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path: root/source/gameengine/Ketsji/KX_TrackToActuator.cpp
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Diffstat (limited to 'source/gameengine/Ketsji/KX_TrackToActuator.cpp')
-rw-r--r--source/gameengine/Ketsji/KX_TrackToActuator.cpp223
1 files changed, 82 insertions, 141 deletions
diff --git a/source/gameengine/Ketsji/KX_TrackToActuator.cpp b/source/gameengine/Ketsji/KX_TrackToActuator.cpp
index 90b7850946b..75baf5fac1d 100644
--- a/source/gameengine/Ketsji/KX_TrackToActuator.cpp
+++ b/source/gameengine/Ketsji/KX_TrackToActuator.cpp
@@ -31,8 +31,7 @@
* Replace the mesh for this actuator's parent
*/
-/* todo: not all trackflags / upflags are implemented/tested !
- * m_trackflag is used to determine the forward tracking direction
+/* m_trackflag is used to determine the forward tracking direction
* m_upflag for the up direction
* normal situation is +y for forward, +z for up */
@@ -177,7 +176,77 @@ static MT_Matrix3x3 matrix3x3_interpol(MT_Matrix3x3 oldmat, MT_Matrix3x3 mat, in
return EulToMat3(eul);
}
+static float basis_cross(int n, int m)
+{
+ switch (n - m) {
+ case 1:
+ case -2:
+ return 1.0f;
+
+ case -1:
+ case 2:
+ return -1.0f;
+
+ default:
+ return 0.0f;
+ }
+}
+/* vectomat function obtained from constrain.c and modified to work with MOTO library */
+static MT_Matrix3x3 vectomat(MT_Vector3 vec, short axis, short upflag, short threedimup)
+{
+ MT_Matrix3x3 mat;
+ MT_Vector3 y(MT_Scalar(0.0), MT_Scalar(1.0), MT_Scalar(0.0));
+ MT_Vector3 z(MT_Scalar(0.0), MT_Scalar(0.0), MT_Scalar(1.0)); /* world Z axis is the global up axis */
+ MT_Vector3 proj;
+ MT_Vector3 right;
+ MT_Scalar mul;
+ int right_index;
+
+ /* Normalized Vec vector*/
+ vec = vec.safe_normalized_vec(z);
+
+ /* if 2D doesn't move the up vector */
+ if (!threedimup){
+ vec.setValue(MT_Scalar(vec[0]), MT_Scalar(vec[1]), MT_Scalar(0.0));
+ vec = (vec - z.dot(vec)*z).safe_normalized_vec(z);
+ }
+
+ if (axis > 2)
+ axis -= 3;
+ else
+ vec = -vec;
+
+ /* project the up vector onto the plane specified by vec */
+ /* first z onto vec... */
+ mul = z.dot(vec) / vec.dot(vec);
+ proj = vec * mul;
+ /* then onto the plane */
+ proj = z - proj;
+ /* proj specifies the transformation of the up axis */
+ proj = proj.safe_normalized_vec(y);
+
+ /* Normalized cross product of vec and proj specifies transformation of the right axis */
+ right = proj.cross(vec);
+ right.normalize();
+
+ if (axis != upflag) {
+ right_index = 3 - axis - upflag;
+
+ /* account for up direction, track direction */
+ right = right * basis_cross(axis, upflag);
+ mat.setRow(right_index, right);
+ mat.setRow(upflag, proj);
+ mat.setRow(axis, vec);
+ mat = mat.inverse();
+ }
+ /* identity matrix - don't do anything if the two axes are the same */
+ else {
+ mat.setIdentity();
+ }
+
+ return mat;
+}
KX_TrackToActuator::~KX_TrackToActuator()
{
@@ -247,153 +316,24 @@ bool KX_TrackToActuator::Update(double curtime, bool frame)
else if (m_object)
{
KX_GameObject* curobj = (KX_GameObject*) GetParent();
- MT_Vector3 dir = ((KX_GameObject*)m_object)->NodeGetWorldPosition() - curobj->NodeGetWorldPosition();
- if (dir.length2())
- dir.normalize();
- MT_Vector3 up(0,0,1);
-
-
-#ifdef DSADSA
- switch (m_upflag)
- {
- case 0:
- {
- up.setValue(1.0,0,0);
- break;
- }
- case 1:
- {
- up.setValue(0,1.0,0);
- break;
- }
- case 2:
- default:
- {
- up.setValue(0,0,1.0);
- }
- }
-#endif
- if (m_allow3D)
- {
- up = (up - up.dot(dir) * dir).safe_normalized();
-
- }
- else
- {
- dir = (dir - up.dot(dir)*up).safe_normalized();
- }
-
- MT_Vector3 left;
+ MT_Vector3 dir = curobj->NodeGetWorldPosition() - ((KX_GameObject*)m_object)->NodeGetWorldPosition();
