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path: root/source/gameengine/Ketsji/KX_PyConstraintBinding.cpp
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Diffstat (limited to 'source/gameengine/Ketsji/KX_PyConstraintBinding.cpp')
-rw-r--r--source/gameengine/Ketsji/KX_PyConstraintBinding.cpp285
1 files changed, 153 insertions, 132 deletions
diff --git a/source/gameengine/Ketsji/KX_PyConstraintBinding.cpp b/source/gameengine/Ketsji/KX_PyConstraintBinding.cpp
index 12024657149..fde127b7ef5 100644
--- a/source/gameengine/Ketsji/KX_PyConstraintBinding.cpp
+++ b/source/gameengine/Ketsji/KX_PyConstraintBinding.cpp
@@ -38,12 +38,20 @@
#include "KX_PhysicsObjectWrapper.h"
#include "PHY_IPhysicsController.h"
#include "PHY_IVehicle.h"
+#include "PHY_DynamicTypes.h"
#include "MT_Matrix3x3.h"
#include "PyObjectPlus.h"
+#ifdef USE_BULLET
+# include "LinearMath/btIDebugDraw.h"
+#endif
+
#ifdef WITH_PYTHON
+// macro copied from KX_PythonInit.cpp
+#define KX_MACRO_addTypesToDict(dict, name, name2) PyDict_SetItemString(dict, #name, item=PyLong_FromSsize_t(name2)); Py_DECREF(item)
+
// nasty glob variable to connect scripting language
// if there is a better way (without global), please do so!
static PHY_IPhysicsEnvironment* g_CurrentActivePhysicsEnvironment = NULL;
@@ -84,8 +92,8 @@ static char gPyGetAppliedImpulse__doc__[] = "getAppliedImpulse(int constraintId)
static PyObject* gPySetGravity(PyObject* self,
- PyObject* args,
- PyObject* kwds)
+ PyObject* args,
+ PyObject* kwds)
{
float x,y,z;
if (PyArg_ParseTuple(args,"fff",&x,&y,&z))
@@ -101,8 +109,8 @@ static PyObject* gPySetGravity(PyObject* self,
}
static PyObject* gPySetDebugMode(PyObject* self,
- PyObject* args,
- PyObject* kwds)
+ PyObject* args,
+ PyObject* kwds)
{
int mode;
if (PyArg_ParseTuple(args,"i",&mode))
@@ -124,8 +132,8 @@ static PyObject* gPySetDebugMode(PyObject* self,
static PyObject* gPySetNumTimeSubSteps(PyObject* self,
- PyObject* args,
- PyObject* kwds)
+ PyObject* args,
+ PyObject* kwds)
{
int substep;
if (PyArg_ParseTuple(args,"i",&substep))
@@ -143,8 +151,8 @@ static PyObject* gPySetNumTimeSubSteps(PyObject* self,
static PyObject* gPySetNumIterations(PyObject* self,
- PyObject* args,
- PyObject* kwds)
+ PyObject* args,
+ PyObject* kwds)
{
int iter;
if (PyArg_ParseTuple(args,"i",&iter))
@@ -161,10 +169,9 @@ static PyObject* gPySetNumIterations(PyObject* self,
}
-
static PyObject* gPySetDeactivationTime(PyObject* self,
- PyObject* args,
- PyObject* kwds)
+ PyObject* args,
+ PyObject* kwds)
{
float deactive_time;
if (PyArg_ParseTuple(args,"f",&deactive_time))
@@ -182,8 +189,8 @@ static PyObject* gPySetDeactivationTime(PyObject* self,
static PyObject* gPySetDeactivationLinearTreshold(PyObject* self,
- PyObject* args,
- PyObject* kwds)
+ PyObject* args,
+ PyObject* kwds)
{
float linearDeactivationTreshold;
if (PyArg_ParseTuple(args,"f",&linearDeactivationTreshold))
