diff --git a/source/blender/makesdna/DNA_constraint_types.h b/source/blender/makesdna/DNA_constraint_types.h index 5e220e40fed..ccc5f0c48e4 100644 --- a/source/blender/makesdna/DNA_constraint_types.h +++ b/source/blender/makesdna/DNA_constraint_types.h @@ -318,10 +318,11 @@ typedef struct bRigidBodyJointConstraint{ #define LIMIT_NOPARENT 0x01 +/* important: these defines need to match up with PHY_DynamicTypes headerfile */ #define CONSTRAINT_RB_BALL 1 #define CONSTRAINT_RB_HINGE 2 -#define CONSTRAINT_RB_GENERIC6DOF 3 #define CONSTRAINT_RB_VEHICLE 11 +#define CONSTRAINT_RB_GENERIC6DOF 12 #endif diff --git a/source/blender/python/api2_2x/Constraint.c b/source/blender/python/api2_2x/Constraint.c index e8a0566c89e..601fc895992 100644 --- a/source/blender/python/api2_2x/Constraint.c +++ b/source/blender/python/api2_2x/Constraint.c @@ -124,6 +124,33 @@ enum constraint_constants { EXPP_CONSTR_LIMLOCALBONE, EXPP_CONSTR_LIMLOCALNOPAR, + + EXPP_CONSTR_RB_TYPE, + EXPP_CONSTR_RB_BALL, + EXPP_CONSTR_RB_HINGE, + EXPP_CONSTR_RB_GENERIC6DOF, + EXPP_CONSTR_RB_VEHICLE, + EXPP_CONSTR_RB_PIVX, + EXPP_CONSTR_RB_PIVY, + EXPP_CONSTR_RB_PIVZ, + EXPP_CONSTR_RB_AXX, + EXPP_CONSTR_RB_AXY, + EXPP_CONSTR_RB_AXZ, + EXPP_CONSTR_RB_MINLIMIT0, + EXPP_CONSTR_RB_MINLIMIT1, + EXPP_CONSTR_RB_MINLIMIT2, + EXPP_CONSTR_RB_MINLIMIT3, + EXPP_CONSTR_RB_MINLIMIT4, + EXPP_CONSTR_RB_MINLIMIT5, + EXPP_CONSTR_RB_MAXLIMIT0, + EXPP_CONSTR_RB_MAXLIMIT1, + EXPP_CONSTR_RB_MAXLIMIT2, + EXPP_CONSTR_RB_MAXLIMIT3, + EXPP_CONSTR_RB_MAXLIMIT4, + EXPP_CONSTR_RB_MAXLIMIT5, + EXPP_CONSTR_RB_EXTRAFZ, + EXPP_CONSTR_RB_FLAG, + }; /*****************************************************************************/ @@ -1147,6 +1174,125 @@ static int sizelimit_setter( BPy_Constraint *self, int type, PyObject *value ) } } + +static PyObject *rigidbody_getter( BPy_Constraint * self, int type) +{ + bRigidBodyJointConstraint *con = (bRigidBodyJointConstraint *)(self->con->data); + + switch( type ) { + case EXPP_CONSTR_TARGET: + return Object_CreatePyObject( con->tar ); + case EXPP_CONSTR_RB_PIVX: + return PyFloat_FromDouble( (double)con->pivX ); + case EXPP_CONSTR_RB_PIVY: + return PyFloat_FromDouble( (double)con->pivY ); + case EXPP_CONSTR_RB_PIVZ: + return PyFloat_FromDouble( (double)con->pivZ ); + case EXPP_CONSTR_RB_AXX: + return PyFloat_FromDouble( (double)con->axX ); + case EXPP_CONSTR_RB_AXY: + return PyFloat_FromDouble( (double)con->axY ); + case EXPP_CONSTR_RB_AXZ: + return PyFloat_FromDouble( (double)con->axZ ); + case EXPP_CONSTR_RB_MINLIMIT0: + return PyFloat_FromDouble( (double)con->minLimit[0] ); + case EXPP_CONSTR_RB_MINLIMIT1: + return PyFloat_FromDouble( (double)con->minLimit[1] ); + case EXPP_CONSTR_RB_MINLIMIT2: + return PyFloat_FromDouble( (double)con->minLimit[2] ); + case EXPP_CONSTR_RB_MINLIMIT3: + return PyFloat_FromDouble( (double)con->minLimit[3] ); + case EXPP_CONSTR_RB_MINLIMIT4: + return PyFloat_FromDouble( (double)con->minLimit[4] ); + case EXPP_CONSTR_RB_MINLIMIT5: + return PyFloat_FromDouble( (double)con->minLimit[5] ); + case EXPP_CONSTR_RB_MAXLIMIT0: + return PyFloat_FromDouble( (double)con->maxLimit[0] ); + case EXPP_CONSTR_RB_MAXLIMIT1: + return PyFloat_FromDouble( (double)con->maxLimit[1] ); + case EXPP_CONSTR_RB_MAXLIMIT2: + return PyFloat_FromDouble( (double)con->maxLimit[2] ); + case EXPP_CONSTR_RB_MAXLIMIT3: + return PyFloat_FromDouble( (double)con->maxLimit[3] ); + case EXPP_CONSTR_RB_MAXLIMIT4: + return PyFloat_FromDouble( (double)con->maxLimit[4] ); + case EXPP_CONSTR_RB_MAXLIMIT5: + return PyFloat_FromDouble( (double)con->maxLimit[5] ); + case EXPP_CONSTR_RB_EXTRAFZ: + return PyFloat_FromDouble( (double)con->extraFz ); + case EXPP_CONSTR_LIMIT: + return PyInt_FromLong( (int)con->flag ); + + case EXPP_CONSTR_RB_TYPE: + return PyInt_FromLong( (int)con->type ); + default: + return EXPP_ReturnPyObjError( PyExc_KeyError, "key