bool KX_TrackToActuator::Update(double curtime, bool frame) { bool result = false; bool bNegativeEvent = IsNegativeEvent(); RemoveAllEvents(); if (bNegativeEvent) { // do nothing on negative events } else if (m_object) { KX_GameObject* curobj = (KX_GameObject*) GetParent(); MT_Vector3 dir = curobj->NodeGetWorldPosition() - ((KX_GameObject*)m_object)->NodeGetWorldPosition(); MT_Matrix3x3 mat; MT_Matrix3x3 oldmat; mat = vectomat(dir, m_trackflag, m_upflag, m_allow3D); oldmat = curobj->NodeGetWorldOrientation(); /* erwin should rewrite this! */ mat = matrix3x3_interpol(oldmat, mat, m_time); /* check if the model is parented and calculate the child transform */ if (m_parentobj) { MT_Point3 localpos; localpos = curobj->GetSGNode()->GetLocalPosition(); // Get the inverse of the parent matrix MT_Matrix3x3 parentmatinv; parentmatinv = m_parentobj->NodeGetWorldOrientation().inverse(); // transform the local coordinate system into the parents system mat = parentmatinv * mat; // append the initial parent local rotation matrix mat = m_parentlocalmat * mat; // set the models tranformation properties curobj->NodeSetLocalOrientation(mat); curobj->NodeSetLocalPosition(localpos); //curobj->UpdateTransform(); } else { curobj->NodeSetLocalOrientation(mat); } result = true; } return result; }
void KX_NearSensor::SynchronizeTransform() { // The near and radar sensors are using a different physical object which is // not linked to the parent object, must synchronize it. if (m_physCtrl) { PHY_IMotionState* motionState = m_physCtrl->GetMotionState(); KX_GameObject* parent = ((KX_GameObject*)GetParent()); const MT_Vector3& pos = parent->NodeGetWorldPosition(); float ori[12]; parent->NodeGetWorldOrientation().getValue(ori); motionState->SetWorldPosition(pos[0], pos[1], pos[2]); motionState->SetWorldOrientation(ori); m_physCtrl->WriteMotionStateToDynamics(true); } }
bool KX_ObjectActuator::Update() { bool bNegativeEvent = IsNegativeEvent(); RemoveAllEvents(); KX_GameObject *parent = static_cast<KX_GameObject *>(GetParent()); if (bNegativeEvent) { // If we previously set the linear velocity we now have to inform // the physics controller that we no longer wish to apply it and that // it should reconcile the externally set velocity with it's // own velocity. if (m_active_combined_velocity) { if (parent) parent->ResolveCombinedVelocities( m_linear_velocity, m_angular_velocity, (m_bitLocalFlag.LinearVelocity) != 0, (m_bitLocalFlag.AngularVelocity) != 0 ); m_active_combined_velocity = false; } m_linear_damping_active = false; m_angular_damping_active = false; m_error_accumulator.setValue(0.0,0.0,0.0); m_previous_error.setValue(0.0,0.0,0.0); return false; } else if (parent) { if (m_bitLocalFlag.ServoControl) { // In this mode, we try to reach a target speed using force // As we don't know the friction, we must implement a generic // servo control to achieve the speed in a configurable // v = current velocity // V = target velocity // e = V-v = speed error // dt = time interval since previous update // I = sum(e(t)*dt) // dv = e(t) - e(t-1) // KP, KD, KI : coefficient // F = KP*e+KI*I+KD*dv MT_Scalar mass = parent->GetMass(); if (mass < MT_EPSILON) return false; MT_Vector3 v = parent->GetLinearVelocity(m_bitLocalFlag.LinearVelocity); if (m_reference) { const MT_Point3& mypos = parent->NodeGetWorldPosition(); const MT_Point3& refpos = m_reference->NodeGetWorldPosition(); MT_Point3 relpos; relpos = (mypos-refpos); MT_Vector3 vel= m_reference->GetVelocity(relpos); if (m_bitLocalFlag.LinearVelocity) // must convert in local space vel = parent->NodeGetWorldOrientation().transposed()*vel; v -= vel; } MT_Vector3 e = m_linear_velocity - v; MT_Vector3 dv = e - m_previous_error; MT_Vector3 I = m_error_accumulator + e; m_force = m_pid.x()*e+m_pid.y()*I+m_pid.z()*dv; // to automatically adapt the PID coefficient to mass; m_force *= mass; if (m_bitLocalFlag.Torque) { if (m_force[0] > m_dloc[0]) { m_force[0] = m_dloc[0]; I[0] = m_error_accumulator[0]; } else if (m_force[0] < m_drot[0]) { m_force[0] = m_drot[0]; I[0] = m_error_accumulator[0]; } } if (m_bitLocalFlag.DLoc) { if (m_force[1] > m_dloc[1]) { m_force[1] = m_dloc[1]; I[1] = m_error_accumulator[1]; } else if (m_force[1] < m_drot[1]) { m_force[1] = m_drot[1]; I[1] = m_error_accumulator[1]; } } if (m_bitLocalFlag.DRot) { if (m_force[2] > m_dloc[2]) { m_force[2] = m_dloc[2]; I[2] = m_error_accumulator[2]; } else if (m_force[2] < m_drot[2]) { m_force[2] = m_drot[2]; I[2] = m_error_accumulator[2]; } } m_previous_error = e; m_error_accumulator = I; parent->ApplyForce(m_force,(m_bitLocalFlag.LinearVelocity) != 0); } else { if (!m_bitLocalFlag.ZeroForce) { parent->ApplyForce(m_force,(m_bitLocalFlag.Force) != 0); } if (!m_bitLocalFlag.ZeroTorque) { parent->ApplyTorque(m_torque,(m_bitLocalFlag.Torque) != 0); } if (!m_bitLocalFlag.ZeroDLoc) { parent->ApplyMovement(m_dloc,(m_bitLocalFlag.DLoc) != 0); } if (!m_bitLocalFlag.ZeroDRot) { parent->ApplyRotation(m_drot,(m_bitLocalFlag.DRot) != 0); } if (!m_bitLocalFlag.ZeroLinearVelocity) { if (m_bitLocalFlag.AddOrSetLinV) { parent->addLinearVelocity(m_linear_velocity,(m_bitLocalFlag.LinearVelocity) != 0); } else { m_active_combined_velocity = true; if (m_damping > 0) { MT_Vector3 linV; if (!m_linear_damping_active) { // delta and the start speed (depends on the existing speed in that direction) linV = parent->GetLinearVelocity(m_bitLocalFlag.LinearVelocity); // keep only the projection along the desired direction m_current_linear_factor = linV.dot(m_linear_velocity)/m_linear_length2; m_linear_damping_active = true; } if (m_current_linear_factor < 1.0) m_current_linear_factor += 1.0/m_damping; if (m_current_linear_factor > 1.0) m_current_linear_factor = 1.0; linV = m_current_linear_factor * m_linear_velocity; parent->setLinearVelocity(linV,(m_bitLocalFlag.LinearVelocity) != 0); } else { parent->setLinearVelocity(m_linear_velocity,(m_bitLocalFlag.LinearVelocity) != 0); } } } if (!m_bitLocalFlag.ZeroAngularVelocity) { m_active_combined_velocity = true; if (m_damping > 0) { MT_Vector3 angV; if (!m_angular_damping_active) { // delta and the start speed (depends on the existing speed in that direction) angV = parent->GetAngularVelocity(m_bitLocalFlag.AngularVelocity); // keep only the projection along the desired direction m_current_angular_factor = angV.dot(m_angular_velocity)/m_angular_length2; m_angular_damping_active = true; } if (m_current_angular_factor < 1.0) m_current_angular_factor += 1.0/m_damping; if (m_current_angular_factor > 1.0) m_current_angular_factor = 1.0; angV = m_current_angular_factor * m_angular_velocity; parent->setAngularVelocity(angV,(m_bitLocalFlag.AngularVelocity) != 0); } else { parent->setAngularVelocity(m_angular_velocity,(m_bitLocalFlag.AngularVelocity) != 0); } } } } return true; }
bool KX_ObjectActuator::Update() { bool bNegativeEvent = IsNegativeEvent(); RemoveAllEvents(); KX_GameObject *parent = static_cast<KX_GameObject *>(GetParent()); PHY_ICharacter *character = parent->GetScene()->GetPhysicsEnvironment()->GetCharacterController(parent); if (bNegativeEvent) { // If we previously set the linear velocity we now have to inform // the physics controller that we no longer wish to apply it and that // it should reconcile the externally set velocity with it's // own velocity. if (m_active_combined_velocity) { if (parent) parent->ResolveCombinedVelocities( m_linear_velocity, m_angular_velocity, (m_bitLocalFlag.LinearVelocity) != 0, (m_bitLocalFlag.AngularVelocity) != 0 ); m_active_combined_velocity = false; } // Explicitly stop the movement if we're using character motion if (m_bitLocalFlag.CharacterMotion) { character->SetWalkDirection(MT_Vector3 (0.0f, 0.0f, 0.0f)); } m_linear_damping_active = false; m_angular_damping_active = false; m_error_accumulator.setValue(0.0f,0.0f,0.0f); m_previous_error.setValue(0.0f,0.0f,0.0f); m_jumping = false; return false; } else if (parent) { if (m_bitLocalFlag.ServoControl) { // In this mode, we try to reach a target speed using force // As we don't know the friction, we must implement a generic // servo control to achieve the speed in a configurable // v = current velocity // V = target velocity // e = V-v = speed error // dt = time interval since previous update // I = sum(e(t)*dt) // dv = e(t) - e(t-1) // KP, KD, KI : coefficient // F = KP*e+KI*I+KD*dv MT_Scalar mass = parent->GetMass(); if (mass < MT_EPSILON) return false; MT_Vector3 v = parent->GetLinearVelocity(m_bitLocalFlag.LinearVelocity); if (m_reference) { const MT_Point3& mypos = parent->NodeGetWorldPosition(); const MT_Point3& refpos = m_reference->NodeGetWorldPosition(); MT_Point3 relpos; relpos = (mypos-refpos); MT_Vector3 vel= m_reference->GetVelocity(relpos); if (m_bitLocalFlag.LinearVelocity) // must convert in local space vel = parent->NodeGetWorldOrientation().transposed()*vel; v -= vel; } MT_Vector3 e = m_linear_velocity - v; MT_Vector3 dv = e - m_previous_error; MT_Vector3 I = m_error_accumulator + e; m_force = m_pid.x()*e+m_pid.y()*I+m_pid.z()*dv; // to automatically adapt the PID coefficient to mass; m_force *= mass; if (m_bitLocalFlag.Torque) { if (m_force[0] > m_dloc[0]) { m_force[0] = m_dloc[0]; I[0] = m_error_accumulator[0]; } else if (m_force[0] < m_drot[0]) { m_force[0] = m_drot[0]; I[0] = m_error_accumulator[0]; } } if (m_bitLocalFlag.DLoc) { if (m_force[1] > m_dloc[1]) { m_force[1] = m_dloc[1]; I[1] = m_error_accumulator[1]; } else if (m_force[1] < m_drot[1]) { m_force[1] = m_drot[1]; I[1] = m_error_accumulator[1]; } } if (m_bitLocalFlag.DRot) { if (m_force[2] > m_dloc[2]) { m_force[2] = m_dloc[2]; I[2] = m_error_accumulator[2]; } else if (m_force[2] < m_drot[2]) { m_force[2] = m_drot[2]; I[2] = m_error_accumulator[2]; } } m_previous_error = e; m_error_accumulator = I; parent->ApplyForce(m_force,(m_bitLocalFlag.LinearVelocity) != 0); } else if (m_bitLocalFlag.CharacterMotion) { MT_Vector3 dir = m_dloc; if (m_bitLocalFlag.DLoc) { MT_Matrix3x3 basis = parent->GetPhysicsController()->GetOrientation(); dir = basis * dir; } if (m_bitLocalFlag.AddOrSetCharLoc) { MT_Vector3 old_dir = character->GetWalkDirection(); if (!old_dir.fuzzyZero()) { MT_Scalar mag = old_dir.length(); dir = dir + old_dir; if (!dir.fuzzyZero()) dir = dir.normalized() * mag; } } // We always want to set the walk direction since a walk direction of (0, 0, 0) should stop the character character->SetWalkDirection(dir/parent->GetScene()->GetPhysicsEnvironment()->GetNumTimeSubSteps()); if (!m_bitLocalFlag.ZeroDRot) { parent->ApplyRotation(m_drot,(m_bitLocalFlag.DRot) != 0); } if (m_bitLocalFlag.CharacterJump) { if (!m_jumping) { character->Jump(); m_jumping = true; } else if (character->OnGround()) m_jumping = false; } } else { if (!m_bitLocalFlag.ZeroForce) { parent->ApplyForce(m_force,(m_bitLocalFlag.Force) != 0); } if (!m_bitLocalFlag.ZeroTorque) { parent->ApplyTorque(m_torque,(m_bitLocalFlag.Torque) != 0); } if (!m_bitLocalFlag.ZeroDLoc) { parent->ApplyMovement(m_dloc,(m_bitLocalFlag.DLoc) != 0); } if (!m_bitLocalFlag.ZeroDRot) { parent->ApplyRotation(m_drot,(m_bitLocalFlag.DRot) != 0); } if (m_bitLocalFlag.ZeroLinearVelocity) { if (!m_bitLocalFlag.AddOrSetLinV) { /* No need to select local or world, as the velocity is zero anyway, * and setLinearVelocity() converts local to world first. We do need to * pass a true zero vector, as m_linear_velocity is only fuzzily zero. */ parent->setLinearVelocity(MT_Vector3(0, 0, 0), false); } } else { if (m_bitLocalFlag.AddOrSetLinV) { parent->addLinearVelocity(m_linear_velocity,(m_bitLocalFlag.LinearVelocity) != 0); } else { m_active_combined_velocity = true; if (m_damping > 0) { MT_Vector3 linV; if (!m_linear_damping_active) { // delta and the start speed (depends on the existing speed in that direction) linV = parent->GetLinearVelocity(m_bitLocalFlag.LinearVelocity); // keep only the projection along the desired direction m_current_linear_factor = linV.dot(m_linear_velocity)/m_linear_length2; m_linear_damping_active = true; } if (m_current_linear_factor < 1.0f) m_current_linear_factor += 1.0f/m_damping; if (m_current_linear_factor > 1.0f) m_current_linear_factor = 1.0f; linV = m_current_linear_factor * m_linear_velocity; parent->setLinearVelocity(linV,(m_bitLocalFlag.LinearVelocity) != 0); } else { parent->setLinearVelocity(m_linear_velocity,(m_bitLocalFlag.LinearVelocity) != 0); } } } if (m_bitLocalFlag.ZeroAngularVelocity) { /* No need to select local or world, as the velocity is zero anyway, * and setAngularVelocity() converts local to world first. We do need to * pass a true zero vector, as m_angular_velocity is only fuzzily zero. */ parent->setAngularVelocity(MT_Vector3(0, 0, 0), false); } else { m_active_combined_velocity = true; if (m_damping > 0) { MT_Vector3 angV; if (!m_angular_damping_active) { // delta and the start speed (depends on the existing speed in that direction) angV = parent->GetAngularVelocity(m_bitLocalFlag.AngularVelocity); // keep only the projection along the desired direction m_current_angular_factor = angV.dot(m_angular_velocity)/m_angular_length2; m_angular_damping_active = true; } if (m_current_angular_factor < 1.0f) m_current_angular_factor += 1.0f/m_damping; if (m_current_angular_factor > 1.0f) m_current_angular_factor = 1.0f; angV = m_current_angular_factor * m_angular_velocity; parent->setAngularVelocity(angV,(m_bitLocalFlag.AngularVelocity) != 0); } else { parent->setAngularVelocity(m_angular_velocity,(m_bitLocalFlag.AngularVelocity) != 0); } } } } return true; }
bool KX_SoundActuator::Update(double curtime, bool frame) { if (!frame) return true; bool result = false; #ifdef WITH_AUDASPACE // do nothing on negative events, otherwise sounds are played twice! bool bNegativeEvent = IsNegativeEvent(); bool bPositiveEvent = m_posevent; #endif // WITH_AUDASPACE RemoveAllEvents(); #ifdef WITH_AUDASPACE if (!m_sound) return false; // actual audio device playing state bool isplaying = m_handle ? (AUD_Handle_getStatus(m_handle) == AUD_STATUS_PLAYING) : false; if (bNegativeEvent) { // here must be a check if it is still playing if (m_isplaying && isplaying) { switch (m_type) { case KX_SOUNDACT_PLAYSTOP: case KX_SOUNDACT_LOOPSTOP: case KX_SOUNDACT_LOOPBIDIRECTIONAL_STOP: { // stop immediately if (m_handle) { AUD_Handle_stop(m_handle); m_handle = NULL; } break; } case KX_SOUNDACT_PLAYEND: { // do nothing, sound will stop anyway when it's finished break; } case KX_SOUNDACT_LOOPEND: case KX_SOUNDACT_LOOPBIDIRECTIONAL: { // stop the looping so that the sound stops when it finished if (m_handle) AUD_Handle_setLoopCount(m_handle, 0); break; } default: // implement me !! break; } } // remember that we tried to stop the actuator m_isplaying = false; } #if 1 // Warning: when de-activating the actuator, after a single negative event this runs again with... // m_posevent==false && m_posevent==false, in this case IsNegativeEvent() returns false // and assumes this is a positive event. // check that we actually have a positive event so as not to play sounds when being disabled. else if (bPositiveEvent) /* <- added since 2.49 */ #else else // <- works in most cases except a loop-end sound will never stop unless // the negative pulse is done continuesly #endif { if (!m_isplaying) play(); } // verify that the sound is still playing isplaying = m_handle ? (AUD_Handle_getStatus(m_handle) == AUD_STATUS_PLAYING) : false; if (isplaying) { if (m_is3d) { KX_Camera* cam = KX_GetActiveScene()->GetActiveCamera(); if (cam) { KX_GameObject* obj = (KX_GameObject*)this->GetParent(); MT_Vector3 p; MT_Matrix3x3 Mo; float data[4]; Mo = cam->NodeGetWorldOrientation().inverse(); p = (obj->NodeGetWorldPosition() - cam->NodeGetWorldPosition()); p = Mo * p; p.getValue(data); AUD_Handle_setLocation(m_handle, data); p = (obj->GetLinearVelocity() - cam->GetLinearVelocity()); p = Mo * p; p.getValue(data); AUD_Handle_setVelocity(m_handle, data); (Mo * obj->NodeGetWorldOrientation()).getRotation().getValue(data); AUD_Handle_setOrientation(m_handle, data); } } result = true; } else { m_isplaying = false; result = false; } #endif // WITH_AUDASPACE return result; }
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) */
///this generates ipo curves for position, rotation, allowing to use game physics in animation void KX_BlenderSceneConverter::WritePhysicsObjectToAnimationIpo(int frameNumber) { KX_SceneList* scenes = m_ketsjiEngine->CurrentScenes(); int numScenes = scenes->size(); int i; for (i=0;i<numScenes;i++) { KX_Scene* scene = scenes->at(i); //PHY_IPhysicsEnvironment* physEnv = scene->GetPhysicsEnvironment(); CListValue* parentList = scene->GetObjectList(); int numObjects = parentList->GetCount(); int g; for (g=0;g<numObjects;g++) { KX_GameObject* gameObj = (KX_GameObject*)parentList->GetValue(g); Object* blenderObject = gameObj->GetBlenderObject(); if (blenderObject && blenderObject->parent==NULL && gameObj->IsDynamic()) { //KX_IPhysicsController* physCtrl = gameObj->GetPhysicsController(); if (blenderObject->adt==NULL) BKE_id_add_animdata(&blenderObject->id); if (blenderObject->adt) { const MT_Point3& position = gameObj->NodeGetWorldPosition(); //const MT_Vector3& scale = gameObj->NodeGetWorldScaling(); const MT_Matrix3x3& orn = gameObj->NodeGetWorldOrientation(); position.getValue(blenderObject->loc); float tmat[3][3]; for (int r=0;r<3;r++) for (int c=0;c<3;c++) tmat[r][c] = (float)orn[c][r]; mat3_to_compatible_eul(blenderObject->rot, blenderObject->rot, tmat); insert_keyframe(NULL, &blenderObject->id, NULL, NULL, "location", -1, (float)frameNumber, INSERTKEY_FAST); insert_keyframe(NULL, &blenderObject->id, NULL, NULL, "rotation_euler", -1, (float)frameNumber, INSERTKEY_FAST); #if 0 const MT_Point3& position = gameObj->NodeGetWorldPosition(); //const MT_Vector3& scale = gameObj->NodeGetWorldScaling(); const MT_Matrix3x3& orn = gameObj->NodeGetWorldOrientation(); float eulerAngles[3]; float eulerAnglesOld[3] = {0.0f, 0.0f, 0.0f}; float tmat[3][3]; // XXX animato Ipo* ipo = blenderObject->ipo; //create the curves, if not existing, set linear if new IpoCurve *icu_lx = findIpoCurve((IpoCurve *)ipo->curve.first,"LocX"); if (!icu_lx) { icu_lx = verify_ipocurve(&blenderObject->id, ipo->blocktype, NULL, NULL, NULL, OB_LOC_X, 