226 lines
6.4 KiB
C++
226 lines
6.4 KiB
C++
/**
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* Do translation/rotation actions
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*
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* $Id$
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*
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* ***** BEGIN GPL LICENSE BLOCK *****
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*
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* This program is free software; you can redistribute it and/or
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* modify it under the terms of the GNU General Public License
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* as published by the Free Software Foundation; either version 2
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* of the License, or (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program; if not, write to the Free Software Foundation,
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* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
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*
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* The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
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* All rights reserved.
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*
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* The Original Code is: all of this file.
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*
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* Contributor(s): none yet.
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*
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* ***** END GPL LICENSE BLOCK *****
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*/
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#ifndef __KX_OBJECTACTUATOR
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#define __KX_OBJECTACTUATOR
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#include "SCA_IActuator.h"
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#include "MT_Vector3.h"
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#ifdef USE_MATHUTILS
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void KX_ObjectActuator_Mathutils_Callback_Init(void);
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#endif
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class KX_GameObject;
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//
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// Stores the flags for each CValue derived class
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//
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struct KX_LocalFlags {
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KX_LocalFlags() :
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Force(false),
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Torque(false),
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DRot(false),
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DLoc(false),
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LinearVelocity(false),
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AngularVelocity(false),
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AddOrSetLinV(false),
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ZeroForce(false),
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ZeroDRot(false),
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ZeroDLoc(false),
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ZeroLinearVelocity(false),
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ZeroAngularVelocity(false)
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{
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}
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bool Force;
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bool Torque;
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bool DRot;
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bool DLoc;
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bool LinearVelocity;
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bool AngularVelocity;
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bool AddOrSetLinV;
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bool ServoControl;
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bool ZeroForce;
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bool ZeroTorque;
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bool ZeroDRot;
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bool ZeroDLoc;
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bool ZeroLinearVelocity;
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bool ZeroAngularVelocity;
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};
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class KX_ObjectActuator : public SCA_IActuator
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{
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Py_Header;
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MT_Vector3 m_force;
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MT_Vector3 m_torque;
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MT_Vector3 m_dloc;
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MT_Vector3 m_drot;
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MT_Vector3 m_linear_velocity;
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MT_Vector3 m_angular_velocity;
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MT_Vector3 m_pid;
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MT_Scalar m_linear_length2;
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MT_Scalar m_angular_length2;
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// used in damping
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MT_Scalar m_current_linear_factor;
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MT_Scalar m_current_angular_factor;
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short m_damping;
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// used in servo control
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MT_Vector3 m_previous_error;
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MT_Vector3 m_error_accumulator;
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KX_LocalFlags m_bitLocalFlag;
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KX_GameObject* m_reference;
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// A hack bool -- oh no sorry everyone
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// This bool is used to check if we have informed
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// the physics object that we are no longer
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// setting linear velocity.