not found" ); + } +} + + +static int rigidbody_setter( BPy_Constraint *self, int type, PyObject *value ) +{ + bRigidBodyJointConstraint *con = (bRigidBodyJointConstraint *)(self->con->data); + + switch( type ) { + case EXPP_CONSTR_TARGET: { + Object *obj = (( BPy_Object * )value)->object; + if( !BPy_Object_Check( value ) ) + return EXPP_ReturnIntError( PyExc_TypeError, + "expected BPy object argument" ); + con->tar = obj; + return 0; + } + case EXPP_CONSTR_RB_PIVX: + return EXPP_setFloatClamped( value, &con->pivX , -1000.0, 1000.0 ); + case EXPP_CONSTR_RB_PIVY: + return EXPP_setFloatClamped( value, &con->pivY , -1000.0, 1000.0 ); + case EXPP_CONSTR_RB_PIVZ: + return EXPP_setFloatClamped( value, &con->pivZ , -1000.0, 1000.0 ); + case EXPP_CONSTR_RB_AXX: + return EXPP_setFloatClamped( value, &con->axX , -1000.0, 1000.0 ); + case EXPP_CONSTR_RB_AXY: + return EXPP_setFloatClamped( value, &con->axY , -1000.0, 1000.0 ); + case EXPP_CONSTR_RB_AXZ: + return EXPP_setFloatClamped( value, &con->axZ , -1000.0, 1000.0 ); + case EXPP_CONSTR_RB_MINLIMIT0: + return EXPP_setFloatClamped( value, &con->minLimit[0] , -1000.0, 1000.0 ); + case EXPP_CONSTR_RB_MINLIMIT1: + return EXPP_setFloatClamped( value, &con->minLimit[1] , -1000.0, 1000.0 ); + case EXPP_CONSTR_RB_MINLIMIT2: + return EXPP_setFloatClamped( value, &con->minLimit[2] , -1000.0, 1000.0 ); + case EXPP_CONSTR_RB_MINLIMIT3: + return EXPP_setFloatClamped( value, &con->minLimit[3] , -1000.0, 1000.0 ); + case EXPP_CONSTR_RB_MINLIMIT4: + return EXPP_setFloatClamped( value, &con->minLimit[4] , -1000.0, 1000.0 ); + case EXPP_CONSTR_RB_MINLIMIT5: + return EXPP_setFloatClamped( value, &con->minLimit[5] , -1000.0, 1000.0 ); + case EXPP_CONSTR_RB_MAXLIMIT0: + return EXPP_setFloatClamped( value, &con->maxLimit[0] , -1000.0, 1000.0 ); + case EXPP_CONSTR_RB_MAXLIMIT1: + return EXPP_setFloatClamped( value, &con->maxLimit[1] , -1000.0, 1000.0 ); + case EXPP_CONSTR_RB_MAXLIMIT2: + return EXPP_setFloatClamped( value, &con->maxLimit[2] , -1000.0, 1000.0 ); + case EXPP_CONSTR_RB_MAXLIMIT3: + return EXPP_setFloatClamped( value, &con->maxLimit[3] , -1000.0, 1000.0 ); + case EXPP_CONSTR_RB_MAXLIMIT4: + return EXPP_setFloatClamped( value, &con->maxLimit[4] , -1000.0, 1000.0 ); + case EXPP_CONSTR_RB_MAXLIMIT5: + return EXPP_setFloatClamped( value, &con->maxLimit[5] , -1000.0, 1000.0 ); + case EXPP_CONSTR_RB_EXTRAFZ: + return EXPP_setFloatClamped( value, &con->extraFz , -1000.0, 1000.0 ); + case EXPP_CONSTR_LIMIT: + return EXPP_setIValueRange( value, &con->flag, 0, + LIMIT_XMIN | LIMIT_XMAX | LIMIT_YMIN | LIMIT_YMAX | LIMIT_ZMIN | LIMIT_ZMAX, 'i' ); + case EXPP_CONSTR_RB_TYPE: + return EXPP_setIValueRange( value, &con->type, 0, + EXPP_CONSTR_RB_BALL | EXPP_CONSTR_RB_HINGE | EXPP_CONSTR_RB_GENERIC6DOF | EXPP_CONSTR_RB_VEHICLE, 'i' ); + default: + return EXPP_ReturnIntError( PyExc_KeyError, "key not found" ); + } +} + /* * get data from a constraint */ @@ -1193,6 +1339,8 @@ static PyObject *Constraint_getData( BPy_Constraint * self, PyObject * key ) return loclimit_getter( self, setting ); case CONSTRAINT_TYPE_SIZELIMIT: return sizelimit_getter( self, setting ); + case CONSTRAINT_TYPE_RIGIDBODYJOINT: + return rigidbody_getter( self, setting ); case CONSTRAINT_TYPE_CHILDOF: /* Unimplemented */ case CONSTRAINT_TYPE_PYTHON: default: @@ -1254,6 +1402,9 @@ static int Constraint_setData( BPy_Constraint * self, PyObject * key, case CONSTRAINT_TYPE_SIZELIMIT: result = sizelimit_setter( self, key_int, arg); break; + case CONSTRAINT_TYPE_RIGIDBODYJOINT: + result = rigidbody_setter( self, key_int, arg); + break; case CONSTRAINT_TYPE_NULL: return EXPP_ReturnIntError( PyExc_KeyError, "key not found" ); case CONSTRAINT_TYPE_CHILDOF: /* Unimplemented */ @@ -1483,7 +1634,7 @@ static PyObject *ConstraintSeq_append( BPy_ConstraintSeq *self, PyObject *args ) EXPP_ReturnPyObjError( PyExc_TypeError, "expected int argument" ); /* type 0 is CONSTRAINT_TYPE_NULL, should we be able to add one of these? */ - if( type < CONSTRAINT_TYPE_NULL || type > CONSTRAINT_TYPE_MINMAX ) + if( type < CONSTRAINT_TYPE_NULL || type > CONSTRAINT_TYPE_RIGIDBODYJOINT ) return EXPP_ReturnPyObjError( PyExc_ValueError, "int argument out of range" ); @@ -1747,6 +1898,8 @@ static PyObject *M_Constraint_TypeDict( void ) PyInt_FromLong( CONSTRAINT_TYPE_ROTLIMIT ) ); PyConstant_Insert( d, "LIMITSIZE", PyInt_FromLong( CONSTRAINT_TYPE_SIZELIMIT ) ); + PyConstant_Insert( d, "RIGIDBODYJOINT", + PyInt_FromLong( CONSTRAINT_TYPE_RIGIDBODYJOINT ) ); } return S; } @@ -1927,6 +2080,58 @@ static PyObject *M_Constraint_SettingsDict( void ) PyInt_FromLong( EXPP_CONSTR_LIMLOCALBONE ) ); PyConstant_Insert( d, "LIMIT_LOCAL_NOPARENT", PyInt_FromLong( EXPP_CONSTR_LIMLOCALNOPAR ) ); + + + PyConstant_Insert( d, "CONSTR_RB_TYPE", + PyInt_FromLong( EXPP_CONSTR_RB_TYPE ) ); + PyConstant_Insert( d, "CONSTR_RB_BALL", + PyInt_FromLong( EXPP_CONSTR_RB_BALL ) ); + PyConstant_Insert( d, "CONSTR_RB_HINGE", + PyInt_FromLong( EXPP_CONSTR_RB_HINGE ) ); + PyConstant_Insert( d, "CONSTR_RB_GENERIC6DOF", + PyInt_FromLong( EXPP_CONSTR_RB_GENERIC6DOF ) ); + PyConstant_Insert( d, "CONSTR_RB_VEHICLE", + PyInt_FromLong( EXPP_CONSTR_RB_VEHICLE ) ); + PyConstant_Insert( d, "CONSTR_RB_PIVX", + PyInt_FromLong( EXPP_CONSTR_RB_PIVX ) ); + PyConstant_Insert( d, "CONSTR_RB_PIVY", + PyInt_FromLong( EXPP_CONSTR_RB_PIVY ) ); + PyConstant_Insert( d, "CONSTR_RB_PIVZ", + PyInt_FromLong( EXPP_CONSTR_RB_PIVZ ) ); + PyConstant_Insert( d, "CONSTR_RB_AXX", + PyInt_FromLong( EXPP_CONSTR_RB_AXX ) ); + PyConstant_Insert( d, "CONSTR_RB_AXY", + PyInt_FromLong( EXPP_CONSTR_RB_AXY ) ); + PyConstant_Insert( d, "CONSTR_RB_AXZ", + PyInt_FromLong( EXPP_CONSTR_RB_AXZ ) ); + PyConstant_Insert( d, "CONSTR_RB_MINLIMIT0", + PyInt_FromLong( EXPP_CONSTR_RB_MINLIMIT0 ) ); + PyConstant_Insert( d, "CONSTR_RB_MINLIMIT1", + PyInt_FromLong( EXPP_CONSTR_RB_MINLIMIT1 ) ); + PyConstant_Insert( d, "CONSTR_RB_MINLIMIT2", + PyInt_FromLong( EXPP_CONSTR_RB_MINLIMIT2 ) ); + PyConstant_Insert( d, "CONSTR_RB_MINLIMIT3", + PyInt_FromLong( EXPP_CONSTR_RB_MINLIMIT3 ) ); + PyConstant_Insert( d, "CONSTR_RB_MINLIMIT4", + PyInt_FromLong( EXPP_CONSTR_RB_MINLIMIT4 ) ); + PyConstant_Insert( d, "CONSTR_RB_MINLIMIT5", + PyInt_FromLong( EXPP_CONSTR_RB_MINLIMIT5 ) ); + PyConstant_Insert( d, "CONSTR_RB_MAXLIMIT0", + PyInt_FromLong( EXPP_CONSTR_RB_MAXLIMIT0 ) ); + PyConstant_Insert( d, "CONSTR_RB_MAXLIMIT1", + PyInt_FromLong( EXPP_CONSTR_RB_MAXLIMIT1 ) ); + PyConstant_Insert( d, "CONSTR_RB_MAXLIMIT2", + PyInt_FromLong( EXPP_CONSTR_RB_MAXLIMIT2 ) ); + PyConstant_Insert( d, "CONSTR_RB_MAXLIMIT3", + PyInt_FromLong( EXPP_CONSTR_RB_MAXLIMIT3 ) ); + PyConstant_Insert( d, "CONSTR_RB_MAXLIMIT4", + PyInt_FromLong( EXPP_CONSTR_RB_MAXLIMIT4 ) ); + PyConstant_Insert( d, "CONSTR_RB_MAXLIMIT5", + PyInt_FromLong( EXPP_CONSTR_RB_MAXLIMIT5 ) ); + PyConstant_Insert( d, "CONSTR_RB_EXTRAFZ", + PyInt_FromLong( EXPP_CONSTR_RB_EXTRAFZ ) ); + PyConstant_Insert( d, "CONSTR_RB_FLAG", + PyInt_FromLong( EXPP_CONSTR_RB_FLAG ) ); } return S; } diff --git a/source/blender/src/buttons_object.c b/source/blender/src/buttons_object.c index bf695cb30e8..5f974b2d400 100644 --- a/source/blender/src/buttons_object.c +++ b/source/blender/src/buttons_object.c @@ -1136,21 +1136,23 @@ static void draw_constraint (uiBlock *block, ListBase *list, bConstraint *con, s bRigidBodyJointConstraint *data = con->data; int togButWidth = 70; int offsetY = 150; - float extremeLin = 1000.f; + float extremeLin = 999.f; float extremeAngX = 180.f; float extremeAngY = 45.f; float extremeAngZ = 45.f; int textButWidth = ((width/2)-togButWidth); - uiDefButI(block, MENU, B_SWITCHRENDER, "Joint Types%t|Ball%x1|Hinge%x2|Generic6DOF%x3",//|Extra