426 lines
14 KiB
C++
426 lines
14 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library Maya Plugin
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Copyright (c) 2008 Walt Disney Studios
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising
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from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must
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not claim that you wrote the original software. If you use this
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software in a product, an acknowledgment in the product documentation
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would be appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must
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not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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Written by: Nicola Candussi <nicola@fluidinteractive.com>
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Modified by Roman Ponomarev <rponom@gmail.com>
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12/24/2009 : Nail constraint improvements
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*/
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//nailConstraintNode.cpp
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#include <maya/MFnDependencyNode.h>
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#include <maya/MPlugArray.h>
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#include <maya/MFnMessageAttribute.h>
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#include <maya/MFnNumericAttribute.h>
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#include <maya/MFnMatrixAttribute.h>
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#include <maya/MMatrix.h>
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#include <maya/MFnMatrixData.h>
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#include <maya/MFnTransform.h>
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#include <maya/MQuaternion.h>
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#include <maya/MEulerRotation.h>
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#include <maya/MVector.h>
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#include "rigidBodyNode.h"
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#include "nailConstraintNode.h"
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#include "mayaUtils.h"
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#include "solver.h"
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MTypeId nailConstraintNode::typeId(0x10033A);
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MString nailConstraintNode::typeName("dNailConstraint");
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MObject nailConstraintNode::ia_rigidBodyA;
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MObject nailConstraintNode::ia_rigidBodyB;
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MObject nailConstraintNode::ia_damping;
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MObject nailConstraintNode::ca_constraint;
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MObject nailConstraintNode::ca_constraintParam;
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MStatus nailConstraintNode::initialize()
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{
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MStatus status;
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MFnMessageAttribute fnMsgAttr;
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MFnNumericAttribute fnNumericAttr;
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MFnMatrixAttribute fnMatrixAttr;
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ia_rigidBodyA = fnMsgAttr.create("inRigidBodyA", "inrbA", &status);
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MCHECKSTATUS(status, "creating inRigidBodyA attribute")
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status = addAttribute(ia_rigidBodyA);
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MCHECKSTATUS(status, "adding inRigidBodyA attribute")
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ia_rigidBodyB = fnMsgAttr.create("inRigidBodyB", "inrbB", &status);
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MCHECKSTATUS(status, "creating inRigidBodyB attribute")
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status = addAttribute(ia_rigidBodyB);
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MCHECKSTATUS(status, "adding inRigidBodyB attribute")
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ia_damping = fnNumericAttr.create("damping", "dmp", MFnNumericData::kDouble, 1.0, &status);
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MCHECKSTATUS(status, "creating damping attribute")
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fnNumericAttr.setKeyable(true);
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status = addAttribute(ia_damping);
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MCHECKSTATUS(status, "adding damping attribute")
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ca_constraint = fnNumericAttr.create("ca_constraint", "caco", MFnNumericData::kBoolean, 0, &status);
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MCHECKSTATUS(status, "creating ca_constraint attribute")
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fnNumericAttr.setConnectable(false);
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fnNumericAttr.setHidden(true);
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fnNumericAttr.setStorable(false);
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fnNumericAttr.setKeyable(false);
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status = addAttribute(ca_constraint);
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MCHECKSTATUS(status, "adding ca_constraint attribute")
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ca_constraintParam = fnNumericAttr.create("ca_constraintParam", "cacop", MFnNumericData::kBoolean, 0, &status);
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MCHECKSTATUS(status, "creating ca_constraintParam attribute")
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fnNumericAttr.setConnectable(false);
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fnNumericAttr.setHidden(true);
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fnNumericAttr.setStorable(false);
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fnNumericAttr.setKeyable(false);
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status = addAttribute(ca_constraintParam);
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MCHECKSTATUS(status, "adding ca_constraintParam attribute")
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status = attributeAffects(ia_rigidBodyA, ca_constraint);
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MCHECKSTATUS(status, "adding attributeAffects(ia_rigidBodyA, ca_constraint)")
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status = attributeAffects(ia_rigidBodyA, ca_constraintParam);
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MCHECKSTATUS(status, "adding attributeAffects(ia_rigidBodyA, ca_constraintParam)")
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status = attributeAffects(ia_rigidBodyB, ca_constraint);
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MCHECKSTATUS(status, "adding attributeAffects(ia_rigidBodyB, ca_constraint)")
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status = attributeAffects(ia_rigidBodyB, ca_constraintParam);
