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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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480
Extras/MayaPlugin/BulletMayaPlugin.vcproj
View File

@@ -51,7 +51,7 @@
Name="VCCLCompilerTool" Name="VCCLCompilerTool"
AdditionalOptions="/GR /GS /EHsc" AdditionalOptions="/GR /GS /EHsc"
Optimization="0" Optimization="0"
AdditionalIncludeDirectories=".;"C:\Program Files\Autodesk\Maya2009\include";"C:\Program Files\Autodesk\Maya2008\include";"C:\Program Files\Alias\Maya8.0\include";../../src;../../Extras\GIMPACT\include" AdditionalIncludeDirectories=".;"C:\Program Files\Autodesk\Maya8.5\include";../../src;../../Extras\GIMPACT\include"
PreprocessorDefinitions="_DEBUG;WIN32;_WINDOWS;NT_PLUGIN;REQUIRE_IOSTREAM" PreprocessorDefinitions="_DEBUG;WIN32;_WINDOWS;NT_PLUGIN;REQUIRE_IOSTREAM"
RuntimeLibrary="3" RuntimeLibrary="3"
AssemblerListingLocation=".\Debug/" AssemblerListingLocation=".\Debug/"
@@ -80,7 +80,7 @@
OutputFile="./BulletMayaPluginDebug.mll" OutputFile="./BulletMayaPluginDebug.mll"
LinkIncremental="2" LinkIncremental="2"
SuppressStartupBanner="true" SuppressStartupBanner="true"
AdditionalLibraryDirectories="..\..\lib;"C:\Program Files\Autodesk\Maya2009\lib";"C:\Program Files\Autodesk\Maya2008\lib";C:\develop\disney_bulletmaya\boost_1_35_0\lib;"C:\Program Files\Alias\Maya8.0\lib"" AdditionalLibraryDirectories="..\..\lib;"C:\Program Files\Autodesk\Maya8.5\lib";C:\develop\disney_bulletmaya\boost_1_35_0\lib"
GenerateDebugInformation="true" GenerateDebugInformation="true"
ProgramDatabaseFile=".\Debug/BulletMayaPlugin.pdb" ProgramDatabaseFile=".\Debug/BulletMayaPlugin.pdb"
SubSystem="2" SubSystem="2"
@@ -113,6 +113,65 @@
CommandLine="install.bat" CommandLine="install.bat"
/> />
</Configuration> </Configuration>
<Configuration
Name="DebugDll|x64"
ConfigurationType="1"
>
<Tool
Name="VCPreBuildEventTool"
/>
<Tool
Name="VCCustomBuildTool"
/>
<Tool
Name="VCXMLDataGeneratorTool"
/>
<Tool
Name="VCWebServiceProxyGeneratorTool"
/>
<Tool
Name="VCMIDLTool"
/>
<Tool
Name="VCCLCompilerTool"
/>
<Tool
Name="VCManagedResourceCompilerTool"
/>
<Tool
Name="VCResourceCompilerTool"
/>
<Tool
Name="VCPreLinkEventTool"
/>
<Tool
Name="VCLinkerTool"
/>
<Tool
Name="VCALinkTool"
/>
<Tool
Name="VCManifestTool"
/>
<Tool
Name="VCXDCMakeTool"
/>
<Tool
Name="VCBscMakeTool"
/>
<Tool
Name="VCFxCopTool"
/>
<Tool
Name="VCAppVerifierTool"
/>
<Tool
Name="VCWebDeploymentTool"
/>
<Tool
Name="VCPostBuildEventTool"
/>
</Configuration>
<Configuration <Configuration
Name="ReleaseDll|Win32" Name="ReleaseDll|Win32"
OutputDirectory="$(PlatformName)\$(ConfigurationName)" OutputDirectory="$(PlatformName)\$(ConfigurationName)"
@@ -209,6 +268,65 @@
Name="VCPostBuildEventTool" Name="VCPostBuildEventTool"
/> />
</Configuration> </Configuration>
<Configuration
Name="ReleaseDll|x64"
ConfigurationType="1"
>
<Tool
Name="VCPreBuildEventTool"
/>
<Tool
Name="VCCustomBuildTool"
/>
<Tool
Name="VCXMLDataGeneratorTool"
/>
<Tool
Name="VCWebServiceProxyGeneratorTool"
/>
<Tool
Name="VCMIDLTool"
/>
<Tool
Name="VCCLCompilerTool"
/>
<Tool
Name="VCManagedResourceCompilerTool"
/>
<Tool
Name="VCResourceCompilerTool"
/>
<Tool
Name="VCPreLinkEventTool"
/>
<Tool
Name="VCLinkerTool"
/>
<Tool
Name="VCALinkTool"
/>
<Tool
Name="VCManifestTool"
/>
<Tool
Name="VCXDCMakeTool"
/>
<Tool
Name="VCBscMakeTool"
/>
<Tool
Name="VCFxCopTool"
/>
<Tool
Name="VCAppVerifierTool"
/>
<Tool
Name="VCWebDeploymentTool"
/>
<Tool
Name="VCPostBuildEventTool"
/>
</Configuration>
<Configuration <Configuration
Name="ReleaseDebug|Win32" Name="ReleaseDebug|Win32"
IntermediateDirectory="$(ConfigurationName)" IntermediateDirectory="$(ConfigurationName)"
@@ -269,244 +387,6 @@
Name="VCPostBuildEventTool" Name="VCPostBuildEventTool"
/> />
</Configuration> </Configuration>
<Configuration
Name="Debug|Win32"
IntermediateDirectory="$(ConfigurationName)"
ConfigurationType="1"
>
<Tool
Name="VCPreBuildEventTool"
/>
<Tool
Name="VCCustomBuildTool"
/>
<Tool
Name="VCXMLDataGeneratorTool"
/>
<Tool
Name="VCWebServiceProxyGeneratorTool"
/>
<Tool
Name="VCMIDLTool"
/>
<Tool
Name="VCCLCompilerTool"
/>
<Tool
Name="VCManagedResourceCompilerTool"
/>
<Tool
Name="VCResourceCompilerTool"
/>
<Tool
Name="VCPreLinkEventTool"
/>
<Tool
Name="VCLinkerTool"
/>
<Tool
Name="VCALinkTool"
/>
<Tool
Name="VCManifestTool"
/>
<Tool
Name="VCXDCMakeTool"
/>
<Tool
Name="VCBscMakeTool"
/>
<Tool
Name="VCFxCopTool"
/>
<Tool
Name="VCAppVerifierTool"
/>
<Tool
Name="VCWebDeploymentTool"
/>
<Tool
Name="VCPostBuildEventTool"
/>
</Configuration>
<Configuration
Name="Release|Win32"
IntermediateDirectory="$(ConfigurationName)"
ConfigurationType="1"
>
<Tool
Name="VCPreBuildEventTool"
/>
<Tool
Name="VCCustomBuildTool"
/>
<Tool
Name="VCXMLDataGeneratorTool"
/>
<Tool
Name="VCWebServiceProxyGeneratorTool"
/>
<Tool
Name="VCMIDLTool"
/>
<Tool
Name="VCCLCompilerTool"
/>
<Tool
Name="VCManagedResourceCompilerTool"
/>
<Tool
Name="VCResourceCompilerTool"
/>
<Tool
Name="VCPreLinkEventTool"
/>
<Tool
Name="VCLinkerTool"
/>
<Tool
Name="VCALinkTool"
/>
<Tool
Name="VCManifestTool"
/>
<Tool
Name="VCXDCMakeTool"
/>
<Tool
Name="VCBscMakeTool"
/>
<Tool
Name="VCFxCopTool"
/>
<Tool
Name="VCAppVerifierTool"
/>
<Tool
Name="VCWebDeploymentTool"
/>
<Tool
Name="VCPostBuildEventTool"
/>
</Configuration>
<Configuration
Name="DebugDll|x64"
ConfigurationType="1"
>
<Tool
Name="VCPreBuildEventTool"
/>
<Tool
Name="VCCustomBuildTool"
/>
<Tool
Name="VCXMLDataGeneratorTool"
/>
<Tool
Name="VCWebServiceProxyGeneratorTool"
/>
<Tool
Name="VCMIDLTool"
/>
<Tool
Name="VCCLCompilerTool"
/>
<Tool
Name="VCManagedResourceCompilerTool"
/>
<Tool
Name="VCResourceCompilerTool"
/>
<Tool
Name="VCPreLinkEventTool"
/>
<Tool
Name="VCLinkerTool"
/>
<Tool
Name="VCALinkTool"
/>
<Tool
Name="VCManifestTool"
/>
<Tool
Name="VCXDCMakeTool"
/>
<Tool
Name="VCBscMakeTool"
/>
<Tool
Name="VCFxCopTool"
/>
<Tool
Name="VCAppVerifierTool"
/>
<Tool
Name="VCWebDeploymentTool"
/>
<Tool
Name="VCPostBuildEventTool"
/>
</Configuration>
<Configuration
Name="ReleaseDll|x64"
ConfigurationType="1"
>
<Tool
Name="VCPreBuildEventTool"
/>
<Tool
Name="VCCustomBuildTool"
/>
<Tool
Name="VCXMLDataGeneratorTool"
/>
<Tool
Name="VCWebServiceProxyGeneratorTool"
/>
<Tool
Name="VCMIDLTool"
/>
<Tool
Name="VCCLCompilerTool"
/>
<Tool
Name="VCManagedResourceCompilerTool"
/>
<Tool
Name="VCResourceCompilerTool"
/>
<Tool
Name="VCPreLinkEventTool"
/>
<Tool
Name="VCLinkerTool"
/>
<Tool
Name="VCALinkTool"
/>
<Tool
Name="VCManifestTool"
/>
<Tool
Name="VCXDCMakeTool"
/>
<Tool
Name="VCBscMakeTool"
/>
<Tool
Name="VCFxCopTool"
/>
<Tool
Name="VCAppVerifierTool"
/>
<Tool
Name="VCWebDeploymentTool"
/>
<Tool
Name="VCPostBuildEventTool"
/>
</Configuration>
<Configuration <Configuration
Name="ReleaseDebug|x64" Name="ReleaseDebug|x64"
IntermediateDirectory="$(PlatformName)\$(ConfigurationName)" IntermediateDirectory="$(PlatformName)\$(ConfigurationName)"
@@ -567,6 +447,66 @@
Name="VCPostBuildEventTool" Name="VCPostBuildEventTool"
/> />
</Configuration> </Configuration>
<Configuration
Name="Debug|Win32"
IntermediateDirectory="$(ConfigurationName)"
ConfigurationType="1"
>
<Tool
Name="VCPreBuildEventTool"
/>
<Tool
Name="VCCustomBuildTool"
/>
<Tool
Name="VCXMLDataGeneratorTool"
/>
<Tool
Name="VCWebServiceProxyGeneratorTool"
/>
<Tool
Name="VCMIDLTool"
/>
<Tool
Name="VCCLCompilerTool"
/>
<Tool
Name="VCManagedResourceCompilerTool"
/>
<Tool
Name="VCResourceCompilerTool"
/>
<Tool
Name="VCPreLinkEventTool"
/>
<Tool
Name="VCLinkerTool"
/>
<Tool
Name="VCALinkTool"
/>
<Tool
Name="VCManifestTool"
/>
<Tool
Name="VCXDCMakeTool"
/>
<Tool
Name="VCBscMakeTool"
/>
<Tool
Name="VCFxCopTool"
/>
<Tool
Name="VCAppVerifierTool"
/>
<Tool
Name="VCWebDeploymentTool"
/>
<Tool
Name="VCPostBuildEventTool"
/>
</Configuration>
<Configuration <Configuration
Name="Debug|x64" Name="Debug|x64"
IntermediateDirectory="$(PlatformName)\$(ConfigurationName)" IntermediateDirectory="$(PlatformName)\$(ConfigurationName)"
@@ -627,6 +567,66 @@
Name="VCPostBuildEventTool" Name="VCPostBuildEventTool"
/> />
</Configuration> </Configuration>
<Configuration
Name="Release|Win32"
IntermediateDirectory="$(ConfigurationName)"
ConfigurationType="1"
>
<Tool
Name="VCPreBuildEventTool"
/>
<Tool
Name="VCCustomBuildTool"
/>
<Tool
Name="VCXMLDataGeneratorTool"
/>
<Tool
Name="VCWebServiceProxyGeneratorTool"
/>
<Tool
Name="VCMIDLTool"
/>
<Tool
Name="VCCLCompilerTool"
/>
<Tool
Name="VCManagedResourceCompilerTool"
/>
<Tool
Name="VCResourceCompilerTool"
/>
<Tool
Name="VCPreLinkEventTool"
/>
<Tool
Name="VCLinkerTool"
/>
<Tool
Name="VCALinkTool"
/>
<Tool
Name="VCManifestTool"
/>
<Tool
Name="VCXDCMakeTool"
/>
<Tool
Name="VCBscMakeTool"
/>
<Tool
Name="VCFxCopTool"
/>
<Tool
Name="VCAppVerifierTool"
/>
<Tool
Name="VCWebDeploymentTool"
/>
<Tool
Name="VCPostBuildEventTool"
/>
</Configuration>
<Configuration <Configuration
Name="Release|x64" Name="Release|x64"
IntermediateDirectory="$(PlatformName)\$(ConfigurationName)" IntermediateDirectory="$(PlatformName)\$(ConfigurationName)"

