664 lines
16 KiB
C++
664 lines
16 KiB
C++
/**
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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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#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_VehicleWrapper.h"
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#include "KX_PhysicsObjectWrapper.h"
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#include "PHY_IPhysicsController.h"
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#include "PHY_IVehicle.h"
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#include "MT_Matrix3x3.h"
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#include "PyObjectPlus.h"
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#ifdef WITH_PYTHON
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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 gPySetNumTimeSubSteps__doc__[] = "setNumTimeSubSteps(int numsubstep) This sets the number of substeps for each physics proceed. Tradeoff quality for performance.";
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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 gPyGetVehicleConstraint__doc__[] = "getVehicleConstraint(int constraintId)";
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static char gPyRemoveConstraint__doc__[] = "removeConstraint(int constraintId)";
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static char gPyGetAppliedImpulse__doc__[] = "getAppliedImpulse(int constraintId)";
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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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if (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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else {
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return NULL;
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}
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Py_RETURN_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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else {
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return NULL;
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}
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Py_RETURN_NONE;
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}
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static PyObject* gPySetNumTimeSubSteps(PyObject* self,
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PyObject* args,
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PyObject* kwds)
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{
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int substep;
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if (PyArg_ParseTuple(args,"i",&substep))
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{
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if (PHY_GetActiveEnvironment())
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{
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PHY_GetActiveEnvironment()->setNumTimeSubSteps(substep);
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}
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}
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else {
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return NULL;
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}
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Py_RETURN_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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else {
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return NULL;
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}
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Py_RETURN_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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else {
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return NULL;
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}
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Py_RETURN_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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else {
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return NULL;
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}
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Py_RETURN_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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else {
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return NULL;
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}
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Py_RETURN_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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else {
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return NULL;
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}
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Py_RETURN_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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else {
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return NULL;
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}
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Py_RETURN_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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else {
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return NULL;
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}
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Py_RETURN_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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else {
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return NULL;
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}
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Py_RETURN_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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else {
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return NULL;
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}
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Py_RETURN_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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else {
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return NULL;
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}
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Py_RETURN_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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else {
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return NULL;
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}
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Py_RETURN_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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else {
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return NULL;
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}
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Py_RETURN_NONE;
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}
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static PyObject* gPyGetVehicleConstraint(PyObject* self,
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PyObject* args,
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PyObject* kwds)
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{
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#if defined(_WIN64)
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__int64 constraintid;
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if (PyArg_ParseTuple(args,"L",&constraintid))
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#else
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long constraintid;
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if (PyArg_ParseTuple(args,"l",&constraintid))
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#endif
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{
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if (PHY_GetActiveEnvironment())
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{
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PHY_IVehicle* vehicle = PHY_GetActiveEnvironment()->getVehicleConstraint(constraintid);
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if (vehicle)
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{
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KX_VehicleWrapper* pyWrapper = new KX_VehicleWrapper(vehicle,PHY_GetActiveEnvironment());
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return pyWrapper->NewProxy(true);
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}
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}
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}
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else {
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return NULL;
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}
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Py_RETURN_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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int flag = 0;
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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 == 10)
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{
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success = PyArg_ParseTuple(args,"iiiffffffi",&physicsid,&physicsid2,&constrainttype,
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&pivotX,&pivotY,&pivotZ,&axisX,&axisY,&axisZ,&flag);
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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 existence of this pointer!
