UPBGE: Refactor physics constraints initialization and python access.

Previously two issues were noticed in the sources, first the constraint were
were not represented by an object and so the attribute were modified by the
physics environment functions with as first argument the constraint id, e.g:
SetConstraintParam/GetConstraintParam.
Second, the vehicle constraint were created in the physics environment by
the same function than regular constraitn even if they behave differntly.

To fix these both issue the constraint are not represented by a new class
named PHY_IConstraint inherited in CcdConstraint for bullet constraint, this
class contains function to set and get paramater, get id and type without
any dependencies to the physics environment.
The physics environment is now returing an instance of PHY_IConstraint in
CreateConstraint and a PHY_IVehicle in the new function CreateVehicle.
This last function is called in python thanks to the new function:
bge.constraint.createVehicle(chassisPhysicsId)

The two constraint python proxy classes KX_ConstraintWrapper and KX_VehicleWrapper
now take as constructor respectively PHY_IConstraint and PHY_IVehicle and so
remove the dependency to PHY_IPhsicsEnvironment.

To keep the compatitliby the vehicle wrapper define the attribute constraint_id
and constrant_type (sorry sdfgeoff :)) to look as a property and be still useable
with contraint.getVehicleConstraint. In the same time constraints.createConstraint
return a KX_VehicleWrapper when the type specified is PHY_VEHICLE_CONSTRAINT.

Note that the file in Physics/Common are now targeted in a separate cmake in
the same directory isntead of in the cmake of Ketsji/

doc/python_api/rst/bge.constraints.rst

@@ -60,6 +60,16 @@ Functions
    :return: A constraint wrapper.
    :rtype: :class:`~bge.types.KX_ConstraintWrapper`
 
+.. function:: createVehicle(physicsid)
+
+   Creates a vehicle constraint.
+
+   :arg physicsid: The physics id of the chassis object in constraint.
+   :type physicsid: int
+
+   :return: A vehicle constraint wrapper.
+   :rtype: :class:`~bge.types.KX_VehicleWrapper`
+
 .. function:: exportBulletFile(filename)
 
    Exports a file representing the dynamics world (usually using ``.bullet`` extension).

source/gameengine/Ketsji/CMakeLists.txt

@@ -241,18 +241,6 @@ set(SRC
 	KX_WorldInfo.h
 	KX_WorldIpoController.h
 	KX_CollisionContactPoints.h
-
-	# orphan headers (not apart of a library)
-	../Physics/Common/PHY_DynamicTypes.h
-	../Physics/Common/PHY_ICharacter.h
-	../Physics/Common/PHY_IController.h
-	../Physics/Common/PHY_IGraphicController.h
-	../Physics/Common/PHY_IMotionState.h
-	../Physics/Common/PHY_IPhysicsController.h
-	../Physics/Common/PHY_IPhysicsEnvironment.h
-	../Physics/Common/PHY_IVehicle.h
-	../Physics/Common/PHY_Pro.h
-
 )
 
 add_definitions(${GL_DEFINITIONS})

source/gameengine/Ketsji/KX_ConstraintWrapper.cpp

@@ -30,17 +30,11 @@
  */
 
 
-#include "EXP_PyObjectPlus.h"
 #include "KX_ConstraintWrapper.h"
-#include "PHY_IPhysicsEnvironment.h"
-
-KX_ConstraintWrapper::KX_ConstraintWrapper(
-						PHY_ConstraintType ctype,
-						int constraintId,
-						PHY_IPhysicsEnvironment* physenv) :
-		m_constraintId(constraintId),
-		m_constraintType(ctype),
-		m_physenv(physenv)
+#include "PHY_IConstraint.h"
+
+KX_ConstraintWrapper::KX_ConstraintWrapper(PHY_IConstraint *constraint)
+	:m_constraint(constraint)
 {
 }
 KX_ConstraintWrapper::~KX_ConstraintWrapper()
@@ -56,7 +50,7 @@ std::string KX_ConstraintWrapper::GetName()
 
 PyObject *KX_ConstraintWrapper::PyGetConstraintId()
 {
-	return PyLong_FromLong(m_constraintId);
+	return PyLong_FromLong(m_constraint->GetIdentifier());
 }
 
 
@@ -68,7 +62,7 @@ PyObject *KX_ConstraintWrapper::PyGetParam(PyObject *args, PyObject *kwds)
 	if (!PyArg_ParseTuple(args,"i:getParam",&dof))
 		return nullptr;
 
-	value = m_physenv->GetConstraintParam(m_constraintId,dof);
+	value = m_constraint->GetParam(dof);
 	return PyFloat_FromDouble(value);
 
 }
@@ -81,7 +75,7 @@ PyObject *KX_ConstraintWrapper::PySetParam(PyObject *args, PyObject *kwds)
 	if (!PyArg_ParseTuple(args,"iff:setParam",&dof,&minLimit,&maxLimit))
 		return nullptr;
 
-	m_physenv->SetConstraintParam(m_constraintId,dof,minLimit,maxLimit);
+	m_constraint->SetParam(dof,minLimit,maxLimit);
 	Py_RETURN_NONE;
 }
 
@@ -125,13 +119,13 @@ PyAttributeDef KX_ConstraintWrapper::Attributes[] = {
 PyObject *KX_ConstraintWrapper::pyattr_get_constraintId(PyObjectPlus *self_v, const KX_PYATTRIBUTE_DEF *attrdef)
 {
 	KX_ConstraintWrapper* self = static_cast<KX_ConstraintWrapper*>(self_v);
-	return self->PyGetConstraintId();
+	return PyLong_FromLong(self->m_constraint->GetIdentifier());
 }
 
 PyObject *KX_ConstraintWrapper::pyattr_get_constraintType(PyObjectPlus *self_v, const KX_PYATTRIBUTE_DEF *attrdef)
 {
 	KX_ConstraintWrapper* self = static_cast<KX_ConstraintWrapper*>(self_v);
-	return PyLong_FromLong(self->m_constraintType);
+	return PyLong_FromLong(self->m_constraint->GetType());
 }
 
 #endif // WITH_PYTHON

source/gameengine/Ketsji/KX_ConstraintWrapper.h

@@ -33,18 +33,17 @@
 #define __KX_CONSTRAINTWRAPPER_H__
 
 #include "EXP_Value.h"
-#include "PHY_DynamicTypes.h"
+
+class PHY_IConstraint;
 
 class	KX_ConstraintWrapper : public CValue
 {
 	Py_Header
 public:
-	KX_ConstraintWrapper(PHY_ConstraintType ctype,int constraintId,class PHY_IPhysicsEnvironment* physenv);
+	KX_ConstraintWrapper(PHY_IConstraint *constraint);
 	virtual ~KX_ConstraintWrapper ();
 
 	virtual std::string GetName();
-
-	int			getConstraintId() { return m_constraintId; }
 
 #ifdef WITH_PYTHON
 	KX_PYMETHOD_NOARGS(KX_ConstraintWrapper,GetConstraintId);
@@ -56,9 +55,7 @@ class	KX_ConstraintWrapper : public CValue
 #endif
 
 private:
-	int					m_constraintId;
-	PHY_ConstraintType	m_constraintType;
-	PHY_IPhysicsEnvironment* m_physenv;
+	PHY_IConstraint *m_constraint;
 };
 
 #endif  /* __KX_CONSTRAINTWRAPPER_H__ */

source/gameengine/Ketsji/KX_PyConstraintBinding.cpp

@@ -130,6 +130,10 @@ PyDoc_STRVAR(gPyCreateConstraint__doc__,
 "createConstraint(ob1,ob2,float restLength,float restitution,float damping)\n"
 ""
 );
+PyDoc_STRVAR(gPyCreateVehicle__doc__,
+"createVehicle(chassis)\n"
+""
+);
 PyDoc_STRVAR(gPyGetVehicleConstraint__doc__,
 "getVehicleConstraint(int constraintId)\n"
 ""
@@ -450,7 +454,7 @@ static PyObject *gPyGetVehicleConstraint(PyObject *self,
 			PHY_IVehicle* vehicle = PHY_GetActiveEnvironment()->GetVehicleConstraint(constraintid);
 			if (vehicle)
 			{
-				KX_VehicleWrapper* pyWrapper = new KX_VehicleWrapper(vehicle,PHY_GetActiveEnvironment());
+				KX_VehicleWrapper* pyWrapper = new KX_VehicleWrapper(vehicle);
 				return pyWrapper->NewProxy(true);
 			}
 
