forked from bartvdbraak/blender
b90de0331d
This is a squashed commit of the following:
BGE Physics Cleanup: Fix crashes with LibLoading and replication. Also fixing some memory leaks.
BGE Physics Cleanup: Removing KX_IPhysicsController and KX_BulletPhysicsController.
BGE Physics Cleanup: Moving the replication code outside of KX_BlenderBulletController and switching KX_ConvertPhysicsObjects to create a CcdPhysicsController instead of a KX_BlenderBulletController.
BGE Physics Cleanup: Getting rid of an unsued KX_BulletPhysicsController.h include in KX_Scene.cpp.
BGE Physics Cleanup: Removing unused KX_IPhysicsController and KX_BulletPhysicsController includes.
BGE Physics Cleanup: Removing m_pPhysicsController1 and GetPhysicsController1() from KX_GameObject.
BGE Physics Cleanup: Remove SetRigidBody() from KX_IPhysicsController and remove GetName() from CcdPhysicsController.
BGE Physics Cleanup: Moving Add/RemoveCompoundChild() from KX_IPhysicsController to PHY_IPhysicsController.
BGE Physics Cleanup: Removing GetLocalInertia() from KX_IPhysicsController.
BGE Physics Cleanup: Making BlenderBulletCharacterController derive from PHY_ICharacter and removing CharacterWrapper from CcdPhysicsEnvironment.cpp. Also removing the character functions from KX_IPhysicsController.
BGE Physics Cleanup: Removing GetOrientation(), SetOrientation(), SetPosition(), SetScaling(), and GetRadius() from KX_IPhysicsController.
BGE Physics Cleanup: Removing GetReactionForce() since all implementations returned (0, 0, 0). The Python interface for KX_GameObject still has reaction force code, but it still also returns (0, 0, 0). This can probably be removed as well, but removing it can break scripts, so I'll leave it for now.
BGE Physics Cleanup: Removing Get/SetLinVelocityMin() and Get/SetLinVelocityMax() from KX_IPhysicsController.
BGE Physics Cleanup: Removing SetMargin(), RelativeTranslate(), and RelativeRotate() from KX_IPhysicsController.
BGE Physics Cleanup: Using constant references for function arguments in PHY_IPhysicsController where appropriate.
BGE Physics Cleanup: Removing ApplyImpulse() from KX_IPhysicsController.
BGE Physics Cleanup: Removing ResolveCombinedVelocities() from KX_IPhysicsController.
BGE Physics Cleanup: Accidently removed a return when cleaning up KX_GameObject::PyGetVelocity().
BGE Physics Cleanup: Remove GetLinearVelocity(), GetAngularVelocity() and GetVelocity() from KX_IPhysicsController. The corresponding PHY_IPhysicsController functions now also take Moto types instead of scalars to match the KX_IPhysicsController interface.
BGE Physics Cleanup: Moving SuspendDynamics, RestoreDynamics, SetMass, GetMass, and SetTransform from KX_IPhysicsController to PHY_IPhysicsController.
BGE Physics Cleanup: PHY_IPhysicsEnvironment and derived classes now use the same naming scheme as PHY_IController.
BGE Physics Cleanup: PHY_IMotionState and derived classes now use the same naming convention as PHY_IController.
BGE Phsyics Cleanup: Making PHY_IController and its derived classes follow a consistent naming scheme for member functions. They now all start with capital letters (e.g., setWorldOrientation becomes SetWorldOrientation).
BGE Physics Cleanup: Getting rid of KX_GameObject::SuspendDynamics() and KX_GameObject::RestoreDynamics(). Instead, use the functions from the physics controller.
BGE: Some first steps in trying to cleanup the KX_IPhysicsController mess. KX_GameObject now has a GetPhysicsController() and a GetPhysicsController1(). The former returns a PHY_IPhysicsController* while the latter returns a KX_IPhysicsController. The goal is to get everything using GetPhysicsController() instead of GetPhysicsController1().
