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KX_TrackToActuator.cpp

//
// Replace the mesh for this actuator's parent
//
// $Id: KX_TrackToActuator.cpp,v 1.9 2004/10/16 11:41:49 kester Exp $
//
// ***** 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 *****

// todo: not all trackflags / upflags are implemented/tested !
// m_trackflag is used to determine the forward tracking direction
// m_upflag for the up direction
// normal situation is +y for forward, +z for up

#include "MT_Scalar.h"
#include "SCA_IActuator.h"
#include "KX_TrackToActuator.h"
#include "SCA_IScene.h"
#include "SCA_LogicManager.h"
#include <math.h>
#include <iostream>
#include "KX_GameObject.h"

#ifdef HAVE_CONFIG_H
#include <config.h>
#endif

/* ------------------------------------------------------------------------- */
/* Native functions                                                          */
/* ------------------------------------------------------------------------- */



KX_TrackToActuator::KX_TrackToActuator(SCA_IObject *gameobj, 
                                                       SCA_IObject *ob,
                                                         int time,
                                                         bool allow3D,
                                                         int trackflag,
                                                         int upflag,
                                                         PyTypeObject* T)
                                                         :
                                                            SCA_IActuator(gameobj, T)
{
    m_time = time;
    m_allow3D = allow3D;
    m_object = ob;
      m_trackflag = trackflag;
      m_upflag = upflag;
} /* End of constructor */



/* old function from Blender */
MT_Matrix3x3 EulToMat3(float *eul)
{
      MT_Matrix3x3 mat;
      float ci, cj, ch, si, sj, sh, cc, cs, sc, ss;
      
      ci = cos(eul[0]); 
      cj = cos(eul[1]); 
      ch = cos(eul[2]);
      si = sin(eul[0]); 
      sj = sin(eul[1]); 
      sh = sin(eul[2]);
      cc = ci*ch; 
      cs = ci*sh; 
      sc = si*ch; 
      ss = si*sh;

      mat[0][0] = cj*ch; 
      mat[1][0] = sj*sc-cs; 
      mat[2][0] = sj*cc+ss;
      mat[0][1] = cj*sh; 
      mat[1][1] = sj*ss+cc; 
      mat[2][1] = sj*cs-sc;
      mat[0][2] = -sj;   
      mat[1][2] = cj*si;    
      mat[2][2] = cj*ci;

      return mat;
}



/* old function from Blender */
void Mat3ToEul(MT_Matrix3x3 mat, float *eul)
{
      MT_Scalar cy;
      
      cy = sqrt(mat[0][0]*mat[0][0] + mat[0][1]*mat[0][1]);

      if (cy > 16.0*FLT_EPSILON) {
            eul[0] = atan2(mat[1][2], mat[2][2]);
            eul[1] = atan2(-mat[0][2], cy);
            eul[2] = atan2(mat[0][1], mat[0][0]);
      } else {
            eul[0] = atan2(-mat[2][1], mat[1][1]);
            eul[1] = atan2(-mat[0][2], cy);
            eul[2] = 0.0;
      }
}



/* old function from Blender */
void compatible_eulFast(float *eul, float *oldrot)
{
      float dx, dy, dz;
      
      /* verschillen van ong 360 graden corrigeren */

      dx= eul[0] - oldrot[0];
      dy= eul[1] - oldrot[1];
      dz= eul[2] - oldrot[2];

      if( fabs(dx) > 5.1) {
            if(dx > 0.0) eul[0] -= MT_2_PI; else eul[0]+= MT_2_PI;
      }
      if( fabs(dy) > 5.1) {
            if(dy > 0.0) eul[1] -= MT_2_PI; else eul[1]+= MT_2_PI;
      }
      if( fabs(dz) > 5.1 ) {
            if(dz > 0.0) eul[2] -= MT_2_PI; else eul[2]+= MT_2_PI;
      }
}



MT_Matrix3x3 matrix3x3_interpol(MT_Matrix3x3 oldmat, MT_Matrix3x3 mat, int m_time)
{
      float eul[3], oldeul[3];      

      Mat3ToEul(oldmat, oldeul);
      Mat3ToEul(mat, eul);
      compatible_eulFast(eul, oldeul);
      
      eul[0]= (m_time*oldeul[0] + eul[0])/(1.0+m_time);
      eul[1]= (m_time*oldeul[1] + eul[1])/(1.0+m_time);
      eul[2]= (m_time*oldeul[2] + eul[2])/(1.0+m_time);
      
      return EulToMat3(eul);
}



KX_TrackToActuator::~KX_TrackToActuator()
{ 
      // there's nothing to be done here, really....
} /* end of destructor */



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();
            dir.normalize();
            MT_Vector3 up(0,0,1);
            
            
#ifdef DSADSA
            switch (m_upflag)
            {
            case 0:
                  {
                        up = MT_Vector3(1.0,0,0);
                        break;
                  } 
            case 1:
                  {
                        up = MT_Vector3(0,1.0,0);
                        break;
                  }
            case 2:
            default:
                  {
                        up = MT_Vector3(0,0,1.0);
                  }
            }
#endif 
            if (m_allow3D)
            {
                  up = (up - up.dot(dir) * dir).normalized();
                  
