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

3 files changed, 58 insertions, 1 deletions

diff --git a/source/gameengine/Ketsji/KX_ConstraintWrapper.cpp b/source/gameengine/Ketsji/KX_ConstraintWrapper.cpp
index c63f9e57ed2..7af2b15a14c 100644
--- a/source/gameengine/Ketsji/KX_ConstraintWrapper.cpp
+++ b/source/gameengine/Ketsji/KX_ConstraintWrapper.cpp
@@ -54,6 +54,31 @@ PyObject* KX_ConstraintWrapper::PyGetConstraintId(PyObject* args, PyObject* kwds
 	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 @@ int	KX_ConstraintWrapper::py_setattro(PyObject *attr,PyObject* value)
 };
 
 
+
+
+
 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
 };
 
diff --git a/source/gameengine/Ketsji/KX_ConstraintWrapper.h b/source/gameengine/Ketsji/KX_ConstraintWrapper.h
index 3270d57188d..0772d257b56 100644
--- a/source/gameengine/Ketsji/KX_ConstraintWrapper.h
+++ b/source/gameengine/Ketsji/KX_ConstraintWrapper.h
@@ -45,6 +45,8 @@ public:
 	
 	KX_PYMETHOD(KX_ConstraintWrapper,TestMethod);
 	KX_PYMETHOD(KX_ConstraintWrapper,GetConstraintId);
+	KX_PYMETHOD(KX_ConstraintWrapper,SetLimit);
+	KX_PYMETHOD(KX_ConstraintWrapper,EnableMotor);
 
 private:
 	int					m_constraintId;
diff --git a/source/gameengine/Ketsji/KX_PyConstraintBinding.cpp b/source/gameengine/Ketsji/KX_PyConstraintBinding.cpp
index 0f21b24489d..1d52057317e 100644
--- a/source/gameengine/Ketsji/KX_PyConstraintBinding.cpp
+++ b/source/gameengine/Ketsji/KX_PyConstraintBinding.cpp
@@ -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 @@ static PyObject* gPyCreateConstraint(PyObject* self,
 			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());