KX_PyConstraintBinding.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 "KX_PyConstraintBinding.h"
#include "PHY_IPhysicsEnvironment.h"
#include "KX_ConstraintWrapper.h"
#include "KX_VehicleWrapper.h"
#include "KX_PhysicsObjectWrapper.h"
#include "PHY_IPhysicsController.h"
#include "PHY_IVehicle.h"
#include "PHY_DynamicTypes.h"
#include "MT_Matrix3x3.h"

#include "PyObjectPlus.h" 

#ifdef USE_BULLET
#  include "LinearMath/btIDebugDraw.h"
#endif

#ifdef WITH_PYTHON

// macro copied from KX_PythonInit.cpp
#define KX_MACRO_addTypesToDict(dict, name, name2) PyDict_SetItemString(dict, #name, item=PyLong_FromSsize_t(name2)); Py_DECREF(item)

// nasty glob variable to connect scripting language
// if there is a better way (without global), please do so!
static PHY_IPhysicsEnvironment* g_CurrentActivePhysicsEnvironment = NULL;

static char PhysicsConstraints_module_documentation[] =
"This is the Python API for the Physics Constraints";


static char gPySetGravity__doc__[] = "setGravity(float x,float y,float z)";
static char gPySetDebugMode__doc__[] = "setDebugMode(int mode)";

static char gPySetNumIterations__doc__[] = "setNumIterations(int numiter) This sets the number of iterations for an iterative constraint solver";
static char gPySetNumTimeSubSteps__doc__[] = "setNumTimeSubSteps(int numsubstep) This sets the number of substeps for each physics proceed. Tradeoff quality for performance.";


static char gPySetDeactivationTime__doc__[] = "setDeactivationTime(float time) This sets the time after which a resting rigidbody gets deactived";
static char gPySetDeactivationLinearTreshold__doc__[] = "setDeactivationLinearTreshold(float linearTreshold)";
static char gPySetDeactivationAngularTreshold__doc__[] = "setDeactivationAngularTreshold(float angularTreshold)";
static char gPySetContactBreakingTreshold__doc__[] = "setContactBreakingTreshold(float breakingTreshold) Reasonable default is 0.02 (if units are meters)";

static char gPySetCcdMode__doc__[] = "setCcdMode(int ccdMode) Very experimental, not recommended";
static char gPySetSorConstant__doc__[] = "setSorConstant(float sor) Very experimental, not recommended";
static char gPySetSolverTau__doc__[] = "setTau(float tau) Very experimental, not recommended";
static char gPySetSolverDamping__doc__[] = "setDamping(float damping) Very experimental, not recommended";
static char gPySetLinearAirDamping__doc__[] = "setLinearAirDamping(float damping) Very experimental, not recommended";
static char gPySetUseEpa__doc__[] = "setUseEpa(int epa) Very experimental, not recommended";
static char gPySetSolverType__doc__[] = "setSolverType(int solverType) Very experimental, not recommended";


static char gPyCreateConstraint__doc__[] = "createConstraint(ob1,ob2,float restLength,float restitution,float damping)";
static char gPyGetVehicleConstraint__doc__[] = "getVehicleConstraint(int constraintId)";
static char gPyRemoveConstraint__doc__[] = "removeConstraint(int constraintId)";
static char gPyGetAppliedImpulse__doc__[] = "getAppliedImpulse(int constraintId)";






static PyObject* gPySetGravity(PyObject* self,
                               PyObject* args,
                               PyObject* kwds)
{
    float x,y,z;
    if (PyArg_ParseTuple(args,"fff",&x,&y,&z))
    {
        if (PHY_GetActiveEnvironment())
            PHY_GetActiveEnvironment()->setGravity(x,y,z);
    }
    else {
        return NULL;
    }
    
    Py_RETURN_NONE;
}

static PyObject* gPySetDebugMode(PyObject* self,
                                 PyObject* args,
                                 PyObject* kwds)
{
    int mode;
    if (PyArg_ParseTuple(args,"i",&mode))
    {
        if (PHY_GetActiveEnvironment())
        {
            PHY_GetActiveEnvironment()->setDebugMode(mode);
            