1); if (icu_lx) icu_lx->ipo = IPO_LIN; } IpoCurve *icu_ly = findIpoCurve((IpoCurve *)ipo->curve.first,"LocY"); if (!icu_ly) { icu_ly = verify_ipocurve(&blenderObject->id, ipo->blocktype, NULL, NULL, NULL, OB_LOC_Y, 1); if (icu_ly) icu_ly->ipo = IPO_LIN; } IpoCurve *icu_lz = findIpoCurve((IpoCurve *)ipo->curve.first,"LocZ"); if (!icu_lz) { icu_lz = verify_ipocurve(&blenderObject->id, ipo->blocktype, NULL, NULL, NULL, OB_LOC_Z, 1); if (icu_lz) icu_lz->ipo = IPO_LIN; } IpoCurve *icu_rx = findIpoCurve((IpoCurve *)ipo->curve.first,"RotX"); if (!icu_rx) { icu_rx = verify_ipocurve(&blenderObject->id, ipo->blocktype, NULL, NULL, NULL, OB_ROT_X, 1); if (icu_rx) icu_rx->ipo = IPO_LIN; } IpoCurve *icu_ry = findIpoCurve((IpoCurve *)ipo->curve.first,"RotY"); if (!icu_ry) { icu_ry = verify_ipocurve(&blenderObject->id, ipo->blocktype, NULL, NULL, NULL, OB_ROT_Y, 1); if (icu_ry) icu_ry->ipo = IPO_LIN; } IpoCurve *icu_rz = findIpoCurve((IpoCurve *)ipo->curve.first,"RotZ"); if (!icu_rz) { icu_rz = verify_ipocurve(&blenderObject->id, ipo->blocktype, NULL, NULL, NULL, OB_ROT_Z, 1); if (icu_rz) icu_rz->ipo = IPO_LIN; } if (icu_rx) eulerAnglesOld[0]= eval_icu( icu_rx, frameNumber - 1 ) / ((180 / 3.14159265f) / 10); if (icu_ry) eulerAnglesOld[1]= eval_icu( icu_ry, frameNumber - 1 ) / ((180 / 3.14159265f) / 10); if (icu_rz) eulerAnglesOld[2]= eval_icu( icu_rz, frameNumber - 1 ) / ((180 / 3.14159265f) / 10); // orn.getValue((float *)tmat); // uses the wrong ordering, cant use this for (int r=0;r<3;r++) for (int c=0;c<3;c++) tmat[r][c] = orn[c][r]; // mat3_to_eul( eulerAngles,tmat); // better to use Mat3ToCompatibleEul mat3_to_compatible_eul( eulerAngles, eulerAnglesOld,tmat); //eval_icu for (int x = 0; x < 3; x++) eulerAngles[x] *= (float) ((180 / 3.14159265f) / 10.0); //fill the curves with data if (icu_lx) insert_vert_icu(icu_lx, frameNumber, position.x(), 1); if (icu_ly) insert_vert_icu(icu_ly, frameNumber, position.y(), 1); if (icu_lz) insert_vert_icu(icu_lz, frameNumber, position.z(), 1); if (icu_rx) insert_vert_icu(icu_rx, frameNumber, eulerAngles[0], 1); if (icu_ry) insert_vert_icu(icu_ry, frameNumber, eulerAngles[1], 1); if (icu_rz) insert_vert_icu(icu_rz, frameNumber, eulerAngles[2], 1); // Handles are corrected at the end, testhandles_ipocurve isn't needed yet #endif } } } } }
bool KX_RaySensor::Evaluate() { bool result = false; bool reset = m_reset && m_level; m_rayHit = false; m_hitObject = NULL; m_hitPosition[0] = 0; m_hitPosition[1] = 0; m_hitPosition[2] = 0; m_hitNormal[0] = 1; m_hitNormal[1] = 0; m_hitNormal[2] = 0; KX_GameObject* obj = (KX_GameObject*)GetParent(); MT_Point3 frompoint = obj->NodeGetWorldPosition(); MT_Matrix3x3 matje = obj->NodeGetWorldOrientation(); MT_Matrix3x3 invmat = matje.inverse(); MT_Vector3 todir; m_reset = false; switch (m_axis) { case SENS_RAY_X_AXIS: // X { todir[0] = invmat[0][0]; todir[1] = invmat[0][1]; todir[2] = invmat[0][2]; break; } case SENS_RAY_Y_AXIS: // Y { todir[0] = invmat[1][0]; todir[1] = invmat[1][1]; todir[2] = invmat[1][2]; break; } case SENS_RAY_Z_AXIS: // Z { todir[0] = invmat[2][0]; todir[1] = invmat[2][1]; todir[2] = invmat[2][2]; break; } case SENS_RAY_NEG_X_AXIS: // -X { todir[0] = -invmat[0][0]; todir[1] = -invmat[0][1]; todir[2] = -invmat[0][2]; break; } case SENS_RAY_NEG_Y_AXIS: // -Y { todir[0] = -invmat[1][0]; todir[1] = -invmat[1][1]; todir[2] = -invmat[1][2]; break; } case SENS_RAY_NEG_Z_AXIS: // -Z { todir[0] = -invmat[2][0]; todir[1] = -invmat[2][1]; todir[2] = -invmat[2][2]; break; } } todir.normalize(); m_rayDirection[0] = todir[0]; m_rayDirection[1] = todir[1]; m_rayDirection[2] = todir[2]; MT_Point3 topoint = frompoint + (m_distance) * todir; PHY_IPhysicsEnvironment* pe = m_scene->GetPhysicsEnvironment(); if (!pe) { std::cout << "WARNING: Ray sensor " << GetName() << ": There is no physics environment!" << std::endl; std::cout << " Check universe for malfunction." << std::endl; return false; } KX_IPhysicsController *spc = obj->GetPhysicsController(); KX_GameObject *parent = obj->GetParent(); if (!spc && parent) spc = parent->GetPhysicsController(); if (parent) parent->Release(); PHY_IPhysicsEnvironment* physics_environment = this->m_scene->GetPhysicsEnvironment(); KX_RayCast::Callback<KX_RaySensor> callback(this, spc); KX_RayCast::RayTest(physics_environment, frompoint, topoint, callback); /* now pass this result to some controller */ if (m_rayHit) { if (!m_bTriggered) { // notify logicsystem that ray is now hitting result = true; m_bTriggered = true; } else { // notify logicsystem that ray is STILL hitting ... result = false; } } else { if (m_bTriggered) { m_bTriggered = false; // notify logicsystem that ray JUST left the Object result = true; } else { result = false; } } if (reset) // force an event result = true; return result; }
void KX_SteeringActuator::HandleActorFace(MT_Vector3& velocity) { if (m_facingMode==0 && (!m_navmesh || !m_normalUp)) return; KX_GameObject* curobj = (KX_GameObject*) GetParent(); MT_Vector3 dir = m_facingMode==0 ? curobj->NodeGetLocalOrientation().getColumn(1) : velocity; if (dir.fuzzyZero()) return; dir.normalize(); MT_Vector3 up(0,0,1); MT_Vector3 left; MT_Matrix3x3 mat; if (m_navmesh && m_normalUp) { dtStatNavMesh* navmesh = m_navmesh->GetNavMesh(); MT_Vector3 normal; MT_Vector3 trpos = m_navmesh->TransformToLocalCoords(curobj->NodeGetWorldPosition()); if (getNavmeshNormal(navmesh, trpos, normal)) { left = (dir.cross(up)).safe_normalized(); dir = (-left.cross(normal)).safe_normalized(); up = normal; } } switch (m_facingMode) { case 1: // TRACK X { left = dir.safe_normalized(); dir = -(left.cross(up)).safe_normalized(); break; }; case 2: // TRACK Y { left = (dir.cross(up)).safe_normalized(); break; } case 3: // track Z { left = up.safe_normalized(); up = dir.safe_normalized(); dir = left; left = (dir.cross(up)).safe_normalized(); break; } case 4: // TRACK -X { left = -dir.safe_normalized(); dir = -(left.cross(up)).safe_normalized(); break; }; case 5: // TRACK -Y { left = (-dir.cross(up)).safe_normalized(); dir = -dir; break; } case 6: // track -Z { left = up.safe_normalized(); up = -dir.safe_normalized(); dir = left; left = (dir.cross(up)).safe_normalized(); break; } } mat.setValue ( left[0], dir[0],up[0], left[1], dir[1],up[1], left[2], dir[2],up[2] ); KX_GameObject* parentObject = curobj->GetParent(); if (parentObject) { MT_Vector3 localpos; localpos = curobj->GetSGNode()->GetLocalPosition(); MT_Matrix3x3 parentmatinv; parentmatinv = parentObject->NodeGetWorldOrientation ().inverse (); mat = parentmatinv * mat; mat = m_parentlocalmat * mat; curobj->NodeSetLocalOrientation(mat); curobj->NodeSetLocalPosition(localpos); } else { curobj->NodeSetLocalOrientation(mat); } }
bool KX_CameraActuator::Update(double curtime, bool frame) { /* wondering... is it really necessary/desirable to suppress negative */ /* events here? */ bool bNegativeEvent = IsNegativeEvent(); RemoveAllEvents(); if (bNegativeEvent || !m_ob) return false; KX_GameObject *obj = (KX_GameObject*) GetParent(); MT_Point3 from = obj->NodeGetWorldPosition(); MT_Matrix3x3 frommat = obj->NodeGetWorldOrientation(); /* These casts are _very_ dangerous!!! */ MT_Point3 lookat = ((KX_GameObject*)m_ob)->NodeGetWorldPosition(); MT_Matrix3x3 actormat = ((KX_GameObject*)m_ob)->NodeGetWorldOrientation(); float fp1[3]={0}, fp2[3]={0}, rc[3]; float inp, fac; //, factor = 0.0; /* some factor... */ float mindistsq, maxdistsq, distsq; float mat[3][3]; /* The rules: */ /* CONSTRAINT 1: not implemented */ /* CONSTRAINT 2: can camera see actor? */ /* CONSTRAINT 3: fixed height relative to floor below actor. */ /* CONSTRAINT 4: camera rotates behind actor */ /* CONSTRAINT 5: minimum / maximum distance */ /* CONSTRAINT 6: again: fixed height relative to floor below actor */ /* CONSTRAINT 7: track to floor below actor */ /* CONSTRAINT 8: look a little bit left or right, depending on how the * * character is looking (horizontal x) */ /* ...and then set the camera position. Since we assume the parent of */ /* this actuator is always a camera, just set the parent position and */ /* rotation. We do not check whether we really have a camera as parent. */ /* It may be better to turn this into a general tracking actuator later */ /* on, since lots of plausible relations can be filled in here. */ /* ... set up some parameters ... */ /* missing here: the 'floorloc' of the actor's shadow */ mindistsq= m_minHeight*m_minHeight; maxdistsq= m_maxHeight*m_maxHeight; /* C1: not checked... is a future option */ /* C2: blender test_visibility function. Can this be a ray-test? */ /* C3: fixed height */ from[2] = (15.0f * from[2] + lookat[2] + m_height) / 16.0f; /* C4: camera behind actor */ switch (m_axis) { case OB_POSX: /* X */ fp1[0] = actormat[0][0]; fp1[1] = actormat[1][0]; fp1[2] = actormat[2][0]; fp2[0] = frommat[0][0]; fp2[1] = frommat[1][0]; fp2[2] = frommat[2][0]; break; case OB_POSY: /* Y */ fp1[0] = actormat[0][1]; fp1[1] = actormat[1][1]; fp1[2] = actormat[2][1]; fp2[0] = frommat[0][1]; fp2[1] = frommat[1][1]; fp2[2] = frommat[2][1]; break; case OB_NEGX: /* -X */ fp1[0] = -actormat[0][0]; fp1[1] = -actormat[1][0]; fp1[2] = -actormat[2][0]; fp2[0] = frommat[0][0]; fp2[1] = frommat[1][0]; fp2[2] = frommat[2][0]; break; case OB_NEGY: /* -Y */ fp1[0] = -actormat[0][1]; fp1[1] = -actormat[1][1]; fp1[2] = -actormat[2][1]; fp2[0] = frommat[0][1]; fp2[1] = frommat[1][1]; fp2[2] = frommat[2][1]; break; default: assert(0); break; } inp = fp1[0]*fp2[0] + fp1[1]*fp2[1] + fp1[2]*fp2[2]; fac = (-1.0f + inp) * m_damping; from[0] += fac * fp1[0]; from[1] += fac * fp1[1]; from[2] += fac * fp1[2]; /* only for it lies: cross test and perpendicular bites up */ if (inp < 0.0f) { /* Don't do anything if the cross product is too small. * The camera up-axis becomes unstable and starts to oscillate. * The 0.01f threshold is arbitrary but seems to work well in practice. */ float cross = fp1[0] * fp2[1] - fp1[1] * fp2[0]; if (cross > 0.01f) { from[0] -= fac * fp1[1]; from[1] += fac * fp1[0]; } else if (cross < -0.01f) { from[0] += fac * fp1[1]; from[1] -= fac * fp1[0]; } } /* CONSTRAINT 5: minimum / maximum distance */ rc[0] = (lookat[0]-from[0]); rc[1] = (lookat[1]-from[1]); rc[2] = (lookat[2]-from[2]); distsq = rc[0]*rc[0] + rc[1]*rc[1] + rc[2]*rc[2]; if (distsq > maxdistsq) { distsq = 0.15f * (distsq - maxdistsq) / distsq; from[0] += distsq*rc[0]; from[1] += distsq*rc[1]; from[2] += distsq*rc[2]; } else if (distsq < mindistsq) { distsq = 0.15f * (mindistsq - distsq) / mindistsq; from[0] -= distsq*rc[0]; from[1] -= distsq*rc[1]; from[2] -= distsq*rc[2]; } /* CONSTRAINT 7: track to floor below actor */ rc[0] = (lookat[0]-from[0]); rc[1] = (lookat[1]-from[1]); rc[2] = (lookat[2]-from[2]); Kx_VecUpMat3(rc, mat, 3); /* y up Track -z */ /* now set the camera position and rotation */ obj->NodeSetLocalPosition(from); actormat[0][0] = mat[0][0]; actormat[0][1] = mat[1][0]; actormat[0][2] = mat[2][0]; actormat[1][0] = mat[0][1]; actormat[1][1] = mat[1][1]; actormat[1][2] = mat[2][1]; actormat[2][0] = mat[0][2]; actormat[2][1] = mat[1][2]; actormat[2][2] = mat[2][2]; obj->NodeSetLocalOrientation(actormat); return true; }
bool KX_TrackToActuator::Update(double curtime, bool frame) { bool result = false; bool bNegativeEvent = IsNegativeEvent(); RemoveAllEvents(); if (bNegativeEvent) { // do nothing on negative events } else if (m_object) { KX_GameObject* curobj = (KX_GameObject*) GetParent(); MT_Vector3 dir = ((KX_GameObject*)m_object)->NodeGetWorldPosition() - curobj->NodeGetWorldPosition(); if (dir.length2()) dir.normalize(); MT_Vector3 up(0,0,1); #ifdef DSADSA switch (m_upflag) { case 0: { up.setValue(1.0,0,0); break; } case 1: { up.setValue(0,1.0,0); break; } case 2: default: { up.setValue(0,0,1.0); } } #endif if (m_allow3D) { up = (up - up.dot(dir) * dir).safe_normalized(); } else { dir = (dir - up.dot(dir)*up).safe_normalized(); } MT_Vector3 left; MT_Matrix3x3 mat; switch (m_trackflag) { case 0: // TRACK X { // (1.0 , 0.0 , 0.0 ) x direction is forward, z (0.0 , 0.0 , 1.0 ) up left = dir.safe_normalized(); dir = (left.cross(up)).safe_normalized(); mat.setValue ( left[0], dir[0],up[0], left[1], dir[1],up[1], left[2], dir[2],up[2] ); break; }; case 1: // TRACK Y { // (0.0 , 1.0 , 0.0 ) y direction is forward, z (0.0 , 0.0 , 1.0 ) up left = (dir.cross(up)).safe_normalized(); mat.setValue ( left[0], dir[0],up[0], left[1], dir[1],up[1], left[2], dir[2],up[2] ); break; } case 2: // track Z { left = up.safe_normalized(); up = dir.safe_normalized(); dir = left; left = (dir.cross(up)).safe_normalized(); mat.setValue ( left[0], dir[0],up[0], left[1], dir[1],up[1], left[2], dir[2],up[2] ); break; } case 3: // TRACK -X { // (1.0 , 0.0 , 0.0 ) x direction is forward, z (0.0 , 0.0 , 1.0 ) up left = -dir.safe_normalized(); dir = -(left.cross(up)).safe_normalized(); mat.setValue ( left[0], dir[0],up[0], left[1], dir[1],up[1], left[2], dir[2],up[2] ); break; }; case 4: // TRACK -Y { // (0.0 , -1.0 , 0.0 ) -y direction is forward, z (0.0 , 0.0 , 1.0 ) up left = (-dir.cross(up)).safe_normalized(); mat.setValue ( left[0], -dir[0],up[0], left[1], -dir[1],up[1], left[2], -dir[2],up[2] ); break; } case 5: // track -Z { left = up.safe_normalized(); up = -dir.safe_normalized(); dir = left; left = (dir.cross(up)).safe_normalized(); mat.setValue ( left[0], dir[0],up[0], left[1], dir[1],up[1], left[2], dir[2],up[2] ); break; } default: { // (1.0 , 0.0 , 0.0 ) -x direction is forward, z (0.0 , 0.0 , 1.0 ) up left = -dir.safe_normalized(); dir = -(left.cross(up)).safe_normalized(); mat.setValue ( left[0], dir[0],up[0], left[1], dir[1],up[1], left[2], dir[2],up[2] ); } } MT_Matrix3x3 