C++ KX_GameObject::NodeSetLocalOrientation方法代码示例

bool KX_TrackToActuator::Update(double curtime, bool frame)
{
	bool result = false;
	bool bNegativeEvent = IsNegativeEvent();
	RemoveAllEvents();

	if (bNegativeEvent)
	{
		// do nothing on negative events
	}
	else if (m_object)
	{
		KX_GameObject* curobj = (KX_GameObject*) GetParent();
		MT_Vector3 dir = curobj->NodeGetWorldPosition() - ((KX_GameObject*)m_object)->NodeGetWorldPosition();
		MT_Matrix3x3 mat;
		MT_Matrix3x3 oldmat;

		mat = vectomat(dir, m_trackflag, m_upflag, m_allow3D);
		oldmat = curobj->NodeGetWorldOrientation();
		
		/* erwin should rewrite this! */
		mat = matrix3x3_interpol(oldmat, mat, m_time);
		
		/* check if the model is parented and calculate the child transform */
		if (m_parentobj) {
				
			MT_Point3 localpos;
			localpos = curobj->GetSGNode()->GetLocalPosition();
			// Get the inverse of the parent matrix
			MT_Matrix3x3 parentmatinv;
			parentmatinv = m_parentobj->NodeGetWorldOrientation().inverse();
			// transform the local coordinate system into the parents system
			mat = parentmatinv * mat;
			// append the initial parent local rotation matrix
			mat = m_parentlocalmat * mat;

			// set the models tranformation properties
			curobj->NodeSetLocalOrientation(mat);
			curobj->NodeSetLocalPosition(localpos);
			//curobj->UpdateTransform();
		}
		else {
			curobj->NodeSetLocalOrientation(mat);
		}

		result = true;
	}

	return result;
}

void	KX_BlenderSceneConverter::resetNoneDynamicObjectToIpo()
{
	if (addInitFromFrame) {		
		KX_SceneList* scenes = m_ketsjiEngine->CurrentScenes();
		int numScenes = scenes->size();
		if (numScenes>=0) {
			KX_Scene* scene = scenes->at(0);
			CListValue* parentList = scene->GetRootParentList();
			for (int ix=0;ix<parentList->GetCount();ix++) {
				KX_GameObject* gameobj = (KX_GameObject*)parentList->GetValue(ix);
				if (!gameobj->IsDynamic()) {
					Object* blenderobject = gameobj->GetBlenderObject();
					if (!blenderobject)
						continue;
					if (blenderobject->type==OB_ARMATURE)
						continue;
					float eu[3];
					mat4_to_eul(eu,blenderobject->obmat);					
					MT_Point3 pos = MT_Point3(
						blenderobject->obmat[3][0],
						blenderobject->obmat[3][1],
						blenderobject->obmat[3][2]
					);
					MT_Vector3 eulxyz = MT_Vector3(
						eu[0],
						eu[1],
						eu[2]
					);
					MT_Vector3 scale = MT_Vector3(
						blenderobject->size[0],
						blenderobject->size[1],
						blenderobject->size[2]
					);
					gameobj->NodeSetLocalPosition(pos);
					gameobj->NodeSetLocalOrientation(MT_Matrix3x3(eulxyz));
					gameobj->NodeSetLocalScale(scale);
					gameobj->NodeUpdateGS(0);
				}
			}
		}
	}
}

void KX_SteeringActuator::HandleActorFace(MT_Vector3& velocity)
{
	if (m_facingMode==0 && (!m_navmesh || !m_normalUp))
		return;
	KX_GameObject* curobj = (KX_GameObject*) GetParent();
	MT_Vector3 dir = m_facingMode==0 ?  curobj->NodeGetLocalOrientation().getColumn(1) : velocity;
	if (dir.fuzzyZero())
		return;
	dir.normalize();
	MT_Vector3 up(0,0,1);
	MT_Vector3 left;
	MT_Matrix3x3 mat;
	
	if (m_navmesh && m_normalUp)
	{
		dtStatNavMesh* navmesh =  m_navmesh->GetNavMesh();
		MT_Vector3 normal;
		MT_Vector3 trpos = m_navmesh->TransformToLocalCoords(curobj->NodeGetWorldPosition());
		if (getNavmeshNormal(navmesh, trpos, normal))
		{