Force%x6", + uiDefButI(block, MENU, B_CONSTRAINT_TEST, "Joint Types%t|Ball%x1|Hinge%x2|Generic6DOF%x12",//|Extra Force%x6", *xco, *yco-25, 150, 18, &data->type, 0, 0, 0, 0, "Choose the joint type"); - height = 310; - + height = 140; + if (data->type==CONSTRAINT_RB_GENERIC6DOF){ + height = 270; + } uiDefBut(block, ROUNDBOX, B_DIFF, "", *xco-10, *yco-height, width+40,height-1, NULL, 5.0, 0.0, 12, rb_col, ""); { //uiDefBut(block, ROUNDBOX, B_DIFF, "", *xco-10, *yco-height, width+40,height-1, NULL, 5.0, 0.0, 12, rb_col, ""); - uiDefIDPoinBut(block, test_obpoin_but, ID_OB, B_CONSTRAINT_CHANGETARGET, "Child:", *xco, *yco-50, 130, 18, &data->tar, "Child Object"); + uiDefIDPoinBut(block, test_obpoin_but, ID_OB, B_CONSTRAINT_CHANGETARGET, "toObject:", *xco, *yco-50, 130, 18, &data->tar, "Child Object"); //if (data->tar) // uiDefIDPoinBut(block, test_obpoin_but, ID_OB, B_CONSTRAINT_CHANGETARGET, "Child:", *xco+135, *yco-50, 130, 18, &data->child, "Child2 Object (if this exist then this object will be the pivot Only)"); uiDefButF(block, NUM, B_CONSTRAINT_TEST, "Pivot X:", *xco, *yco-75, 130, 18, &data->pivX, -10000, 10000, 100.0, 0.0, "Offset Joint"); @@ -1159,67 +1161,66 @@ static void draw_constraint (uiBlock *block, ListBase *list, bConstraint *con, s uiDefButF(block, NUM, B_CONSTRAINT_TEST, "Ax X:", *xco+135, *yco-75, 130, 18, &data->axX, -10000, 10000, 100.0, 0.0, "Offset Joint"); uiDefButF(block, NUM, B_CONSTRAINT_TEST, "Ax Y:", *xco+135, *yco-100, 130, 18, &data->axY, -10000, 10000, 100.0, 0.0, "Offset Joint"); uiDefButF(block, NUM, B_CONSTRAINT_TEST, "Ax Z:", *xco+135, *yco-125, 130, 18, &data->axZ, -10000, 10000, 100.0, 0.0, "Offset Joint"); - - /* Draw Pairs of LimitToggle+LimitValue */ - uiBlockBeginAlign(block); - uiDefButBitS(block, TOG, LIMIT_XMIN, B_CONSTRAINT_TEST, "LinMinX", *xco, *yco-offsetY, togButWidth, 18, &data->flag, 0, 24, 0, 0, "Use minimum x limit"); - uiDefButF(block, NUM, B_CONSTRAINT_TEST, "", *xco+togButWidth, *yco-offsetY, (textButWidth-5), 18, &(data->minLimit[0]), -extremeLin, extremeLin, 0.1,0.5,"min x limit"); - uiBlockEndAlign(block); - uiBlockBeginAlign(block); - uiDefButBitS(block, TOG, LIMIT_XMIN, B_CONSTRAINT_TEST, "LinMaxX", *xco+(width-(textButWidth-5)-togButWidth), *yco-offsetY, togButWidth, 18, &data->flag, 0, 24, 0, 0, "Use maximum x limit"); - uiDefButF(block, NUM, B_CONSTRAINT_TEST, "", *xco+(width-textButWidth-5), *yco-offsetY, (textButWidth-5), 18, &(data->maxLimit[0]), -extremeLin, extremeLin, 0.1,0.5,"max x limit"); - uiBlockEndAlign(block); - offsetY += 20; - uiBlockBeginAlign(block); - uiDefButBitS(block, TOG, LIMIT_YMIN, B_CONSTRAINT_TEST, "LinMinY", *xco, *yco-offsetY, togButWidth, 18, &data->flag, 0, 24, 0, 0, "Use minimum y limit"); - uiDefButF(block, NUM, B_CONSTRAINT_TEST, "", *xco+togButWidth, *yco-offsetY, (textButWidth-5), 18, &(data->minLimit[1]), -extremeLin, extremeLin, 0.1,0.5,"min y limit"); - uiBlockEndAlign(block); - uiBlockBeginAlign(block); - uiDefButBitS(block, TOG, LIMIT_YMIN, B_CONSTRAINT_TEST, "LinMaxY", *xco+(width-(textButWidth-5)-togButWidth), *yco-offsetY, togButWidth, 18, &data->flag, 0, 24, 0, 0, "Use maximum y limit"); - uiDefButF(block, NUM, B_CONSTRAINT_TEST, "", *xco+(width-textButWidth-5), *yco-offsetY, (textButWidth-5), 18, &(data->maxLimit[1]), -extremeLin, extremeLin, 0.1,0.5,"max y limit"); - uiBlockEndAlign(block); - offsetY += 20; - uiBlockBeginAlign(block); - uiDefButBitS(block, TOG, LIMIT_ZMIN, B_CONSTRAINT_TEST, "LinMinZ", *xco, *yco-offsetY, togButWidth, 18, &data->flag, 0, 24, 0, 0, "Use minimum z limit"); - uiDefButF(block, NUM, B_CONSTRAINT_TEST, "", *xco+togButWidth, *yco-offsetY, (textButWidth-5), 18, &(data->minLimit[2]), -extremeLin, extremeLin, 0.1,0.5,"min z limit"); - uiBlockEndAlign(block); - uiBlockBeginAlign(block); - uiDefButBitS(block, TOG, LIMIT_ZMIN, B_CONSTRAINT_TEST, "LinMaxZ", *xco+(width-(textButWidth-5)-togButWidth), *yco-offsetY, togButWidth, 