769 lines
22 KiB
C++
769 lines
22 KiB
C++
/*
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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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/** \file gameengine/Ketsji/KX_PyConstraintBinding.cpp
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* \ingroup ketsji
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*/
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#include "KX_PyConstraintBinding.h"
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#include "PHY_IPhysicsEnvironment.h"
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#include "KX_ConstraintWrapper.h"
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#include "KX_VehicleWrapper.h"
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#include "KX_CharacterWrapper.h"
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#include "PHY_IPhysicsController.h"
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#include "PHY_IVehicle.h"
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#include "PHY_DynamicTypes.h"
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#include "MT_Matrix3x3.h"
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#include "KX_GameObject.h" // ConvertPythonToGameObject()
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#include "PyObjectPlus.h"
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#ifdef WITH_BULLET
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# include "LinearMath/btIDebugDraw.h"
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#endif
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#ifdef WITH_PYTHON
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// macro copied from KX_PythonInit.cpp
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#define KX_MACRO_addTypesToDict(dict, name, name2) PyDict_SetItemString(dict, #name, item=PyLong_FromLong(name2)); Py_DECREF(item)
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// nasty glob variable to connect scripting language
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// if there is a better way (without global), please do so!
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static PHY_IPhysicsEnvironment* g_CurrentActivePhysicsEnvironment = NULL;
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static char PhysicsConstraints_module_documentation[] =
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"This is the Python API for the Physics Constraints";
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static char gPySetGravity__doc__[] = "setGravity(float x,float y,float z)";
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static char gPySetDebugMode__doc__[] = "setDebugMode(int mode)";
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static char gPySetNumIterations__doc__[] = "setNumIterations(int numiter) This sets the number of iterations for an iterative constraint solver";
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static char gPySetNumTimeSubSteps__doc__[] = "setNumTimeSubSteps(int numsubstep) This sets the number of substeps for each physics proceed. Tradeoff quality for performance.";
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static char gPySetDeactivationTime__doc__[] = "setDeactivationTime(float time) This sets the time after which a resting rigidbody gets deactived";
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static char gPySetDeactivationLinearTreshold__doc__[] = "setDeactivationLinearTreshold(float linearTreshold)";
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static char gPySetDeactivationAngularTreshold__doc__[] = "setDeactivationAngularTreshold(float angularTreshold)";
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static char gPySetContactBreakingTreshold__doc__[] = "setContactBreakingTreshold(float breakingTreshold) Reasonable default is 0.02 (if units are meters)";
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static char gPySetCcdMode__doc__[] = "setCcdMode(int ccdMode) Very experimental, not recommended";
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static char gPySetSorConstant__doc__[] = "setSorConstant(float sor) Very experimental, not recommended";
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static char gPySetSolverTau__doc__[] = "setTau(float tau) Very experimental, not recommended";
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static char gPySetSolverDamping__doc__[] = "setDamping(float damping) Very experimental, not recommended";
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static char gPySetLinearAirDamping__doc__[] = "setLinearAirDamping(float damping) Very experimental, not recommended";
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static char gPySetUseEpa__doc__[] = "setUseEpa(int epa) Very experimental, not recommended";
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static char gPySetSolverType__doc__[] = "setSolverType(int solverType) Very experimental, not recommended";
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static char gPyCreateConstraint__doc__[] = "createConstraint(ob1,ob2,float restLength,float restitution,float damping)";
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static char gPyGetVehicleConstraint__doc__[] = "getVehicleConstraint(int constraintId)";
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static char gPyGetCharacter__doc__[] = "getCharacter(KX_GameObject obj)";
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static char gPyRemoveConstraint__doc__[] = "removeConstraint(int constraintId)";
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static char gPyGetAppliedImpulse__doc__[] = "getAppliedImpulse(int constraintId)";
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static PyObject *gPySetGravity(PyObject *self,
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PyObject *args,
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PyObject *kwds)
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{
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float x,y,z;
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if (PyArg_ParseTuple(args,"fff",&x,&y,&z))
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{
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if (PHY_GetActiveEnvironment())
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PHY_GetActiveEnvironment()->SetGravity(x,y,z);
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}
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else {
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return NULL;
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}
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Py_RETURN_NONE;
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}
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static PyObject *gPySetDebugMode(PyObject *self,
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PyObject *args,
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PyObject *kwds)
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{
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int mode;
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if (PyArg_ParseTuple(args,"i",&mode))
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{
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if (PHY_GetActiveEnvironment())
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{
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PHY_GetActiveEnvironment()->SetDebugMode(mode);
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}
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}
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else {
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return NULL;
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}
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Py_RETURN_NONE;
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}
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static PyObject *gPySetNumTimeSubSteps(PyObject *self,