2
Extras/MayaPlugin/bt_mesh_shape.h
View File

@@ -134,7 +134,7 @@ protected:
btVector3 const& scale = m_gi_shape->getLocalScaling(); btVector3 const& scale = m_gi_shape->getLocalScaling();
std::vector<vec3f> vertices(m_vertices.size()); std::vector<vec3f> vertices(m_vertices.size());
for(int i = 0; i < vertices.size(); ++i) { for(unsigned int i = 0; i < vertices.size(); ++i) {
vertices[i] = vec3f(scale.x() * m_vertices[i][0], scale.y() * m_vertices[i][1], scale.z() * m_vertices[i][2]); vertices[i] = vec3f(scale.x() * m_vertices[i][0], scale.y() * m_vertices[i][1], scale.z() * m_vertices[i][2]);
} }
m_volume = ::volume(&(vertices[0]), (int*)&(m_indices[0]), (int)m_indices.size()); m_volume = ::volume(&(vertices[0]), (int*)&(m_indices[0]), (int)m_indices.size());

6
Extras/MayaPlugin/bt_plane_shape.h
View File

@@ -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. 3. This notice may not be removed or altered from any source distribution.
Written by: Nicola Candussi <nicola@fluidinteractive.com> Written by: Nicola Candussi <nicola@fluidinteractive.com>
Modified by Roman Ponomarev <rponom@gmail.com>
12/24/2009 : Nail constraint improvements
*/ */
//bt_plane_shape.h //bt_plane_shape.h
@@ -36,7 +40,7 @@ public:
// std::cout << "bt_plane_shape_t::draw" << std::endl; // std::cout << "bt_plane_shape_t::draw" << std::endl;
// btStaticPlaneShape *plane_shape = static_cast<btStaticPlaneShape*>(shape()); // btStaticPlaneShape *plane_shape = static_cast<btStaticPlaneShape*>(shape());
glPushMatrix(); glPushMatrix();
glScalef(100.0, 0.001, 100.0); glScalef(100.0f, 0.001f, 100.0f);
if(draw_style & collision_shape_t::kDSSolid) { if(draw_style & collision_shape_t::kDSSolid) {
solid_cube(); solid_cube();
} else { } else {

