209a2ede2c
#ifdef HAVE_CONFIG_H #include <config.h> #endif added to these files. Kent -- mein@cs.umn.edu
375 lines
11 KiB
C++
375 lines
11 KiB
C++
/**
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* Apply a constraint to a position or rotation value
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*
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* $Id$
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*
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* ***** BEGIN GPL/BL DUAL 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. The Blender
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* Foundation also sells licenses for use in proprietary software under
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* the Blender License. See http://www.blender.org/BL/ for information
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* about this.
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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., 59 Temple Place - Suite 330, Boston, MA 02111-1307, 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/BL DUAL LICENSE BLOCK *****
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*/
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#include "SCA_IActuator.h"
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#include "KX_ConstraintActuator.h"
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#include "SCA_IObject.h"
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#include "MT_Point3.h"
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#include "MT_Matrix3x3.h"
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#include "KX_GameObject.h"
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#ifdef HAVE_CONFIG_H
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#include <config.h>
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#endif
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/* ------------------------------------------------------------------------- */
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/* Native functions */
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/* ------------------------------------------------------------------------- */
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KX_ConstraintActuator::KX_ConstraintActuator(SCA_IObject *gameobj,
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int dampTime,
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float minBound,
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float maxBound,
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int locrotxyz,
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PyTypeObject* T)
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: SCA_IActuator(gameobj, T)
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{
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m_dampTime = dampTime;
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m_locrot = locrotxyz;
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/* The units of bounds are determined by the type of constraint. To */
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/* make the constraint application easier and more transparent later on, */
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/* I think converting the bounds to the applicable domain makes more */
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/* sense. */
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switch (m_locrot) {
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case KX_ACT_CONSTRAINT_LOCX:
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case KX_ACT_CONSTRAINT_LOCY:
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case KX_ACT_CONSTRAINT_LOCZ:
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m_minimumBound = minBound;
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m_maximumBound = maxBound;
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break;
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case KX_ACT_CONSTRAINT_ROTX:
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case KX_ACT_CONSTRAINT_ROTY:
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case KX_ACT_CONSTRAINT_ROTZ:
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/* The user interface asks for degrees, we are radian. */
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m_minimumBound = MT_radians(minBound);
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m_maximumBound = MT_radians(maxBound);
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break;
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default:
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; /* error */
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}
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} /* End of constructor */
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KX_ConstraintActuator::~KX_ConstraintActuator()
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{
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// there's nothing to be done here, really....
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} /* end of destructor */
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bool KX_ConstraintActuator::Update(double curtime,double deltatime)
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{
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bool result = false;
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bool bNegativeEvent = IsNegativeEvent();
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RemoveAllEvents();
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if (bNegativeEvent)
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return false; // do nothing on negative events
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/* Constraint clamps the values to the specified range, with a sort of */
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/* low-pass filtered time response, if the damp time is unequal to 0. */
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/* Having to retrieve location/rotation and setting it afterwards may not */
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/* be efficient enough... Somthing to look at later. */
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KX_GameObject *parent = (KX_GameObject*) GetParent();
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MT_Point3 position = parent->NodeGetWorldPosition();
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MT_Matrix3x3 rotation = parent->NodeGetWorldOrientation();
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// MT_Vector3 eulerrot = rotation.getEuler();
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switch (m_locrot) {
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case KX_ACT_CONSTRAINT_LOCX:
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Clamp(position[0], m_minimumBound, m_maximumBound);
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break;
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case KX_ACT_CONSTRAINT_LOCY:
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Clamp(position[1], m_minimumBound, m_maximumBound);
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break;
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case KX_ACT_CONSTRAINT_LOCZ:
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Clamp(position[2], m_minimumBound, m_maximumBound);
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break;
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// case KX_ACT_CONSTRAINT_ROTX:
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// /* The angles are Euler angles (I think that's what they are called) */
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// /* but we need to convert from/to the MT_Matrix3x3. */
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// Clamp(eulerrot[0], m_minimumBound, m_maximumBound);
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// break;
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// case KX_ACT_CONSTRAINT_ROTY:
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// Clamp(eulerrot[1], m_minimumBound, m_maximumBound);
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// break;
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// case KX_ACT_CONSTRAINT_ROTZ:
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// Clamp(eulerrot[2], m_minimumBound, m_maximumBound);
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// break;
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// default:
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// ; /* error */
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}
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/* Will be replaced by a filtered clamp. */
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switch (m_locrot) {
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case KX_ACT_CONSTRAINT_LOCX:
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case KX_ACT_CONSTRAINT_LOCY:
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case KX_ACT_CONSTRAINT_LOCZ:
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parent->NodeSetLocalPosition(position);
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break;
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// case KX_ACT_CONSTRAINT_ROTX:
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// case KX_ACT_CONSTRAINT_ROTY:
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// case KX_ACT_CONSTRAINT_ROTZ:
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// rotation.setEuler(eulerrot);
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// parent->NodeSetLocalOrientation(rotation);
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break;
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default:
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; /* error */
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}
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return false;
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} /* end of KX_ConstraintActuator::Update(double curtime,double deltatime) */
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void KX_ConstraintActuator::Clamp(MT_Scalar &var,
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float min,
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float max) {
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if (var < min) {
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var = min;
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} else if (var > max) {
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var = max;
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}
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}
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bool KX_ConstraintActuator::IsValidMode(KX_ConstraintActuator::KX_CONSTRAINTTYPE m)
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{
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bool res = false;
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if ( (m > KX_ACT_CONSTRAINT_NODEF) && (m < KX_ACT_CONSTRAINT_MAX)) {
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res = true;
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}
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return res;
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}
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/* ------------------------------------------------------------------------- */
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/* Python functions */
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/* ------------------------------------------------------------------------- */
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/* Integration hooks ------------------------------------------------------- */
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PyTypeObject KX_ConstraintActuator::Type = {
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PyObject_HEAD_INIT(&PyType_Type)
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0,
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"KX_ConstraintActuator",
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sizeof(KX_ConstraintActuator),
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0,
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PyDestructor,
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0,
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__getattr,
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__setattr,
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0, //&MyPyCompare,
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__repr,
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0, //&cvalue_as_number,
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0,
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0,
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0,
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0
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};
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PyParentObject KX_ConstraintActuator::Parents[] = {
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&KX_ConstraintActuator::Type,
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&SCA_IActuator::Type,
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&SCA_ILogicBrick::Type,
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&CValue::Type,
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NULL
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};
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PyMethodDef KX_ConstraintActuator::Methods[] = {
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{"setDamp", (PyCFunction) KX_ConstraintActuator::sPySetDamp, METH_VARARGS, SetDamp_doc},
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{"getDamp", (PyCFunction) KX_ConstraintActuator::sPyGetDamp, METH_VARARGS, GetDamp_doc},
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{"setMin", (PyCFunction) KX_ConstraintActuator::sPySetMin, METH_VARARGS, SetMin_doc},
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{"getMin", (PyCFunction) KX_ConstraintActuator::sPyGetMin, METH_VARARGS, GetMin_doc},
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{"setMax", (PyCFunction) KX_ConstraintActuator::sPySetMax, METH_VARARGS, SetMax_doc},
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{"getMax", (PyCFunction) KX_ConstraintActuator::sPyGetMax, METH_VARARGS, GetMax_doc},
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{"setLimit", (PyCFunction) KX_ConstraintActuator::sPySetLimit, METH_VARARGS, SetLimit_doc},
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{"getLimit", (PyCFunction) KX_ConstraintActuator::sPyGetLimit, METH_VARARGS, GetLimit_doc},
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{NULL,NULL} //Sentinel
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};
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PyObject* KX_ConstraintActuator::_getattr(char* attr) {
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_getattr_up(SCA_IActuator);
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}
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/* 2. setDamp */
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char KX_ConstraintActuator::SetDamp_doc[] =
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"setDamp(duration)\n"
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"\t- duration: integer\n"
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"\tSets the time with which the constraint application is delayed.\n"
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"\tIf the duration is negative, it is set to 0.\n";
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PyObject* KX_ConstraintActuator::PySetDamp(PyObject* self,
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PyObject* args,
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PyObject* kwds) {
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int dampArg;
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if(!PyArg_ParseTuple(args, "i", &dampArg)) {
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return NULL;
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}
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m_dampTime = dampArg;
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if (m_dampTime < 0) m_dampTime = 0;
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Py_Return;
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}
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/* 3. getDamp */
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char KX_ConstraintActuator::GetDamp_doc[] =
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"GetDamp()\n"
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"\tReturns the damping time for application of the constraint.\n";
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PyObject* KX_ConstraintActuator::PyGetDamp(PyObject* self,
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PyObject* args,
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PyObject* kwds){
