BL_ArmatureChannel.cpp

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/*
 * ***** BEGIN GPL LICENSE BLOCK *****
 *
 * This program is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * as published by the Free Software Foundation; either version 2
 * of the License, or (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program; if not, write to the Free Software Foundation,
 * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
 *
 * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
 * All rights reserved.
 *
 * The Original Code is: all of this file.
 *
 * Contributor(s): none yet.
 *
 * ***** END GPL LICENSE BLOCK *****
 */

#include "DNA_armature_types.h"
#include "BL_ArmatureChannel.h"
#include "BL_ArmatureObject.h"
#include "BL_ArmatureConstraint.h"
#include "BLI_math.h"
#include "BLI_string.h"
#include <stddef.h>

#ifdef WITH_PYTHON

PyTypeObject BL_ArmatureChannel::Type = {
    PyVarObject_HEAD_INIT(NULL, 0)
    "BL_ArmatureChannel",
    sizeof(PyObjectPlus_Proxy),
    0,
    py_base_dealloc,
    0,
    0,
    0,
    0,
    py_base_repr,
    0,0,0,0,0,0,0,0,0,
    Py_TPFLAGS_DEFAULT | Py_TPFLAGS_BASETYPE,
    0,0,0,0,0,0,0,
    Methods,
    0,
    0,
    &CValue::Type,
    0,0,0,0,0,0,
    py_base_new
};

PyObject* BL_ArmatureChannel::py_repr(void)
{
    return PyUnicode_FromString(m_posechannel->name);
}

PyObject *BL_ArmatureChannel::GetProxy()
{
    return GetProxyPlus_Ext(this, &Type, m_posechannel);
}

PyObject *BL_ArmatureChannel::NewProxy(bool py_owns)
{
    return NewProxyPlus_Ext(this, &Type, m_posechannel, py_owns);
}

#endif // WITH_PYTHON

BL_ArmatureChannel::BL_ArmatureChannel(
    BL_ArmatureObject *armature, 
    bPoseChannel *posechannel)
    : PyObjectPlus(), m_posechannel(posechannel), m_armature(armature)
{
}

BL_ArmatureChannel::~BL_ArmatureChannel()
{
}

#ifdef WITH_PYTHON

// PYTHON

PyMethodDef BL_ArmatureChannel::Methods[] = {
  {NULL,NULL} //Sentinel
};

// order of definition of attributes, must match Attributes[] array
#define BCA_BONE        0
#define BCA_PARENT      1

PyAttributeDef BL_ArmatureChannel::Attributes[] = {
    // Keep these attributes in order of BCA_ defines!!! used by py_attr_getattr and py_attr_setattr
    KX_PYATTRIBUTE_RO_FUNCTION("bone",BL_ArmatureChannel,py_attr_getattr),  
    KX_PYATTRIBUTE_RO_FUNCTION("parent",BL_ArmatureChannel,py_attr_getattr),    
    
    { NULL }    //Sentinel
};

