BGE: added clamping of angular velocity.

Angular velocity clamping was missing from the BGE. It is implemented
similarly to the linear velocity clamping. It is needed to be able to
drive physical simulations of systems that have a limited rotational
speed.

Reviewed by: campbellbarton, panzergame, ton

Differential Revision: https://developer.blender.org/D1365

13 files changed, 143 insertions, 2 deletions

diff --git a/doc/python_api/rst/bge_types/bge.types.KX_GameObject.rst b/doc/python_api/rst/bge_types/bge.types.KX_GameObject.rst
index 672df3728a9..a24aa546cb9 100644
--- a/doc/python_api/rst/bge_types/bge.types.KX_GameObject.rst
+++ b/doc/python_api/rst/bge_types/bge.types.KX_GameObject.rst
@@ -139,6 +139,29 @@ base class --- :class:`SCA_IObject`
 
          A value of 0.0 disables this option (rather then setting it stationary).
 
+   .. attribute:: angularVelocityMin
+
+      Enforces the object keeps rotating at a minimum velocity. A value of 0.0 disables this.
+
+      :type: non-negative float
+
+      .. note::
+
+         Applies to dynamic and rigid body objects only.
+         While objects are stationary the minimum velocity will not be applied.
+
+
+   .. attribute:: angularVelocityMax
+
+      Clamp the maximum angular velocity to prevent objects rotating beyond a set speed.
+      A value of 0.0 disables clamping; it does not stop rotation.
+
+      :type: non-negative float
+
+      .. note::
+
+         Applies to dynamic and rigid body objects only.
+
    .. attribute:: localInertia
 
       the object's inertia vector in local coordinates. Read only.
diff --git a/release/scripts/startup/bl_ui/properties_game.py b/release/scripts/startup/bl_ui/properties_game.py
index ceeb45ac485..fa57bf2115f 100644
--- a/release/scripts/startup/bl_ui/properties_game.py
+++ b/release/scripts/startup/bl_ui/properties_game.py
@@ -89,10 +89,14 @@ class PHYSICS_PT_game_physics(PhysicsButtonsPanel, Panel):
             split = layout.split()
 
             col = split.column()
-            col.label(text="Velocity:")
+            col.label(text="Linear velocity:")
             sub = col.column(align=True)
             sub.prop(game, "velocity_min", text="Minimum")
             sub.prop(game, "velocity_max", text="Maximum")
+            col.label(text="Angular velocity:")
+            sub = col.column(align=True)
+            sub.prop(game, "angular_velocity_min", text="Minimum")
+            sub.prop(game, "angular_velocity_max", text="Maximum")
 
             col = split.column()
             col.label(text="Damping:")
diff --git a/source/blender/editors/object/object_edit.c b/source/blender/editors/object/object_edit.c
index 2681a1f8de0..3499a3cc364 100644
--- a/source/blender/editors/object/object_edit.c
+++ b/source/blender/editors/object/object_edit.c
@@ -905,6 +905,8 @@ static void copy_attr(Main *bmain, Scene *scene, View3D *v3d, short event)
 					base->object->rdamping = ob->rdamping;
 					base->object->min_vel = ob->min_vel;
 					base->object->max_vel = ob->max_vel;
+					base->object->min_angvel = ob->min_angvel;
+					base->object->max_angvel = ob->max_angvel;
 					if (ob->gameflag & OB_BOUNDS) {
 						base->object->collision_boundtype = ob->collision_boundtype;
 					}
@@ -2044,6 +2046,8 @@ static int game_physics_copy_exec(bContext *C, wmOperator *UNUSED(op))
 			ob_iter->rdamping = ob->rdamping;
 			ob_iter->min_vel = ob->min_vel;
 			ob_iter->max_vel = ob->max_vel;
+			ob_iter->min_angvel = ob->min_angvel;
+			ob_iter->max_angvel = ob->max_angvel;
 			ob_iter->obstacleRad = ob->obstacleRad;
 			ob_iter->mass = ob->mass;
 			copy_v3_v3(ob_iter->anisotropicFriction, ob->anisotropicFriction);
diff --git a/source/blender/makesdna/DNA_object_types.h b/source/blender/makesdna/DNA_object_types.h
index 978a97f4b49..2daba6a3f0d 100644
--- a/source/blender/makesdna/DNA_object_types.h
+++ b/source/blender/makesdna/DNA_object_types.h
@@ -214,6 +214,8 @@ typedef struct Object {
 	float margin;
 	float max_vel; /* clamp the maximum velocity 0.0 is disabled */
 	float min_vel; /* clamp the minimum velocity 0.0 is disabled */
+	float max_angvel; /* clamp the maximum angular velocity, 0.0 is disabled */
+	float min_angvel; /* clamp the minimum angular velocity, 0.0 is disabled */
 	float obstacleRad;
 	
