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* Documented that get/setOrientation use an inverted rotation matrix 

* OB prefix is needed when specifying the object for the Message Actuator, this is very bad since other object fields in the BGE dont need this prefix - a real fix would need do_versions to keep old files running.
* RotationMatrix was all nans if the rotation vector axis was 0,0,0, Changed so in this case just return a matrix that doesn't rotate anything,

spent some angry hours to find these issues, maybe this will save others the hassle ;)
This commit is contained in:
Campbell Barton 2008-06-20 20:54:29 +00:00
parent de7619991c
commit a1e78a0cca
3 changed files with 30 additions and 25 deletions
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49
source/blender/python/api2_2x/Mathutils.c
View File

@ -725,28 +725,33 @@ PyObject *M_Mathutils_RotationMatrix(PyObject * self, PyObject * args)
vec->vec[0] /= norm;
vec->vec[1] /= norm;
vec->vec[2] /= norm;
//create matrix
cosAngle = (float) cos(angle);
sinAngle = (float) sin(angle);
mat[0] = ((vec->vec[0] * vec->vec[0]) * (1 - cosAngle)) +
cosAngle;
mat[1] = ((vec->vec[0] * vec->vec[1]) * (1 - cosAngle)) +
(vec->vec[2] * sinAngle);
mat[2] = ((vec->vec[0] * vec->vec[2]) * (1 - cosAngle)) -
(vec->vec[1] * sinAngle);
mat[3] = ((vec->vec[0] * vec->vec[1]) * (1 - cosAngle)) -
(vec->vec[2] * sinAngle);
mat[4] = ((vec->vec[1] * vec->vec[1]) * (1 - cosAngle)) +
cosAngle;
mat[5] = ((vec->vec[1] * vec->vec[2]) * (1 - cosAngle)) +
(vec->vec[0] * sinAngle);
mat[6] = ((vec->vec[0] * vec->vec[2]) * (1 - cosAngle)) +
(vec->vec[1] * sinAngle);
mat[7] = ((vec->vec[1] * vec->vec[2]) * (1 - cosAngle)) -
(vec->vec[0] * sinAngle);
mat[8] = ((vec->vec[2] * vec->vec[2]) * (1 - cosAngle)) +
cosAngle;
if (isnan(vec->vec[0]) || isnan(vec->vec[1]) || isnan(vec->vec[2])) {
/* zero length vector, return an identity matrix, could also return an error */
mat[0]= mat[4] = mat[8] = 1.0f;
} else {
/* create matrix */
cosAngle = (float) cos(angle);
sinAngle = (float) sin(angle);
mat[0] = ((vec->vec[0] * vec->vec[0]) * (1 - cosAngle)) +
cosAngle;
mat[1] = ((vec->vec[0] * vec->vec[1]) * (1 - cosAngle)) +
(vec->vec[2] * sinAngle);
mat[2] = ((vec->vec[0] * vec->vec[2]) * (1 - cosAngle)) -
(vec->vec[1] * sinAngle);
mat[3] = ((vec->vec[0] * vec->vec[1]) * (1 - cosAngle)) -
(vec->vec[2] * sinAngle);
mat[4] = ((vec->vec[1] * vec->vec[1]) * (1 - cosAngle)) +
cosAngle;
mat[5] = ((vec->vec[1] * vec->vec[2]) * (1 - cosAngle)) +
(vec->vec[0] * sinAngle);
mat[6] = ((vec->vec[0] * vec->vec[2]) * (1 - cosAngle)) +
(vec->vec[1] * sinAngle);
mat[7] = ((vec->vec[1] * vec->vec[2]) * (1 - cosAngle)) -
(vec->vec[0] * sinAngle);
mat[8] = ((vec->vec[2] * vec->vec[2]) * (1 - cosAngle)) +
cosAngle;
}
} else {
return EXPP_ReturnPyObjError(PyExc_AttributeError,
"Mathutils.RotationMatrix(): unrecognizable axis of rotation type - expected x,y,z or r\n");

2
source/blender/src/buttons_logic.c
View File

@ -2149,7 +2149,7 @@ static short draw_actuatorbuttons(bActuator *act, uiBlock *block, short xco, sho
uiDefBut(block, TEX, 1, "To: ",
(xco+10), (yco-(myline++*24)), (width-20), 19,
&ma->toPropName, 0, 31, 0, 0,
"Optional send message to objects with this name only"
"Optional send message to objects with this name only (Prefix name with OB)"
", or empty to broadcast");
#endif

4
source/gameengine/PyDoc/KX_GameObject.py
View File

@ -50,7 +50,7 @@ class KX_GameObject:
"""
Sets the game object's orientation.
@type orn: 3x3 rotation matrix, or Quaternion.
@type orn: 3x3 inverted rotation matrix, or Quaternion.
@param orn: a rotation matrix specifying the new rotation.
"""
def alignAxisToVect(vect, axis):
@ -69,7 +69,7 @@ class KX_GameObject:
"""
Gets the game object's orientation.
@rtype: 3x3 rotation matrix
@rtype: 3x3 inverted rotation matrix
@return: The game object's rotation matrix
"""
def getLinearVelocity(local):