Differential D658 Diff 3746 source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp

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source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp

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	}	}
	#endif	#endif
	}	}


		void CcdPhysicsEnvironment::SetupObjectConstraints(KX_GameObject obj_src, KX_GameObject obj_dest,
		bRigidBodyJointConstraint *dat)
		{
		PHY_IPhysicsController *phy_src = obj_src->GetPhysicsController();
		PHY_IPhysicsController *phy_dest = obj_dest->GetPhysicsController();
		sybrenUnsubmitted Not Done Inline Actions `if(!constraintId) return;` would also work here, and unindent a big chunk of code. It also fits the semantics of the method; when there is no constraint, the process of setting it up is done. sybren: `if(!constraintId) return;` would also work here, and unindent a big chunk of code. It also…
		PHY_IPhysicsEnvironment *phys_env = obj_src->GetScene()->GetPhysicsEnvironment();

		sybrenUnsubmitted Not Done Inline Actions There is a lot of code duplication in these `if`-bodies. Possibly by re-ordering some code and pushing the `if`s down, this can be avoided. sybren: There is a lot of code duplication in these `if`-bodies. Possibly by re-ordering some code and…
		/* we need to pass a full constraint frame, not just axis */
		MT_Matrix3x3 localCFrame(MT_Vector3(dat->axX,dat->axY,dat->axZ));
		MT_Vector3 axis0 = localCFrame.getColumn(0);
		MT_Vector3 axis1 = localCFrame.getColumn(1);
		MT_Vector3 axis2 = localCFrame.getColumn(2);
		MT_Vector3 scale = obj_src->NodeGetWorldScaling();

		/* apply not only the pivot and axis values, but also take scale into count
		sybrenUnsubmitted Not Done Inline Actions "disabled limit" seems a strange concept to me, as in this case there is no limit to disable in the first place. "no limit" makes more sense to me. The same condition is also described differently in different comments. Also see my note about code de-duplication. sybren: "disabled limit" seems a strange concept to me, as in this case there is no limit to disable in…
		* this is not working well, if only one or two axis are scaled, but works ok on
		* homogeneous scaling */
		int constraintId = phys_env->CreateConstraint(
		phy_src, phy_dest, (PHY_ConstraintType)dat->type,
		(float)(dat->pivX * scale.x()), (float)(dat->pivY * scale.y()), (float)(dat->pivZ * scale.z()),
		(float)(axis0.x() * scale.x()), (float)(axis0.y() * scale.y()), (float)(axis0.z() * scale.z()),
		(float)(axis1.x() * scale.x()), (float)(axis1.y() * scale.y()), (float)(axis1.z() * scale.z()),
		(float)(axis2.x() * scale.x()), (float)(axis2.y() * scale.y()), (float)(axis2.z() * scale.z()),
		dat->flag);

		/* PHY_POINT2POINT_CONSTRAINT=1,
		* PHY_LINEHINGE_CONSTRAINT=2,
		* PHY_ANGULAR_CONSTRAINT = 3,
		* PHY_CONE_TWIST_CONSTRAINT = 4,
		* PHY_VEHICLE_CONSTRAINT=11,
		* PHY_GENERIC_6DOF_CONSTRAINT=12 */

		if (!constraintId)
		return;

		int dof = 0;
		int dof_max = 0;

		/* Set all the limits generic 6DOF constraint accordingly */
		if (dat->type == PHY_GENERIC_6DOF_CONSTRAINT) {
		sybrenUnsubmitted Not Done Inline Actions Wouldn't a `switch` statement be better here? sybren: Wouldn't a `switch` statement be better here?
		dof_max = 6;
		}
		/* Set XYZ angular limits for cone twist constraint */
		else if (dat->type == PHY_CONE_TWIST_CONSTRAINT) {
		dof = 3;
		dof_max = 6;
		}
		/* Set only X angular limits for line hinge and angular constraint */
		else if ((dat->type == PHY_LINEHINGE_CONSTRAINT) \|\| (dat->type == PHY_ANGULAR_CONSTRAINT)) {
		dof = 3;
		dof_max = 4;
		}

		for (dof; dof < dof_max; dof++) {
		if (dat->flag) {
		phys_env->SetConstraintParam(constraintId, dof, dat->minLimit[dof], dat->maxLimit[dof]);
		}
		else {
		/* minLimit > maxLimit means free (no limit) for this degree of freedom */
		phys_env->SetConstraintParam(constraintId, dof, 1, -1);
		}
		}

		}
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