MT_Matrix3x3 mat;
-
- switch (m_trackflag)
- {
- case 0: // TRACK X
- {
- // (1.0 , 0.0 , 0.0 ) x direction is forward, z (0.0 , 0.0 , 1.0 ) up
- left = dir.safe_normalized();
- dir = up.cross(left).safe_normalized();
- mat.setValue (
- left[0], dir[0],up[0],
- left[1], dir[1],up[1],
- left[2], dir[2],up[2]
- );
-
- break;
- };
- case 1: // TRACK Y
- {
- // (0.0 , 1.0 , 0.0 ) y direction is forward, z (0.0 , 0.0 , 1.0 ) up
- left = (dir.cross(up)).safe_normalized();
- mat.setValue (
- left[0], dir[0],up[0],
- left[1], dir[1],up[1],
- left[2], dir[2],up[2]
- );
-
- break;
- }
-
- case 2: // track Z
- {
- left = up.safe_normalized();
- up = dir.safe_normalized();
- dir = left;
- left = (dir.cross(up)).safe_normalized();
- mat.setValue (
- left[0], dir[0],up[0],
- left[1], dir[1],up[1],
- left[2], dir[2],up[2]
- );
- break;
- }
-
- case 3: // TRACK -X
- {
- // (1.0 , 0.0 , 0.0 ) x direction is forward, z (0.0 , 0.0 , 1.0 ) up
- left = -dir.safe_normalized();
- dir = up.cross(left).safe_normalized();
- mat.setValue (
- left[0], dir[0],up[0],
- left[1], dir[1],up[1],
- left[2], dir[2],up[2]
- );
-
- break;
- };
- case 4: // TRACK -Y
- {
- // (0.0 , -1.0 , 0.0 ) -y direction is forward, z (0.0 , 0.0 , 1.0 ) up
- left = (-dir.cross(up)).safe_normalized();
- mat.setValue (
- left[0], -dir[0],up[0],
- left[1], -dir[1],up[1],
- left[2], -dir[2],up[2]
- );
- break;
- }
- case 5: // track -Z
- {
- left = up.safe_normalized();
- up = -dir.safe_normalized();
- dir = left;
- left = (dir.cross(up)).safe_normalized();
- mat.setValue (
- left[0], dir[0],up[0],
- left[1], dir[1],up[1],
- left[2], dir[2],up[2]
- );
-
- break;
- }
-
- default:
- {
- // (1.0 , 0.0 , 0.0 ) -x direction is forward, z (0.0 , 0.0 , 1.0 ) up
- left = -dir.safe_normalized();
- dir = up.cross(left).safe_normalized();
- mat.setValue (
- left[0], dir[0],up[0],
- left[1], dir[1],up[1],
- left[2], dir[2],up[2]
- );
- }
- }
-
MT_Matrix3x3 oldmat;
- oldmat= curobj->NodeGetWorldOrientation();
+
+ mat = vectomat(dir, m_trackflag, m_upflag, m_allow3D);
+ oldmat = curobj->NodeGetWorldOrientation();
/* erwin should rewrite this! */
- mat= matrix3x3_interpol(oldmat, mat, m_time);
+ mat = matrix3x3_interpol(oldmat, mat, m_time);
-
- if (m_parentobj) { // check if the model is parented and calculate the child transform
+ /* check if the model is parented and calculate the child transform */
+ if (m_parentobj) {
MT_Point3 localpos;
localpos = curobj->GetSGNode()->GetLocalPosition();
// Get the inverse of the parent matrix
MT_Matrix3x3 parentmatinv;
- parentmatinv = m_parentobj->NodeGetWorldOrientation ().inverse ();
+ parentmatinv = m_parentobj->NodeGetWorldOrientation().inverse();
// transform the local coordinate system into the parents system
mat = parentmatinv * mat;
// append the initial parent local rotation matrix
@@ -404,8 +344,7 @@ bool KX_TrackToActuator::Update(double curtime, bool frame)
curobj->NodeSetLocalPosition(localpos);
//curobj->UpdateTransform();
}
- else
- {
+ else {
curobj->NodeSetLocalOrientation(mat);
}
@@ -451,6 +390,8 @@ PyMethodDef KX_TrackToActuator::Methods[] = {
PyAttributeDef KX_TrackToActuator::Attributes[] = {
KX_PYATTRIBUTE_INT_RW("time",0,1000,true,KX_TrackToActuator,m_time),
KX_PYATTRIBUTE_BOOL_RW("use3D",KX_TrackToActuator,m_allow3D),
+ KX_PYATTRIBUTE_INT_RW("upAxis", 0, 2, true, KX_TrackToActuator,m_upflag),
+ KX_PYATTRIBUTE_INT_RW("trackAxis", 0, 5, true, KX_TrackToActuator,m_trackflag),
KX_PYATTRIBUTE_RW_FUNCTION("object", KX_TrackToActuator, pyattr_get_object, pyattr_set_object),
{ NULL } //Sentinel
generated by cgit v1.2.3 (git 2.25.1) at 2024-05-18 09:37:27 +0300