BGE patch: [#26223] Some RigidBody joints fixes (ui angles, conetwist/hinge limits etc) by Juha Mäki-Kanto + ui changes pour moi

From the tracker:::
Issues fixed:
- ConeTwist-constraint's params weren't making it to the CcdPhysicsEnvironment, also added Hinge's params.
- UI wasn't using angles where applicable.
- btHingeConstraint's constructor can create frame-matrices which don't align so the hinge doesn's start at 0 degree tilt.
This is an issue when setting limits.

Changes:
- UI: Hinge limits can be set (and disabled).
- UI: ConeTwist only has max-limits and only the twistX can be disabled
- PyApi via rna_constraint.c: added the functions limit_xyz_min, limit_xyz_max (for 6dof), limit_angle_xyz_min,
limit_angle_xyz_max (for 6dof), limit_angle_x_min, limit_angle_x_max (for hinge).
- PyApi: dropped python-function limit_cone_min. 

.:. Extra:
UI Changes:
- renamed "RigidBody Joint" to "Rigid Boidy Joint" 
- reorganized UI to conform with other parameters (e.g. Limit Rot)
- added dis/active all over the place :)

5 files changed, 245 insertions, 98 deletions

diff --git a/release/scripts/ui/properties_object_constraint.py b/release/scripts/ui/properties_object_constraint.py
index ad6c0630289..6034fb9e51e 100644
--- a/release/scripts/ui/properties_object_constraint.py
+++ b/release/scripts/ui/properties_object_constraint.py
@@ -535,32 +535,86 @@ class ConstraintButtonsPanel():
             layout.label(text="Limits:")
             split = layout.split()
 
-            col = split.column(align=True)
-            col.prop(con, "use_angular_limit_x", text="Angular X")
-            col.prop(con, "use_angular_limit_y", text="Angular Y")
-            col.prop(con, "use_angular_limit_z", text="Angular Z")
+            col = split.column()
+            col.prop(con, "use_angular_limit_x", text="Angle X")
+            subcol = col.column()
+            subcol.active  =con.use_angular_limit_x
+            subcol.prop(con, "limit_angle_max_x", text="")
 
             col = split.column()
-            col.prop(con, "limit_cone_min", text="")
+            col.prop(con, "use_angular_limit_y", text="Angle Y")
+            subcol = col.column()
+            subcol.active  =con.use_angular_limit_y
+            subcol.prop(con, "limit_angle_max_y", text="")
+
             col = split.column()
-            col.prop(con, "limit_cone_max", text="")
+            col.prop(con, "use_angular_limit_z", text="Angle Z")
+            subcol = col.column()
+            subcol.active  =con.use_angular_limit_z
+            subcol.prop(con, "limit_angle_max_z", text="")
 
         elif con.pivot_type == 'GENERIC_6_DOF':
             layout.label(text="Limits:")
             split = layout.split()
-
+    
             col = split.column(align=True)
             col.prop(con, "use_limit_x", text="X")
+            sub = col.column()
+            sub.active = con.use_limit_x
+            sub.prop(con, "limit_min_x", text="Min")
+            sub.prop(con, "limit_max_x", text="Max")
+            
+            col = split.column(align=True)
             col.prop(con, "use_limit_y", text="Y")
+            sub = col.column()
+            sub.active = con.use_limit_y
+            sub.prop(con, "limit_min_y", text="Min")
+            sub.prop(con, "limit_max_y", text="Max")
+            
+            col = split.column(align=True)
             col.prop(con, "use_limit_z", text="Z")
-            col.prop(con, "use_angular_limit_x", text="Angular X")
-            col.prop(con, "use_angular_limit_y", text="Angular Y")
-            col.prop(con, "use_angular_limit_z", text="Angular Z")
+            sub = col.column()
+            sub.active = con.use_limit_z
+            sub.prop(con, "limit_min_z", text="Min")
+            sub.prop(con, "limit_max_z", text="Max")
+    
+            split = layout.split()
+    
+            col = split.column(align=True)
+            col.prop(con, "use_angular_limit_x", text="Angle X")
+            sub = col.column()
+            sub.active = con.use_angular_limit_x
+            sub.prop(con, "limit_angle_min_x", text="Min")
+            sub.prop(con, "limit_angle_max_x", text="Max")
+    
+            col = split.column(align=True)
+            col.prop(con, "use_angular_limit_y", text="Angle Y")
+            sub = col.column()
+            sub.active = con.use_angular_limit_y
+            sub.prop(con, "limit_angle_min_y", text="Min")
+            sub.prop(con, "limit_angle_max_y", text="Max")
+    
+            col = split.column(align=True)
+            col.prop(con, "use_angular_limit_z", text="Angle Z")
+            sub = col.column()
+            sub.active = con.use_angular_limit_z
+            sub.prop(con, "limit_angle_min_z", text="Min")
+            sub.prop(con, "limit_angle_max_z", text="Max")
 
