forked from bartvdbraak/blender
624 lines
20 KiB
C++
624 lines
20 KiB
C++
/**
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* Apply a constraint to a position or rotation value
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*
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* $Id$
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*
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* ***** BEGIN GPL LICENSE BLOCK *****
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*
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* This program is free software; you can redistribute it and/or
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* modify it under the terms of the GNU General Public License
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* as published by the Free Software Foundation; either version 2
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* of the License, or (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* 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.
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*
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* The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
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* All rights reserved.
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*
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* The Original Code is: all of this file.
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*
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* Contributor(s): none yet.
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*
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* ***** END GPL LICENSE BLOCK *****
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*/
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#include "SCA_IActuator.h"
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#include "KX_ConstraintActuator.h"
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#include "SCA_IObject.h"
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#include "MT_Point3.h"
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#include "MT_Matrix3x3.h"
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#include "KX_GameObject.h"
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#include "KX_RayCast.h"
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#include "KX_PythonInit.h" // KX_GetActiveScene
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#include <stdio.h>
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/* ------------------------------------------------------------------------- */
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/* Native functions */
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/* ------------------------------------------------------------------------- */
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KX_ConstraintActuator::KX_ConstraintActuator(SCA_IObject *gameobj,
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int posDampTime,
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int rotDampTime,
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float minBound,
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float maxBound,
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float refDir[3],
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int locrotxyz,
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int time,
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int option,
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char *property) :
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SCA_IActuator(gameobj, KX_ACT_CONSTRAINT),
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m_refDirVector(refDir),
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m_currentTime(0)
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{
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m_refDirection[0] = refDir[0];
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m_refDirection[1] = refDir[1];
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m_refDirection[2] = refDir[2];
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m_posDampTime = posDampTime;
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m_rotDampTime = rotDampTime;
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m_locrot = locrotxyz;
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m_option = option;
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m_activeTime = time;
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if (property) {
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m_property = property;
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} else {
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m_property = "";
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}
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/* The units of bounds are determined by the type of constraint. To */
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/* make the constraint application easier and more transparent later on, */
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/* I think converting the bounds to the applicable domain makes more */
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/* sense. */
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switch (m_locrot) {
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case KX_ACT_CONSTRAINT_ORIX:
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case KX_ACT_CONSTRAINT_ORIY:
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case KX_ACT_CONSTRAINT_ORIZ:
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{
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MT_Scalar len = m_refDirVector.length();
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if (MT_fuzzyZero(len)) {
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// missing a valid direction
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std::cout << "WARNING: Constraint actuator " << GetName() << ": There is no valid reference direction!" << std::endl;
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m_locrot = KX_ACT_CONSTRAINT_NODEF;
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} else {
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m_refDirection[0] /= len;
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m_refDirection[1] /= len;
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m_refDirection[2] /= len;
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m_refDirVector /= len;
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}
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m_minimumBound = cos(minBound);
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m_maximumBound = cos(maxBound);
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m_minimumSine = sin(minBound);
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m_maximumSine = sin(maxBound);
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}
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break;
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default:
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m_minimumBound = minBound;
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m_maximumBound = maxBound;
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m_minimumSine = 0.f;
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m_maximumSine = 0.f;
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break;
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}
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} /* End of constructor */
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KX_ConstraintActuator::~KX_ConstraintActuator()
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{
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// there's nothing to be done here, really....
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} /* end of destructor */
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bool KX_ConstraintActuator::RayHit(KX_ClientObjectInfo* client, KX_RayCast* result, void * const data)
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{
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m_hitObject = client->m_gameobject;
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bool bFound = false;
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if (m_property.IsEmpty())
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{
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bFound = true;
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}
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else
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{
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if (m_option & KX_ACT_CONSTRAINT_MATERIAL)
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{
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if (client->m_auxilary_info)
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{
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bFound = !strcmp(m_property.Ptr(), ((char*)client->m_auxilary_info));
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}
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}
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else
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{
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bFound = m_hitObject->GetProperty(m_property) != NULL;
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}
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}
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// update the hit status
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result->m_hitFound = bFound;
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// stop looking
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return true;
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}
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/* this function is used to pre-filter the object before casting the ray on them.
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This is useful for "X-Ray" option when we want to see "through" unwanted object.