10
Extras/MayaPlugin/bt_rigid_body.h
View File

@@ -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. 3. This notice may not be removed or altered from any source distribution.
Written by: Nicola Candussi <nicola@fluidinteractive.com> Written by: Nicola Candussi <nicola@fluidinteractive.com>
Modified by Roman Ponomarev <rponom@gmail.com>
12/24/2009 : Nail constraint improvements
*/ */
//bt_rigid_body.h //bt_rigid_body.h
@@ -160,7 +164,7 @@ public:
int count = m_constraintRef.size(); int count = m_constraintRef.size();
for(int i=0; i<count; i++) for(int i=0; i<count; i++)
{ {
m_constraintRef[i]->update_constraint(); m_constraintRef[i]->update_constraint(this);
} }
} }
@@ -181,14 +185,14 @@ protected:
bt_rigid_body_t(collision_shape_impl_t* cs): bt_rigid_body_t(collision_shape_impl_t* cs):
m_collision_shape(cs), m_collision_shape(cs),
m_mass(1), m_mass(1),
m_inertia(2.0/5.0, 2.0/5.0, 2.0/5.0), m_inertia(2.0f/5.0f, 2.0f/5.0f, 2.0f/5.0f),
m_linear_damping(0), m_linear_damping(0),
m_angular_damping(0) m_angular_damping(0)
{ {
bt_collision_shape_t* bt_shape = dynamic_cast<bt_collision_shape_t*>(cs); bt_collision_shape_t* bt_shape = dynamic_cast<bt_collision_shape_t*>(cs);
btRigidBody::btRigidBodyConstructionInfo rbInfo(m_mass, NULL, bt_shape->shape(), m_inertia); btRigidBody::btRigidBodyConstructionInfo rbInfo(m_mass, NULL, bt_shape->shape(), m_inertia);
rbInfo.m_restitution = 0; rbInfo.m_restitution = 0;
rbInfo.m_friction = 0.1; rbInfo.m_friction = 0.1f;
rbInfo.m_linearDamping = m_linear_damping; rbInfo.m_linearDamping = m_linear_damping;
rbInfo.m_angularDamping = m_angular_damping; rbInfo.m_angularDamping = m_angular_damping;
m_body.reset(new btRigidBody(rbInfo)); m_body.reset(new btRigidBody(rbInfo));

11
Extras/MayaPlugin/bt_solver.h
View File

@@ -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. 3. This notice may not be removed or altered from any source distribution.
Written by: Nicola Candussi <nicola@fluidinteractive.com> Written by: Nicola Candussi <nicola@fluidinteractive.com>
Modified by Roman Ponomarev <rponom@gmail.com>
12/24/2009 : Nail constraint improvements
*/ */
//bt_solver.h //bt_solver.h
@@ -79,6 +83,10 @@ public:
{ {
return new bt_nail_constraint_t(rb, pivot); return new bt_nail_constraint_t(rb, pivot);
} }
virtual nail_constraint_impl_t* create_nail_constraint(rigid_body_impl_t* rbA, rigid_body_impl_t* rbB, vec3f const& pivot)
{
return new bt_nail_constraint_t(rbA, rbB, pivot);
}
virtual hinge_constraint_impl_t* create_hinge_constraint(rigid_body_impl_t* rb, vec3f const& pivot) virtual hinge_constraint_impl_t* create_hinge_constraint(rigid_body_impl_t* rb, vec3f const& pivot)
{ {
return new bt_hinge_constraint_t(rb, pivot); return new bt_hinge_constraint_t(rb, pivot);
@@ -95,6 +103,7 @@ public:
virtual void add_rigid_body(rigid_body_impl_t* rb) virtual void add_rigid_body(rigid_body_impl_t* rb)
{ {
bt_rigid_body_t* bt_body = static_cast<bt_rigid_body_t*>(rb); bt_rigid_body_t* bt_body = static_cast<bt_rigid_body_t*>(rb);
bt_body->body()->setActivationState(DISABLE_DEACTIVATION);
m_dynamicsWorld->addRigidBody(bt_body->body()); m_dynamicsWorld->addRigidBody(bt_body->body());
} }
@@ -128,7 +137,7 @@ public:
virtual void step_simulation(float dt) virtual void step_simulation(float dt)
{ {
m_dynamicsWorld->stepSimulation(dt, 1000, 1.0 / 120.0); m_dynamicsWorld->stepSimulation(dt, 1000, 1.0f / 120.0f);
} }
virtual void export_collada_file(const char* fileName); virtual void export_collada_file(const char* fileName);

12
Extras/MayaPlugin/bt_sphere_shape.h
View File

@@ -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. 3. This notice may not be removed or altered from any source distribution.
Written by: Nicola Candussi <nicola@fluidinteractive.com> Written by: Nicola Candussi <nicola@fluidinteractive.com>
Modified by Roman Ponomarev <rponom@gmail.com>
12/24/2009 : Nail constraint improvements
*/ */
//bt_sphere_shape.h //bt_sphere_shape.h
@@ -88,12 +92,12 @@ protected:
{ {
btSphereShape *sphere_shape = static_cast<btSphereShape*>(shape()); btSphereShape *sphere_shape = static_cast<btSphereShape*>(shape());
float radius = sphere_shape->getRadius(); float radius = sphere_shape->getRadius();
m_volume = (4.0 * 3.1415926 * radius * radius * radius) / 3.0; m_volume = (4.0f * 3.1415926f * radius * radius * radius) / 3.0f;
m_center = vec3f(0, 0, 0); m_center = vec3f(0, 0, 0);
m_rotation = qidentity<float>(); m_rotation = qidentity<float>();
m_local_inertia = vec3f(2.0 / 5.0 * radius * radius, m_local_inertia = vec3f(2.0f / 5.0f * radius * radius,
2.0 / 5.0 * radius * radius, 2.0f / 5.0f * radius * radius,
2.0 / 5.0 * radius * radius); 2.0f / 5.0f * radius * radius);
} }
private: private:

8
Extras/MayaPlugin/constraint/bt_constraint.h
View File

@@ -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. 3. This notice may not be removed or altered from any source distribution.
Written by: Nicola Candussi <nicola@fluidinteractive.com> Written by: Nicola Candussi <nicola@fluidinteractive.com>
Modified by Roman Ponomarev <rponom@gmail.com>
12/24/2009 : Nail constraint improvements
*/ */
//bt_constraint.h //bt_constraint.h
@@ -29,6 +33,8 @@ Written by: Nicola Candussi <nicola@fluidinteractive.com>
#include "btBulletDynamicsCommon.h" #include "btBulletDynamicsCommon.h"
#include "shared_ptr.h" #include "shared_ptr.h"
class rigid_body_impl_t;
class bt_constraint_t class bt_constraint_t
{ {
public: public:
@@ -40,7 +46,7 @@ protected:
btTypedConstraint* constraint() { return m_constraint.get(); } btTypedConstraint* constraint() { return m_constraint.get(); }
void set_constraint(btTypedConstraint *constraint) { return m_constraint.reset(constraint); } void set_constraint(btTypedConstraint *constraint) { return m_constraint.reset(constraint); }
virtual void update_constraint() = 0; virtual void update_constraint(rigid_body_impl_t* rb) = 0;
public: public:
friend class bt_rigid_body_t; friend class bt_rigid_body_t;

6
Extras/MayaPlugin/constraint/bt_hinge_constraint.h
View File

@@ -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. 3. This notice may not be removed or altered from any source distribution.
Written by: Herbert Law <Herbert.Law@gmail.com> Written by: Herbert Law <Herbert.Law@gmail.com>
Modified by Roman Ponomarev <rponom@gmail.com>
12/24/2009 : Nail constraint improvements
*/ */
//bt_hinge_constraint.h //bt_hinge_constraint.h
@@ -97,7 +101,7 @@ public:
hinge->enableAngularMotor(enable, velocity, impulse); hinge->enableAngularMotor(enable, velocity, impulse);
} }
virtual void update_constraint() virtual void update_constraint(rigid_body_impl_t* rb)
{ {
btHingeConstraint* hc = static_cast<btHingeConstraint*>(m_constraint.get()); btHingeConstraint* hc = static_cast<btHingeConstraint*>(m_constraint.get());
btVector3 world = hc->getBFrame().getOrigin(); btVector3 world = hc->getBFrame().getOrigin();