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MCHECKSTATUS(status, "adding attributeAffects(ia_rigidBodyB, ca_constraintParam)")
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status = attributeAffects(ia_damping, ca_constraintParam);
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MCHECKSTATUS(status, "adding attributeAffects(ia_damping, ca_constraintParam)")
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return MS::kSuccess;
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}
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nailConstraintNode::nailConstraintNode()
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{
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// std::cout << "nailConstraintNode::nailConstraintNode" << std::endl;
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}
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nailConstraintNode::~nailConstraintNode()
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{
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// std::cout << "nailConstraintNode::~nailConstraintNode" << std::endl;
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}
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void nailConstraintNode::nodeRemoved(MObject& node, void *clientData)
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{
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// std::cout << "nailConstraintNode::nodeRemoved" << std::endl;
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MFnDependencyNode fnNode(node);
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nailConstraintNode *pNode = static_cast<nailConstraintNode*>(fnNode.userNode());
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constraint_t::pointer constraint = static_cast<constraint_t::pointer>(pNode->m_constraint);
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solver_t::remove_constraint(constraint);
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}
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void* nailConstraintNode::creator()
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{
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return new nailConstraintNode();
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}
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bool nailConstraintNode::setInternalValueInContext ( const MPlug & plug,
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const MDataHandle & dataHandle,
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MDGContext & ctx)
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{
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/* if ((plug == pdbFiles) || (plug == ia_scale) || (plug == ia_percent)) {
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m_framesDirty = true;
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} else if(plug == textureFiles) {
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gpufx::m_renderer.setColorTextureDirty();
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}*/
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return false; //setInternalValueInContext(plug,dataHandle,ctx);
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}
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MStatus nailConstraintNode::compute(const MPlug& plug, MDataBlock& data)
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{
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//std::cout << "nailConstraintNode::compute: " << plug.name() << std::endl;
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//MTime time = data.inputValue( nailConstraintNode::inTime ).asTime();
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if(plug == ca_constraint) {
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computeConstraint(plug, data);
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} else if(plug == ca_constraintParam) {
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computeConstraintParam(plug, data);
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} else if(plug.isElement()) {
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if(plug.array() == worldMatrix && plug.logicalIndex() == 0) {
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computeWorldMatrix(plug, data);
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} else {
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return MStatus::kUnknownParameter;
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}
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} else {
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return MStatus::kUnknownParameter;
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}
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return MStatus::kSuccess;
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}
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void nailConstraintNode::draw( M3dView & view, const MDagPath &path,
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M3dView::DisplayStyle style,
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M3dView::DisplayStatus status )
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{
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// std::cout << "nailConstraintNode::draw" << std::endl;
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update();
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view.beginGL();
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glPushAttrib( GL_ALL_ATTRIB_BITS );
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glDisable(GL_LIGHTING);
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if( !(status == M3dView::kActive ||
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status == M3dView::kLead ||
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status == M3dView::kHilite ||
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( style != M3dView::kGouraudShaded && style != M3dView::kFlatShaded )) ) {
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glColor3f(1.0, 1.0, 0.0);
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}
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vec3f posA, posB;
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rigid_body_t::pointer rigid_bodyB = NULL;
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if (m_constraint) {
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vec3f world;
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m_constraint->get_world(world);
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vec3f posT;
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quatf rotT;
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m_constraint->rigid_bodyA()->get_transform(posT, rotT);
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posA = posT - world;
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rigid_bodyB = m_constraint->rigid_bodyB();
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if(rigid_bodyB)
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{
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rigid_bodyB->get_transform(posT, rotT);
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posB = posT - world;
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}
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}
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glBegin(GL_LINES);
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glVertex3f(0.0, 0.0, 0.0);
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glVertex3f(posA[0], posA[1], posA[2]);
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if(rigid_bodyB)