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{
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PHY_ConstraintType ct = (PHY_ConstraintType) constrainttype;
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int constraintid =0;
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if (ct == PHY_GENERIC_6DOF_CONSTRAINT)
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{
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//convert from euler angle into axis
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float radsPerDeg = 6.283185307179586232f / 360.f;
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|
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//we need to pass a full constraint frame, not just axis
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//localConstraintFrameBasis
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MT_Matrix3x3 localCFrame(MT_Vector3(radsPerDeg*axisX,radsPerDeg*axisY,radsPerDeg*axisZ));
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MT_Vector3 axis0 = localCFrame.getColumn(0);
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MT_Vector3 axis1 = localCFrame.getColumn(1);
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MT_Vector3 axis2 = localCFrame.getColumn(2);
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constraintid = PHY_GetActiveEnvironment()->createConstraint(physctrl,physctrl2,(enum PHY_ConstraintType)constrainttype,
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pivotX,pivotY,pivotZ,
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(float)axis0.x(),(float)axis0.y(),(float)axis0.z(),
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(float)axis1.x(),(float)axis1.y(),(float)axis1.z(),
|
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(float)axis2.x(),(float)axis2.y(),(float)axis2.z(),flag);
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|
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} else
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{
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constraintid = PHY_GetActiveEnvironment()->createConstraint(physctrl,physctrl2,(enum PHY_ConstraintType)constrainttype,pivotX,pivotY,pivotZ,axisX,axisY,axisZ,0);
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}
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KX_ConstraintWrapper* wrap = new KX_ConstraintWrapper((enum PHY_ConstraintType)constrainttype,constraintid,PHY_GetActiveEnvironment());
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return wrap->NewProxy(true);
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}
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}
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}
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else {
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return NULL;
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}
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Py_RETURN_NONE;
|
|
}
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static PyObject* gPyGetAppliedImpulse(PyObject* self,
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PyObject* args,
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PyObject* kwds)
|
|
{
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float appliedImpulse = 0.f;
|
|
|
|
#if defined(_WIN64)
|
|
__int64 constraintid;
|
|
if (PyArg_ParseTuple(args,"L",&constraintid))
|
|
#else
|
|
long constraintid;
|
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if (PyArg_ParseTuple(args,"l",&constraintid))
|
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#endif
|
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{
|
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if (PHY_GetActiveEnvironment())
|
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{
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appliedImpulse = PHY_GetActiveEnvironment()->getAppliedImpulse(constraintid);
|
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}
|
|
}
|
|
else {
|
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return NULL;
|
|
}
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|
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return PyFloat_FromDouble(appliedImpulse);
|
|
}
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|
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|
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static PyObject* gPyRemoveConstraint(PyObject* self,
|
|
PyObject* args,
|
|
PyObject* kwds)
|
|
{
|
|
#if defined(_WIN64)
|
|
__int64 constraintid;
|
|
if (PyArg_ParseTuple(args,"L",&constraintid))
|
|
#else
|
|
long constraintid;
|
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if (PyArg_ParseTuple(args,"l",&constraintid))
|
|
