void IK_QSegment::UpdateTransform(const MT_Transform& global)
{
// compute the global transform at the end of the segment
m_global_start = global.getOrigin() + global.getBasis()*m_start;
m_global_transform.setOrigin(m_global_start);
m_global_transform.setBasis(global.getBasis() * m_rest_basis * m_basis);
m_global_transform.translate(m_translation);
// update child transforms
for (IK_QSegment *seg = m_child; seg; seg = seg->m_sibling)
seg->UpdateTransform(m_global_transform);
}
void RAS_BucketManager::OrderBuckets(const MT_Transform& cameratrans, BucketList& buckets, vector<sortedmeshslot>& slots, bool alpha)
{
BucketList::iterator bit;
list<RAS_MeshSlot>::iterator mit;
size_t size = 0, i = 0;
/* Camera's near plane equation: pnorm.dot(point) + pval,
* but we leave out pval since it's constant anyway */
const MT_Vector3 pnorm(cameratrans.getBasis()[2]);
for (bit = buckets.begin(); bit != buckets.end(); ++bit)
{
SG_DList::iterator<RAS_MeshSlot> mit((*bit)->GetActiveMeshSlots());
for(mit.begin(); !mit.end(); ++mit)
size++;
}
slots.resize(size);
for (bit = buckets.begin(); bit != buckets.end(); ++bit)
{
RAS_MaterialBucket* bucket = *bit;
RAS_MeshSlot* ms;
// remove the mesh slot form the list, it culls them automatically for next frame
while((ms = bucket->GetNextActiveMeshSlot())) {
slots[i++].set(ms, bucket, pnorm);
}
}
if(alpha)
sort(slots.begin(), slots.end(), backtofront());
else
sort(slots.begin(), slots.end(), fronttoback());
}
void KX_LightObject::BindShadowBuffer(RAS_IRasterizer *ras, KX_Camera *cam, MT_Transform& camtrans)
{
GPULamp *lamp;
float viewmat[4][4], winmat[4][4];
int winsize;
/* bind framebuffer */
lamp = GetGPULamp();
GPU_lamp_shadow_buffer_bind(lamp, viewmat, &winsize, winmat);
/* setup camera transformation */
MT_Matrix4x4 modelviewmat((float*)viewmat);
MT_Matrix4x4 projectionmat((float*)winmat);
MT_Transform trans = MT_Transform((float*)viewmat);
camtrans.invert(trans);
cam->SetModelviewMatrix(modelviewmat);
cam->SetProjectionMatrix(projectionmat);
cam->NodeSetLocalPosition(camtrans.getOrigin());
cam->NodeSetLocalOrientation(camtrans.getBasis());
cam->NodeUpdateGS(0);
/* setup rasterizer transformations */
/* SetViewMatrix may use stereomode which we temporarily disable here */
RAS_IRasterizer::StereoMode stereomode = ras->GetStereoMode();
ras->SetStereoMode(RAS_IRasterizer::RAS_STEREO_NOSTEREO);
ras->SetProjectionMatrix(projectionmat);
ras->SetViewMatrix(modelviewmat, cam->NodeGetWorldOrientation(), cam->NodeGetWorldPosition(), cam->GetCameraData()->m_perspective);
ras->SetStereoMode(stereomode);
}
MT_BBox DT_Complex::bbox(const MT_Transform& t, MT_Scalar margin) const
{
MT_Matrix3x3 abs_b = t.getBasis().absolute();
MT_Point3 center = t(m_cbox.getCenter());
MT_Vector3 extent(margin + abs_b[0].dot(m_cbox.getExtent()),
margin + abs_b[1].dot(m_cbox.getExtent()),
margin + abs_b[2].dot(m_cbox.getExtent()));
return MT_BBox(center - extent, center + extent);
}
void KX_KetsjiEngine::PostProcessScene(KX_Scene* scene)
{
bool override_camera = (m_overrideCam && (scene->GetName() == m_overrideSceneName));
SG_SetActiveStage(SG_STAGE_SCENE);
// if there is no activecamera, or the camera is being
// overridden we need to construct a temporarily camera
if (!scene->GetActiveCamera() || override_camera)
{
KX_Camera* activecam = NULL;
RAS_CameraData camdata = RAS_CameraData();
if (override_camera)
{
camdata.m_lens = m_overrideCamLens;
camdata.m_clipstart = m_overrideCamNear;
camdata.m_clipend = m_overrideCamFar;
camdata.m_perspective= !m_overrideCamUseOrtho;
}
activecam = new KX_Camera(scene,KX_Scene::m_callbacks,camdata);
activecam->SetName("__default__cam__");
// set transformation
if (override_camera) {
const MT_CmMatrix4x4& cammatdata = m_overrideCamViewMat;
MT_Transform trans = MT_Transform(cammatdata.getPointer());
MT_Transform camtrans;
camtrans.invert(trans);
activecam->NodeSetLocalPosition(camtrans.getOrigin());
activecam->NodeSetLocalOrientation(camtrans.getBasis());
activecam->NodeUpdateGS(0);
} else {
activecam->NodeSetLocalPosition(MT_Point3(0.0, 0.0, 0.0));
activecam->NodeSetLocalOrientation(MT_Vector3(0.0, 0.0, 0.0));
activecam->NodeUpdateGS(0);
}
scene->AddCamera(activecam);
scene->SetActiveCamera(activecam);
scene->GetObjectList()->Add(activecam->AddRef());
scene->GetRootParentList()->Add(activecam->AddRef());
//done with activecam
activecam->Release();
}
scene->UpdateParents(0.0);
}
void RAS_MeshObject::SortPolygons(RAS_MeshSlot& ms, const MT_Transform &transform)
{
// Limitations: sorting is quite simple, and handles many
// cases wrong, partially due to polygons being sorted per
// bucket.