83
Extras/MayaPlugin/constraint/bt_nail_constraint.h
View File

@@ -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. 3. This notice may not be removed or altered from any source distribution.
Written by: Nicola Candussi <nicola@fluidinteractive.com> Written by: Nicola Candussi <nicola@fluidinteractive.com>
Modified by Roman Ponomarev <rponom@gmail.com>
12/24/2009 : Nail constraint improvements
*/ */
//bt_nail_constraint.h //bt_nail_constraint.h
@@ -58,10 +62,15 @@ public:
} }
virtual void get_world_pivot(vec3f &p) const { virtual void get_world_pivot(vec3f &p) const {
// btPoint2PointConstraint const* p2pc = static_cast<btPoint2PointConstraint const*>(m_constraint.get());
// p[0] = p2pc->getPivotInB().x();
// p[1] = p2pc->getPivotInB().y();
// p[2] = p2pc->getPivotInB().z();
btPoint2PointConstraint const* p2pc = static_cast<btPoint2PointConstraint const*>(m_constraint.get()); btPoint2PointConstraint const* p2pc = static_cast<btPoint2PointConstraint const*>(m_constraint.get());
p[0] = p2pc->getPivotInB().x(); btVector3 pivotAinW = p2pc->getRigidBodyA().getCenterOfMassTransform()* p2pc->getPivotInA();
p[1] = p2pc->getPivotInB().y(); p[0] = pivotAinW.x();
p[2] = p2pc->getPivotInB().z(); p[1] = pivotAinW.y();
p[2] = pivotAinW.z();
} }
virtual void set_world(vec3f const &p) { virtual void set_world(vec3f const &p) {
@@ -69,23 +78,47 @@ public:
btVector3 world(p[0], p[1], p[2]); btVector3 world(p[0], p[1], p[2]);
btVector3 pivotA = p2pc->getRigidBodyA().getWorldTransform().inverse() (world); btVector3 pivotA = p2pc->getRigidBodyA().getWorldTransform().inverse() (world);
p2pc->setPivotA(pivotA); p2pc->setPivotA(pivotA);
p2pc->setPivotB(world); btVector3 pivotB = p2pc->getRigidBodyB().getWorldTransform().inverse() (world);
p2pc->buildJacobian(); p2pc->setPivotB(pivotB);
// p2pc->buildJacobian();
} }
virtual void get_world(vec3f &p) const { virtual void get_world(vec3f &p) const {
btPoint2PointConstraint const* p2pc = static_cast<btPoint2PointConstraint const*>(m_constraint.get()); btPoint2PointConstraint const* p2pc = static_cast<btPoint2PointConstraint const*>(m_constraint.get());
p[0] = p2pc->getPivotInB().x(); btVector3 pivotAinW = p2pc->getRigidBodyA().getCenterOfMassTransform()* p2pc->getPivotInA();
p[1] = p2pc->getPivotInB().y(); // p[0] = p2pc->getPivotInB().x();
p[2] = p2pc->getPivotInB().z(); // p[1] = p2pc->getPivotInB().y();
// p[2] = p2pc->getPivotInB().z();
p[0] = pivotAinW.x();
p[1] = pivotAinW.y();
p[2] = pivotAinW.z();
} }
virtual void update_constraint() virtual void update_constraint(rigid_body_impl_t* rb)
{ {
btRigidBody* bt_body = static_cast<bt_rigid_body_t*>(rb)->body();
btPoint2PointConstraint* p2pc = static_cast<btPoint2PointConstraint*>(m_constraint.get()); btPoint2PointConstraint* p2pc = static_cast<btPoint2PointConstraint*>(m_constraint.get());
btVector3 world = p2pc->getPivotInB(); btVector3 world, pivot;
btVector3 pivotA = p2pc->getRigidBodyA().getWorldTransform().inverse() (world); if(bt_body == &p2pc->getRigidBodyA())
p2pc->setPivotA(pivotA); {
world = p2pc->getRigidBodyB().getWorldTransform() * p2pc->getPivotInB();
pivot = p2pc->getRigidBodyA().getWorldTransform().inverse() * world;
p2pc->setPivotA(pivot);
}
else if(bt_body == &p2pc->getRigidBodyB())
{
world = p2pc->getRigidBodyA().getWorldTransform() * p2pc->getPivotInA();
pivot = p2pc->getRigidBodyB().getWorldTransform().inverse() * world;
p2pc->setPivotB(pivot);
}
else
{
world.setValue(0.f, 0.f, 0.f);
}
// btVector3 world = p2pc->getPivotInB();
// btVector3 pivotA = p2pc->getRigidBodyA().getWorldTransform().inverse() (world);
// p2pc->setPivotA(pivotA);
} }
protected: protected:
friend class bt_solver_t; friend class bt_solver_t;
@@ -93,12 +126,34 @@ protected:
bt_nail_constraint_t(rigid_body_impl_t* rb, vec3f const& pivot): bt_nail_constraint_t(rigid_body_impl_t* rb, vec3f const& pivot):
nail_constraint_impl_t() nail_constraint_impl_t()
{ {
btVector3 pivotW(pivot[0], pivot[1], pivot[2]);
btRigidBody& bt_body = *static_cast<bt_rigid_body_t*>(rb)->body(); btRigidBody& bt_body = *static_cast<bt_rigid_body_t*>(rb)->body();
btVector3 pivotA = bt_body.getCenterOfMassPosition(); const btTransform& tr = bt_body.getCenterOfMassTransform();
m_constraint.reset(new btPoint2PointConstraint(bt_body, -pivotA)); btTransform iTr = tr.inverse();
btVector3 nPivot = iTr * pivotW;
m_constraint.reset(new btPoint2PointConstraint(bt_body, nPivot));
// btVector3 pivotA = bt_body.getCenterOfMassPosition();
// m_constraint.reset(new btPoint2PointConstraint(bt_body, -pivotA));
rb->add_constraint(this); rb->add_constraint(this);
} }
bt_nail_constraint_t(rigid_body_impl_t* rbA, rigid_body_impl_t* rbB, vec3f const& pivot):
nail_constraint_impl_t()
{
btVector3 pivotW(pivot[0], pivot[1], pivot[2]);
btRigidBody& bt_bodyA = *static_cast<bt_rigid_body_t*>(rbA)->body();
const btTransform& trA = bt_bodyA.getCenterOfMassTransform();
btTransform iTrA = trA.inverse();
btVector3 nPivotA = iTrA * pivotW;
btRigidBody& bt_bodyB = *static_cast<bt_rigid_body_t*>(rbB)->body();
const btTransform& trB = bt_bodyB.getCenterOfMassTransform();
btTransform iTrB = trB.inverse();
btVector3 nPivotB = iTrB * pivotW;
m_constraint.reset(new btPoint2PointConstraint(bt_bodyA, bt_bodyB, nPivotA, nPivotB));
rbA->add_constraint(this);
rbB->add_constraint(this);
}
private: private:
}; };

