Added bone parent relationship.

7 files changed, 348 insertions, 18 deletions

diff --git a/source/gameengine/Converter/BL_ArmatureObject.cpp b/source/gameengine/Converter/BL_ArmatureObject.cpp
index 0c0dda52d2c..82f97fe9c18 100644
--- a/source/gameengine/Converter/BL_ArmatureObject.cpp
+++ b/source/gameengine/Converter/BL_ArmatureObject.cpp
@@ -39,6 +39,10 @@
 #include "GEN_HashedPtr.h"
 #include "MEM_guardedalloc.h"
 #include "DNA_action_types.h"
+#include "DNA_armature_types.h"
+#include "DNA_object_types.h"
+
+#include "MT_Matrix4x4.h"
 
 #ifdef HAVE_CONFIG_H
 #include <config.h>
@@ -72,7 +76,7 @@ BL_ArmatureObject::~BL_ArmatureObject()
 void BL_ArmatureObject::ApplyPose()
 {
 	if (m_pose){
-		apply_pose_armature(m_armature, m_pose, 1);
+		apply_pose_armature(GetArmature(), m_pose, 1);
 		if (!m_mrdPose)
 			copy_pose (&m_mrdPose, m_pose, 0);
 		else
@@ -151,3 +155,21 @@ double BL_ArmatureObject::GetLastFrame()
 {
 	return m_lastframe;
 }
+
+bool BL_ArmatureObject::GetBoneMatrix(Bone* bone, MT_Matrix4x4& matrix) const
+{
+	MT_assert(verify_boneptr((bArmature*) GetArmature(), bone) && "Bone is not part of this armature.");
+	
+	matrix.setValue(&bone->posemat[0][0]);
+	
+	return true;
+}
+
+float BL_ArmatureObject::GetBoneLength(Bone* bone) const
+{
+	MT_assert(verify_boneptr((bArmature*) GetArmature(), bone) && "Bone is not part of this armature.");
+	
+	return (MT_Point3(bone->head) - MT_Point3(bone->tail)).length();
+}
+
+
diff --git a/source/gameengine/Converter/BL_ArmatureObject.h b/source/gameengine/Converter/BL_ArmatureObject.h
index b81a6f0eddd..7244d08da76 100644
--- a/source/gameengine/Converter/BL_ArmatureObject.h
+++ b/source/gameengine/Converter/BL_ArmatureObject.h
@@ -37,7 +37,11 @@
 
 #include "SG_IObject.h"
 
+struct bArmature;
+struct Bone;
+
 class BL_ActionActuator;
+class MT_Matrix4x4;
 
 class BL_ArmatureObject : public KX_GameObject  
 {
@@ -47,10 +51,10 @@ public:
 	virtual void ProcessReplica(BL_ArmatureObject *replica);
 	class BL_ActionActuator * GetActiveAction();
 	BL_ArmatureObject(void* sgReplicationInfo, SG_Callbacks callbacks,
-		struct bArmature *arm,
+		bArmature *armature,
 		struct bPose *pose) :
 	KX_GameObject(sgReplicationInfo,callbacks),
-		m_armature(arm),
+		m_armature(armature),
 		m_pose(pose),
 		m_mrdPose(NULL),
 		m_lastframe(0.),
@@ -65,7 +69,17 @@ public:
 	void SetPose (struct bPose *pose);
 	void ApplyPose();
 	bool SetActiveAction(class BL_ActionActuator *act, short priority, double curtime);
-	struct bArmature * GetArmature(){return m_armature;};
+	
+	struct bArmature * GetArmature() { return m_armature; }
+	
+	const struct bArmature * GetArmature() const { return m_armature; }
+	
+	/// Retrieve the pose matrix for the specified bone.
+	/// Returns true on success.
+	bool GetBoneMatrix(Bone* bone, MT_Matrix4x4& matrix) const;
+	
+	/// Returns the bone length.  The end of the bone is in the local y direction.
+	float GetBoneLength(Bone* bone) const;
 
 protected:
 	struct bArmature	*m_armature;
diff --git a/source/gameengine/Converter/BL_BlenderDataConversion.cpp b/source/gameengine/Converter/BL_BlenderDataConversion.cpp
index 8295600b6cf..bc0ac8eff5a 100644
--- a/source/gameengine/Converter/BL_BlenderDataConversion.cpp
+++ b/source/gameengine/Converter/BL_BlenderDataConversion.cpp
@@ -124,7 +124,7 @@
 #include "DNA_world_types.h"
 #include "DNA_sound_types.h"
 #include "DNA_key_types.h"
-
+#include "DNA_armature_types.h"
 
 #include "MEM_guardedalloc.h"
 #include "BKE_utildefines.h"
@@ -158,6 +158,7 @@
 // in the game engine.
 