 	/* "Character" physics properties */
diff --git a/source/blender/makesrna/intern/rna_object.c b/source/blender/makesrna/intern/rna_object.c
index 3113b702dad..f433c2c36a8 100644
--- a/source/blender/makesrna/intern/rna_object.c
+++ b/source/blender/makesrna/intern/rna_object.c
@@ -1737,6 +1737,17 @@ static void rna_def_object_game_settings(BlenderRNA *brna)
 	RNA_def_property_range(prop, 0.0, 1000.0);
 	RNA_def_property_ui_text(prop, "Velocity Max", "Clamp velocity to this maximum speed");
 	
+	prop = RNA_def_property(srna, "angular_velocity_min", PROP_FLOAT, PROP_NONE);
+	RNA_def_property_float_sdna(prop, NULL, "min_angvel");
+	RNA_def_property_range(prop, 0.0, 1000.0);
+	RNA_def_property_ui_text(prop, "Angular Velocity Min",
+	                         "Clamp angular velocity to this minimum speed (except when totally still)");
+
+	prop = RNA_def_property(srna, "angular_velocity_max", PROP_FLOAT, PROP_NONE);
+	RNA_def_property_float_sdna(prop, NULL, "max_angvel");
+	RNA_def_property_range(prop, 0.0, 1000.0);
+	RNA_def_property_ui_text(prop, "Angular Velocity Max", "Clamp angular velocity to this maximum speed");
+
 	/* Character physics */
 	prop = RNA_def_property(srna, "step_height", PROP_FLOAT, PROP_NONE);
 	RNA_def_property_float_sdna(prop, NULL, "step_height");
diff --git a/source/gameengine/Converter/BL_BlenderDataConversion.cpp b/source/gameengine/Converter/BL_BlenderDataConversion.cpp
index 3da0863508b..4899eafd84c 100644
--- a/source/gameengine/Converter/BL_BlenderDataConversion.cpp
+++ b/source/gameengine/Converter/BL_BlenderDataConversion.cpp
@@ -1200,7 +1200,9 @@ static PHY_ShapeProps *CreateShapePropsFromBlenderObject(struct Object* blendero
 //	velocity clamping XXX
 	shapeProps->m_clamp_vel_min = blenderobject->min_vel;
 	shapeProps->m_clamp_vel_max = blenderobject->max_vel;
-	
+	shapeProps->m_clamp_angvel_min = blenderobject->min_angvel;
+	shapeProps->m_clamp_angvel_max = blenderobject->max_angvel;
+
 //  Character physics properties
 	shapeProps->m_step_height = blenderobject->step_height;
 	shapeProps->m_jump_speed = blenderobject->jump_speed;
diff --git a/source/gameengine/Ketsji/KX_GameObject.cpp b/source/gameengine/Ketsji/KX_GameObject.cpp
index 34d50e24741..5701d0e54a0 100644
--- a/source/gameengine/Ketsji/KX_GameObject.cpp
+++ b/source/gameengine/Ketsji/KX_GameObject.cpp
@@ -1965,6 +1965,8 @@ PyAttributeDef KX_GameObject::Attributes[] = {
 	KX_PYATTRIBUTE_RO_FUNCTION("isSuspendDynamics",		KX_GameObject, pyattr_get_is_suspend_dynamics),
 	KX_PYATTRIBUTE_RW_FUNCTION("linVelocityMin",		KX_GameObject, pyattr_get_lin_vel_min, pyattr_set_lin_vel_min),
 	KX_PYATTRIBUTE_RW_FUNCTION("linVelocityMax",		KX_GameObject, pyattr_get_lin_vel_max, pyattr_set_lin_vel_max),
+	KX_PYATTRIBUTE_RW_FUNCTION("angularVelocityMin", KX_GameObject, pyattr_get_ang_vel_min, pyattr_set_ang_vel_min),
+	KX_PYATTRIBUTE_RW_FUNCTION("angularVelocityMax", KX_GameObject, pyattr_get_ang_vel_max, pyattr_set_ang_vel_max),
 	KX_PYATTRIBUTE_RW_FUNCTION("visible",	KX_GameObject, pyattr_get_visible,	pyattr_set_visible),
 	KX_PYATTRIBUTE_RW_FUNCTION("record_animation",	KX_GameObject, pyattr_get_record_animation,	pyattr_set_record_animation),
 	KX_PYATTRIBUTE_BOOL_RW    ("occlusion", KX_GameObject, m_bOccluder),
@@ -2487,6 +2489,54 @@ int KX_GameObject::pyattr_set_lin_vel_max(void *self_v, const KX_PYATTRIBUTE_DEF
 	return PY_SET_ATTR_SUCCESS;
 }
 