6
Extras/MayaPlugin/constraint/bt_sixdof_constraint.h
View File

@@ -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. 3. This notice may not be removed or altered from any source distribution.
Written by: Herbert Law <Herbert.Law@gmail.com> Written by: Herbert Law <Herbert.Law@gmail.com>
Modified by Roman Ponomarev <rponom@gmail.com>
12/24/2009 : Nail constraint improvements
*/ */
//bt_sixdof_constraint.h //bt_sixdof_constraint.h
@@ -94,7 +98,7 @@ public:
*/ p = world; */ p = world;
} }
virtual void update_constraint() virtual void update_constraint(rigid_body_impl_t* rb)
{ {
btGeneric6DofConstraint* constraint = static_cast<btGeneric6DofConstraint*>(m_constraint.get()); btGeneric6DofConstraint* constraint = static_cast<btGeneric6DofConstraint*>(m_constraint.get());
constraint->getFrameOffsetA() = constraint->getRigidBodyA().getCenterOfMassTransform().inverse(); constraint->getFrameOffsetA() = constraint->getRigidBodyA().getCenterOfMassTransform().inverse();

6
Extras/MayaPlugin/constraint/bt_slider_constraint.h
View File

@@ -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. 3. This notice may not be removed or altered from any source distribution.
Written by: Herbert Law <Herbert.Law@gmail.com> Written by: Herbert Law <Herbert.Law@gmail.com>
Modified by Roman Ponomarev <rponom@gmail.com>
12/24/2009 : Nail constraint improvements
*/ */
//bt_slider_constraint.h //bt_slider_constraint.h
@@ -95,7 +99,7 @@ public:
*/ p = world; */ p = world;
} }
virtual void update_constraint() virtual void update_constraint(rigid_body_impl_t* rb)
{ {
/* btRigidBody& bt_bodyA = *static_cast<bt_rigid_body_t*>(rbA)->body(); /* btRigidBody& bt_bodyA = *static_cast<bt_rigid_body_t*>(rbA)->body();
btRigidBody& bt_bodyB = *static_cast<bt_rigid_body_t*>(rbB)->body(); btRigidBody& bt_bodyB = *static_cast<bt_rigid_body_t*>(rbB)->body();