18, &data->flag, 0, 24, 0, 0, "Use maximum z limit"); - uiDefButF(block, NUM, B_CONSTRAINT_TEST, "", *xco+(width-textButWidth-5), *yco-offsetY, (textButWidth-5), 18, &(data->maxLimit[2]), -extremeLin, extremeLin, 0.1,0.5,"max z limit"); - uiBlockEndAlign(block); - offsetY += 20; - - /* Draw Pairs of LimitToggle+LimitValue */ - uiBlockBeginAlign(block); - uiDefButBitS(block, TOG, LIMIT_XMAX, B_CONSTRAINT_TEST, "AngMinX", *xco, *yco-offsetY, togButWidth, 18, &data->flag, 0, 24, 0, 0, "Use minimum x limit"); - uiDefButF(block, NUM, B_CONSTRAINT_TEST, "", *xco+togButWidth, *yco-offsetY, (textButWidth-5), 18, &(data->minLimit[3]), -extremeAngX, extremeAngX, 0.1,0.5,"min x limit"); - uiBlockEndAlign(block); - uiBlockBeginAlign(block); - uiDefButBitS(block, TOG, LIMIT_XMAX, B_CONSTRAINT_TEST, "AngMaxX", *xco+(width-(textButWidth-5)-togButWidth), *yco-offsetY, togButWidth, 18, &data->flag, 0, 24, 0, 0, "Use maximum x limit"); - uiDefButF(block, NUM, B_CONSTRAINT_TEST, "", *xco+(width-textButWidth-5), *yco-offsetY, (textButWidth-5), 18, &(data->maxLimit[3]), -extremeAngX, extremeAngX, 0.1,0.5,"max x limit"); - uiBlockEndAlign(block); - offsetY += 20; - uiBlockBeginAlign(block); - uiDefButBitS(block, TOG, LIMIT_YMAX, B_CONSTRAINT_TEST, "AngMinY", *xco, *yco-offsetY, togButWidth, 18, &data->flag, 0, 24, 0, 0, "Use minimum y limit"); - uiDefButF(block, NUM, B_CONSTRAINT_TEST, "", *xco+togButWidth, *yco-offsetY, (textButWidth-5), 18, &(data->minLimit[4]), -extremeAngY, extremeAngY, 0.1,0.5,"min y limit"); - uiBlockEndAlign(block); - uiBlockBeginAlign(block); - uiDefButBitS(block, TOG, LIMIT_YMAX, B_CONSTRAINT_TEST, "AngMaxY", *xco+(width-(textButWidth-5)-togButWidth), *yco-offsetY, togButWidth, 18, &data->flag, 0, 24, 0, 0, "Use maximum y limit"); - uiDefButF(block, NUM, B_CONSTRAINT_TEST, "", *xco+(width-textButWidth-5), *yco-offsetY, (textButWidth-5), 18, &(data->maxLimit[4]), -extremeAngY, extremeAngY, 0.1,0.5,"max y limit"); - uiBlockEndAlign(block); - offsetY += 20; - uiBlockBeginAlign(block); - uiDefButBitS(block, TOG, LIMIT_ZMAX, B_CONSTRAINT_TEST, "AngMinZ", *xco, *yco-offsetY, togButWidth, 18, &data->flag, 0, 24, 0, 0, "Use minimum z limit"); - uiDefButF(block, NUM, B_CONSTRAINT_TEST, "", *xco+togButWidth, *yco-offsetY, (textButWidth-5), 18, &(data->minLimit[5]), -extremeAngZ, extremeAngZ, 0.1,0.5,"min z limit"); - uiBlockEndAlign(block); - uiBlockBeginAlign(block); - uiDefButBitS(block, TOG, LIMIT_ZMAX, B_CONSTRAINT_TEST, "AngMaxZ", *xco+(width-(textButWidth-5)-togButWidth), *yco-offsetY, togButWidth, 18, &data->flag, 0, 24, 0, 0, "Use maximum z limit"); - uiDefButF(block, NUM, B_CONSTRAINT_TEST, "", *xco+(width-textButWidth-5), *yco-offsetY, (textButWidth-5), 18, &(data->maxLimit[5]), -extremeAngZ, extremeAngZ, 0.1,0.5,"max z limit"); - uiBlockEndAlign(block); - - - } + + if (data->type==CONSTRAINT_RB_GENERIC6DOF){ + /* Draw Pairs of LimitToggle+LimitValue */ + uiBlockBeginAlign(block); + uiDefButBitS(block, TOG, 1, B_CONSTRAINT_TEST, "LinMinX", *xco, *yco-offsetY, togButWidth, 18, &data->flag, 0, 24, 0, 0, "Use minimum x limit"); + uiDefButF(block, NUM, B_CONSTRAINT_TEST, "", *xco+togButWidth, *yco-offsetY, (textButWidth-5), 18, &(data->minLimit[0]), -extremeLin, extremeLin, 0.1,0.5,"min x limit"); + uiBlockEndAlign(block); + uiBlockBeginAlign(block); + uiDefButBitS(block, TOG, 1, B_CONSTRAINT_TEST, "LinMaxX", *xco+(width-(textButWidth-5)-togButWidth), *yco-offsetY, togButWidth, 18, &data->flag, 0, 24, 0, 0, "Use maximum x limit"); + uiDefButF(block, NUM, B_CONSTRAINT_TEST, "", *xco+(width-textButWidth-5), *yco-offsetY, (textButWidth), 18, &(data->maxLimit[0]), -extremeLin, extremeLin, 0.1,0.5,"max x limit"); + uiBlockEndAlign(block); + offsetY += 20; + uiBlockBeginAlign(block); + uiDefButBitS(block, TOG, 