/* attributes directly taken from bPoseChannel */
PyAttributeDef BL_ArmatureChannel::AttributesPtr[] = {
    KX_PYATTRIBUTE_CHAR_RO("name",bPoseChannel,name),
    KX_PYATTRIBUTE_FLAG_RO("has_ik",bPoseChannel,flag, POSE_CHAIN),
    KX_PYATTRIBUTE_FLAG_NEGATIVE_RO("ik_dof_x",bPoseChannel,ikflag, BONE_IK_NO_XDOF),
    KX_PYATTRIBUTE_FLAG_NEGATIVE_RO("ik_dof_y",bPoseChannel,ikflag, BONE_IK_NO_YDOF),
    KX_PYATTRIBUTE_FLAG_NEGATIVE_RO("ik_dof_z",bPoseChannel,ikflag, BONE_IK_NO_ZDOF),
    KX_PYATTRIBUTE_FLAG_RO("ik_limit_x",bPoseChannel,ikflag, BONE_IK_XLIMIT),
    KX_PYATTRIBUTE_FLAG_RO("ik_limit_y",bPoseChannel,ikflag, BONE_IK_YLIMIT),
    KX_PYATTRIBUTE_FLAG_RO("ik_limit_z",bPoseChannel,ikflag, BONE_IK_ZLIMIT),
    KX_PYATTRIBUTE_FLAG_RO("ik_rot_control",bPoseChannel,ikflag, BONE_IK_ROTCTL),
    KX_PYATTRIBUTE_FLAG_RO("ik_lin_control",bPoseChannel,ikflag, BONE_IK_LINCTL),
    KX_PYATTRIBUTE_FLOAT_VECTOR_RW("location",-FLT_MAX,FLT_MAX,bPoseChannel,loc,3),
    KX_PYATTRIBUTE_FLOAT_VECTOR_RW("scale",-FLT_MAX,FLT_MAX,bPoseChannel,size,3),
    KX_PYATTRIBUTE_FLOAT_VECTOR_RW("rotation_quaternion",-1.0f,1.0f,bPoseChannel,quat,4),
    KX_PYATTRIBUTE_FLOAT_VECTOR_RW("rotation_euler",-10.f,10.f,bPoseChannel,eul,3),
    KX_PYATTRIBUTE_SHORT_RW("rotation_mode",ROT_MODE_MIN,ROT_MODE_MAX,false,bPoseChannel,rotmode),
    KX_PYATTRIBUTE_FLOAT_MATRIX_RO("channel_matrix",bPoseChannel,chan_mat,4),
    KX_PYATTRIBUTE_FLOAT_MATRIX_RO("pose_matrix",bPoseChannel,pose_mat,4),
    KX_PYATTRIBUTE_FLOAT_VECTOR_RO("pose_head",bPoseChannel,pose_head,3),
    KX_PYATTRIBUTE_FLOAT_VECTOR_RO("pose_tail",bPoseChannel,pose_tail,3),
    KX_PYATTRIBUTE_FLOAT_RO("ik_min_x",bPoseChannel,limitmin[0]),
    KX_PYATTRIBUTE_FLOAT_RO("ik_max_x",bPoseChannel,limitmax[0]),
    KX_PYATTRIBUTE_FLOAT_RO("ik_min_y",bPoseChannel,limitmin[1]),
    KX_PYATTRIBUTE_FLOAT_RO("ik_max_y",bPoseChannel,limitmax[1]),
    KX_PYATTRIBUTE_FLOAT_RO("ik_min_z",bPoseChannel,limitmin[2]),
    KX_PYATTRIBUTE_FLOAT_RO("ik_max_z",bPoseChannel,limitmax[2]),
    KX_PYATTRIBUTE_FLOAT_RO("ik_stiffness_x",bPoseChannel,stiffness[0]),
    KX_PYATTRIBUTE_FLOAT_RO("ik_stiffness_y",bPoseChannel,stiffness[1]),
    KX_PYATTRIBUTE_FLOAT_RO("ik_stiffness_z",bPoseChannel,stiffness[2]),
    KX_PYATTRIBUTE_FLOAT_RO("ik_stretch",bPoseChannel,ikstretch),
    KX_PYATTRIBUTE_FLOAT_RW("ik_rot_weight",0,1.0f,bPoseChannel,ikrotweight),
    KX_PYATTRIBUTE_FLOAT_RW("ik_lin_weight",0,1.0f,bPoseChannel,iklinweight),
    KX_PYATTRIBUTE_RW_FUNCTION("joint_rotation",BL_ArmatureChannel,py_attr_get_joint_rotation,py_attr_set_joint_rotation),
    { NULL }    //Sentinel
};

PyObject* BL_ArmatureChannel::py_attr_getattr(void *self_v, const struct KX_PYATTRIBUTE_DEF *attrdef)
{
    BL_ArmatureChannel* self= static_cast<BL_ArmatureChannel*>(self_v);
    bPoseChannel* channel = self->m_posechannel;
    int attr_order = attrdef-Attributes;

    if (!channel) {
        PyErr_SetString(PyExc_AttributeError, "channel is NULL");
        return NULL;
    }