136
Extras/MayaPlugin/constraint/nailConstraintNode.cpp
View File

@@ -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. 3. This notice may not be removed or altered from any source distribution.
Written by: Nicola Candussi <nicola@fluidinteractive.com> Written by: Nicola Candussi <nicola@fluidinteractive.com>
Modified by Roman Ponomarev <rponom@gmail.com>
12/24/2009 : Nail constraint improvements
*/ */
//nailConstraintNode.cpp //nailConstraintNode.cpp
@@ -43,7 +47,8 @@ Written by: Nicola Candussi <nicola@fluidinteractive.com>
MTypeId nailConstraintNode::typeId(0x10033A); MTypeId nailConstraintNode::typeId(0x10033A);
MString nailConstraintNode::typeName("dNailConstraint"); MString nailConstraintNode::typeName("dNailConstraint");
MObject nailConstraintNode::ia_rigidBody; MObject nailConstraintNode::ia_rigidBodyA;
MObject nailConstraintNode::ia_rigidBodyB;
MObject nailConstraintNode::ia_damping; MObject nailConstraintNode::ia_damping;
MObject nailConstraintNode::ca_constraint; MObject nailConstraintNode::ca_constraint;
MObject nailConstraintNode::ca_constraintParam; MObject nailConstraintNode::ca_constraintParam;
@@ -56,10 +61,15 @@ MStatus nailConstraintNode::initialize()
MFnNumericAttribute fnNumericAttr; MFnNumericAttribute fnNumericAttr;
MFnMatrixAttribute fnMatrixAttr; MFnMatrixAttribute fnMatrixAttr;
ia_rigidBody = fnMsgAttr.create("inRigidBody", "inrb", &status); ia_rigidBodyA = fnMsgAttr.create("inRigidBodyA", "inrbA", &status);
MCHECKSTATUS(status, "creating inRigidBody attribute") MCHECKSTATUS(status, "creating inRigidBodyA attribute")
status = addAttribute(ia_rigidBody); status = addAttribute(ia_rigidBodyA);
MCHECKSTATUS(status, "adding inRigidBody attribute") MCHECKSTATUS(status, "adding inRigidBodyA attribute")
ia_rigidBodyB = fnMsgAttr.create("inRigidBodyB", "inrbB", &status);
MCHECKSTATUS(status, "creating inRigidBodyB attribute")
status = addAttribute(ia_rigidBodyB);
MCHECKSTATUS(status, "adding inRigidBodyB attribute")
ia_damping = fnNumericAttr.create("damping", "dmp", MFnNumericData::kDouble, 1.0, &status); ia_damping = fnNumericAttr.create("damping", "dmp", MFnNumericData::kDouble, 1.0, &status);
MCHECKSTATUS(status, "creating damping attribute") MCHECKSTATUS(status, "creating damping attribute")
@@ -86,11 +96,17 @@ MStatus nailConstraintNode::initialize()
MCHECKSTATUS(status, "adding ca_constraintParam attribute") MCHECKSTATUS(status, "adding ca_constraintParam attribute")
status = attributeAffects(ia_rigidBody, ca_constraint); status = attributeAffects(ia_rigidBodyA, ca_constraint);
MCHECKSTATUS(status, "adding attributeAffects(ia_rigidBody, ca_constraint)") MCHECKSTATUS(status, "adding attributeAffects(ia_rigidBodyA, ca_constraint)")
status = attributeAffects(ia_rigidBody, ca_constraintParam); status = attributeAffects(ia_rigidBodyA, ca_constraintParam);
MCHECKSTATUS(status, "adding attributeAffects(ia_rigidBody, ca_constraintParam)") MCHECKSTATUS(status, "adding attributeAffects(ia_rigidBodyA, ca_constraintParam)")
status = attributeAffects(ia_rigidBodyB, ca_constraint);
MCHECKSTATUS(status, "adding attributeAffects(ia_rigidBodyB, ca_constraint)")
status = attributeAffects(ia_rigidBodyB, ca_constraintParam);
MCHECKSTATUS(status, "adding attributeAffects(ia_rigidBodyB, ca_constraintParam)")
status = attributeAffects(ia_damping, ca_constraintParam); status = attributeAffects(ia_damping, ca_constraintParam);
MCHECKSTATUS(status, "adding attributeAffects(ia_damping, ca_constraintParam)") MCHECKSTATUS(status, "adding attributeAffects(ia_damping, ca_constraintParam)")
@@ -174,19 +190,34 @@ void nailConstraintNode::draw( M3dView & view, const MDagPath &path,
( style != M3dView::kGouraudShaded && style != M3dView::kFlatShaded )) ) { ( style != M3dView::kGouraudShaded && style != M3dView::kFlatShaded )) ) {
glColor3f(1.0, 1.0, 0.0); glColor3f(1.0, 1.0, 0.0);
} }
vec3f pos; vec3f posA, posB;
rigid_body_t::pointer rigid_bodyB = NULL;
if (m_constraint) { if (m_constraint) {
vec3f world; vec3f world;
m_constraint->get_world(world); m_constraint->get_world(world);
vec3f posA; vec3f posT;
quatf rotA; quatf rotT;
m_constraint->rigid_body()->get_transform(posA, rotA); m_constraint->rigid_bodyA()->get_transform(posT, rotT);
pos = posA - world; posA = posT - world;
rigid_bodyB = m_constraint->rigid_bodyB();
if(rigid_bodyB)
{
rigid_bodyB->get_transform(posT, rotT);
posB = posT - world;
}
} }
glBegin(GL_LINES); glBegin(GL_LINES);
glVertex3f(0.0, 0.0, 0.0); glVertex3f(0.0, 0.0, 0.0);
glVertex3f(pos[0], pos[1], pos[2]); glVertex3f(posA[0], posA[1], posA[2]);
if(rigid_bodyB)
{
glVertex3f(0.0, 0.0, 0.0);
glVertex3f(posB[0], posB[1], posB[2]);
}
glVertex3f(-1.0, 0.0, 0.0); glVertex3f(-1.0, 0.0, 0.0);
glVertex3f(1.0, 0.0, 0.0); glVertex3f(1.0, 0.0, 0.0);
@@ -225,35 +256,83 @@ void nailConstraintNode::computeConstraint(const MPlug& plug, MDataBlock& data)
// std::cout << "nailConstraintNode::computeConstraint" << std::endl; // std::cout << "nailConstraintNode::computeConstraint" << std::endl;
MObject thisObject(thisMObject()); MObject thisObject(thisMObject());
MPlug plgRigidBody(thisObject, ia_rigidBody); MPlug plgRigidBodyA(thisObject, ia_rigidBodyA);
MPlug plgRigidBodyB(thisObject, ia_rigidBodyB);
MObject update; MObject update;
//force evaluation of the rigidBody //force evaluation of the rigidBody
plgRigidBody.getValue(update); plgRigidBodyA.getValue(update);
plgRigidBodyB.getValue(update);
rigid_body_t::pointer rigid_body; rigid_body_t::pointer rigid_bodyA;
if(plgRigidBody.isConnected()) { if(plgRigidBodyA.isConnected()) {
MPlugArray connections; MPlugArray connections;
plgRigidBody.connectedTo(connections, true, true); plgRigidBodyA.connectedTo(connections, true, true);
if(connections.length() != 0) { if(connections.length() != 0) {
MFnDependencyNode fnNode(connections[0].node()); MFnDependencyNode fnNode(connections[0].node());
if(fnNode.typeId() == rigidBodyNode::typeId) { if(fnNode.typeId() == rigidBodyNode::typeId) {
rigidBodyNode *pRigidBodyNode = static_cast<rigidBodyNode*>(fnNode.userNode()); rigidBodyNode *pRigidBodyNodeA = static_cast<rigidBodyNode*>(fnNode.userNode());
rigid_body = pRigidBodyNode->rigid_body(); rigid_bodyA = pRigidBodyNodeA->rigid_body();
} else { } else {
std::cout << "nailConstraintNode connected to a non-rigidbody node!" << std::endl; std::cout << "nailConstraintNode connected to a non-rigidbody node A!" << std::endl;
} }
} }
} }
if(rigid_body) { rigid_body_t::pointer rigid_bodyB;
if(plgRigidBodyB.isConnected()) {
MPlugArray connections;
plgRigidBodyB.connectedTo(connections, true, true);
if(connections.length() != 0) {
MFnDependencyNode fnNode(connections[0].node());
if(fnNode.typeId() == rigidBodyNode::typeId) {
rigidBodyNode *pRigidBodyNodeB = static_cast<rigidBodyNode*>(fnNode.userNode());
rigid_bodyB = pRigidBodyNodeB->rigid_body();
} else {
std::cout << "nailConstraintNode connected to a non-rigidbody node B!" << std::endl;
}
}
}
if((rigid_bodyA != NULL) && (rigid_bodyB != NULL))
{
constraint_t::pointer constraint = static_cast<constraint_t::pointer>(m_constraint);
solver_t::remove_constraint(constraint);
vec3f posA, posB, posP;
quatf rotA, rotB;
rigid_bodyA->get_transform(posA, rotA);
rigid_bodyB->get_transform(posB, rotB);
posP = posA;
m_constraint = solver_t::create_nail_constraint(rigid_bodyA, rigid_bodyB, posP);
constraint = static_cast<constraint_t::pointer>(m_constraint);
solver_t::add_constraint(constraint);
}
else if(rigid_bodyA)
{
//not connected to a rigid body, put a default one //not connected to a rigid body, put a default one
constraint_t::pointer constraint = static_cast<constraint_t::pointer>(m_constraint); constraint_t::pointer constraint = static_cast<constraint_t::pointer>(m_constraint);
solver_t::remove_constraint(constraint); solver_t::remove_constraint(constraint);
m_constraint = solver_t::create_nail_constraint(rigid_body); vec3f posA, posP;
quatf rotA;
rigid_bodyA->get_transform(posA, rotA);
posP = posA;
m_constraint = solver_t::create_nail_constraint(rigid_bodyA, posP);
constraint = static_cast<constraint_t::pointer>(m_constraint); constraint = static_cast<constraint_t::pointer>(m_constraint);
solver_t::add_constraint(constraint); solver_t::add_constraint(constraint);
} }
MFnDagNode mDagNode(thisObject);
if(mDagNode.parentCount() == 0)
{
std::cout << "No transform for nail constraint found!" << std::endl;
}
else
{
MFnTransform mTransform(mDagNode.parent(0));
vec3f constrPos;
m_constraint->get_world(constrPos);
mTransform.setTranslation(MVector(constrPos[0], constrPos[1], constrPos[2]), MSpace::kTransform);
}
data.outputValue(ca_constraint).set(true); data.outputValue(ca_constraint).set(true);
data.setClean(plug); data.setClean(plug);
} }
@@ -293,9 +372,16 @@ void nailConstraintNode::computeWorldMatrix(const MPlug& plug, MDataBlock& data)
std::cout << "pivot (" << pivot[0] << "," << pivot[0] << "," << pivot[0] << ")" << std::endl; std::cout << "pivot (" << pivot[0] << "," << pivot[0] << "," << pivot[0] << ")" << std::endl;
*/ */
// std::cout << "mtranslation (" << mtranslation[0] << "," << mtranslation[0] << "," << mtranslation[0] << ")" << std::endl; // std::cout << "mtranslation (" << mtranslation[0] << "," << mtranslation[0] << "," << mtranslation[0] << ")" << std::endl;
float deltaX = world[0] - float(mtranslation.x);
float deltaY = world[1] - float(mtranslation.y);
float deltaZ = world[2] - float(mtranslation.z);
float deltaSq = deltaX * deltaX + deltaY * deltaY + deltaZ * deltaZ;
if(deltaSq > 0.000001f)
{
m_constraint->set_world(vec3f((float) mtranslation[0], (float) mtranslation[1], (float) mtranslation[2])); m_constraint->set_world(vec3f((float) mtranslation[0], (float) mtranslation[1], (float) mtranslation[2]));
} }
} }
}
data.setClean(plug); data.setClean(plug);
} }

7
Extras/MayaPlugin/constraint/nailConstraintNode.h
View File

@@ -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. 3. This notice may not be removed or altered from any source distribution.
Written by: Nicola Candussi <nicola@fluidinteractive.com> Written by: Nicola Candussi <nicola@fluidinteractive.com>
Modified by Roman Ponomarev <rponom@gmail.com>
12/24/2009 : Nail constraint improvements
*/ */
//nailConstraintNode.h //nailConstraintNode.h
@@ -66,7 +70,8 @@ public:
public: public:
//Attributes //Attributes
static MObject ia_rigidBody; static MObject ia_rigidBodyA;
static MObject ia_rigidBodyB;
static MObject ia_damping; static MObject ia_damping;
static MObject ca_constraint; static MObject ca_constraint;

22
Extras/MayaPlugin/constraint/nail_constraint.h
View File

@@ -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. 3. This notice may not be removed or altered from any source distribution.
Written by: Nicola Candussi <nicola@fluidinteractive.com> Written by: Nicola Candussi <nicola@fluidinteractive.com>
Modified by Roman Ponomarev <rponom@gmail.com>
12/24/2009 : Nail constraint improvements
*/ */
//nail_constraint.h //nail_constraint.h
@@ -39,7 +43,8 @@ public:
typedef shared_ptr<nail_constraint_t> pointer; typedef shared_ptr<nail_constraint_t> pointer;
// //
rigid_body_t::pointer rigid_body() { return m_rigid_body; } rigid_body_t::pointer rigid_bodyA() { return m_rigid_bodyA; }
rigid_body_t::pointer rigid_bodyB() { return m_rigid_bodyB; }
// //
void set_pivotA(vec3f const& p) { void set_pivotA(vec3f const& p) {
@@ -81,14 +86,23 @@ public:
protected: protected:
friend class solver_t; friend class solver_t;
nail_constraint_t(nail_constraint_impl_t* impl, rigid_body_t::pointer& rigid_body): nail_constraint_t(nail_constraint_impl_t* impl, rigid_body_t::pointer& rigid_bodyA):
constraint_t(impl), constraint_t(impl),
m_rigid_body(rigid_body) m_rigid_bodyA(rigid_bodyA),
m_rigid_bodyB(NULL)
{
}
nail_constraint_t(nail_constraint_impl_t* impl, rigid_body_t::pointer& rigid_bodyA, rigid_body_t::pointer& rigid_bodyB):
constraint_t(impl),
m_rigid_bodyA(rigid_bodyA),
m_rigid_bodyB(rigid_bodyB)
{ {
} }
private: private:
rigid_body_t::pointer m_rigid_body; rigid_body_t::pointer m_rigid_bodyA;
rigid_body_t::pointer m_rigid_bodyB;
}; };