2, B_CONSTRAINT_TEST, "LinMinY", *xco, *yco-offsetY, togButWidth, 18, &data->flag, 0, 24, 0, 0, "Use minimum y limit"); + uiDefButF(block, NUM, B_CONSTRAINT_TEST, "", *xco+togButWidth, *yco-offsetY, (textButWidth-5), 18, &(data->minLimit[1]), -extremeLin, extremeLin, 0.1,0.5,"min y limit"); + uiBlockEndAlign(block); + uiBlockBeginAlign(block); + uiDefButBitS(block, TOG, 2, B_CONSTRAINT_TEST, "LinMaxY", *xco+(width-(textButWidth-5)-togButWidth), *yco-offsetY, togButWidth, 18, &data->flag, 0, 24, 0, 0, "Use maximum y limit"); + uiDefButF(block, NUM, B_CONSTRAINT_TEST, "", *xco+(width-textButWidth-5), *yco-offsetY, (textButWidth), 18, &(data->maxLimit[1]), -extremeLin, extremeLin, 0.1,0.5,"max y limit"); + uiBlockEndAlign(block); + offsetY += 20; + uiBlockBeginAlign(block); + uiDefButBitS(block, TOG, 4, B_CONSTRAINT_TEST, "LinMinZ", *xco, *yco-offsetY, togButWidth, 18, &data->flag, 0, 24, 0, 0, "Use minimum z limit"); + uiDefButF(block, NUM, B_CONSTRAINT_TEST, "", *xco+togButWidth, *yco-offsetY, (textButWidth-5), 18, &(data->minLimit[2]), -extremeLin, extremeLin, 0.1,0.5,"min z limit"); + uiBlockEndAlign(block); + uiBlockBeginAlign(block); + uiDefButBitS(block, TOG, 4, B_CONSTRAINT_TEST, "LinMaxZ", *xco+(width-(textButWidth-5)-togButWidth), *yco-offsetY, togButWidth, 18, &data->flag, 0, 24, 0, 0, "Use maximum z limit"); + uiDefButF(block, NUM, B_CONSTRAINT_TEST, "", *xco+(width-textButWidth-5), *yco-offsetY, (textButWidth), 18, &(data->maxLimit[2]), -extremeLin, extremeLin, 0.1,0.5,"max z limit"); + uiBlockEndAlign(block); + offsetY += 20; + /* Draw Pairs of LimitToggle+LimitValue */ + uiBlockBeginAlign(block); + uiDefButBitS(block, TOG, 8, B_CONSTRAINT_TEST, "AngMinX", *xco, *yco-offsetY, togButWidth, 18, &data->flag, 0, 24, 0, 0, "Use minimum x limit"); + uiDefButF(block, NUM, B_CONSTRAINT_TEST, "", *xco+togButWidth, *yco-offsetY, (textButWidth-5), 18, &(data->minLimit[3]), -extremeAngX, extremeAngX, 0.1,0.5,"min x limit"); + uiBlockEndAlign(block); + uiBlockBeginAlign(block); + uiDefButBitS(block, TOG, 8, B_CONSTRAINT_TEST, "AngMaxX", *xco+(width-(textButWidth-5)-togButWidth), *yco-offsetY, togButWidth, 18, &data->flag, 0, 24, 0, 0, "Use maximum x limit"); + uiDefButF(block, NUM, B_CONSTRAINT_TEST, "", *xco+(width-textButWidth-5), *yco-offsetY, (textButWidth), 18, &(data->maxLimit[3]), -extremeAngX, extremeAngX, 0.1,0.5,"max x limit"); + uiBlockEndAlign(block); + offsetY += 20; + uiBlockBeginAlign(block); + uiDefButBitS(block, TOG, 16, B_CONSTRAINT_TEST, "AngMinY", *xco, *yco-offsetY, togButWidth, 18, &data->flag, 0, 24, 0, 0, "Use minimum y limit"); + uiDefButF(block, NUM, B_CONSTRAINT_TEST, "", *xco+togButWidth, *yco-offsetY, (textButWidth-5), 18, &(data->minLimit[4]), -extremeAngY, extremeAngY, 0.1,0.5,"min y limit"); + uiBlockEndAlign(block); + uiBlockBeginAlign(block); + uiDefButBitS(block, TOG, 16, B_CONSTRAINT_TEST, "AngMaxY", *xco+(width-(textButWidth-5)-togButWidth), *yco-offsetY, togButWidth, 18, &data->flag, 0, 24, 0, 0, "Use maximum y limit"); + uiDefButF(block, NUM, B_CONSTRAINT_TEST, "", *xco+(width-textButWidth-5), *yco-offsetY, (textButWidth), 18, &(data->maxLimit[4]), -extremeAngY, extremeAngY, 0.1,0.5,"max y limit"); + uiBlockEndAlign(block); + offsetY += 20; + uiBlockBeginAlign(block); + uiDefButBitS(block, TOG, 32, B_CONSTRAINT_TEST, "AngMinZ", *xco, *yco-offsetY, togButWidth, 18, &data->flag, 0, 24, 0, 0, "Use minimum z limit"); + uiDefButF(block, NUM, B_CONSTRAINT_TEST, "", *xco+togButWidth, *yco-offsetY, (textButWidth-5), 18, &(data->minLimit[5]), -extremeAngZ, extremeAngZ, 0.1,0.5,"min z limit"); + uiBlockEndAlign(block); + uiBlockBeginAlign(block); + uiDefButBitS(block, TOG, 32, B_CONSTRAINT_TEST, "AngMaxZ", *xco+(width-(textButWidth-5)-togButWidth), *yco-offsetY, togButWidth, 18, &data->flag, 0, 24, 0, 0, "Use maximum z