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blender/source/gameengine/Ketsji/KX_TrackToActuator.cpp

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//
// Replace the mesh for this actuator's parent
//
// $Id$
//
// ***** 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., 59 Temple Place - Suite 330, Boston, MA 02111-1307, 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 *****
// todo: not all trackflags / upflags are implemented/tested !
// m_trackflag is used to determine the forward tracking direction
// m_upflag for the up direction
// normal situation is +y for forward, +z for up
#include "MT_Scalar.h"
#include "SCA_IActuator.h"
#include "KX_TrackToActuator.h"
#include "SCA_IScene.h"
#include "SCA_LogicManager.h"
#include <math.h>
#include <iostream>
#include "KX_GameObject.h"
#ifdef HAVE_CONFIG_H
#include <config.h>
#endif
/* ------------------------------------------------------------------------- */
/* Native functions */
/* ------------------------------------------------------------------------- */
KX_TrackToActuator::KX_TrackToActuator(SCA_IObject *gameobj,
SCA_IObject *ob,
int time,
bool allow3D,
int trackflag,
int upflag,
PyTypeObject* T)
:
SCA_IActuator(gameobj, T)
{
m_time = time;
m_allow3D = allow3D;
m_object = ob;
m_trackflag = trackflag;
m_upflag = upflag;
m_parentobj = 0;
if (m_object)
m_object->RegisterActuator(this);
if (gameobj->isA(&KX_GameObject::Type))
{
// if the object is vertex parented, don't check parent orientation as the link is broken
if (!((KX_GameObject*)gameobj)->IsVertexParent()){
m_parentobj = ((KX_GameObject*)gameobj)->GetParent(); // check if the object is parented
if (m_parentobj) {
// if so, store the initial local rotation
// this is needed to revert the effect of the parent inverse node (TBC)
m_parentlocalmat = m_parentobj->GetSGNode()->GetLocalOrientation();
}
}
}
} /* End of constructor */
/* old function from Blender */
MT_Matrix3x3 EulToMat3(float *eul)
{
MT_Matrix3x3 mat;
float ci, cj, ch, si, sj, sh, cc, cs, sc, ss;
ci = cos(eul[0]);
cj = cos(eul[1]);
ch = cos(eul[2]);
si = sin(eul[0]);
sj = sin(eul[1]);
sh = sin(eul[2]);
cc = ci*ch;
cs = ci*sh;
sc = si*ch;
ss = si*sh;
mat[0][0] = cj*ch;
mat[1][0] = sj*sc-cs;
mat[2][0] = sj*cc+ss;
mat[0][1] = cj*sh;
mat[1][1] = sj*ss+cc;
mat[2][1] = sj*cs-sc;
mat[0][2] = -sj;
mat[1][2] = cj*si;
mat[2][2] = cj*ci;
return mat;
}
/* old function from Blender */
void Mat3ToEulOld(MT_Matrix3x3 mat, float *eul)
{
MT_Scalar cy;
cy = sqrt(mat[0][0]*mat[0][0] + mat[0][1]*mat[0][1]);
if (cy > 16.0*FLT_EPSILON) {
eul[0] = atan2(mat[1][2], mat[2][2]);
eul[1] = atan2(-mat[0][2], cy);
eul[2] = atan2(mat[0][1], mat[0][0]);
} else {
eul[0] = atan2(-mat[2][1], mat[1][1]);
eul[1] = atan2(-mat[0][2], cy);
eul[2] = 0.0;
}
}
/* old function from Blender */
void compatible_eulFast(float *eul, float *oldrot)
{
float dx, dy, dz;
/* verschillen van ong 360 graden corrigeren */
dx= eul[0] - oldrot[0];
dy= eul[1] - oldrot[1];
dz= eul[2] - oldrot[2];
if( fabs(dx) > 5.1) {
if(dx > 0.0) eul[0] -= MT_2_PI; else eul[0]+= MT_2_PI;
}
if( fabs(dy) > 5.1) {
if(dy > 0.0) eul[1] -= MT_2_PI; else eul[1]+= MT_2_PI;
}
if( fabs(dz) > 5.1 ) {
if(dz > 0.0) eul[2] -= MT_2_PI; else eul[2]+= MT_2_PI;
}
}
MT_Matrix3x3 matrix3x3_interpol(MT_Matrix3x3 oldmat, MT_Matrix3x3 mat, int m_time)
{
float eul[3], oldeul[3];
Mat3ToEulOld(oldmat, oldeul);
Mat3ToEulOld(mat, eul);
compatible_eulFast(eul, oldeul);
eul[0]= (m_time*oldeul[0] + eul[0])/(1.0+m_time);
eul[1]= (m_time*oldeul[1] + eul[1])/(1.0+m_time);
eul[2]= (m_time*oldeul[2] + eul[2])/(1.0+m_time);
return EulToMat3(eul);
}
KX_TrackToActuator::~KX_TrackToActuator()
{
if (m_object)
m_object->UnregisterActuator(this);
if (m_parentobj)
m_parentobj->Release();
} /* end of destructor */
void KX_TrackToActuator::ProcessReplica()
{
// the replica is tracking the same object => register it
if (m_object)
m_object->RegisterActuator(this);
SCA_IActuator::ProcessReplica();
}
bool KX_TrackToActuator::UnlinkObject(SCA_IObject* clientobj)
{
if (clientobj == m_object)
{
// this object is being deleted, we cannot continue to track it.
