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Various nail constraint improvements

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TODO: errors while scene loading / saving
This commit is contained in:
rponom
2009-12-25 00:22:20 +00:00
parent 63bb1bab94
commit 5dd43ab3a2
23 changed files with 603 additions and 314 deletions
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35
Extras/MayaPlugin/dSolverNode.cpp
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@@ -18,6 +18,10 @@ not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
Written by: Nicola Candussi <nicola@fluidinteractive.com>
Modified by Roman Ponomarev <rponom@gmail.com>
12/24/2009 : Nail constraint improvements
*/
//dSolverNode.cpp
@@ -49,6 +53,7 @@ Written by: Nicola Candussi <nicola@fluidinteractive.com>
#include "solver.h"
#include "rigidBodyNode.h"
#include "rigidBodyArrayNode.h"
#include "constraint/nailConstraintNode.h"
#include "pdbIO.h"
MTypeId dSolverNode::typeId(0x100331);
@@ -357,6 +362,7 @@ void dSolverNode::initRigidBodies(MPlugArray &rbConnections)
if(fnNode.typeId() == rigidBodyNode::typeId) {
initRigidBody(node);
updateConstraint(node);
} else if(fnNode.typeId() == rigidBodyArrayNode::typeId) {
initRigidBodyArray(node);
}
@@ -491,6 +497,34 @@ void dSolverNode::updatePassiveRigidBodies(MPlugArray &rbConnections, std::vecto
}
}
void dSolverNode::updateConstraint(MObject& bodyNode)
{
MFnDagNode fnDagNode(bodyNode);
rigidBodyNode *rbNode = static_cast<rigidBodyNode*>(fnDagNode.userNode());
MPlug plgMessages(bodyNode, rbNode->message);
MPlugArray rbMsgConnections;
plgMessages.connectedTo(rbMsgConnections, false, true);
for(size_t j = 0; j < rbMsgConnections.length(); j++)
{
MObject msgNode = rbMsgConnections[j].node();
MFnDagNode msgDagNode(msgNode);
if(msgDagNode.typeId() == nailConstraintNode::typeId)
{
nailConstraintNode* nailNode = static_cast<nailConstraintNode*>(msgDagNode.userNode());
if(msgDagNode.parentCount() == 0)
{
std::cout << "No transform for nail constraint found!" << std::endl;
continue;
}
MFnTransform msgTransform(msgDagNode.parent(0));
nail_constraint_t::pointer nail = nailNode->constraint();
vec3f constrPos;
nail->get_world(constrPos);
msgTransform.setTranslation(MVector(constrPos[0], constrPos[1], constrPos[2]), MSpace::kTransform);
}
}
}
//update the scene after a simulation step
void dSolverNode::updateActiveRigidBodies(MPlugArray &rbConnections)
{
@@ -520,6 +554,7 @@ void dSolverNode::updateActiveRigidBodies(MPlugArray &rbConnections)
fnTransform.setRotation(MQuaternion(rot[1], rot[2], rot[3], rot[0]));
fnTransform.setTranslation(MVector(pos[0], pos[1], pos[2]), MSpace::kTransform);
}
updateConstraint(node);
} else if(fnDagNode.typeId() == rigidBodyArrayNode::typeId) {
rigidBodyArrayNode *rbNode = static_cast<rigidBodyArrayNode*>(fnDagNode.userNode());
std::vector<rigid_body_t::pointer>& rbs = rbNode->rigid_bodies();