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PyObject *args,
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PyObject *kwds)
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{
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int substep;
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if (PyArg_ParseTuple(args,"i",&substep))
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{
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if (PHY_GetActiveEnvironment())
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{
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PHY_GetActiveEnvironment()->SetNumTimeSubSteps(substep);
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}
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}
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else {
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return NULL;
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}
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Py_RETURN_NONE;
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}
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static PyObject *gPySetNumIterations(PyObject *self,
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PyObject *args,
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PyObject *kwds)
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{
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int iter;
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if (PyArg_ParseTuple(args,"i",&iter))
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{
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if (PHY_GetActiveEnvironment())
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{
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PHY_GetActiveEnvironment()->SetNumIterations(iter);
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}
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}
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else {
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return NULL;
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}
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Py_RETURN_NONE;
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}
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static PyObject *gPySetDeactivationTime(PyObject *self,
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PyObject *args,
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PyObject *kwds)
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{
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float deactive_time;
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if (PyArg_ParseTuple(args,"f",&deactive_time))
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{
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if (PHY_GetActiveEnvironment())
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{
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PHY_GetActiveEnvironment()->SetDeactivationTime(deactive_time);
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}
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}
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else {
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return NULL;
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}
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Py_RETURN_NONE;
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}
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static PyObject *gPySetDeactivationLinearTreshold(PyObject *self,
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PyObject *args,
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PyObject *kwds)
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{
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float linearDeactivationTreshold;
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if (PyArg_ParseTuple(args,"f",&linearDeactivationTreshold))
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{
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if (PHY_GetActiveEnvironment())
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{
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PHY_GetActiveEnvironment()->SetDeactivationLinearTreshold( linearDeactivationTreshold);
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}
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}
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else {
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return NULL;
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}
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Py_RETURN_NONE;
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}
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static PyObject *gPySetDeactivationAngularTreshold(PyObject *self,
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PyObject *args,
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PyObject *kwds)
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{
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float angularDeactivationTreshold;
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if (PyArg_ParseTuple(args,"f",&angularDeactivationTreshold))
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{
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if (PHY_GetActiveEnvironment())
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{
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PHY_GetActiveEnvironment()->SetDeactivationAngularTreshold( angularDeactivationTreshold);
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}
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}
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else {
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return NULL;
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}
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Py_RETURN_NONE;
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}
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static PyObject *gPySetContactBreakingTreshold(PyObject *self,
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PyObject *args,
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PyObject *kwds)
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{
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float contactBreakingTreshold;
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if (PyArg_ParseTuple(args,"f",&contactBreakingTreshold))
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{
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if (PHY_GetActiveEnvironment())
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{
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PHY_GetActiveEnvironment()->SetContactBreakingTreshold( contactBreakingTreshold);
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}
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}
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else {
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return NULL;
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}
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Py_RETURN_NONE;
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}
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static PyObject *gPySetCcdMode(PyObject *self,
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PyObject *args,
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PyObject *kwds)
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{
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float ccdMode;
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if (PyArg_ParseTuple(args,"f",&ccdMode))
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{
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if (PHY_GetActiveEnvironment())
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{
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PHY_GetActiveEnvironment()->SetCcdMode( ccdMode);
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}
