1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
|
/**
* $Id$
*
* ***** BEGIN GPL/BL DUAL LICENSE BLOCK *****
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* as published by the Free Software Foundation; either version 2
* of the License, or (at your option) any later version. The Blender
* Foundation also sells licenses for use in proprietary software under
* the Blender License. See http://www.blender.org/BL/ for information
* about this.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software Foundation,
* Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
*
* The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
* All rights reserved.
*
* The Original Code is: all of this file.
*
* Contributor(s): none yet.
*
* ***** END GPL/BL DUAL LICENSE BLOCK *****
*/
#include "KX_PyConstraintBinding.h"
#include "PHY_IPhysicsEnvironment.h"
#include "KX_ConstraintWrapper.h"
#include "KX_PhysicsObjectWrapper.h"
#include "PHY_IPhysicsController.h"
#ifdef HAVE_CONFIG_H
#include <config.h>
#endif
// nasty glob variable to connect scripting language
// if there is a better way (without global), please do so!
static PHY_IPhysicsEnvironment* g_CurrentActivePhysicsEnvironment = NULL;
static char PhysicsConstraints_module_documentation[] =
"This is the Python API for the Physics Constraints";
static char gPySetGravity__doc__[] = "setGravity(float x,float y,float z)";
static char gPySetDebugMode__doc__[] = "setDebugMode(int mode)";
static char gPySetNumIterations__doc__[] = "setNumIterations(int numiter) This sets the number of iterations for an iterative constraint solver";
static char gPySetDeactivationTime__doc__[] = "setDeactivationTime(float time) This sets the time after which a resting rigidbody gets deactived";
static char gPySetDeactivationLinearTreshold__doc__[] = "setDeactivationLinearTreshold(float linearTreshold)";
static char gPySetDeactivationAngularTreshold__doc__[] = "setDeactivationAngularTreshold(float angularTreshold)";
static char gPySetContactBreakingTreshold__doc__[] = "setContactBreakingTreshold(float breakingTreshold) Reasonable default is 0.02 (if units are meters)";
static char gPySetCcdMode__doc__[] = "setCcdMode(int ccdMode) Very experimental, not recommended";
static char gPySetSorConstant__doc__[] = "setSorConstant(float sor) Very experimental, not recommended";
static char gPySetSolverTau__doc__[] = "setTau(float tau) Very experimental, not recommended";
static char gPySetSolverDamping__doc__[] = "setDamping(float damping) Very experimental, not recommended";
static char gPySetLinearAirDamping__doc__[] = "setLinearAirDamping(float damping) Very experimental, not recommended";
static char gPySetUseEpa__doc__[] = "setUseEpa(int epa) Very experimental, not recommended";
static char gPySetSolverType__doc__[] = "setSolverType(int solverType) Very experimental, not recommended";
static char gPyCreateConstraint__doc__[] = "createConstraint(ob1,ob2,float restLength,float restitution,float damping)";
static char gPyRemoveConstraint__doc__[] = "removeConstraint(constraint id)";
static PyObject* gPySetGravity(PyObject* self,
PyObject* args,
PyObject* kwds)
{
float x,y,z;
int len = PyTuple_Size(args);
if ((len == 3) && PyArg_ParseTuple(args,"fff",&x,&y,&z))
{
if (PHY_GetActiveEnvironment())
PHY_GetActiveEnvironment()->setGravity(x,y,z);
}
Py_INCREF(Py_None); return Py_None;
}
static PyObject* gPySetDebugMode(PyObject* self,
PyObject* args,
PyObject* kwds)
{
int mode;
if (PyArg_ParseTuple(args,"i",&mode))
{
if (PHY_GetActiveEnvironment())
{
PHY_GetActiveEnvironment()->setDebugMode(mode);
}
}
Py_INCREF(Py_None); return Py_None;
}
static PyObject* gPySetNumIterations(PyObject* self,
PyObject* args,
PyObject* kwds)
{
int iter;
if (PyArg_ParseTuple(args,"i",&iter))
{
if (PHY_GetActiveEnvironment())
{
PHY_GetActiveEnvironment()->setNumIterations(iter);
}
}
Py_INCREF(Py_None); return Py_None;
}
static PyObject* gPySetDeactivationTime(PyObject* self,
PyObject* args,
PyObject* kwds)
{
float deactive_time;
if (PyArg_ParseTuple(args,"f",&deactive_time))
{
if (PHY_GetActiveEnvironment())