35
Extras/MayaPlugin/dSolverNode.cpp
View File

@@ -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. 3. This notice may not be removed or altered from any source distribution.
Written by: Nicola Candussi <nicola@fluidinteractive.com> Written by: Nicola Candussi <nicola@fluidinteractive.com>
Modified by Roman Ponomarev <rponom@gmail.com>
12/24/2009 : Nail constraint improvements
*/ */
//dSolverNode.cpp //dSolverNode.cpp
@@ -49,6 +53,7 @@ Written by: Nicola Candussi <nicola@fluidinteractive.com>
#include "solver.h" #include "solver.h"
#include "rigidBodyNode.h" #include "rigidBodyNode.h"
#include "rigidBodyArrayNode.h" #include "rigidBodyArrayNode.h"
#include "constraint/nailConstraintNode.h"
#include "pdbIO.h" #include "pdbIO.h"
MTypeId dSolverNode::typeId(0x100331); MTypeId dSolverNode::typeId(0x100331);
@@ -357,6 +362,7 @@ void dSolverNode::initRigidBodies(MPlugArray &rbConnections)
if(fnNode.typeId() == rigidBodyNode::typeId) { if(fnNode.typeId() == rigidBodyNode::typeId) {
initRigidBody(node); initRigidBody(node);
updateConstraint(node);
} else if(fnNode.typeId() == rigidBodyArrayNode::typeId) { } else if(fnNode.typeId() == rigidBodyArrayNode::typeId) {
initRigidBodyArray(node); 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 //update the scene after a simulation step
void dSolverNode::updateActiveRigidBodies(MPlugArray &rbConnections) 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.setRotation(MQuaternion(rot[1], rot[2], rot[3], rot[0]));
fnTransform.setTranslation(MVector(pos[0], pos[1], pos[2]), MSpace::kTransform); fnTransform.setTranslation(MVector(pos[0], pos[1], pos[2]), MSpace::kTransform);
} }
updateConstraint(node);
} else if(fnDagNode.typeId() == rigidBodyArrayNode::typeId) { } else if(fnDagNode.typeId() == rigidBodyArrayNode::typeId) {
rigidBodyArrayNode *rbNode = static_cast<rigidBodyArrayNode*>(fnDagNode.userNode()); rigidBodyArrayNode *rbNode = static_cast<rigidBodyArrayNode*>(fnDagNode.userNode());
std::vector<rigid_body_t::pointer>& rbs = rbNode->rigid_bodies(); std::vector<rigid_body_t::pointer>& rbs = rbNode->rigid_bodies();

5
Extras/MayaPlugin/dSolverNode.h
View File

@@ -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. 3. This notice may not be removed or altered from any source distribution.
Written by: Nicola Candussi <nicola@fluidinteractive.com> Written by: Nicola Candussi <nicola@fluidinteractive.com>
Modified by Roman Ponomarev <rponom@gmail.com>
12/24/2009 : Nail constraint improvements
*/ */
//dSolverNode.h //dSolverNode.h
@@ -83,6 +87,7 @@ protected:
void updatePassiveRigidBodies(MPlugArray &rbConnections, std::vector<xforms_t> &xforms, float t); void updatePassiveRigidBodies(MPlugArray &rbConnections, std::vector<xforms_t> &xforms, float t);
void updateActiveRigidBodies(MPlugArray &rbConnections); void updateActiveRigidBodies(MPlugArray &rbConnections);
void applyFields(MPlugArray &rbConnections, float dt); void applyFields(MPlugArray &rbConnections, float dt);
void updateConstraint(MObject& bodyNode);
protected: protected:
MTime m_prevTime; MTime m_prevTime;

6
Extras/MayaPlugin/install.bat
View File

@@ -1,3 +1,3 @@
xcopy /S /Y /C /I /h icons\*.xpm "C:\Program Files\Autodesk\Maya2008\icons" xcopy /S /Y /C /I /h icons\*.xpm "C:\Program Files\Autodesk\Maya8.5\icons"
xcopy /S /Y /C /I /h scripts\*.mel "C:\Program Files\Autodesk\Maya2008\scripts" xcopy /S /Y /C /I /h scripts\*.mel "C:\Program Files\Autodesk\Maya8.5\scripts"
xcopy /S /Y /C /I /h BulletMayaPluginDebug.mll "C:\Program Files\Autodesk\Maya2008\bin\plug-ins" xcopy /S /Y /C /I /h BulletMayaPluginDebug.mll "C:\Program Files\Autodesk\Maya8.5\bin\plug-ins"

4
Extras/MayaPlugin/mesh_shape.h
View File

@@ -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. 3. This notice may not be removed or altered from any source distribution.
Written by: Nicola Candussi <nicola@fluidinteractive.com> Written by: Nicola Candussi <nicola@fluidinteractive.com>
Modified by Roman Ponomarev <rponom@gmail.com>
12/24/2009 : Nail constraint improvements
*/ */
//mesh_shape.h //mesh_shape.h

7
Extras/MayaPlugin/scripts/AEdNailConstraintTemplate.mel
View File

@@ -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. 3. This notice may not be removed or altered from any source distribution.
Written by: Nicola Candussi <nicola@fluidinteractive.com> Written by: Nicola Candussi <nicola@fluidinteractive.com>
Modified by Roman Ponomarev <rponom@gmail.com>
12/24/2009 : Nail constraint improvements
*/ */
//AEdNailConstraintTemplate.mel //AEdNailConstraintTemplate.mel
@@ -28,7 +32,8 @@ global proc AEdNailConstraintTemplate( string $nodeName )
editorTemplate -beginScrollLayout; editorTemplate -beginScrollLayout;
editorTemplate -addControl damping; editorTemplate -addControl damping;
editorTemplate -addControl inRigidBody; editorTemplate -addControl inRigidBodyA;
editorTemplate -addControl inRigidBodyB;
AEdependNodeTemplate $nodeName; AEdependNodeTemplate $nodeName;