+PyObject *KX_GameObject::pyattr_get_ang_vel_min(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef)
+{
+	KX_GameObject *self = static_cast<KX_GameObject*>(self_v);
+	PHY_IPhysicsController *spc = self->GetPhysicsController();
+	return PyFloat_FromDouble(spc ? spc->GetAngularVelocityMin() : 0.0f);
+}
+
+int KX_GameObject::pyattr_set_ang_vel_min(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef, PyObject *value)
+{
+	KX_GameObject *self = static_cast<KX_GameObject*>(self_v);
+	PHY_IPhysicsController *spc = self->GetPhysicsController();
+	MT_Scalar val = PyFloat_AsDouble(value);
+	if (val < 0.0f) { /* also accounts for non float */
+		PyErr_SetString(PyExc_AttributeError,
+		                "gameOb.angularVelocityMin = float: KX_GameObject, expected a nonnegative float");
+		return PY_SET_ATTR_FAIL;
+	}
+
+	if (spc)
+		spc->SetAngularVelocityMin(val);
+
+	return PY_SET_ATTR_SUCCESS;
+}
+
+PyObject *KX_GameObject::pyattr_get_ang_vel_max(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef)
+{
+	KX_GameObject *self = static_cast<KX_GameObject*>(self_v);
+	PHY_IPhysicsController *spc = self->GetPhysicsController();
+	return PyFloat_FromDouble(spc ? spc->GetAngularVelocityMax() : 0.0f);
+}
+
+int KX_GameObject::pyattr_set_ang_vel_max(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef, PyObject *value)
+{
+	KX_GameObject *self = static_cast<KX_GameObject*>(self_v);
+	PHY_IPhysicsController *spc = self->GetPhysicsController();
+	MT_Scalar val = PyFloat_AsDouble(value);
+	if (val < 0.0f) { /* also accounts for non float */
+		PyErr_SetString(PyExc_AttributeError,
+		                "gameOb.angularVelocityMax = float: KX_GameObject, expected a nonnegative float");
+		return PY_SET_ATTR_FAIL;
+	}
+
+	if (spc)
+		spc->SetAngularVelocityMax(val);
+
+	return PY_SET_ATTR_SUCCESS;
+}
+
 
 PyObject *KX_GameObject::pyattr_get_visible(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef)
 {
diff --git a/source/gameengine/Ketsji/KX_GameObject.h b/source/gameengine/Ketsji/KX_GameObject.h
index 9c081b449ec..670fcd6fb6e 100644
--- a/source/gameengine/Ketsji/KX_GameObject.h
+++ b/source/gameengine/Ketsji/KX_GameObject.h
@@ -1054,6 +1054,10 @@ public:
 	static int			pyattr_set_lin_vel_min(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef, PyObject *value);
 	static PyObject*	pyattr_get_lin_vel_max(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef);
 	static int			pyattr_set_lin_vel_max(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef, PyObject *value);
+	static PyObject*	pyattr_get_ang_vel_min(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef);
+	static int			pyattr_set_ang_vel_min(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef, PyObject *value);
+	static PyObject*	pyattr_get_ang_vel_max(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef);
+	static int			pyattr_set_ang_vel_max(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef, PyObject *value);
 	static PyObject*	pyattr_get_visible(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef);
 	static int			pyattr_set_visible(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef, PyObject *value);
 	static PyObject*	pyattr_get_record_animation(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef);
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
index 4306d6d0cd7..692704b5080 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp
@@ -713,6 +713,17 @@ void CcdPhysicsController::SimulationTick(float timestep)
 		else if (m_cci.m_clamp_vel_min > 0.0f && !btFuzzyZero(len) && len < m_cci.m_clamp_vel_min)
 			body->setLinearVelocity(linvel * (m_cci.m_clamp_vel_min / len));
 	}
+
+	// Clamp angular velocity
+	if (m_cci.m_clamp_angvel_max > 0.0f || m_cci.m_clamp_angvel_min > 0.0f) {
+		const btVector3 &angvel = body->getAngularVelocity();
+		btScalar len = angvel.length();
+
+		if (m_cci.m_clamp_angvel_max > 0.0f && len > m_cci.m_clamp_angvel_max)
+			body->setAngularVelocity(angvel * (m_cci.m_clamp_angvel_max / len));
+		else if (m_cci.m_clamp_angvel_min > 0.0f && !btFuzzyZero(len) && len < m_cci.m_clamp_angvel_min)
+			body->setAngularVelocity(angvel * (m_cci.m_clamp_angvel_min / len));
+	}
 }
 