@@ -201,8 +208,8 @@ static PyObject* gPySetDeactivationLinearTreshold(PyObject* self,
static PyObject* gPySetDeactivationAngularTreshold(PyObject* self,
- PyObject* args,
- PyObject* kwds)
+ PyObject* args,
+ PyObject* kwds)
{
float angularDeactivationTreshold;
if (PyArg_ParseTuple(args,"f",&angularDeactivationTreshold))
@@ -219,8 +226,8 @@ static PyObject* gPySetDeactivationAngularTreshold(PyObject* self,
}
static PyObject* gPySetContactBreakingTreshold(PyObject* self,
- PyObject* args,
- PyObject* kwds)
+ PyObject* args,
+ PyObject* kwds)
{
float contactBreakingTreshold;
if (PyArg_ParseTuple(args,"f",&contactBreakingTreshold))
@@ -238,8 +245,8 @@ static PyObject* gPySetContactBreakingTreshold(PyObject* self,
static PyObject* gPySetCcdMode(PyObject* self,
- PyObject* args,
- PyObject* kwds)
+ PyObject* args,
+ PyObject* kwds)
{
float ccdMode;
if (PyArg_ParseTuple(args,"f",&ccdMode))
@@ -256,8 +263,8 @@ static PyObject* gPySetCcdMode(PyObject* self,
}
static PyObject* gPySetSorConstant(PyObject* self,
- PyObject* args,
- PyObject* kwds)
+ PyObject* args,
+ PyObject* kwds)
{
float sor;
if (PyArg_ParseTuple(args,"f",&sor))
@@ -274,8 +281,8 @@ static PyObject* gPySetSorConstant(PyObject* self,
}
static PyObject* gPySetSolverTau(PyObject* self,
- PyObject* args,
- PyObject* kwds)
+ PyObject* args,
+ PyObject* kwds)
{
float tau;
if (PyArg_ParseTuple(args,"f",&tau))
@@ -293,8 +300,8 @@ static PyObject* gPySetSolverTau(PyObject* self,
static PyObject* gPySetSolverDamping(PyObject* self,
- PyObject* args,
- PyObject* kwds)
+ PyObject* args,
+ PyObject* kwds)
{
float damping;
if (PyArg_ParseTuple(args,"f",&damping))
@@ -311,8 +318,8 @@ static PyObject* gPySetSolverDamping(PyObject* self,
}
static PyObject* gPySetLinearAirDamping(PyObject* self,
- PyObject* args,
- PyObject* kwds)
+ PyObject* args,
+ PyObject* kwds)
{
float damping;
if (PyArg_ParseTuple(args,"f",&damping))
@@ -330,8 +337,8 @@ static PyObject* gPySetLinearAirDamping(PyObject* self,
static PyObject* gPySetUseEpa(PyObject* self,
- PyObject* args,
- PyObject* kwds)
+ PyObject* args,
+ PyObject* kwds)
{
int epa;
if (PyArg_ParseTuple(args,"i",&epa))
@@ -347,8 +354,8 @@ static PyObject* gPySetUseEpa(PyObject* self,
Py_RETURN_NONE;
}
static PyObject* gPySetSolverType(PyObject* self,
- PyObject* args,
- PyObject* kwds)
+ PyObject* args,
+ PyObject* kwds)
{
int solverType;
if (PyArg_ParseTuple(args,"i",&solverType))
@@ -367,8 +374,8 @@ static PyObject* gPySetSolverType(PyObject* self,
static PyObject* gPyGetVehicleConstraint(PyObject* self,
- PyObject* args,
- PyObject* kwds)
+ PyObject* args,
+ PyObject* kwds)
{
#if defined(_WIN64)
__int64 constraintid;
@@ -398,9 +405,6 @@ static PyObject* gPyGetVehicleConstraint(PyObject* self,
}
-
-
-
static PyObject* gPyCreateConstraint(PyObject* self,
PyObject* args,
PyObject* kwds)
@@ -425,39 +429,39 @@ static PyObject* gPyCreateConstraint(PyObject* self,
success = PyArg_ParseTuple(args,"lli",&physicsid,&physicsid2,&constrainttype);
