blender/source/gameengine/Ketsji/KX_PyConstraintBinding.cpp

465 lines
12 KiB
C++

/**
* $Id$
*
* ***** BEGIN GPL/BL DUAL 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. The Blender
* Foundation also sells licenses for use in proprietary software under
* the Blender License. See http://www.blender.org/BL/ for information
* about this.
*
* 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., 59 Temple Place - Suite 330, Boston, MA 02111-1307, 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/BL DUAL LICENSE BLOCK *****
*/
#include "KX_PyConstraintBinding.h"
#include "PHY_IPhysicsEnvironment.h"
#include "KX_ConstraintWrapper.h"
#include "KX_PhysicsObjectWrapper.h"
#include "PHY_IPhysicsController.h"
#ifdef HAVE_CONFIG_H
#include <config.h>
#endif
// nasty glob variable to connect scripting language
// if there is a better way (without global), please do so!
static PHY_IPhysicsEnvironment* g_CurrentActivePhysicsEnvironment = NULL;
static char PhysicsConstraints_module_documentation[] =
"This is the Python API for the Physics Constraints";
static char gPySetGravity__doc__[] = "setGravity(float x,float y,float z)";
static char gPySetDebugMode__doc__[] = "setDebugMode(int mode)";
static char gPySetNumIterations__doc__[] = "setNumIterations(int numiter) This sets the number of iterations for an iterative constraint solver";
static char gPySetDeactivationTime__doc__[] = "setDeactivationTime(float time) This sets the time after which a resting rigidbody gets deactived";
static char gPySetDeactivationLinearTreshold__doc__[] = "setDeactivationLinearTreshold(float linearTreshold)";
static char gPySetDeactivationAngularTreshold__doc__[] = "setDeactivationAngularTreshold(float angularTreshold)";
static char gPySetContactBreakingTreshold__doc__[] = "setContactBreakingTreshold(float breakingTreshold) Reasonable default is 0.02 (if units are meters)";
static char gPySetCcdMode__doc__[] = "setCcdMode(int ccdMode) Very experimental, not recommended";
static char gPySetSorConstant__doc__[] = "setSorConstant(float sor) Very experimental, not recommended";
static char gPySetSolverTau__doc__[] = "setTau(float tau) Very experimental, not recommended";
static char gPySetSolverDamping__doc__[] = "setDamping(float damping) Very experimental, not recommended";
static char gPySetLinearAirDamping__doc__[] = "setLinearAirDamping(float damping) Very experimental, not recommended";
static char gPySetUseEpa__doc__[] = "setUseEpa(int epa) Very experimental, not recommended";
static char gPySetSolverType__doc__[] = "setSolverType(int solverType) Very experimental, not recommended";
static char gPyCreateConstraint__doc__[] = "createConstraint(ob1,ob2,float restLength,float restitution,float damping)";
static char gPyRemoveConstraint__doc__[] = "removeConstraint(constraint id)";
static PyObject* gPySetGravity(PyObject* self,
PyObject* args,
PyObject* kwds)
{
float x,y,z;
int len = PyTuple_Size(args);
if ((len == 3) && PyArg_ParseTuple(args,"fff",&x,&y,&z))
{
if (PHY_GetActiveEnvironment())
PHY_GetActiveEnvironment()->setGravity(x,y,z);
}
Py_INCREF(Py_None); return Py_None;
}
static PyObject* gPySetDebugMode(PyObject* self,
PyObject* args,
PyObject* kwds)
{
int mode;
if (PyArg_ParseTuple(args,"i",&mode))
{
if (PHY_GetActiveEnvironment())
{
PHY_GetActiveEnvironment()->setDebugMode(mode);
}
}
Py_INCREF(Py_None); return Py_None;
}
static PyObject* gPySetNumIterations(PyObject* self,
PyObject* args,
PyObject* kwds)
{
int iter;
if (PyArg_ParseTuple(args,"i",&iter))
{
if (PHY_GetActiveEnvironment())
{
PHY_GetActiveEnvironment()->setNumIterations(iter);