 
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.h b/source/gameengine/Physics/Bullet/CcdPhysicsController.h
index 2a15b6136e4..c49ae8d20e1 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsController.h
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsController.h
@@ -236,6 +236,8 @@ struct CcdConstructionInfo
 		m_mass(0.f),
 		m_clamp_vel_min(-1.f),
 		m_clamp_vel_max(-1.f),
+	    m_clamp_angvel_min(0.0f),
+	    m_clamp_angvel_max(0.0f),
 		m_restitution(0.1f),
 		m_friction(0.5f),
 		m_linearDamping(0.1f),
@@ -302,6 +304,8 @@ struct CcdConstructionInfo
 	btScalar	m_mass;
 	btScalar	m_clamp_vel_min;  
 	btScalar	m_clamp_vel_max;  
+	btScalar	m_clamp_angvel_min;  // Minimum angular velocity, in radians/sec.
+	btScalar	m_clamp_angvel_max;  // Maximum angular velocity, in radians/sec.
 	btScalar	m_restitution;
 	btScalar	m_friction;
 	btScalar	m_linearDamping;
@@ -708,6 +712,23 @@ protected:
 			return m_cci.m_clamp_vel_max;
 		}
 
+		virtual void SetAngularVelocityMin(float val)
+		{
+			m_cci.m_clamp_angvel_min = val;
+		}
+		virtual float GetAngularVelocityMin() const
+		{
+			return m_cci.m_clamp_angvel_min;
+		}
+		virtual void SetAngularVelocityMax(float val)
+		{
+			m_cci.m_clamp_angvel_max = val;
+		}
+		virtual float GetAngularVelocityMax() const
+		{
+			return m_cci.m_clamp_angvel_max;
+		}
+
 		bool	WantsSleeping();
 
 		void	UpdateDeactivation(float timeStep);
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
index 14a19fdfb41..82451e6a3ed 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
@@ -3111,6 +3111,8 @@ void CcdPhysicsEnvironment::ConvertObject(KX_GameObject *gameobj, RAS_MeshObject
 	ci.m_mass = isbulletdyna ? shapeprops->m_mass : 0.f;
 	ci.m_clamp_vel_min = shapeprops->m_clamp_vel_min;
 	ci.m_clamp_vel_max = shapeprops->m_clamp_vel_max;
+	ci.m_clamp_angvel_min = shapeprops->m_clamp_angvel_min;
+	ci.m_clamp_angvel_max = shapeprops->m_clamp_angvel_max;
 	ci.m_stepHeight = isbulletchar ? shapeprops->m_step_height : 0.f;
 	ci.m_jumpSpeed = isbulletchar ? shapeprops->m_jump_speed : 0.f;
 	ci.m_fallSpeed = isbulletchar ? shapeprops->m_fall_speed : 0.f;
diff --git a/source/gameengine/Physics/common/PHY_IPhysicsController.h b/source/gameengine/Physics/common/PHY_IPhysicsController.h
index 3e2337f01ea..62b163536dd 100644
--- a/source/gameengine/Physics/common/PHY_IPhysicsController.h
+++ b/source/gameengine/Physics/common/PHY_IPhysicsController.h
@@ -125,6 +125,11 @@ class PHY_IPhysicsController : public PHY_IController
 		virtual float GetLinVelocityMax() const=0;
 		virtual void  SetLinVelocityMax(float val) = 0;
 		
+		virtual void SetAngularVelocityMin(float val) = 0;
+		virtual float GetAngularVelocityMin() const = 0;
+		virtual void SetAngularVelocityMax(float val) = 0;
+		virtual float GetAngularVelocityMax() const = 0;
+
 		MT_Vector3	GetWorldPosition(MT_Vector3& localpos);
 
 		// Shape control
diff --git a/source/gameengine/Physics/common/PHY_Pro.h b/source/gameengine/Physics/common/PHY_Pro.h
index 7c5d9c9638e..c9b91b06a3c 100644
--- a/source/gameengine/Physics/common/PHY_Pro.h
+++ b/source/gameengine/Physics/common/PHY_Pro.h
@@ -43,6 +43,8 @@ struct PHY_ShapeProps {
 	MT_Scalar  m_friction_scaling[3];   // Scaling for anisotropic friction. Component in range [0, 1]   
 	MT_Scalar  m_clamp_vel_min;			// Clamp the minimum velocity, this ensures an object moves at a minimum speed unless its stationary
 	MT_Scalar  m_clamp_vel_max;			// Clamp max velocity
+	MT_Scalar  m_clamp_angvel_min;		// Clamp the minimum angular velocity.
+	MT_Scalar  m_clamp_angvel_max;		// Clamp the maximum angular velocity.
 	bool       m_do_anisotropic;        // Should I do anisotropic friction? 
 	bool       m_do_fh;                 // Should the object have a linear Fh spring?
 	bool       m_do_rot_fh;             // Should the object have an angular Fh spring?