diff options
Diffstat (limited to 'source/gameengine/Ketsji/KX_ConstraintActuator.cpp')
| -rw-r--r-- | source/gameengine/Ketsji/KX_ConstraintActuator.cpp | 160 |
1 files changed, 97 insertions, 63 deletions
diff --git a/source/gameengine/Ketsji/KX_ConstraintActuator.cpp b/source/gameengine/Ketsji/KX_ConstraintActuator.cpp index e0c9af5ae60..49534ccbd4a 100644 --- a/source/gameengine/Ketsji/KX_ConstraintActuator.cpp +++ b/source/gameengine/Ketsji/KX_ConstraintActuator.cpp @@ -172,13 +172,15 @@ 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, refDirection; + MT_Vector3 normal, direction, refDirection; MT_Matrix3x3 rotation = obj->NodeGetWorldOrientation(); MT_Scalar filter, newdistance, cosangle; int axis, sign; if (m_posDampTime) { filter = m_posDampTime/(1.0+m_posDampTime); + } else { + filter = 0.0; } switch (m_locrot) { case KX_ACT_CONSTRAINT_ORIX: @@ -238,12 +240,8 @@ bool KX_ConstraintActuator::Update(double curtime, bool frame) } else { refDirection = m_refDirection; } - if (m_posDampTime) { - // apply damping on the direction - direction = filter*direction + (1.0-filter)*refDirection; - } else { - direction = refDirection; - } + // apply damping on the direction + direction = filter*direction + (1.0-filter)*refDirection; obj->AlignAxisToVect(direction, axis); result = true; goto CHECK_TIME; @@ -255,49 +253,74 @@ bool KX_ConstraintActuator::Update(double curtime, bool frame) case KX_ACT_CONSTRAINT_DIRNZ: switch (m_locrot) { case KX_ACT_CONSTRAINT_DIRPX: - direction[0] = rotation[0][0]; - direction[1] = rotation[1][0]; - direction[2] = rotation[2][0]; + normal[0] = rotation[0][0]; + normal[1] = rotation[1][0]; + normal[2] = rotation[2][0]; axis = 0; // axis according to KX_GameObject::AlignAxisToVect() - sign = 1; // X axis will be anti parrallel to normal + sign = 0; // X axis will be parrallel to direction of ray break; case KX_ACT_CONSTRAINT_DIRPY: - direction[0] = rotation[0][1]; - direction[1] = rotation[1][1]; - direction[2] = rotation[2][1]; + normal[0] = rotation[0][1]; + normal[1] = rotation[1][1]; + normal[2] = rotation[2][1]; axis = 1; - sign = 1; + sign = 0; break; case KX_ACT_CONSTRAINT_DIRPZ: - direction[0] = rotation[0][2]; - direction[1] = rotation[1][2]; - direction[2] = rotation[2][2]; + normal[0] = rotation[0][2]; + normal[1] = rotation[1][2]; + normal[2] = rotation[2][2]; axis = 2; - sign = 1; + sign = 0; break; case KX_ACT_CONSTRAINT_DIRNX: - direction[0] = -rotation[0][0]; - direction[1] = -rotation[1][0]; - direction[2] = -rotation[2][0]; + normal[0] = -rotation[0][0]; + normal[1] = -rotation[1][0]; + normal[2] = -rotation[2][0]; axis = 0; - sign = 0; + sign = 1; break; case KX_ACT_CONSTRAINT_DIRNY: - direction[0] = -rotation[0][1]; - direction[1] = -rotation[1][1]; - direction[2] = -rotation[2][1]; + normal[0] = -rotation[0][1]; + normal[1] = -rotation[1][1]; + normal[2] = -rotation[2][1]; axis = 1; - sign = 0; + sign = 1; break; case KX_ACT_CONSTRAINT_DIRNZ: - direction[0] = -rotation[0][2]; - direction[1] = -rotation[1][2]; - direction[2] = -rotation[2][2]; + normal[0] = -rotation[0][2]; + normal[1] = -rotation[1][2]; + normal[2] = -rotation[2][2]; axis = 2; - sign = 0; + sign = 1; break; } - direction.normalize(); + normal.normalize(); + if (m_option & KX_ACT_CONSTRAINT_LOCAL) { + // direction of the ray is along the local axis + direction = normal; + } else { + switch (m_locrot) { + case KX_ACT_CONSTRAINT_DIRPX: + direction = MT_Vector3(1.0,0.0,0.0); + break; + case KX_ACT_CONSTRAINT_DIRPY: + direction = MT_Vector3(0.0,1.0,0.0); + break; + case KX_ACT_CONSTRAINT_DIRPZ: + direction = MT_Vector3(0.0,0.0,1.0); + break; + case KX_ACT_CONSTRAINT_DIRNX: + direction = MT_Vector3(-1.0,0.0,0.0); + break; + case KX_ACT_CONSTRAINT_DIRNY: + direction = MT_Vector3(0.0,-1.0,0.0); + break; + case KX_ACT_CONSTRAINT_DIRNZ: + direction = MT_Vector3(0.0,0.0,-1.0); + break; + } + } { MT_Point3 topoint = position + (m_maximumBound) * direction; PHY_IPhysicsEnvironment* pe = obj->GetPhysicsEnvironment(); @@ -326,18 +349,19 @@ bool KX_ConstraintActuator::Update(double curtime, bool frame) goto CHECK_TIME; } if (m_option & KX_ACT_CONSTRAINT_NORMAL) { - // the new orientation must be so that the axis is parallel to normal - if (sign) - newnormal = -newnormal; + MT_Scalar rotFilter; // apply damping on the direction if (m_rotDampTime) { - MT_Scalar rotFilter = 1.0/(1.0+m_rotDampTime); - newnormal = (-m_rotDampTime*rotFilter)*direction + rotFilter*newnormal; - } else if (m_posDampTime) { - newnormal = -filter*direction + (1.0-filter)*newnormal; + rotFilter = m_rotDampTime/(1.0+m_rotDampTime); + } else { + rotFilter = filter; + } + newnormal = rotFilter*normal - (1.0-rotFilter)*newnormal; + obj->AlignAxisToVect((sign)?-newnormal:newnormal, axis); + if (m_option & KX_ACT_CONSTRAINT_LOCAL) { + direction = newnormal; + direction.normalize(); } - obj->AlignAxisToVect(newnormal, axis); - direction = -newnormal; } if (m_option & KX_ACT_CONSTRAINT_DISTANCE) { if (m_posDampTime) { @@ -345,6 +369,16 @@ bool KX_ConstraintActuator::Update(double curtime, bool frame) } else { newdistance = m_minimumBound; } + // logically we should cancel the speed along the ray direction as we set the + // position along that axis + spc = obj->GetPhysicsController(); + if (spc) { + MT_Vector3 linV = spc->GetLinearVelocity(); + // cancel the projection along the ray direction + MT_Scalar fallspeed = linV.dot(direction); + if (!MT_fuzzyZero(fallspeed)) + spc->SetLinearVelocity(linV-fallspeed*direction,false); + } } else { newdistance = (position-callback.m_hitPoint).length(); } @@ -479,7 +513,7 @@ PyObject* KX_ConstraintActuator::_getattr(const STR_String& attr) { } /* 2. setDamp */ -char KX_ConstraintActuator::SetDamp_doc[] = +const char KX_ConstraintActuator::SetDamp_doc[] = "setDamp(duration)\n" "\t- duration: integer\n" "\tSets the time constant of the orientation and distance constraint.\n" @@ -498,7 +532,7 @@ PyObject* KX_ConstraintActuator::PySetDamp(PyObject* self, Py_Return; } /* 3. getDamp */ -char KX_ConstraintActuator::GetDamp_doc[] = +const char KX_ConstraintActuator::GetDamp_doc[] = "getDamp()\n" "\tReturns the damping parameter.