-            col = split.column()
-            col.prop(con, "limit_generic_min", text="")
-            col = split.column()
-            col.prop(con, "limit_generic_max", text="")
+        elif con.pivot_type == 'HINGE':
+            layout.label(text="Limits:")
+            split = layout.split()
+
+            row = split.row(align=True)
+            col = row.column()
+            col.prop(con, "use_angular_limit_x", text="Angle X")
+
+            col = row.column()
+            col.active = con.use_angular_limit_x
+            col.prop(con, "limit_angle_min_x", text="Min")
+            col = row.column()
+            col.active = con.use_angular_limit_x
+            col.prop(con, "limit_angle_max_x", text="Max")
 
     def CLAMP_TO(self, context, layout, con):
         self.target_template(layout, con)
@@ -736,4 +790,4 @@ def unregister():
     bpy.utils.unregister_module(__name__)
 
 if __name__ == "__main__":
-    register()
+    register()
\ No newline at end of file
diff --git a/source/blender/blenkernel/intern/constraint.c b/source/blender/blenkernel/intern/constraint.c
index 827dddf34d3..2bbed3ba9f0 100644
--- a/source/blender/blenkernel/intern/constraint.c
+++ b/source/blender/blenkernel/intern/constraint.c
@@ -3069,7 +3069,7 @@ static void rbj_flush_tars (bConstraint *con, ListBase *list, short nocopy)
 static bConstraintTypeInfo CTI_RIGIDBODYJOINT = {
 	CONSTRAINT_TYPE_RIGIDBODYJOINT, /* type */
 	sizeof(bRigidBodyJointConstraint), /* size */
-	"RigidBody Joint", /* name */
+	"Rigid Body Joint", /* name */
 	"bRigidBodyJointConstraint", /* struct name */
 	NULL, /* free data */
 	NULL, /* relink data */
diff --git a/source/blender/makesrna/intern/rna_constraint.c b/source/blender/makesrna/intern/rna_constraint.c
index 3d516440731..92637e1577c 100644
--- a/source/blender/makesrna/intern/rna_constraint.c
+++ b/source/blender/makesrna/intern/rna_constraint.c
@@ -322,47 +322,6 @@ static void rna_SplineIKConstraint_joint_bindings_set(PointerRNA *ptr, const flo
 	memcpy(ikData->points, values, ikData->numpoints * sizeof(float));
 }
 
