461 lines
12 KiB
C++
461 lines
12 KiB
C++
/**
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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 "KX_PyConstraintBinding.h"
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#include "PHY_IPhysicsEnvironment.h"
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#include "KX_ConstraintWrapper.h"
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#include "KX_PhysicsObjectWrapper.h"
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#include "PHY_IPhysicsController.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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// nasty glob variable to connect scripting language
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// if there is a better way (without global), please do so!
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static PHY_IPhysicsEnvironment* g_CurrentActivePhysicsEnvironment = NULL;
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static char PhysicsConstraints_module_documentation[] =
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"This is the Python API for the Physics Constraints";
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static char gPySetGravity__doc__[] = "setGravity(float x,float y,float z)";
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static char gPySetDebugMode__doc__[] = "setDebugMode(int mode)";
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static char gPySetNumIterations__doc__[] = "setNumIterations(int numiter) This sets the number of iterations for an iterative constraint solver";
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static char gPySetDeactivationTime__doc__[] = "setDeactivationTime(float time) This sets the time after which a resting rigidbody gets deactived";
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static char gPySetDeactivationLinearTreshold__doc__[] = "setDeactivationLinearTreshold(float linearTreshold)";
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static char gPySetDeactivationAngularTreshold__doc__[] = "setDeactivationAngularTreshold(float angularTreshold)";
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static char gPySetContactBreakingTreshold__doc__[] = "setContactBreakingTreshold(float breakingTreshold) Reasonable default is 0.02 (if units are meters)";
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static char gPySetCcdMode__doc__[] = "setCcdMode(int ccdMode) Very experimental, not recommended";
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static char gPySetSorConstant__doc__[] = "setSorConstant(float sor) Very experimental, not recommended";
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static char gPySetSolverTau__doc__[] = "setTau(float tau) Very experimental, not recommended";
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static char gPySetSolverDamping__doc__[] = "setDamping(float damping) Very experimental, not recommended";
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static char gPySetLinearAirDamping__doc__[] = "setLinearAirDamping(float damping) Very experimental, not recommended";
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static char gPySetUseEpa__doc__[] = "setUseEpa(int epa) Very experimental, not recommended";
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static char gPySetSolverType__doc__[] = "setSolverType(int solverType) Very experimental, not recommended";
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static char gPyCreateConstraint__doc__[] = "createConstraint(ob1,ob2,float restLength,float restitution,float damping)";
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static char gPyRemoveConstraint__doc__[] = "removeConstraint(constraint id)";
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static PyObject* gPySetGravity(PyObject* self,
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PyObject* args,
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PyObject* kwds)
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{
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float x,y,z;
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int len = PyTuple_Size(args);
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if ((len == 3) && PyArg_ParseTuple(args,"fff",&x,&y,&z))
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{
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if (PHY_GetActiveEnvironment())
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PHY_GetActiveEnvironment()->setGravity(x,y,z);
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}
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Py_INCREF(Py_None); return Py_None;
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}
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static PyObject* gPySetDebugMode(PyObject* self,
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PyObject* args,
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PyObject* kwds)
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{
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int mode;
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if (PyArg_ParseTuple(args,"i",&mode))
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{
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if (PHY_GetActiveEnvironment())
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{
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PHY_GetActiveEnvironment()->setDebugMode(mode);
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}
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}
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Py_INCREF(Py_None); return Py_None;
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}
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static PyObject* gPySetNumIterations(PyObject* self,
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PyObject* args,
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PyObject* kwds)
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{
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int iter;
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if (PyArg_ParseTuple(args,"i",&iter))
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{
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if (PHY_GetActiveEnvironment())
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{
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PHY_GetActiveEnvironment()->setNumIterations(iter);
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}
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}
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Py_INCREF(Py_None); return Py_None;
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}
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static PyObject* gPySetDeactivationTime(PyObject* self,
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PyObject* args,
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PyObject* kwds)
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{
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float deactive_time;
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if (PyArg_ParseTuple(args,"f",&deactive_time))
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{
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if (PHY_GetActiveEnvironment())
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{
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PHY_GetActiveEnvironment()->setDeactivationTime(deactive_time);
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}
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}
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Py_INCREF(Py_None); return Py_None;
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}
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static PyObject* gPySetDeactivationLinearTreshold(PyObject* self,
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PyObject* args,
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PyObject* kwds)
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{
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float linearDeactivationTreshold;
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if (PyArg_ParseTuple(args,"f",&linearDeactivationTreshold))
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{
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if (PHY_GetActiveEnvironment())
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{
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PHY_GetActiveEnvironment()->setDeactivationLinearTreshold( linearDeactivationTreshold);
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}
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}
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Py_INCREF(Py_None); return Py_None;
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}
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static PyObject* gPySetDeactivationAngularTreshold(PyObject* self,
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PyObject* args,
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PyObject* kwds)
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{
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float angularDeactivationTreshold;
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if (PyArg_ParseTuple(args,"f",&angularDeactivationTreshold))
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{
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if (PHY_GetActiveEnvironment())
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{
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PHY_GetActiveEnvironment()->setDeactivationAngularTreshold( angularDeactivationTreshold);
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}
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}
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Py_INCREF(Py_None); return Py_None;
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}
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static PyObject* gPySetContactBreakingTreshold(PyObject* self,
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PyObject* args,
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PyObject* kwds)
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{
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float contactBreakingTreshold;
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if (PyArg_ParseTuple(args,"f",&contactBreakingTreshold))
