PhysicsConstraints.createConstraint:

allow to dynamically create rigid body constraints while disable collision detection between connected bodies, pass as 10th argument the flag 128

PhysiPython KX_ConstraintWrapper, setParam
export setParam(paramIndex,paramValue0,paramValue1) for Physics constraints
paramIndex 0,1,2 are linear limits, 3,4,5 are angular limits, 6,7,8 are linear motors, 9,10,11 are angular motors

For example:
disableConnectedBodies=128
cons = PhysicsConstraints.createConstraint(oid,rid,generic6dof,pivotInAx,pivotInAy,pivotInAz,angleX,angleY,angleZ,disableConnectedBodies)
#params 0,1,2 are linear limits, low,high value. if low > high then disable limit
cons.setParam(0,0,0)

I will provide an example .blend for Blender 2.49

4 files changed, 56 insertions, 14 deletions

diff --git a/source/gameengine/Ketsji/KX_ConstraintWrapper.cpp b/source/gameengine/Ketsji/KX_ConstraintWrapper.cpp
index 7af2b15a14c..b0576424a47 100644
--- a/source/gameengine/Ketsji/KX_ConstraintWrapper.cpp
+++ b/source/gameengine/Ketsji/KX_ConstraintWrapper.cpp
@@ -54,7 +54,7 @@ PyObject* KX_ConstraintWrapper::PyGetConstraintId(PyObject* args, PyObject* kwds
 	return PyInt_FromLong(m_constraintId);
 }
 
-PyObject* KX_ConstraintWrapper::PySetLimit(PyObject* args, PyObject* kwds)
+PyObject* KX_ConstraintWrapper::PySetParam(PyObject* args, PyObject* kwds)
 {
 	int len = PyTuple_Size(args);
 	int success = 1;
@@ -73,11 +73,7 @@ PyObject* KX_ConstraintWrapper::PySetLimit(PyObject* args, PyObject* kwds)
 	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 = {
@@ -130,8 +126,7 @@ 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},
+	{"setParam",(PyCFunction) KX_ConstraintWrapper::sPySetParam, METH_VARARGS},
 	{NULL,NULL} //Sentinel
 };
 
diff --git a/source/gameengine/Ketsji/KX_ConstraintWrapper.h b/source/gameengine/Ketsji/KX_ConstraintWrapper.h
index 0772d257b56..b8ac464ceab 100644
--- a/source/gameengine/Ketsji/KX_ConstraintWrapper.h
+++ b/source/gameengine/Ketsji/KX_ConstraintWrapper.h
@@ -45,8 +45,7 @@ public:
 	
 	KX_PYMETHOD(KX_ConstraintWrapper,TestMethod);
 	KX_PYMETHOD(KX_ConstraintWrapper,GetConstraintId);
-	KX_PYMETHOD(KX_ConstraintWrapper,SetLimit);
-	KX_PYMETHOD(KX_ConstraintWrapper,EnableMotor);
+	KX_PYMETHOD(KX_ConstraintWrapper,SetParam);
 