}
}
Py_INCREF(Py_None); return Py_None;
}
static PyObject* gPySetDeactivationTime(PyObject* self,
PyObject* args,
PyObject* kwds)
{
float deactive_time;
if (PyArg_ParseTuple(args,"f",&deactive_time))
{
if (PHY_GetActiveEnvironment())
{
PHY_GetActiveEnvironment()->setDeactivationTime(deactive_time);
}
}
Py_INCREF(Py_None); return Py_None;
}
static PyObject* gPySetDeactivationLinearTreshold(PyObject* self,
PyObject* args,
PyObject* kwds)
{
float linearDeactivationTreshold;
if (PyArg_ParseTuple(args,"f",&linearDeactivationTreshold))
{
if (PHY_GetActiveEnvironment())
{
PHY_GetActiveEnvironment()->setDeactivationLinearTreshold( linearDeactivationTreshold);
}
}
Py_INCREF(Py_None); return Py_None;
}
static PyObject* gPySetDeactivationAngularTreshold(PyObject* self,
PyObject* args,
PyObject* kwds)
{
float angularDeactivationTreshold;
if (PyArg_ParseTuple(args,"f",&angularDeactivationTreshold))
{
if (PHY_GetActiveEnvironment())
{
PHY_GetActiveEnvironment()->setDeactivationAngularTreshold( angularDeactivationTreshold);
}
}
Py_INCREF(Py_None); return Py_None;
}
static PyObject* gPySetContactBreakingTreshold(PyObject* self,
PyObject* args,
PyObject* kwds)
{
float contactBreakingTreshold;
if (PyArg_ParseTuple(args,"f",&contactBreakingTreshold))
{
if (PHY_GetActiveEnvironment())
{
PHY_GetActiveEnvironment()->setContactBreakingTreshold( contactBreakingTreshold);
}
}
Py_INCREF(Py_None); return Py_None;
}
static PyObject* gPySetCcdMode(PyObject* self,
PyObject* args,
PyObject* kwds)
{
float ccdMode;
if (PyArg_ParseTuple(args,"f",&ccdMode))
{
if (PHY_GetActiveEnvironment())
{
PHY_GetActiveEnvironment()->setCcdMode( ccdMode);
}
}
Py_INCREF(Py_None); return Py_None;
}
static PyObject* gPySetSorConstant(PyObject* self,
PyObject* args,
PyObject* kwds)
{
float sor;
if (PyArg_ParseTuple(args,"f",&sor))
{
if (PHY_GetActiveEnvironment())
{
PHY_GetActiveEnvironment()->setSolverSorConstant( sor);
}
}
Py_INCREF(Py_None); return Py_None;
}
static PyObject* gPySetSolverTau(PyObject* self,
PyObject* args,
PyObject* kwds)
{
float tau;
if (PyArg_ParseTuple(args,"f",&tau))
{
if (PHY_GetActiveEnvironment())
{
PHY_GetActiveEnvironment()->setSolverTau( tau);
}
}
Py_INCREF(Py_None); return Py_None;
}
static PyObject* gPySetSolverDamping(PyObject* self,
PyObject* args,
PyObject* kwds)
{
float damping;
if (PyArg_ParseTuple(args,"f",&damping))
{
if (PHY_GetActiveEnvironment())
{
PHY_GetActiveEnvironment()->setSolverDamping( damping);
}
}
Py_INCREF(Py_None); return Py_None;
}
static PyObject* gPySetLinearAirDamping(PyObject* self,
PyObject* args,
PyObject* kwds)
{
float damping;
if (PyArg_ParseTuple(args,"f",&damping))
{
if (PHY_GetActiveEnvironment())
{
PHY_GetActiveEnvironment()->setLinearAirDamping( damping);
}
}
Py_INCREF(Py_None); return Py_None;
}
static PyObject* gPySetUseEpa(PyObject* self,
PyObject* args,
PyObject* kwds)
{
int epa;
if (PyArg_ParseTuple(args,"i",&epa))
{
if (PHY_GetActiveEnvironment())
{
PHY_GetActiveEnvironment()->setUseEpa(epa);
}
}
Py_INCREF(Py_None); return Py_None;
}
static PyObject* gPySetSolverType(PyObject* self,
PyObject* args,
PyObject* kwds)
{
int solverType;
if (PyArg_ParseTuple(args,"i",&solverType))
{
if (PHY_GetActiveEnvironment())
{
PHY_GetActiveEnvironment()->setSolverType(solverType);
}
}
Py_INCREF(Py_None); return Py_None;
}
static PyObject* gPyCreateConstraint(PyObject* self,
PyObject* args,
PyObject* kwds)
{
int physicsid=0,physicsid2 = 0,constrainttype=0,extrainfo=0;
int len = PyTuple_Size(args);
int success = 1;
float pivotX=1,pivotY=1,pivotZ=1,axisX=0,axisY=0,axisZ=1;
if (len == 3)
{
