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BGE patch: [#26223] Some RigidBody joints fixes (ui angles, conetwist/hinge limits etc) by Juha Mäki-Kanto + ui changes pour moi

Browse Source 
From the tracker:::
Issues fixed:
- ConeTwist-constraint's params weren't making it to the CcdPhysicsEnvironment, also added Hinge's params.
- UI wasn't using angles where applicable.
- btHingeConstraint's constructor can create frame-matrices which don't align so the hinge doesn's start at 0 degree tilt.
This is an issue when setting limits.

Changes:
- UI: Hinge limits can be set (and disabled).
- UI: ConeTwist only has max-limits and only the twistX can be disabled
- PyApi via rna_constraint.c: added the functions limit_xyz_min, limit_xyz_max (for 6dof), limit_angle_xyz_min,
limit_angle_xyz_max (for 6dof), limit_angle_x_min, limit_angle_x_max (for hinge).
- PyApi: dropped python-function limit_cone_min. 

.:. Extra:
UI Changes:
- renamed "RigidBody Joint" to "Rigid Boidy Joint" 
- reorganized UI to conform with other parameters (e.g. Limit Rot)
- added dis/active all over the place :)
This commit is contained in:
Dalai Felinto 2011-02-27 09:21:13 +00:00
parent 2e5eb41522
commit ac1b08a928
5 changed files with 243 additions and 96 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

84
release/scripts/ui/properties_object_constraint.py
View File

@ -535,32 +535,86 @@ class ConstraintButtonsPanel():
layout.label(text="Limits:")
split = layout.split()
col = split.column(align=True)
col.prop(con, "use_angular_limit_x", text="Angular X")
col.prop(con, "use_angular_limit_y", text="Angular Y")
col.prop(con, "use_angular_limit_z", text="Angular Z")
col = split.column()
col.prop(con, "use_angular_limit_x", text="Angle X")
subcol = col.column()
subcol.active =con.use_angular_limit_x
subcol.prop(con, "limit_angle_max_x", text="")
col = split.column()
col.prop(con, "limit_cone_min", text="")
col.prop(con, "use_angular_limit_y", text="Angle Y")
subcol = col.column()
subcol.active =con.use_angular_limit_y
subcol.prop(con, "limit_angle_max_y", text="")
col = split.column()
col.prop(con, "limit_cone_max", text="")
col.prop(con, "use_angular_limit_z", text="Angle Z")
subcol = col.column()
subcol.active =con.use_angular_limit_z
subcol.prop(con, "limit_angle_max_z", text="")
elif con.pivot_type == 'GENERIC_6_DOF':
layout.label(text="Limits:")
split = layout.split()
col = split.column(align=True)
col.prop(con, "use_limit_x", text="X")
sub = col.column()
sub.active = con.use_limit_x
sub.prop(con, "limit_min_x", text="Min")
sub.prop(con, "limit_max_x", text="Max")
col = split.column(align=True)
col.prop(con, "use_limit_y", text="Y")
sub = col.column()
sub.active = con.use_limit_y
sub.prop(con, "limit_min_y", text="Min")
sub.prop(con, "limit_max_y", text="Max")
col = split.column(align=True)
col.prop(con, "use_limit_z", text="Z")
col.prop(con, "use_angular_limit_x", text="Angular X")
col.prop(con, "use_angular_limit_y", text="Angular Y")
col.prop(con, "use_angular_limit_z", text="Angular Z")
sub = col.column()
sub.active = con.use_limit_z
sub.prop(con, "limit_min_z", text="Min")
sub.prop(con, "limit_max_z", text="Max")
split = layout.split()
col = split.column(align=True)
col.prop(con, "use_angular_limit_x", text="Angle X")
sub = col.column()
sub.active = con.use_angular_limit_x
sub.prop(con, "limit_angle_min_x", text="Min")
sub.prop(con, "limit_angle_max_x", text="Max")
col = split.column(align=True)
col.prop(con, "use_angular_limit_y", text="Angle Y")
sub = col.column()
sub.active = con.use_angular_limit_y
sub.prop(con, "limit_angle_min_y", text="Min")
sub.prop(con, "limit_angle_max_y", text="Max")
col = split.column(align=True)
col.prop(con, "use_angular_limit_z", text="Angle Z")
sub = col.column()
sub.active = con.use_angular_limit_z
sub.prop(con, "limit_angle_min_z", text="Min")
sub.prop(con, "limit_angle_max_z", text="Max")
col = split.column()
col.prop(con, "limit_generic_min", text="")
col = split.column()
col.prop(con, "limit_generic_max", text="")
elif con.pivot_type == 'HINGE':
layout.label(text="Limits:")
split = layout.split()
row = split.row(align=True)
col = row.column()
col.prop(con, "use_angular_limit_x", text="Angle X")
col = row.column()
col.active = con.use_angular_limit_x
col.prop(con, "limit_angle_min_x", text="Min")
col = row.column()
col.active = con.use_angular_limit_x
col.prop(con, "limit_angle_max_x", text="Max")
def CLAMP_TO(self, context, layout, con):
self.target_template(layout, con)
@ -736,4 +790,4 @@ def unregister():
bpy.utils.unregister_module(__name__)
if __name__ == "__main__":
register()
register()

