blender/source/gameengine/Converter/BL_ArmatureObject.cpp

671 lines
19 KiB
C++

/*
* ***** 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 *****
*/
/** \file gameengine/Converter/BL_ArmatureObject.cpp
* \ingroup bgeconv
*/
#include "BL_ArmatureObject.h"
#include "BL_ActionActuator.h"
#include "KX_BlenderSceneConverter.h"
#include "MEM_guardedalloc.h"
#include "BLI_blenlib.h"
#include "BLI_math.h"
#include "BLI_utildefines.h"
#include "BLI_ghash.h"
#include "BIK_api.h"
#include "BKE_action.h"
#include "BKE_armature.h"
#include "BKE_constraint.h"
#include "CTR_Map.h"
#include "CTR_HashedPtr.h"
#include "MEM_guardedalloc.h"
#include "DNA_action_types.h"
#include "DNA_armature_types.h"
#include "DNA_object_types.h"
#include "DNA_scene_types.h"
#include "DNA_nla_types.h"
#include "DNA_constraint_types.h"
#include "KX_PythonSeq.h"
#include "KX_PythonInit.h"
#include "KX_KetsjiEngine.h"
#include "MT_Matrix4x4.h"
/**
* Move here pose function for game engine so that we can mix with GE objects
* Principle is as follow:
* Use Blender structures so that where_is_pose can be used unchanged
* Copy the constraint so that they can be enabled/disabled/added/removed at runtime
* Don't copy the constraints for the pose used by the Action actuator, it does not need them.
* Scan the constraint structures so that the KX equivalent of target objects are identified and
* stored in separate list.
* When it is about to evaluate the pose, set the KX object position in the obmat of the corresponding
* Blender objects and restore after the evaluation.
*/
void game_copy_pose(bPose **dst, bPose *src, int copy_constraint)
{
bPose *out;
bPoseChannel *pchan, *outpchan;
GHash *ghash;
/* the game engine copies the current armature pose and then swaps
* the object pose pointer. this makes it possible to change poses
* without affecting the original blender data. */
if (!src) {
*dst=NULL;
return;
}
else if (*dst==src) {
printf("copy_pose source and target are the same\n");
*dst=NULL;
return;
}
out= (bPose*)MEM_dupallocN(src);
out->chanhash = NULL;
out->agroups.first= out->agroups.last= NULL;
out->ikdata = NULL;
out->ikparam = MEM_dupallocN(out->ikparam);
out->flag |= POSE_GAME_ENGINE;
BLI_duplicatelist(&out->chanbase, &src->chanbase);
/* remap pointers */
ghash= BLI_ghash_new(BLI_ghashutil_ptrhash, BLI_ghashutil_ptrcmp, "game_copy_pose gh");
pchan= (bPoseChannel*)src->chanbase.first;
outpchan= (bPoseChannel*)out->chanbase.first;
for (; pchan; pchan=pchan->next, outpchan=outpchan->next)
BLI_ghash_insert(ghash, pchan, outpchan);
for (pchan=(bPoseChannel*)out->chanbase.first; pchan; pchan=(bPoseChannel*)pchan->next) {
pchan->parent= (bPoseChannel*)BLI_ghash_lookup(ghash, pchan->parent);
pchan->child= (bPoseChannel*)BLI_ghash_lookup(ghash, pchan->child);
if (copy_constraint) {
ListBase listb;
// copy all constraint for backward compatibility
copy_constraints(&listb, &pchan->constraints, FALSE); // copy_constraints NULLs listb, no need to make extern for this operation.
pchan->constraints= listb;
} else {
pchan->constraints.first = NULL;
pchan->constraints.last = NULL;
}
// fails to link, props are not used in the BGE yet.