#endif
}
- else
- if (len ==6)
+ else if (len == 6)
{
#if defined(_WIN64)
success = PyArg_ParseTuple(args,"LLifff",&physicsid,&physicsid2,&constrainttype,
- &pivotX,&pivotY,&pivotZ);
+ &pivotX,&pivotY,&pivotZ);
#else
success = PyArg_ParseTuple(args,"llifff",&physicsid,&physicsid2,&constrainttype,
- &pivotX,&pivotY,&pivotZ);
+ &pivotX,&pivotY,&pivotZ);
#endif
}
else if (len == 9)
{
#if defined(_WIN64)
success = PyArg_ParseTuple(args,"LLiffffff",&physicsid,&physicsid2,&constrainttype,
- &pivotX,&pivotY,&pivotZ,&axisX,&axisY,&axisZ);
+ &pivotX,&pivotY,&pivotZ,&axisX,&axisY,&axisZ);
#else
success = PyArg_ParseTuple(args,"lliffffff",&physicsid,&physicsid2,&constrainttype,
- &pivotX,&pivotY,&pivotZ,&axisX,&axisY,&axisZ);
+ &pivotX,&pivotY,&pivotZ,&axisX,&axisY,&axisZ);
#endif
-
}
else if (len == 10)
{
#if defined(_WIN64)
success = PyArg_ParseTuple(args,"LLiffffffi",&physicsid,&physicsid2,&constrainttype,
- &pivotX,&pivotY,&pivotZ,&axisX,&axisY,&axisZ,&flag);
+ &pivotX,&pivotY,&pivotZ,&axisX,&axisY,&axisZ,&flag);
#else
success = PyArg_ParseTuple(args,"lliffffffi",&physicsid,&physicsid2,&constrainttype,
- &pivotX,&pivotY,&pivotZ,&axisX,&axisY,&axisZ,&flag);
+ &pivotX,&pivotY,&pivotZ,&axisX,&axisY,&axisZ,&flag);
#endif
}
- else if (len==4)
+
+ /* XXX extrainfo seems to be nothing implemented. right now it works as a pivot with [X,0,0] */
+ else if (len == 4)
{
#if defined(_WIN64)
success = PyArg_ParseTuple(args,"LLii",&physicsid,&physicsid2,&constrainttype,&extrainfo);
@@ -466,7 +470,7 @@ static PyObject* gPyCreateConstraint(PyObject* self,
#endif
pivotX=extrainfo;
}
-
+
if (success)
{
if (PHY_GetActiveEnvironment())
@@ -490,20 +494,18 @@ static PyObject* gPyCreateConstraint(PyObject* self,
MT_Vector3 axis0 = localCFrame.getColumn(0);
MT_Vector3 axis1 = localCFrame.getColumn(1);
MT_Vector3 axis2 = localCFrame.getColumn(2);
-
- constraintid = PHY_GetActiveEnvironment()->createConstraint(physctrl,physctrl2,(enum PHY_ConstraintType)constrainttype,
- 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(),flag);
- } else
- {
+ constraintid = PHY_GetActiveEnvironment()->createConstraint(physctrl,physctrl2,(enum PHY_ConstraintType)constrainttype,
+ 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(),flag);
+ }
+ else {
constraintid = PHY_GetActiveEnvironment()->createConstraint(physctrl,physctrl2,(enum PHY_ConstraintType)constrainttype,pivotX,pivotY,pivotZ,axisX,axisY,axisZ,0);
}
KX_ConstraintWrapper* wrap = new KX_ConstraintWrapper((enum PHY_ConstraintType)constrainttype,constraintid,PHY_GetActiveEnvironment());
-
return wrap->NewProxy(true);
}
@@ -522,8 +524,8 @@ static PyObject* gPyCreateConstraint(PyObject* self,
static PyObject* gPyGetAppliedImpulse(PyObject* self,
- PyObject* args,
- PyObject* kwds)
+ PyObject* args,
+ PyObject* kwds)
{
float appliedImpulse = 0.f;
@@ -549,8 +551,8 @@ static PyObject* gPyGetAppliedImpulse(PyObject* self,