success = PyArg_ParseTuple(args,"iii",&physicsid,&physicsid2,&constrainttype);
}
else
if (len ==6)
{
success = PyArg_ParseTuple(args,"iiifff",&physicsid,&physicsid2,&constrainttype,
&pivotX,&pivotY,&pivotZ);
}
else if (len == 9)
{
success = PyArg_ParseTuple(args,"iiiffffff",&physicsid,&physicsid2,&constrainttype,
&pivotX,&pivotY,&pivotZ,&axisX,&axisY,&axisZ);
}
else if (len==4)
{
success = PyArg_ParseTuple(args,"iiii",&physicsid,&physicsid2,&constrainttype,&extrainfo);
pivotX=extrainfo;
}
if (success)
{
if (PHY_GetActiveEnvironment())
{
PHY_IPhysicsController* physctrl = (PHY_IPhysicsController*) physicsid;
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);
KX_ConstraintWrapper* wrap = new KX_ConstraintWrapper((enum PHY_ConstraintType)constrainttype,constraintid,PHY_GetActiveEnvironment());
return wrap;
}
}
}
Py_INCREF(Py_None); return Py_None;
}
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((void *)constraintid);
}
}
Py_INCREF(Py_None); return Py_None;
}
static struct PyMethodDef physicsconstraints_methods[] = {
{"setGravity",(PyCFunction) gPySetGravity,
METH_VARARGS, gPySetGravity__doc__},
{"setDebugMode",(PyCFunction) gPySetDebugMode,
METH_VARARGS, gPySetDebugMode__doc__},
/// settings that influence quality of the rigidbody dynamics
{"setNumIterations",(PyCFunction) gPySetNumIterations,
METH_VARARGS, gPySetNumIterations__doc__},
{"setDeactivationTime",(PyCFunction) gPySetDeactivationTime,
METH_VARARGS, gPySetDeactivationTime__doc__},
{"setDeactivationLinearTreshold",(PyCFunction) gPySetDeactivationLinearTreshold,
METH_VARARGS, gPySetDeactivationLinearTreshold__doc__},
{"setDeactivationAngularTreshold",(PyCFunction) gPySetDeactivationAngularTreshold,
METH_VARARGS, gPySetDeactivationAngularTreshold__doc__},
{"setContactBreakingTreshold",(PyCFunction) gPySetContactBreakingTreshold,
METH_VARARGS, gPySetContactBreakingTreshold__doc__},
{"setCcdMode",(PyCFunction) gPySetCcdMode,
METH_VARARGS, gPySetCcdMode__doc__},
{"setSorConstant",(PyCFunction) gPySetSorConstant,
METH_VARARGS, gPySetSorConstant__doc__},
{"setSolverTau",(PyCFunction) gPySetSolverTau,
METH_VARARGS, gPySetSolverTau__doc__},
{"setSolverDamping",(PyCFunction) gPySetSolverDamping,
METH_VARARGS, gPySetSolverDamping__doc__},
{"setLinearAirDamping",(PyCFunction) gPySetLinearAirDamping,
METH_VARARGS, gPySetLinearAirDamping__doc__},
{"setUseEpa",(PyCFunction) gPySetUseEpa,
METH_VARARGS, gPySetUseEpa__doc__},
{"setSolverType",(PyCFunction) gPySetSolverType,
METH_VARARGS, gPySetSolverType__doc__},
{"createConstraint",(PyCFunction) gPyCreateConstraint,
METH_VARARGS, gPyCreateConstraint__doc__},
{"removeConstraint",(PyCFunction) gPyRemoveConstraint,
METH_VARARGS, gPyRemoveConstraint__doc__},
//sentinel
{ NULL, (PyCFunction) NULL, 0, NULL }
};
PyObject* initPythonConstraintBinding()
{
PyObject* ErrorObject;
PyObject* m;
PyObject* d;
m = Py_InitModule4("PhysicsConstraints", physicsconstraints_methods,
PhysicsConstraints_module_documentation,
(PyObject*)NULL,PYTHON_API_VERSION);
// Add some symbolic constants to the module
d = PyModule_GetDict(m);
ErrorObject = PyString_FromString("PhysicsConstraints.error");
PyDict_SetItemString(d, "error", ErrorObject);
// XXXX Add constants here
// Check for errors
if (PyErr_Occurred())
{
Py_FatalError("can't initialize module PhysicsConstraints");
}
return d;
}
void KX_RemovePythonConstraintBinding()
{
}
void PHY_SetActiveEnvironment(class PHY_IPhysicsEnvironment* env)
{
g_CurrentActivePhysicsEnvironment = env;
}
PHY_IPhysicsEnvironment* PHY_GetActiveEnvironment()
{
return g_CurrentActivePhysicsEnvironment;
}