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}
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else {
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return NULL;
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}
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Py_RETURN_NONE;
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}
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static PyObject *gPySetSorConstant(PyObject *self,
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PyObject *args,
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PyObject *kwds)
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{
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float sor;
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if (PyArg_ParseTuple(args,"f",&sor))
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{
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if (PHY_GetActiveEnvironment())
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{
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PHY_GetActiveEnvironment()->SetSolverSorConstant( sor);
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}
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}
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else {
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return NULL;
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}
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Py_RETURN_NONE;
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}
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static PyObject *gPySetSolverTau(PyObject *self,
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PyObject *args,
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PyObject *kwds)
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{
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float tau;
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if (PyArg_ParseTuple(args,"f",&tau))
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{
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if (PHY_GetActiveEnvironment())
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{
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PHY_GetActiveEnvironment()->SetSolverTau( tau);
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}
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}
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else {
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return NULL;
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}
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Py_RETURN_NONE;
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}
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static PyObject *gPySetSolverDamping(PyObject *self,
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PyObject *args,
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PyObject *kwds)
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{
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float damping;
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if (PyArg_ParseTuple(args,"f",&damping))
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{
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if (PHY_GetActiveEnvironment())
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{
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PHY_GetActiveEnvironment()->SetSolverDamping( damping);
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}
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}
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else {
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return NULL;
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}
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Py_RETURN_NONE;
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}
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static PyObject *gPySetLinearAirDamping(PyObject *self,
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PyObject *args,
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PyObject *kwds)
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{
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float damping;
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if (PyArg_ParseTuple(args,"f",&damping))
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{
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if (PHY_GetActiveEnvironment())
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{
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PHY_GetActiveEnvironment()->SetLinearAirDamping( damping);
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}
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}
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else {
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return NULL;
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}
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Py_RETURN_NONE;
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}
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static PyObject *gPySetUseEpa(PyObject *self,
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PyObject *args,
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PyObject *kwds)
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{
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int epa;
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if (PyArg_ParseTuple(args,"i",&epa))
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{
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if (PHY_GetActiveEnvironment())
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{
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PHY_GetActiveEnvironment()->SetUseEpa(epa);
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}
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}
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else {
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return NULL;
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}
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Py_RETURN_NONE;
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}
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static PyObject *gPySetSolverType(PyObject *self,
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PyObject *args,
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PyObject *kwds)
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{
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int solverType;
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if (PyArg_ParseTuple(args,"i",&solverType))
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{
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if (PHY_GetActiveEnvironment())
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{
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PHY_GetActiveEnvironment()->SetSolverType(solverType);
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}
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}
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else {
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return NULL;
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}
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Py_RETURN_NONE;
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}
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static PyObject *gPyGetVehicleConstraint(PyObject *self,
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PyObject *args,
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PyObject *kwds)
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{
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#if defined(_WIN64)
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__int64 constraintid;
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if (PyArg_ParseTuple(args,"L",&constraintid))
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#else