\n"; PyObject* KX_ConstraintActuator::PyGetDamp(PyObject* self){ @@ -506,7 +540,7 @@ PyObject* KX_ConstraintActuator::PyGetDamp(PyObject* self){ } /* 2. setRotDamp */ -char KX_ConstraintActuator::SetRotDamp_doc[] = +const char KX_ConstraintActuator::SetRotDamp_doc[] = "setRotDamp(duration)\n" "\t- duration: integer\n" "\tSets the time constant of the orientation constraint.\n" @@ -525,7 +559,7 @@ PyObject* KX_ConstraintActuator::PySetRotDamp(PyObject* self, Py_Return; } /* 3. getRotDamp */ -char KX_ConstraintActuator::GetRotDamp_doc[] = +const char KX_ConstraintActuator::GetRotDamp_doc[] = "getRotDamp()\n" "\tReturns the damping time for application of the constraint.\n"; PyObject* KX_ConstraintActuator::PyGetRotDamp(PyObject* self){ @@ -533,7 +567,7 @@ PyObject* KX_ConstraintActuator::PyGetRotDamp(PyObject* self){ } /* 2. setDirection */ -char KX_ConstraintActuator::SetDirection_doc[] = +const char KX_ConstraintActuator::SetDirection_doc[] = "setDirection(vector)\n" "\t- vector: 3-tuple\n" "\tSets the reference direction in world coordinate for the orientation constraint.\n"; @@ -560,7 +594,7 @@ PyObject* KX_ConstraintActuator::PySetDirection(PyObject* self, Py_Return; } /* 3. getDirection */ -char KX_ConstraintActuator::GetDirection_doc[] = +const char KX_ConstraintActuator::GetDirection_doc[] = "getDirection()\n" "\tReturns the reference direction of the orientation constraint as a 3-tuple.\n"; PyObject* KX_ConstraintActuator::PyGetDirection(PyObject* self){ @@ -573,7 +607,7 @@ PyObject* KX_ConstraintActuator::PyGetDirection(PyObject* self){ } /* 2. setOption */ -char KX_ConstraintActuator::SetOption_doc[] = +const char KX_ConstraintActuator::SetOption_doc[] = "setOption(option)\n" "\t- option: integer\n" "\tSets several options of the distance constraint.\n" @@ -595,7 +629,7 @@ PyObject* KX_ConstraintActuator::PySetOption(PyObject* self, Py_Return; } /* 3. getOption */ -char KX_ConstraintActuator::GetOption_doc[] = +const char KX_ConstraintActuator::GetOption_doc[] = "getOption()\n" "\tReturns the option parameter.\n"; PyObject* KX_ConstraintActuator::PyGetOption(PyObject* self){ @@ -603,7 +637,7 @@ PyObject* KX_ConstraintActuator::PyGetOption(PyObject* self){ } /* 2. setTime */ -char KX_ConstraintActuator::SetTime_doc[] = +const char KX_ConstraintActuator::SetTime_doc[] = "setTime(duration)\n" "\t- duration: integer\n" "\tSets the activation time of the actuator.\n" @@ -624,7 +658,7 @@ PyObject* KX_ConstraintActuator::PySetTime(PyObject* self, Py_Return; } /* 3. getTime */ -char KX_ConstraintActuator::GetTime_doc[] = +const char KX_ConstraintActuator::GetTime_doc[] = "getTime()\n" "\tReturns the time parameter.\n"; PyObject* KX_ConstraintActuator::PyGetTime(PyObject* self){ @@ -632,7 +666,7 @@ PyObject* KX_ConstraintActuator::PyGetTime(PyObject* self){ } /* 2. setProperty */ -char KX_ConstraintActuator::SetProperty_doc[] = +const char KX_ConstraintActuator::SetProperty_doc[] = "setProperty(property)\n" "\t- property: string\n" "\tSets the name of the property or material for the ray detection of the distance constraint.