/* if(pchan->prop)
pchan->prop= IDP_CopyProperty(pchan->prop); */
pchan->prop= NULL;
}
BLI_ghash_free(ghash, NULL, NULL);
// set acceleration structure for channel lookup
make_pose_channels_hash(out);
*dst=out;
}
/* Only allowed for Poses with identical channels */
void game_blend_poses(bPose *dst, bPose *src, float srcweight/*, short mode*/)
{
short mode= ACTSTRIPMODE_BLEND;
bPoseChannel *dchan;
const bPoseChannel *schan;
bConstraint *dcon, *scon;
float dstweight;
int i;
switch (mode){
case ACTSTRIPMODE_BLEND:
dstweight = 1.0F - srcweight;
break;
case ACTSTRIPMODE_ADD:
dstweight = 1.0F;
break;
default :
dstweight = 1.0F;
}
schan= (bPoseChannel*)src->chanbase.first;
for (dchan = (bPoseChannel*)dst->chanbase.first; dchan; dchan=(bPoseChannel*)dchan->next, schan= (bPoseChannel*)schan->next){
// always blend on all channels since we don't know which one has been set
/* quat interpolation done separate */
if (schan->rotmode == ROT_MODE_QUAT) {
float dquat[4], squat[4];
copy_qt_qt(dquat, dchan->quat);
copy_qt_qt(squat, schan->quat);
if (mode==ACTSTRIPMODE_BLEND)
interp_qt_qtqt(dchan->quat, dquat, squat, srcweight);
else {
mul_fac_qt_fl(squat, srcweight);
mul_qt_qtqt(dchan->quat, dquat, squat);
}
normalize_qt(dchan->quat);
}
for (i=0; i<3; i++) {
/* blending for loc and scale are pretty self-explanatory... */
dchan->loc[i] = (dchan->loc[i]*dstweight) + (schan->loc[i]*srcweight);
dchan->size[i] = 1.0f + ((dchan->size[i]-1.0f)*dstweight) + ((schan->size[i]-1.0f)*srcweight);
/* euler-rotation interpolation done here instead... */
// FIXME: are these results decent?
if (schan->rotmode)
dchan->eul[i] = (dchan->eul[i]*dstweight) + (schan->eul[i]*srcweight);
}
for(dcon= (bConstraint*)dchan->constraints.first, scon= (bConstraint*)schan->constraints.first; dcon && scon; dcon= (bConstraint*)dcon->next, scon= (bConstraint*)scon->next) {
/* no 'add' option for constraint blending */
dcon->enforce= dcon->enforce*(1.0f-srcweight) + scon->enforce*srcweight;
}
}
/* this pose is now in src time */
dst->ctime= src->ctime;
}
void game_free_pose(bPose *pose)
{
if (pose) {
/* free pose-channels and constraints */
free_pose_channels(pose);
/* free IK solver state */
BIK_clear_data(pose);
/* free IK solver param */
if (pose->ikparam)
MEM_freeN(pose->ikparam);
MEM_freeN(pose);
}
}
BL_ArmatureObject::BL_ArmatureObject(
void* sgReplicationInfo,
SG_Callbacks callbacks,
Object *armature,
Scene *scene,
int vert_deform_type)
: KX_GameObject(sgReplicationInfo,callbacks),
m_controlledConstraints(),
m_poseChannels(),
m_objArma(armature),
m_framePose(NULL),
m_scene(scene), // maybe remove later. needed for where_is_pose
m_lastframe(0.0),
m_timestep(0.040),
m_activeAct(NULL),
m_activePriority(999),
m_vert_deform_type(vert_deform_type),
m_constraintNumber(0),
m_channelNumber(0),
m_lastapplyframe(0.0)
{
m_armature = (bArmature *)armature->data;
/* we make a copy of blender object's pose, and then always swap it with
* the original pose before calling into blender functions, to deal with
* replica's or other objects using the same blender object */
m_pose = NULL;
game_copy_pose(&m_pose, m_objArma->pose, 1);
// store the original armature object matrix
memcpy(m_obmat, m_objArma->obmat, sizeof(m_obmat));
}
BL_ArmatureObject::~BL_ArmatureObject()
{
BL_ArmatureConstraint* constraint;
while ((constraint = m_controlledConstraints.Remove()) != NULL) {
delete constraint;
}
BL_ArmatureChannel* channel;
while ((channel = static_cast<BL_ArmatureChannel*>(m_poseChannels.Remove())) != NULL) {
delete channel;
}
if (m_pose)
game_free_pose(m_pose);
if (m_framePose)
game_free_pose(m_framePose);
}
void BL_ArmatureObject::LoadConstraints(KX_BlenderSceneConverter* converter)
{
// first delete any existing constraint (should not have any)
while (!m_controlledConstraints.Empty()) {
BL_ArmatureConstraint* constraint = m_controlledConstraints.Remove();
delete constraint;
}
m_constraintNumber = 0;
// list all the constraint and convert them to BL_ArmatureConstraint
// get the persistent pose structure
bPoseChannel* pchan;
bConstraint* pcon;
bConstraintTypeInfo* cti;
Object* blendtarget;
KX_GameObject* gametarget;
KX_GameObject* gamesubtarget;
// and locate the constraint
for (pchan = (bPoseChannel*)m_pose->chanbase.first; pchan; pchan=(bPoseChannel*)pchan->next) {
for (pcon = (bConstraint*)pchan->constraints.first; pcon; pcon=(bConstraint*)pcon->next) {
if (pcon->flag & CONSTRAINT_DISABLE)
continue;
// which constraint should we support?
