From a1e78a0cca624061929eb3bae4420be5c16fd540 Mon Sep 17 00:00:00 2001 From: Campbell Barton Date: Fri, 20 Jun 2008 20:54:29 +0000 Subject: * Documented that get/setOrientation use an inverted rotation matrix * OB prefix is needed when specifying the object for the Message Actuator, this is very bad since other object fields in the BGE dont need this prefix - a real fix would need do_versions to keep old files running. * RotationMatrix was all nans if the rotation vector axis was 0,0,0, Changed so in this case just return a matrix that doesn't rotate anything, spent some angry hours to find these issues, maybe this will save others the hassle ;) --- source/blender/python/api2_2x/Mathutils.c | 49 +++++++++++++++++-------------- source/blender/src/buttons_logic.c | 2 +- source/gameengine/PyDoc/KX_GameObject.py | 4 +-- 3 files changed, 30 insertions(+), 25 deletions(-) diff --git a/source/blender/python/api2_2x/Mathutils.c b/source/blender/python/api2_2x/Mathutils.c index e63fc5ef38f..87ac3e3e6ba 100644 --- a/source/blender/python/api2_2x/Mathutils.c +++ b/source/blender/python/api2_2x/Mathutils.c @@ -725,28 +725,33 @@ PyObject *M_Mathutils_RotationMatrix(PyObject * self, PyObject * args) vec->vec[0] /= norm; vec->vec[1] /= norm; vec->vec[2] /= norm; - - //create matrix - cosAngle = (float) cos(angle); - sinAngle = (float) sin(angle); - mat[0] = ((vec->vec[0] * vec->vec[0]) * (1 - cosAngle)) + - cosAngle; - mat[1] = ((vec->vec[0] * vec->vec[1]) * (1 - cosAngle)) + - (vec->vec[2] * sinAngle); - mat[2] = ((vec->vec[0] * vec->vec[2]) * (1 - cosAngle)) - - (vec->vec[1] * sinAngle); - mat[3] = ((vec->vec[0] * vec->vec[1]) * (1 - cosAngle)) - - (vec->vec[2] * sinAngle); - mat[4] = ((vec->vec[1] * vec->vec[1]) * (1 - cosAngle)) + - cosAngle; - mat[5] = ((vec->vec[1] * vec->vec[2]) * (1 - cosAngle)) + - (vec->vec[0] * sinAngle); - mat[6] = ((vec->vec[0] * vec->vec[2]) * (1 - cosAngle)) + - (vec->vec[1] * sinAngle); - mat[7] = ((vec->vec[1] * vec->vec[2]) * (1 - cosAngle)) - - (vec->vec[0] * sinAngle); - mat[8] = ((vec->vec[2] * vec->vec[2]) * (1 - cosAngle)) + - cosAngle; + + if (isnan(vec->vec[0]) || isnan(vec->vec[1]) || isnan(vec->vec[2])) { + /* zero length vector, return an identity matrix, could also return an error */ + mat[0]= mat[4] = mat[8] = 1.0f; + } else { + /* create matrix */ + cosAngle = (float) cos(angle); + sinAngle = (float) sin(angle); + mat[0] = ((vec->vec[0] * vec->vec[0]) * (1 - cosAngle)) + + cosAngle; + mat[1] = ((vec->vec[0] * vec->vec[1]) * (1 - cosAngle)) + + (vec->vec[2] * sinAngle); + mat[2] = ((vec->vec[0] * vec->vec[2]) * (1 - cosAngle)) - + (vec->vec[1] * sinAngle); + mat[3] = ((vec->vec[0] * vec->vec[1]) * (1 - cosAngle)) - + (vec->vec[2] * sinAngle); + mat[4] = ((vec->vec[1] * vec->vec[1]) * (1 - cosAngle)) + + cosAngle; + mat[5] = ((vec->vec[1] * vec->vec[2]) * (1 - cosAngle)) + + (vec->vec[0] * sinAngle); + mat[6] = ((vec->vec[0] * vec->vec[2]) * (1 - cosAngle)) + + (vec->vec[1] * sinAngle); + mat[7] = ((vec->vec[1] * vec->vec[2]) * (1 - cosAngle)) - + (vec->vec[0] * sinAngle); + mat[8] = ((vec->vec[2] * vec->vec[2]) * (1 - cosAngle)) + + cosAngle; + } } else { return EXPP_ReturnPyObjError(PyExc_AttributeError, "Mathutils.RotationMatrix(): unrecognizable axis of rotation type - expected x,y,z or r\n"); diff --git a/source/blender/src/buttons_logic.c b/source/blender/src/buttons_logic.c index 59fedf04e30..b6877b2e2b7 100644 --- a/source/blender/src/buttons_logic.c +++ b/source/blender/src/buttons_logic.c @@ -2149,7 +2149,7 @@ static short draw_actuatorbuttons(bActuator *act, uiBlock *block, short xco, sho uiDefBut(block, TEX, 1, "To: ", (xco+10), (yco-(myline++*24)), (width-20), 19, &ma->toPropName, 0, 31, 0, 0, - "Optional send message to objects with this name only" + "Optional send message to objects with this name only (Prefix name with OB)" ", or empty to broadcast"); #endif diff --git a/source/gameengine/PyDoc/KX_GameObject.py b/source/gameengine/PyDoc/KX_GameObject.py index 678df59e4a9..ff55f975543 100644 --- a/source/gameengine/PyDoc/KX_GameObject.py +++ b/source/gameengine/PyDoc/KX_GameObject.py @@ -50,7 +50,7 @@ class KX_GameObject: """ Sets the game object's orientation. - @type orn: 3x3 rotation matrix, or Quaternion. + @type orn: 3x3 inverted rotation matrix, or Quaternion. @param orn: a rotation matrix specifying the new rotation. """ def alignAxisToVect(vect, axis): @@ -69,7 +69,7 @@ class KX_GameObject: """ Gets the game object's orientation. - @rtype: 3x3 rotation matrix + @rtype: 3x3 inverted rotation matrix @return: The game object's rotation matrix """ def getLinearVelocity(local): -- cgit v1.2.3