diff options
author | Benoit Bolsee <benoit.bolsee@online.be> | 2008-07-23 03:05:06 +0400 |
---|---|---|
committer | Benoit Bolsee <benoit.bolsee@online.be> | 2008-07-23 03:05:06 +0400 |
commit | a18c723d5514d3ee74b3d770f8e025091eee47c7 (patch) | |
tree | ed9db943c25fea8fcf2b2a34c814f351d1f22688 /source/gameengine | |
parent | 21bf5167ed3531b8d4f7766f1ccb41be5224480f (diff) |
BGE patch: Add min/max parameters to orientation constraint actuator
The min/max parameters define a minimum/maximum angle
that the object axis can have with the reference
direction without being constrainted. The angle is
expressed in degree and is limited to 0-180 range.
The min/max parameters define a conical free zone
around the reference direction.
If the object axis is outside that free zone, the
actuator will tend to put it back using as a temporary
reference direction the vector that is exactly at
min or max degree of the reference direction
(depending if the axis angle is below the minimum
or above the maximum) and is located in the plane
formed by the axis and the reference direction.
With a low damping value, this is equivalent to
clamping the axis orientation within min/max degree
of the reference direction.
Backward compatibility corresponds to the absence
of free zone: min = max = 0.
Diffstat (limited to 'source/gameengine')
-rw-r--r-- | source/gameengine/Converter/KX_ConvertActuators.cpp | 2 | ||||
-rw-r--r-- | source/gameengine/Ketsji/KX_ConstraintActuator.cpp | 48 | ||||
-rw-r--r-- | source/gameengine/Ketsji/KX_ConstraintActuator.h | 4 |
3 files changed, 50 insertions, 4 deletions
diff --git a/source/gameengine/Converter/KX_ConvertActuators.cpp b/source/gameengine/Converter/KX_ConvertActuators.cpp index 8739fb109fd..f2ec01db839 100644 --- a/source/gameengine/Converter/KX_ConvertActuators.cpp +++ b/source/gameengine/Converter/KX_ConvertActuators.cpp @@ -628,6 +628,8 @@ void BL_ConvertActuators(char* maggiename, /* convert settings... degrees in the ui become radians */ /* internally */ if (conact->type == ACT_CONST_TYPE_ORI) { + min = (MT_2_PI * conact->minloc[0])/360.0; + max = (MT_2_PI * conact->maxloc[0])/360.0; switch (conact->mode) { case ACT_CONST_DIRPX: locrot = KX_ConstraintActuator::KX_ACT_CONSTRAINT_ORIX; diff --git a/source/gameengine/Ketsji/KX_ConstraintActuator.cpp b/source/gameengine/Ketsji/KX_ConstraintActuator.cpp index e0b2efb3a25..800416b5f0a 100644 --- a/source/gameengine/Ketsji/KX_ConstraintActuator.cpp +++ b/source/gameengine/Ketsji/KX_ConstraintActuator.cpp @@ -88,11 +88,17 @@ KX_ConstraintActuator::KX_ConstraintActuator(SCA_IObject *gameobj, } else { m_refDirection /= len; } + m_minimumBound = cos(minBound); + m_maximumBound = cos(maxBound); + m_minimumSine = sin(minBound); + m_maximumSine = sin(maxBound); } break; default: m_minimumBound = minBound; m_maximumBound = maxBound; + m_minimumSine = 0.f; + m_maximumSine = 0.f; break; } @@ -153,9 +159,9 @@ bool KX_ConstraintActuator::Update(double curtime, bool frame) KX_GameObject *obj = (KX_GameObject*) GetParent(); MT_Point3 position = obj->NodeGetWorldPosition(); MT_Point3 newposition; - MT_Vector3 direction; + MT_Vector3 direction, refDirection; MT_Matrix3x3 rotation = obj->NodeGetWorldOrientation(); - MT_Scalar filter, newdistance; + MT_Scalar filter, newdistance, cosangle; int axis, sign; if (m_posDampTime) { @@ -185,11 +191,45 @@ bool KX_ConstraintActuator::Update(double curtime, bool frame) axis = 2; break; } + if ((m_maximumBound < (1.0f-FLT_EPSILON)) || (m_minimumBound < (1.0f-FLT_EPSILON))) { + // reference direction needs to be evaluated + // 1. get the cosine between current direction and target + cosangle = direction.dot(m_refDirection); + if (cosangle >= (m_maximumBound-FLT_EPSILON) && cosangle <= (m_minimumBound+FLT_EPSILON)) { + // no change to do + result = true; + goto CHECK_TIME; + } + // 2. define a new reference direction + // compute local axis with reference direction as X and + // Y in direction X refDirection plane + MT_Vector3 zaxis = m_refDirection.cross(direction); + if (MT_fuzzyZero2(zaxis.length2())) { + // direction and refDirection are identical, + // choose any other direction to define plane + if (direction[0] < 0.9999) + zaxis = m_refDirection.cross(MT_Vector3(1.0,0.0,0.0)); + else + zaxis = m_refDirection.cross(MT_Vector3(0.0,1.0,0.0)); + } + MT_Vector3 yaxis = zaxis.cross(m_refDirection); + yaxis.normalize(); + if (cosangle > m_minimumBound) { + // angle is too close to reference direction, + // choose a new reference that is exactly at minimum angle + refDirection = m_minimumBound * m_refDirection + m_minimumSine * yaxis; + } else { + // angle is too large, choose new reference direction at maximum angle + refDirection = m_maximumBound * m_refDirection + m_maximumSine * yaxis; + } + } else { + refDirection = m_refDirection; + } if (m_posDampTime) { // apply damping on the direction - direction = filter*direction + (1.0-filter)*m_refDirection; + direction = filter*direction + (1.0-filter)*refDirection; } else { - direction = m_refDirection; + direction = refDirection; } obj->AlignAxisToVect(direction, axis); result = true; diff --git a/source/gameengine/Ketsji/KX_ConstraintActuator.h b/source/gameengine/Ketsji/KX_ConstraintActuator.h index 5a1d4d23217..3ef51595098 100644 --- a/source/gameengine/Ketsji/KX_ConstraintActuator.h +++ b/source/gameengine/Ketsji/KX_ConstraintActuator.h @@ -48,6 +48,10 @@ protected: float m_minimumBound; // max (float) float m_maximumBound; + // sinus of minimum angle + float m_minimumSine; + // sinus of maximum angle + float m_maximumSine; // reference direction MT_Vector3 m_refDirection; // locrotxyz choice (pick one): only one choice allowed at a time! |