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*/
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bool KX_ConstraintActuator::NeedRayCast(KX_ClientObjectInfo* client)
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{
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if (client->m_type > KX_ClientObjectInfo::ACTOR)
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{
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// Unknown type of object, skip it.
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// Should not occur as the sensor objects are filtered in RayTest()
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printf("Invalid client type %d found in ray casting\n", client->m_type);
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return false;
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}
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// no X-Ray function yet
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return true;
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}
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bool KX_ConstraintActuator::Update(double curtime, bool frame)
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{
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bool result = false;
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bool bNegativeEvent = IsNegativeEvent();
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RemoveAllEvents();
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if (!bNegativeEvent) {
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/* Constraint clamps the values to the specified range, with a sort of */
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/* low-pass filtered time response, if the damp time is unequal to 0. */
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/* Having to retrieve location/rotation and setting it afterwards may not */
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/* be efficient enough... Somthing to look at later. */
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KX_GameObject *obj = (KX_GameObject*) GetParent();
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MT_Point3 position = obj->NodeGetWorldPosition();
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MT_Point3 newposition;
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MT_Vector3 normal, direction, refDirection;
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MT_Matrix3x3 rotation = obj->NodeGetWorldOrientation();
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MT_Scalar filter, newdistance, cosangle;
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int axis, sign;
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if (m_posDampTime) {
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filter = m_posDampTime/(1.0+m_posDampTime);
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} else {
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filter = 0.0;
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}
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switch (m_locrot) {
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case KX_ACT_CONSTRAINT_ORIX:
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case KX_ACT_CONSTRAINT_ORIY:
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case KX_ACT_CONSTRAINT_ORIZ:
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switch (m_locrot) {
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case KX_ACT_CONSTRAINT_ORIX:
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direction[0] = rotation[0][0];
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direction[1] = rotation[1][0];
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direction[2] = rotation[2][0];
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axis = 0;
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break;
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case KX_ACT_CONSTRAINT_ORIY:
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direction[0] = rotation[0][1];
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direction[1] = rotation[1][1];
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direction[2] = rotation[2][1];
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axis = 1;
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break;
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default:
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direction[0] = rotation[0][2];
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direction[1] = rotation[1][2];
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direction[2] = rotation[2][2];
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axis = 2;
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break;
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}
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if ((m_maximumBound < (1.0f-FLT_EPSILON)) || (m_minimumBound < (1.0f-FLT_EPSILON))) {
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// reference direction needs to be evaluated
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// 1. get the cosine between current direction and target
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cosangle = direction.dot(m_refDirVector);
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if (cosangle >= (m_maximumBound-FLT_EPSILON) && cosangle <= (m_minimumBound+FLT_EPSILON)) {
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// no change to do
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result = true;
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goto CHECK_TIME;
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}
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// 2. define a new reference direction
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// compute local axis with reference direction as X and
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// Y in direction X refDirection plane
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MT_Vector3 zaxis = m_refDirVector.cross(direction);
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if (MT_fuzzyZero2(zaxis.length2())) {
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// direction and refDirection are identical,
