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

1 files changed, 26 insertions, 1 deletions

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());