bool KX_ConstraintActuator::Update(double curtime, bool frame)
{
bool result = false;
bool bNegativeEvent = IsNegativeEvent();
RemoveAllEvents();
if (!bNegativeEvent) {
/* Constraint clamps the values to the specified range, with a sort of */
/* low-pass filtered time response, if the damp time is unequal to 0. */
/* Having to retrieve location/rotation and setting it afterwards may not */
/* be efficient enough... Something to look at later. */
KX_GameObject *obj = (KX_GameObject*) GetParent();
MT_Vector3 position = obj->NodeGetWorldPosition();
MT_Vector3 newposition;
MT_Vector3 normal, direction, refDirection;
MT_Matrix3x3 rotation = obj->NodeGetWorldOrientation();
MT_Scalar filter, newdistance, cosangle;
int axis, sign;
if (m_posDampTime) {
filter = m_posDampTime/(1.0f+m_posDampTime);
} else {
filter = 0.0f;
}
switch (m_locrot) {
case KX_ACT_CONSTRAINT_ORIX:
case KX_ACT_CONSTRAINT_ORIY:
case KX_ACT_CONSTRAINT_ORIZ:
switch (m_locrot) {
case KX_ACT_CONSTRAINT_ORIX:
direction[0] = rotation[0][0];
direction[1] = rotation[1][0];
direction[2] = rotation[2][0];
axis = 0;
break;
case KX_ACT_CONSTRAINT_ORIY:
direction[0] = rotation[0][1];
direction[1] = rotation[1][1];
direction[2] = rotation[2][1];
axis = 1;
break;
default:
direction[0] = rotation[0][2];
direction[1] = rotation[1][2];
direction[2] = rotation[2][2];
axis = 2;
break;
}
if ((m_maximumBound < (1.0f-FLT_EPSILON)) || (m_minimumBound < (1.0f-FLT_EPSILON))) {
// reference direction needs to be evaluated
// 1. get the cosine between current direction and target
cosangle = direction.dot(m_refDirVector);
if (cosangle >= (m_maximumBound-FLT_EPSILON) && cosangle <= (m_minimumBound+FLT_EPSILON)) {
// no change to do
result = true;
goto CHECK_TIME;
}
// 2. define a new reference direction
// compute local axis with reference direction as X and
// Y in direction X refDirection plane
MT_Vector3 zaxis = m_refDirVector.cross(direction);
if (MT_fuzzyZero2(zaxis.length2())) {
// direction and refDirection are identical,
// choose any other direction to define plane
if (direction[0] < 0.9999f)
zaxis = m_refDirVector.cross(MT_Vector3(1.0f,0.0f,0.0f));
else
zaxis = m_refDirVector.cross(MT_Vector3(0.0f,1.0f,0.0f));
}
MT_Vector3 yaxis = zaxis.cross(m_refDirVector);
yaxis.normalize();
if (cosangle > m_minimumBound) {
// angle is too close to reference direction,
// choose a new reference that is exactly at minimum angle
refDirection = m_minimumBound * m_refDirVector + m_minimumSine * yaxis;
} else {
// angle is too large, choose new reference direction at maximum angle
refDirection = m_maximumBound * m_refDirVector + m_maximumSine * yaxis;
}
} else {
refDirection = m_refDirVector;
}
// apply damping on the direction
direction = filter*direction + (1.0f-filter)*refDirection;
obj->AlignAxisToVect(direction, axis);
result = true;
goto CHECK_TIME;
case KX_ACT_CONSTRAINT_DIRPX:
case KX_ACT_CONSTRAINT_DIRPY:
case KX_ACT_CONSTRAINT_DIRPZ:
case KX_ACT_CONSTRAINT_DIRNX:
case KX_ACT_CONSTRAINT_DIRNY:
case KX_ACT_CONSTRAINT_DIRNZ:
switch (m_locrot) {
case KX_ACT_CONSTRAINT_DIRPX:
normal[0] = rotation[0][0];
normal[1] = rotation[1][0];
normal[2] = rotation[2][0];
axis = 0; // axis according to KX_GameObject::AlignAxisToVect()
sign = 0; // X axis will be parrallel to direction of ray
break;
case KX_ACT_CONSTRAINT_DIRPY:
normal[0] = rotation[0][1];
normal[1] = rotation[1][1];
normal[2] = rotation[2][1];
axis = 1;
sign = 0;
break;
case KX_ACT_CONSTRAINT_DIRPZ:
normal[0] = rotation[0][2];
normal[1] = rotation[1][2];
normal[2] = rotation[2][2];
axis = 2;
sign = 0;
break;
case KX_ACT_CONSTRAINT_DIRNX:
normal[0] = -rotation[0][0];
normal[1] = -rotation[1][0];
normal[2] = -rotation[2][0];
axis = 0;
sign = 1;
break;
case KX_ACT_CONSTRAINT_DIRNY:
normal[0] = -rotation[0][1];
normal[1] = -rotation[1][1];
normal[2] = -rotation[2][1];
axis = 1;
sign = 1;
break;
case KX_ACT_CONSTRAINT_DIRNZ:
normal[0] = -rotation[0][2];
normal[1] = -rotation[1][2];
normal[2] = -rotation[2][2];
axis = 2;
sign = 1;
break;
}
normal.normalize();
if (m_option & KX_ACT_CONSTRAINT_LOCAL) {
// direction of the ray is along the local axis
direction = normal;
} else {
switch (m_locrot) {
case KX_ACT_CONSTRAINT_DIRPX:
direction = MT_Vector3(1.0f,0.0f,0.0f);
break;
case KX_ACT_CONSTRAINT_DIRPY:
direction = MT_Vector3(0.0f,1.0f,0.0f);
break;
case KX_ACT_CONSTRAINT_DIRPZ:
direction = MT_Vector3(0.0f,0.0f,1.0f);
break;
case KX_ACT_CONSTRAINT_DIRNX:
direction = MT_Vector3(-1.0f,0.0f,0.0f);
break;
case KX_ACT_CONSTRAINT_DIRNY:
direction = MT_Vector3(0.0f,-1.0f,0.0f);
break;
case KX_ACT_CONSTRAINT_DIRNZ:
direction = MT_Vector3(0.0f,0.0f,-1.0f);
break;
}
}
{
MT_Vector3 topoint = position + (m_maximumBound) * direction;
PHY_IPhysicsEnvironment* pe = KX_GetActiveScene()->GetPhysicsEnvironment();
PHY_IPhysicsController *spc = obj->GetPhysicsController();
if (!pe) {
CM_LogicBrickWarning(this, "there is no physics environment!");
goto CHECK_TIME;
}
if (!spc) {
// the object is not physical, we probably want to avoid hitting its own parent
KX_GameObject *parent = obj->GetParent();
if (parent) {
spc = parent->GetPhysicsController();
}
}
KX_RayCast::Callback<KX_ConstraintActuator, void> callback(this,dynamic_cast<PHY_IPhysicsController*>(spc));
result = KX_RayCast::RayTest(pe, position, topoint, callback);
if (result) {
MT_Vector3 newnormal = callback.m_hitNormal;
// compute new position & orientation
if ((m_option & (KX_ACT_CONSTRAINT_NORMAL|KX_ACT_CONSTRAINT_DISTANCE)) == 0) {
// if none option is set, the actuator does nothing but detect ray
// (works like a sensor)
goto CHECK_TIME;
}
if (m_option & KX_ACT_CONSTRAINT_NORMAL) {
MT_Scalar rotFilter;
// apply damping on the direction
if (m_rotDampTime) {
rotFilter = m_rotDampTime/(1.0f+m_rotDampTime);
} else {
rotFilter = filter;
}
newnormal = rotFilter*normal - (1.0f-rotFilter)*newnormal;
obj->AlignAxisToVect((sign)?-newnormal:newnormal, axis);
if (m_option & KX_ACT_CONSTRAINT_LOCAL) {
direction = newnormal;
direction.normalize();
}
}
if (m_option & KX_ACT_CONSTRAINT_DISTANCE) {
if (m_posDampTime) {
newdistance = filter*(position-callback.m_hitPoint).length()+(1.0f-filter)*m_minimumBound;
} else {
newdistance = m_minimumBound;
}
// logically we should cancel the speed along the ray direction as we set the
// position along that axis
spc = obj->GetPhysicsController();
if (spc && spc->IsDynamic()) {
MT_Vector3 linV = spc->GetLinearVelocity();
// cancel the projection along the ray direction
MT_Scalar fallspeed = linV.dot(direction);
if (!MT_fuzzyZero(fallspeed))
spc->SetLinearVelocity(linV-fallspeed*direction,false);
}
} else {
newdistance = (position-callback.m_hitPoint).length();
}
newposition = callback.m_hitPoint-newdistance*direction;
} else if (m_option & KX_ACT_CONSTRAINT_PERMANENT) {
// no contact but still keep running
result = true;
goto CHECK_TIME;
}
}
break;
case KX_ACT_CONSTRAINT_FHPX:
case KX_ACT_CONSTRAINT_FHPY:
case KX_ACT_CONSTRAINT_FHPZ:
case KX_ACT_CONSTRAINT_FHNX:
case KX_ACT_CONSTRAINT_FHNY:
case KX_ACT_CONSTRAINT_FHNZ:
switch (m_locrot) {
case KX_ACT_CONSTRAINT_FHPX:
normal[0] = -rotation[0][0];
normal[1] = -rotation[1][0];
normal[2] = -rotation[2][0];
direction = MT_Vector3(1.0f,0.0f,0.0f);
break;
case KX_ACT_CONSTRAINT_FHPY:
normal[0] = -rotation[0][1];
normal[1] = -rotation[1][1];
normal[2] = -rotation[2][1];
direction = MT_Vector3(0.0f,1.0f,0.0f);
break;
case KX_ACT_CONSTRAINT_FHPZ:
normal[0] = -rotation[0][2];
normal[1] = -rotation[1][2];
normal[2] = -rotation[2][2];
direction = MT_Vector3(0.0f,0.0f,1.0f);
break;
case KX_ACT_CONSTRAINT_FHNX:
normal[0] = rotation[0][0];