\n" @@ -654,7 +688,7 @@ PyObject* KX_ConstraintActuator::PySetProperty(PyObject* self, Py_Return; } /* 3. getProperty */ -char KX_ConstraintActuator::GetProperty_doc[] = +const char KX_ConstraintActuator::GetProperty_doc[] = "getProperty()\n" "\tReturns the property parameter.\n"; PyObject* KX_ConstraintActuator::PyGetProperty(PyObject* self){ @@ -662,12 +696,12 @@ PyObject* KX_ConstraintActuator::PyGetProperty(PyObject* self){ } /* 4. setDistance */ -char KX_ConstraintActuator::SetDistance_doc[] = +const char KX_ConstraintActuator::SetDistance_doc[] = "setDistance(distance)\n" "\t- distance: float\n" "\tSets the target distance in distance constraint\n"; /* 4. setMin */ -char KX_ConstraintActuator::SetMin_doc[] = +const char KX_ConstraintActuator::SetMin_doc[] = "setMin(lower_bound)\n" "\t- lower_bound: float\n" "\tSets the lower value of the interval to which the value\n" @@ -694,11 +728,11 @@ PyObject* KX_ConstraintActuator::PySetMin(PyObject* self, Py_Return; } /* 5. getDistance */ -char KX_ConstraintActuator::GetDistance_doc[] = +const char KX_ConstraintActuator::GetDistance_doc[] = "getDistance()\n" "\tReturns the distance parameter \n"; /* 5. getMin */ -char KX_ConstraintActuator::GetMin_doc[] = +const char KX_ConstraintActuator::GetMin_doc[] = "getMin()\n" "\tReturns the lower value of the interval to which the value\n" "\tis clipped.\n"; @@ -707,12 +741,12 @@ PyObject* KX_ConstraintActuator::PyGetMin(PyObject* self) { } /* 6. setRayLength */ -char KX_ConstraintActuator::SetRayLength_doc[] = +const char KX_ConstraintActuator::SetRayLength_doc[] = "setRayLength(length)\n" "\t- length: float\n" "\tSets the maximum ray length of the distance constraint\n"; /* 6. setMax */ -char KX_ConstraintActuator::SetMax_doc[] = +const char KX_ConstraintActuator::SetMax_doc[] = "setMax(upper_bound)\n" "\t- upper_bound: float\n" "\tSets the upper value of the interval to which the value\n" @@ -739,11 +773,11 @@ PyObject* KX_ConstraintActuator::PySetMax(PyObject* self, Py_Return; } /* 7. getRayLength */ -char KX_ConstraintActuator::GetRayLength_doc[] = +const char KX_ConstraintActuator::GetRayLength_doc[] = "getRayLength()\n" "\tReturns the length of the ray\n"; /* 7. getMax */ -char KX_ConstraintActuator::GetMax_doc[] = +const char KX_ConstraintActuator::GetMax_doc[] = "getMax()\n" "\tReturns the upper value of the interval to which the value\n" "\tis clipped.\n"; @@ -754,7 +788,7 @@ PyObject* KX_ConstraintActuator::PyGetMax(PyObject* self) { /* This setter/getter probably for the constraint type */ /* 8. setLimit */ -char KX_ConstraintActuator::SetLimit_doc[] = +const char KX_ConstraintActuator::SetLimit_doc[] = "setLimit(type)\n" "\t- type: integer\n" "\t 1 : LocX\n" @@ -783,7 +817,7 @@ PyObject* KX_ConstraintActuator::PySetLimit(PyObject* self, Py_Return; } /* 9. getLimit */ -char KX_ConstraintActuator::GetLimit_doc[] = +const char KX_ConstraintActuator::GetLimit_doc[] = "getLimit()\n" "\tReturns the type of constraint.\n"; PyObject* KX_ConstraintActuator::PyGetLimit(PyObject* self) { |