)
		game_free_pose(m_pose);
	if (m_userpose)
		game_free_pose(m_userpose);
	if (m_blendpose)
		game_free_pose(m_blendpose);
}

void BL_ActionActuator::ProcessReplica()
{
	SCA_IActuator::ProcessReplica();
	
	m_pose = NULL;
	m_blendpose = NULL;
	m_localtime=m_startframe;
	m_lastUpdate=-1;
	
}

void BL_ActionActuator::SetBlendTime (float newtime){
	m_blendframe = newtime;
}

CValue* BL_ActionActuator::GetReplica() {
	BL_ActionActuator* replica = new BL_ActionActuator(*this);//m_float,GetName());
	replica->ProcessReplica();
	return replica;
}

bool BL_ActionActuator::ClampLocalTime()
{
	if (m_startframe < m_endframe)
	{
		if (m_localtime < m_startframe)
		{
			m_localtime = m_startframe;
			return true;
		} 
		else if (m_localtime > m_endframe)
		{
			m_localtime = m_endframe;
			return true;
		}
	} else {
		if (m_localtime > m_startframe)
		{
			m_localtime = m_startframe;
			return true;
		}
		else if (m_localtime < m_endframe)
		{
			m_localtime = m_endframe;
			return true;
		}
	}
	return false;
}

void BL_ActionActuator::SetStartTime(float curtime)
{
	float direction = m_startframe < m_endframe ? 1.0 : -1.0;
	
	if (!(m_flag & ACT_FLAG_REVERSE))
		m_starttime = curtime - direction*(m_localtime - m_startframe)/KX_KetsjiEngine::GetAnimFrameRate();
	else
		m_starttime = curtime - direction*(m_endframe - m_localtime)/KX_KetsjiEngine::GetAnimFrameRate();
}

void BL_ActionActuator::SetLocalTime(float curtime)
{
	float delta_time = (curtime - m_starttime)*KX_KetsjiEngine::GetAnimFrameRate();
	
	if (m_endframe < m_startframe)
		delta_time = -delta_time;

	if (!(m_flag & ACT_FLAG_REVERSE))
		m_localtime = m_startframe + delta_time;
	else
		m_localtime = m_endframe - delta_time;
}


bool BL_ActionActuator::Update(double curtime, bool frame)
{
	bool bNegativeEvent = false;
	bool bPositiveEvent = false;
	bool keepgoing = true;
	bool wrap = false;
	bool apply=true;
	int	priority;
	float newweight;

	curtime -= KX_KetsjiEngine::GetSuspendedDelta();
	
	// result = true if animation has to be continued, false if animation stops
	// maybe there are events for us in the queue !
	if (frame)
	{
		bNegativeEvent = m_negevent;
		bPositiveEvent = m_posevent;
		RemoveAllEvents();
		
		if (bPositiveEvent)
			m_flag |= ACT_FLAG_ACTIVE;
		
		if (bNegativeEvent)
		{
			// dont continue where we left off when restarting
			if (m_end_reset) {
				m_flag &= ~ACT_FLAG_LOCKINPUT;
			}
			
			if (!(m_flag & ACT_FLAG_ACTIVE))
				return false;
			m_flag &= ~ACT_FLAG_ACTIVE;
		}
	}
	
	/*	We know that action actuators have been discarded from all non armature objects:
	if we're being called, we're attached to a BL_ArmatureObject */
	BL_ArmatureObject *obj = (BL_ArmatureObject*)GetParent();
	float length = m_endframe - m_startframe;
	
	priority = m_priority;
	
