Added pmxRigidBodyConstraint command - #9
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…ata) - rigid_body_constraint_cmd.hpp/.cpp: native C++ pmxRigidBodyConstraint command (create mode only — the default). Appends ONE PMX joint to an pmxPhysicsNode's 'joints' array at the next free index, replacing the former Python _set_joint_attributes. Pure-interface header; all helpers in an anonymous namespace (same design as pmxRigidBody). Conversions match the old Python writer exactly: frame translate Z-flip, frame rotate MMD radians -> Maya degrees with the handedness flip, and limits/springs VERBATIM (angular stays in PMX radians — the node hands angular values to Bullet unchanged). Validates: joint type 0..5, bodyA/bodyB against the current body count, -index == next free index. - MayaMMD.cpp: register/deregister the command. - rigid_body_builder.py: populate the 'joints' array through the command after every body exists (constraints reference bodies by index). - Import suite: assert joints count + first-joint data mirror the PMX. - 11 new command integration tests (mock scene, no PMX); cmd suite 47 passed, import suite passes with 319 bodies / 496 joints on Miku. - CHANGELOG entry.
…nt names, self-constraint guard Harsh-review findings (PR #9) and fixes: 1. P1 BUG — asymmetric limits were stored MIRRORED. The MMD->Maya conversion is the reflection F = diag(1,1,-1) (Z-flip + rotation negation on X/Y), and the joint limits live in the FRAME's local space, so they must transform under the same reflection. The old writer (and this PR's first cut) passed them through verbatim: a rotation about local X/Y negates under conjugation, so the [min,max] interval negates AND swaps; linear Z negates (local Z axis reverses) so its interval negates AND swaps; angular Z and springs are invariant. On the test model 429/496 joints have asymmetric angular limits (e.g. chest min -0.524..max +0.087) — without the fix they allow rotation in the wrong sense. Confirmed against blender_mmd_tools (which applies the mapping to location limits and negates+swaps rotation limits). Fix: linearMin' = (x, y, -max.z), linearMax' = (x, y, -min.z); angularMin' = (-max.x, -max.y, min.z), angularMax' = (-min.x, -min.y, max.z); springs verbatim. 2. P2 CONSISTENCY — the joint frame was stored in world space while the bodies store group-space rest poses (pmxRigidBody converts). With an identity physics group (import) they coincide; a transformed group would detach the frames from the bodies. Fix: store the frame in group space (world * groupWorld^-1), mirroring pmxRigidBody. 3. P3 DATA FIDELITY — PMX joint names were dropped (the node had no joint-name attributes; bodies store theirs). Fix: add jointNameLocal/jointNameUniversal to the node (additive, not hashed in the config signature like the body names) + -name/-nameUniversal flags + the builder passes them. 4. P4 HARDENING — bodyA == bodyB (a body constraining itself) is degenerate; PMX never produces it (0/496). Fix: reject it. Coverage added: asymmetric limit reflection (real-model chest values), linear-Z swap, group-space frame with a transformed group, self-constraint rejection, joint names; the import suite now asserts the first joint's name/frame/angular-limit reflection against real PMX data. cmd suite 50 passed (36 body + 14 constraint), import 8, node 17.
Second review pass on PR #9: - Refactor: matrixFromTR (translate + XYZ euler degrees -> MMatrix) was duplicated in the rigid_body_cmd and rigid_body_constraint_cmd anonymous namespaces. Consolidated into mmd::maya::matrixFromTR in maya_utils.hpp; both commands now use the shared helper (unused deg2rad using-decls removed). - Hardening: a PMX body that fails to create during import (the builder logs and continues) silently shifts every later PMX body index, so the constraints (and future write-back) would reference WRONG bodies. _populate_rigid_bodies now returns the number created, and create_physics_from_pmx_data logs a prominent warning when it does not match len(pmx_data.rigid_bodies). Verified: all 12,548 joints across every asset model have valid, distinct body references (0 self-joints, 0 out-of-range) — the bodyA!=bodyB and range validations are import-safe for the whole database. cmd 50 passed, import + node suites pass, clang-tidy clean.
Convert the pmxPhysicsNode joints[] jointType child from a plain long to an MFnEnumAttribute, matching the bodyGroupId/bodyColliderType/ bodyPhysicsMode pattern: one field per PMX JointType (Spring6Dof/SixDof/ P2P/ConeTwist/Slider/Hinge, values 0..5), so the Attribute Editor shows a dropdown instead of a raw integer. The command writes it via setShort (like bodyGroupId); readJointData / config signature read it via asInt, unchanged. Storable/keyable set in the enum block (kept out of the numeric loop). - jointType is an enum dropdown in the Attribute Editor. - New cmd test: attributeQuery(listEnum) exposes the six fields; writing type=4 (Slider) round-trips as 4. - cmd suite 51 passed (36 body + 15 constraint), import + node pass.
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Adds the
pmxRigidBodyConstraintcommand that populates thepmxPhysicsNode'sjointsarray with PMX rigid-body constraint data at import time.What
pmxRigidBodyConstraintcommand (create mode only) — native C++ (rigid_body_constraint_cmd.hpp/.cpp), pure-interface header + anonymous-namespace helpers, same design aspmxRigidBody(Added pmxRigidBody command #8).joints[]at the next free index; returns the new index.jointBodyA/jointBodyB,jointType, joint frame, linear/angular limits and springs.bodyA/bodyBin range against the current body count;-indexmust be the next free index. Edit/query rejected (not implemented yet).MayaMMD.cpp+CMakeLists.txt.rigid_body_builder.pypopulatesjoints[]through the command after every body exists (constraints reference bodies by index).