 private:
 	int					m_constraintId;
diff --git a/source/gameengine/Ketsji/KX_PyConstraintBinding.cpp b/source/gameengine/Ketsji/KX_PyConstraintBinding.cpp
index 1d52057317e..a098d99864f 100644
--- a/source/gameengine/Ketsji/KX_PyConstraintBinding.cpp
+++ b/source/gameengine/Ketsji/KX_PyConstraintBinding.cpp
@@ -405,6 +405,8 @@ static PyObject* gPyCreateConstraint(PyObject* self,
 	int physicsid=0,physicsid2 = 0,constrainttype=0,extrainfo=0;
 	int len = PyTuple_Size(args);
 	int success = 1;
+	int flag = 0;
+
 	float pivotX=1,pivotY=1,pivotZ=1,axisX=0,axisY=0,axisZ=1;
 	if (len == 3)
 	{
@@ -421,6 +423,11 @@ static PyObject* gPyCreateConstraint(PyObject* self,
 		success = PyArg_ParseTuple(args,"iiiffffff",&physicsid,&physicsid2,&constrainttype,
 			&pivotX,&pivotY,&pivotZ,&axisX,&axisY,&axisZ);
 	}
+	else if (len == 10)
+	{
+		success = PyArg_ParseTuple(args,"iiiffffffi",&physicsid,&physicsid2,&constrainttype,
+			&pivotX,&pivotY,&pivotZ,&axisX,&axisY,&axisZ,&flag);
+	}
 	else if (len==4)
 	{
 		success = PyArg_ParseTuple(args,"iiii",&physicsid,&physicsid2,&constrainttype,&extrainfo);
@@ -455,7 +462,7 @@ static PyObject* gPyCreateConstraint(PyObject* self,
 						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?
+						(float)axis2.x(),(float)axis2.y(),(float)axis2.z(),flag);
 
 				} else
 				{
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
index ed517e637dc..561c370854f 100644
--- a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
+++ b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp
@@ -426,6 +426,13 @@ void	CcdPhysicsEnvironment::removeCcdPhysicsController(CcdPhysicsController* ctr
 	btRigidBody* body = ctrl->GetRigidBody();
 	if (body)
 	{
+		for (int i=body->getNumConstraintRefs()-1;i>=0;i--)
+		{
+			btTypedConstraint* con = body->getConstraintRef(i);
+			m_dynamicsWorld->removeConstraint(con);
+			body->removeConstraintRef(con);
+			//delete con; //might be kept by python KX_ConstraintWrapper
+		}
 		m_dynamicsWorld->removeRigidBody(ctrl->GetRigidBody());
 	} else
 	{
@@ -1791,9 +1798,43 @@ void	CcdPhysicsEnvironment::setConstraintParam(int constraintId,int param,float
 	{
 	case PHY_GENERIC_6DOF_CONSTRAINT:
 		{
-			//param = 1..12, min0,max0,min1,max1...min6,max6
-			btGeneric6DofConstraint* genCons = (btGeneric6DofConstraint*)typedConstraint;
-			genCons->setLimit(param,value0,value1);
+			
+			switch (param)
+			{
+			case 0:	case 1: case 2: case 3: case 4: case 5:
+				{
+					//param = 0..5 are constraint limits, with low/high limit value
+					btGeneric6DofConstraint* genCons = (btGeneric6DofConstraint*)typedConstraint;
+					genCons->setLimit(param,value0,value1);
+					break;
+				}
+			case 6: case 7: case 8:
+				{
+					//param = 6,7,8 are translational motors, with value0=target velocity, value1 = max motor force
+					btGeneric6DofConstraint* genCons = (btGeneric6DofConstraint*)typedConstraint;
+					int transMotorIndex = param-6;
+					btTranslationalLimitMotor* transMotor = genCons->getTranslationalLimitMotor();
+					transMotor->m_targetVelocity[transMotorIndex]= value0;
+					transMotor->m_maxMotorForce[transMotorIndex]=value1;
+					transMotor->m_enableMotor[transMotorIndex] = (value1>0.f);
+					break;
+				}
+			case 9: case 10: case 11:
+				{
+					//param = 9,10,11 are rotational motors, with value0=target velocity, value1 = max motor force
+					btGeneric6DofConstraint* genCons = (btGeneric6DofConstraint*)typedConstraint;
+					int angMotorIndex = param-9;
+					btRotationalLimitMotor* rotMotor = genCons->getRotationalLimitMotor(angMotorIndex);
+					rotMotor->m_enableMotor = (value1 > 0.f);
+					rotMotor->m_targetVelocity = value0;
+					rotMotor->m_maxMotorForce = value1;
+					break;
+				}
+
+			default:
+				{
+				}
+			}
 			break;
 		};
 	default: