static PyObject *gPyCreateConstraint(PyObject *self,
PyObject *args,
PyObject *kwds)
{
/* FIXME - physicsid is a long being cast to a pointer, should at least use PyCapsule */
unsigned long long physicsid = 0, physicsid2 = 0;
int constrainttype = 0;
int flag = 0;
float pivotX = 0.0f, pivotY = 0.0f, pivotZ = 0.0f, axisX = 0.0f, axisY = 0.0f, axisZ = 0.0f;
static const char *kwlist[] = {"physicsid_1", "physicsid_2", "constraint_type", "pivot_x", "pivot_y", "pivot_z",
"axis_X", "axis_y", "axis_z", "flag", NULL};
if (!PyArg_ParseTupleAndKeywords(args, kwds, "KKi|ffffffi:createConstraint", (char **)kwlist,
&physicsid, &physicsid2, &constrainttype,
&pivotX, &pivotY, &pivotZ, &axisX, &axisY, &axisZ, &flag))
{
return NULL;
}
if (PHY_GetActiveEnvironment()) {
PHY_IPhysicsController *physctrl = (PHY_IPhysicsController*)physicsid;
PHY_IPhysicsController *physctrl2 = (PHY_IPhysicsController*)physicsid2;
if (physctrl) { //TODO:check for existence of this pointer!
//convert from euler angle into axis
const float deg2rad = 0.017453292f;
//we need to pass a full constraint frame, not just axis
//localConstraintFrameBasis
MT_Matrix3x3 localCFrame(MT_Vector3(deg2rad*axisX, deg2rad*axisY, deg2rad*axisZ));
MT_Vector3 axis0 = localCFrame.getColumn(0);
MT_Vector3 axis1 = localCFrame.getColumn(1);
MT_Vector3 axis2 = localCFrame.getColumn(2);
int constraintid = PHY_GetActiveEnvironment()->CreateConstraint(
physctrl, physctrl2, (enum PHY_ConstraintType)constrainttype, pivotX, pivotY, pivotZ,
(float)axis0.x(), (float)axis0.y(), (float)axis0.z(),
(float)axis1.x(), (float)axis1.y(), (float)axis1.z(),
(float)axis2.x(), (float)axis2.y(), (float)axis2.z(), flag);
KX_ConstraintWrapper *wrap = new KX_ConstraintWrapper(
(enum PHY_ConstraintType)constrainttype, constraintid, PHY_GetActiveEnvironment());
return wrap->NewProxy(true);
}
}
Py_RETURN_NONE;
}
static PyObject *gPyCreateConstraint(PyObject *self,
PyObject *args,
PyObject *kwds)
{
/* FIXME - physicsid is a long being cast to a pointer, should at least use PyCapsule */
#if defined(_WIN64)
__int64 physicsid=0,physicsid2 = 0;
#else
long physicsid=0,physicsid2 = 0;
#endif
int constrainttype=0, extrainfo=0;
int len = PyTuple_Size(args);
int success = 1;
int flag = 0;
float pivotX=1,pivotY=1,pivotZ=1,axisX=0,axisY=0,axisZ=1;
if (len == 3)
{
#if defined(_WIN64)
success = PyArg_ParseTuple(args,"LLi",&physicsid,&physicsid2,&constrainttype);
#else
success = PyArg_ParseTuple(args,"lli",&physicsid,&physicsid2,&constrainttype);
#endif
}
else if (len == 6)
{
#if defined(_WIN64)
success = PyArg_ParseTuple(args,"LLifff",&physicsid,&physicsid2,&constrainttype,
&pivotX,&pivotY,&pivotZ);
#else
success = PyArg_ParseTuple(args,"llifff",&physicsid,&physicsid2,&constrainttype,
&pivotX,&pivotY,&pivotZ);
#endif
}
else if (len == 9)
{
#if defined(_WIN64)
success = PyArg_ParseTuple(args,"LLiffffff",&physicsid,&physicsid2,&constrainttype,
&pivotX,&pivotY,&pivotZ,&axisX,&axisY,&axisZ);
#else
success = PyArg_ParseTuple(args,"lliffffff",&physicsid,&physicsid2,&constrainttype,
&pivotX,&pivotY,&pivotZ,&axisX,&axisY,&axisZ);
#endif
}
else if (len == 10)
{
#if defined(_WIN64)
success = PyArg_ParseTuple(args,"LLiffffffi",&physicsid,&physicsid2,&constrainttype,
&pivotX,&pivotY,&pivotZ,&axisX,&axisY,&axisZ,&flag);
#else
success = PyArg_ParseTuple(args,"lliffffffi",&physicsid,&physicsid2,&constrainttype,
&pivotX,&pivotY,&pivotZ,&axisX,&axisY,&axisZ,&flag);
#endif
}
/* XXX extrainfo seems to be nothing implemented. right now it works as a pivot with [X,0,0] */
else if (len == 4)
{
#if defined(_WIN64)
success = PyArg_ParseTuple(args,"LLii",&physicsid,&physicsid2,&constrainttype,&extrainfo);
#else
success = PyArg_ParseTuple(args,"llii",&physicsid,&physicsid2,&constrainttype,&extrainfo);
#endif
pivotX=extrainfo;
}
if (success)
{
if (PHY_GetActiveEnvironment())
{
PHY_IPhysicsController* physctrl = (PHY_IPhysicsController*) physicsid;
PHY_IPhysicsController* physctrl2 = (PHY_IPhysicsController*) physicsid2;
if (physctrl) //TODO:check for existence of this pointer!
{
PHY_ConstraintType ct = (PHY_ConstraintType) constrainttype;
int constraintid =0;
if (ct == PHY_GENERIC_6DOF_CONSTRAINT)
{
//convert from euler angle into axis
float radsPerDeg = 6.283185307179586232f / 360.f;
//we need to pass a full constraint frame, not just axis
//localConstraintFrameBasis
MT_Matrix3x3 localCFrame(MT_Vector3(radsPerDeg*axisX,radsPerDeg*axisY,radsPerDeg*axisZ));
MT_Vector3 axis0 = localCFrame.getColumn(0);
MT_Vector3 axis1 = localCFrame.getColumn(1);
MT_Vector3 axis2 = localCFrame.getColumn(2);
constraintid = PHY_GetActiveEnvironment()->createConstraint(physctrl,physctrl2,(enum PHY_ConstraintType)constrainttype,
pivotX,pivotY,pivotZ,
(float)axis0.x(),(float)axis0.y(),(float)axis0.z(),
(float)axis1.x(),(float)axis1.y(),(float)axis1.z(),
(float)axis2.x(),(float)axis2.y(),(float)axis2.z(),flag);
}
else {
constraintid = PHY_GetActiveEnvironment()->createConstraint(physctrl,physctrl2,(enum PHY_ConstraintType)constrainttype,pivotX,pivotY,pivotZ,axisX,axisY,axisZ,0);
}
KX_ConstraintWrapper* wrap = new KX_ConstraintWrapper((enum PHY_ConstraintType)constrainttype,constraintid,PHY_GetActiveEnvironment());
return wrap->NewProxy(true);
}
}
}
else {
return NULL;
}
Py_RETURN_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;
int flag = 0;
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 == 10)
{
success = PyArg_ParseTuple(args,"iiiffffffi",&physicsid,&physicsid2,&constrainttype,
&pivotX,&pivotY,&pivotZ,&axisX,&axisY,&axisZ,&flag);
}
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 existence of this pointer!
{
PHY_ConstraintType ct = (PHY_ConstraintType) constrainttype;
int constraintid =0;
if (ct == PHY_GENERIC_6DOF_CONSTRAINT)
{
//convert from euler angle into axis
float radsPerDeg = 6.283185307179586232f / 360.f;
//we need to pass a full constraint frame, not just axis
//localConstraintFrameBasis
MT_Matrix3x3 localCFrame(MT_Vector3(radsPerDeg*axisX,radsPerDeg*axisY,radsPerDeg*axisZ));
MT_Vector3 axis0 = localCFrame.getColumn(0);
MT_Vector3 axis1 = localCFrame.getColumn(1);
MT_Vector3 axis2 = localCFrame.getColumn(2);
constraintid = PHY_GetActiveEnvironment()->createConstraint(physctrl,physctrl2,(enum PHY_ConstraintType)constrainttype,
pivotX,pivotY,pivotZ,
(float)axis0.x(),(float)axis0.y(),(float)axis0.z(),
(float)axis1.x(),(float)axis1.y(),(float)axis1.z(),
(float)axis2.x(),(float)axis2.y(),(float)axis2.z(),flag);
} else
{
constraintid = PHY_GetActiveEnvironment()->createConstraint(physctrl,physctrl2,(enum PHY_ConstraintType)constrainttype,pivotX,pivotY,pivotZ,axisX,axisY,axisZ,0);
}
KX_ConstraintWrapper* wrap = new KX_ConstraintWrapper((enum PHY_ConstraintType)constrainttype,constraintid,PHY_GetActiveEnvironment());
return wrap->NewProxy(true);
}
}
}
else {
return NULL;
}
Py_RETURN_NONE;
}
