diff options
Diffstat (limited to 'source/gameengine')
12 files changed, 175 insertions, 15 deletions
diff --git a/source/gameengine/Converter/KX_ConvertActuators.cpp b/source/gameengine/Converter/KX_ConvertActuators.cpp index 695bf0c4dc8..05da38dd1af 100644 --- a/source/gameengine/Converter/KX_ConvertActuators.cpp +++ b/source/gameengine/Converter/KX_ConvertActuators.cpp @@ -180,7 +180,10 @@ void BL_ConvertActuators(const char* maggiename, bitLocalFlag.LinearVelocity = bool((obact->flag & ACT_LIN_VEL_LOCAL)!=0); bitLocalFlag.AngularVelocity = bool((obact->flag & ACT_ANG_VEL_LOCAL)!=0); bitLocalFlag.ServoControl = bool(obact->type == ACT_OBJECT_SERVO); + bitLocalFlag.CharacterMotion = bool(obact->type == ACT_OBJECT_CHARACTER); + bitLocalFlag.CharacterJump = bool((obact->flag & ACT_CHAR_JUMP)!=0); bitLocalFlag.AddOrSetLinV = bool((obact->flag & ACT_ADD_LIN_VEL)!=0); + bitLocalFlag.AddOrSetCharLoc = bool((obact->flag & ACT_ADD_CHAR_LOC)!=0); if (obact->reference && bitLocalFlag.ServoControl) { obref = converter->FindGameObject(obact->reference); diff --git a/source/gameengine/Ketsji/KX_BulletPhysicsController.cpp b/source/gameengine/Ketsji/KX_BulletPhysicsController.cpp index 6ef0aed9fe2..262ec541cf9 100644 --- a/source/gameengine/Ketsji/KX_BulletPhysicsController.cpp +++ b/source/gameengine/Ketsji/KX_BulletPhysicsController.cpp @@ -75,6 +75,11 @@ void KX_BulletPhysicsController::SetLinVelocityMin(float val) CcdPhysicsController::SetLinVelocityMin(val); } +void KX_BulletPhysicsController::Jump() +{ + CcdPhysicsController::Jump(); +} + float KX_BulletPhysicsController::GetLinVelocityMax() { return (float)CcdPhysicsController::GetLinVelocityMax(); @@ -119,6 +124,11 @@ void KX_BulletPhysicsController::RelativeTranslate(const MT_Vector3& dloc,bool l } +void KX_BulletPhysicsController::SetWalkDirection(const MT_Vector3& dloc,bool local) +{ + CcdPhysicsController::SetWalkDirection(dloc[0],dloc[1],dloc[2],local); +} + void KX_BulletPhysicsController::RelativeRotate(const MT_Matrix3x3& drot,bool local) { float rotval[9]; @@ -155,6 +165,13 @@ MT_Vector3 KX_BulletPhysicsController::GetVelocity(const MT_Point3& pos) return MT_Vector3(linVel[0],linVel[1],linVel[2]); } +MT_Vector3 KX_BulletPhysicsController::GetWalkDirection() +{ + float dir[3]; + CcdPhysicsController::GetWalkDirection(dir[0], dir[1], dir[2]); + return MT_Vector3(dir[0], dir[1], dir[2]); +} + void KX_BulletPhysicsController::SetAngularVelocity(const MT_Vector3& ang_vel,bool local) { CcdPhysicsController::SetAngularVelocity(ang_vel.x(),ang_vel.y(),ang_vel.z(),local); diff --git a/source/gameengine/Ketsji/KX_BulletPhysicsController.h b/source/gameengine/Ketsji/KX_BulletPhysicsController.h index aa42bf61a78..3d13744567b 100644 --- a/source/gameengine/Ketsji/KX_BulletPhysicsController.h +++ b/source/gameengine/Ketsji/KX_BulletPhysicsController.h @@ -40,11 +40,14 @@ public: virtual void RelativeRotate(const MT_Matrix3x3& drot,bool local); virtual void ApplyTorque(const MT_Vector3& torque,bool local); virtual void ApplyForce(const MT_Vector3& force,bool local); + virtual void SetWalkDirection(const MT_Vector3& dir,bool local); virtual MT_Vector3 GetLinearVelocity(); virtual MT_Vector3 GetAngularVelocity(); virtual MT_Vector3 GetVelocity(const MT_Point3& pos); + virtual MT_Vector3 