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// choose any other direction to define plane
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if (direction[0] < 0.9999)
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zaxis = m_refDirVector.cross(MT_Vector3(1.0,0.0,0.0));
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else
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zaxis = m_refDirVector.cross(MT_Vector3(0.0,1.0,0.0));
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}
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MT_Vector3 yaxis = zaxis.cross(m_refDirVector);
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yaxis.normalize();
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if (cosangle > m_minimumBound) {
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// angle is too close to reference direction,
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// choose a new reference that is exactly at minimum angle
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refDirection = m_minimumBound * m_refDirVector + m_minimumSine * yaxis;
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} else {
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// angle is too large, choose new reference direction at maximum angle
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refDirection = m_maximumBound * m_refDirVector + m_maximumSine * yaxis;
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}
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} else {
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refDirection = m_refDirVector;
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}
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// apply damping on the direction
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direction = filter*direction + (1.0-filter)*refDirection;
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obj->AlignAxisToVect(direction, axis);
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result = true;
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goto CHECK_TIME;
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case KX_ACT_CONSTRAINT_DIRPX:
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case KX_ACT_CONSTRAINT_DIRPY:
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case KX_ACT_CONSTRAINT_DIRPZ:
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case KX_ACT_CONSTRAINT_DIRNX:
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case KX_ACT_CONSTRAINT_DIRNY:
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case KX_ACT_CONSTRAINT_DIRNZ:
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switch (m_locrot) {
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case KX_ACT_CONSTRAINT_DIRPX:
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normal[0] = rotation[0][0];
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normal[1] = rotation[1][0];
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normal[2] = rotation[2][0];
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axis = 0; // axis according to KX_GameObject::AlignAxisToVect()
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sign = 0; // X axis will be parrallel to direction of ray
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break;
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case KX_ACT_CONSTRAINT_DIRPY:
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normal[0] = rotation[0][1];
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normal[1] = rotation[1][1];
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normal[2] = rotation[2][1];
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axis = 1;
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sign = 0;
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break;
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case KX_ACT_CONSTRAINT_DIRPZ:
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normal[0] = rotation[0][2];
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normal[1] = rotation[1][2];
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normal[2] = rotation[2][2];
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axis = 2;
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sign = 0;
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break;
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case KX_ACT_CONSTRAINT_DIRNX:
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normal[0] = -rotation[0][0];
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normal[1] = -rotation[1][0];
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normal[2] = -rotation[2][0];
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axis = 0;
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sign = 1;
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break;
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case KX_ACT_CONSTRAINT_DIRNY:
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normal[0] = -rotation[0][1];
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normal[1] = -rotation[1][1];
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normal[2] = -rotation[2][1];
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axis = 1;
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sign = 1;
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break;
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case KX_ACT_CONSTRAINT_DIRNZ:
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normal[0] = -rotation[0][2];
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normal[1] = -rotation[1][2];
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normal[2] = -rotation[2][2];
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axis = 2;
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sign = 1;
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break;
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}
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normal.normalize();
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if (m_option & KX_ACT_CONSTRAINT_LOCAL) {
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// direction of the ray is along the local axis
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direction = normal;
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} else {
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switch (m_locrot) {