@@ -515,6 +519,14 @@ static PyObject *gPyCreateConstraint(PyObject *self,
 		PHY_IPhysicsController *physctrl = (PHY_IPhysicsController*)physicsid;
 		PHY_IPhysicsController *physctrl2 = (PHY_IPhysicsController*)physicsid2;
 		if (physctrl) { //TODO:check for existence of this pointer!
+			if (constrainttype == PHY_VEHICLE_CONSTRAINT) {
+				ShowDeprecationWarning("bge.constraints.createConstraint(...)", "bge.constraints.createVehicle(chassis)");
+				PHY_IVehicle *vehicle = PHY_GetActiveEnvironment()->CreateVehicle(physctrl);
+
+				KX_VehicleWrapper *wrap = new KX_VehicleWrapper(vehicle);
+
+				return wrap->NewProxy(true);
+			}
 			//convert from euler angle into axis
 			const float deg2rad = 0.017453292f;
 
@@ -525,23 +537,51 @@ static PyObject *gPyCreateConstraint(PyObject *self,
 			MT_Vector3 axis1 = localCFrame.getColumn(1);
 			MT_Vector3 axis2 = localCFrame.getColumn(2);
 
-			int constraintid = PHY_GetActiveEnvironment()->CreateConstraint(
+			PHY_IConstraint *constraint = PHY_GetActiveEnvironment()->CreateConstraint(
 			        physctrl, physctrl2, (enum PHY_ConstraintType)constrainttype, pivotX, pivotY, pivotZ,
 			        (float)axis0.x(), (float)axis0.y(), (float)axis0.z(),
 			        (float)axis1.x(), (float)axis1.y(), (float)axis1.z(),
 			        (float)axis2.x(), (float)axis2.y(), (float)axis2.z(), flag);
 
-			KX_ConstraintWrapper *wrap = new KX_ConstraintWrapper(
-			        (enum PHY_ConstraintType)constrainttype, constraintid, PHY_GetActiveEnvironment());
+			if (!constraint) {
+				return nullptr;
+			}
+
+			KX_ConstraintWrapper *wrap = new KX_ConstraintWrapper(constraint);
 
 			return wrap->NewProxy(true);
 		}
 	}
 	Py_RETURN_NONE;
 }
 
+static PyObject *gPyCreateVehicle(PyObject *self, PyObject *args)
+{
+	/* FIXME - physicsid is a long being cast to a pointer, should at least use PyCapsule */
+	unsigned long long physicsid = 0;
 
+	if (!PyArg_ParseTuple(args, "K:createVehicle", &physicsid)) {
+		return nullptr;
+	}
 
+	if (!PHY_GetActiveEnvironment()) {
+		Py_RETURN_NONE;
+	}
+
+	PHY_IPhysicsController *physctrl = (PHY_IPhysicsController*)physicsid;
+	if (!physctrl) { //TODO:check for existence of this pointer!
+		return nullptr;
+	}
+
+	PHY_IVehicle *vehicle = PHY_GetActiveEnvironment()->CreateVehicle(physctrl);
+	if (!vehicle) {
+		return nullptr;
+	}
+
+	KX_VehicleWrapper *wrap = new KX_VehicleWrapper(vehicle);
+
+	return wrap->NewProxy(true);
+}
 
 static PyObject *gPyGetAppliedImpulse(PyObject *self,
                                       PyObject *args,
@@ -650,6 +690,8 @@ static struct PyMethodDef physicsconstraints_methods[] = {
 
 	{"createConstraint",(PyCFunction) gPyCreateConstraint,
 	 METH_VARARGS|METH_KEYWORDS, (const char *)gPyCreateConstraint__doc__},
+	{"createVehicle",(PyCFunction) gPyCreateVehicle,
+	 METH_VARARGS, (const char *)gPyCreateVehicle__doc__},
 	{"getVehicleConstraint",(PyCFunction) gPyGetVehicleConstraint,
 	 METH_VARARGS, (const char *)gPyGetVehicleConstraint__doc__},
 

source/gameengine/Ketsji/KX_VehicleWrapper.cpp

@@ -22,10 +22,7 @@
  *  \ingroup ketsji
  */
 
-#include "EXP_PyObjectPlus.h"
-
 #include "KX_VehicleWrapper.h"
-#include "PHY_IPhysicsEnvironment.h"
 #include "PHY_IVehicle.h"
 #include "KX_PyMath.h"
 #include "KX_GameObject.h"
@@ -34,23 +31,13 @@
 
 #include "DNA_object_types.h" // for OB_MAX_COL_MASKS
 
-KX_VehicleWrapper::KX_VehicleWrapper(
-						PHY_IVehicle* vehicle,
-						PHY_IPhysicsEnvironment* physenv) :
-		m_vehicle(vehicle),
-		m_physenv(physenv)
+KX_VehicleWrapper::KX_VehicleWrapper(PHY_IVehicle *vehicle)
+	:m_vehicle(vehicle)
 {
 }
 