 #include "KX_SG_NodeRelationships.h"
+#include "KX_SG_BoneParentNodeRelationship.h"
 
 #include "BL_ArmatureObject.h"
 #include "BL_DeformableGameObject.h"
@@ -974,7 +975,7 @@ static KX_GameObject *gameobject_from_blenderobject(
 	case OB_ARMATURE:
 	{
 		gameobj = new BL_ArmatureObject (kxscene, KX_Scene::m_callbacks,
-			(bArmature*)ob->data,
+			get_armature(ob),
 			ob->pose);
 	
 		/* Get the current pose from the armature object and apply it as the rest pose */
@@ -1160,11 +1161,12 @@ void BL_ConvertBlenderObjects(struct Main* maggie,
 				pclink.m_blenderchild = blenderobject;
 				pclink.m_gamechildnode = parentinversenode;
 				vec_parent_child.push_back(pclink);
-	
+
 				float* fl = (float*) blenderobject->parentinv;
 				MT_Transform parinvtrans(fl);
 				parentinversenode->SetLocalPosition(parinvtrans.getOrigin());
 				parentinversenode->SetLocalOrientation(parinvtrans.getBasis());
+				
 				parentinversenode->AddChild(gameobj->GetSGNode());
 			}
 			
@@ -1229,18 +1231,42 @@ void BL_ConvertBlenderObjects(struct Main* maggie,
 	{
 	
 		struct Object* blenderchild = pcit->m_blenderchild;
-		if (blenderchild->partype == PARVERT1)
-		{
-			// creat a new vertex parent relationship for this node.
-			KX_VertexParentRelation * vertex_parent_relation = KX_VertexParentRelation::New();
-			pcit->m_gamechildnode->SetParentRelation(vertex_parent_relation);
-		} else 
-		if (blenderchild->partype == PARSLOW) 
+		switch (blenderchild->partype)
 		{
-			// creat a new slow parent relationship for this node.
-			KX_SlowParentRelation * slow_parent_relation = KX_SlowParentRelation::New(blenderchild->sf);
-			pcit->m_gamechildnode->SetParentRelation(slow_parent_relation);
-		}	
+			case PARVERT1:
+			{
+				// creat a new vertex parent relationship for this node.
+				KX_VertexParentRelation * vertex_parent_relation = KX_VertexParentRelation::New();
+				pcit->m_gamechildnode->SetParentRelation(vertex_parent_relation);
+				break;
+			}
+			case PARSLOW:
+			{
+				// creat a new slow parent relationship for this node.
+				KX_SlowParentRelation * slow_parent_relation = KX_SlowParentRelation::New(blenderchild->sf);
+				pcit->m_gamechildnode->SetParentRelation(slow_parent_relation);
+				break;
+			}	
+			case PARBONE:
+			{
+				// parent this to a bone
+				Bone *parent_bone = get_named_bone(get_armature(blenderchild->parent), blenderchild->parsubstr);
+				KX_BoneParentRelation *bone_parent_relation = KX_BoneParentRelation::New(parent_bone);
+				pcit->m_gamechildnode->SetParentRelation(bone_parent_relation);
+			
+				break;
+			}
+			case PARSKEL: // skinned - ignore
+				break;
+			case PAROBJECT:
+			case PARCURVE:
+			case PARKEY:
+			case PARLIMB:
+			case PARVERT3:
+			default:
+				// unhandled
+				break;
+		}
 	