            }
            else
            {
                  dir = (dir - up.dot(dir)*up).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.normalized();
                        dir = (left.cross(up)).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)).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.normalized();
                        up = dir.normalized();
                        dir = left;
                        left  = (dir.cross(up)).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.normalized();
                        dir = -(left.cross(up)).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)).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.normalized();
                        up = -dir.normalized();
                        dir = left;
                        left  = (dir.cross(up)).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.normalized();
                        dir = -(left.cross(up)).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);
            
            curobj->NodeSetLocalOrientation(mat);
            
            result = true;
      }

      return result;
}



/* ------------------------------------------------------------------------- */
/* Python functions                                                          */
/* ------------------------------------------------------------------------- */



/* Integration hooks ------------------------------------------------------- */
PyTypeObject KX_TrackToActuator::Type = {
      PyObject_HEAD_INIT(&PyType_Type)
      0,
      "KX_TrackToActuator",
      sizeof(KX_TrackToActuator),
      0,
      PyDestructor,
      0,
      __getattr,
      __setattr,
      0, //&MyPyCompare,
      __repr,
      0, //&cvalue_as_number,
      0,
      0,
      0,
      0
};



PyParentObject KX_TrackToActuator::Parents[] = {
      &KX_TrackToActuator::Type,
            &SCA_IActuator::Type,
            &SCA_ILogicBrick::Type,
            &CValue::Type,
            NULL
};



PyMethodDef KX_TrackToActuator::Methods[] = {
      {"setObject", (PyCFunction) KX_TrackToActuator::sPySetObject, METH_VARARGS, SetObject_doc},
      {"getObject", (PyCFunction) KX_TrackToActuator::sPyGetObject, METH_VARARGS, GetObject_doc},
      {"setTime", (PyCFunction) KX_TrackToActuator::sPySetTime, METH_VARARGS, SetTime_doc},
      {"getTime", (PyCFunction) KX_TrackToActuator::sPyGetTime, METH_VARARGS, GetTime_doc},
      {"setUse3D", (PyCFunction) KX_TrackToActuator::sPySetUse3D, METH_VARARGS, SetUse3D_doc},
      {"getUse3D", (PyCFunction) KX_TrackToActuator::sPyGetUse3D, METH_VARARGS, GetUse3D_doc},
      {NULL,NULL} //Sentinel
};



PyObject* KX_TrackToActuator::_getattr(const STR_String& attr)
{
      _getattr_up(SCA_IActuator);
}



/* 1. setObject */
char KX_TrackToActuator::SetObject_doc[] = 
"setObject(object)\n"
"\t- object: string\n"
"\tSet the object to track with the parent of this actuator.\n";
PyObject* KX_TrackToActuator::PySetObject(PyObject* self, PyObject* args, PyObject* kwds) {
      PyObject* gameobj;
      if (PyArg_ParseTuple(args, "O!", &KX_GameObject::Type, &gameobj))
      {
            m_object = (SCA_IObject*)gameobj;

            Py_Return;
      }
      PyErr_Clear();
      
      char* objectname;
      if (PyArg_ParseTuple(args, "s", &objectname))
      {
            m_object= static_cast<SCA_IObject*>(SCA_ILogicBrick::m_sCurrentLogicManager->GetGameObjectByName(STR_String(objectname)));
            
            Py_Return;
      }
      
      return NULL;
}



/* 2. getObject */
char KX_TrackToActuator::GetObject_doc[] = 
"getObject()\n"
"\tReturns the object to track with the parent of this actuator.\n";
PyObject* KX_TrackToActuator::PyGetObject(PyObject* self, PyObject* args, PyObject* kwds)
{
      if (!m_object)
            Py_Return;

      return PyString_FromString(m_object->GetName());
}



/* 3. setTime */
char KX_TrackToActuator::SetTime_doc[] = 
"setTime(time)\n"
"\t- time: integer\n"
"\tSet the time in frames with which to delay the tracking motion.\n";
PyObject* KX_TrackToActuator::PySetTime(PyObject* self, PyObject* args, PyObject* kwds)
{
      int timeArg;
      
      if (!PyArg_ParseTuple(args, "i", &timeArg))
      {
            return NULL;
      }
      
      m_time= timeArg;
      
      Py_Return;
}



/* 4.getTime */
char KX_TrackToActuator::GetTime_doc[] = 
"getTime()\n"
"\t- time: integer\n"
"\tReturn the time in frames with which the tracking motion is delayed.\n";
PyObject* KX_TrackToActuator::PyGetTime(PyObject* self, PyObject* args, PyObject* kwds)
{
      return PyInt_FromLong(m_time);
}



/* 5. getUse3D */
char KX_TrackToActuator::GetUse3D_doc[] = 
"getUse3D()\n"
"\tReturns 1 if the motion is allowed to extend in the z-direction.\n";
PyObject* KX_TrackToActuator::PyGetUse3D(PyObject* self, PyObject* args, PyObject* kwds)
{
      return PyInt_FromLong(!(m_allow3D == 0));
}



/* 6. setUse3D */
char KX_TrackToActuator::SetUse3D_doc[] = 
"setUse3D(value)\n"
"\t- value: 0 or 1\n"
"\tSet to 1 to allow the tracking motion to extend in the z-direction,\n"
"\tset to 0 to lock the tracking motion to the x-y plane.\n";
PyObject* KX_TrackToActuator::PySetUse3D(PyObject* self, PyObject* args, PyObject* kwds)
{
      int boolArg;
      
      if (!PyArg_ParseTuple(args, "i", &boolArg)) {
            return NULL;
      }
      
      m_allow3D = !(boolArg == 0);
      
      Py_Return;
}

/* eof */

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