	/* Determine pre-incrementation behaviour and set appropriate flags */
	switch (m_playtype){
	case ACT_ACTION_MOTION:
		if (bNegativeEvent){
			keepgoing=false;
			apply=false;
		};
		break;
	case ACT_ACTION_FROM_PROP:
		if (bNegativeEvent){
			apply=false;
			keepgoing=false;
		}
		break;
	case ACT_ACTION_LOOP_END:
		if (bPositiveEvent){
			if (!(m_flag & ACT_FLAG_LOCKINPUT)){
				m_flag &= ~ACT_FLAG_KEYUP;
				m_flag &= ~ACT_FLAG_REVERSE;
				m_flag |= ACT_FLAG_LOCKINPUT;
				m_localtime = m_startframe;
				m_starttime = curtime;
			}
		}
		if (bNegativeEvent){
			m_flag |= ACT_FLAG_KEYUP;
		}
		break;
	case ACT_ACTION_LOOP_STOP:
		if (bPositiveEvent){
			if (!(m_flag & ACT_FLAG_LOCKINPUT)){
				m_flag &= ~ACT_FLAG_REVERSE;
				m_flag &= ~ACT_FLAG_KEYUP;
				m_flag |= ACT_FLAG_LOCKINPUT;
				SetStartTime(curtime);
			}
		}
		if (bNegativeEvent){
			m_flag |= ACT_FLAG_KEYUP;
			m_flag &= ~ACT_FLAG_LOCKINPUT;
			keepgoing=false;
			apply=false;
		}
		break;
	case ACT_ACTION_FLIPPER:
		if (bPositiveEvent){
			if (!(m_flag & ACT_FLAG_LOCKINPUT)){
				m_flag &= ~ACT_FLAG_REVERSE;
				m_flag |= ACT_FLAG_LOCKINPUT;
				SetStartTime(curtime);
			}
		}
		else if (bNegativeEvent){
			m_flag |= ACT_FLAG_REVERSE;
			m_flag &= ~ACT_FLAG_LOCKINPUT;
			SetStartTime(curtime);
		}
		break;
	case ACT_ACTION_PLAY:
		if (bPositiveEvent){
			if (!(m_flag & ACT_FLAG_LOCKINPUT)){
				m_flag &= ~ACT_FLAG_REVERSE;
				m_localtime = m_starttime;
				m_starttime = curtime;
				m_flag |= ACT_FLAG_LOCKINPUT;
			}
		}
		break;
	default:
		break;
	}
	
	/* Perform increment */
	if (keepgoing){
		if (m_playtype == ACT_ACTION_MOTION){
			MT_Point3	newpos;
			MT_Point3	deltapos;
			
			newpos = obj->NodeGetWorldPosition();
			
			/* Find displacement */
			deltapos = newpos-m_lastpos;
			m_localtime += (length/m_stridelength) * deltapos.length();
			m_lastpos = newpos;
		}
		else{
			SetLocalTime(curtime);
		}
	}
	
	/* Check if a wrapping response is needed */
	if (length){
		if (m_localtime < m_startframe || m_localtime > m_endframe)
		{
			m_localtime = m_startframe + fmod(m_localtime, length);
			wrap = true;
		}
	}
	else
		m_localtime = m_startframe;
	
	/* Perform post-increment tasks */
	switch (m_playtype){
	case ACT_ACTION_FROM_PROP:
		{
			CValue* propval = GetParent()->GetProperty(m_propname);
			if (propval)
				m_localtime = propval->GetNumber();
			
			if (bNegativeEvent){
				keepgoing=false;
			}
		}
		break;
	case ACT_ACTION_MOTION:
		break;
	case ACT_ACTION_LOOP_STOP:
		break;
	case ACT_ACTION_FLIPPER:
		if (wrap){
			if (!(m_flag & ACT_FLAG_REVERSE)){
				m_localtime=m_endframe;
				//keepgoing = false;
			}
			else {
				m_localtime=m_startframe;
				keepgoing = false;
			}
		}
		break;
	case ACT_ACTION_LOOP_END:
		if (wrap){
			if (m_flag & ACT_FLAG_KEYUP){
				keepgoing = false;
				m_localtime = m_endframe;
				m_flag &= ~ACT_FLAG_LOCKINPUT;
			}
			SetStartTime(curtime);
		}
		break;
	case ACT_ACTION_PLAY:
		if (wrap){
			m_localtime = m_endframe;
			keepgoing = false;
			m_flag &= ~ACT_FLAG_LOCKINPUT;
		}
		break;
	default:
		keepgoing = false;
		break;
	}
	
	/* Set the property if its defined */
	if (m_framepropname[0] != '\0') {
		CValue* propowner = GetParent();
		CValue* oldprop = propowner->GetProperty(m_framepropname);
		CValue* newval = new CFloatValue(m_localtime);
		if (oldprop) {
			oldprop->SetValue(newval);
		} else {
			propowner->SetProperty(m_framepropname, newval);
		}
		newval->Release();
	}
	
	if (bNegativeEvent)
		m_blendframe=0.0;
	