    switch (attr_order) {
    case BCA_BONE:
        // bones are standalone proxy
        return NewProxyPlus_Ext(NULL,&BL_ArmatureBone::Type,channel->bone,false);
    case BCA_PARENT:
        {
            BL_ArmatureChannel* parent = self->m_armature->GetChannel(channel->parent);
            if (parent)
                return parent->GetProxy();
            else
                Py_RETURN_NONE;
        }
    }
    PyErr_SetString(PyExc_AttributeError, "channel unknown attribute");
    return NULL;
}

int BL_ArmatureChannel::py_attr_setattr(void *self_v, const struct KX_PYATTRIBUTE_DEF *attrdef, PyObject *value)
{
    BL_ArmatureChannel* self= static_cast<BL_ArmatureChannel*>(self_v);
    bPoseChannel* channel = self->m_posechannel;
    int attr_order = attrdef-Attributes;

//  int ival;
//  double dval;
//  char* sval;
//  KX_GameObject *oval;

    if (!channel) {
        PyErr_SetString(PyExc_AttributeError, "channel is NULL");
        return PY_SET_ATTR_FAIL;
    }
    
    switch (attr_order) {
    default:
        break;
    }

    PyErr_SetString(PyExc_AttributeError, "channel unknown attribute");
    return PY_SET_ATTR_FAIL;
}

PyObject* BL_ArmatureChannel::py_attr_get_joint_rotation(void *self_v, const struct KX_PYATTRIBUTE_DEF *attrdef)
{
    bPoseChannel* pchan = static_cast<bPoseChannel*>(self_v);
    // decompose the pose matrix in euler rotation
    float rest_mat[3][3];
    float pose_mat[3][3];
    float joint_mat[3][3];
    float joints[3];
    float norm;
    double sa, ca;
    // get rotation in armature space
    copy_m3_m4(pose_mat, pchan->pose_mat);
    normalize_m3(pose_mat);
    if (pchan->parent) {
        // bone has a parent, compute the rest pose of the bone taking actual pose of parent
        mult_m3_m3m4(rest_mat, pchan->parent->pose_mat, pchan->bone->bone_mat);
        normalize_m3(rest_mat);
    } else {
        // otherwise, the bone matrix in armature space is the rest pose
        copy_m3_m4(rest_mat, pchan->bone->arm_mat);
    }
    // remove the rest pose to get the joint movement
    transpose_m3(rest_mat);
    mul_m3_m3m3(joint_mat, rest_mat, pose_mat);     
    joints[0] = joints[1] = joints[2] = 0.f;
    // returns a 3 element list that gives corresponding joint
    int flag = 0;
    if (!(pchan->ikflag & BONE_IK_NO_XDOF))
        flag |= 1;
    if (!(pchan->ikflag & BONE_IK_NO_YDOF))
        flag |= 2;
    if (!(pchan->ikflag & BONE_IK_NO_ZDOF))
        flag |= 4;
    switch (flag) {
    case 0: // fixed joint
        break;
    case 1: // X only
        mat3_to_eulO( joints, EULER_ORDER_XYZ,joint_mat);
        joints[1] = joints[2] = 0.f;
        break;
    case 2: // Y only
        mat3_to_eulO( joints, EULER_ORDER_XYZ,joint_mat);
        joints[0] = joints[2] = 0.f;
        break;
    case 3: // X+Y
        mat3_to_eulO( joints, EULER_ORDER_ZYX,joint_mat);
        joints[2] = 0.f;
        break;
    case 4: // Z only
        mat3_to_eulO( joints, EULER_ORDER_XYZ,joint_mat);
        joints[0] = joints[1] = 0.f;
        break;
    case 5: // X+Z
        // decompose this as an equivalent rotation vector in X/Z plane
        joints[0] = joint_mat[1][2];
        joints[2] = -joint_mat[1][0];
        norm = normalize_v3(joints);
        if (norm < FLT_EPSILON) {
            norm = (joint_mat[1][1] < 0.f) ? M_PI : 0.f;
        } else {
            norm = acos(joint_mat[1][1]);
        }
        mul_v3_fl(joints, norm);
        break;
    case 6: // Y+Z
        mat3_to_eulO( joints, EULER_ORDER_XYZ,joint_mat);
        joints[0] = 0.f;
        break;
    case 7: // X+Y+Z
        // equivalent axis
        joints[0] = (joint_mat[1][2]-joint_mat[2][1])*0.5f;
        joints[1] = (joint_mat[2][0]-joint_mat[0][2])*0.5f;
        joints[2] = (joint_mat[0][1]-joint_mat[1][0])*0.5f;
        sa = len_v3(joints);
        ca = (joint_mat[0][0]+joint_mat[1][1]+joint_mat[1][1]-1.0f)*0.5f;
        if (sa > FLT_EPSILON) {
            norm = atan2(sa,ca)/sa;
        } else {
            if (ca < 0.0) {
                norm = M_PI;
                mul_v3_fl(joints,0.f);
                if (joint_mat[0][0] > 0.f) {
                    joints[0] = 1.0f;
                } else if (joint_mat[1][1] > 0.f) {
                    joints[1] = 1.0f;
                } else {
                    joints[2] = 1.0f;
                }
            } else {
                norm = 0.0;
            }
        }
        mul_v3_fl(joints,norm);
        break;
    }
    return Vector_CreatePyObject(joints, 3, Py_NEW, NULL);
}