        }
        
    }
    else {
        return NULL;
    }
    
    Py_RETURN_NONE;
}



static PyObject* gPySetNumTimeSubSteps(PyObject* self,
                                       PyObject* args,
                                       PyObject* kwds)
{
    int substep;
    if (PyArg_ParseTuple(args,"i",&substep))
    {
        if (PHY_GetActiveEnvironment())
        {
            PHY_GetActiveEnvironment()->setNumTimeSubSteps(substep);
        }
    }
    else {
        return NULL;
    }
    Py_RETURN_NONE;
}


static PyObject* gPySetNumIterations(PyObject* self,
                                     PyObject* args,
                                     PyObject* kwds)
{
    int iter;
    if (PyArg_ParseTuple(args,"i",&iter))
    {
        if (PHY_GetActiveEnvironment())
        {
            PHY_GetActiveEnvironment()->setNumIterations(iter);
        }
    }
    else {
        return NULL;
    }
    Py_RETURN_NONE;
}


static PyObject* gPySetDeactivationTime(PyObject* self,
                                        PyObject* args,
                                        PyObject* kwds)
{
    float deactive_time;
    if (PyArg_ParseTuple(args,"f",&deactive_time))
    {
        if (PHY_GetActiveEnvironment())
        {
            PHY_GetActiveEnvironment()->setDeactivationTime(deactive_time);
        }
    }
    else {
        return NULL;
    }
    Py_RETURN_NONE;
}


static PyObject* gPySetDeactivationLinearTreshold(PyObject* self,
                                                  PyObject* args,
                                                  PyObject* kwds)
{
    float linearDeactivationTreshold;
    if (PyArg_ParseTuple(args,"f",&linearDeactivationTreshold))
    {
        if (PHY_GetActiveEnvironment())
        {
            PHY_GetActiveEnvironment()->setDeactivationLinearTreshold( linearDeactivationTreshold);
        }
    }
    else {
        return NULL;
    }
    Py_RETURN_NONE;
}


static PyObject* gPySetDeactivationAngularTreshold(PyObject* self,
                                                   PyObject* args,
                                                   PyObject* kwds)
{
    float angularDeactivationTreshold;
    if (PyArg_ParseTuple(args,"f",&angularDeactivationTreshold))
    {
        if (PHY_GetActiveEnvironment())
        {
            PHY_GetActiveEnvironment()->setDeactivationAngularTreshold( angularDeactivationTreshold);
        }
    }
    else {
        return NULL;
    }
    Py_RETURN_NONE;
}

static PyObject* gPySetContactBreakingTreshold(PyObject* self,
                                               PyObject* args,
                                               PyObject* kwds)
{
    float contactBreakingTreshold;
    if (PyArg_ParseTuple(args,"f",&contactBreakingTreshold))
    {
        if (PHY_GetActiveEnvironment())
        {
            PHY_GetActiveEnvironment()->setContactBreakingTreshold( contactBreakingTreshold);
        }
    }
    else {
        return NULL;
    }
    Py_RETURN_NONE;
}


static PyObject* gPySetCcdMode(PyObject* self,
                               PyObject* args,
                               PyObject* kwds)
{
    float ccdMode;
    if (PyArg_ParseTuple(args,"f",&ccdMode))
    {
        if (PHY_GetActiveEnvironment())
        {
            PHY_GetActiveEnvironment()->setCcdMode( ccdMode);
        }
    }
    else {
        return NULL;
    }
    Py_RETURN_NONE;
}

static PyObject* gPySetSorConstant(PyObject* self,
                                   PyObject* args,
                                   PyObject* kwds)
{
    float sor;
    if (PyArg_ParseTuple(args,"f",&sor))
    {
        if (PHY_GetActiveEnvironment())
        {
            PHY_GetActiveEnvironment()->setSolverSorConstant( sor);
        }
    }
    else {
        return NULL;
    }
    Py_RETURN_NONE;
}

static PyObject* gPySetSolverTau(PyObject* self,
                                 PyObject* args,
                                 PyObject* kwds)
{
    float tau;
    if (PyArg_ParseTuple(args,"f",&tau))
    {
        if (PHY_GetActiveEnvironment())
        {
            PHY_GetActiveEnvironment()->setSolverTau( tau);
        }
    }
    else {
        return NULL;
    }
    Py_RETURN_NONE;
}


static PyObject* gPySetSolverDamping(PyObject* self,
                                     PyObject* args,
                                     PyObject* kwds)
{
    float damping;
    if (PyArg_ParseTuple(args,"f",&damping))
    {
        if (PHY_GetActiveEnvironment())
        {
            PHY_GetActiveEnvironment()->setSolverDamping( damping);
        }
    }
    else {
        return NULL;
    }
    Py_RETURN_NONE;
}

static PyObject* gPySetLinearAirDamping(PyObject* self,
                                        PyObject* args,
                                        PyObject* kwds)
{
    float damping;
    if (PyArg_ParseTuple(args,"f",&damping))
    {
        if (PHY_GetActiveEnvironment())
        {
            PHY_GetActiveEnvironment()->setLinearAirDamping( damping);
        }
    }
    else {
        return NULL;
    }
    Py_RETURN_NONE;
}


static PyObject* gPySetUseEpa(PyObject* self,
                              PyObject* args,
                              PyObject* kwds)
{
    int epa;
    if (PyArg_ParseTuple(args,"i",&epa))
    {
        if (PHY_GetActiveEnvironment())
        {
            PHY_GetActiveEnvironment()->setUseEpa(epa);
        }
    }
    else {
        return NULL;
    }
    Py_RETURN_NONE;
}
static PyObject* gPySetSolverType(PyObject* self,
                                  PyObject* args,
                                  PyObject* kwds)
{
    int solverType;
    if (PyArg_ParseTuple(args,"i",&solverType))
    {
        if (PHY_GetActiveEnvironment())
        {
            PHY_GetActiveEnvironment()->setSolverType(solverType);
        }
    }
    else {
        return NULL;
    }
    Py_RETURN_NONE;
}



static PyObject* gPyGetVehicleConstraint(PyObject* self,
                                         PyObject* args,
                                         PyObject* kwds)
{
#if defined(_WIN64)
    __int64 constraintid;
    if (PyArg_ParseTuple(args,"L",&constraintid))
#else
    long constraintid;
    if (PyArg_ParseTuple(args,"l",&constraintid))
#endif
    {
        if (PHY_GetActiveEnvironment())
        {
            
            PHY_IVehicle* vehicle = PHY_GetActiveEnvironment()->getVehicleConstraint(constraintid);
            if (vehicle)
            {
                KX_VehicleWrapper* pyWrapper = new KX_VehicleWrapper(vehicle,PHY_GetActiveEnvironment());
                return pyWrapper->NewProxy(true);
            }

        }
    }
    else {
        return NULL;
    }

    Py_RETURN_NONE;
}


static PyObject* gPyCreateConstraint(PyObject* self,
                                         PyObject* args, 
                                         PyObject* kwds)
{
    /* FIXME - physicsid is a long being cast to a pointer, should at least use PyCapsule */
#if defined(_WIN64)
    __int64 physicsid=0,physicsid2 = 0;
#else
    long physicsid=0,physicsid2 = 0;
#endif
    int constrainttype=0, extrainfo=0;
    int len = PyTuple_Size(args);
    int success = 1;
    int flag = 0;

    float pivotX=1,pivotY=1,pivotZ=1,axisX=0,axisY=0,axisZ=1;
    if (len == 3)
    {
#if defined(_WIN64)
        success = PyArg_ParseTuple(args,"LLi",&physicsid,&physicsid2,&constrainttype);
#else
        success = PyArg_ParseTuple(args,"lli",&physicsid,&physicsid2,&constrainttype);
#endif
    }
    else if (len == 6)
    {
#if defined(_WIN64)
        success = PyArg_ParseTuple(args,"LLifff",&physicsid,&physicsid2,&constrainttype,
                                   &pivotX,&pivotY,&pivotZ);
#else
        success = PyArg_ParseTuple(args,"llifff",&physicsid,&physicsid2,&constrainttype,
                                   &pivotX,&pivotY,&pivotZ);
#endif  
    }
    else if (len == 9)
    {
#if defined(_WIN64)
        success = PyArg_ParseTuple(args,"LLiffffff",&physicsid,&physicsid2,&constrainttype,
                                   &pivotX,&pivotY,&pivotZ,&axisX,&axisY,&axisZ);
#else
        success = PyArg_ParseTuple(args,"lliffffff",&physicsid,&physicsid2,&constrainttype,
                                   &pivotX,&pivotY,&pivotZ,&axisX,&axisY,&axisZ);
#endif
    }
    else if (len == 10)
    {
#if defined(_WIN64)
        success = PyArg_ParseTuple(args,"LLiffffffi",&physicsid,&physicsid2,&constrainttype,
                                   &pivotX,&pivotY,&pivotZ,&axisX,&axisY,&axisZ,&flag);
#else
        success = PyArg_ParseTuple(args,"lliffffffi",&physicsid,&physicsid2,&constrainttype,
                                   &pivotX,&pivotY,&pivotZ,&axisX,&axisY,&axisZ,&flag);
#endif
    }