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bool m_active_combined_velocity;
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bool m_linear_damping_active;
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bool m_angular_damping_active;
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public:
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enum KX_OBJECT_ACT_VEC_TYPE {
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KX_OBJECT_ACT_NODEF = 0,
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KX_OBJECT_ACT_FORCE,
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KX_OBJECT_ACT_TORQUE,
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KX_OBJECT_ACT_DLOC,
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KX_OBJECT_ACT_DROT,
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KX_OBJECT_ACT_LINEAR_VELOCITY,
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KX_OBJECT_ACT_ANGULAR_VELOCITY,
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KX_OBJECT_ACT_MAX
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};
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/**
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* Check whether this is a valid vector mode
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*/
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bool isValid(KX_OBJECT_ACT_VEC_TYPE type);
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KX_ObjectActuator(
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SCA_IObject* gameobj,
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KX_GameObject* refobj,
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const MT_Vector3& force,
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const MT_Vector3& torque,
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const MT_Vector3& dloc,
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const MT_Vector3& drot,
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const MT_Vector3& linV,
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const MT_Vector3& angV,
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const short damping,
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const KX_LocalFlags& flag
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);
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~KX_ObjectActuator();
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CValue* GetReplica();
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void ProcessReplica();
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bool UnlinkObject(SCA_IObject* clientobj);
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void Relink(GEN_Map<GEN_HashedPtr, void*> *obj_map);
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void SetForceLoc(const double force[3]) { /*m_force=force;*/ }
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void UpdateFuzzyFlags()
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{
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m_bitLocalFlag.ZeroForce = MT_fuzzyZero(m_force);
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m_bitLocalFlag.ZeroTorque = MT_fuzzyZero(m_torque);
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m_bitLocalFlag.ZeroDLoc = MT_fuzzyZero(m_dloc);
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m_bitLocalFlag.ZeroDRot = MT_fuzzyZero(m_drot);
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m_bitLocalFlag.ZeroLinearVelocity = MT_fuzzyZero(m_linear_velocity);
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m_linear_length2 = (m_bitLocalFlag.ZeroLinearVelocity) ? 0.0 : m_linear_velocity.length2();
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m_bitLocalFlag.ZeroAngularVelocity = MT_fuzzyZero(m_angular_velocity);
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m_angular_length2 = (m_bitLocalFlag.ZeroAngularVelocity) ? 0.0 : m_angular_velocity.length2();
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}
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virtual bool Update();
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#ifndef DISABLE_PYTHON
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/* --------------------------------------------------------------------- */
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/* Python interface ---------------------------------------------------- */
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/* --------------------------------------------------------------------- */
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/* Attributes */
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static PyObject* pyattr_get_forceLimitX(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef);
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static int pyattr_set_forceLimitX(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef, PyObject *value);
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static PyObject* pyattr_get_forceLimitY(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef);
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static int pyattr_set_forceLimitY(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef, PyObject *value);
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static PyObject* pyattr_get_forceLimitZ(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef);
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static int pyattr_set_forceLimitZ(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef, PyObject *value);
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static PyObject* pyattr_get_reference(void *self, const struct KX_PYATTRIBUTE_DEF *attrdef);
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static int pyattr_set_reference(void *self, const struct KX_PYATTRIBUTE_DEF *attrdef, PyObject *value);
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#ifdef USE_MATHUTILS
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static PyObject* pyattr_get_linV(void *self, const struct KX_PYATTRIBUTE_DEF *attrdef);
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static int pyattr_set_linV(void *self, const struct KX_PYATTRIBUTE_DEF *attrdef, PyObject *value);
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static PyObject* pyattr_get_angV(void *self, const struct KX_PYATTRIBUTE_DEF *attrdef);
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static int pyattr_set_angV(void *self, const struct KX_PYATTRIBUTE_DEF *attrdef, PyObject *value);
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#endif
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// This lets the attribute macros use UpdateFuzzyFlags()
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static int PyUpdateFuzzyFlags(void *self, const PyAttributeDef *attrdef)
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{
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KX_ObjectActuator* act = reinterpret_cast<KX_ObjectActuator*>(self);
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act->UpdateFuzzyFlags();
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return 0;
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}
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// This is the keep the PID values in check after they are assigned with Python
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static int PyCheckPid(void *self, const PyAttributeDef *attrdef)
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{
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KX_ObjectActuator* act = reinterpret_cast<KX_ObjectActuator*>(self);
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//P 0 to 200
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if (act->m_pid[0] < 0) {
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act->m_pid[0] = 0;
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} else if (act->m_pid[0] > 200) {
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act->m_pid[0] = 200;
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}
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//I 0 to 3
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if (act->m_pid[1] < 0) {
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act->m_pid[1] = 0;
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} else if (act->m_pid[1] > 3) {
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act->m_pid[1] = 3;
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}
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//D -100 to 100
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if (act->m_pid[2] < -100) {
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act->m_pid[2] = -100;
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} else if (act->m_pid[2] > 100) {
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act->m_pid[2] = 100;
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}
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return 0;
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}
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#endif // DISABLE_PYTHON
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};
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#endif //__KX_OBJECTACTUATOR
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