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{
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glVertex3f(0.0, 0.0, 0.0);
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glVertex3f(posB[0], posB[1], posB[2]);
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}
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glVertex3f(-1.0, 0.0, 0.0);
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glVertex3f(1.0, 0.0, 0.0);
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glVertex3f(0.0, -1.0, 0.0);
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glVertex3f(0.0, 1.0, 0.0);
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glVertex3f(0.0, 0.0, -1.0);
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glVertex3f(0.0, 0.0, 1.0);
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glEnd();
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glPopAttrib();
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view.endGL();
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}
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bool nailConstraintNode::isBounded() const
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{
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//return true;
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return false;
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}
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MBoundingBox nailConstraintNode::boundingBox() const
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{
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// std::cout << "nailConstraintNode::boundingBox()" << std::endl;
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//load the pdbs
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MObject node = thisMObject();
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MPoint corner1(-1, -1, -1);
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MPoint corner2(1, 1, 1);
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return MBoundingBox(corner1, corner2);
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}
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//standard attributes
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void nailConstraintNode::computeConstraint(const MPlug& plug, MDataBlock& data)
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{
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// std::cout << "nailConstraintNode::computeConstraint" << std::endl;
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MObject thisObject(thisMObject());
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MPlug plgRigidBodyA(thisObject, ia_rigidBodyA);
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MPlug plgRigidBodyB(thisObject, ia_rigidBodyB);
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MObject update;
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//force evaluation of the rigidBody
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plgRigidBodyA.getValue(update);
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plgRigidBodyB.getValue(update);
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rigid_body_t::pointer rigid_bodyA;
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if(plgRigidBodyA.isConnected()) {
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MPlugArray connections;
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plgRigidBodyA.connectedTo(connections, true, true);
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if(connections.length() != 0) {
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MFnDependencyNode fnNode(connections[0].node());
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if(fnNode.typeId() == rigidBodyNode::typeId) {
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rigidBodyNode *pRigidBodyNodeA = static_cast<rigidBodyNode*>(fnNode.userNode());
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rigid_bodyA = pRigidBodyNodeA->rigid_body();
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} else {
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std::cout << "nailConstraintNode connected to a non-rigidbody node A!" << std::endl;
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}
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}
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}
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rigid_body_t::pointer rigid_bodyB;
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if(plgRigidBodyB.isConnected()) {
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MPlugArray connections;
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plgRigidBodyB.connectedTo(connections, true, true);
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if(connections.length() != 0) {
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MFnDependencyNode fnNode(connections[0].node());
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if(fnNode.typeId() == rigidBodyNode::typeId) {
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rigidBodyNode *pRigidBodyNodeB = static_cast<rigidBodyNode*>(fnNode.userNode());
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rigid_bodyB = pRigidBodyNodeB->rigid_body();
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} else {
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std::cout << "nailConstraintNode connected to a non-rigidbody node B!" << std::endl;
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}
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}
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}
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if((rigid_bodyA != NULL) && (rigid_bodyB != NULL))
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{
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constraint_t::pointer constraint = static_cast<constraint_t::pointer>(m_constraint);
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solver_t::remove_constraint(constraint);
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vec3f posA, posB, posP;
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quatf rotA, rotB;
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rigid_bodyA->get_transform(posA, rotA);
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rigid_bodyB->get_transform(posB, rotB);
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posP = posA;
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m_constraint = solver_t::create_nail_constraint(rigid_bodyA, rigid_bodyB, posP);
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constraint = static_cast<constraint_t::pointer>(m_constraint);
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solver_t::add_constraint(constraint);
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}
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else if(rigid_bodyA)
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{
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//not connected to a rigid body, put a default one
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constraint_t::pointer constraint = static_cast<constraint_t::pointer>(m_constraint);
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solver_t::remove_constraint(constraint);
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vec3f posA, posP;
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quatf rotA;
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rigid_bodyA->get_transform(posA, rotA);
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posP = posA;
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m_constraint = solver_t::create_nail_constraint(rigid_bodyA, posP);
