15c105c157
This patch introduces two options for the motion actuator: damping: number of frames to reach the target velocity. It takes into account the startup velocityin the target velocity direction and add 1/damping fraction of target velocity until the full velocity is reached. Works only with linear and angular velocity. It will be extended to delta and force motion method in a future release. clamping: apply the force and torque as long as the target velocity is not reached. If this option is set, the velocity specified in linV or angV are not applied to the object but used as target velocity. You should also specify a force in force or torque field: the force will be applied as long as the velocity along the axis of the vector set in linV or angV is not reached. Works best in low friction environment.
493 lines
15 KiB
C++
493 lines
15 KiB
C++
/**
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* Do translation/rotation actions
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*
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* $Id$
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*
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* ***** BEGIN GPL LICENSE BLOCK *****
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*
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* This program is free software; you can redistribute it and/or
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* modify it under the terms of the GNU General Public License
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* as published by the Free Software Foundation; either version 2
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* of the License, or (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program; if not, write to the Free Software Foundation,
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* Inc., 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 LICENSE BLOCK *****
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*/
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#include "KX_ObjectActuator.h"
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#include "KX_GameObject.h"
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#include "KX_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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/* ------------------------------------------------------------------------- */
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/* Native functions */
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/* ------------------------------------------------------------------------- */
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KX_ObjectActuator::
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KX_ObjectActuator(
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SCA_IObject* gameobj,
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const MT_Vector3& force,
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const MT_Vector3& torque,
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const MT_Vector3& dloc,
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const MT_Vector3& drot,
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const MT_Vector3& linV,
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const MT_Vector3& angV,
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const short damping,
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const KX_LocalFlags& flag,
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PyTypeObject* T
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) :
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SCA_IActuator(gameobj,T),
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m_force(force),
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m_torque(torque),
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m_dloc(dloc),
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m_drot(drot),
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m_linear_velocity(linV),
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m_angular_velocity(angV),
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m_linear_length2(0.0),
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m_current_linear_factor(0.0),
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m_current_angular_factor(0.0),
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m_damping(damping),
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m_bitLocalFlag (flag),
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m_active_combined_velocity (false),
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m_linear_damping_active(false),
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m_angular_damping_active(false)
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{
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UpdateFuzzyFlags();
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}
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bool KX_ObjectActuator::Update()
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{
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bool bNegativeEvent = IsNegativeEvent();
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RemoveAllEvents();
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KX_GameObject *parent = static_cast<KX_GameObject *>(GetParent());
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if (bNegativeEvent) {
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// If we previously set the linear velocity we now have to inform
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// the physics controller that we no longer wish to apply it and that
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// it should reconcile the externally set velocity with it's
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// own velocity.
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if (m_active_combined_velocity) {
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parent->ResolveCombinedVelocities(
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m_linear_velocity,
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m_angular_velocity,
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(m_bitLocalFlag.LinearVelocity) != 0,
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(m_bitLocalFlag.AngularVelocity) != 0
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);
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m_active_combined_velocity = false;
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}
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m_linear_damping_active = false;
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return false;
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} else
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if (parent)
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{
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if (!m_bitLocalFlag.ZeroForce)
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{
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if (m_bitLocalFlag.ClampVelocity && !m_bitLocalFlag.ZeroLinearVelocity)
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{
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// The user is requesting not to exceed the velocity set in m_linear_velocity
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// The verification is done by projecting the actual speed along the linV direction
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// and comparing it with the linV vector length
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MT_Vector3 linV;
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linV = parent->GetLinearVelocity(m_bitLocalFlag.LinearVelocity);
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if (linV.dot(m_linear_velocity) < m_linear_length2)
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parent->ApplyForce(m_force,(m_bitLocalFlag.Force) != 0);
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} else
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{
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parent->ApplyForce(m_force,(m_bitLocalFlag.Force) != 0);
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}
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}