int BL_ArmatureChannel::py_attr_set_joint_rotation(void *self_v, const struct KX_PYATTRIBUTE_DEF *attrdef, PyObject *value)
{
    BL_ArmatureChannel* self= static_cast<BL_ArmatureChannel*>(self_v);
    bPoseChannel* pchan = self->m_posechannel;
    PyObject *item;
    float joints[3];
    float quat[4];

    if (!PySequence_Check(value) || PySequence_Size(value) != 3) {
        PyErr_SetString(PyExc_AttributeError, "expected a sequence of [3] floats");
        return PY_SET_ATTR_FAIL;
    }
    for (int i=0; i<3; i++) {
        item = PySequence_GetItem(value, i); /* new ref */
        joints[i] = PyFloat_AsDouble(item);
        Py_DECREF(item);
        if (joints[i] == -1.0f && PyErr_Occurred()) {
            PyErr_SetString(PyExc_AttributeError, "expected a sequence of [3] floats");
            return PY_SET_ATTR_FAIL;
        }
    }

    int flag = 0;
    if (!(pchan->ikflag & BONE_IK_NO_XDOF))
        flag |= 1;
    if (!(pchan->ikflag & BONE_IK_NO_YDOF))
        flag |= 2;
    if (!(pchan->ikflag & BONE_IK_NO_ZDOF))
        flag |= 4;
    unit_qt(quat);
    switch (flag) {
    case 0: // fixed joint
        break;
    case 1: // X only
        joints[1] = joints[2] = 0.f;
        eulO_to_quat( quat,joints, EULER_ORDER_XYZ);
        break;
    case 2: // Y only
        joints[0] = joints[2] = 0.f;
        eulO_to_quat( quat,joints, EULER_ORDER_XYZ);
        break;
    case 3: // X+Y
        joints[2] = 0.f;
        eulO_to_quat( quat,joints, EULER_ORDER_ZYX);
        break;
    case 4: // Z only
        joints[0] = joints[1] = 0.f;
        eulO_to_quat( quat,joints, EULER_ORDER_XYZ);
        break;
    case 5: // X+Z
        // X and Z are components of an equivalent rotation axis
        joints[1] = 0;
        axis_angle_to_quat( quat,joints, len_v3(joints));
        break;
    case 6: // Y+Z
        joints[0] = 0.f;
        eulO_to_quat( quat,joints, EULER_ORDER_XYZ);
        break;
    case 7: // X+Y+Z
        // equivalent axis
        axis_angle_to_quat( quat,joints, len_v3(joints));
        break;
    }
    if (pchan->rotmode > 0) {
        quat_to_eulO( joints, pchan->rotmode,quat);
        copy_v3_v3(pchan->eul, joints);
    } else
        copy_qt_qt(pchan->quat, quat);
    return PY_SET_ATTR_SUCCESS;
}