switch (pcon->type) {
case CONSTRAINT_TYPE_TRACKTO:
case CONSTRAINT_TYPE_KINEMATIC:
case CONSTRAINT_TYPE_ROTLIKE:
case CONSTRAINT_TYPE_LOCLIKE:
case CONSTRAINT_TYPE_MINMAX:
case CONSTRAINT_TYPE_SIZELIKE:
case CONSTRAINT_TYPE_LOCKTRACK:
case CONSTRAINT_TYPE_STRETCHTO:
case CONSTRAINT_TYPE_CLAMPTO:
case CONSTRAINT_TYPE_TRANSFORM:
case CONSTRAINT_TYPE_DISTLIMIT:
case CONSTRAINT_TYPE_TRANSLIKE:
cti = constraint_get_typeinfo(pcon);
gametarget = gamesubtarget = NULL;
if (cti && cti->get_constraint_targets) {
ListBase listb = { NULL, NULL };
cti->get_constraint_targets(pcon, &listb);
if (listb.first) {
bConstraintTarget* target = (bConstraintTarget*)listb.first;
if (target->tar && target->tar != m_objArma) {
// only remember external objects, self target is handled automatically
blendtarget = target->tar;
gametarget = converter->FindGameObject(blendtarget);
}
if (target->next != NULL) {
// secondary target
target = (bConstraintTarget*)target->next;
if (target->tar && target->tar != m_objArma) {
// only track external object
blendtarget = target->tar;
gamesubtarget = converter->FindGameObject(blendtarget);
}
}
}
if (cti->flush_constraint_targets)
cti->flush_constraint_targets(pcon, &listb, 1);
}
BL_ArmatureConstraint* constraint = new BL_ArmatureConstraint(this, pchan, pcon, gametarget, gamesubtarget);
m_controlledConstraints.AddBack(constraint);
m_constraintNumber++;
}
}
}
}
BL_ArmatureConstraint* BL_ArmatureObject::GetConstraint(const char* posechannel, const char* constraintname)
{
SG_DList::iterator<BL_ArmatureConstraint> cit(m_controlledConstraints);
for (cit.begin(); !cit.end(); ++cit) {
BL_ArmatureConstraint* constraint = *cit;
if (constraint->Match(posechannel, constraintname))
return constraint;
}
return NULL;
}
BL_ArmatureConstraint* BL_ArmatureObject::GetConstraint(const char* posechannelconstraint)
{
// performance: use hash string instead of plain string compare
SG_DList::iterator<BL_ArmatureConstraint> cit(m_controlledConstraints);
for (cit.begin(); !cit.end(); ++cit) {
BL_ArmatureConstraint* constraint = *cit;
if (!strcmp(constraint->GetName(), posechannelconstraint))
return constraint;
}
return NULL;
}
BL_ArmatureConstraint* BL_ArmatureObject::GetConstraint(int index)
{
SG_DList::iterator<BL_ArmatureConstraint> cit(m_controlledConstraints);
for (cit.begin(); !cit.end() && index; ++cit, --index);
return (cit.end()) ? NULL : *cit;
}
/* this function is called to populate the m_poseChannels list */
void BL_ArmatureObject::LoadChannels()
{
if (m_poseChannels.Empty()) {
bPoseChannel* pchan;
BL_ArmatureChannel* proxy;
m_channelNumber = 0;
for (pchan = (bPoseChannel*)m_pose->chanbase.first; pchan; pchan=(bPoseChannel*)pchan->next) {
proxy = new BL_ArmatureChannel(this, pchan);
m_poseChannels.AddBack(proxy);
m_channelNumber++;
}
}
}
BL_ArmatureChannel* BL_ArmatureObject::GetChannel(bPoseChannel* pchan)
{
LoadChannels();
SG_DList::iterator<BL_ArmatureChannel> cit(m_poseChannels);
for (cit.begin(); !cit.end(); ++cit)
{
BL_ArmatureChannel* channel = *cit;
if (channel->m_posechannel == pchan)
return channel;
}
return NULL;
}
BL_ArmatureChannel* BL_ArmatureObject::GetChannel(const char* str)
{
LoadChannels();
SG_DList::iterator<BL_ArmatureChannel> cit(m_poseChannels);