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if (!m_bitLocalFlag.ZeroTorque)
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{
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if (m_bitLocalFlag.ClampVelocity && !m_bitLocalFlag.ZeroAngularVelocity)
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{
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// The user is requesting not to exceed the velocity set in m_angular_velocity
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// The verification is done by projecting the actual speed in the
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MT_Vector3 angV;
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angV = parent->GetAngularVelocity(m_bitLocalFlag.AngularVelocity);
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if (angV.dot(m_angular_velocity) < m_angular_velocity.length2())
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parent->ApplyTorque(m_torque,(m_bitLocalFlag.Torque) != 0);
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} else
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{
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parent->ApplyTorque(m_torque,(m_bitLocalFlag.Torque) != 0);
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}
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}
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if (!m_bitLocalFlag.ZeroDLoc)
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{
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parent->ApplyMovement(m_dloc,(m_bitLocalFlag.DLoc) != 0);
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}
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if (!m_bitLocalFlag.ZeroDRot)
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{
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parent->ApplyRotation(m_drot,(m_bitLocalFlag.DRot) != 0);
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}
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if (!m_bitLocalFlag.ZeroLinearVelocity && !m_bitLocalFlag.ClampVelocity)
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{
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if (m_bitLocalFlag.AddOrSetLinV) {
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parent->addLinearVelocity(m_linear_velocity,(m_bitLocalFlag.LinearVelocity) != 0);
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} else {
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m_active_combined_velocity = true;
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if (m_damping > 0) {
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MT_Vector3 linV;
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if (!m_linear_damping_active) {
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// delta and the start speed (depends on the existing speed in that direction)
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linV = parent->GetLinearVelocity(m_bitLocalFlag.LinearVelocity);
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// keep only the projection along the desired direction
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m_current_linear_factor = linV.dot(m_linear_velocity)/m_linear_length2;
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m_linear_damping_active = true;
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}
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if (m_current_linear_factor < 1.0)
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m_current_linear_factor += 1.0/m_damping;
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if (m_current_linear_factor > 1.0)
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m_current_linear_factor = 1.0;
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linV = m_current_linear_factor * m_linear_velocity;
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parent->setLinearVelocity(linV,(m_bitLocalFlag.LinearVelocity) != 0);
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} else {
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parent->setLinearVelocity(m_linear_velocity,(m_bitLocalFlag.LinearVelocity) != 0);
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}
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}
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}
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if (!m_bitLocalFlag.ZeroAngularVelocity && !m_bitLocalFlag.ClampVelocity)
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{
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m_active_combined_velocity = true;
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if (m_damping > 0) {
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MT_Vector3 angV;
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if (!m_angular_damping_active) {
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// delta and the start speed (depends on the existing speed in that direction)
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angV = parent->GetAngularVelocity(m_bitLocalFlag.AngularVelocity);
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// keep only the projection along the desired direction
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m_current_angular_factor = angV.dot(m_angular_velocity)/m_angular_length2;
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m_angular_damping_active = true;
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}
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if (m_current_angular_factor < 1.0)
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m_current_angular_factor += 1.0/m_damping;
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if (m_current_angular_factor > 1.0)
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m_current_angular_factor = 1.0;
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angV = m_current_angular_factor * m_angular_velocity;
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parent->setAngularVelocity(angV,(m_bitLocalFlag.AngularVelocity) != 0);
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} else {
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parent->setAngularVelocity(m_angular_velocity,(m_bitLocalFlag.AngularVelocity) != 0);
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}
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}
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}
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return true;
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}
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CValue* KX_ObjectActuator::GetReplica()
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{
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KX_ObjectActuator* replica = new KX_ObjectActuator(*this);//m_float,GetName());
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replica->ProcessReplica();
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// this will copy properties and so on...
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CValue::AddDataToReplica(replica);
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return replica;
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}
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/* some 'standard' utilities... */
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bool KX_ObjectActuator::isValid(KX_ObjectActuator::KX_OBJECT_ACT_VEC_TYPE type)
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{
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bool res = false;
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res = (type > KX_OBJECT_ACT_NODEF) && (type < KX_OBJECT_ACT_MAX);
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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_ObjectActuator::Type = {
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PyObject_HEAD_INIT(&PyType_Type)
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0,
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"KX_ObjectActuator",
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sizeof(KX_ObjectActuator),
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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_ObjectActuator::Parents[] = {
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&KX_ObjectActuator::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_ObjectActuator::Methods[] = {