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long constraintid;
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if (PyArg_ParseTuple(args,"l",&constraintid))
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#endif
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{
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if (PHY_GetActiveEnvironment())
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{
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PHY_IVehicle* vehicle = PHY_GetActiveEnvironment()->GetVehicleConstraint(constraintid);
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if (vehicle)
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{
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KX_VehicleWrapper* pyWrapper = new KX_VehicleWrapper(vehicle,PHY_GetActiveEnvironment());
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return pyWrapper->NewProxy(true);
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}
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}
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}
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else {
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return NULL;
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}
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Py_RETURN_NONE;
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}
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static PyObject* gPyGetCharacter(PyObject* self,
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PyObject* args,
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PyObject* kwds)
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{
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PyObject* pyob;
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KX_GameObject *ob;
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if (!PyArg_ParseTuple(args,"O", &pyob))
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return NULL;
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if (!ConvertPythonToGameObject(pyob, &ob, false, "bge.constraints.getCharacter(value)"))
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return NULL;
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if (PHY_GetActiveEnvironment())
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{
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PHY_ICharacter* character= PHY_GetActiveEnvironment()->GetCharacterController(ob);
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if (character)
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{
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KX_CharacterWrapper* pyWrapper = new KX_CharacterWrapper(character);
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return pyWrapper->NewProxy(true);
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}
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}
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Py_RETURN_NONE;
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}
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static PyObject *gPyCreateConstraint(PyObject *self,
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PyObject *args,
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PyObject *kwds)
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{
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/* FIXME - physicsid is a long being cast to a pointer, should at least use PyCapsule */
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#if defined(_WIN64)
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__int64 physicsid=0,physicsid2 = 0;
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#else
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long physicsid=0,physicsid2 = 0;
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#endif
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int constrainttype=0, extrainfo=0;
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int len = PyTuple_Size(args);
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int success = 1;
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int flag = 0;
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float pivotX=1,pivotY=1,pivotZ=1,axisX=0,axisY=0,axisZ=1;
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if (len == 3)
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{
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#if defined(_WIN64)
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success = PyArg_ParseTuple(args,"LLi",&physicsid,&physicsid2,&constrainttype);
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#else
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success = PyArg_ParseTuple(args,"lli",&physicsid,&physicsid2,&constrainttype);
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#endif
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}
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else if (len == 6)
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{
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#if defined(_WIN64)
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success = PyArg_ParseTuple(args,"LLifff",&physicsid,&physicsid2,&constrainttype,
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&pivotX,&pivotY,&pivotZ);
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#else
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success = PyArg_ParseTuple(args,"llifff",&physicsid,&physicsid2,&constrainttype,
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&pivotX,&pivotY,&pivotZ);
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#endif
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}
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else if (len == 9)
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{
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#if defined(_WIN64)
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success = PyArg_ParseTuple(args,"LLiffffff",&physicsid,&physicsid2,&constrainttype,
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&pivotX,&pivotY,&pivotZ,&axisX,&axisY,&axisZ);
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#else
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success = PyArg_ParseTuple(args,"lliffffff",&physicsid,&physicsid2,&constrainttype,
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&pivotX,&pivotY,&pivotZ,&axisX,&axisY,&axisZ);
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#endif
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}
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else if (len == 10)
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{
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#if defined(_WIN64)
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success = PyArg_ParseTuple(args,"LLiffffffi",&physicsid,&physicsid2,&constrainttype,
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&pivotX,&pivotY,&pivotZ,&axisX,&axisY,&axisZ,&flag);
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#else
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success = PyArg_ParseTuple(args,"lliffffffi",&physicsid,&physicsid2,&constrainttype,
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&pivotX,&pivotY,&pivotZ,&axisX,&axisY,&axisZ,&flag);
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|
#endif
|
|
}
|
|
|
|
/* XXX extrainfo seems to be nothing implemented. right now it works as a pivot with [X,0,0] */
|
|
else if (len == 4)
|
|
{
|
|
#if defined(_WIN64)
|
|
success = PyArg_ParseTuple(args,"LLii",&physicsid,&physicsid2,&constrainttype,&extrainfo);
|
|
#else
|
|
success = PyArg_ParseTuple(args,"llii",&physicsid,&physicsid2,&constrainttype,&extrainfo);
|
|
#endif
|
|
pivotX=extrainfo;
|
|
}
|
|
|
|
if (success)
|
|
{
|
|
if (PHY_GetActiveEnvironment())
|
|
{
|
|
|
|
PHY_IPhysicsController* physctrl = (PHY_IPhysicsController*) physicsid;
|
|
PHY_IPhysicsController* physctrl2 = (PHY_IPhysicsController*) physicsid2;
|
|
if (physctrl) //TODO:check for existence of this pointer!