GetWalkDirection(); virtual void SetAngularVelocity(const MT_Vector3& ang_vel,bool local); virtual void SetLinearVelocity(const MT_Vector3& lin_vel,bool local); + virtual void Jump(); virtual void getOrientation(MT_Quaternion& orn); virtual void setOrientation(const MT_Matrix3x3& orn); virtual void setPosition(const MT_Point3& pos); diff --git a/source/gameengine/Ketsji/KX_CharacterWrapper.cpp b/source/gameengine/Ketsji/KX_CharacterWrapper.cpp index 64bbbb7d344..a669bdd2586 100644 --- a/source/gameengine/Ketsji/KX_CharacterWrapper.cpp +++ b/source/gameengine/Ketsji/KX_CharacterWrapper.cpp @@ -5,6 +5,7 @@ #include "KX_CharacterWrapper.h" #include "PHY_ICharacter.h" +#include "KX_PyMath.h" KX_CharacterWrapper::KX_CharacterWrapper(PHY_ICharacter* character) : PyObjectPlus(), @@ -47,6 +48,7 @@ PyAttributeDef KX_CharacterWrapper::Attributes[] = { KX_PYATTRIBUTE_RW_FUNCTION("gravity", KX_CharacterWrapper, pyattr_get_gravity, pyattr_set_gravity), KX_PYATTRIBUTE_RW_FUNCTION("maxJumps", KX_CharacterWrapper, pyattr_get_max_jumps, pyattr_set_max_jumps), KX_PYATTRIBUTE_RO_FUNCTION("jumpCount", KX_CharacterWrapper, pyattr_get_jump_count), + KX_PYATTRIBUTE_RW_FUNCTION("walkDirection", KX_CharacterWrapper, pyattr_get_walk_dir, pyattr_set_walk_dir), { NULL } //Sentinel }; @@ -108,6 +110,33 @@ PyObject *KX_CharacterWrapper::pyattr_get_jump_count(void *self_v, const KX_PYAT return PyLong_FromLong(self->m_character->GetJumpCount()); } +PyObject *KX_CharacterWrapper::pyattr_get_walk_dir(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef) +{ + KX_CharacterWrapper* self = static_cast<KX_CharacterWrapper*>(self_v); + PHY__Vector3 vec = self->m_character->GetWalkDirection(); + MT_Vector3 retval = MT_Vector3(vec[0], vec[1], vec[2]); + + return PyObjectFrom(retval); +} + +int KX_CharacterWrapper::pyattr_set_walk_dir(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef, PyObject *value) +{ + KX_CharacterWrapper* self = static_cast<KX_CharacterWrapper*>(self_v); + MT_Vector3 dir; + if (!PyVecTo(value, dir)) { + PyErr_SetString(PyExc_TypeError, "KX_CharacterWrapper.walkDirection: expected a vector"); + return PY_SET_ATTR_FAIL; + } + + PHY__Vector3 vec; + vec[0] = dir[0]; + vec[1] = dir[1]; + vec[2] = dir[2]; + + self->m_character->SetWalkDirection(vec); + return PY_SET_ATTR_SUCCESS; +} + PyMethodDef KX_CharacterWrapper::Methods[] = { KX_PYMETHODTABLE_NOARGS(KX_CharacterWrapper, jump), {NULL,NULL} //Sentinel diff --git a/source/gameengine/Ketsji/KX_CharacterWrapper.h b/source/gameengine/Ketsji/KX_CharacterWrapper.h index f1c977f4e5d..d4d8f195102 100644 --- a/source/gameengine/Ketsji/KX_CharacterWrapper.h +++ b/source/gameengine/Ketsji/KX_CharacterWrapper.h @@ -29,6 +29,8 @@ public: static PyObject* pyattr_get_max_jumps(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef); static int pyattr_set_max_jumps(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef, PyObject *value); static PyObject* pyattr_get_jump_count(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef); + static PyObject* pyattr_get_walk_dir(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef); + static int pyattr_set_walk_dir(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef, PyObject *value); #endif // WITH_PYTHON private: diff --git a/source/gameengine/Ketsji/KX_IPhysicsController.h