for (cit.begin(); !cit.end(); ++cit)
{
BL_ArmatureChannel* channel = *cit;
if (!strcmp(channel->m_posechannel->name, str))
return channel;
}
return NULL;
}
BL_ArmatureChannel* BL_ArmatureObject::GetChannel(int index)
{
LoadChannels();
if (index < 0 || index >= m_channelNumber)
return NULL;
SG_DList::iterator<BL_ArmatureChannel> cit(m_poseChannels);
for (cit.begin(); !cit.end() && index; ++cit, --index);
return (cit.end()) ? NULL : *cit;
}
CValue* BL_ArmatureObject::GetReplica()
{
BL_ArmatureObject* replica = new BL_ArmatureObject(*this);
replica->ProcessReplica();
return replica;
}
void BL_ArmatureObject::ProcessReplica()
{
bPose *pose= m_pose;
KX_GameObject::ProcessReplica();
m_pose = NULL;
m_framePose = NULL;
game_copy_pose(&m_pose, pose, 1);
}
void BL_ArmatureObject::ReParentLogic()
{
SG_DList::iterator<BL_ArmatureConstraint> cit(m_controlledConstraints);
for (cit.begin(); !cit.end(); ++cit) {
(*cit)->ReParent(this);
}
KX_GameObject::ReParentLogic();
}
void BL_ArmatureObject::Relink(CTR_Map<CTR_HashedPtr, void*> *obj_map)
{
SG_DList::iterator<BL_ArmatureConstraint> cit(m_controlledConstraints);
for (cit.begin(); !cit.end(); ++cit) {
(*cit)->Relink(obj_map);
}
KX_GameObject::Relink(obj_map);
}
bool BL_ArmatureObject::UnlinkObject(SCA_IObject* clientobj)
{
// clientobj is being deleted, make sure we don't hold any reference to it
bool res = false;
SG_DList::iterator<BL_ArmatureConstraint> cit(m_controlledConstraints);
for (cit.begin(); !cit.end(); ++cit) {
res |= (*cit)->UnlinkObject(clientobj);
}
return res;
}
void BL_ArmatureObject::ApplyPose()
{
m_armpose = m_objArma->pose;
m_objArma->pose = m_pose;
// in the GE, we use ctime to store the timestep
m_pose->ctime = (float)m_timestep;
//m_scene->r.cfra++;
if(m_lastapplyframe != m_lastframe) {
// update the constraint if any, first put them all off so that only the active ones will be updated
SG_DList::iterator<BL_ArmatureConstraint> cit(m_controlledConstraints);
for (cit.begin(); !cit.end(); ++cit) {
(*cit)->UpdateTarget();
}
// update ourself
UpdateBlenderObjectMatrix(m_objArma);
where_is_pose(m_scene, m_objArma); // XXX
// restore ourself
memcpy(m_objArma->obmat, m_obmat, sizeof(m_obmat));
// restore active targets
for (cit.begin(); !cit.end(); ++cit) {
(*cit)->RestoreTarget();
}
m_lastapplyframe = m_lastframe;
}
}
void BL_ArmatureObject::RestorePose()
{
m_objArma->pose = m_armpose;
m_armpose = NULL;
}
void BL_ArmatureObject::SetPose(bPose *pose)
{
extract_pose_from_pose(m_pose, pose);
m_lastapplyframe = -1.0;
}
bool BL_ArmatureObject::SetActiveAction(BL_ActionActuator *act, short priority, double curtime)
{
if (curtime != m_lastframe){
m_activePriority = 9999;
// compute the timestep for the underlying IK algorithm
m_timestep = curtime-m_lastframe;
m_lastframe= curtime;
m_activeAct = NULL;
// remember the pose at the start of the frame
GetPose(&m_framePose);
}
if (act)
{
if (priority<=m_activePriority)
{
if (priority<m_activePriority) {
// this action overwrites the previous ones, start from initial pose to cancel their effects
SetPose(m_framePose);
if (m_activeAct && (m_activeAct!=act))
/* Reset the blend timer since this new action cancels the old one */
m_activeAct->SetBlendTime(0.0);
}
m_activeAct = act;
m_activePriority = priority;