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{"getForce", (PyCFunction) KX_ObjectActuator::sPyGetForce, METH_VARARGS},
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{"setForce", (PyCFunction) KX_ObjectActuator::sPySetForce, METH_VARARGS},
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{"getTorque", (PyCFunction) KX_ObjectActuator::sPyGetTorque, METH_VARARGS},
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{"setTorque", (PyCFunction) KX_ObjectActuator::sPySetTorque, METH_VARARGS},
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{"getDLoc", (PyCFunction) KX_ObjectActuator::sPyGetDLoc, METH_VARARGS},
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{"setDLoc", (PyCFunction) KX_ObjectActuator::sPySetDLoc, METH_VARARGS},
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{"getDRot", (PyCFunction) KX_ObjectActuator::sPyGetDRot, METH_VARARGS},
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{"setDRot", (PyCFunction) KX_ObjectActuator::sPySetDRot, METH_VARARGS},
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{"getLinearVelocity", (PyCFunction) KX_ObjectActuator::sPyGetLinearVelocity, METH_VARARGS},
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{"setLinearVelocity", (PyCFunction) KX_ObjectActuator::sPySetLinearVelocity, METH_VARARGS},
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{"getAngularVelocity", (PyCFunction) KX_ObjectActuator::sPyGetAngularVelocity, METH_VARARGS},
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{"setAngularVelocity", (PyCFunction) KX_ObjectActuator::sPySetAngularVelocity, METH_VARARGS},
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{"setVelocityDamping", (PyCFunction) KX_ObjectActuator::sPySetVelocityDamping, METH_VARARGS},
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{"getVelocityDamping", (PyCFunction) KX_ObjectActuator::sPyGetVelocityDamping, METH_VARARGS},
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{NULL,NULL} //Sentinel
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};
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PyObject* KX_ObjectActuator::_getattr(const STR_String& attr) {
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_getattr_up(SCA_IActuator);
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};
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/* 1. set ------------------------------------------------------------------ */
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/* Removed! */
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/* 2. getForce */
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PyObject* KX_ObjectActuator::PyGetForce(PyObject* self,
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PyObject* args,
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PyObject* kwds)
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{
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PyObject *retVal = PyList_New(4);
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PyList_SetItem(retVal, 0, PyFloat_FromDouble(m_force[0]));
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PyList_SetItem(retVal, 1, PyFloat_FromDouble(m_force[1]));
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PyList_SetItem(retVal, 2, PyFloat_FromDouble(m_force[2]));
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PyList_SetItem(retVal, 3, BoolToPyArg(m_bitLocalFlag.Force));
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return retVal;
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}
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/* 3. setForce */
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PyObject* KX_ObjectActuator::PySetForce(PyObject* self,
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PyObject* args,
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PyObject* kwds)
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{
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float vecArg[3];
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int bToggle = 0;
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if (!PyArg_ParseTuple(args, "fffi", &vecArg[0], &vecArg[1],
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&vecArg[2], &bToggle)) {
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return NULL;
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}
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m_force.setValue(vecArg);
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m_bitLocalFlag.Force = PyArgToBool(bToggle);
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UpdateFuzzyFlags();
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Py_Return;
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}
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/* 4. getTorque */
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PyObject* KX_ObjectActuator::PyGetTorque(PyObject* self,
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PyObject* args,
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PyObject* kwds)
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{
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PyObject *retVal = PyList_New(4);
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PyList_SetItem(retVal, 0, PyFloat_FromDouble(m_torque[0]));
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PyList_SetItem(retVal, 1, PyFloat_FromDouble(m_torque[1]));
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PyList_SetItem(retVal, 2, PyFloat_FromDouble(m_torque[2]));
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PyList_SetItem(retVal, 3, BoolToPyArg(m_bitLocalFlag.Torque));
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return retVal;
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}
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/* 5. setTorque */
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PyObject* KX_ObjectActuator::PySetTorque(PyObject* self,
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PyObject* args,
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PyObject* kwds)
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{
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float vecArg[3];
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int bToggle = 0;
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if (!PyArg_ParseTuple(args, "fffi", &vecArg[0], &vecArg[1],
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&vecArg[2], &bToggle)) {
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return NULL;
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}
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m_torque.setValue(vecArg);
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m_bitLocalFlag.Torque = PyArgToBool(bToggle);
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UpdateFuzzyFlags();
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Py_Return;
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}
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/* 6. getDLoc */
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PyObject* KX_ObjectActuator::PyGetDLoc(PyObject* self,
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PyObject* args,
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PyObject* kwds)
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{
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PyObject *retVal = PyList_New(4);
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PyList_SetItem(retVal, 0, PyFloat_FromDouble(m_dloc[0]));
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PyList_SetItem(retVal, 1, PyFloat_FromDouble(m_dloc[1]));
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PyList_SetItem(retVal, 2, PyFloat_FromDouble(m_dloc[2]));
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PyList_SetItem(retVal, 3, BoolToPyArg(m_bitLocalFlag.DLoc));
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return retVal;
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}
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/* 7. setDLoc */
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PyObject* KX_ObjectActuator::PySetDLoc(PyObject* self,
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PyObject* args,
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PyObject* kwds)
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{
