d9c4529a26
Thanks Benoit for pointing this out, and bugfix: http://code.google.com/p/bullet/issues/detail?id=218 + Added point to point, hinge, slider and generic 6dof constraints to Maya Dynamica plugin Thanks to Herbert Law for the constribution: http://code.google.com/p/bullet/issues/detail?id=221
420 lines
15 KiB
C++
420 lines
15 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library Maya Plugin
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Copyright (c) 2008 Herbert Law
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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: Herbert Law <Herbert.Law@gmail.com>
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*/
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//sixdofConstraintNode.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 "sixdofConstraintNode.h"
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#include "mayaUtils.h"
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#include "solver.h"
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MTypeId sixdofConstraintNode::typeId(0x10033D);
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MString sixdofConstraintNode::typeName("dSixdofConstraint");
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MObject sixdofConstraintNode::ia_rigidBodyA;
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MObject sixdofConstraintNode::ia_rigidBodyB;
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MObject sixdofConstraintNode::ia_damping;
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MObject sixdofConstraintNode::ca_constraint;
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MObject sixdofConstraintNode::ca_constraintParam;
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MObject sixdofConstraintNode::ia_lowerLinLimit;
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MObject sixdofConstraintNode::ia_upperLinLimit;
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MObject sixdofConstraintNode::ia_lowerAngLimit;
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MObject sixdofConstraintNode::ia_upperAngLimit;
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MStatus sixdofConstraintNode::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 inRigidBody 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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ia_lowerLinLimit = fnNumericAttr.create("lowerLinLimit", "lllt", MFnNumericData::kDouble, 1, &status);
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MCHECKSTATUS(status, "creating lower linear limit attribute")
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fnNumericAttr.setKeyable(true);
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status = addAttribute(ia_lowerLinLimit);
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MCHECKSTATUS(status, "adding lower linear limit attribute")
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ia_upperLinLimit = fnNumericAttr.create("upperLinLimit", "ullt", MFnNumericData::kDouble, -1, &status);
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MCHECKSTATUS(status, "creating upper linear limit attribute")
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fnNumericAttr.setKeyable(true);
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status = addAttribute(ia_upperLinLimit);
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MCHECKSTATUS(status, "adding upper linear limit attribute")
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ia_lowerAngLimit = fnNumericAttr.create("lowerAngLimit", "lalt", MFnNumericData::kDouble, 0, &status);
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MCHECKSTATUS(status, "creating lower angular limit attribute")
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fnNumericAttr.setKeyable(true);
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status = addAttribute(ia_lowerAngLimit);
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MCHECKSTATUS(status, "adding lower angular limit attribute")
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ia_upperAngLimit = fnNumericAttr.create("upperAngLimit", "ualt", MFnNumericData::kDouble, 0, &status);
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MCHECKSTATUS(status, "creating upper angular limit attribute")
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fnNumericAttr.setKeyable(true);
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status = addAttribute(ia_upperAngLimit);
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MCHECKSTATUS(status, "adding upper angular limit 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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status = attributeAffects(ia_lowerLinLimit, ca_constraintParam);
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MCHECKSTATUS(status, "adding attributeAffects(ia_lowerLinLimit, ca_constraintParam)")
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status = attributeAffects(ia_upperLinLimit, ca_constraintParam);
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MCHECKSTATUS(status, "adding attributeAffects(ia_upperLinLimit, ca_constraintParam)")
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status = attributeAffects(ia_lowerAngLimit, ca_constraintParam);
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MCHECKSTATUS(status, "adding attributeAffects(ia_lowerAngLimit, ca_constraintParam)")
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status = attributeAffects(ia_upperAngLimit, ca_constraintParam);
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MCHECKSTATUS(status, "adding attributeAffects(ia_upperAngLimit, ca_constraintParam)")
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return MS::kSuccess;
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}
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sixdofConstraintNode::sixdofConstraintNode()
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{
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// std::cout << "sixdofConstraintNode::sixdofConstraintNode" << std::endl;
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}
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sixdofConstraintNode::~sixdofConstraintNode()
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{
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// std::cout << "sixdofConstraintNode::~sixdofConstraintNode" << std::endl;
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}
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void sixdofConstraintNode::nodeRemoved(MObject& node, void *clientData)
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{
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// std::cout << "sixdofConstraintNode::nodeRemoved" << std::endl;
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MFnDependencyNode fnNode(node);
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sixdofConstraintNode *pNode = static_cast<sixdofConstraintNode*>(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* sixdofConstraintNode::creator()
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{
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return new sixdofConstraintNode();
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}
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bool sixdofConstraintNode::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 sixdofConstraintNode::compute(const MPlug& plug, MDataBlock& data)