{
PHY_GetActiveEnvironment()->setDeactivationTime(deactive_time);
}
}
Py_INCREF(Py_None); return Py_None;
}
static PyObject* gPySetDeactivationLinearTreshold(PyObject* self,
PyObject* args,
PyObject* kwds)
{
float linearDeactivationTreshold;
if (PyArg_ParseTuple(args,"f",&linearDeactivationTreshold))
{
if (PHY_GetActiveEnvironment())
{
PHY_GetActiveEnvironment()->setDeactivationLinearTreshold( linearDeactivationTreshold);
}
}
Py_INCREF(Py_None); return Py_None;
}
static PyObject* gPySetDeactivationAngularTreshold(PyObject* self,
PyObject* args,
PyObject* kwds)
{
float angularDeactivationTreshold;
if (PyArg_ParseTuple(args,"f",&angularDeactivationTreshold))
{
if (PHY_GetActiveEnvironment())
{
PHY_GetActiveEnvironment()->setDeactivationAngularTreshold( angularDeactivationTreshold);
}
}
Py_INCREF(Py_None); return Py_None;
}
static PyObject* gPySetContactBreakingTreshold(PyObject* self,
PyObject* args,
PyObject* kwds)
{
float contactBreakingTreshold;
if (PyArg_ParseTuple(args,"f",&contactBreakingTreshold))
{
if (PHY_GetActiveEnvironment())
{
PHY_GetActiveEnvironment()->setContactBreakingTreshold( contactBreakingTreshold);
}
}
Py_INCREF(Py_None); return Py_None;
}
static PyObject* gPySetCcdMode(PyObject* self,
PyObject* args,
PyObject* kwds)
{
float ccdMode;
if (PyArg_ParseTuple(args,"f",&ccdMode))
{
if (PHY_GetActiveEnvironment())
{
PHY_GetActiveEnvironment()->setCcdMode( ccdMode);
}
}
Py_INCREF(Py_None); return Py_None;
}
static PyObject* gPySetSorConstant(PyObject* self,
PyObject* args,
PyObject* kwds)
{
float sor;
if (PyArg_ParseTuple(args,"f",&sor))
{
if (PHY_GetActiveEnvironment())
{
PHY_GetActiveEnvironment()->setSolverSorConstant( sor);
}
}
Py_INCREF(Py_None); return Py_None;
}
static PyObject* gPySetSolverTau(PyObject* self,
PyObject* args,
PyObject* kwds)
{
float tau;
if (PyArg_ParseTuple(args,"f",&tau))
{
if (PHY_GetActiveEnvironment())
{
PHY_GetActiveEnvironment()->setSolverTau( tau);
}
}
Py_INCREF(Py_None); return Py_None;
}
static PyObject* gPySetSolverDamping(PyObject* self,
PyObject* args,
PyObject* kwds)
{
float damping;
if (PyArg_ParseTuple(args,"f",&damping))
{
if (PHY_GetActiveEnvironment())
{
PHY_GetActiveEnvironment()->setSolverDamping( damping);
}
}
Py_INCREF(Py_None); return Py_None;
}
static PyObject* gPySetLinearAirDamping(PyObject* self,
PyObject* args,
PyObject* kwds)
{
float damping;
if (PyArg_ParseTuple(args,"f",&damping))
{
if (PHY_GetActiveEnvironment())
{
PHY_GetActiveEnvironment()->setLinearAirDamping( damping);
}
}
Py_INCREF(Py_None); return Py_None;
}
static PyObject* gPySetUseEpa(PyObject* self,
PyObject* args,
PyObject* kwds)
{
int epa;
if (PyArg_ParseTuple(args,"i",&epa))
{
if (PHY_GetActiveEnvironment())
{
PHY_GetActiveEnvironment()->setUseEpa(epa);
}
}
Py_INCREF(Py_None); return Py_None;
}
static PyObject* gPySetSolverType(PyObject* self,
PyObject* args,
PyObject* kwds)
{
int solverType;
if (PyArg_ParseTuple(args,"i",&solverType))
{
if (PHY_GetActiveEnvironment())
{
PHY_GetActiveEnvironment()->setSolverType(solverType);
}
}
Py_INCREF(Py_None); return Py_None;
}
static PyObject* gPyCreateConstraint(PyObject* self,
PyObject* args,
PyObject* kwds)
{
int physicsid=0,physicsid2 = 0,constrainttype=0,extrainfo=0;
int len = PyTuple_Size(args);
int success = 1;
float pivotX=1,pivotY=1,pivotZ=1,axisX=0,axisY=0,axisZ=1;
if (len == 3)
{
success = PyArg_ParseTuple(args,"iii",&physicsid,&physicsid2,&constrainttype);
}
else
if (len ==6)
{
success = PyArg_ParseTuple(args,"iiifff",&physicsid,&physicsid2,&constrainttype,
&pivotX,&pivotY,&pivotZ);
}
else if (len == 9)
{
success = PyArg_ParseTuple(args,"iiiffffff",&physicsid,&physicsid2,&constrainttype,
&pivotX,&pivotY,&pivotZ,&axisX,&axisY,&axisZ);
}
else if (len==4)
{
success = PyArg_ParseTuple(args,"iiii",&physicsid,&physicsid2,&constrainttype,&extrainfo);
pivotX=extrainfo;
}
if (success)
{
if (PHY_GetActiveEnvironment())
{
PHY_IPhysicsController* physctrl = (PHY_IPhysicsController*) physicsid;
PHY_IPhysicsController* physctrl2 = (PHY_IPhysicsController*) physicsid2;
if (physctrl) //TODO:check for existance of this pointer!