static PyObject* gPyRemoveConstraint(PyObject* self,
- PyObject* args,
- PyObject* kwds)
+ PyObject* args,
+ PyObject* kwds)
{
#if defined(_WIN64)
__int64 constraintid;
@@ -577,7 +579,7 @@ static PyObject* gPyExportBulletFile(PyObject*, PyObject* args)
char* filename;
if (!PyArg_ParseTuple(args,"s:exportBulletFile",&filename))
return NULL;
-
+
if (PHY_GetActiveEnvironment())
{
PHY_GetActiveEnvironment()->exportFile(filename);
@@ -586,62 +588,61 @@ static PyObject* gPyExportBulletFile(PyObject*, PyObject* args)
}
static struct PyMethodDef physicsconstraints_methods[] = {
- {"setGravity",(PyCFunction) gPySetGravity,
- METH_VARARGS, (const char *)gPySetGravity__doc__},
- {"setDebugMode",(PyCFunction) gPySetDebugMode,
- METH_VARARGS, (const char *)gPySetDebugMode__doc__},
-
- /// settings that influence quality of the rigidbody dynamics
- {"setNumIterations",(PyCFunction) gPySetNumIterations,
- METH_VARARGS, (const char *)gPySetNumIterations__doc__},
-
- {"setNumTimeSubSteps",(PyCFunction) gPySetNumTimeSubSteps,
- METH_VARARGS, (const char *)gPySetNumTimeSubSteps__doc__},
-
- {"setDeactivationTime",(PyCFunction) gPySetDeactivationTime,
- METH_VARARGS, (const char *)gPySetDeactivationTime__doc__},
-
- {"setDeactivationLinearTreshold",(PyCFunction) gPySetDeactivationLinearTreshold,
- METH_VARARGS, (const char *)gPySetDeactivationLinearTreshold__doc__},
- {"setDeactivationAngularTreshold",(PyCFunction) gPySetDeactivationAngularTreshold,
- METH_VARARGS, (const char *)gPySetDeactivationAngularTreshold__doc__},
-
- {"setContactBreakingTreshold",(PyCFunction) gPySetContactBreakingTreshold,
- METH_VARARGS, (const char *)gPySetContactBreakingTreshold__doc__},
- {"setCcdMode",(PyCFunction) gPySetCcdMode,
- METH_VARARGS, (const char *)gPySetCcdMode__doc__},
- {"setSorConstant",(PyCFunction) gPySetSorConstant,
- METH_VARARGS, (const char *)gPySetSorConstant__doc__},
- {"setSolverTau",(PyCFunction) gPySetSolverTau,
- METH_VARARGS, (const char *)gPySetSolverTau__doc__},
- {"setSolverDamping",(PyCFunction) gPySetSolverDamping,
- METH_VARARGS, (const char *)gPySetSolverDamping__doc__},
-
- {"setLinearAirDamping",(PyCFunction) gPySetLinearAirDamping,
- METH_VARARGS, (const char *)gPySetLinearAirDamping__doc__},
-
- {"setUseEpa",(PyCFunction) gPySetUseEpa,
- METH_VARARGS, (const char *)gPySetUseEpa__doc__},
+ {"setGravity",(PyCFunction) gPySetGravity,
+ METH_VARARGS, (const char*)gPySetGravity__doc__},
+ {"setDebugMode",(PyCFunction) gPySetDebugMode,
+ METH_VARARGS, (const char *)gPySetDebugMode__doc__},
+
+ /// settings that influence quality of the rigidbody dynamics
+ {"setNumIterations",(PyCFunction) gPySetNumIterations,
+ METH_VARARGS, (const char *)gPySetNumIterations__doc__},
+
+ {"setNumTimeSubSteps",(PyCFunction) gPySetNumTimeSubSteps,
+ METH_VARARGS, (const char *)gPySetNumTimeSubSteps__doc__},
+
+ {"setDeactivationTime",(PyCFunction) gPySetDeactivationTime,