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{
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//std::cout << "sixdofConstraintNode::compute: " << plug.name() << std::endl;
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//MTime time = data.inputValue( sixdofConstraintNode::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 sixdofConstraintNode::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 << "sixdofConstraintNode::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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// glPushMatrix();
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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;
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vec3f posB;
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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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quatf rotA;
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m_constraint->rigid_bodyA()->get_transform(posA, rotA);
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posA = posA - world;
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quatf rotB;
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m_constraint->rigid_bodyB()->get_transform(posB, rotB);
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posB = posB - world;
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}
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// glLoadIdentity();
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glBegin(GL_LINES);
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glVertex3f(posA[0], posA[1], posA[2]);
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glVertex3f(posB[0], posB[1], posB[2]);
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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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// glPopMatrix();
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glPopAttrib();
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view.endGL();
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}
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bool sixdofConstraintNode::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 sixdofConstraintNode::boundingBox() const
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{
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// std::cout << "sixdofConstraintNode::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 sixdofConstraintNode::computeConstraint(const MPlug& plug, MDataBlock& data)
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{
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// std::cout << "sixdofConstraintNode::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 fnNodeA(connections[0].node());
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if(fnNodeA.typeId() == rigidBodyNode::typeId) {
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rigidBodyNode *pRigidBodyNodeA = static_cast<rigidBodyNode*>(fnNodeA.userNode());
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rigid_bodyA = pRigidBodyNodeA->rigid_body();
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} else {
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std::cout << "sixdofConstraintNode connected to a non-rigidbody node!" << 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 fnNodeB(connections[0].node());
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if(fnNodeB.typeId() == rigidBodyNode::typeId) {
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rigidBodyNode *pRigidBodyNodeB = static_cast<rigidBodyNode*>(fnNodeB.userNode());
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rigid_bodyB = pRigidBodyNodeB->rigid_body();
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} else {
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std::cout << "sixdofConstraintNode connected to a non-rigidbody node!" << std::endl;
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}
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}
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}
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if(rigid_bodyA && rigid_bodyB) {
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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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m_constraint = solver_t::create_sixdof_constraint(rigid_bodyA, vec3f(), rigid_bodyB, vec3f());
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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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data.outputValue(ca_constraint).set(true);
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data.setClean(plug);
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}
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void sixdofConstraintNode::computeWorldMatrix(const MPlug& plug, MDataBlock& data)
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{
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// std::cout << "sixdofConstraintNode::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_pivot;
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m_constraint->get_world(world_pivot);
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if(world_pivot[0] != float(mtranslation.x) ||
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world_pivot[1] != float(mtranslation.y) ||
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world_pivot[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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// m_constraint->set_pivot(vec3f(pivot[0], pivot[1], pivot[2]));
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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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data.setClean(plug);
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}
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void sixdofConstraintNode::computeConstraintParam(const MPlug& plug, MDataBlock& data)
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{
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// std::cout << "sixdofConstraintNode::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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float lin_lower = (float) data.inputValue(ia_lowerLinLimit).asDouble();
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float lin_upper = (float) data.inputValue(ia_upperLinLimit).asDouble();
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m_constraint->set_LinLimit(lin_lower, lin_upper);
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float ang_lower = (float) data.inputValue(ia_lowerAngLimit).asDouble();
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float ang_upper = (float) data.inputValue(ia_upperAngLimit).asDouble();
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m_constraint->set_AngLimit(ang_lower, ang_upper);
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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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sixdof_constraint_t::pointer sixdofConstraintNode::constraint()
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{
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// std::cout << "sixdofConstraintNode::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 sixdofConstraintNode::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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