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float vecArg[3];
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int bToggle = 0;
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if(!PyArg_ParseTuple(args, "fffi", &vecArg[0], &vecArg[1],
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&vecArg[2], &bToggle)) {
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return NULL;
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}
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m_dloc.setValue(vecArg);
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m_bitLocalFlag.DLoc = PyArgToBool(bToggle);
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UpdateFuzzyFlags();
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Py_Return;
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}
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/* 8. getDRot */
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PyObject* KX_ObjectActuator::PyGetDRot(PyObject* self,
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PyObject* args,
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PyObject* kwds)
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{
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PyObject *retVal = PyList_New(4);
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PyList_SetItem(retVal, 0, PyFloat_FromDouble(m_drot[0]));
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PyList_SetItem(retVal, 1, PyFloat_FromDouble(m_drot[1]));
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PyList_SetItem(retVal, 2, PyFloat_FromDouble(m_drot[2]));
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PyList_SetItem(retVal, 3, BoolToPyArg(m_bitLocalFlag.DRot));
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return retVal;
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}
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/* 9. setDRot */
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PyObject* KX_ObjectActuator::PySetDRot(PyObject* self,
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PyObject* args,
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PyObject* kwds)
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{
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float vecArg[3];
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int bToggle = 0;
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if (!PyArg_ParseTuple(args, "fffi", &vecArg[0], &vecArg[1],
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&vecArg[2], &bToggle)) {
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return NULL;
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}
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m_drot.setValue(vecArg);
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m_bitLocalFlag.DRot = PyArgToBool(bToggle);
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UpdateFuzzyFlags();
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Py_Return;
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}
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/* 10. getLinearVelocity */
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PyObject* KX_ObjectActuator::PyGetLinearVelocity(PyObject* self,
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PyObject* args,
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PyObject* kwds) {
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PyObject *retVal = PyList_New(4);
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PyList_SetItem(retVal, 0, PyFloat_FromDouble(m_linear_velocity[0]));
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PyList_SetItem(retVal, 1, PyFloat_FromDouble(m_linear_velocity[1]));
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PyList_SetItem(retVal, 2, PyFloat_FromDouble(m_linear_velocity[2]));
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PyList_SetItem(retVal, 3, BoolToPyArg(m_bitLocalFlag.LinearVelocity));
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PyList_SetItem(retVal, 4, BoolToPyArg(m_bitLocalFlag.ClampVelocity));
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return retVal;
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}
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/* 11. setLinearVelocity */
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PyObject* KX_ObjectActuator::PySetLinearVelocity(PyObject* self,
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PyObject* args,
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PyObject* kwds) {
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float vecArg[3];
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int bToggle = 0;
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int bClamp = 0;
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if (!PyArg_ParseTuple(args, "fffi|i", &vecArg[0], &vecArg[1],
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&vecArg[2], &bToggle, &bClamp)) {
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return NULL;
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}
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m_linear_velocity.setValue(vecArg);
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m_bitLocalFlag.LinearVelocity = PyArgToBool(bToggle);
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m_bitLocalFlag.ClampVelocity = PyArgToBool(bClamp);
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UpdateFuzzyFlags();
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Py_Return;
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}
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/* 12. getAngularVelocity */
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PyObject* KX_ObjectActuator::PyGetAngularVelocity(PyObject* self,
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PyObject* args,
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PyObject* kwds) {
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PyObject *retVal = PyList_New(4);
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PyList_SetItem(retVal, 0, PyFloat_FromDouble(m_angular_velocity[0]));
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PyList_SetItem(retVal, 1, PyFloat_FromDouble(m_angular_velocity[1]));
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PyList_SetItem(retVal, 2, PyFloat_FromDouble(m_angular_velocity[2]));
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PyList_SetItem(retVal, 3, BoolToPyArg(m_bitLocalFlag.AngularVelocity));
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PyList_SetItem(retVal, 4, BoolToPyArg(m_bitLocalFlag.ClampVelocity));
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return retVal;
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}
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/* 13. setAngularVelocity */
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PyObject* KX_ObjectActuator::PySetAngularVelocity(PyObject* self,
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PyObject* args,
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PyObject* kwds) {
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float vecArg[3];
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int bToggle = 0;
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int bClamp = 0;
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if (!PyArg_ParseTuple(args, "fffi|i", &vecArg[0], &vecArg[1],
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&vecArg[2], &bToggle, &bClamp)) {
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return NULL;
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|
}
|
|
m_angular_velocity.setValue(vecArg);
|
|
m_bitLocalFlag.AngularVelocity = PyArgToBool(bToggle);
|
|
m_bitLocalFlag.ClampVelocity = PyArgToBool(bClamp);
|
|
UpdateFuzzyFlags();
|
|
Py_Return;
|
|
}
|
|
|
|
/* 13. setVelocityDamping */
|
|
PyObject* KX_ObjectActuator::PySetVelocityDamping(PyObject* self,
|
|
PyObject* args,
|
|
PyObject* kwds) {
|
|
int damping = 0;
|
|
if (!PyArg_ParseTuple(args, "i", &damping) || damping < 0 || damping > 1000) {
|
|
return NULL;
|
|
}
|
|
m_damping = damping;
|
|
Py_Return;
|
|
}
|
|
|
|
/* 13. getVelocityDamping */
|
|
PyObject* KX_ObjectActuator::PyGetVelocityDamping(PyObject* self,
|
|
PyObject* args,
|
|
PyObject* kwds) {
|
|
return Py_BuildValue("i",m_damping);
|
|
}
|
|
|
|
|
|
|
|
|
|
/* eof */
|