limit"); + uiDefButF(block, NUM, B_CONSTRAINT_TEST, "", *xco+(width-textButWidth-5), *yco-offsetY, (textButWidth), 18, &(data->maxLimit[5]), -extremeAngZ, extremeAngZ, 0.1,0.5,"max z limit"); + uiBlockEndAlign(block); + } + } } break; case CONSTRAINT_TYPE_NULL: diff --git a/source/gameengine/Converter/BL_BlenderDataConversion.cpp b/source/gameengine/Converter/BL_BlenderDataConversion.cpp index b8e273f3d19..2432462fecc 100644 --- a/source/gameengine/Converter/BL_BlenderDataConversion.cpp +++ b/source/gameengine/Converter/BL_BlenderDataConversion.cpp @@ -1939,12 +1939,37 @@ void BL_ConvertBlenderObjects(struct Main* maggie, for (curcon = (bConstraint *)conlist->first; curcon; curcon=(bConstraint *)curcon->next) { if (curcon->type==CONSTRAINT_TYPE_RIGIDBODYJOINT){ bRigidBodyJointConstraint *dat=(bRigidBodyJointConstraint *)curcon->data; - if (dat->tar) + //if (dat->tar) if (!dat->child){ - KX_GameObject *gotar=getGameOb(dat->tar->id.name,sumolist); + PHY_IPhysicsController* physctr2 = 0; + if (dat->tar) + { + KX_GameObject *gotar=getGameOb(dat->tar->id.name,sumolist); + physctr2 = (PHY_IPhysicsController*) gotar->GetPhysicsController()->GetUserData(); + } + PHY_IPhysicsController* physctrl = (PHY_IPhysicsController*) gameobj->GetPhysicsController()->GetUserData(); - PHY_IPhysicsController* physctr2 = (PHY_IPhysicsController*) gotar->GetPhysicsController()->GetUserData(); - kxscene->GetPhysicsEnvironment()->createConstraint(physctrl,physctr2,(PHY_ConstraintType)dat->type,(float)dat->pivX,(float)dat->pivY,(float)dat->pivZ,(float)dat->axX,(float)dat->axY,(float)dat->axZ); + + int constraintId = kxscene->GetPhysicsEnvironment()->createConstraint(physctrl,physctr2,(PHY_ConstraintType)dat->type,(float)dat->pivX,(float)dat->pivY,(float)dat->pivZ,(float)dat->axX,(float)dat->axY,(float)dat->axZ); + //if it is a generic 6DOF constraint, set all the limits accordingly + if (dat->type == PHY_GENERIC_6DOF_CONSTRAINT) + { + int dof; + int dofbit=1; + for (dof=0;dof<6;dof++) + { + 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); + } + dofbit<<=1; + } + } + } } } diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp index 37eb0ef76e3..db5de7c7d43 100644 --- a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp +++ b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp @@ -782,24 +782,37 @@ CcdPhysicsController* CcdPhysicsEnvironment::GetPhysicsController( int index) - +void CcdPhysicsEnvironment::setConstraintParam(int constraintId,int param,float value0,float value1) +{ + btTypedConstraint* typedConstraint = getConstraintById(constraintId); + switch (typedConstraint->getUserConstraintType()) + { + case PHY_GENERIC_6DOF_CONSTRAINT: + { + //param = 1..12, min0,max0,min1,max1...min6,max6 + btGeneric6DofConstraint* genCons = (btGeneric6DofConstraint*)typedConstraint; + genCons->SetLimit(param,value0,value1); + break; + }; + default: + { + }; + }; +} btTypedConstraint* CcdPhysicsEnvironment::getConstraintById(int constraintId) { - return 0; - /* - int numConstraint = m_constraints.size(); + + int numConstraints = m_dynamicsWorld->getNumConstraints(); int i; - for (i=0;igetConstraint(i); if (constraint->getUserConstraintId()==constraintId) { return constraint; } } - */ - return 0; } @@ -1004,7 +1017,8 @@ int CcdPhysicsEnvironment::createConstraint(class PHY_IPhysicsController* ctrl return 0; btVector3 pivotInA(pivotX,pivotY,pivotZ); - btVector3 pivotInB = rb1 ? rb1->getCenterOfMassTransform().inverse()(rb0->getCenterOfMassTransform()(pivotInA)) : pivotInA; + btVector3 pivotInB = rb1 ? rb1->getCenterOfMassTransform().inverse()(rb0->getCenterOfMassTransform()(pivotInA)) : + rb0->getCenterOfMassTransform() * pivotInA; btVector3 axisInA(axisX,axisY,axisZ); btVector3 axisInB = rb1 ? (rb1->getCenterOfMassTransform().getBasis().inverse()*(rb0->getCenterOfMassTransform().getBasis() * axisInA)) : @@ -1072,17 +1086,41 @@ int