-/* Array Get/Set Functions for RigidBodyJointConstraint Min/Max Cone Limits */
-void rna_RigidBodyJointConstraint_limit_cone_min_get(PointerRNA *ptr, float values[3])
-{
-	bRigidBodyJointConstraint *data= (bRigidBodyJointConstraint*)(((bConstraint*)ptr->data)->data);
-	float *limit = data->minLimit;
-	
-	values[0]= limit[3];
-	values[1]= limit[4];
-	values[2]= limit[5];
-}
-
-static void rna_RigidBodyJointConstraint_limit_cone_min_set(PointerRNA *ptr, const float values[3])
-{
-	bRigidBodyJointConstraint *data= (bRigidBodyJointConstraint*)(((bConstraint*)ptr->data)->data);
-	float *limit = data->minLimit;
-	
-	limit[3]= values[0];
-	limit[4]= values[1];
-	limit[5]= values[2];
-}
-
-void rna_RigidBodyJointConstraint_limit_cone_max_get(PointerRNA *ptr, float values[3])
-{
-	bRigidBodyJointConstraint *data= (bRigidBodyJointConstraint*)(((bConstraint*)ptr->data)->data);
-	float *limit = data->maxLimit;
-	
-	values[0]= limit[3];
-	values[1]= limit[4];
-	values[2]= limit[5];
-}
-
-static void rna_RigidBodyJointConstraint_limit_cone_max_set(PointerRNA *ptr, const float values[3])
-{
-	bRigidBodyJointConstraint *data= (bRigidBodyJointConstraint*)(((bConstraint*)ptr->data)->data);
-	float *limit = data->maxLimit;
-	
-	limit[3]= values[0];
-	limit[4]= values[1];
-	limit[5]= values[2];
-}
-
 #else
 
 EnumPropertyItem constraint_distance_items[] = {
@@ -1293,62 +1252,92 @@ static void rna_def_constraint_rigid_body_joint(BlenderRNA *brna)
 	RNA_def_property_update(prop, NC_OBJECT|ND_CONSTRAINT, "rna_Constraint_update");
 	
 	
-	/* Limit */
-    
-    /* Limit Min/Max for genereic 6 DoF */
-	prop= RNA_def_property(srna, "limit_generic_min", PROP_FLOAT, PROP_NONE);
-	RNA_def_property_float_sdna(prop, NULL, "minLimit");
-	RNA_def_property_array(prop, 6);
-	RNA_def_property_ui_text(prop, "Minimum Limit", "");
-
-	prop= RNA_def_property(srna, "limit_generic_max", PROP_FLOAT, PROP_NONE);
-	RNA_def_property_float_sdna(prop, NULL, "maxLimit");
-	RNA_def_property_array(prop, 6);
-	RNA_def_property_ui_text(prop, "Maximum Limit", "");
-    
-    /* Limit Min/Max for Cone Twist */
-	prop= RNA_def_property(srna, "limit_cone_min", PROP_FLOAT, PROP_NONE);
-	RNA_def_property_float_sdna(prop, NULL, "minLimit");
-	RNA_def_property_float_funcs(prop, "rna_RigidBodyJointConstraint_limit_cone_min_get", "rna_RigidBodyJointConstraint_limit_cone_min_set", NULL);
-	RNA_def_property_array(prop, 3);
-	RNA_def_property_ui_text(prop, "Minimum Limit", "");
-
-	prop= RNA_def_property(srna, "limit_cone_max", PROP_FLOAT, PROP_NONE);
-	RNA_def_property_float_sdna(prop, NULL, "maxLimit");
-	RNA_def_property_float_funcs(prop, "rna_RigidBodyJointConstraint_limit_cone_max_get", "rna_RigidBodyJointConstraint_limit_cone_max_set", NULL);
-	RNA_def_property_array(prop, 3);
-	RNA_def_property_ui_text(prop, "Maximum Limit", "");
+	/* Limits */
+	/* Limit Min/Max */
+	prop= RNA_def_property(srna, "limit_min_x", PROP_FLOAT, PROP_NONE);
+	RNA_def_property_float_sdna(prop, NULL, "minLimit[0]");
+	RNA_def_property_ui_text(prop, "Minimum Limit X", "");
+
+	prop= RNA_def_property(srna, "limit_min_y", PROP_FLOAT, PROP_NONE);
+	RNA_def_property_float_sdna(prop, NULL, "minLimit[1]");
+	RNA_def_property_ui_text(prop, "Minimum Limit Y", "");
+
+	prop= RNA_def_property(srna, "limit_min_z", PROP_FLOAT, PROP_NONE);
+	RNA_def_property_float_sdna(prop, NULL, "minLimit[2]");
+	RNA_def_property_ui_text(prop, "Minimum Limit Z", "");
+
+	prop= RNA_def_property(srna, "limit_max_x", PROP_FLOAT, PROP_NONE);
+	RNA_def_property_float_sdna(prop, NULL, "maxLimit[0]");
+	RNA_def_property_ui_text(prop, "Maximum Limit X", "");
+
+	prop= RNA_def_property(srna, "limit_max_y", PROP_FLOAT, PROP_NONE);
+	RNA_def_property_float_sdna(prop, NULL, "maxLimit[1]");
+	RNA_def_property_ui_text(prop, "Maximum Limit Y", "");
+
+	prop= RNA_def_property(srna, "limit_max_z", PROP_FLOAT, PROP_NONE);
+	RNA_def_property_float_sdna(prop, NULL, "maxLimit[2]");
+	RNA_def_property_ui_text(prop, "Maximum Limit Z", "");
+
+	/* Limit Min/Max for angle */
+	prop= RNA_def_property(srna, "limit_angle_min_x", PROP_FLOAT, PROP_ANGLE);
+	RNA_def_property_float_sdna(prop, NULL, "minLimit[3]");
+	RNA_def_property_range(prop, -M_PI*2, M_PI*2);
+	RNA_def_property_ui_text(prop, "Minimum Angular Limit X", "");
 