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{
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if (PHY_GetActiveEnvironment())
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{
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PHY_GetActiveEnvironment()->setContactBreakingTreshold( contactBreakingTreshold);
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}
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}
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Py_INCREF(Py_None); return Py_None;
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}
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static PyObject* gPySetCcdMode(PyObject* self,
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PyObject* args,
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PyObject* kwds)
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{
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float ccdMode;
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if (PyArg_ParseTuple(args,"f",&ccdMode))
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{
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if (PHY_GetActiveEnvironment())
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{
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PHY_GetActiveEnvironment()->setCcdMode( ccdMode);
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}
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}
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Py_INCREF(Py_None); return Py_None;
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}
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static PyObject* gPySetSorConstant(PyObject* self,
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PyObject* args,
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PyObject* kwds)
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{
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float sor;
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if (PyArg_ParseTuple(args,"f",&sor))
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{
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if (PHY_GetActiveEnvironment())
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{
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PHY_GetActiveEnvironment()->setSolverSorConstant( sor);
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}
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}
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Py_INCREF(Py_None); return Py_None;
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}
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static PyObject* gPySetSolverTau(PyObject* self,
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PyObject* args,
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PyObject* kwds)
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{
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float tau;
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if (PyArg_ParseTuple(args,"f",&tau))
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{
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if (PHY_GetActiveEnvironment())
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{
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PHY_GetActiveEnvironment()->setSolverTau( tau);
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}
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}
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Py_INCREF(Py_None); return Py_None;
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}
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static PyObject* gPySetSolverDamping(PyObject* self,
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PyObject* args,
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PyObject* kwds)
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{
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float damping;
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if (PyArg_ParseTuple(args,"f",&damping))
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{
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if (PHY_GetActiveEnvironment())
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{
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PHY_GetActiveEnvironment()->setSolverDamping( damping);
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}
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}
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Py_INCREF(Py_None); return Py_None;
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}
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static PyObject* gPySetLinearAirDamping(PyObject* self,
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PyObject* args,
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PyObject* kwds)
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{
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float damping;
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if (PyArg_ParseTuple(args,"f",&damping))
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{
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if (PHY_GetActiveEnvironment())
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{
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PHY_GetActiveEnvironment()->setLinearAirDamping( damping);
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}
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}
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Py_INCREF(Py_None); return Py_None;
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}
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static PyObject* gPySetUseEpa(PyObject* self,
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PyObject* args,
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PyObject* kwds)
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{
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int epa;
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if (PyArg_ParseTuple(args,"i",&epa))
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{
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if (PHY_GetActiveEnvironment())
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{
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PHY_GetActiveEnvironment()->setUseEpa(epa);
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}
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}
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Py_INCREF(Py_None); return Py_None;
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}
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static PyObject* gPySetSolverType(PyObject* self,
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PyObject* args,
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PyObject* kwds)
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{
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int solverType;
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if (PyArg_ParseTuple(args,"i",&solverType))
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{
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if (PHY_GetActiveEnvironment())
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{
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PHY_GetActiveEnvironment()->setSolverType(solverType);
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}
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}
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Py_INCREF(Py_None); return Py_None;
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}
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static PyObject* gPyCreateConstraint(PyObject* self,
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PyObject* args,
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PyObject* kwds)
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{
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int physicsid=0,physicsid2 = 0,constrainttype=0,extrainfo=0;
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int len = PyTuple_Size(args);
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int success = 1;
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float pivotX=1,pivotY=1,pivotZ=1,axisX=0,axisY=0,axisZ=1;
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if (len == 3)
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{
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success = PyArg_ParseTuple(args,"iii",&physicsid,&physicsid2,&constrainttype);
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}
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else
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if (len ==6)
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{
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success = PyArg_ParseTuple(args,"iiifff",&physicsid,&physicsid2,&constrainttype,
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&pivotX,&pivotY,&pivotZ);
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}
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else if (len == 9)
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{
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success = PyArg_ParseTuple(args,"iiiffffff",&physicsid,&physicsid2,&constrainttype,
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&pivotX,&pivotY,&pivotZ,&axisX,&axisY,&axisZ);
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}
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else if (len==4)
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{
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success = PyArg_ParseTuple(args,"iiii",&physicsid,&physicsid2,&constrainttype,&extrainfo);
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pivotX=extrainfo;
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}
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if (success)
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{
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if (PHY_GetActiveEnvironment())
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{
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PHY_IPhysicsController* physctrl = (PHY_IPhysicsController*) physicsid;
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PHY_IPhysicsController* physctrl2 = (PHY_IPhysicsController*) physicsid2;
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if (physctrl) //TODO:check for existance of this pointer!