 		struct Object* blenderparent = blenderchild->parent;
 		KX_GameObject* parentobj = converter->FindGameObject(blenderparent);
diff --git a/source/gameengine/Ketsji/KX_SG_BoneParentNodeRelationship.cpp b/source/gameengine/Ketsji/KX_SG_BoneParentNodeRelationship.cpp
new file mode 100644
index 00000000000..632cb753240
--- /dev/null
+++ b/source/gameengine/Ketsji/KX_SG_BoneParentNodeRelationship.cpp
@@ -0,0 +1,154 @@
+/**
+ * $Id$
+ * ***** BEGIN GPL/BL DUAL LICENSE BLOCK *****
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2
+ * of the License, or (at your option) any later version. The Blender
+ * Foundation also sells licenses for use in proprietary software under
+ * the Blender License.  See http://www.blender.org/BL/ for information
+ * about this.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software Foundation,
+ * Inc., 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.
+ *
+ * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
+ * All rights reserved.
+ *
+ * The Original Code is: all of this file.
+ *
+ * Contributor(s): none yet.
+ *
+ * ***** END GPL/BL DUAL LICENSE BLOCK *****
+ */
+
+#include <iostream>
+ 
+#include "KX_SG_BoneParentNodeRelationship.h"
+
+#include "MT_Matrix4x4.h"
+#include "BL_ArmatureObject.h"
+
+
+#ifdef HAVE_CONFIG_H
+#include <config.h>
+#endif
+
+/**
+ * Implementation of classes defined in KX_SG_BoneParentNodeRelationship.h
+ */
+
+/** 
+ * first of all KX_SG_BoneParentRelation
+ */
+
+	KX_BoneParentRelation *
+KX_BoneParentRelation::
+New(Bone* bone
+) {
+	return new KX_BoneParentRelation(bone);
+}		
+
+	bool
+KX_BoneParentRelation::
+UpdateChildCoordinates(
+	SG_Spatial * child,
+	const SG_Spatial * parent
+){
+	MT_assert(child != NULL);
+	
+	// This way of accessing child coordinates is a bit cumbersome
+	// be nice to have non constant reference access to these values.
+
+	const MT_Vector3 & child_scale = child->GetLocalScale();
+	const MT_Point3 & child_pos = child->GetLocalPosition();
+	const MT_Matrix3x3 & child_rotation = child->GetLocalOrientation();
+
+	// the childs world locations which we will update.	
+	
+	MT_Vector3 child_w_scale;
+	MT_Point3 child_w_pos;
+	MT_Matrix3x3 child_w_rotation;
+	
+	bool valid_parent_transform = false;
+	
+	if (parent)
+	{
+		const BL_ArmatureObject *armature = (const BL_ArmatureObject*)(parent->GetSGClientObject());
+		if (armature)
+		{
+			MT_Matrix4x4 parent_matrix;
+			if (armature->GetBoneMatrix(m_bone, parent_matrix))
+			{
+				// Get the child's transform, and the bone matrix.
+				MT_Matrix4x4 child_transform ( 
+					MT_Transform(child_pos + MT_Vector3(0.0, armature->GetBoneLength(m_bone), 0.0), 
+						child_rotation.scaled(
+							child_scale[0], 
+							child_scale[1], 
+							child_scale[2])));
+				
+				// The child's world transform is parent * child
+				parent_matrix = parent->GetWorldTransform() * parent_matrix;
+				child_transform = parent_matrix * child_transform;
+				
+				// Recompute the child transform components from the transform.
+				child_w_scale =  MT_Vector3( 
+					MT_Vector3(child_transform[0][0], child_transform[0][1], child_transform[0][2]).length(),
+					MT_Vector3(child_transform[1][0], child_transform[1][1], child_transform[1][2]).length(),
+					MT_Vector3(child_transform[2][0], child_transform[2][1], child_transform[2][2]).length());
+				child_w_rotation = MT_Matrix3x3(child_transform[0][0], child_transform[0][1], child_transform[0][2], 
+					child_transform[1][0], child_transform[1][1], child_transform[1][2], 
+					child_transform[2][0], child_transform[2][1], child_transform[2][2]);
+				child_w_rotation.scale(1.0/child_w_scale[0], 1.0/child_w_scale[1], 1.0/child_w_scale[2]);
+					
+				child_w_pos = MT_Point3(child_transform[0][3], child_transform[1][3], child_transform[2][3]);
+					
+				valid_parent_transform = true;
+			}
+		}
+	} 
+	
+	if (!valid_parent_transform)
+	{
+		child_w_scale = child_scale;
+		child_w_pos = child_pos;
+		child_w_rotation = child_rotation;
+	}
+
+	child->SetWorldScale(child_w_scale);
+	child->SetWorldPosition(child_w_pos);
+	child->SetWorldOrientation(child_w_rotation);