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constraint = static_cast<constraint_t::pointer>(m_constraint);
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solver_t::add_constraint(constraint);
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}
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MFnDagNode mDagNode(thisObject);
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if(mDagNode.parentCount() == 0)
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{
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std::cout << "No transform for nail constraint found!" << std::endl;
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}
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else
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{
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MFnTransform mTransform(mDagNode.parent(0));
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vec3f constrPos;
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m_constraint->get_world(constrPos);
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mTransform.setTranslation(MVector(constrPos[0], constrPos[1], constrPos[2]), MSpace::kTransform);
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}
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data.outputValue(ca_constraint).set(true);
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data.setClean(plug);
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}
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void nailConstraintNode::computeWorldMatrix(const MPlug& plug, MDataBlock& data)
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{
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// std::cout << "nailConstraintNode::computeWorldMatrix" << std::endl;
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MObject thisObject(thisMObject());
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MFnDagNode fnDagNode(thisObject);
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MObject update;
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MPlug(thisObject, ca_constraint).getValue(update);
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MPlug(thisObject, ca_constraintParam).getValue(update);
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MStatus status;
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MFnTransform fnParentTransform(fnDagNode.parent(0, &status));
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MVector mtranslation = fnParentTransform.getTranslation(MSpace::kTransform, &status);
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// MQuaternion mrotation;
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// fnParentTransform.getRotation(mrotation, MSpace::kTransform);
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if(m_constraint) {
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vec3f world;
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m_constraint->get_world(world);
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if(world[0] != float(mtranslation.x) ||
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world[1] != float(mtranslation.y) ||
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world[2] != float(mtranslation.z)) {
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/* mat4x4f xform;
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m_constraint->rigid_body()->get_transform(xform);
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vec4f pivot = prod(trans(xform), vec4f(mtranslation.x, mtranslation.y, mtranslation.z, 1.0));
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std::cout << "pivot (" << pivot[0] << "," << pivot[0] << "," << pivot[0] << ")" << std::endl;
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*/
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// std::cout << "mtranslation (" << mtranslation[0] << "," << mtranslation[0] << "," << mtranslation[0] << ")" << std::endl;
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float deltaX = world[0] - float(mtranslation.x);
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float deltaY = world[1] - float(mtranslation.y);
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float deltaZ = world[2] - float(mtranslation.z);
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float deltaSq = deltaX * deltaX + deltaY * deltaY + deltaZ * deltaZ;
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if(deltaSq > 0.000001f)
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{
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m_constraint->set_world(vec3f((float) mtranslation[0], (float) mtranslation[1], (float) mtranslation[2]));
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}
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}
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}
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data.setClean(plug);
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}
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void nailConstraintNode::computeConstraintParam(const MPlug& plug, MDataBlock& data)
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{
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// std::cout << "nailConstraintNode::computeRigidBodyParam" << std::endl;
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MObject thisObject(thisMObject());
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MObject update;
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MPlug(thisObject, ca_constraint).getValue(update);
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if(m_constraint) {
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m_constraint->set_damping((float) data.inputValue(ia_damping).asDouble());
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}
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data.outputValue(ca_constraintParam).set(true);
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data.setClean(plug);
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}
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nail_constraint_t::pointer nailConstraintNode::constraint()
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{
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// std::cout << "nailConstraintNode::rigid_body" << std::endl;
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MObject thisObject(thisMObject());
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MObject update;
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MPlug(thisObject, ca_constraint).getValue(update);
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MPlug(thisObject, ca_constraintParam).getValue(update);
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return m_constraint;
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}
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void nailConstraintNode::update()
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{
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MObject thisObject(thisMObject());
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MObject update;
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MPlug(thisObject, ca_constraint).getValue(update);
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MPlug(thisObject, ca_constraintParam).getValue(update);
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MPlug(thisObject, worldMatrix).elementByLogicalIndex(0).getValue(update);
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}
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