-    
-    /* Limit Booleans */
+	prop= RNA_def_property(srna, "limit_angle_min_y", PROP_FLOAT, PROP_ANGLE);
+	RNA_def_property_float_sdna(prop, NULL, "minLimit[4]");
+	RNA_def_property_range(prop, -M_PI*2, M_PI*2);
+	RNA_def_property_ui_text(prop, "Minimum Angular Limit Y", "");
+
+	prop= RNA_def_property(srna, "limit_angle_min_z", PROP_FLOAT, PROP_ANGLE);
+	RNA_def_property_float_sdna(prop, NULL, "minLimit[5]");
+	RNA_def_property_range(prop, -M_PI*2, M_PI*2);
+	RNA_def_property_ui_text(prop, "Minimum Angular Limit Z", "");
+
+	prop= RNA_def_property(srna, "limit_angle_max_x", PROP_FLOAT, PROP_ANGLE);
+	RNA_def_property_float_sdna(prop, NULL, "maxLimit[3]");
+	RNA_def_property_range(prop, -M_PI*2, M_PI*2);
+	RNA_def_property_ui_text(prop, "Maximum Angular Limit X", "");
+	
+	prop= RNA_def_property(srna, "limit_angle_max_y", PROP_FLOAT, PROP_ANGLE);
+	RNA_def_property_float_sdna(prop, NULL, "maxLimit[4]");
+	RNA_def_property_range(prop, -M_PI*2, M_PI*2);
+	RNA_def_property_ui_text(prop, "Maximum Angular Limit Y", "");
+
+	prop= RNA_def_property(srna, "limit_angle_max_z", PROP_FLOAT, PROP_ANGLE);
+	RNA_def_property_float_sdna(prop, NULL, "maxLimit[5]");
+	RNA_def_property_range(prop, -M_PI*2, M_PI*2);
+	RNA_def_property_ui_text(prop, "Maximum Angular Limit Z", "");
+
+	/* Limit Booleans */
 	prop= RNA_def_property(srna, "use_limit_x", PROP_BOOLEAN, PROP_NONE);
 	RNA_def_property_boolean_sdna(prop, NULL, "flag", 1);
-	RNA_def_property_ui_text(prop, "Use X Limit", "Use minimum/maximum x limit");
+	RNA_def_property_ui_text(prop, "Limit X", "Use minimum/maximum x limit");
 	RNA_def_property_update(prop, NC_OBJECT|ND_CONSTRAINT, "rna_Constraint_update");
 	
 	prop= RNA_def_property(srna, "use_limit_y", PROP_BOOLEAN, PROP_NONE);
 	RNA_def_property_boolean_sdna(prop, NULL, "flag", 2);
-	RNA_def_property_ui_text(prop, "Use Y Limit", "Use minimum/maximum y limit");
+	RNA_def_property_ui_text(prop, "Limit Y", "Use minimum/maximum y limit");
 	RNA_def_property_update(prop, NC_OBJECT|ND_CONSTRAINT, "rna_Constraint_update");
 	