|
|
{
|
|
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(),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());
|
|
|
|
return wrap->NewProxy(true);
|
|
}
|
|
|
|
|
|
}
|
|
}
|
|
else {
|
|
return NULL;
|
|
}
|
|
|
|
Py_RETURN_NONE;
|
|
}
|
|
|
|
|
|
|
|
|
|
static PyObject *gPyGetAppliedImpulse(PyObject *self,
|
|
PyObject *args,
|
|
PyObject *kwds)
|
|
{
|
|
float appliedImpulse = 0.f;
|
|
|
|
#if defined(_WIN64)
|
|
__int64 constraintid;
|
|
if (PyArg_ParseTuple(args,"L",&constraintid))
|
|
#else
|
|
long constraintid;
|
|
if (PyArg_ParseTuple(args,"l",&constraintid))
|
|
#endif
|
|
{
|
|
if (PHY_GetActiveEnvironment())
|
|
{
|
|
appliedImpulse = PHY_GetActiveEnvironment()->GetAppliedImpulse(constraintid);
|
|
}
|
|
}
|
|
else {
|
|
return NULL;
|
|
}
|
|
|
|
return PyFloat_FromDouble(appliedImpulse);
|
|
}
|
|
|
|
|
|
static PyObject *gPyRemoveConstraint(PyObject *self,
|
|
PyObject *args,
|
|
PyObject *kwds)
|
|
{
|
|
#if defined(_WIN64)
|
|
__int64 constraintid;
|
|
if (PyArg_ParseTuple(args,"L",&constraintid))
|
|
#else
|
|
long constraintid;
|
|
if (PyArg_ParseTuple(args,"l",&constraintid))
|
|
#endif
|
|
{
|
|
if (PHY_GetActiveEnvironment())
|
|
{
|
|
PHY_GetActiveEnvironment()->RemoveConstraint(constraintid);
|
|
}
|
|
}
|
|
else {
|
|
return NULL;
|
|
}
|
|
|
|
Py_RETURN_NONE;
|
|
}
|
|
|
|
static PyObject *gPyExportBulletFile(PyObject *, PyObject *args)
|
|
{
|
|
char* filename;
|
|
if (!PyArg_ParseTuple(args,"s:exportBulletFile",&filename))
|
|
return NULL;
|
|
|
|
if (PHY_GetActiveEnvironment())
|
|
{
|
|
PHY_GetActiveEnvironment()->ExportFile(filename);
|
|
}
|
|
Py_RETURN_NONE;
|
|
}
|
|
|
|
static struct PyMethodDef physicsconstraints_methods[] = {
|
|
{"setGravity",(PyCFunction) gPySetGravity,
|
|
METH_VARARGS, (const char*)gPySetGravity__doc__},
|
|
{"setDebugMode",(PyCFunction) gPySetDebugMode,
|
|
METH_VARARGS, (const char *)gPySetDebugMode__doc__},
|
|
|
|
/// settings that influence quality of the rigidbody dynamics
|
|
{"setNumIterations",(PyCFunction) gPySetNumIterations,
|
|
METH_VARARGS, (const char *)gPySetNumIterations__doc__},
|
|
|
|
{"setNumTimeSubSteps",(PyCFunction) gPySetNumTimeSubSteps,
|
|
METH_VARARGS, (const char *)gPySetNumTimeSubSteps__doc__},
|
|
|
|
{"setDeactivationTime",(PyCFunction) gPySetDeactivationTime,
|
|
METH_VARARGS, (const char *)gPySetDeactivationTime__doc__},
|
|
|
|
{"setDeactivationLinearTreshold",(PyCFunction) gPySetDeactivationLinearTreshold,
|
|
METH_VARARGS, (const char *)gPySetDeactivationLinearTreshold__doc__},
|
|
{"setDeactivationAngularTreshold",(PyCFunction) gPySetDeactivationAngularTreshold,