    /* XXX extrainfo seems to be nothing implemented. right now it works as a pivot with [X,0,0] */
    else if (len == 4)
    {
#if defined(_WIN64)
        success = PyArg_ParseTuple(args,"LLii",&physicsid,&physicsid2,&constrainttype,&extrainfo);
#else
        success = PyArg_ParseTuple(args,"llii",&physicsid,&physicsid2,&constrainttype,&extrainfo);
#endif
        pivotX=extrainfo;
    }

    if (success)
    {
        if (PHY_GetActiveEnvironment())
        {
            
            PHY_IPhysicsController* physctrl = (PHY_IPhysicsController*) physicsid;
            PHY_IPhysicsController* physctrl2 = (PHY_IPhysicsController*) physicsid2;
            if (physctrl) //TODO:check for existence of this pointer!
            {
                PHY_ConstraintType ct = (PHY_ConstraintType) constrainttype;
                int constraintid =0;

                if (ct == PHY_GENERIC_6DOF_CONSTRAINT)
                {
                    //convert from euler angle into axis
                    float radsPerDeg = 6.283185307179586232f / 360.f;

                    //we need to pass a full constraint frame, not just axis
                    //localConstraintFrameBasis
                    MT_Matrix3x3 localCFrame(MT_Vector3(radsPerDeg*axisX,radsPerDeg*axisY,radsPerDeg*axisZ));
                    MT_Vector3 axis0 = localCFrame.getColumn(0);
                    MT_Vector3 axis1 = localCFrame.getColumn(1);
                    MT_Vector3 axis2 = localCFrame.getColumn(2);

                    constraintid = 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);
                }
                else {
                    constraintid = PHY_GetActiveEnvironment()->createConstraint(physctrl,physctrl2,(enum PHY_ConstraintType)constrainttype,pivotX,pivotY,pivotZ,axisX,axisY,axisZ,0);
                }
                
                KX_ConstraintWrapper* wrap = new KX_ConstraintWrapper((enum PHY_ConstraintType)constrainttype,constraintid,PHY_GetActiveEnvironment());

                return wrap->NewProxy(true);
            }
            
            
        }
    }
    else {
        return NULL;
    }

    Py_RETURN_NONE;
}




static PyObject* gPyGetAppliedImpulse(PyObject* self,
                                      PyObject* args,
                                      PyObject* kwds)
{
    float   appliedImpulse = 0.f;

#if defined(_WIN64)
    __int64 constraintid;
    if (PyArg_ParseTuple(args,"L",&constraintid))
#else
    long constraintid;
    if (PyArg_ParseTuple(args,"l",&constraintid))
#endif
    {
        if (PHY_GetActiveEnvironment())
        {
            appliedImpulse = PHY_GetActiveEnvironment()->getAppliedImpulse(constraintid);
        }
    }
    else {
        return NULL;
    }

    return PyFloat_FromDouble(appliedImpulse);
}


static PyObject* gPyRemoveConstraint(PyObject* self,
                                     PyObject* args,
                                     PyObject* kwds)
{
#if defined(_WIN64)
    __int64 constraintid;
    if (PyArg_ParseTuple(args,"L",&constraintid))
#else
    long constraintid;
    if (PyArg_ParseTuple(args,"l",&constraintid))
#endif
    {
        if (PHY_GetActiveEnvironment())
        {
            PHY_GetActiveEnvironment()->removeConstraint(constraintid);
        }
    }
    else {
        return NULL;
    }
    