CcdPhysicsEnvironment::createConstraint(class PHY_IPhysicsController* ctrl } else { - // TODO: Implement single body case... + static btRigidBody s_fixedObject2( 0,0,0); + btTransform frameInA; + btTransform frameInB; + + btVector3 axis1, axis2; + btPlaneSpace1( axisInA, axis1, axis2 ); + frameInA.getBasis().setValue( axisInA.x(), axis1.x(), axis2.x(), + axisInA.y(), axis1.y(), axis2.y(), + axisInA.z(), axis1.z(), axis2.z() ); + + + btPlaneSpace1( axisInB, axis1, axis2 ); + frameInB.getBasis().setValue( axisInB.x(), axis1.x(), axis2.x(), + axisInB.y(), axis1.y(), axis2.y(), + axisInB.z(), axis1.z(), axis2.z() ); + + frameInA.setOrigin( pivotInA ); + frameInB.setOrigin( pivotInB ); + + + genericConstraint = new btGeneric6DofConstraint( + *rb0,s_fixedObject2, + frameInA,frameInB); } - - //m_constraints.push_back(genericConstraint); - m_dynamicsWorld->addConstraint(genericConstraint); - genericConstraint->setUserConstraintId(gConstraintUid++); - genericConstraint->setUserConstraintType(type); - //64 bit systems can't cast pointer to int. could use size_t instead. - return genericConstraint->getUserConstraintId(); + if (genericConstraint) + { + //m_constraints.push_back(genericConstraint); + m_dynamicsWorld->addConstraint(genericConstraint); + genericConstraint->setUserConstraintId(gConstraintUid++); + genericConstraint->setUserConstraintType(type); + //64 bit systems can't cast pointer to int. could use size_t instead. + return genericConstraint->getUserConstraintId(); + } break; } diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h index 05c9e2a6b03..9a8fc3f435d 100644 --- a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h +++ b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.h @@ -131,6 +131,7 @@ protected: const btVector3& angularMaxLimits ); + virtual void setConstraintParam(int constraintId,int param,float value,float value1); virtual void removeConstraint(int constraintid); diff --git a/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.h b/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.h index 278f4eea9ca..bd4e00e9fa5 100644 --- a/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.h +++ b/source/gameengine/Physics/Dummy/DummyPhysicsEnvironment.h @@ -83,6 +83,9 @@ public: virtual PHY_IPhysicsController* CreateSphereController(float radius,const PHY__Vector3& position) {return 0;} virtual PHY_IPhysicsController* CreateConeController(float coneradius,float coneheight) { return 0;} + virtual void setConstraintParam(int constraintId,int param,float value,float value1) + { + } }; diff --git a/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.h b/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.h index 886bc8bb5fd..1afb9433500 100644 --- a/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.h +++ b/source/gameengine/Physics/Sumo/SumoPhysicsEnvironment.h @@ -86,7 +86,9 @@ public: virtual PHY_IPhysicsController* CreateSphereController(float radius,const PHY__Vector3& position); virtual PHY_IPhysicsController* CreateConeController(float coneradius,float coneheight); - + virtual void setConstraintParam(int constraintId,int param,float value,float value1) + { + } SM_Scene* GetSumoScene() { return m_sumoScene; diff --git a/source/gameengine/Physics/common/PHY_IPhysicsEnvironment.h b/source/gameengine/Physics/common/PHY_IPhysicsEnvironment.h index 2f3d8283d10..2716baa0d6d 100644 --- a/source/gameengine/Physics/common/PHY_IPhysicsEnvironment.h +++ b/source/gameengine/Physics/common/PHY_IPhysicsEnvironment.h @@ -107,6 +107,7 @@ class PHY_IPhysicsEnvironment virtual PHY_IPhysicsController* CreateSphereController(float radius,const PHY__Vector3& position) =0; virtual PHY_IPhysicsController* CreateConeController(float coneradius,float coneheight)=0; + virtual void setConstraintParam(int constraintId,int param,float value,float value1) = 0; }; #endif //_IPHYSICSENVIRONMENT