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case KX_ACT_CONSTRAINT_DIRPX:
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direction = MT_Vector3(1.0,0.0,0.0);
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break;
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case KX_ACT_CONSTRAINT_DIRPY:
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direction = MT_Vector3(0.0,1.0,0.0);
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break;
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case KX_ACT_CONSTRAINT_DIRPZ:
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direction = MT_Vector3(0.0,0.0,1.0);
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break;
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case KX_ACT_CONSTRAINT_DIRNX:
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direction = MT_Vector3(-1.0,0.0,0.0);
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break;
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case KX_ACT_CONSTRAINT_DIRNY:
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direction = MT_Vector3(0.0,-1.0,0.0);
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break;
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case KX_ACT_CONSTRAINT_DIRNZ:
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direction = MT_Vector3(0.0,0.0,-1.0);
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break;
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}
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}
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{
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MT_Point3 topoint = position + (m_maximumBound) * direction;
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PHY_IPhysicsEnvironment* pe = KX_GetActiveScene()->GetPhysicsEnvironment();
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KX_IPhysicsController *spc = obj->GetPhysicsController();
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if (!pe) {
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std::cout << "WARNING: Constraint actuator " << GetName() << ": There is no physics environment!" << std::endl;
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goto CHECK_TIME;
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}
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if (!spc) {
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// the object is not physical, we probably want to avoid hitting its own parent
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KX_GameObject *parent = obj->GetParent();
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if (parent) {
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spc = parent->GetPhysicsController();
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parent->Release();
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}
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}
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KX_RayCast::Callback<KX_ConstraintActuator> callback(this,spc);
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result = KX_RayCast::RayTest(pe, position, topoint, callback);
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if (result) {
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MT_Vector3 newnormal = callback.m_hitNormal;
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// compute new position & orientation
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if ((m_option & (KX_ACT_CONSTRAINT_NORMAL|KX_ACT_CONSTRAINT_DISTANCE)) == 0) {
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// if none option is set, the actuator does nothing but detect ray
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// (works like a sensor)
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goto CHECK_TIME;
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}
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if (m_option & KX_ACT_CONSTRAINT_NORMAL) {
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MT_Scalar rotFilter;
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// apply damping on the direction
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if (m_rotDampTime) {
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rotFilter = m_rotDampTime/(1.0+m_rotDampTime);
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} else {
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rotFilter = filter;
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}
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newnormal = rotFilter*normal - (1.0-rotFilter)*newnormal;
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obj->AlignAxisToVect((sign)?-newnormal:newnormal, axis);
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if (m_option & KX_ACT_CONSTRAINT_LOCAL) {
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direction = newnormal;
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direction.normalize();
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}
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}
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if (m_option & KX_ACT_CONSTRAINT_DISTANCE) {
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if (m_posDampTime) {
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newdistance = filter*(position-callback.m_hitPoint).length()+(1.0-filter)*m_minimumBound;
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} else {
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newdistance = m_minimumBound;
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}
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// logically we should cancel the speed along the ray direction as we set the
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// position along that axis
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spc = obj->GetPhysicsController();
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if (spc && spc->IsDyna()) {
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MT_Vector3 linV = spc->GetLinearVelocity();
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// cancel the projection along the ray direction
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MT_Scalar fallspeed = linV.dot(direction);
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if (!MT_fuzzyZero(fallspeed))