#endif
|
|
{
|
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if (PHY_GetActiveEnvironment())
|
|
{
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PHY_GetActiveEnvironment()->removeConstraint(constraintid);
|
|
}
|
|
}
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else {
|
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return NULL;
|
|
}
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|
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Py_RETURN_NONE;
|
|
}
|
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|
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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, (const char *)gPySetGravity__doc__},
|
|
{"setDebugMode",(PyCFunction) gPySetDebugMode,
|
|
METH_VARARGS, (const char *)gPySetDebugMode__doc__},
|
|
|
|
/// settings that influence quality of the rigidbody dynamics
|
|
{"setNumIterations",(PyCFunction) gPySetNumIterations,
|
|
METH_VARARGS, (const char *)gPySetNumIterations__doc__},
|
|
|
|
{"setNumTimeSubSteps",(PyCFunction) gPySetNumTimeSubSteps,
|
|
METH_VARARGS, (const char *)gPySetNumTimeSubSteps__doc__},
|
|
|
|
{"setDeactivationTime",(PyCFunction) gPySetDeactivationTime,
|
|
METH_VARARGS, (const char *)gPySetDeactivationTime__doc__},
|
|
|
|
{"setDeactivationLinearTreshold",(PyCFunction) gPySetDeactivationLinearTreshold,
|
|
METH_VARARGS, (const char *)gPySetDeactivationLinearTreshold__doc__},
|
|
{"setDeactivationAngularTreshold",(PyCFunction) gPySetDeactivationAngularTreshold,
|
|
METH_VARARGS, (const char *)gPySetDeactivationAngularTreshold__doc__},
|
|
|
|
{"setContactBreakingTreshold",(PyCFunction) gPySetContactBreakingTreshold,
|
|
METH_VARARGS, (const char *)gPySetContactBreakingTreshold__doc__},
|
|
{"setCcdMode",(PyCFunction) gPySetCcdMode,
|
|
METH_VARARGS, (const char *)gPySetCcdMode__doc__},
|
|
{"setSorConstant",(PyCFunction) gPySetSorConstant,
|
|
METH_VARARGS, (const char *)gPySetSorConstant__doc__},
|
|
{"setSolverTau",(PyCFunction) gPySetSolverTau,
|
|
METH_VARARGS, (const char *)gPySetSolverTau__doc__},
|
|
{"setSolverDamping",(PyCFunction) gPySetSolverDamping,
|
|
METH_VARARGS, (const char *)gPySetSolverDamping__doc__},
|
|
|
|
{"setLinearAirDamping",(PyCFunction) gPySetLinearAirDamping,
|
|
METH_VARARGS, (const char *)gPySetLinearAirDamping__doc__},
|
|
|
|
{"setUseEpa",(PyCFunction) gPySetUseEpa,
|
|
METH_VARARGS, (const char *)gPySetUseEpa__doc__},
|
|
{"setSolverType",(PyCFunction) gPySetSolverType,
|
|
METH_VARARGS, (const char *)gPySetSolverType__doc__},
|
|
|
|
|
|
{"createConstraint",(PyCFunction) gPyCreateConstraint,
|
|
METH_VARARGS, (const char *)gPyCreateConstraint__doc__},
|
|
{"getVehicleConstraint",(PyCFunction) gPyGetVehicleConstraint,
|
|
METH_VARARGS, (const char *)gPyGetVehicleConstraint__doc__},
|
|
|
|
{"removeConstraint",(PyCFunction) gPyRemoveConstraint,
|
|
METH_VARARGS, (const char *)gPyRemoveConstraint__doc__},
|
|
{"getAppliedImpulse",(PyCFunction) gPyGetAppliedImpulse,
|
|
METH_VARARGS, (const char *)gPyGetAppliedImpulse__doc__},
|
|
|
|
|
|
//sentinel
|
|
{ NULL, (PyCFunction) NULL, 0, NULL }
|
|
};
|
|
|
|
static struct PyModuleDef PhysicsConstraints_module_def = {
|
|
{}, /* m_base */
|
|
"PhysicsConstraints", /* m_name */
|
|
PhysicsConstraints_module_documentation, /* m_doc */
|
|
0, /* m_size */
|
|
physicsconstraints_methods, /* m_methods */
|
|
0, /* m_reload */
|
|
0, /* m_traverse */
|
|
0, /* m_clear */
|
|
0, /* m_free */
|
|
};
|
|
|
|
PyObject* initPythonConstraintBinding()
|
|
{
|
|
|
|
PyObject* ErrorObject;
|
|
PyObject* m;
|
|
PyObject* d;
|
|
|
|
/* Use existing module where possible
|
|
* be careful not to init any runtime vars after this */
|
|
m = PyImport_ImportModule( "PhysicsConstraints" );
|
|
if(m) {
|
|
Py_DECREF(m);
|
|
return m;
|
|
}
|
|
else {
|
|
PyErr_Clear();
|
|
|
|
m = PyModule_Create(&PhysicsConstraints_module_def);
|
|
PyDict_SetItemString(PySys_GetObject("modules"), PhysicsConstraints_module_def.m_name, m);
|
|
}
|
|
|
|
// Add some symbolic constants to the module
|
|
d = PyModule_GetDict(m);
|
|
ErrorObject = PyUnicode_FromString("PhysicsConstraints.error");
|
|
PyDict_SetItemString(d, "error", ErrorObject);
|
|
Py_DECREF(ErrorObject);
|
|
|
|
// XXXX Add constants here
|
|
|
|
// Check for errors
|
|
if (PyErr_Occurred())
|
|
{
|
|
Py_FatalError("can't initialize module PhysicsConstraints");
|
|
}
|
|
|
|
return d;
|
|
}
|
|
|
|
|
|
void KX_RemovePythonConstraintBinding()
|
|
{
|
|
}
|
|
|
|
void PHY_SetActiveEnvironment(class PHY_IPhysicsEnvironment* env)
|
|
{
|
|
g_CurrentActivePhysicsEnvironment = env;
|
|
}
|
|
|
|
PHY_IPhysicsEnvironment* PHY_GetActiveEnvironment()
|
|
{
|
|
return g_CurrentActivePhysicsEnvironment;
|
|
}
|
|
|
|
#endif // WITH_PYTHON
|
|
|