			left = (dir.cross(up)).safe_normalized();
			dir = (-left.cross(normal)).safe_normalized();
			up = normal;
		}
	}

	switch (m_facingMode)
	{
	case 1: // TRACK X
		{
			left  = dir.safe_normalized();
			dir = -(left.cross(up)).safe_normalized();
			break;
		};
	case 2:	// TRACK Y
		{
			left  = (dir.cross(up)).safe_normalized();
			break;
		}

	case 3: // track Z
		{
			left = up.safe_normalized();
			up = dir.safe_normalized();
			dir = left;
			left  = (dir.cross(up)).safe_normalized();
			break;
		}

	case 4: // TRACK -X
		{
			left  = -dir.safe_normalized();
			dir = -(left.cross(up)).safe_normalized();
			break;
		};
	case 5: // TRACK -Y
		{
			left  = (-dir.cross(up)).safe_normalized();
			dir = -dir;
			break;
		}
	case 6: // track -Z
		{
			left = up.safe_normalized();
			up = -dir.safe_normalized();
			dir = left;
			left  = (dir.cross(up)).safe_normalized();
			break;
		}
	}

	mat.setValue (
		left[0], dir[0],up[0], 
		left[1], dir[1],up[1],
		left[2], dir[2],up[2]
	);

	
	
	KX_GameObject* parentObject = curobj->GetParent();
	if (parentObject)
	{ 
		MT_Vector3 localpos;
		localpos = curobj->GetSGNode()->GetLocalPosition();
		MT_Matrix3x3 parentmatinv;
		parentmatinv = parentObject->NodeGetWorldOrientation ().inverse ();
		mat = parentmatinv * mat;
		mat = m_parentlocalmat * mat;
		curobj->NodeSetLocalOrientation(mat);
		curobj->NodeSetLocalPosition(localpos);
	}
	else
	{
		curobj->NodeSetLocalOrientation(mat);
	}

}

//.........这里部分代码省略.........
			/* Y */
			fp1[0] = actormat[0][1];
			fp1[1] = actormat[1][1];
			fp1[2] = actormat[2][1];

			fp2[0] = frommat[0][1];
			fp2[1] = frommat[1][1];
			fp2[2] = frommat[2][1];
			break;
		case OB_NEGX:
			/* -X */
			fp1[0] = -actormat[0][0];
			fp1[1] = -actormat[1][0];
			fp1[2] = -actormat[2][0];

			fp2[0] = frommat[0][0];
			fp2[1] = frommat[1][0];
			fp2[2] = frommat[2][0];
			break;
		case OB_NEGY:
			/* -Y */
			fp1[0] = -actormat[0][1];
			fp1[1] = -actormat[1][1];
			fp1[2] = -actormat[2][1];

			fp2[0] = frommat[0][1];
			fp2[1] = frommat[1][1];
			fp2[2] = frommat[2][1];
			break;
		default:
			assert(0);
			break;
	}

	inp = fp1[0]*fp2[0] + fp1[1]*fp2[1] + fp1[2]*fp2[2];
	fac = (-1.0f + inp) * m_damping;

	from[0] += fac * fp1[0];
	from[1] += fac * fp1[1];
	from[2] += fac * fp1[2];
	
	/* only for it lies: cross test and perpendicular bites up */
	if (inp < 0.0f) {
		/* Don't do anything if the cross product is too small.
		 * The camera up-axis becomes unstable and starts to oscillate.
		 * The 0.01f threshold is arbitrary but seems to work well in practice. */
		float cross = fp1[0] * fp2[1] - fp1[1] * fp2[0];
		if (cross > 0.01f) {
			from[0] -= fac * fp1[1];
			from[1] += fac * fp1[0];
		}
		else if (cross < -0.01f) {
			from[0] += fac * fp1[1];
			from[1] -= fac * fp1[0];
		}
	}