m_object = NULL;
return true;
}
return false;
}
bool KX_TrackToActuator::Update(double curtime, bool frame)
{
bool result = false;
bool bNegativeEvent = IsNegativeEvent();
RemoveAllEvents();
if (bNegativeEvent)
{
// do nothing on negative events
}
else if (m_object)
{
KX_GameObject* curobj = (KX_GameObject*) GetParent();
MT_Vector3 dir = ((KX_GameObject*)m_object)->NodeGetWorldPosition() - curobj->NodeGetWorldPosition();
if (dir.length2())
dir.normalize();
MT_Vector3 up(0,0,1);
#ifdef DSADSA
switch (m_upflag)
{
case 0:
{
up = MT_Vector3(1.0,0,0);
break;
}
case 1:
{
up = MT_Vector3(0,1.0,0);
break;
}
case 2:
default:
{
up = MT_Vector3(0,0,1.0);
}
}
#endif
if (m_allow3D)
{
up = (up - up.dot(dir) * dir).safe_normalized();
}
else
{
dir = (dir - up.dot(dir)*up).safe_normalized();
}
MT_Vector3 left;
MT_Matrix3x3 mat;
switch (m_trackflag)
{
case 0: // TRACK X
{
// (1.0 , 0.0 , 0.0 ) x direction is forward, z (0.0 , 0.0 , 1.0 ) up
left = dir.safe_normalized();
dir = (left.cross(up)).safe_normalized();
mat.setValue (
left[0], dir[0],up[0],
left[1], dir[1],up[1],
left[2], dir[2],up[2]
);
break;
};
case 1: // TRACK Y
{
// (0.0 , 1.0 , 0.0 ) y direction is forward, z (0.0 , 0.0 , 1.0 ) up
left = (dir.cross(up)).safe_normalized();
mat.setValue (
left[0], dir[0],up[0],
left[1], dir[1],up[1],
left[2], dir[2],up[2]
);
break;
}
case 2: // track Z
{
left = up.safe_normalized();
up = dir.safe_normalized();
dir = left;
left = (dir.cross(up)).safe_normalized();
mat.setValue (
left[0], dir[0],up[0],
left[1], dir[1],up[1],
left[2], dir[2],up[2]
);
break;
}
case 3: // TRACK -X
{
// (1.0 , 0.0 , 0.0 ) x direction is forward, z (0.0 , 0.0 , 1.0 ) up
left = -dir.safe_normalized();
dir = -(left.cross(up)).safe_normalized();
mat.setValue (
left[0], dir[0],up[0],
left[1], dir[1],up[1],
left[2], dir[2],up[2]
);
break;
};
case 4: // TRACK -Y
{
// (0.0 , -1.0 , 0.0 ) -y direction is forward, z (0.0 , 0.0 , 1.0 ) up
left = (-dir.cross(up)).safe_normalized();
mat.setValue (
left[0], -dir[0],up[0],
left[1], -dir[1],up[1],
left[2], -dir[2],up[2]
);
break;
}
case 5: // track -Z
{
left = up.safe_normalized();
up = -dir.safe_normalized();
dir = left;
left = (dir.cross(up)).safe_normalized();
mat.setValue (
left[0], dir[0],up[0],
left[1], dir[1],up[1],
left[2], dir[2],up[2]
);
break;
}
default:
{
// (1.0 , 0.0 , 0.0 ) -x direction is forward, z (0.0 , 0.0 , 1.0 ) up
left = -dir.safe_normalized();
dir = -(left.cross(up)).safe_normalized();
mat.setValue (
left[0], dir[0],up[0],
left[1], dir[1],up[1],
left[2], dir[2],up[2]
);
}
}
MT_Matrix3x3 oldmat;
oldmat= curobj->NodeGetWorldOrientation();
/* erwin should rewrite this! */
mat= matrix3x3_interpol(oldmat, mat, m_time);
if(m_parentobj){ // check if the model is parented and calculate the child transform
MT_Point3 localpos;
localpos = curobj->GetSGNode()->GetLocalPosition();
// Get the inverse of the parent matrix
MT_Matrix3x3 parentmatinv;
parentmatinv = m_parentobj->NodeGetWorldOrientation ().inverse ();
// transform the local coordinate system into the parents system
mat = parentmatinv * mat;
// append the initial parent local rotation matrix
mat = m_parentlocalmat * mat;
// set the models tranformation properties
curobj->NodeSetLocalOrientation(mat);
curobj->NodeSetLocalPosition(localpos);
curobj->UpdateTransform();
}
else
{
curobj->NodeSetLocalOrientation(mat);
}
result = true;
}
return result;
}
/* ------------------------------------------------------------------------- */
/* Python functions */
/* ------------------------------------------------------------------------- */
/* Integration hooks ------------------------------------------------------- */
PyTypeObject KX_TrackToActuator::Type = {
