[Bf-committers] [Bf-blender-cvs] 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

[Campbell Barton]

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