|
|
METH_VARARGS, (const char *)gPySetDeactivationAngularTreshold__doc__},
|
|
|
|
{"setContactBreakingTreshold",(PyCFunction) gPySetContactBreakingTreshold,
|
|
METH_VARARGS, (const char *)gPySetContactBreakingTreshold__doc__},
|
|
{"setCcdMode",(PyCFunction) gPySetCcdMode,
|
|
METH_VARARGS, (const char *)gPySetCcdMode__doc__},
|
|
{"setSorConstant",(PyCFunction) gPySetSorConstant,
|
|
METH_VARARGS, (const char *)gPySetSorConstant__doc__},
|
|
{"setSolverTau",(PyCFunction) gPySetSolverTau,
|
|
METH_VARARGS, (const char *)gPySetSolverTau__doc__},
|
|
{"setSolverDamping",(PyCFunction) gPySetSolverDamping,
|
|
METH_VARARGS, (const char *)gPySetSolverDamping__doc__},
|
|
|
|
{"setLinearAirDamping",(PyCFunction) gPySetLinearAirDamping,
|
|
METH_VARARGS, (const char *)gPySetLinearAirDamping__doc__},
|
|
|
|
{"setUseEpa",(PyCFunction) gPySetUseEpa,
|
|
METH_VARARGS, (const char *)gPySetUseEpa__doc__},
|
|
{"setSolverType",(PyCFunction) gPySetSolverType,
|
|
METH_VARARGS, (const char *)gPySetSolverType__doc__},
|
|
|
|
|
|
{"createConstraint",(PyCFunction) gPyCreateConstraint,
|
|
METH_VARARGS, (const char *)gPyCreateConstraint__doc__},
|
|
{"getVehicleConstraint",(PyCFunction) gPyGetVehicleConstraint,
|
|
METH_VARARGS, (const char *)gPyGetVehicleConstraint__doc__},
|
|
|
|
{"getCharacter",(PyCFunction) gPyGetCharacter,
|
|
METH_VARARGS, (const char *)gPyGetCharacter__doc__},
|
|
|
|
{"removeConstraint",(PyCFunction) gPyRemoveConstraint,
|
|
METH_VARARGS, (const char *)gPyRemoveConstraint__doc__},
|
|
{"getAppliedImpulse",(PyCFunction) gPyGetAppliedImpulse,
|
|
METH_VARARGS, (const char *)gPyGetAppliedImpulse__doc__},
|
|
|
|
{"exportBulletFile",(PyCFunction)gPyExportBulletFile,
|
|
METH_VARARGS, "export a .bullet file"},
|
|
|
|
//sentinel
|
|
{ NULL, (PyCFunction) NULL, 0, NULL }
|
|
};
|
|
|
|
static struct PyModuleDef PhysicsConstraints_module_def = {
|
|
{}, /* m_base */
|
|
"PhysicsConstraints", /* m_name */
|
|
PhysicsConstraints_module_documentation, /* m_doc */
|
|
0, /* m_size */
|
|
physicsconstraints_methods, /* m_methods */
|
|
0, /* m_reload */
|
|
0, /* m_traverse */
|
|
0, /* m_clear */
|
|
0, /* m_free */
|
|
};
|
|
|
|
PyObject *initPythonConstraintBinding()
|
|
{
|
|
|
|
PyObject *ErrorObject;
|
|
PyObject *m;
|
|
PyObject *d;
|
|
PyObject *item;
|
|
|
|
/* Use existing module where possible
|
|
* be careful not to init any runtime vars after this */
|
|
m = PyImport_ImportModule( "PhysicsConstraints" );
|
|
if (m) {
|
|
Py_DECREF(m);
|
|
return m;
|
|
}
|
|
else {
|
|
PyErr_Clear();
|
|
|
|
m = PyModule_Create(&PhysicsConstraints_module_def);
|
|
