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BGE patch #18051: add localInertia attribute to GameObject.

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This commit is contained in:
Benoit Bolsee 2009-04-08 16:25:00 +00:00
parent 2074128fad
commit 370850146f
8 changed files with 53 additions and 3 deletions
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14
source/gameengine/Ketsji/KX_BulletPhysicsController.cpp
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@ -162,6 +162,20 @@ MT_Scalar KX_BulletPhysicsController::GetMass()
}
MT_Vector3 KX_BulletPhysicsController::GetLocalInertia()
{
MT_Vector3 inertia(0.f, 0.f, 0.f);
btVector3 inv_inertia;
if (GetRigidBody()) {
inv_inertia = GetRigidBody()->getInvInertiaDiagLocal();
if (!btFuzzyZero(inv_inertia.getX()) &&
!btFuzzyZero(inv_inertia.getY()) &&
!btFuzzyZero(inv_inertia.getZ()))
inertia = MT_Vector3(1.f/inv_inertia.getX(), 1.f/inv_inertia.getY(), 1.f/inv_inertia.getZ());
}
return inertia;
}
MT_Scalar KX_BulletPhysicsController::GetRadius()
{
return MT_Scalar(CcdPhysicsController::GetRadius());

1
source/gameengine/Ketsji/KX_BulletPhysicsController.h
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@ -42,6 +42,7 @@ public:
virtual void setScaling(const MT_Vector3& scaling);
virtual MT_Scalar GetMass();
virtual void SetMass(MT_Scalar newmass);
virtual MT_Vector3 GetLocalInertia();
virtual MT_Vector3 getReactionForce();
virtual void setRigidBody(bool rigid);
virtual void AddCompoundChild(KX_IPhysicsController* child);

22
source/gameengine/Ketsji/KX_GameObject.cpp
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@ -772,6 +772,16 @@ MT_Scalar KX_GameObject::GetMass()
return 0.0;
}
MT_Vector3 KX_GameObject::GetLocalInertia()
{
MT_Vector3 local_inertia(0.0,0.0,0.0);
if (m_pPhysicsController1)
{
local_inertia = m_pPhysicsController1->GetLocalInertia();
}
return local_inertia;
}
MT_Vector3 KX_GameObject::GetLinearVelocity(bool local)
{
MT_Vector3 velocity(0.0,0.0,0.0), locvel;
@ -1050,6 +1060,7 @@ PyAttributeDef KX_GameObject::Attributes[] = {
KX_PYATTRIBUTE_RW_FUNCTION("mass", KX_GameObject, pyattr_get_mass, pyattr_set_mass),
KX_PYATTRIBUTE_RW_FUNCTION("visible", KX_GameObject, pyattr_get_visible, pyattr_set_visible),
KX_PYATTRIBUTE_RW_FUNCTION("position", KX_GameObject, pyattr_get_position, pyattr_set_position),
KX_PYATTRIBUTE_RO_FUNCTION("localInertia", KX_GameObject, pyattr_get_localInertia),
KX_PYATTRIBUTE_RW_FUNCTION("orientation",KX_GameObject,pyattr_get_orientation,pyattr_set_orientation),
KX_PYATTRIBUTE_RW_FUNCTION("scaling", KX_GameObject, pyattr_get_scaling, pyattr_set_scaling),
KX_PYATTRIBUTE_RW_FUNCTION("timeOffset",KX_GameObject, pyattr_get_timeOffset,pyattr_set_timeOffset),
@ -1305,6 +1316,15 @@ int KX_GameObject::pyattr_set_position(void *self_v, const KX_PYATTRIBUTE_DEF *a
return 0;
}
PyObject* KX_GameObject::pyattr_get_localInertia(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef)
{
KX_GameObject* self= static_cast<KX_GameObject*>(self_v);
if (self->GetPhysicsController())
{
return PyObjectFrom(self->GetPhysicsController()->GetLocalInertia());
}
Py_RETURN_NONE;
}
PyObject* KX_GameObject::pyattr_get_orientation(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef)
{
@ -1722,8 +1742,6 @@ PyObject* KX_GameObject::PyGetMass(PyObject* self)
return PyFloat_FromDouble((GetPhysicsController() != NULL) ? GetPhysicsController()->GetMass() : 0.0f);
}
PyObject* KX_GameObject::PyGetReactionForce(PyObject* self)
{
// only can get the velocity if we have a physics object connected to us...

8
source/gameengine/Ketsji/KX_GameObject.h
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@ -281,6 +281,12 @@ public:
MT_Scalar
GetMass();
/**
* Return the local inertia vector of the object
*/
MT_Vector3
GetLocalInertia();
/**
* Return the angular velocity of the game object.
*/
@ -820,6 +826,8 @@ public:
static int pyattr_set_visible(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef, PyObject *value);
static PyObject* pyattr_get_position(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef);
static int pyattr_set_position(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef, PyObject *value);
static PyObject* pyattr_get_localInertia(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef);
static int pyattr_set_localInertia(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef, PyObject *value);
static PyObject* pyattr_get_orientation(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef);
static int pyattr_set_orientation(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef, PyObject *value);
static PyObject* pyattr_get_scaling(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef);

1
source/gameengine/Ketsji/KX_IPhysicsController.h
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@ -79,6 +79,7 @@ public:
virtual void setScaling(const MT_Vector3& scaling)=0;
virtual MT_Scalar GetMass()=0;
virtual void SetMass(MT_Scalar newmass)=0;
virtual MT_Vector3 GetLocalInertia()=0;
virtual MT_Vector3 getReactionForce()=0;
virtual void setRigidBody(bool rigid)=0;
virtual void AddCompoundChild(KX_IPhysicsController* child) = 0;

5
source/gameengine/Ketsji/KX_SumoPhysicsController.cpp
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@ -209,6 +209,11 @@ void KX_SumoPhysicsController::SetMass(MT_Scalar newmass)
{
}
MT_Vector3 KX_SumoPhysicsController::GetLocalInertia()
{
return MT_Vector3(0.f, 0.f, 0.f); // \todo
}
MT_Scalar KX_SumoPhysicsController::GetRadius()
{
return SumoPhysicsController::GetRadius();

1
source/gameengine/Ketsji/KX_SumoPhysicsController.h
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@ -88,6 +88,7 @@ public:
virtual void setScaling(const MT_Vector3& scaling);
virtual MT_Scalar GetMass();
virtual void SetMass(MT_Scalar newmass);
virtual MT_Vector3 GetLocalInertia();
virtual MT_Scalar GetRadius();
virtual MT_Vector3 getReactionForce();
virtual void setRigidBody(bool rigid);

4
source/gameengine/PyDoc/KX_GameObject.py
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@ -16,8 +16,10 @@ class KX_GameObject: # (SCA_IObject)
@ivar name: The object's name. (Read only)
- note: Currently (Blender 2.49) the prefix "OB" is added to all objects name. This may change in blender 2.5.
@type name: string.
@ivar mass: The object's mass (provided the object has a physics controller). Read only.
@ivar mass: The object's mass (provided the object has a physics controller).
@type mass: float
@ivar localInertia: the object's inertia vector in local coordinates. Read only.
@type localInertia: list [ix, iy, iz]
@ivar parent: The object's parent object. (Read only)
@type parent: L{KX_GameObject} or None
@ivar visible: visibility flag.