added a factor argument for aligning to vector, this isn't correct since it does linear interpolation of the vector and renormalizes.

(can be improved to rotate correctly but for our  use ist ok for now, would also be useful to have an argument to clamp the maximum rotation angle to get a constant rotation speed),

This will used to make franky upright when falling from an angle, to track to a surface when hanging onto a ledge and setting the glide pitch.
Without this rotation is instant and jerky.

currently this is done with Mathutils which isnt available in Blender Player.

def do_rotate_up(own):
	own.alignAxisToVect([0,0,1], 2, 0.1)

replaces...

def do_rotate_up(own):
	up_nor = Vector(0,0,1)
	own_mat = Matrix(*own.getOrientation()).transpose()
	own_up = up_nor * own_mat
	ang = AngleBetweenVecs(own_up, up_nor)
	if ang > 0.005:
		# Set orientation
		cross = CrossVecs(own_up, up_nor)
		new_mat = own_mat * RotationMatrix(ang*0.1, 3, 'r', cross)
		own.setOrientation(new_mat.transpose())


M    source/gameengine/Ketsji/KX_GameObject.cpp
M    source/gameengine/Ketsji/KX_GameObject.h

2 files changed, 35 insertions, 7 deletions

diff --git a/source/gameengine/Ketsji/KX_GameObject.cpp b/source/gameengine/Ketsji/KX_GameObject.cpp
index 88fbbb5fd1f..e29ca72500a 100644
--- a/source/gameengine/Ketsji/KX_GameObject.cpp
+++ b/source/gameengine/Ketsji/KX_GameObject.cpp
@@ -572,7 +572,7 @@ void KX_GameObject::SetObjectColor(const MT_Vector4& rgbavec)
 	m_objectColor = rgbavec;
 }
 
-void KX_GameObject::AlignAxisToVect(const MT_Vector3& dir, int axis)
+void KX_GameObject::AlignAxisToVect(const MT_Vector3& dir, int axis, float fac)
 {
 	MT_Matrix3x3 orimat;
 	MT_Vector3 vect,ori,z,x,y;
@@ -585,6 +585,11 @@ void KX_GameObject::AlignAxisToVect(const MT_Vector3& dir, int axis)
 		cout << "alignAxisToVect() Error: Null vector!\n";
 		return;
 	}
+	
+	if (fac<=0.0) {
+		return;
+	}
+	
 	// normalize
 	vect /= len;
 	orimat = GetSGNode()->GetWorldOrientation();
@@ -594,7 +599,14 @@ void KX_GameObject::AlignAxisToVect(const MT_Vector3& dir, int axis)
 			ori = MT_Vector3(orimat[0][2], orimat[1][2], orimat[2][2]); //pivot axis
 			if (MT_abs(vect.dot(ori)) > 1.0-3.0*MT_EPSILON) //is the vector paralell to the pivot?
 				ori = MT_Vector3(orimat[0][1], orimat[1][1], orimat[2][1]); //change the pivot!
-			x = vect; 
+			if (fac == 1.0) {
+				x = vect;
+			} else {
+				x = (vect * fac) + ((orimat * MT_Vector3(1.0, 0.0, 0.0)) * (1-fac));
+				len = x.length();
+				if (MT_fuzzyZero(len)) x = vect;
+				else x /= len;
+			}
 			y = ori.cross(x);
 			z = x.cross(y);
 			break;
@@ -602,7 +614,14 @@ void KX_GameObject::AlignAxisToVect(const MT_Vector3& dir, int axis)
 			ori = MT_Vector3(orimat[0][0], orimat[1][0], orimat[2][0]);
 			if (MT_abs(vect.dot(ori)) > 1.0-3.0*MT_EPSILON)
 				ori = MT_Vector3(orimat[0][2], orimat[1][2], orimat[2][2]);
-			y = vect;
+			if (fac == 1.0) {
+				y = vect;
+			} else {
+				y = (vect * fac) + ((orimat * MT_Vector3(0.0, 1.0, 0.0)) * (1-fac));
+				len = y.length();
+				if (MT_fuzzyZero(len)) y = vect;
+				else y /= len;
+			}
 			z = ori.cross(y);
 			x = y.cross(z);
 			break;
@@ -610,7 +629,14 @@ void KX_GameObject::AlignAxisToVect(const MT_Vector3& dir, int axis)
 			ori = MT_Vector3(orimat[0][1], orimat[1][1], orimat[2][1]);
 			if (MT_abs(vect.dot(ori)) > 1.0-3.0*MT_EPSILON)
 				ori = MT_Vector3(orimat[0][0], orimat[1][0], orimat[2][0]);
-			z = vect;
+			if (fac == 1.0) {
+				z = vect;
+			} else {
+				z = (vect * fac) + ((orimat * MT_Vector3(0.0, 0.0, 1.0)) * (1-fac));
+				len = z.length();
+				if (MT_fuzzyZero(len)) z = vect;
+				else z /= len;
+			}
 			x = ori.cross(z);
 			y = z.cross(x);
 			break;
@@ -1386,13 +1412,14 @@ PyObject* KX_GameObject::PyAlignAxisToVect(PyObject* self,
 {
 	PyObject* pyvect;
 	int axis = 2; //z axis is the default
+	float fac = 1.0;
 	
-	if (PyArg_ParseTuple(args,"O|i",&pyvect,&axis))
+	if (PyArg_ParseTuple(args,"O|if",&pyvect,&axis, &fac))
 	{
 		MT_Vector3 vect;
 		if (PyVecTo(pyvect, vect))
 		{
-			AlignAxisToVect(vect,axis);				
+			AlignAxisToVect(vect,axis,fac);
 			Py_RETURN_NONE;
 		}
 	}
diff --git a/source/gameengine/Ketsji/KX_GameObject.h b/source/gameengine/Ketsji/KX_GameObject.h
index b4f50087742..ddbf863aa1a 100644
--- a/source/gameengine/Ketsji/KX_GameObject.h
+++ b/source/gameengine/Ketsji/KX_GameObject.h
@@ -278,7 +278,8 @@ public:
 		void 
 	AlignAxisToVect(
 		const MT_Vector3& vect,
-		int axis = 2 
+		int axis = 2,
+		float fac = 1.0
 	);
 
 	/**