2
source/blender/blenkernel/intern/constraint.c
View File

@ -3069,7 +3069,7 @@ static void rbj_flush_tars (bConstraint *con, ListBase *list, short nocopy)
static bConstraintTypeInfo CTI_RIGIDBODYJOINT = {
CONSTRAINT_TYPE_RIGIDBODYJOINT, /* type */
sizeof(bRigidBodyJointConstraint), /* size */
"RigidBody Joint", /* name */
"Rigid Body Joint", /* name */
"bRigidBodyJointConstraint", /* struct name */
NULL, /* free data */
NULL, /* relink data */

133
source/blender/makesrna/intern/rna_constraint.c
View File

@ -322,47 +322,6 @@ static void rna_SplineIKConstraint_joint_bindings_set(PointerRNA *ptr, const flo
memcpy(ikData->points, values, ikData->numpoints * sizeof(float));
}
/* Array Get/Set Functions for RigidBodyJointConstraint Min/Max Cone Limits */
void rna_RigidBodyJointConstraint_limit_cone_min_get(PointerRNA *ptr, float values[3])
{
bRigidBodyJointConstraint *data= (bRigidBodyJointConstraint*)(((bConstraint*)ptr->data)->data);
float *limit = data->minLimit;
values[0]= limit[3];
values[1]= limit[4];
values[2]= limit[5];
}
static void rna_RigidBodyJointConstraint_limit_cone_min_set(PointerRNA *ptr, const float values[3])
{
bRigidBodyJointConstraint *data= (bRigidBodyJointConstraint*)(((bConstraint*)ptr->data)->data);
float *limit = data->minLimit;
limit[3]= values[0];
limit[4]= values[1];
limit[5]= values[2];
}
void rna_RigidBodyJointConstraint_limit_cone_max_get(PointerRNA *ptr, float values[3])
{
bRigidBodyJointConstraint *data= (bRigidBodyJointConstraint*)(((bConstraint*)ptr->data)->data);
float *limit = data->maxLimit;
values[0]= limit[3];
values[1]= limit[4];
values[2]= limit[5];
}
static void rna_RigidBodyJointConstraint_limit_cone_max_set(PointerRNA *ptr, const float values[3])
{
bRigidBodyJointConstraint *data= (bRigidBodyJointConstraint*)(((bConstraint*)ptr->data)->data);
float *limit = data->maxLimit;
limit[3]= values[0];
limit[4]= values[1];
limit[5]= values[2];
}
#else
EnumPropertyItem constraint_distance_items[] = {
@ -1293,62 +1252,92 @@ static void rna_def_constraint_rigid_body_joint(BlenderRNA *brna)
RNA_def_property_update(prop, NC_OBJECT|ND_CONSTRAINT, "rna_Constraint_update");
/* Limit */
/* Limit Min/Max for genereic 6 DoF */
prop= RNA_def_property(srna, "limit_generic_min", PROP_FLOAT, PROP_NONE);
RNA_def_property_float_sdna(prop, NULL, "minLimit");
RNA_def_property_array(prop, 6);
RNA_def_property_ui_text(prop, "Minimum Limit", "");
/* Limits */
/* Limit Min/Max */
prop= RNA_def_property(srna, "limit_min_x", PROP_FLOAT, PROP_NONE);
RNA_def_property_float_sdna(prop, NULL, "minLimit[0]");
RNA_def_property_ui_text(prop, "Minimum Limit X", "");
prop= RNA_def_property(srna, "limit_generic_max", PROP_FLOAT, PROP_NONE);
RNA_def_property_float_sdna(prop, NULL, "maxLimit");