 KX_VehicleWrapper::~KX_VehicleWrapper()
 {
-	int numMotion = m_motionStates.size();
-	for (int i=0;i<numMotion;i++)
-	{
-		PHY_IMotionState* motionState = m_motionStates[i];
-		delete motionState;
-	}
-	m_motionStates.clear();
 }
 
 std::string KX_VehicleWrapper::GetName()
@@ -376,9 +363,23 @@ PyMethodDef KX_VehicleWrapper::Methods[] = {
 
 PyAttributeDef KX_VehicleWrapper::Attributes[] = {
 	KX_PYATTRIBUTE_RW_FUNCTION("rayMask", KX_VehicleWrapper, pyattr_get_ray_mask, pyattr_set_ray_mask),
+	KX_PYATTRIBUTE_RO_FUNCTION("constraint_id", KX_VehicleWrapper, pyattr_get_constraintId),
+	KX_PYATTRIBUTE_RO_FUNCTION("constraint_type", KX_VehicleWrapper, pyattr_get_constraintType),
 	KX_PYATTRIBUTE_NULL	//Sentinel
 };
 
+PyObject *KX_VehicleWrapper::pyattr_get_constraintId(PyObjectPlus *self_v, const KX_PYATTRIBUTE_DEF *attrdef)
+{
+	KX_VehicleWrapper* self = static_cast<KX_VehicleWrapper*>(self_v);
+	return PyLong_FromLong(self->m_vehicle->GetUserConstraintId());
+}
+
+PyObject *KX_VehicleWrapper::pyattr_get_constraintType(PyObjectPlus *self_v, const KX_PYATTRIBUTE_DEF *attrdef)
+{
+	KX_VehicleWrapper* self = static_cast<KX_VehicleWrapper*>(self_v);
+	return PyLong_FromLong(PHY_VEHICLE_CONSTRAINT);
+}
+
 PyObject *KX_VehicleWrapper::pyattr_get_ray_mask(PyObjectPlus *self, const struct KX_PYATTRIBUTE_DEF *attrdef)
 {
 	KX_VehicleWrapper *wrapper = static_cast<KX_VehicleWrapper*>(self);

source/gameengine/Ketsji/KX_VehicleWrapper.h

@@ -8,25 +8,18 @@
 
 #include "EXP_Value.h"
 class PHY_IVehicle;
-class PHY_IMotionState;
-
-#include <vector>
 
 ///Python interface to physics vehicles (primarily 4-wheel cars and 2wheel bikes)
 class	KX_VehicleWrapper : public CValue
 {
 	Py_Header
 
-	std::vector<PHY_IMotionState*> m_motionStates;
-
 public:
-	KX_VehicleWrapper(PHY_IVehicle* vehicle,class PHY_IPhysicsEnvironment* physenv);
+	KX_VehicleWrapper(PHY_IVehicle* vehicle);
 	virtual ~KX_VehicleWrapper ();
 
 	virtual std::string GetName();
 
-	int			getConstraintId();
-
 #ifdef WITH_PYTHON
 
 	KX_PYMETHOD_VARARGS(KX_VehicleWrapper,AddWheel);
@@ -57,12 +50,13 @@ class	KX_VehicleWrapper : public CValue
 
 	static PyObject *pyattr_get_ray_mask(PyObjectPlus *self, const struct KX_PYATTRIBUTE_DEF *attrdef);
 	static int pyattr_set_ray_mask(PyObjectPlus *self, const struct KX_PYATTRIBUTE_DEF *attrdef, PyObject *value);
+	static PyObject *pyattr_get_constraintId(PyObjectPlus *self_v, const KX_PYATTRIBUTE_DEF *attrdef);
+	static PyObject *pyattr_get_constraintType(PyObjectPlus *self_v, const KX_PYATTRIBUTE_DEF *attrdef);
 
 #endif  /* WITH_PYTHON */
 
 private:
 	PHY_IVehicle*			 m_vehicle;
-	PHY_IPhysicsEnvironment* m_physenv;
 };
 
 #endif  /* __KX_VEHICLEWRAPPER_H__ */

source/gameengine/Physics/Bullet/CMakeLists.txt

@@ -51,10 +51,12 @@ set(INC_SYS
 )
 
 set(SRC
+	CcdConstraint.cpp
 	CcdPhysicsEnvironment.cpp
 	CcdPhysicsController.cpp
 	CcdGraphicController.cpp
 
+	CcdConstraint.h
 	CcdMathUtils.h
 	CcdGraphicController.h
 	CcdPhysicsController.h