 	prop= RNA_def_property(srna, "use_limit_z", PROP_BOOLEAN, PROP_NONE);
 	RNA_def_property_boolean_sdna(prop, NULL, "flag", 4);
-	RNA_def_property_ui_text(prop, "Use Z Limit", "Use minimum/maximum z limit");
+	RNA_def_property_ui_text(prop, "Limit Z", "Use minimum/maximum z limit");
 	RNA_def_property_update(prop, NC_OBJECT|ND_CONSTRAINT, "rna_Constraint_update");
     
 	prop= RNA_def_property(srna, "use_angular_limit_x", PROP_BOOLEAN, PROP_NONE);
 	RNA_def_property_boolean_sdna(prop, NULL, "flag", 8);
-	RNA_def_property_ui_text(prop, "Use Angular X Limit", "Use minimum/maximum x angular limit");
+	RNA_def_property_ui_text(prop, "Angular X Limit", "Use minimum/maximum x angular limit");
 	RNA_def_property_update(prop, NC_OBJECT|ND_CONSTRAINT, "rna_Constraint_update");
 	
 	prop= RNA_def_property(srna, "use_angular_limit_y", PROP_BOOLEAN, PROP_NONE);
 	RNA_def_property_boolean_sdna(prop, NULL, "flag", 16);
-	RNA_def_property_ui_text(prop, "Use Angular Y Limit", "Use minimum/maximum y angular limit");
+	RNA_def_property_ui_text(prop, "Angular Y Limit", "Use minimum/maximum y angular limit");
 	RNA_def_property_update(prop, NC_OBJECT|ND_CONSTRAINT, "rna_Constraint_update");
 	
 	prop= RNA_def_property(srna, "use_angular_limit_z", PROP_BOOLEAN, PROP_NONE);
 	RNA_def_property_boolean_sdna(prop, NULL, "flag", 32);
-	RNA_def_property_ui_text(prop, "Use Angular Z Limit", "Use minimum/maximum z angular limit");
+	RNA_def_property_ui_text(prop, "Angular Z Limit", "Use minimum/maximum z angular limit");
 	RNA_def_property_update(prop, NC_OBJECT|ND_CONSTRAINT, "rna_Constraint_update");
     
 }
diff --git a/source/gameengine/Converter/BL_BlenderDataConversion.cpp b/source/gameengine/Converter/BL_BlenderDataConversion.cpp
index d69ae6b1821..35cd4edf945 100644
--- a/source/gameengine/Converter/BL_BlenderDataConversion.cpp
+++ b/source/gameengine/Converter/BL_BlenderDataConversion.cpp
@@ -2651,6 +2651,41 @@ void BL_ConvertBlenderObjects(struct Main* maggie,
 										dofbit<<=1;
 									}
 								}
+								else if(dat->type == PHY_CONE_TWIST_CONSTRAINT)
+								{
+									int dof;
+									int dofbit = 1<<3; // bitflag use_angular_limit_x
+									
+									for (dof=3;dof<6;dof++)
+									{
+										// flag only applies to angular limit x
+										if(dof != 3 || dat->flag & dofbit)
+										{
+											kxscene->GetPhysicsEnvironment()->setConstraintParam(constraintId,dof,dat->minLimit[dof],dat->maxLimit[dof]);
+										}
+										else
+										{
+											//maxLimit < 0 means free(disabled limit) for this degree of freedom
+											kxscene->GetPhysicsEnvironment()->setConstraintParam(constraintId,dof,1,-1);
+										}
+										dofbit<<=1;
+									}								
+								}
+								else if (dat->type == PHY_LINEHINGE_CONSTRAINT)
+								{
+									int dof = 3; // dof for angular x
+									int dofbit = 1<<3; // bitflag use_angular_limit_x
+									
+									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);
+									}
+								}
 							}
 						}
 					}
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
index 93f1d0962d7..937c70ede5e 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
@@ -1990,6 +1990,41 @@ void	CcdPhysicsEnvironment::setConstraintParam(int constraintId,int param,float
 			default:
 				{
 				}
+			};
+			break;
+		};
+	case PHY_CONE_TWIST_CONSTRAINT:
+		{
+			switch (param)
+			{
+			case 3: case 4: case 5:
+				{
+					//param = 3,4,5 are constraint limits, high limit values
+					btConeTwistConstraint* coneTwist = (btConeTwistConstraint*)typedConstraint;
+					coneTwist->setLimit(param,value1);
+					break;
+				}
+			default:
+				{
+				}
+			};
+			break;
+		};
+	case PHY_ANGULAR_CONSTRAINT:
+	case PHY_LINEHINGE_CONSTRAINT:
+		{
+			switch (param)
+			{
+			case 3:
+				{
+					//param = 3 is a constraint limit, with low/high limit value
+					btHingeConstraint* hingeCons = (btHingeConstraint*)typedConstraint;
+					hingeCons->setLimit(value0,value1);
+					break;
+				}
+			default:
+				{
+				}
 			}
 			break;
 		};
@@ -2623,20 +2658,54 @@ int			CcdPhysicsEnvironment::createConstraint(class PHY_IPhysicsController* ctrl
 