PyObject_HEAD_INIT(&PyType_Type)
0,
"KX_TrackToActuator",
sizeof(KX_TrackToActuator),
0,
PyDestructor,
0,
__getattr,
__setattr,
0, //&MyPyCompare,
__repr,
0, //&cvalue_as_number,
0,
0,
0,
0
};
PyParentObject KX_TrackToActuator::Parents[] = {
&KX_TrackToActuator::Type,
&SCA_IActuator::Type,
&SCA_ILogicBrick::Type,
&CValue::Type,
NULL
};
PyMethodDef KX_TrackToActuator::Methods[] = {
{"setObject", (PyCFunction) KX_TrackToActuator::sPySetObject, METH_VARARGS, SetObject_doc},
{"getObject", (PyCFunction) KX_TrackToActuator::sPyGetObject, METH_VARARGS, GetObject_doc},
{"setTime", (PyCFunction) KX_TrackToActuator::sPySetTime, METH_VARARGS, SetTime_doc},
{"getTime", (PyCFunction) KX_TrackToActuator::sPyGetTime, METH_VARARGS, GetTime_doc},
{"setUse3D", (PyCFunction) KX_TrackToActuator::sPySetUse3D, METH_VARARGS, SetUse3D_doc},
{"getUse3D", (PyCFunction) KX_TrackToActuator::sPyGetUse3D, METH_VARARGS, GetUse3D_doc},
{NULL,NULL} //Sentinel
};
PyObject* KX_TrackToActuator::_getattr(const STR_String& attr)
{
_getattr_up(SCA_IActuator);
}
/* 1. setObject */
char KX_TrackToActuator::SetObject_doc[] =
"setObject(object)\n"
"\t- object: string\n"
"\tSet the object to track with the parent of this actuator.\n";
PyObject* KX_TrackToActuator::PySetObject(PyObject* self, PyObject* args, PyObject* kwds) {
PyObject* gameobj;
if (PyArg_ParseTuple(args, "O!", &KX_GameObject::Type, &gameobj))
{
if (m_object != NULL)
m_object->UnregisterActuator(this);
m_object = (SCA_IObject*)gameobj;
if (m_object)
m_object->RegisterActuator(this);
Py_Return;
}
PyErr_Clear();
char* objectname;
if (PyArg_ParseTuple(args, "s", &objectname))
{
if (m_object != NULL)
m_object->UnregisterActuator(this);
m_object= static_cast<SCA_IObject*>(SCA_ILogicBrick::m_sCurrentLogicManager->GetGameObjectByName(STR_String(objectname)));
if (m_object)
m_object->RegisterActuator(this);
Py_Return;
}
return NULL;
}
/* 2. getObject */
char KX_TrackToActuator::GetObject_doc[] =
"getObject()\n"
"\tReturns the object to track with the parent of this actuator.\n";
PyObject* KX_TrackToActuator::PyGetObject(PyObject* self, PyObject* args, PyObject* kwds)
{
if (!m_object)
Py_Return;
return PyString_FromString(m_object->GetName());
}
/* 3. setTime */
char KX_TrackToActuator::SetTime_doc[] =
"setTime(time)\n"
"\t- time: integer\n"
"\tSet the time in frames with which to delay the tracking motion.\n";
PyObject* KX_TrackToActuator::PySetTime(PyObject* self, PyObject* args, PyObject* kwds)
{
int timeArg;
if (!PyArg_ParseTuple(args, "i", &timeArg))
{
return NULL;
}
m_time= timeArg;
Py_Return;
}
/* 4.getTime */
char KX_TrackToActuator::GetTime_doc[] =
"getTime()\n"
"\t- time: integer\n"
"\tReturn the time in frames with which the tracking motion is delayed.\n";
PyObject* KX_TrackToActuator::PyGetTime(PyObject* self, PyObject* args, PyObject* kwds)
{
return PyInt_FromLong(m_time);
}
/* 5. getUse3D */
char KX_TrackToActuator::GetUse3D_doc[] =
"getUse3D()\n"
"\tReturns 1 if the motion is allowed to extend in the z-direction.\n";
PyObject* KX_TrackToActuator::PyGetUse3D(PyObject* self, PyObject* args, PyObject* kwds)
{
return PyInt_FromLong(!(m_allow3D == 0));
}
/* 6. setUse3D */
char KX_TrackToActuator::SetUse3D_doc[] =
"setUse3D(value)\n"
"\t- value: 0 or 1\n"
"\tSet to 1 to allow the tracking motion to extend in the z-direction,\n"
"\tset to 0 to lock the tracking motion to the x-y plane.\n";
PyObject* KX_TrackToActuator::PySetUse3D(PyObject* self, PyObject* args, PyObject* kwds)
{
int boolArg;
if (!PyArg_ParseTuple(args, "i", &boolArg)) {
return NULL;
}
m_allow3D = !(boolArg == 0);
Py_Return;
}
/* eof */
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