//
// a) mixed triangles/quads are sorted wrong
// b) mixed materials are sorted wrong
// c) more than 65k faces are sorted wrong
// d) intersecting objects are sorted wrong
// e) intersecting polygons are sorted wrong
//
// a) can be solved by making all faces either triangles or quads
// if they need to be z-sorted. c) could be solved by allowing
// larger buckets, b) and d) cannot be solved easily if we want
// to avoid excessive state changes while drawing. e) would
// require splitting polygons.
RAS_MeshSlot::iterator it;
size_t j;
for (ms.begin(it); !ms.end(it); ms.next(it)) {
unsigned int nvert = (int)it.array->m_type;
unsigned int totpoly = it.totindex/nvert;
if (totpoly <= 1)
continue;
if (it.array->m_type == RAS_DisplayArray::LINE)
continue;
// Extract camera Z plane...
const MT_Vector3 pnorm(transform.getBasis()[2]);
// unneeded: const MT_Scalar pval = transform.getOrigin()[2];
vector<polygonSlot> poly_slots(totpoly);
/* get indices and z into temporary array */
for (j=0; j<totpoly; j++)
poly_slots[j].get(it.vertex, it.index, j*nvert, nvert, pnorm);
/* sort (stable_sort might be better, if flickering happens?) */
std::sort(poly_slots.begin(), poly_slots.end(), backtofront());
/* get indices from temporary array again */
for (j=0; j<totpoly; j++)
poly_slots[j].set(it.index, j*nvert, nvert);
}
}
void RAS_BucketManager::OrderBuckets(const MT_Transform& cameratrans, RAS_BucketManager::BucketType bucketType,
std::vector<sortedmeshslot>& slots, bool alpha, RAS_IRasterizer *rasty)
{
const unsigned int size = GetNumActiveMeshSlots(bucketType);
// Discard if there's no mesh slots.
if (size == 0) {
return;
}
size_t i = 0;
/* Camera's near plane equation: pnorm.dot(point) + pval,
* but we leave out pval since it's constant anyway */
const MT_Vector3 pnorm(cameratrans.getBasis()[2]);
slots.resize(size);
BucketList& buckets = m_buckets[bucketType];
for (BucketList::iterator bit = buckets.begin(); bit != buckets.end(); ++bit)
{
RAS_MaterialBucket *bucket = *bit;
RAS_DisplayArrayBucketList& displayArrayBucketList = (*bit)->GetDisplayArrayBucketList();
for (RAS_DisplayArrayBucketList::iterator dbit = displayArrayBucketList.begin(), dbend = displayArrayBucketList.end();
dbit != dbend; ++dbit)
{
RAS_DisplayArrayBucket *displayArrayBucket = *dbit;
RAS_MeshSlotList& activeMeshSlots = displayArrayBucket->GetActiveMeshSlots();
// Update deformer and render settings.
displayArrayBucket->UpdateActiveMeshSlots(rasty);
for (RAS_MeshSlotList::iterator it = activeMeshSlots.begin(), end = activeMeshSlots.end(); it != end; ++it) {
slots[i++].set(*it, bucket, pnorm);
}
displayArrayBucket->RemoveActiveMeshSlots();
}
}
if (alpha)
sort(slots.begin(), slots.end(), backtofront());
else
sort(slots.begin(), slots.end(), fronttoback());
}
void RAS_OpenGLLight::BindShadowBuffer(RAS_ICanvas *canvas, KX_Camera *cam, MT_Transform& camtrans)
{
GPULamp *lamp;
float viewmat[4][4], winmat[4][4];
int winsize;
/* bind framebuffer */
lamp = GetGPULamp();
GPU_lamp_shadow_buffer_bind(lamp, viewmat, &winsize, winmat);
if (GPU_lamp_shadow_buffer_type(lamp) == LA_SHADMAP_VARIANCE) {
m_rasterizer->SetShadowMode(RAS_IRasterizer::RAS_SHADOW_VARIANCE);
}
else {
m_rasterizer->SetShadowMode(RAS_IRasterizer::RAS_SHADOW_SIMPLE);
}
/* GPU_lamp_shadow_buffer_bind() changes the viewport, so update the canvas */
canvas->UpdateViewPort(0, 0, winsize, winsize);
/* setup camera transformation */
MT_Matrix4x4 modelviewmat((float *)viewmat);
MT_Matrix4x4 projectionmat((float *)winmat);
MT_Transform trans = MT_Transform((float *)viewmat);
camtrans.invert(trans);
cam->SetModelviewMatrix(modelviewmat);
cam->SetProjectionMatrix(projectionmat);
cam->NodeSetLocalPosition(camtrans.getOrigin());
cam->NodeSetLocalOrientation(camtrans.getBasis());
cam->NodeUpdateGS(0);
/* setup rasterizer transformations */
/* SetViewMatrix may use stereomode which we temporarily disable here */
RAS_IRasterizer::StereoMode stereomode = m_rasterizer->GetStereoMode();
m_rasterizer->SetStereoMode(RAS_IRasterizer::RAS_STEREO_NOSTEREO);
m_rasterizer->SetProjectionMatrix(projectionmat);
m_rasterizer->SetViewMatrix(modelviewmat, cam->NodeGetWorldOrientation(), cam->NodeGetWorldPosition(), cam->NodeGetLocalScaling(), cam->GetCameraData()->m_perspective);
m_rasterizer->SetStereoMode(stereomode);
}
/**
* Transforms the collision object. A cone is not correctly centered
* for usage. */
void KX_RadarSensor::SynchronizeTransform()
{
// Getting the parent location was commented out. Why?
MT_Transform trans;
trans.setOrigin(((KX_GameObject*)GetParent())->NodeGetWorldPosition());
trans.setBasis(((KX_GameObject*)GetParent())->NodeGetWorldOrientation());
// What is the default orientation? pointing in the -y direction?
// is the geometry correctly converted?
// a collision cone is oriented
// center the cone correctly
// depends on the radar 'axis'
switch (m_axis)
{
case SENS_RADAR_X_AXIS: // +X Axis
{
MT_Quaternion rotquatje(MT_Vector3(0,0,1),MT_radians(90));
trans.rotate(rotquatje);
trans.translate(MT_Vector3 (0, -m_coneheight/2.0 ,0));
break;
};
case SENS_RADAR_Y_AXIS: // +Y Axis
{
MT_Quaternion rotquatje(MT_Vector3(1,0,0),MT_radians(-180));
trans.rotate(rotquatje);
trans.translate(MT_Vector3 (0, -m_coneheight/2.0 ,0));
break;
};
case SENS_RADAR_Z_AXIS: // +Z Axis
{
MT_Quaternion rotquatje(MT_Vector3(1,0,0),MT_radians(-90));
trans.rotate(rotquatje);
trans.translate(MT_Vector3 (0, -m_coneheight/2.0 ,0));
break;
};
case SENS_RADAR_NEG_X_AXIS: // -X Axis
{
MT_Quaternion rotquatje(MT_Vector3(0,0,1),MT_radians(-90));
trans.rotate(rotquatje);
trans.translate(MT_Vector3 (0, -m_coneheight/2.0 ,0));
break;
};
case SENS_RADAR_NEG_Y_AXIS: // -Y Axis
{
//MT_Quaternion rotquatje(MT_Vector3(1,0,0),MT_radians(-180));
//trans.rotate(rotquatje);
trans.translate(MT_Vector3 (0, -m_coneheight/2.0 ,0));
break;
};
case SENS_RADAR_NEG_Z_AXIS: // -Z Axis
{
MT_Quaternion rotquatje(MT_Vector3(1,0,0),MT_radians(90));
trans.rotate(rotquatje);
trans.translate(MT_Vector3 (0, -m_coneheight/2.0 ,0));
break;
};
default:
{
}
}
//Using a temp variable to translate MT_Point3 to float[3].
//float[3] works better for the Python interface.
MT_Point3 temp = trans.getOrigin();
m_cone_origin[0] = temp[0];
m_cone_origin[1] = temp[1];
m_cone_origin[2] = temp[2];
temp = trans(MT_Point3(0, -m_coneheight/2.0 ,0));
m_cone_target[0] = temp[0];
m_cone_target[1] = temp[1];
m_cone_target[2] = temp[2];
if (m_physCtrl)
{
PHY_IMotionState* motionState = m_physCtrl->GetMotionState();
const MT_Point3& pos = trans.getOrigin();
float ori[12];
trans.getBasis().getValue(ori);
motionState->setWorldPosition(pos[0], pos[1], pos[2]);
motionState->setWorldOrientation(ori);
m_physCtrl->WriteMotionStateToDynamics(true);
}
}