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return PyInt_FromLong(m_dampTime);
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}
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/* 4. setMin */
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char KX_ConstraintActuator::SetMin_doc[] =
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"setMin(lower_bound)\n"
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"\t- lower_bound: float\n"
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"\tSets the lower value of the interval to which the value\n"
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"\tis clipped.\n";
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PyObject* KX_ConstraintActuator::PySetMin(PyObject* self,
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PyObject* args,
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PyObject* kwds) {
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float minArg;
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if(!PyArg_ParseTuple(args, "f", &minArg)) {
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return NULL;
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}
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switch (m_locrot) {
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case KX_ACT_CONSTRAINT_LOCX:
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case KX_ACT_CONSTRAINT_LOCY:
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case KX_ACT_CONSTRAINT_LOCZ:
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m_minimumBound = minArg;
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break;
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case KX_ACT_CONSTRAINT_ROTX:
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case KX_ACT_CONSTRAINT_ROTY:
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case KX_ACT_CONSTRAINT_ROTZ:
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m_minimumBound = MT_radians(minArg);
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break;
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default:
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; /* error */
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}
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Py_Return;
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}
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/* 5. getMin */
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char KX_ConstraintActuator::GetMin_doc[] =
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"getMin()\n"
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"\tReturns the lower value of the interval to which the value\n"
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"\tis clipped.\n";
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PyObject* KX_ConstraintActuator::PyGetMin(PyObject* self,
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PyObject* args,
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PyObject* kwds) {
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return PyFloat_FromDouble(m_minimumBound);
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}
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/* 6. setMax */
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char KX_ConstraintActuator::SetMax_doc[] =
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"setMax(upper_bound)\n"
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"\t- upper_bound: float\n"
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"\tSets the upper value of the interval to which the value\n"
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"\tis clipped.\n";
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PyObject* KX_ConstraintActuator::PySetMax(PyObject* self,
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PyObject* args,
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PyObject* kwds){
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float maxArg;
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if(!PyArg_ParseTuple(args, "f", &maxArg)) {
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return NULL;
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}
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switch (m_locrot) {
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case KX_ACT_CONSTRAINT_LOCX:
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case KX_ACT_CONSTRAINT_LOCY:
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case KX_ACT_CONSTRAINT_LOCZ:
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m_maximumBound = maxArg;
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break;
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case KX_ACT_CONSTRAINT_ROTX:
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case KX_ACT_CONSTRAINT_ROTY:
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case KX_ACT_CONSTRAINT_ROTZ:
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m_maximumBound = MT_radians(maxArg);
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break;
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default:
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; /* error */
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}
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Py_Return;
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}
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/* 7. getMax */
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char KX_ConstraintActuator::GetMax_doc[] =
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"getMax()\n"
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"\tReturns the upper value of the interval to which the value\n"
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"\tis clipped.\n";
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PyObject* KX_ConstraintActuator::PyGetMax(PyObject* self,
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PyObject* args,
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PyObject* kwds) {
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return PyFloat_FromDouble(m_maximumBound);
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}
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/* This setter/getter probably for the constraint type */
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/* 8. setLimit */
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char KX_ConstraintActuator::SetLimit_doc[] =
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"setLimit(type)\n"
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"\t- type: KX_CONSTRAINTACT_LOCX, KX_CONSTRAINTACT_LOCY,\n"
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"\t KX_CONSTRAINTACT_LOCZ, KX_CONSTRAINTACT_ROTX,\n"
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"\t KX_CONSTRAINTACT_ROTY, or KX_CONSTRAINTACT_ROTZ.\n"
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"\tSets the type of constraint.\n";
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PyObject* KX_ConstraintActuator::PySetLimit(PyObject* self,
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PyObject* args,
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PyObject* kwds) {
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int locrotArg;
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if(!PyArg_ParseTuple(args, "i", &locrotArg)) {
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return NULL;
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}
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if (IsValidMode((KX_CONSTRAINTTYPE)locrotArg)) m_locrot = locrotArg;
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Py_Return;
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}
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/* 9. getLimit */
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char KX_ConstraintActuator::GetLimit_doc[] =
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"getLimit(type)\n"
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"\tReturns the type of constraint.\n";
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PyObject* KX_ConstraintActuator::PyGetLimit(PyObject* self,
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PyObject* args,
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PyObject* kwds) {
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return PyInt_FromLong(m_locrot);
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}
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/* eof */
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