43
Extras/MayaPlugin/scripts/dynamicaUI.mel
View File

@@ -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. 3. This notice may not be removed or altered from any source distribution.
Written by: Nicola Candussi <nicola@fluidinteractive.com> Written by: Nicola Candussi <nicola@fluidinteractive.com>
Modified by Roman Ponomarev <rponom@gmail.com>
12/24/2009 : Nail constraint improvements
*/ */
//dynamicaUI.mel //dynamicaUI.mel
@@ -688,21 +692,40 @@ global proc dynamicaUI_createPassiveMeshRBArray()
global proc dynamicaUI_createNailConstraint() global proc dynamicaUI_createNailConstraint()
{ {
string $selection[] = `ls -selection -dag -leaf -showType -type "geometry"`; string $selection[] = `ls -selection -dag -leaf -showType -type "geometry"`;
//create dSolver node if necessary //create dSolver node if necessary
dSolver; dSolver;
// check selection in scene : one or two rigidBodies should be selected
string $newConstraints[]; int $selSize = size($selection);
for($i = 0; $i < size($selection) / 2; $i++) { int $selOK = (($selSize == 2) || ($selSize == 4));
if($selection[$i * 2 + 1] == "dRigidBody") { for($i = 0; $i < $selSize/2; $i++)
{
if($selection[$i * 2 + 1] != "dRigidBody")
{
$selOK = 0;
}
}
if(!$selOK)
{
error("Select one or two bodies to create a nail constraint");
return;
}
// create nail constraint node
string $constraintNode = `dNailConstraint`; string $constraintNode = `dNailConstraint`;
connectAttr ($selection[$i * 2] + ".message") ($constraintNode + ".inRigidBody"); // connect to bodies
if($selSize == 2)
{
connectAttr ($selection[0] + ".message") ($constraintNode + ".inRigidBodyA");
}
else
{
connectAttr ($selection[0] + ".message") ($constraintNode + ".inRigidBodyA");
connectAttr ($selection[2] + ".message") ($constraintNode + ".inRigidBodyB");
}
string $constraintTransforms[] = `listRelatives -parent $constraintNode`; string $constraintTransforms[] = `listRelatives -parent $constraintNode`;
$newConstraints[$i] = $constraintTransforms[0]; string $newConstraint = $constraintTransforms[0];
} select -r $newConstraint;
}
select -r $newConstraints;
} }
global proc dynamicaUI_createHingeConstraint() global proc dynamicaUI_createHingeConstraint()
{ {
string $selection[] = `ls -selection -dag -leaf -showType -type "geometry"`; string $selection[] = `ls -selection -dag -leaf -showType -type "geometry"`;

8
Extras/MayaPlugin/solver.cpp
View File

@@ -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. 3. This notice may not be removed or altered from any source distribution.
Written by: Nicola Candussi <nicola@fluidinteractive.com> Written by: Nicola Candussi <nicola@fluidinteractive.com>
Modified by Roman Ponomarev <rponom@gmail.com>
12/24/2009 : Nail constraint improvements
*/ */
//solver.cpp //solver.cpp
@@ -89,6 +93,10 @@ nail_constraint_t::pointer solver_t::create_nail_constraint(rigid_body_t::point
{ {
return nail_constraint_t::pointer(new nail_constraint_t(m_impl->create_nail_constraint(rb->impl(), pivot), rb)); return nail_constraint_t::pointer(new nail_constraint_t(m_impl->create_nail_constraint(rb->impl(), pivot), rb));
} }
nail_constraint_t::pointer solver_t::create_nail_constraint(rigid_body_t::pointer& rbA, rigid_body_t::pointer& rbB, vec3f const& pivot)
{
return nail_constraint_t::pointer(new nail_constraint_t(m_impl->create_nail_constraint(rbA->impl(), rbB->impl(), pivot), rbA, rbB));
}
hinge_constraint_t::pointer solver_t::create_hinge_constraint(rigid_body_t::pointer& rb, vec3f const& pivot) hinge_constraint_t::pointer solver_t::create_hinge_constraint(rigid_body_t::pointer& rb, vec3f const& pivot)
{ {
return hinge_constraint_t::pointer(new hinge_constraint_t(m_impl->create_hinge_constraint(rb->impl(), pivot), rb)); return hinge_constraint_t::pointer(new hinge_constraint_t(m_impl->create_hinge_constraint(rb->impl(), pivot), rb));

5
Extras/MayaPlugin/solver.h
View File

@@ -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. 3. This notice may not be removed or altered from any source distribution.
Written by: Nicola Candussi <nicola@fluidinteractive.com> Written by: Nicola Candussi <nicola@fluidinteractive.com>
Modified by Roman Ponomarev <rponom@gmail.com>
12/24/2009 : Nail constraint improvements
*/ */
//solver.h //solver.h
@@ -69,6 +73,7 @@ public:
static rigid_body_t::pointer create_rigid_body(collision_shape_t::pointer& cs); static rigid_body_t::pointer create_rigid_body(collision_shape_t::pointer& cs);
static nail_constraint_t::pointer create_nail_constraint(rigid_body_t::pointer& rb, vec3f const& pivot = vec3f(0, 0, 0)); static nail_constraint_t::pointer create_nail_constraint(rigid_body_t::pointer& rb, vec3f const& pivot = vec3f(0, 0, 0));
static nail_constraint_t::pointer create_nail_constraint(rigid_body_t::pointer& rbA, rigid_body_t::pointer& rbB, vec3f const& pivot = vec3f(0, 0, 0));
static hinge_constraint_t::pointer create_hinge_constraint(rigid_body_t::pointer& rb, vec3f const& pivot = vec3f(0, 0, 0)); static hinge_constraint_t::pointer create_hinge_constraint(rigid_body_t::pointer& rb, vec3f const& pivot = vec3f(0, 0, 0));
static slider_constraint_t::pointer create_slider_constraint(rigid_body_t::pointer& rbA, vec3f const& pivotA, rigid_body_t::pointer& rbB, vec3f const& pivotB = vec3f(0, 0, 0)); static slider_constraint_t::pointer create_slider_constraint(rigid_body_t::pointer& rbA, vec3f const& pivotA, rigid_body_t::pointer& rbB, vec3f const& pivotB = vec3f(0, 0, 0));
static sixdof_constraint_t::pointer create_sixdof_constraint(rigid_body_t::pointer& rbA, vec3f const& pivotA, rigid_body_t::pointer& rbB, vec3f const& pivotB = vec3f(0, 0, 0)); static sixdof_constraint_t::pointer create_sixdof_constraint(rigid_body_t::pointer& rbA, vec3f const& pivotA, rigid_body_t::pointer& rbB, vec3f const& pivotB = vec3f(0, 0, 0));

5
Extras/MayaPlugin/solver_impl.h
View File

@@ -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. 3. This notice may not be removed or altered from any source distribution.
Written by: Nicola Candussi <nicola@fluidinteractive.com> Written by: Nicola Candussi <nicola@fluidinteractive.com>
Modified by Roman Ponomarev <rponom@gmail.com>
12/24/2009 : Nail constraint improvements
*/ */
//solver_impl.h //solver_impl.h
@@ -53,6 +57,7 @@ public:
virtual rigid_body_impl_t* create_rigid_body(collision_shape_impl_t* cs) = 0; virtual rigid_body_impl_t* create_rigid_body(collision_shape_impl_t* cs) = 0;
virtual nail_constraint_impl_t* create_nail_constraint(rigid_body_impl_t* rb, vec3f const& pivot) = 0; virtual nail_constraint_impl_t* create_nail_constraint(rigid_body_impl_t* rb, vec3f const& pivot) = 0;
virtual nail_constraint_impl_t* create_nail_constraint(rigid_body_impl_t* rbA, rigid_body_impl_t* rbB, vec3f const& pivot) = 0;
virtual hinge_constraint_impl_t* create_hinge_constraint(rigid_body_impl_t* rb, vec3f const& pivot) = 0; virtual hinge_constraint_impl_t* create_hinge_constraint(rigid_body_impl_t* rb, vec3f const& pivot) = 0;
virtual slider_constraint_impl_t* create_slider_constraint(rigid_body_impl_t* rbA, vec3f const& pivotA, rigid_body_impl_t* rbB, vec3f const& pivotB) = 0; virtual slider_constraint_impl_t* create_slider_constraint(rigid_body_impl_t* rbA, vec3f const& pivotA, rigid_body_impl_t* rbB, vec3f const& pivotB) = 0;
virtual sixdof_constraint_impl_t* create_sixdof_constraint(rigid_body_impl_t* rbA, vec3f const& pivotA, rigid_body_impl_t* rbB, vec3f const& pivotB) = 0; virtual sixdof_constraint_impl_t* create_sixdof_constraint(rigid_body_impl_t* rbA, vec3f const& pivotA, rigid_body_impl_t* rbB, vec3f const& pivotB) = 0;