RNA_def_property_array(prop, 6);
RNA_def_property_ui_text(prop, "Maximum Limit", "");
/* Limit Min/Max for Cone Twist */
prop= RNA_def_property(srna, "limit_cone_min", PROP_FLOAT, PROP_NONE);
RNA_def_property_float_sdna(prop, NULL, "minLimit");
RNA_def_property_float_funcs(prop, "rna_RigidBodyJointConstraint_limit_cone_min_get", "rna_RigidBodyJointConstraint_limit_cone_min_set", NULL);
RNA_def_property_array(prop, 3);
RNA_def_property_ui_text(prop, "Minimum Limit", "");
prop= RNA_def_property(srna, "limit_min_y", PROP_FLOAT, PROP_NONE);
RNA_def_property_float_sdna(prop, NULL, "minLimit[1]");
RNA_def_property_ui_text(prop, "Minimum Limit Y", "");
prop= RNA_def_property(srna, "limit_cone_max", PROP_FLOAT, PROP_NONE);
RNA_def_property_float_sdna(prop, NULL, "maxLimit");
RNA_def_property_float_funcs(prop, "rna_RigidBodyJointConstraint_limit_cone_max_get", "rna_RigidBodyJointConstraint_limit_cone_max_set", NULL);
RNA_def_property_array(prop, 3);
RNA_def_property_ui_text(prop, "Maximum Limit", "");
prop= RNA_def_property(srna, "limit_min_z", PROP_FLOAT, PROP_NONE);
RNA_def_property_float_sdna(prop, NULL, "minLimit[2]");
RNA_def_property_ui_text(prop, "Minimum Limit Z", "");
/* Limit Booleans */
prop= RNA_def_property(srna, "limit_max_x", PROP_FLOAT, PROP_NONE);
RNA_def_property_float_sdna(prop, NULL, "maxLimit[0]");
RNA_def_property_ui_text(prop, "Maximum Limit X", "");
prop= RNA_def_property(srna, "limit_max_y", PROP_FLOAT, PROP_NONE);
RNA_def_property_float_sdna(prop, NULL, "maxLimit[1]");
RNA_def_property_ui_text(prop, "Maximum Limit Y", "");
prop= RNA_def_property(srna, "limit_max_z", PROP_FLOAT, PROP_NONE);
RNA_def_property_float_sdna(prop, NULL, "maxLimit[2]");
RNA_def_property_ui_text(prop, "Maximum Limit Z", "");
/* Limit Min/Max for angle */
prop= RNA_def_property(srna, "limit_angle_min_x", PROP_FLOAT, PROP_ANGLE);
RNA_def_property_float_sdna(prop, NULL, "minLimit[3]");
RNA_def_property_range(prop, -M_PI*2, M_PI*2);
RNA_def_property_ui_text(prop, "Minimum Angular Limit X", "");
prop= RNA_def_property(srna, "limit_angle_min_y", PROP_FLOAT, PROP_ANGLE);
RNA_def_property_float_sdna(prop, NULL, "minLimit[4]");
RNA_def_property_range(prop, -M_PI*2, M_PI*2);
RNA_def_property_ui_text(prop, "Minimum Angular Limit Y", "");
prop= RNA_def_property(srna, "limit_angle_min_z", PROP_FLOAT, PROP_ANGLE);
RNA_def_property_float_sdna(prop, NULL, "minLimit[5]");
RNA_def_property_range(prop, -M_PI*2, M_PI*2);
RNA_def_property_ui_text(prop, "Minimum Angular Limit Z", "");
prop= RNA_def_property(srna, "limit_angle_max_x", PROP_FLOAT, PROP_ANGLE);
RNA_def_property_float_sdna(prop, NULL, "maxLimit[3]");
RNA_def_property_range(prop, -M_PI*2, M_PI*2);
RNA_def_property_ui_text(prop, "Maximum Angular Limit X", "");