+ METH_VARARGS, (const char *)gPySetDeactivationTime__doc__},
+
+ {"setDeactivationLinearTreshold",(PyCFunction) gPySetDeactivationLinearTreshold,
+ METH_VARARGS, (const char *)gPySetDeactivationLinearTreshold__doc__},
+ {"setDeactivationAngularTreshold",(PyCFunction) gPySetDeactivationAngularTreshold,
+ METH_VARARGS, (const char *)gPySetDeactivationAngularTreshold__doc__},
+
+ {"setContactBreakingTreshold",(PyCFunction) gPySetContactBreakingTreshold,
+ METH_VARARGS, (const char *)gPySetContactBreakingTreshold__doc__},
+ {"setCcdMode",(PyCFunction) gPySetCcdMode,
+ METH_VARARGS, (const char *)gPySetCcdMode__doc__},
+ {"setSorConstant",(PyCFunction) gPySetSorConstant,
+ METH_VARARGS, (const char *)gPySetSorConstant__doc__},
+ {"setSolverTau",(PyCFunction) gPySetSolverTau,
+ METH_VARARGS, (const char *)gPySetSolverTau__doc__},
+ {"setSolverDamping",(PyCFunction) gPySetSolverDamping,
+ METH_VARARGS, (const char *)gPySetSolverDamping__doc__},
+
+ {"setLinearAirDamping",(PyCFunction) gPySetLinearAirDamping,
+ METH_VARARGS, (const char *)gPySetLinearAirDamping__doc__},
+
+ {"setUseEpa",(PyCFunction) gPySetUseEpa,
+ METH_VARARGS, (const char *)gPySetUseEpa__doc__},
{"setSolverType",(PyCFunction) gPySetSolverType,
- METH_VARARGS, (const char *)gPySetSolverType__doc__},
+ METH_VARARGS, (const char *)gPySetSolverType__doc__},
- {"createConstraint",(PyCFunction) gPyCreateConstraint,
- METH_VARARGS, (const char *)gPyCreateConstraint__doc__},
- {"getVehicleConstraint",(PyCFunction) gPyGetVehicleConstraint,
- METH_VARARGS, (const char *)gPyGetVehicleConstraint__doc__},
+ {"createConstraint",(PyCFunction) gPyCreateConstraint,
+ METH_VARARGS, (const char *)gPyCreateConstraint__doc__},
+ {"getVehicleConstraint",(PyCFunction) gPyGetVehicleConstraint,
+ METH_VARARGS, (const char *)gPyGetVehicleConstraint__doc__},
- {"removeConstraint",(PyCFunction) gPyRemoveConstraint,
- METH_VARARGS, (const char *)gPyRemoveConstraint__doc__},
+ {"removeConstraint",(PyCFunction) gPyRemoveConstraint,
+ METH_VARARGS, (const char *)gPyRemoveConstraint__doc__},
{"getAppliedImpulse",(PyCFunction) gPyGetAppliedImpulse,
- METH_VARARGS, (const char *)gPyGetAppliedImpulse__doc__},
+ METH_VARARGS, (const char *)gPyGetAppliedImpulse__doc__},
- {"exportBulletFile",(PyCFunction)gPyExportBulletFile,
- METH_VARARGS, "export a .bullet file"},
+ {"exportBulletFile",(PyCFunction)gPyExportBulletFile,
+ METH_VARARGS, "export a .bullet file"},
-
- //sentinel
- { NULL, (PyCFunction) NULL, 0, NULL }
+ //sentinel
+ { NULL, (PyCFunction) NULL, 0, NULL }
};
static struct PyModuleDef PhysicsConstraints_module_def = {
@@ -656,12 +657,13 @@ static struct PyModuleDef PhysicsConstraints_module_def = {
0, /* m_free */
};
-PyObject* initPythonConstraintBinding()
+PyObject* initPythonConstraintBinding()
{
- PyObject* ErrorObject;
- PyObject* m;
- PyObject* d;
+ PyObject* ErrorObject;
+ PyObject* m;
+ PyObject* d;
+ PyObject* item;