+	
+	return valid_parent_transform;
+}
+
+	SG_ParentRelation *
+KX_BoneParentRelation::
+NewCopy(
+){
+	KX_BoneParentRelation* bone_parent = new KX_BoneParentRelation(m_bone);
+	return bone_parent;
+}
+
+KX_BoneParentRelation::
+~KX_BoneParentRelation(
+){
+	//nothing to do
+}
+
+
+KX_BoneParentRelation::
+KX_BoneParentRelation(Bone* bone
+)
+: m_bone(bone)
+{
+	// nothing to do
+}
diff --git a/source/gameengine/Ketsji/KX_SG_BoneParentNodeRelationship.h b/source/gameengine/Ketsji/KX_SG_BoneParentNodeRelationship.h
new file mode 100644
index 00000000000..1f816726264
--- /dev/null
+++ b/source/gameengine/Ketsji/KX_SG_BoneParentNodeRelationship.h
@@ -0,0 +1,109 @@
+/**
+ * @mainpage KX_SG_NodeRelationships   
+
+ * @section 
+ *
+ * This file provides common concrete implementations of 
+ * SG_ParentRelation used by the game engine. These are
+ * KX_SlowParentRelation a slow parent relationship.
+ * KX_NormalParentRelation a normal parent relationship where 
+ * orientation and position are inherited from the parent by
+ * the child.
+ * KX_VertexParentRelation only location information is 
+ * inherited by the child. 
+ *
+ * @see SG_ParentRelation for more information about this 
+ * interface	  
+ *
+ * $Id$
+ *
+ * ***** BEGIN GPL/BL DUAL LICENSE BLOCK *****
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2
+ * of the License, or (at your option) any later version. The Blender
+ * Foundation also sells licenses for use in proprietary software under
+ * the Blender License.  See http://www.blender.org/BL/ for information
+ * about this.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software Foundation,
+ * Inc., 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.
+ *
+ * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
+ * All rights reserved.
+ *
+ * The Original Code is: all of this file.
+ *
+ * Contributor(s): none yet.
+ *
+ * ***** END GPL/BL DUAL LICENSE BLOCK *****
+ * 
+ */
+
+#ifndef __KX_SG_BONEPARENTRELATION_H__
+#define __KX_SG_BONEPARENTRELATION_H__
+ 
+#include "SG_Spatial.h"
+#include "SG_ParentRelation.h"
+
+struct Bone;
+
+/**
+ *  Bone parent relationship parents a child SG_Spatial frame to a 
+ *  bone in an armature object.
+ */
+class KX_BoneParentRelation : public SG_ParentRelation
+{
+
+public :
+
+	/**
+	 * Allocate and construct a new KX_SG_BoneParentRelation
+	 * on the heap.
+	 *
+	 * bone is the bone id to use.  Currently it is a pointer
+	 * to a Blender struct Bone - this should be fixed if
+	 */
+
+	static 
+		KX_BoneParentRelation *
+	New(Bone* bone
+	);		
+
+	/**
+	 *  Updates the childs world coordinates relative to the parent's
+	 *  world coordinates.
+	 *
+	 *  Parent should be a BL_ArmatureObject.
+	 */
+		bool
+	UpdateChildCoordinates(
+		SG_Spatial * child,
+		const SG_Spatial * parent
+	);
+
+	/**
+	 *  Create a copy of this relationship
+	 */
+		SG_ParentRelation *
+	NewCopy(
+	);
+
+	~KX_BoneParentRelation(
+	);
+
+private :
+	Bone* m_bone;
+	KX_BoneParentRelation(Bone* bone
+	);
+
+};
+
+#endif
diff --git a/source/gameengine/Ketsji/KX_SG_NodeRelationships.h b/source/gameengine/Ketsji/KX_SG_NodeRelationships.h
index 8eda5d7b734..f434cb5b648 100644
--- a/source/gameengine/Ketsji/KX_SG_NodeRelationships.h
+++ b/source/gameengine/Ketsji/KX_SG_NodeRelationships.h
@@ -46,6 +46,9 @@
  * ***** END GPL/BL DUAL LICENSE BLOCK *****
  * 
  */
+ 
+#ifndef __KX_SG_NODERELATIONS_H__
+#define __KX_SG_NODERELATIONS_H__
 
 #include "SG_Spatial.h"
 #include "SG_ParentRelation.h"
@@ -198,3 +201,4 @@ private :
 
 };
 
+#endif
diff --git a/source/gameengine/Ketsji/SConscript b/source/gameengine/Ketsji/SConscript
index 0407232a9ac..1b22231f3f9 100644
--- a/source/gameengine/Ketsji/SConscript
+++ b/source/gameengine/Ketsji/SConscript
@@ -17,6 +17,7 @@ source_files = ['KX_WorldIpoController.cpp',
                 'KX_TimeCategoryLogger.cpp',
                 'KX_SoundActuator.cpp',
                 'KX_SG_NodeRelationships.cpp',
+		'KX_SG_BoneParentNodeRelationship.cpp',
                 'KX_SceneActuator.cpp',
                 'KX_Scene.cpp',
                 'KX_ScalingInterpolator.cpp',