oldmat; oldmat= curobj->NodeGetWorldOrientation(); /* erwin should rewrite this! */ mat= matrix3x3_interpol(oldmat, mat, m_time); if(m_parentobj){ // check if the model is parented and calculate the child transform MT_Point3 localpos; localpos = curobj->GetSGNode()->GetLocalPosition(); // Get the inverse of the parent matrix MT_Matrix3x3 parentmatinv; parentmatinv = m_parentobj->NodeGetWorldOrientation ().inverse (); // transform the local coordinate system into the parents system mat = parentmatinv * mat; // append the initial parent local rotation matrix mat = m_parentlocalmat * mat; // set the models tranformation properties curobj->NodeSetLocalOrientation(mat); curobj->NodeSetLocalPosition(localpos); //curobj->UpdateTransform(); } else { curobj->NodeSetLocalOrientation(mat); } result = true; } return result; }
bool KX_CameraActuator::Update(double curtime, bool frame) { /* wondering... is it really neccesary/desirable to suppress negative */ /* events here? */ bool bNegativeEvent = IsNegativeEvent(); RemoveAllEvents(); if (bNegativeEvent || !m_ob) return false; KX_GameObject *obj = (KX_GameObject*) GetParent(); MT_Point3 from = obj->NodeGetWorldPosition(); MT_Matrix3x3 frommat = obj->NodeGetWorldOrientation(); /* These casts are _very_ dangerous!!! */ MT_Point3 lookat = ((KX_GameObject*)m_ob)->NodeGetWorldPosition(); MT_Matrix3x3 actormat = ((KX_GameObject*)m_ob)->NodeGetWorldOrientation(); float fp1[3], fp2[3], rc[3]; float inp, fac; //, factor = 0.0; /* some factor... */ float mindistsq, maxdistsq, distsq; float mat[3][3]; /* The rules: */ /* CONSTRAINT 1: not implemented */ /* CONSTRAINT 2: can camera see actor? */ /* CONSTRAINT 3: fixed height relative to floor below actor. */ /* CONSTRAINT 4: camera rotates behind actor */ /* CONSTRAINT 5: minimum / maximum distance */ /* CONSTRAINT 6: again: fixed height relative to floor below actor */ /* CONSTRAINT 7: track to floor below actor */ /* CONSTRAINT 8: look a little bit left or right, depending on how the character is looking (horizontal x) */ /* ...and then set the camera position. Since we assume the parent of */ /* this actuator is always a camera, just set the parent position and */ /* rotation. We do not check whether we really have a camera as parent. */ /* It may be better to turn this into a general tracking actuator later */ /* on, since lots of plausible relations can be filled in here. */ /* ... set up some parameters ... */ /* missing here: the 'floorloc' of the actor's shadow */ mindistsq= m_minHeight*m_minHeight; maxdistsq= m_maxHeight*m_maxHeight; /* C1: not checked... is a future option */ /* C2: blender test_visibility function. Can this be a ray-test? */ /* C3: fixed height */ from[2] = (15.0*from[2] + lookat[2] + m_height)/16.0; /* C4: camera behind actor */ if (m_x) { fp1[0] = actormat[0][0]; fp1[1] = actormat[1][0]; fp1[2] = actormat[2][0]; fp2[0] = frommat[0][0]; fp2[1] = frommat[1][0]; fp2[2] = frommat[2][0]; } else { fp1[0] = actormat[0][1]; fp1[1] = actormat[1][1]; fp1[2] = actormat[2][1]; fp2[0] = frommat[0][1]; fp2[1] = frommat[1][1]; fp2[2] = frommat[2][1]; } inp= fp1[0]*fp2[0] + fp1[1]*fp2[1] + fp1[2]*fp2[2]; fac= (-1.0 + inp) * m_damping; from[0]+= fac*fp1[0]; from[1]+= fac*fp1[1]; from[2]+= fac*fp1[2]; /* alleen alstie ervoor ligt: cross testen en loodrechte bijtellen */ if(inp<0.0) { if(fp1[0]*fp2[1] - fp1[1]*fp2[0] > 0.0) { from[0]-= fac*fp1[1]; from[1]+= fac*fp1[0]; } else { from[0]+= fac*fp1[1]; from[1]-= fac*fp1[0]; } } /* CONSTRAINT 5: minimum / maximum afstand */ rc[0]= (lookat[0]-from[0]); rc[1]= (lookat[1]-from[1]); rc[2]= (lookat[2]-from[2]); distsq= rc[0]*rc[0] + rc[1]*rc[1] + rc[2]*rc[2]; if(distsq > maxdistsq) { distsq = 0.15*(distsq-maxdistsq)/distsq; from[0] += distsq*rc[0]; from[1] += distsq*rc[1]; from[2] += distsq*rc[2]; } else if(distsq < mindistsq) { distsq = 0.15*(mindistsq-distsq)/mindistsq; from[0] -= distsq*rc[0]; from[1] -= distsq*rc[1]; from[2] -= distsq*rc[2]; } /* CONSTRAINT 7: track to schaduw */ rc[0]= (lookat[0]-from[0]); rc[1]= (lookat[1]-from[1]); rc[2]= (lookat[2]-from[2]); Kx_VecUpMat3(rc, mat, 3); /* y up Track -z */ /* now set the camera position and rotation */ obj->NodeSetLocalPosition(from); actormat[0][0]= mat[0][0]; actormat[0][1]= mat[1][0]; actormat[0][2]= mat[2][0]; actormat[1][0]= mat[0][1]; actormat[1][1]= mat[1][1]; actormat[1][2]= mat[2][1]; actormat[2][0]= mat[0][2]; actormat[2][1]= mat[1][2]; actormat[2][2]= mat[2][2]; obj->NodeSetLocalOrientation(actormat); return true; }