/* Use existing module where possible
* be careful not to init any runtime vars after this */
@@ -677,21 +679,43 @@ PyObject* initPythonConstraintBinding()
PyDict_SetItemString(PySys_GetObject("modules"), PhysicsConstraints_module_def.m_name, m);
}
- // Add some symbolic constants to the module
- d = PyModule_GetDict(m);
- ErrorObject = PyUnicode_FromString("PhysicsConstraints.error");
- PyDict_SetItemString(d, "error", ErrorObject);
- Py_DECREF(ErrorObject);
-
- // XXXX Add constants here
-
- // Check for errors
- if (PyErr_Occurred())
- {
- Py_FatalError("can't initialize module PhysicsConstraints");
- }
-
- return d;
+ // Add some symbolic constants to the module
+ d = PyModule_GetDict(m);
+ ErrorObject = PyUnicode_FromString("PhysicsConstraints.error");
+ PyDict_SetItemString(d, "error", ErrorObject);
+ Py_DECREF(ErrorObject);
+
+#ifdef USE_BULLET
+ //Debug Modes constants to be used with setDebugMode() python function
+ KX_MACRO_addTypesToDict(d, DBG_NODEBUG, btIDebugDraw::DBG_NoDebug);
+ KX_MACRO_addTypesToDict(d, DBG_DRAWWIREFRAME, btIDebugDraw::DBG_DrawWireframe);
+ KX_MACRO_addTypesToDict(d, DBG_DRAWAABB, btIDebugDraw::DBG_DrawAabb);
+ KX_MACRO_addTypesToDict(d, DBG_DRAWFREATURESTEXT, btIDebugDraw::DBG_DrawFeaturesText);
+ KX_MACRO_addTypesToDict(d, DBG_DRAWCONTACTPOINTS, btIDebugDraw::DBG_DrawContactPoints);
+ KX_MACRO_addTypesToDict(d, DBG_NOHELPTEXT, btIDebugDraw::DBG_NoHelpText);
+ KX_MACRO_addTypesToDict(d, DBG_DRAWTEXT, btIDebugDraw::DBG_DrawText);
+ KX_MACRO_addTypesToDict(d, DBG_PROFILETIMINGS, btIDebugDraw::DBG_ProfileTimings);
+ KX_MACRO_addTypesToDict(d, DBG_ENABLESATCOMPARISION, btIDebugDraw::DBG_EnableSatComparison);
+ KX_MACRO_addTypesToDict(d, DBG_DISABLEBULLETLCP, btIDebugDraw::DBG_DisableBulletLCP);
+ KX_MACRO_addTypesToDict(d, DBG_ENABLECDD, btIDebugDraw::DBG_EnableCCD);
+ KX_MACRO_addTypesToDict(d, DBG_DRAWCONSTRAINTS, btIDebugDraw::DBG_DrawConstraints);
+ KX_MACRO_addTypesToDict(d, DBG_DRAWCONSTRAINTLIMITS, btIDebugDraw::DBG_DrawConstraintLimits);
+ KX_MACRO_addTypesToDict(d, DBG_FASTWIREFRAME, btIDebugDraw::DBG_FastWireframe);
+#endif // USE_BULLET
+
+ //Constraint types to be used with createConstraint() python function
+ KX_MACRO_addTypesToDict(d, POINTTOPOINT_CONSTRAINT, PHY_POINT2POINT_CONSTRAINT);
+ KX_MACRO_addTypesToDict(d, LINEHINGE_CONSTRAINT, PHY_LINEHINGE_CONSTRAINT);
+ KX_MACRO_addTypesToDict(d, ANGULAR_CONSTRAINT, PHY_ANGULAR_CONSTRAINT);
+ KX_MACRO_addTypesToDict(d, CONETWIST_CONSTRAINT, PHY_CONE_TWIST_CONSTRAINT);
+ KX_MACRO_addTypesToDict(d, VEHICLE_CONSTRAINT, PHY_VEHICLE_CONSTRAINT);
+
+ // Check for errors
+ if (PyErr_Occurred()) {
+ Py_FatalError("can't initialize module PhysicsConstraints");
+ }
+
+ return d;
}
@@ -709,7 +733,4 @@ PHY_IPhysicsEnvironment* PHY_GetActiveEnvironment()
return g_CurrentActivePhysicsEnvironment;
}
-
-
#endif // WITH_PYTHON
-
generated by cgit v1.2.3 (git 2.25.1) at 2024-06-15 22:06:04 +0300