	/* Apply the pose if necessary*/
	if (apply){

		/* Priority test */
		if (obj->SetActiveAction(this, priority, curtime)){
			
			/* Get the underlying pose from the armature */
			obj->GetPose(&m_pose);

// 2.4x function, 
			/* Override the necessary channels with ones from the action */
			// XXX extract_pose_from_action(m_pose, m_action, m_localtime);
			
			
// 2.5x - replacement for extract_pose_from_action(...) above.
			{
				struct PointerRNA id_ptr;
				Object *arm= obj->GetArmatureObject();
				bPose *pose_back= arm->pose;
				
				arm->pose= m_pose;
				RNA_id_pointer_create((ID *)arm, &id_ptr);
				animsys_evaluate_action(&id_ptr, m_action, NULL, m_localtime);
				
				arm->pose= pose_back;
			
// 2.5x - could also do this but looks too high level, constraints use this, it works ok.
//				Object workob; /* evaluate using workob */
//				what_does_obaction((Scene *)obj->GetScene(), obj->GetArmatureObject(), &workob, m_pose, m_action, NULL, m_localtime);
			}

			// done getting the pose from the action
			
			/* Perform the user override (if any) */
			if (m_userpose){
				extract_pose_from_pose(m_pose, m_userpose);
				game_free_pose(m_userpose); //cant use MEM_freeN(m_userpose) because the channels need freeing too.
				m_userpose = NULL;
			}
#if 1
			/* Handle blending */
			if (m_blendin && (m_blendframe<m_blendin)){
				/* If this is the start of a blending sequence... */
				if ((m_blendframe==0.0) || (!m_blendpose)){
					obj->GetMRDPose(&m_blendpose);
					m_blendstart = curtime;
				}
				
				/* Find percentages */
				newweight = (m_blendframe/(float)m_blendin);
				game_blend_poses(m_pose, m_blendpose, 1.0 - newweight);

				/* Increment current blending percentage */
				m_blendframe = (curtime - m_blendstart)*KX_KetsjiEngine::GetAnimFrameRate();
				if (m_blendframe>m_blendin)
					m_blendframe = m_blendin;
				
			}
#endif
			m_lastUpdate = m_localtime;
			obj->SetPose (m_pose);
		}
		else{
			m_blendframe = 0.0;
		}
	}
	
	if (!keepgoing){
		m_blendframe = 0.0;
	}
	return keepgoing;
};

#ifdef WITH_PYTHON

/* ------------------------------------------------------------------------- */
/* Python functions                                                          */
/* ------------------------------------------------------------------------- */

PyObject* BL_ActionActuator::PyGetChannel(PyObject* value) {
	char *string= _PyUnicode_AsString(value);
	
	if (!string) {
		PyErr_SetString(PyExc_TypeError, "expected a single string");
		return NULL;
	}
	
	bPoseChannel *pchan;
	
	if(m_userpose==NULL && m_pose==NULL) {
		BL_ArmatureObject *obj = (BL_ArmatureObject*)GetParent();
		obj->GetPose(&m_pose); /* Get the underlying pose from the armature */
	}
	
	// get_pose_channel accounts for NULL pose, run on both incase one exists but
	// the channel doesnt
	if(		!(pchan=get_pose_channel(m_userpose, string)) &&
			!(pchan=get_pose_channel(m_pose, string))  )
	{
		PyErr_SetString(PyExc_ValueError, "channel doesnt exist");
		return NULL;
	}

	PyObject *ret = PyTuple_New(3);
	
	PyObject *list = PyList_New(3); 
	PyList_SET_ITEM(list, 0, PyFloat_FromDouble(pchan->loc[0]));
	PyList_SET_ITEM(list, 1, PyFloat_FromDouble(pchan->loc[1]));
	PyList_SET_ITEM(list, 2, PyFloat_FromDouble(pchan->loc[2]));
	PyTuple_SET_ITEM(ret, 0, list);
	
	list = PyList_New(3);
	PyList_SET_ITEM(list, 0, PyFloat_FromDouble(pchan->size[0]));
	PyList_SET_ITEM(list, 1, PyFloat_FromDouble(pchan->size[1]));
	PyList_SET_ITEM(list, 2, PyFloat_FromDouble(pchan->size[2]));
	PyTuple_SET_ITEM(ret, 1, list);
	