// *************************
// BL_ArmatureBone
//
// Access to Bone structure
PyTypeObject BL_ArmatureBone::Type = {
    PyVarObject_HEAD_INIT(NULL, 0)
    "BL_ArmatureBone",
    sizeof(PyObjectPlus_Proxy),
    0,
    py_base_dealloc,
    0,
    0,
    0,
    0,
    py_bone_repr,
    0,0,0,0,0,0,0,0,0,
    Py_TPFLAGS_DEFAULT | Py_TPFLAGS_BASETYPE,
    0,0,0,0,0,0,0,
    Methods,
    0,
    0,
    &CValue::Type,
    0,0,0,0,0,0,
    py_base_new
};

// not used since this class is never instantiated
PyObject *BL_ArmatureBone::GetProxy() 
{ 
    return NULL; 
}
PyObject *BL_ArmatureBone::NewProxy(bool py_owns) 
{ 
    return NULL; 
}

PyObject *BL_ArmatureBone::py_bone_repr(PyObject *self)
{
    Bone* bone = static_cast<Bone*>BGE_PROXY_PTR(self);
    return PyUnicode_FromString(bone->name);
}

PyMethodDef BL_ArmatureBone::Methods[] = {
    {NULL,NULL} //Sentinel
};

/* no attributes on C++ class since it is never instantiated */
PyAttributeDef BL_ArmatureBone::Attributes[] = {
    { NULL }    //Sentinel
};

// attributes that work on proxy ptr (points to a Bone structure)
PyAttributeDef BL_ArmatureBone::AttributesPtr[] = {
    KX_PYATTRIBUTE_CHAR_RO("name",Bone,name),
    KX_PYATTRIBUTE_FLAG_RO("connected",Bone,flag, BONE_CONNECTED),
    KX_PYATTRIBUTE_FLAG_RO("hinge",Bone,flag, BONE_HINGE),
    KX_PYATTRIBUTE_FLAG_NEGATIVE_RO("inherit_scale",Bone,flag, BONE_NO_SCALE),
    KX_PYATTRIBUTE_SHORT_RO("bbone_segments",Bone,segments),
    KX_PYATTRIBUTE_FLOAT_RO("roll",Bone,roll),
    KX_PYATTRIBUTE_FLOAT_VECTOR_RO("head",Bone,head,3),
    KX_PYATTRIBUTE_FLOAT_VECTOR_RO("tail",Bone,tail,3),
    KX_PYATTRIBUTE_FLOAT_RO("length",Bone,length),
    KX_PYATTRIBUTE_FLOAT_VECTOR_RO("arm_head",Bone,arm_head,3),
    KX_PYATTRIBUTE_FLOAT_VECTOR_RO("arm_tail",Bone,arm_tail,3),
    KX_PYATTRIBUTE_FLOAT_MATRIX_RO("arm_mat",Bone,arm_mat,4),
    KX_PYATTRIBUTE_FLOAT_MATRIX_RO("bone_mat",Bone,bone_mat,3),
    KX_PYATTRIBUTE_RO_FUNCTION("parent",BL_ArmatureBone,py_bone_get_parent),
    KX_PYATTRIBUTE_RO_FUNCTION("children",BL_ArmatureBone,py_bone_get_children),
    { NULL }    //Sentinel
};

PyObject *BL_ArmatureBone::py_bone_get_parent(void *self, const struct KX_PYATTRIBUTE_DEF *attrdef)
{
    Bone* bone = reinterpret_cast<Bone*>(self);
    if (bone->parent) {
        // create a proxy unconnected to any GE object
        return NewProxyPlus_Ext(NULL,&Type,bone->parent,false);
    }
    Py_RETURN_NONE;
}

PyObject *BL_ArmatureBone::py_bone_get_children(void *self, const struct KX_PYATTRIBUTE_DEF *attrdef)
{
    Bone* bone = reinterpret_cast<Bone*>(self);
    Bone* child;
    int count = 0;
    for (child=(Bone*)bone->childbase.first; child; child=(Bone*)child->next)
        count++;

    PyObject* childrenlist = PyList_New(count);

    for (count = 0, child=(Bone*)bone->childbase.first; child; child=(Bone*)child->next, ++count)
        PyList_SET_ITEM(childrenlist,count,NewProxyPlus_Ext(NULL,&Type,child,false));

    return childrenlist;
}

#endif // WITH_PYTHON