prop= RNA_def_property(srna, "limit_angle_max_y", PROP_FLOAT, PROP_ANGLE);
RNA_def_property_float_sdna(prop, NULL, "maxLimit[4]");
RNA_def_property_range(prop, -M_PI*2, M_PI*2);
RNA_def_property_ui_text(prop, "Maximum Angular Limit Y", "");
prop= RNA_def_property(srna, "limit_angle_max_z", PROP_FLOAT, PROP_ANGLE);
RNA_def_property_float_sdna(prop, NULL, "maxLimit[5]");
RNA_def_property_range(prop, -M_PI*2, M_PI*2);
RNA_def_property_ui_text(prop, "Maximum Angular Limit Z", "");
/* Limit Booleans */
prop= RNA_def_property(srna, "use_limit_x", PROP_BOOLEAN, PROP_NONE);
RNA_def_property_boolean_sdna(prop, NULL, "flag", 1);
RNA_def_property_ui_text(prop, "Use X Limit", "Use minimum/maximum x limit");
RNA_def_property_ui_text(prop, "Limit X", "Use minimum/maximum x limit");
RNA_def_property_update(prop, NC_OBJECT|ND_CONSTRAINT, "rna_Constraint_update");
prop= RNA_def_property(srna, "use_limit_y", PROP_BOOLEAN, PROP_NONE);
RNA_def_property_boolean_sdna(prop, NULL, "flag", 2);
RNA_def_property_ui_text(prop, "Use Y Limit", "Use minimum/maximum y limit");
RNA_def_property_ui_text(prop, "Limit Y", "Use minimum/maximum y limit");
RNA_def_property_update(prop, NC_OBJECT|ND_CONSTRAINT, "rna_Constraint_update");
prop= RNA_def_property(srna, "use_limit_z", PROP_BOOLEAN, PROP_NONE);
RNA_def_property_boolean_sdna(prop, NULL, "flag", 4);
RNA_def_property_ui_text(prop, "Use Z Limit", "Use minimum/maximum z limit");
RNA_def_property_ui_text(prop, "Limit Z", "Use minimum/maximum z limit");
RNA_def_property_update(prop, NC_OBJECT|ND_CONSTRAINT, "rna_Constraint_update");
prop= RNA_def_property(srna, "use_angular_limit_x", PROP_BOOLEAN, PROP_NONE);
RNA_def_property_boolean_sdna(prop, NULL, "flag", 8);
RNA_def_property_ui_text(prop, "Use Angular X Limit", "Use minimum/maximum x angular limit");
RNA_def_property_ui_text(prop, "Angular X Limit", "Use minimum/maximum x angular limit");
RNA_def_property_update(prop, NC_OBJECT|ND_CONSTRAINT, "rna_Constraint_update");
prop= RNA_def_property(srna, "use_angular_limit_y", PROP_BOOLEAN, PROP_NONE);
RNA_def_property_boolean_sdna(prop, NULL, "flag", 16);
RNA_def_property_ui_text(prop, "Use Angular Y Limit", "Use minimum/maximum y angular limit");
RNA_def_property_ui_text(prop, "Angular Y Limit", "Use minimum/maximum y angular limit");
RNA_def_property_update(prop, NC_OBJECT|ND_CONSTRAINT, "rna_Constraint_update");
prop= RNA_def_property(srna, "use_angular_limit_z", PROP_BOOLEAN, PROP_NONE);
RNA_def_property_boolean_sdna(prop, NULL, "flag", 32);
RNA_def_property_ui_text(prop, "Use Angular Z Limit", "Use minimum/maximum z angular limit");
RNA_def_property_ui_text(prop, "Angular Z Limit", "Use minimum/maximum z angular limit");
RNA_def_property_update(prop, NC_OBJECT|ND_CONSTRAINT, "rna_Constraint_update");
}

35
source/gameengine/Converter/BL_BlenderDataConversion.cpp
View File

@ -2651,6 +2651,41 @@ void BL_ConvertBlenderObjects(struct Main* maggie,
dofbit<<=1;
}
}
else if(dat->type == PHY_CONE_TWIST_CONSTRAINT)
{
int dof;
int dofbit = 1<<3; // bitflag use_angular_limit_x
for (dof=3;dof<6;dof++)
{
// flag only applies to angular limit x
if(dof != 3 || dat->flag & dofbit)
{
kxscene->GetPhysicsEnvironment()->setConstraintParam(constraintId,dof,dat->minLimit[dof],dat->maxLimit[dof]);
}
else
{
//maxLimit < 0 means free(disabled limit) for this degree of freedom
kxscene->GetPhysicsEnvironment()->setConstraintParam(constraintId,dof,1,-1);
}
dofbit<<=1;
}
}
else if (dat->type == PHY_LINEHINGE_CONSTRAINT)
{
int dof = 3; // dof for angular x
int dofbit = 1<<3; // bitflag use_angular_limit_x
if (dat->flag & dofbit)
{
kxscene->GetPhysicsEnvironment()->setConstraintParam(constraintId,dof,
dat->minLimit[dof],dat->maxLimit[dof]);
} else
{
//minLimit > maxLimit means free(disabled limit) for this degree of freedom
kxscene->GetPhysicsEnvironment()->setConstraintParam(constraintId,dof,1,-1);
}
}
}
}
}

85
source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
View File

@ -1987,6 +1987,41 @@ void CcdPhysicsEnvironment::setConstraintParam(int constraintId,int param,float
break;
}
default:
{
}
};
break;
};
case PHY_CONE_TWIST_CONSTRAINT:
{
switch (param)
{
case 3: case 4: case 5:
{
//param = 3,4,5 are constraint limits, high limit values
btConeTwistConstraint* coneTwist = (btConeTwistConstraint*)typedConstraint;
coneTwist->setLimit(param,value1);
break;
}
default:
{
}
};
break;
};
case PHY_ANGULAR_CONSTRAINT:
case PHY_LINEHINGE_CONSTRAINT:
{
switch (param)
{
case 3:
{
//param = 3 is a constraint limit, with low/high limit value
btHingeConstraint* hingeCons = (btHingeConstraint*)typedConstraint;
hingeCons->setLimit(value0,value1);
break;
}
default:
{
}
@ -2623,20 +2658,54 @@ int CcdPhysicsEnvironment::createConstraint(class PHY_IPhysicsController* ctrl
if (rb1)
{
btVector3 axisInB = rb1 ?
(rb1->getCenterOfMassTransform().getBasis().inverse()*(rb0->getCenterOfMassTransform().getBasis() * axisInA)) :
rb0->getCenterOfMassTransform().getBasis() * axisInA;
// We know the orientations so we should use them instead of
// having btHingeConstraint fill in the blanks any way it wants to.
btTransform frameInA;
btTransform frameInB;
btVector3 axis1(axis1X,axis1Y,axis1Z), axis2(axis2X,axis2Y,axis2Z);
if (axis1.length() == 0.0)
{
btPlaneSpace1( axisInA, axis1, axis2 );
}
// Internally btHingeConstraint's hinge-axis is z
frameInA.getBasis().setValue( axis1.x(), axis2.x(), axisInA.x(),
axis1.y(), axis2.y(), axisInA.y(),
axis1.z(), axis2.z(), axisInA.z() );
frameInA.setOrigin( pivotInA );
hinge = new btHingeConstraint(
*rb0,
*rb1,pivotInA,pivotInB,axisInA,axisInB);
btTransform inv = rb1->getCenterOfMassTransform().inverse();
btTransform globalFrameA = rb0->getCenterOfMassTransform() * frameInA;
frameInB = inv * globalFrameA;
hinge = new btHingeConstraint(*rb0,*rb1,frameInA,frameInB);
} else
{
hinge = new btHingeConstraint(*rb0,
pivotInA,axisInA);
static btRigidBody s_fixedObject2( 0,0,0);
btTransform frameInA;
btTransform frameInB;
btVector3 axis1(axis1X,axis1Y,axis1Z), axis2(axis2X,axis2Y,axis2Z);
if (axis1.length() == 0.0)
{
btPlaneSpace1( axisInA, axis1, axis2 );
}
// Internally btHingeConstraint's hinge-axis is z
frameInA.getBasis().setValue( axis1.x(), axis2.x(), axisInA.x(),
axis1.y(), axis2.y(), axisInA.y(),
axis1.z(), axis2.z(), axisInA.z() );
frameInA.setOrigin( pivotInA );
frameInB = rb0->getCenterOfMassTransform() * frameInA;
hinge = new btHingeConstraint(*rb0, s_fixedObject2, frameInA, frameInB);
}
hinge->setAngularOnly(angularOnly);