	list = PyList_New(4);
	PyList_SET_ITEM(list, 0, PyFloat_FromDouble(pchan->quat[0]));
	PyList_SET_ITEM(list, 1, PyFloat_FromDouble(pchan->quat[1]));
	PyList_SET_ITEM(list, 2, PyFloat_FromDouble(pchan->quat[2]));
	PyList_SET_ITEM(list, 3, PyFloat_FromDouble(pchan->quat[3]));
	PyTuple_SET_ITEM(ret, 2, list);

	return ret;
/*
	return Py_BuildValue("([fff][fff][ffff])",
		pchan->loc[0], pchan->loc[1], pchan->loc[2],
		pchan->size[0], pchan->size[1], pchan->size[2],
		pchan->quat[0], pchan->quat[1], pchan->quat[2], pchan->quat[3] );
*/
}

/*     setChannel                                                         */
KX_PYMETHODDEF_DOC(BL_ActionActuator, setChannel,
"setChannel(channel, matrix)\n"
"\t - channel   : A string specifying the name of the bone channel.\n"
"\t - matrix    : A 4x4 matrix specifying the overriding transformation\n"
"\t               as an offset from the bone's rest position.\n")
{
	BL_ArmatureObject *obj = (BL_ArmatureObject*)GetParent();
	char *string;
	PyObject *pymat= NULL;
	PyObject *pyloc= NULL, *pysize= NULL, *pyquat= NULL;
	bPoseChannel *pchan;
	
	if(PyTuple_Size(args)==2) {
		if (!PyArg_ParseTuple(args,"sO:setChannel", &string, &pymat)) // matrix
			return NULL;
	}
	else if(PyTuple_Size(args)==4) {
		if (!PyArg_ParseTuple(args,"sOOO:setChannel", &string, &pyloc, &pysize, &pyquat)) // loc/size/quat
			return NULL;
	}
	else {
		PyErr_SetString(PyExc_ValueError, "Expected a string and a 4x4 matrix (2 args) or a string and loc/size/quat sequences (4 args)");
		return NULL;
	}
	
	if(pymat) {
		float matrix[4][4];
		MT_Matrix4x4 mat;
		
		if(!PyMatTo(pymat, mat))
			return NULL;
		
		mat.getValue((float*)matrix);
		
		BL_ArmatureObject *obj = (BL_ArmatureObject*)GetParent();
		
		if (!m_userpose) {
			if(!m_pose)
				obj->GetPose(&m_pose); /* Get the underlying pose from the armature */
			game_copy_pose(&m_userpose, m_pose, 0);
		}
		// pchan= verify_pose_channel(m_userpose, string); // adds the channel if its not there.
		pchan= get_pose_channel(m_userpose, string); // adds the channel if its not there.
		
		if(pchan) {
			VECCOPY (pchan->loc, matrix[3]);
			mat4_to_size( pchan->size,matrix);
			mat4_to_quat( pchan->quat,matrix);
		}
	}
	else {
		MT_Vector3 loc;
		MT_Vector3 size;
		MT_Quaternion quat;
		
		if (!PyVecTo(pyloc, loc) || !PyVecTo(pysize, size) || !PyQuatTo(pyquat, quat))
			return NULL;
		
		// same as above
		if (!m_userpose) {
			if(!m_pose)
				obj->GetPose(&m_pose); /* Get the underlying pose from the armature */
			game_copy_pose(&m_userpose, m_pose, 0);
		}
		// pchan= verify_pose_channel(m_userpose, string);
		pchan= get_pose_channel(m_userpose, string); // adds the channel if its not there.
		
		// for some reason loc.setValue(pchan->loc) fails
		if(pchan) {
			pchan->loc[0]= loc[0]; pchan->loc[1]= loc[1]; pchan->loc[2]= loc[2];
			pchan->size[0]= size[0]; pchan->size[1]= size[1]; pchan->size[2]= size[2];
			pchan->quat[0]= quat[3]; pchan->quat[1]= quat[0]; pchan->quat[2]= quat[1]; pchan->quat[3]= quat[2]; /* notice xyzw -> wxyz is intentional */
		}
	}
	
	if(pchan==NULL) {
		PyErr_SetString(PyExc_ValueError, "Channel could not be found, use the 'channelNames' attribute to get a list of valid channels");
		return NULL;
	}
	
	Py_RETURN_NONE;
}

/* ------------------------------------------------------------------------- */
/* Python Integration Hooks					                                 */
/* ------------------------------------------------------------------------- */

