[Bf-committers] SVN commit: /data/svn/bf-blender [20370] trunk/blender/source/gameengine/ Ketsji: fix generic 6dof constraint support -> convert 3 values into euler angles and convert those into a full constraint frame
blender at erwincoumans.com
blender at erwincoumans.com
Sun May 24 08:34:41 CEST 2009
ok, both NULL and pad3 issues have been resolved in the trunk
Thanks,
Erwin
Campbell Barton writes:
> The "if (len == 3)" in PySetLimit isnt needed, PyArg_ParseTuple will
> check the length.
>
> Also, returning NULL without setting an error will give a
> "SystemError, return without exception set"., These used to happen all
> the time before 2.48 and it makes it very confusing to find out where
> python errors are.
>
> In 2.49 now we have all the PyArg_ParseTuple's include the function
> name which is then included in the error.
> - PyArg_ParseTuple(args,"iff:setLimit",&dof,&minLimit,&maxLimit)
>
> On Sun, May 24, 2009 at 10:42 AM, Erwin Coumans
> <blender at erwincoumans.com> wrote:
>> Revision: 20370
>> http://projects.blender.org/plugins/scmsvn/viewcvs.php?view=rev&root=bf-blender&revision=20370
>> Author: erwin
>> Date: 2009-05-24 02:42:40 +0200 (Sun, 24 May 2009)
>>
>> Log Message:
>> -----------
>> fix generic 6dof constraint support -> convert 3 values into euler angles and convert those into a full constraint frame
>> (same values as Rigid Body constraint Generic 6DOF values), and add 'setLimit' support for generic 6DOF constraint. todo: enableMotor
>>
>> Modified Paths:
>> --------------
>> trunk/blender/source/gameengine/Ketsji/KX_ConstraintWrapper.cpp
>> trunk/blender/source/gameengine/Ketsji/KX_ConstraintWrapper.h
>> trunk/blender/source/gameengine/Ketsji/KX_PyConstraintBinding.cpp
>>
>> Modified: trunk/blender/source/gameengine/Ketsji/KX_ConstraintWrapper.cpp
>> ===================================================================
>> --- trunk/blender/source/gameengine/Ketsji/KX_ConstraintWrapper.cpp 2009-05-23 22:35:47 UTC (rev 20369)
>> +++ trunk/blender/source/gameengine/Ketsji/KX_ConstraintWrapper.cpp 2009-05-24 00:42:40 UTC (rev 20370)
>> @@ -54,6 +54,31 @@
>> 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 @@
>> };
>>
>>
>> +
>> +
>> +
>> 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
>> };
>>
>>
>> Modified: trunk/blender/source/gameengine/Ketsji/KX_ConstraintWrapper.h
>> ===================================================================
>> --- trunk/blender/source/gameengine/Ketsji/KX_ConstraintWrapper.h 2009-05-23 22:35:47 UTC (rev 20369)
>> +++ trunk/blender/source/gameengine/Ketsji/KX_ConstraintWrapper.h 2009-05-24 00:42:40 UTC (rev 20370)
>> @@ -45,6 +45,8 @@
>>
>> KX_PYMETHOD(KX_ConstraintWrapper,TestMethod);
>> KX_PYMETHOD(KX_ConstraintWrapper,GetConstraintId);
>> + KX_PYMETHOD(KX_ConstraintWrapper,SetLimit);
>> + KX_PYMETHOD(KX_ConstraintWrapper,EnableMotor);
>>
>> private:
>> int m_constraintId;
>>
>> Modified: trunk/blender/source/gameengine/Ketsji/KX_PyConstraintBinding.cpp
>> ===================================================================
>> --- trunk/blender/source/gameengine/Ketsji/KX_PyConstraintBinding.cpp 2009-05-23 22:35:47 UTC (rev 20369)
>> +++ trunk/blender/source/gameengine/Ketsji/KX_PyConstraintBinding.cpp 2009-05-24 00:42:40 UTC (rev 20370)
>> @@ -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 @@
>> 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());
>>
>>
>>
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>>
>
>
>
> --
> - Campbell
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