m_lastframe = curtime;
return true;
}
else{
act->SetBlendTime(0.0);
return false;
}
}
return false;
}
BL_ActionActuator * BL_ArmatureObject::GetActiveAction()
{
return m_activeAct;
}
void BL_ArmatureObject::GetPose(bPose **pose)
{
/* If the caller supplies a null pose, create a new one. */
/* Otherwise, copy the armature's pose channels into the caller-supplied pose */
if (!*pose) {
/* probably not to good of an idea to
duplicate everying, but it clears up
a crash and memory leakage when
&BL_ActionActuator::m_pose is freed
*/
game_copy_pose(pose, m_pose, 0);
}
else {
if (*pose == m_pose)
// no need to copy if the pointers are the same
return;
extract_pose_from_pose(*pose, m_pose);
}
}
void BL_ArmatureObject::GetMRDPose(bPose **pose)
{
/* If the caller supplies a null pose, create a new one. */
/* Otherwise, copy the armature's pose channels into the caller-supplied pose */
if (!*pose)
game_copy_pose(pose, m_pose, 0);
else
extract_pose_from_pose(*pose, m_pose);
}
short BL_ArmatureObject::GetActivePriority()
{
return m_activePriority;
}
double BL_ArmatureObject::GetLastFrame()
{
return m_lastframe;
}
bool BL_ArmatureObject::GetBoneMatrix(Bone* bone, MT_Matrix4x4& matrix)
{
bPoseChannel *pchan;
ApplyPose();
pchan = get_pose_channel(m_objArma->pose, bone->name);
if(pchan)
matrix.setValue(&pchan->pose_mat[0][0]);
RestorePose();
return (pchan != NULL);
}
float BL_ArmatureObject::GetBoneLength(Bone* bone) const
{
return (float)(MT_Point3(bone->head) - MT_Point3(bone->tail)).length();
}
#ifdef WITH_PYTHON
// PYTHON
PyTypeObject BL_ArmatureObject::Type = {
PyVarObject_HEAD_INIT(NULL, 0)
"BL_ArmatureObject",
sizeof(PyObjectPlus_Proxy),
0,
py_base_dealloc,
0,
0,
0,
0,
py_base_repr,
0,
&KX_GameObject::Sequence,
&KX_GameObject::Mapping,
0,0,0,
NULL,
NULL,
0,
Py_TPFLAGS_DEFAULT | Py_TPFLAGS_BASETYPE,
0,0,0,0,0,0,0,
Methods,
0,
0,
&KX_GameObject::Type,
0,0,0,0,0,0,
py_base_new
};
PyMethodDef BL_ArmatureObject::Methods[] = {
KX_PYMETHODTABLE_NOARGS(BL_ArmatureObject, update),
{NULL,NULL} //Sentinel
};
PyAttributeDef BL_ArmatureObject::Attributes[] = {
KX_PYATTRIBUTE_RO_FUNCTION("constraints", BL_ArmatureObject, pyattr_get_constraints),
KX_PYATTRIBUTE_RO_FUNCTION("channels", BL_ArmatureObject, pyattr_get_channels),
{NULL} //Sentinel
};
PyObject* BL_ArmatureObject::pyattr_get_constraints(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef)
{
return KX_PythonSeq_CreatePyObject((static_cast<BL_ArmatureObject*>(self_v))->m_proxy, KX_PYGENSEQ_OB_TYPE_CONSTRAINTS);
}
PyObject* BL_ArmatureObject::pyattr_get_channels(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef)
{
BL_ArmatureObject* self = static_cast<BL_ArmatureObject*>(self_v);
self->LoadChannels(); // make sure we have the channels
return KX_PythonSeq_CreatePyObject((static_cast<BL_ArmatureObject*>(self_v))->m_proxy, KX_PYGENSEQ_OB_TYPE_CHANNELS);
}
KX_PYMETHODDEF_DOC_NOARGS(BL_ArmatureObject, update,
"update()\n"
"Make sure that the armature will be updated on next graphic frame.\n"
"This is automatically done if a KX_ArmatureActuator with mode run is active\n"
"or if an action is playing. This function is useful in other cases.\n")
{
SetActiveAction(NULL, 0, KX_GetActiveEngine()->GetFrameTime());
Py_RETURN_NONE;
}
#endif // WITH_PYTHON