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spc->SetLinearVelocity(linV-fallspeed*direction,false);
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}
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} else {
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newdistance = (position-callback.m_hitPoint).length();
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}
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newposition = callback.m_hitPoint-newdistance*direction;
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} else if (m_option & KX_ACT_CONSTRAINT_PERMANENT) {
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// no contact but still keep running
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result = true;
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goto CHECK_TIME;
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}
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}
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break;
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case KX_ACT_CONSTRAINT_FHPX:
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case KX_ACT_CONSTRAINT_FHPY:
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case KX_ACT_CONSTRAINT_FHPZ:
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case KX_ACT_CONSTRAINT_FHNX:
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case KX_ACT_CONSTRAINT_FHNY:
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case KX_ACT_CONSTRAINT_FHNZ:
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switch (m_locrot) {
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case KX_ACT_CONSTRAINT_FHPX:
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normal[0] = -rotation[0][0];
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normal[1] = -rotation[1][0];
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normal[2] = -rotation[2][0];
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direction = MT_Vector3(1.0,0.0,0.0);
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break;
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case KX_ACT_CONSTRAINT_FHPY:
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normal[0] = -rotation[0][1];
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normal[1] = -rotation[1][1];
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normal[2] = -rotation[2][1];
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direction = MT_Vector3(0.0,1.0,0.0);
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break;
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case KX_ACT_CONSTRAINT_FHPZ:
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normal[0] = -rotation[0][2];
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normal[1] = -rotation[1][2];
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normal[2] = -rotation[2][2];
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direction = MT_Vector3(0.0,0.0,1.0);
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break;
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case KX_ACT_CONSTRAINT_FHNX:
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normal[0] = rotation[0][0];
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normal[1] = rotation[1][0];
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normal[2] = rotation[2][0];
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direction = MT_Vector3(-1.0,0.0,0.0);
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break;
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case KX_ACT_CONSTRAINT_FHNY:
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normal[0] = rotation[0][1];
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normal[1] = rotation[1][1];
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normal[2] = rotation[2][1];
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direction = MT_Vector3(0.0,-1.0,0.0);
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break;
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case KX_ACT_CONSTRAINT_FHNZ:
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normal[0] = rotation[0][2];
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normal[1] = rotation[1][2];
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normal[2] = rotation[2][2];
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direction = MT_Vector3(0.0,0.0,-1.0);
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break;
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}
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normal.normalize();
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{
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PHY_IPhysicsEnvironment* pe = KX_GetActiveScene()->GetPhysicsEnvironment();
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KX_IPhysicsController *spc = obj->GetPhysicsController();
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if (!pe) {
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std::cout << "WARNING: Constraint actuator " << GetName() << ": There is no physics environment!" << std::endl;
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goto CHECK_TIME;
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}
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if (!spc || !spc->IsDyna()) {
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// the object is not dynamic, it won't support setting speed
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goto CHECK_TIME;
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}
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m_hitObject = NULL;
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// distance of Fh area is stored in m_minimum
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MT_Point3 topoint = position + (m_minimumBound+spc->GetRadius()) * direction;
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KX_RayCast::Callback<KX_ConstraintActuator> callback(this,spc);
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result = KX_RayCast::RayTest(pe, position, topoint, callback);
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// we expect a hit object
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if (!m_hitObject)
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result = false;