 			if (rb1)
 			{
-				btVector3 axisInB = rb1 ? 
-				(rb1->getCenterOfMassTransform().getBasis().inverse()*(rb0->getCenterOfMassTransform().getBasis() * axisInA)) : 
-				rb0->getCenterOfMassTransform().getBasis() * axisInA;
+				// We know the orientations so we should use them instead of
+				// having btHingeConstraint fill in the blanks any way it wants to.
+				btTransform frameInA;
+				btTransform frameInB;
+				
+				btVector3 axis1(axis1X,axis1Y,axis1Z), axis2(axis2X,axis2Y,axis2Z);
+				if (axis1.length() == 0.0)
+				{
+					btPlaneSpace1( axisInA, axis1, axis2 );
+				}
+				
+				// Internally btHingeConstraint's hinge-axis is z
+				frameInA.getBasis().setValue( axis1.x(), axis2.x(), axisInA.x(),
+											axis1.y(), axis2.y(), axisInA.y(),
+											axis1.z(), axis2.z(), axisInA.z() );
+											
+				frameInA.setOrigin( pivotInA );
+
+				btTransform inv = rb1->getCenterOfMassTransform().inverse();
 
-				hinge = new btHingeConstraint(
-					*rb0,
-					*rb1,pivotInA,pivotInB,axisInA,axisInB);
+				btTransform globalFrameA = rb0->getCenterOfMassTransform() * frameInA;
+				
+				frameInB = inv  * globalFrameA;
+				
+				hinge = new btHingeConstraint(*rb0,*rb1,frameInA,frameInB);
 
 
 			} else
 			{
-				hinge = new btHingeConstraint(*rb0,
-					pivotInA,axisInA);
+				static btRigidBody s_fixedObject2( 0,0,0);
+
+				btTransform frameInA;
+				btTransform frameInB;
+				
+				btVector3 axis1(axis1X,axis1Y,axis1Z), axis2(axis2X,axis2Y,axis2Z);
+				if (axis1.length() == 0.0)
+				{
+					btPlaneSpace1( axisInA, axis1, axis2 );
+				}
+
+				// Internally btHingeConstraint's hinge-axis is z
+				frameInA.getBasis().setValue( axis1.x(), axis2.x(), axisInA.x(),
+											axis1.y(), axis2.y(), axisInA.y(),
+											axis1.z(), axis2.z(), axisInA.z() );
+				frameInA.setOrigin( pivotInA );
+				frameInB = rb0->getCenterOfMassTransform() * frameInA;
 
+				hinge = new btHingeConstraint(*rb0, s_fixedObject2, frameInA, frameInB);
 			}
 			hinge->setAngularOnly(angularOnly);