	/* CONSTRAINT 5: minimum / maximum distance */

	rc[0] = (lookat[0]-from[0]);
	rc[1] = (lookat[1]-from[1]);
	rc[2] = (lookat[2]-from[2]);
	distsq = rc[0]*rc[0] + rc[1]*rc[1] + rc[2]*rc[2];

	if (distsq > maxdistsq) {
		distsq = 0.15f * (distsq - maxdistsq) / distsq;
		
		from[0] += distsq*rc[0];
		from[1] += distsq*rc[1];
		from[2] += distsq*rc[2];
	}
	else if (distsq < mindistsq) {
		distsq = 0.15f * (mindistsq - distsq) / mindistsq;
		
		from[0] -= distsq*rc[0];
		from[1] -= distsq*rc[1];
		from[2] -= distsq*rc[2];
	}


	/* CONSTRAINT 7: track to floor below actor */
	rc[0] = (lookat[0]-from[0]);
	rc[1] = (lookat[1]-from[1]);
	rc[2] = (lookat[2]-from[2]);
	Kx_VecUpMat3(rc, mat, 3);	/* y up Track -z */
	



	/* now set the camera position and rotation */
	
	obj->NodeSetLocalPosition(from);
	
	actormat[0][0] = mat[0][0]; actormat[0][1] = mat[1][0]; actormat[0][2] = mat[2][0];
	actormat[1][0] = mat[0][1]; actormat[1][1] = mat[1][1]; actormat[1][2] = mat[2][1];
	actormat[2][0] = mat[0][2]; actormat[2][1] = mat[1][2]; actormat[2][2] = mat[2][2];
	obj->NodeSetLocalOrientation(actormat);

	return true;
}

//.........这里部分代码省略.........
		case 2: // track Z
			{
				left = up.safe_normalized();
				up = dir.safe_normalized();
				dir = left;
				left  = (dir.cross(up)).safe_normalized();
				mat.setValue (
					left[0], dir[0],up[0], 
					left[1], dir[1],up[1],
					left[2], dir[2],up[2]
					);
				break;
			}
			
		case 3: // TRACK -X
			{
				// (1.0 , 0.0 , 0.0 ) x direction is forward, z (0.0 , 0.0 , 1.0 ) up
				left  = -dir.safe_normalized();
				dir = -(left.cross(up)).safe_normalized();
				mat.setValue (
					left[0], dir[0],up[0], 
					left[1], dir[1],up[1],
					left[2], dir[2],up[2]
					);
				
				break;
			};
		case 4: // TRACK -Y
			{
				// (0.0 , -1.0 , 0.0 ) -y direction is forward, z (0.0 , 0.0 , 1.0 ) up
				left  = (-dir.cross(up)).safe_normalized();
				mat.setValue (
					left[0], -dir[0],up[0], 
					left[1], -dir[1],up[1],
					left[2], -dir[2],up[2]
					);
				break;
			}
		case 5: // track -Z
			{
				left = up.safe_normalized();
				up = -dir.safe_normalized();
				dir = left;
				left  = (dir.cross(up)).safe_normalized();
				mat.setValue (
					left[0], dir[0],up[0], 
					left[1], dir[1],up[1],
					left[2], dir[2],up[2]
					);
				
				break;
			}
			
		default:
			{
				// (1.0 , 0.0 , 0.0 ) -x direction is forward, z (0.0 , 0.0 , 1.0 ) up
				left  = -dir.safe_normalized();
				dir = -(left.cross(up)).safe_normalized();
				mat.setValue (
					left[0], dir[0],up[0], 
					left[1], dir[1],up[1],
					left[2], dir[2],up[2]
					);
			}
		}
		
		MT_Matrix3x3 oldmat;
		oldmat= curobj->NodeGetWorldOrientation();
		
		/* erwin should rewrite this! */
		mat= matrix3x3_interpol(oldmat, mat, m_time);
		

		if(m_parentobj){ // check if the model is parented and calculate the child transform
				
			MT_Point3 localpos;
			localpos = curobj->GetSGNode()->GetLocalPosition();
			// Get the inverse of the parent matrix
			MT_Matrix3x3 parentmatinv;
			parentmatinv = m_parentobj->NodeGetWorldOrientation ().inverse ();				
			// transform the local coordinate system into the parents system
			mat = parentmatinv * mat;
			// append the initial parent local rotation matrix
			mat = m_parentlocalmat * mat;