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if (result)
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{
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MT_Vector3 newnormal = callback.m_hitNormal;
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// compute new position & orientation
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MT_Scalar distance = (callback.m_hitPoint-position).length()-spc->GetRadius();
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// estimate the velocity of the hit point
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MT_Point3 relativeHitPoint;
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relativeHitPoint = (callback.m_hitPoint-m_hitObject->NodeGetWorldPosition());
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MT_Vector3 velocityHitPoint = m_hitObject->GetVelocity(relativeHitPoint);
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MT_Vector3 relativeVelocity = spc->GetLinearVelocity() - velocityHitPoint;
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MT_Scalar relativeVelocityRay = direction.dot(relativeVelocity);
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MT_Scalar springExtent = 1.0 - distance/m_minimumBound;
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// Fh force is stored in m_maximum
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MT_Scalar springForce = springExtent * m_maximumBound;
|
|
// damping is stored in m_refDirection [0] = damping, [1] = rot damping
|
|
MT_Scalar springDamp = relativeVelocityRay * m_refDirVector[0];
|
|
MT_Vector3 newVelocity = spc->GetLinearVelocity()-(springForce+springDamp)*direction;
|
|
if (m_option & KX_ACT_CONSTRAINT_NORMAL)
|
|
{
|
|
newVelocity+=(springForce+springDamp)*(newnormal-newnormal.dot(direction)*direction);
|
|
}
|
|
spc->SetLinearVelocity(newVelocity, false);
|
|
if (m_option & KX_ACT_CONSTRAINT_DOROTFH)
|
|
{
|
|
MT_Vector3 angSpring = (normal.cross(newnormal))*m_maximumBound;
|
|
MT_Vector3 angVelocity = spc->GetAngularVelocity();
|
|
// remove component that is parallel to normal
|
|
angVelocity -= angVelocity.dot(newnormal)*newnormal;
|
|
MT_Vector3 angDamp = angVelocity * ((m_refDirVector[1]>MT_EPSILON)?m_refDirVector[1]:m_refDirVector[0]);
|
|
spc->SetAngularVelocity(spc->GetAngularVelocity()+(angSpring-angDamp), false);
|
|
}
|
|
} else if (m_option & KX_ACT_CONSTRAINT_PERMANENT) {
|
|
// no contact but still keep running
|
|
result = true;
|
|
}
|
|
// don't set the position with this constraint
|
|
goto CHECK_TIME;
|
|
}
|
|
break;
|
|
case KX_ACT_CONSTRAINT_LOCX:
|
|
case KX_ACT_CONSTRAINT_LOCY:
|
|
case KX_ACT_CONSTRAINT_LOCZ:
|
|
newposition = position = obj->GetSGNode()->GetLocalPosition();
|
|
switch (m_locrot) {
|
|
case KX_ACT_CONSTRAINT_LOCX:
|
|
Clamp(newposition[0], m_minimumBound, m_maximumBound);
|
|
break;
|
|
case KX_ACT_CONSTRAINT_LOCY:
|
|
Clamp(newposition[1], m_minimumBound, m_maximumBound);
|
|
break;
|
|
case KX_ACT_CONSTRAINT_LOCZ:
|
|
Clamp(newposition[2], m_minimumBound, m_maximumBound);
|
|
break;
|
|
}
|
|
result = true;
|
|
if (m_posDampTime) {
|
|
newposition = filter*position + (1.0-filter)*newposition;
|
|
}
|
|
obj->NodeSetLocalPosition(newposition);
|
|
goto CHECK_TIME;
|
|
}
|
|
if (result) {
|
|
// set the new position but take into account parent if any
|
|
obj->NodeSetWorldPosition(newposition);
|
|
}
|
|
CHECK_TIME:
|
|
if (result && m_activeTime > 0 ) {
|
|
if (++m_currentTime >= m_activeTime)
|
|
result = false;
|
|
}
|
|
}
|
|
if (!result) {
|
|
m_currentTime = 0;
|
|
}
|
|
return result;
|
|
} /* end of KX_ConstraintActuator::Update(double curtime,double deltatime) */
|
|
|
|
void KX_ConstraintActuator::Clamp(MT_Scalar &var,
|
|
float min,
|
|
float max) {
|
|
if (var < min) {
|
|
var = min;
|
|
} else if (var > max) {
|
|
var = max;
|
|
}
|
|
}
|
|
|
|
|
|
bool KX_ConstraintActuator::IsValidMode(KX_ConstraintActuator::KX_CONSTRAINTTYPE m)
|
|
{
|
|
bool res = false;
|
|
|
|
if ( (m > KX_ACT_CONSTRAINT_NODEF) && (m < KX_ACT_CONSTRAINT_MAX)) {
|
|
res = true;
|
|
}
|
|
|
|
return res;
|
|
}
|
|
|
|
#ifdef WITH_PYTHON
|
|
|
|
/* ------------------------------------------------------------------------- */
|
|
/* Python functions */
|
|
/* ------------------------------------------------------------------------- */
|
|
|
|
/* Integration hooks ------------------------------------------------------- */
|
|
PyTypeObject KX_ConstraintActuator::Type = {
|
|
PyVarObject_HEAD_INIT(NULL, 0)
|
|
"KX_ConstraintActuator",
|
|
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 KX_ConstraintActuator::Methods[] = {
|
|
{NULL,NULL} //Sentinel
|
|
};
|
|
|
|
PyAttributeDef KX_ConstraintActuator::Attributes[] = {
|
|
KX_PYATTRIBUTE_INT_RW("damp",0,100,true,KX_ConstraintActuator,m_posDampTime),
|
|
KX_PYATTRIBUTE_INT_RW("rotDamp",0,100,true,KX_ConstraintActuator,m_rotDampTime),
|
|
KX_PYATTRIBUTE_FLOAT_ARRAY_RW_CHECK("direction",-FLT_MAX,FLT_MAX,KX_ConstraintActuator,m_refDirection,3,pyattr_check_direction),
|
|
KX_PYATTRIBUTE_INT_RW("option",0,0xFFFF,false,KX_ConstraintActuator,m_option),
|
|
KX_PYATTRIBUTE_INT_RW("time",0,1000,true,KX_ConstraintActuator,m_activeTime),
|
|
KX_PYATTRIBUTE_STRING_RW("propName",0,32,true,KX_ConstraintActuator,m_property),
|
|
KX_PYATTRIBUTE_FLOAT_RW("min",-FLT_MAX,FLT_MAX,KX_ConstraintActuator,m_minimumBound),
|
|
KX_PYATTRIBUTE_FLOAT_RW("distance",-FLT_MAX,FLT_MAX,KX_ConstraintActuator,m_minimumBound),
|
|
KX_PYATTRIBUTE_FLOAT_RW("max",-FLT_MAX,FLT_MAX,KX_ConstraintActuator,m_maximumBound),
|
|
KX_PYATTRIBUTE_FLOAT_RW("rayLength",0,2000.f,KX_ConstraintActuator,m_maximumBound),
|
|
KX_PYATTRIBUTE_INT_RW("limit",KX_ConstraintActuator::KX_ACT_CONSTRAINT_NODEF+1,KX_ConstraintActuator::KX_ACT_CONSTRAINT_MAX-1,false,KX_ConstraintActuator,m_locrot),
|
|
{ NULL } //Sentinel
|
|
};
|
|
|
|
int KX_ConstraintActuator::pyattr_check_direction(void *self, const struct KX_PYATTRIBUTE_DEF *attrdef)
|
|
{
|
|
KX_ConstraintActuator* act = static_cast<KX_ConstraintActuator*>(self);
|
|
MT_Vector3 dir(act->m_refDirection);
|
|
MT_Scalar len = dir.length();
|
|
if (MT_fuzzyZero(len)) {
|
|
PyErr_SetString(PyExc_ValueError, "actuator.direction = vec: KX_ConstraintActuator, invalid direction");
|
|
return 1;
|
|
}
|
|
act->m_refDirVector = dir/len;
|
|
return 0;
|
|
}
|
|
|
|
#endif
|
|
|
|
/* eof */
|