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{
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int constraintid = PHY_GetActiveEnvironment()->createConstraint(physctrl,physctrl2,(enum PHY_ConstraintType)constrainttype,pivotX,pivotY,pivotZ,axisX,axisY,axisZ);
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KX_ConstraintWrapper* wrap = new KX_ConstraintWrapper((enum PHY_ConstraintType)constrainttype,constraintid,PHY_GetActiveEnvironment());
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return wrap;
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}
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}
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}
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Py_INCREF(Py_None); return Py_None;
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}
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static PyObject* gPyRemoveConstraint(PyObject* self,
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PyObject* args,
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PyObject* kwds)
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{
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int constraintid;
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if (PyArg_ParseTuple(args,"i",&constraintid))
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{
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if (PHY_GetActiveEnvironment())
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{
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PHY_GetActiveEnvironment()->removeConstraint(constraintid);
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}
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}
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Py_INCREF(Py_None); return Py_None;
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}
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static struct PyMethodDef physicsconstraints_methods[] = {
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{"setGravity",(PyCFunction) gPySetGravity,
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METH_VARARGS, gPySetGravity__doc__},
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{"setDebugMode",(PyCFunction) gPySetDebugMode,
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METH_VARARGS, gPySetDebugMode__doc__},
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/// settings that influence quality of the rigidbody dynamics
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{"setNumIterations",(PyCFunction) gPySetNumIterations,
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METH_VARARGS, gPySetNumIterations__doc__},
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{"setDeactivationTime",(PyCFunction) gPySetDeactivationTime,
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METH_VARARGS, gPySetDeactivationTime__doc__},
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{"setDeactivationLinearTreshold",(PyCFunction) gPySetDeactivationLinearTreshold,
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METH_VARARGS, gPySetDeactivationLinearTreshold__doc__},
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{"setDeactivationAngularTreshold",(PyCFunction) gPySetDeactivationAngularTreshold,
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METH_VARARGS, gPySetDeactivationAngularTreshold__doc__},
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{"setContactBreakingTreshold",(PyCFunction) gPySetContactBreakingTreshold,
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METH_VARARGS, gPySetContactBreakingTreshold__doc__},
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{"setCcdMode",(PyCFunction) gPySetCcdMode,
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METH_VARARGS, gPySetCcdMode__doc__},
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{"setSorConstant",(PyCFunction) gPySetSorConstant,
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METH_VARARGS, gPySetSorConstant__doc__},
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{"setSolverTau",(PyCFunction) gPySetSolverTau,
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METH_VARARGS, gPySetSolverTau__doc__},
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{"setSolverDamping",(PyCFunction) gPySetSolverDamping,
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METH_VARARGS, gPySetSolverDamping__doc__},
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{"setLinearAirDamping",(PyCFunction) gPySetLinearAirDamping,
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METH_VARARGS, gPySetLinearAirDamping__doc__},
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{"setUseEpa",(PyCFunction) gPySetUseEpa,
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METH_VARARGS, gPySetUseEpa__doc__},
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{"setSolverType",(PyCFunction) gPySetSolverType,
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METH_VARARGS, gPySetSolverType__doc__},
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{"createConstraint",(PyCFunction) gPyCreateConstraint,
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METH_VARARGS, gPyCreateConstraint__doc__},
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{"removeConstraint",(PyCFunction) gPyRemoveConstraint,
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METH_VARARGS, gPyRemoveConstraint__doc__},
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//sentinel
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{ NULL, (PyCFunction) NULL, 0, NULL }
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};
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PyObject* initPythonConstraintBinding()
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{
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PyObject* ErrorObject;
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PyObject* m;
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PyObject* d;
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m = Py_InitModule4("PhysicsConstraints", physicsconstraints_methods,
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PhysicsConstraints_module_documentation,
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(PyObject*)NULL,PYTHON_API_VERSION);
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// Add some symbolic constants to the module
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d = PyModule_GetDict(m);
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ErrorObject = PyString_FromString("PhysicsConstraints.error");
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PyDict_SetItemString(d, "error", ErrorObject);
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// XXXX Add constants here
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// Check for errors
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if (PyErr_Occurred())
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{
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Py_FatalError("can't initialize module PhysicsConstraints");
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}
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return d;
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}
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void KX_RemovePythonConstraintBinding()
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{
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}
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void PHY_SetActiveEnvironment(class PHY_IPhysicsEnvironment* env)
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{
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g_CurrentActivePhysicsEnvironment = env;
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}
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PHY_IPhysicsEnvironment* PHY_GetActiveEnvironment()
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{
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return g_CurrentActivePhysicsEnvironment;
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}
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