PyDict_SetItemString(PySys_GetObject("modules"), PhysicsConstraints_module_def.m_name, m);
|
|
}
|
|
|
|
// Add some symbolic constants to the module
|
|
d = PyModule_GetDict(m);
|
|
ErrorObject = PyUnicode_FromString("PhysicsConstraints.error");
|
|
PyDict_SetItemString(d, "error", ErrorObject);
|
|
Py_DECREF(ErrorObject);
|
|
|
|
#ifdef WITH_BULLET
|
|
//Debug Modes constants to be used with setDebugMode() python function
|
|
KX_MACRO_addTypesToDict(d, DBG_NODEBUG, btIDebugDraw::DBG_NoDebug);
|
|
KX_MACRO_addTypesToDict(d, DBG_DRAWWIREFRAME, btIDebugDraw::DBG_DrawWireframe);
|
|
KX_MACRO_addTypesToDict(d, DBG_DRAWAABB, btIDebugDraw::DBG_DrawAabb);
|
|
KX_MACRO_addTypesToDict(d, DBG_DRAWFREATURESTEXT, btIDebugDraw::DBG_DrawFeaturesText);
|
|
KX_MACRO_addTypesToDict(d, DBG_DRAWCONTACTPOINTS, btIDebugDraw::DBG_DrawContactPoints);
|
|
KX_MACRO_addTypesToDict(d, DBG_NOHELPTEXT, btIDebugDraw::DBG_NoHelpText);
|
|
KX_MACRO_addTypesToDict(d, DBG_DRAWTEXT, btIDebugDraw::DBG_DrawText);
|
|
KX_MACRO_addTypesToDict(d, DBG_PROFILETIMINGS, btIDebugDraw::DBG_ProfileTimings);
|
|
KX_MACRO_addTypesToDict(d, DBG_ENABLESATCOMPARISION, btIDebugDraw::DBG_EnableSatComparison);
|
|
KX_MACRO_addTypesToDict(d, DBG_DISABLEBULLETLCP, btIDebugDraw::DBG_DisableBulletLCP);
|
|
KX_MACRO_addTypesToDict(d, DBG_ENABLECCD, btIDebugDraw::DBG_EnableCCD);
|
|
KX_MACRO_addTypesToDict(d, DBG_DRAWCONSTRAINTS, btIDebugDraw::DBG_DrawConstraints);
|
|
KX_MACRO_addTypesToDict(d, DBG_DRAWCONSTRAINTLIMITS, btIDebugDraw::DBG_DrawConstraintLimits);
|
|
KX_MACRO_addTypesToDict(d, DBG_FASTWIREFRAME, btIDebugDraw::DBG_FastWireframe);
|
|
#endif // WITH_BULLET
|
|
|
|
//Constraint types to be used with createConstraint() python function
|
|
KX_MACRO_addTypesToDict(d, POINTTOPOINT_CONSTRAINT, PHY_POINT2POINT_CONSTRAINT);
|
|
KX_MACRO_addTypesToDict(d, LINEHINGE_CONSTRAINT, PHY_LINEHINGE_CONSTRAINT);
|
|
KX_MACRO_addTypesToDict(d, ANGULAR_CONSTRAINT, PHY_ANGULAR_CONSTRAINT);
|
|
KX_MACRO_addTypesToDict(d, CONETWIST_CONSTRAINT, PHY_CONE_TWIST_CONSTRAINT);
|
|
KX_MACRO_addTypesToDict(d, VEHICLE_CONSTRAINT, PHY_VEHICLE_CONSTRAINT);
|
|
|
|
// Check for errors
|
|
if (PyErr_Occurred()) {
|
|
Py_FatalError("can't initialize module PhysicsConstraints");
|
|
}
|
|
|
|
return d;
|
|
}
|
|
|
|
#if 0
|
|
static void KX_RemovePythonConstraintBinding()
|
|
{
|
|
}
|
|
#endif
|
|
|
|
void PHY_SetActiveEnvironment(class PHY_IPhysicsEnvironment* env)
|
|
{
|
|
g_CurrentActivePhysicsEnvironment = env;
|
|
}
|
|
|
|
PHY_IPhysicsEnvironment* PHY_GetActiveEnvironment()
|
|
{
|
|
return g_CurrentActivePhysicsEnvironment;
|
|
}
|
|
|
|
#endif // WITH_PYTHON
|