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fix generic 6dof constraint support -> convert 3 values into euler angles and convert those into a full constraint frame

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(same values as Rigid Body constraint Generic 6DOF values), and add 'setLimit' support for generic 6DOF constraint. todo: enableMotor
This commit is contained in:
Erwin Coumans 2009-05-24 00:42:40 +00:00
parent eb8c5f3272
commit 4922dd0339
3 changed files with 58 additions and 1 deletions
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30
source/gameengine/Ketsji/KX_ConstraintWrapper.cpp
View File

@ -54,6 +54,31 @@ PyObject* KX_ConstraintWrapper::PyGetConstraintId(PyObject* args, PyObject* kwds
return PyInt_FromLong(m_constraintId);
}
PyObject* KX_ConstraintWrapper::PySetLimit(PyObject* args, PyObject* kwds)
{
int len = PyTuple_Size(args);
int success = 1;
if (len == 3)
{
int dof;
float minLimit,maxLimit;
success = PyArg_ParseTuple(args,"iff",&dof,&minLimit,&maxLimit);
if (success)
{
m_physenv->setConstraintParam(m_constraintId,dof,minLimit,maxLimit);
Py_RETURN_NONE;
}
}
return NULL;
}
PyObject* KX_ConstraintWrapper::PyEnableMotor(PyObject* args, PyObject* kwds)
{
///will add it soon
return PyInt_FromLong(0);
}
//python specific stuff
PyTypeObject KX_ConstraintWrapper::Type = {
#if (PY_VERSION_HEX >= 0x02060000)
@ -100,8 +125,13 @@ int KX_ConstraintWrapper::py_setattro(PyObject *attr,PyObject* value)
};
PyMethodDef KX_ConstraintWrapper::Methods[] = {
{"getConstraintId",(PyCFunction) KX_ConstraintWrapper::sPyGetConstraintId, METH_VARARGS},
{"setLimit",(PyCFunction) KX_ConstraintWrapper::sPySetLimit, METH_VARARGS},
{"enableMotor",(PyCFunction) KX_ConstraintWrapper::sPyEnableMotor, METH_VARARGS},
{NULL,NULL} //Sentinel
};

2
source/gameengine/Ketsji/KX_ConstraintWrapper.h
View File

@ -45,6 +45,8 @@ public:
KX_PYMETHOD(KX_ConstraintWrapper,TestMethod);
KX_PYMETHOD(KX_ConstraintWrapper,GetConstraintId);
KX_PYMETHOD(KX_ConstraintWrapper,SetLimit);
KX_PYMETHOD(KX_ConstraintWrapper,EnableMotor);
private:
int m_constraintId;

27
source/gameengine/Ketsji/KX_PyConstraintBinding.cpp
View File

@ -33,6 +33,7 @@
#include "KX_PhysicsObjectWrapper.h"
#include "PHY_IPhysicsController.h"
#include "PHY_IVehicle.h"
#include "MT_Matrix3x3.h"
#include "PyObjectPlus.h"
@ -435,7 +436,31 @@ static PyObject* gPyCreateConstraint(PyObject* self,
PHY_IPhysicsController* physctrl2 = (PHY_IPhysicsController*) physicsid2;
if (physctrl) //TODO:check for existance of this pointer!
{
int constraintid = PHY_GetActiveEnvironment()->createConstraint(physctrl,physctrl2,(enum PHY_ConstraintType)constrainttype,pivotX,pivotY,pivotZ,axisX,axisY,axisZ,0);
PHY_ConstraintType ct = (PHY_ConstraintType) constrainttype;
int constraintid =0;
if (ct == PHY_GENERIC_6DOF_CONSTRAINT)
{
//convert from euler angle into axis
float radsPerDeg = 6.283185307179586232f / 360.f;
//we need to pass a full constraint frame, not just axis
//localConstraintFrameBasis
MT_Matrix3x3 localCFrame(MT_Vector3(radsPerDeg*axisX,radsPerDeg*axisY,radsPerDeg*axisZ));
MT_Vector3 axis0 = localCFrame.getColumn(0);
MT_Vector3 axis1 = localCFrame.getColumn(1);
MT_Vector3 axis2 = localCFrame.getColumn(2);
constraintid = PHY_GetActiveEnvironment()->createConstraint(physctrl,physctrl2,(enum PHY_ConstraintType)constrainttype,
pivotX,pivotY,pivotZ,
(float)axis0.x(),(float)axis0.y(),(float)axis0.z(),
(float)axis1.x(),(float)axis1.y(),(float)axis1.z(),
(float)axis2.x(),(float)axis2.y(),(float)axis2.z(),0);//dat->flag); //flag?
} else
{
constraintid = PHY_GetActiveEnvironment()->createConstraint(physctrl,physctrl2,(enum PHY_ConstraintType)constrainttype,pivotX,pivotY,pivotZ,axisX,axisY,axisZ,0);
}
KX_ConstraintWrapper* wrap = new KX_ConstraintWrapper((enum PHY_ConstraintType)constrainttype,constraintid,PHY_GetActiveEnvironment());