{
int constraintid = PHY_GetActiveEnvironment()->createConstraint(physctrl,physctrl2,(enum PHY_ConstraintType)constrainttype,pivotX,pivotY,pivotZ,axisX,axisY,axisZ);
KX_ConstraintWrapper* wrap = new KX_ConstraintWrapper((enum PHY_ConstraintType)constrainttype,constraintid,PHY_GetActiveEnvironment());
return wrap;
}
}
}
Py_INCREF(Py_None); return Py_None;
}
static PyObject* gPyRemoveConstraint(PyObject* self,
PyObject* args,
PyObject* kwds)
{
#if defined(_WIN64)
__int64 constraintid;
if (PyArg_ParseTuple(args,"L",&constraintid))
#else
long constraintid;
if (PyArg_ParseTuple(args,"l",&constraintid))
#endif
{
if (PHY_GetActiveEnvironment())
{
PHY_GetActiveEnvironment()->removeConstraint(constraintid);
}
}
Py_INCREF(Py_None); return Py_None;
}
static struct PyMethodDef physicsconstraints_methods[] = {
{"setGravity",(PyCFunction) gPySetGravity,
METH_VARARGS, gPySetGravity__doc__},
{"setDebugMode",(PyCFunction) gPySetDebugMode,
METH_VARARGS, gPySetDebugMode__doc__},
/// settings that influence quality of the rigidbody dynamics
{"setNumIterations",(PyCFunction) gPySetNumIterations,
METH_VARARGS, gPySetNumIterations__doc__},
{"setDeactivationTime",(PyCFunction) gPySetDeactivationTime,
METH_VARARGS, gPySetDeactivationTime__doc__},
{"setDeactivationLinearTreshold",(PyCFunction) gPySetDeactivationLinearTreshold,
METH_VARARGS, gPySetDeactivationLinearTreshold__doc__},
{"setDeactivationAngularTreshold",(PyCFunction) gPySetDeactivationAngularTreshold,
METH_VARARGS, gPySetDeactivationAngularTreshold__doc__},
{"setContactBreakingTreshold",(PyCFunction) gPySetContactBreakingTreshold,
METH_VARARGS, gPySetContactBreakingTreshold__doc__},
{"setCcdMode",(PyCFunction) gPySetCcdMode,
METH_VARARGS, gPySetCcdMode__doc__},
{"setSorConstant",(PyCFunction) gPySetSorConstant,
METH_VARARGS, gPySetSorConstant__doc__},
{"setSolverTau",(PyCFunction) gPySetSolverTau,
METH_VARARGS, gPySetSolverTau__doc__},
{"setSolverDamping",(PyCFunction) gPySetSolverDamping,
METH_VARARGS, gPySetSolverDamping__doc__},
{"setLinearAirDamping",(PyCFunction) gPySetLinearAirDamping,
METH_VARARGS, gPySetLinearAirDamping__doc__},
{"setUseEpa",(PyCFunction) gPySetUseEpa,
METH_VARARGS, gPySetUseEpa__doc__},
{"setSolverType",(PyCFunction) gPySetSolverType,
METH_VARARGS, gPySetSolverType__doc__},
{"createConstraint",(PyCFunction) gPyCreateConstraint,
METH_VARARGS, gPyCreateConstraint__doc__},
{"removeConstraint",(PyCFunction) gPyRemoveConstraint,
METH_VARARGS, gPyRemoveConstraint__doc__},
//sentinel
{ NULL, (PyCFunction) NULL, 0, NULL }
};
PyObject* initPythonConstraintBinding()
{
PyObject* ErrorObject;
PyObject* m;
PyObject* d;
m = Py_InitModule4("PhysicsConstraints", physicsconstraints_methods,
PhysicsConstraints_module_documentation,
(PyObject*)NULL,PYTHON_API_VERSION);
// Add some symbolic constants to the module
d = PyModule_GetDict(m);
ErrorObject = PyString_FromString("PhysicsConstraints.error");
PyDict_SetItemString(d, "error", ErrorObject);
// XXXX Add constants here
// Check for errors
if (PyErr_Occurred())
{
Py_FatalError("can't initialize module PhysicsConstraints");
}
return d;
}
void KX_RemovePythonConstraintBinding()
{
}
void PHY_SetActiveEnvironment(class PHY_IPhysicsEnvironment* env)
{
g_CurrentActivePhysicsEnvironment = env;
}
PHY_IPhysicsEnvironment* PHY_GetActiveEnvironment()
{
return g_CurrentActivePhysicsEnvironment;
}
|