normal[1] = rotation[1][0];
normal[2] = rotation[2][0];
direction = MT_Vector3(-1.0f,0.0f,0.0f);
break;
case KX_ACT_CONSTRAINT_FHNY:
normal[0] = rotation[0][1];
normal[1] = rotation[1][1];
normal[2] = rotation[2][1];
direction = MT_Vector3(0.0f,-1.0f,0.0f);
break;
case KX_ACT_CONSTRAINT_FHNZ:
normal[0] = rotation[0][2];
normal[1] = rotation[1][2];
normal[2] = rotation[2][2];
direction = MT_Vector3(0.0f,0.0f,-1.0f);
break;
}
normal.normalize();
{
PHY_IPhysicsEnvironment* pe = KX_GetActiveScene()->GetPhysicsEnvironment();
PHY_IPhysicsController *spc = obj->GetPhysicsController();
if (!pe) {
CM_LogicBrickWarning(this, "there is no physics environment!");
goto CHECK_TIME;
}
if (!spc || !spc->IsDynamic()) {
// the object is not dynamic, it won't support setting speed
goto CHECK_TIME;
}
m_hitObject = NULL;
// distance of Fh area is stored in m_minimum
MT_Vector3 topoint = position + (m_minimumBound+spc->GetRadius()) * direction;
KX_RayCast::Callback<KX_ConstraintActuator, void> callback(this, spc);
result = KX_RayCast::RayTest(pe, position, topoint, callback);
// we expect a hit object
if (!m_hitObject)
result = false;
if (result)
{
MT_Vector3 newnormal = callback.m_hitNormal;
// compute new position & orientation
MT_Scalar distance = (callback.m_hitPoint-position).length()-spc->GetRadius();
// estimate the velocity of the hit point
MT_Vector3 relativeHitPoint;
relativeHitPoint = (callback.m_hitPoint-m_hitObject->NodeGetWorldPosition());
MT_Vector3 velocityHitPoint = m_hitObject->GetVelocity(relativeHitPoint);
MT_Vector3 relativeVelocity = spc->GetLinearVelocity() - velocityHitPoint;
MT_Scalar relativeVelocityRay = direction.dot(relativeVelocity);
MT_Scalar springExtent = 1.0f - distance/m_minimumBound;
// Fh force is stored in m_maximum
MT_Scalar springForce = springExtent * m_maximumBound;
// damping is stored in m_refDirection [0] = damping, [1] = rot damping
MT_Scalar springDamp = relativeVelocityRay * m_refDirVector[0];
MT_Vector3 newVelocity = spc->GetLinearVelocity()-(springForce+springDamp)*direction;
if (m_option & KX_ACT_CONSTRAINT_NORMAL)
{
newVelocity+=(springForce+springDamp)*(newnormal-newnormal.dot(direction)*direction);
}
spc->SetLinearVelocity(newVelocity, false);
if (m_option & KX_ACT_CONSTRAINT_DOROTFH)
{
MT_Vector3 angSpring = (normal.cross(newnormal))*m_maximumBound;
MT_Vector3 angVelocity = spc->GetAngularVelocity();
// remove component that is parallel to normal
angVelocity -= angVelocity.dot(newnormal)*newnormal;
MT_Vector3 angDamp = angVelocity * ((m_refDirVector[1]>MT_EPSILON)?m_refDirVector[1]:m_refDirVector[0]);
spc->SetAngularVelocity(spc->GetAngularVelocity()+(angSpring-angDamp), false);
}
} else if (m_option & KX_ACT_CONSTRAINT_PERMANENT) {
// no contact but still keep running
result = true;
}
// don't set the position with this constraint
goto CHECK_TIME;
}
break;
case KX_ACT_CONSTRAINT_LOCX:
case KX_ACT_CONSTRAINT_LOCY:
case KX_ACT_CONSTRAINT_LOCZ:
newposition = position = obj->GetSGNode()->GetLocalPosition();
switch (m_locrot) {
case KX_ACT_CONSTRAINT_LOCX:
Clamp(newposition[0], m_minimumBound, m_maximumBound);
break;
case KX_ACT_CONSTRAINT_LOCY:
Clamp(newposition[1], m_minimumBound, m_maximumBound);
break;
case KX_ACT_CONSTRAINT_LOCZ:
Clamp(newposition[2], m_minimumBound, m_maximumBound);
break;
}
result = true;
if (m_posDampTime) {
newposition = filter*position + (1.0f-filter)*newposition;
}
obj->NodeSetLocalPosition(newposition);
goto CHECK_TIME;
}
if (result) {
// set the new position but take into account parent if any
obj->NodeSetWorldPosition(newposition);
}
CHECK_TIME:
if (result && m_activeTime > 0 ) {
if (++m_currentTime >= m_activeTime)
result = false;
}
}
if (!result) {
m_currentTime = 0;
}
return result;
} /* end of KX_ConstraintActuator::Update(double curtime,double deltatime) */