b/source/gameengine/Ketsji/KX_IPhysicsController.h index 280b1816a1e..2019be57679 100644 --- a/source/gameengine/Ketsji/KX_IPhysicsController.h +++ b/source/gameengine/Ketsji/KX_IPhysicsController.h @@ -70,11 +70,14 @@ public: virtual void RelativeRotate(const MT_Matrix3x3& drot,bool local)=0; virtual void ApplyTorque(const MT_Vector3& torque,bool local)=0; virtual void ApplyForce(const MT_Vector3& force,bool local)=0; + virtual void SetWalkDirection(const MT_Vector3& dir,bool local)=0; virtual MT_Vector3 GetLinearVelocity()=0; virtual MT_Vector3 GetAngularVelocity()=0; virtual MT_Vector3 GetVelocity(const MT_Point3& pos)=0; + virtual MT_Vector3 GetWalkDirection()=0; virtual void SetAngularVelocity(const MT_Vector3& ang_vel,bool local)=0; virtual void SetLinearVelocity(const MT_Vector3& lin_vel,bool local)=0; + virtual void Jump()=0; virtual void resolveCombinedVelocities(float linvelX,float linvelY,float linvelZ,float angVelX,float angVelY,float angVelZ) = 0; virtual void getOrientation(MT_Quaternion& orn)=0; diff --git a/source/gameengine/Ketsji/KX_ObjectActuator.cpp b/source/gameengine/Ketsji/KX_ObjectActuator.cpp index 931039bc54c..16e4cade280 100644 --- a/source/gameengine/Ketsji/KX_ObjectActuator.cpp +++ b/source/gameengine/Ketsji/KX_ObjectActuator.cpp @@ -81,6 +81,16 @@ KX_ObjectActuator( m_pid = m_torque; } + if (m_bitLocalFlag.CharacterMotion) + { + KX_GameObject *parent = static_cast<KX_GameObject *>(GetParent()); + + if (!parent->GetPhysicsController() || !parent->GetPhysicsController()->IsCharacter()) + { + printf("Character motion enabled on non-character object (%s), falling back to simple motion.\n", parent->GetName().Ptr()); + m_bitLocalFlag.CharacterMotion = false; + } + } if (m_reference) m_reference->RegisterActuator(this); UpdateFuzzyFlags(); @@ -116,10 +126,10 @@ bool KX_ObjectActuator::Update() m_active_combined_velocity = false; } - // Explicitly stop the movement if we're using a character (apply movement is a little different for characters) - if (parent->GetPhysicsController() && parent->GetPhysicsController()->IsCharacter()) { + // Explicitly stop the movement if we're using character motion + if (m_bitLocalFlag.CharacterMotion) { MT_Vector3 vec(0.0, 0.0, 0.0); - parent->ApplyMovement(vec, true); + parent->GetPhysicsController()->SetWalkDirection(vec, true); } m_linear_damping_active = false; @@ -205,7 +215,30 @@ bool KX_ObjectActuator::Update() m_previous_error = e; m_error_accumulator = I; parent->ApplyForce(m_force,(m_bitLocalFlag.LinearVelocity) != 0); - } else + } else if(m_bitLocalFlag.CharacterMotion) + { + MT_Vector3 dir = m_dloc; + + if (m_bitLocalFlag.AddOrSetCharLoc) { + MT_Vector3 old_dir = parent->GetPhysicsController()->GetWalkDirection(); + MT_Scalar mag = old_dir.length(); + if (mag < MT_EPSILON) + mag = dir.length(); + dir = (dir + old_dir).normalized() * mag; + } + + // We always want to set the walk direction since a walk direction of (0, 0, 0) should stop the character + parent->GetPhysicsController()->SetWalkDirection(dir, (m_bitLocalFlag.DLoc) != 0); + + if (!m_bitLocalFlag.ZeroDRot) + { + parent->ApplyRotation(m_drot,(m_bitLocalFlag.DRot) != 0); + } + if (m_bitLocalFlag.CharacterJump) + { + parent->GetPhysicsController()->Jump(); + } + }else { if (!m_bitLocalFlag.ZeroForce) { diff --git a/source/gameengine/Ketsji/KX_ObjectActuator.h b/source/gameengine/Ketsji/KX_ObjectActuator.h index b0efee550af..1f2453e3700 100644 --- a/source/gameengine/Ketsji/KX_ObjectActuator.h +++ b/source/gameengine/Ketsji/KX_ObjectActuator.h @@ -54,7 +54,12 @@ struct KX_LocalFlags { LinearVelocity(false), AngularVelocity(false), AddOrSetLinV(false), + AddOrSetCharLoc(false), + ServoControl(false), + CharacterMotion(false), + CharacterJump(false), ZeroForce(false), + ZeroTorque(false), ZeroDRot(false), ZeroDLoc(false), ZeroLinearVelocity(false), @@ -69,7 +74,10 @@ struct KX_LocalFlags { bool LinearVelocity; bool AngularVelocity; bool AddOrSetLinV; + bool AddOrSetCharLoc; bool ServoControl; + bool CharacterMotion; + bool CharacterJump; bool ZeroForce; bool ZeroTorque; bool ZeroDRot; diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp index cf96f22a345..0bf11fd2f9d 100644 --- a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp +++ b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp @@ -115,6 +115,11 @@ void BlenderBulletCharacterController::jump() m_jumps++; } +const btVector3& BlenderBulletCharacterController::getWalkDirection() +{ + return m_walkDirection; +} + CcdPhysicsController::CcdPhysicsController (const CcdConstructionInfo& ci) :m_cci(ci) { @@ -926,20 +931,27 @@ void CcdPhysicsController::RelativeTranslate(float dlocX,float dlocY,float dloc if (local) dloc = xform.getBasis()*dloc; - if (m_characterController) - { - m_characterController->setWalkDirection(dloc/GetPhysicsEnvironment()->getNumTimeSubSteps()); - } - else - { - - xform.setOrigin(xform.getOrigin() + dloc); - SetCenterOfMassTransform(xform); - } + xform.setOrigin(xform.getOrigin() + dloc); + SetCenterOfMassTransform(xform); } } +void CcdPhysicsController::SetWalkDirection(float dirX,float dirY,float dirZ,bool local) +{ + + if (m_object && m_characterController) + { + btVector3 dir(dirX,dirY,dirZ); + btTransform xform = m_object->getWorldTransform(); + + if (local) + dir = xform.getBasis()*dir; + + m_characterController->setWalkDirection(dir/GetPhysicsEnvironment()->getNumTimeSubSteps()); + } +} + void CcdPhysicsController::RelativeRotate(const float rotval[9],bool local) { if (m_object) @@ -1267,6 +1279,13 @@ void CcdPhysicsController::applyImpulse(float attachX,float attachY,float attac } } + +void CcdPhysicsController::Jump() +{ + if (m_object && m_characterController) + m_characterController->jump(); +} + void CcdPhysicsController::SetActive(bool active) { } @@ -1323,6 +1342,24 @@ void CcdPhysicsController::GetVelocity(const float posX,const float posY,const linvZ = 0.f; } } + +void CcdPhysicsController::GetWalkDirection(float& dirX,float& dirY,float& dirZ) +{ + if (m_object && m_characterController) + { + const btVector3 dir = m_characterController->getWalkDirection(); + dirX = dir.x(); + dirY = dir.y(); + dirZ = dir.z(); + } + else + { + dirX = 0.f; + dirY = 0.f; + dirZ = 0.f; + } +} + void CcdPhysicsController::getReactionForce(float& forceX,float& forceY,float& forceZ) { } diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.h b/source/gameengine/Physics/Bullet/CcdPhysicsController.h index b151c2f6b59..d06403a55a2 100644 --- a/source/gameengine/Physics/Bullet/CcdPhysicsController.h +++ b/source/gameengine/Physics/Bullet/CcdPhysicsController.h @@ -417,6 +417,8 @@ public: virtual bool canJump() const; virtual void jump(); + + const btVector3& getWalkDirection(); }; ///CcdPhysicsController is a physics object that supports continuous collision detection and time of impact based physics resolution. @@ -424,7 +426,7 @@ class CcdPhysicsController : public PHY_IPhysicsController { protected: btCollisionObject* m_object; - btKinematicCharacterController* m_characterController; + BlenderBulletCharacterController* m_characterController; class PHY_IMotionState* m_MotionState; @@ -517,6 +519,7 @@ protected: // kinematic methods virtual void RelativeTranslate(float dlocX,float dlocY,float dlocZ,bool local); + virtual void SetWalkDirection(float dirX,float dirY,float dirZ,bool local); virtual void RelativeRotate(const float drot[9],bool local); virtual void getOrientation(float &quatImag0,float &quatImag1,float &quatImag2,float &quatReal); virtual void setOrientation(float quatImag0,float quatImag1,float quatImag2,float quatReal); @@ -531,6 +534,7 @@ protected: virtual void SetAngularVelocity(float ang_velX,float ang_velY,float ang_velZ,bool local); virtual void SetLinearVelocity(float lin_velX,float lin_velY,float lin_velZ,bool local); virtual void applyImpulse(float attachX,float attachY,float attachZ, float impulseX,float impulseY,float impulseZ); + virtual void Jump(); virtual void SetActive(bool active); // reading out information from physics @@ -538,6 +542,7 @@ protected: virtual void GetAngularVelocity(float& angVelX,float& angVelY,float& angVelZ); virtual void GetVelocity(const float posX,const float posY,const float posZ,float& linvX,float& linvY,float& linvZ); virtual void getReactionForce(float& forceX,float& forceY,float& forceZ); + virtual void GetWalkDirection(float& dirX,float& dirY,float& dirZ); // dyna's that are rigidbody are free in orientation, dyna's with non-rigidbody are restricted virtual void setRigidBody(bool rigid); diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp index cadba97023e..254624cd8a0 100644 --- a/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp +++ b/source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp @@ -310,6 +310,22 @@ public: { return m_controller->getJumpCount(); } + + virtual void SetWalkDirection(PHY__Vector3 dir) + { + btVector3 vec = btVector3(dir[0], dir[1], dir[2]); + m_controller->setWalkDirection(vec); + } + + virtual PHY__Vector3 GetWalkDirection() + { + btVector3 vec = m_controller->getWalkDirection(); + PHY__Vector3 retval; + retval[0] = vec[0]; + retval[1] = vec[1]; + retval[2] = vec[2]; + return retval; + } }; class CcdOverlapFilterCallBack : public btOverlapFilterCallback diff --git a/source/gameengine/Physics/common/PHY_ICharacter.h b/source/gameengine/Physics/common/PHY_ICharacter.h index 63f6c0bd18a..8a599452816 100644 --- a/source/gameengine/Physics/common/PHY_ICharacter.h +++ b/source/gameengine/Physics/common/PHY_ICharacter.h @@ -15,6 +15,7 @@ class PHY_ICharacter { public: + virtual ~PHY_ICharacter(){}; virtual void Jump()= 0; virtual bool OnGround()= 0; @@ -27,6 +28,9 @@ public: virtual int GetJumpCount()= 0; + virtual void SetWalkDirection(PHY__Vector3 dir)=0; + virtual PHY__Vector3 GetWalkDirection()=0; + #ifdef WITH_CXX_GUARDEDALLOC MEM_CXX_CLASS_ALLOC_FUNCS("GE:PHY_ICharacter") #endif |