PyTypeObject BL_ActionActuator::Type = {
	PyVarObject_HEAD_INIT(NULL, 0)
	"BL_ActionActuator",
	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,
	&SCA_IActuator::Type,
	0,0,0,0,0,0,
	py_base_new
};

PyMethodDef BL_ActionActuator::Methods[] = {
	{"getChannel", (PyCFunction) BL_ActionActuator::sPyGetChannel, METH_O},
	KX_PYMETHODTABLE(BL_ActionActuator, setChannel),
	{NULL,NULL} //Sentinel
};

PyAttributeDef BL_ActionActuator::Attributes[] = {
	KX_PYATTRIBUTE_FLOAT_RW("frameStart", 0, MAXFRAMEF, BL_ActionActuator, m_startframe),
	KX_PYATTRIBUTE_FLOAT_RW("frameEnd", 0, MAXFRAMEF, BL_ActionActuator, m_endframe),
	KX_PYATTRIBUTE_FLOAT_RW("blendIn", 0, MAXFRAMEF, BL_ActionActuator, m_blendin),
	KX_PYATTRIBUTE_RW_FUNCTION("action", BL_ActionActuator, pyattr_get_action, pyattr_set_action),
	KX_PYATTRIBUTE_RO_FUNCTION("channelNames", BL_ActionActuator, pyattr_get_channel_names),
	KX_PYATTRIBUTE_SHORT_RW("priority", 0, 100, false, BL_ActionActuator, m_priority),
	KX_PYATTRIBUTE_FLOAT_RW_CHECK("frame", 0, MAXFRAMEF, BL_ActionActuator, m_localtime, CheckFrame),
	KX_PYATTRIBUTE_STRING_RW("propName", 0, 31, false, BL_ActionActuator, m_propname),
	KX_PYATTRIBUTE_STRING_RW("framePropName", 0, 31, false, BL_ActionActuator, m_framepropname),
	KX_PYATTRIBUTE_BOOL_RW("useContinue", BL_ActionActuator, m_end_reset),
	KX_PYATTRIBUTE_FLOAT_RW_CHECK("blendTime", 0, MAXFRAMEF, BL_ActionActuator, m_blendframe, CheckBlendTime),
	KX_PYATTRIBUTE_SHORT_RW_CHECK("mode",0,100,false,BL_ActionActuator,m_playtype,CheckType),
	{ NULL }	//Sentinel
};

PyObject* BL_ActionActuator::pyattr_get_action(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef)
{
	BL_ActionActuator* self= static_cast<BL_ActionActuator*>(self_v);
	return PyUnicode_FromString(self->GetAction() ? self->GetAction()->id.name+2 : "");
}

int BL_ActionActuator::pyattr_set_action(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef, PyObject *value)
{
	BL_ActionActuator* self= static_cast<BL_ActionActuator*>(self_v);
	
	if (!PyUnicode_Check(value))
	{
		PyErr_SetString(PyExc_ValueError, "actuator.action = val: Action Actuator, expected the string name of the action");
		return PY_SET_ATTR_FAIL;
	}

	bAction *action= NULL;
	STR_String val = _PyUnicode_AsString(value);
	
	if (val != "")
	{
		action= (bAction*)SCA_ILogicBrick::m_sCurrentLogicManager->GetActionByName(val);
		if (!action)
		{
			PyErr_SetString(PyExc_ValueError, "actuator.action = val: Action Actuator, action not found!");
			return PY_SET_ATTR_FAIL;
		}
	}
	
	self->SetAction(action);
	return PY_SET_ATTR_SUCCESS;

}

PyObject* BL_ActionActuator::pyattr_get_channel_names(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef)
{
	BL_ActionActuator* self= static_cast<BL_ActionActuator*>(self_v);
	PyObject *ret= PyList_New(0);
	PyObject *item;
	
	bPose *pose= ((BL_ArmatureObject*)self->GetParent())->GetOrigPose();
	
	if(pose) {
		bPoseChannel *pchan;
		for(pchan= (bPoseChannel *)pose->chanbase.first; pchan; pchan= (bPoseChannel *)pchan->next) {
			item= PyUnicode_FromString(pchan->name);
			PyList_Append(ret, item);
			Py_DECREF(item);
		}
	}
	
	return ret;
}

#endif // WITH_PYTHON