    Py_RETURN_NONE;
}

static PyObject* gPyExportBulletFile(PyObject*, PyObject* args)
{
    char* filename;
    if (!PyArg_ParseTuple(args,"s:exportBulletFile",&filename))
        return NULL;

    if (PHY_GetActiveEnvironment())
    {
        PHY_GetActiveEnvironment()->exportFile(filename);
    }
    Py_RETURN_NONE;
}

static struct PyMethodDef physicsconstraints_methods[] = {
    {"setGravity",(PyCFunction) gPySetGravity,
     METH_VARARGS, (const char*)gPySetGravity__doc__},
    {"setDebugMode",(PyCFunction) gPySetDebugMode,
     METH_VARARGS, (const char *)gPySetDebugMode__doc__},

    {"setNumIterations",(PyCFunction) gPySetNumIterations,
     METH_VARARGS, (const char *)gPySetNumIterations__doc__},

    {"setNumTimeSubSteps",(PyCFunction) gPySetNumTimeSubSteps,
     METH_VARARGS, (const char *)gPySetNumTimeSubSteps__doc__},

    {"setDeactivationTime",(PyCFunction) gPySetDeactivationTime,
     METH_VARARGS, (const char *)gPySetDeactivationTime__doc__},

    {"setDeactivationLinearTreshold",(PyCFunction) gPySetDeactivationLinearTreshold,
     METH_VARARGS, (const char *)gPySetDeactivationLinearTreshold__doc__},
    {"setDeactivationAngularTreshold",(PyCFunction) gPySetDeactivationAngularTreshold,
     METH_VARARGS, (const char *)gPySetDeactivationAngularTreshold__doc__},

    {"setContactBreakingTreshold",(PyCFunction) gPySetContactBreakingTreshold,
     METH_VARARGS, (const char *)gPySetContactBreakingTreshold__doc__},
    {"setCcdMode",(PyCFunction) gPySetCcdMode,
     METH_VARARGS, (const char *)gPySetCcdMode__doc__},
    {"setSorConstant",(PyCFunction) gPySetSorConstant,
     METH_VARARGS, (const char *)gPySetSorConstant__doc__},
    {"setSolverTau",(PyCFunction) gPySetSolverTau,
     METH_VARARGS, (const char *)gPySetSolverTau__doc__},
    {"setSolverDamping",(PyCFunction) gPySetSolverDamping,
     METH_VARARGS, (const char *)gPySetSolverDamping__doc__},

    {"setLinearAirDamping",(PyCFunction) gPySetLinearAirDamping,
     METH_VARARGS, (const char *)gPySetLinearAirDamping__doc__},

    {"setUseEpa",(PyCFunction) gPySetUseEpa,
     METH_VARARGS, (const char *)gPySetUseEpa__doc__},
    {"setSolverType",(PyCFunction) gPySetSolverType,
     METH_VARARGS, (const char *)gPySetSolverType__doc__},


    {"createConstraint",(PyCFunction) gPyCreateConstraint,
     METH_VARARGS, (const char *)gPyCreateConstraint__doc__},
    {"getVehicleConstraint",(PyCFunction) gPyGetVehicleConstraint,
     METH_VARARGS, (const char *)gPyGetVehicleConstraint__doc__},

    {"removeConstraint",(PyCFunction) gPyRemoveConstraint,
     METH_VARARGS, (const char *)gPyRemoveConstraint__doc__},
    {"getAppliedImpulse",(PyCFunction) gPyGetAppliedImpulse,
     METH_VARARGS, (const char *)gPyGetAppliedImpulse__doc__},

    {"exportBulletFile",(PyCFunction)gPyExportBulletFile,
     METH_VARARGS, "export a .bullet file"},

    //sentinel
    { NULL, (PyCFunction) NULL, 0, NULL }
};

static struct PyModuleDef PhysicsConstraints_module_def = {
    {}, /* m_base */
    "PhysicsConstraints",  /* m_name */
    PhysicsConstraints_module_documentation,  /* m_doc */
    0,  /* m_size */
    physicsconstraints_methods,  /* m_methods */
    0,  /* m_reload */
    0,  /* m_traverse */
    0,  /* m_clear */
    0,  /* m_free */
};