			// set the models tranformation properties
			curobj->NodeSetLocalOrientation(mat);
			curobj->NodeSetLocalPosition(localpos);
			//curobj->UpdateTransform();
		}
		else
		{
			curobj->NodeSetLocalOrientation(mat);
		}

		result = true;
	}

	return result;
}

//.........这里部分代码省略.........
	/* rotation. We do not check whether we really have a camera as parent.  */
	/* It may be better to turn this into a general tracking actuator later  */
	/* on, since lots of plausible relations can be filled in here.          */

	/* ... set up some parameters ...                                        */
	/* missing here: the 'floorloc' of the actor's shadow */

	mindistsq= m_minHeight*m_minHeight;
	maxdistsq= m_maxHeight*m_maxHeight;

	/* C1: not checked... is a future option                                 */

	/* C2: blender test_visibility function. Can this be a ray-test?         */

	/* C3: fixed height  */
	from[2] = (15.0*from[2] + lookat[2] + m_height)/16.0;


	/* C4: camera behind actor   */
	if (m_x) {
		fp1[0] = actormat[0][0];
		fp1[1] = actormat[1][0];
		fp1[2] = actormat[2][0];

		fp2[0] = frommat[0][0];
		fp2[1] = frommat[1][0];
		fp2[2] = frommat[2][0];
	} 
	else {
		fp1[0] = actormat[0][1];
		fp1[1] = actormat[1][1];
		fp1[2] = actormat[2][1];

		fp2[0] = frommat[0][1];
		fp2[1] = frommat[1][1];
		fp2[2] = frommat[2][1];
	}
	
	inp= fp1[0]*fp2[0] + fp1[1]*fp2[1] + fp1[2]*fp2[2];
	fac= (-1.0 + inp) * m_damping;

	from[0]+= fac*fp1[0];
	from[1]+= fac*fp1[1];
	from[2]+= fac*fp1[2];
	
	/* alleen alstie ervoor ligt: cross testen en loodrechte bijtellen */
	if(inp<0.0) {
		if(fp1[0]*fp2[1] - fp1[1]*fp2[0] > 0.0) {
			from[0]-= fac*fp1[1];
			from[1]+= fac*fp1[0];
		}
		else {
			from[0]+= fac*fp1[1];
			from[1]-= fac*fp1[0];
		}
	}

	/* CONSTRAINT 5: minimum / maximum afstand */

	rc[0]= (lookat[0]-from[0]);
	rc[1]= (lookat[1]-from[1]);
	rc[2]= (lookat[2]-from[2]);
	distsq= rc[0]*rc[0] + rc[1]*rc[1] + rc[2]*rc[2];

	if(distsq > maxdistsq) {
		distsq = 0.15*(distsq-maxdistsq)/distsq;
		
		from[0] += distsq*rc[0];
		from[1] += distsq*rc[1];
		from[2] += distsq*rc[2];
	}
	else if(distsq < mindistsq) {
		distsq = 0.15*(mindistsq-distsq)/mindistsq;
		
		from[0] -= distsq*rc[0];
		from[1] -= distsq*rc[1];
		from[2] -= distsq*rc[2];
	}


	/* CONSTRAINT 7: track to schaduw */
	rc[0]= (lookat[0]-from[0]);
	rc[1]= (lookat[1]-from[1]);
	rc[2]= (lookat[2]-from[2]);
	Kx_VecUpMat3(rc, mat, 3);	/* y up Track -z */
	



	/* now set the camera position and rotation */
	
	obj->NodeSetLocalPosition(from);
	
	actormat[0][0]= mat[0][0]; actormat[0][1]= mat[1][0]; actormat[0][2]= mat[2][0];
	actormat[1][0]= mat[0][1]; actormat[1][1]= mat[1][1]; actormat[1][2]= mat[2][1];
	actormat[2][0]= mat[0][2]; actormat[2][1]= mat[1][2]; actormat[2][2]= mat[2][2];
	obj->NodeSetLocalOrientation(actormat);

	return true;
}