PyObject* initPythonConstraintBinding()
{

    PyObject* ErrorObject;
    PyObject* m;
    PyObject* d;
    PyObject* item;

    /* Use existing module where possible
     * be careful not to init any runtime vars after this */
    m = PyImport_ImportModule( "PhysicsConstraints" );
    if(m) {
        Py_DECREF(m);
        return m;
    }
    else {
        PyErr_Clear();
        
        m = PyModule_Create(&PhysicsConstraints_module_def);
        PyDict_SetItemString(PySys_GetObject("modules"), PhysicsConstraints_module_def.m_name, m);
    }

    // Add some symbolic constants to the module
    d = PyModule_GetDict(m);
    ErrorObject = PyUnicode_FromString("PhysicsConstraints.error");
    PyDict_SetItemString(d, "error", ErrorObject);
    Py_DECREF(ErrorObject);

#ifdef USE_BULLET
    //Debug Modes constants to be used with setDebugMode() python function
    KX_MACRO_addTypesToDict(d, DBG_NODEBUG, btIDebugDraw::DBG_NoDebug);
    KX_MACRO_addTypesToDict(d, DBG_DRAWWIREFRAME, btIDebugDraw::DBG_DrawWireframe);
    KX_MACRO_addTypesToDict(d, DBG_DRAWAABB, btIDebugDraw::DBG_DrawAabb);
    KX_MACRO_addTypesToDict(d, DBG_DRAWFREATURESTEXT, btIDebugDraw::DBG_DrawFeaturesText);
    KX_MACRO_addTypesToDict(d, DBG_DRAWCONTACTPOINTS, btIDebugDraw::DBG_DrawContactPoints);
    KX_MACRO_addTypesToDict(d, DBG_NOHELPTEXT, btIDebugDraw::DBG_NoHelpText);
    KX_MACRO_addTypesToDict(d, DBG_DRAWTEXT, btIDebugDraw::DBG_DrawText);
    KX_MACRO_addTypesToDict(d, DBG_PROFILETIMINGS, btIDebugDraw::DBG_ProfileTimings);
    KX_MACRO_addTypesToDict(d, DBG_ENABLESATCOMPARISION, btIDebugDraw::DBG_EnableSatComparison);
    KX_MACRO_addTypesToDict(d, DBG_DISABLEBULLETLCP, btIDebugDraw::DBG_DisableBulletLCP);
    KX_MACRO_addTypesToDict(d, DBG_ENABLECDD, btIDebugDraw::DBG_EnableCCD);
    KX_MACRO_addTypesToDict(d, DBG_DRAWCONSTRAINTS, btIDebugDraw::DBG_DrawConstraints);
    KX_MACRO_addTypesToDict(d, DBG_DRAWCONSTRAINTLIMITS, btIDebugDraw::DBG_DrawConstraintLimits);
    KX_MACRO_addTypesToDict(d, DBG_FASTWIREFRAME, btIDebugDraw::DBG_FastWireframe);
#endif // USE_BULLET

    //Constraint types to be used with createConstraint() python function
    KX_MACRO_addTypesToDict(d, POINTTOPOINT_CONSTRAINT, PHY_POINT2POINT_CONSTRAINT);
    KX_MACRO_addTypesToDict(d, LINEHINGE_CONSTRAINT, PHY_LINEHINGE_CONSTRAINT);
    KX_MACRO_addTypesToDict(d, ANGULAR_CONSTRAINT, PHY_ANGULAR_CONSTRAINT);
    KX_MACRO_addTypesToDict(d, CONETWIST_CONSTRAINT, PHY_CONE_TWIST_CONSTRAINT);
    KX_MACRO_addTypesToDict(d, VEHICLE_CONSTRAINT, PHY_VEHICLE_CONSTRAINT);

    // Check for errors
    if (PyErr_Occurred()) {
        Py_FatalError("can't initialize module PhysicsConstraints");
    }

    return d;
}


void    KX_RemovePythonConstraintBinding()
{
}

void    PHY_SetActiveEnvironment(class  PHY_IPhysicsEnvironment* env)
{
    g_CurrentActivePhysicsEnvironment = env;
}

PHY_IPhysicsEnvironment*    PHY_GetActiveEnvironment()
{
    return g_CurrentActivePhysicsEnvironment;
}

#endif // WITH_PYTHON