bartvdbraak/blender
1
0
Fork 4
Code Issues 4 Pull Requests 1 Actions 1 Packages Projects Releases Wiki Activity
eee8dd9086
blender/source/gameengine/Ketsji/KX_ConstraintActuator.cpp
Campbell Barton 720f7a8b69 use PyList_SET_ITEM instead of PyList_SetItem, 
PyList_SetItem does error checking and decref's existing values, PyList_SET_ITEM is a macro for direct assignment, only for use on new lists.
2009-04-20 23:27:53 +00:00

981 lines
33 KiB
C++
Raw Blame History

/**
* Apply a constraint to a position or rotation value
*
* $Id$
*
* ***** BEGIN GPL LICENSE BLOCK *****
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* as published by the Free Software Foundation; either version 2
* of the License, or (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software Foundation,
* Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
*
* The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
* All rights reserved.
*
* The Original Code is: all of this file.
*
* Contributor(s): none yet.
*
* ***** END GPL LICENSE BLOCK *****
*/
#include "SCA_IActuator.h"
#include "KX_ConstraintActuator.h"
#include "SCA_IObject.h"
#include "MT_Point3.h"
#include "MT_Matrix3x3.h"
#include "KX_GameObject.h"
#include "KX_RayCast.h"
#include "blendef.h"
#ifdef HAVE_CONFIG_H
#include <config.h>
#endif
/* ------------------------------------------------------------------------- */
/* Native functions */
/* ------------------------------------------------------------------------- */
KX_ConstraintActuator::KX_ConstraintActuator(SCA_IObject *gameobj,
int posDampTime,
int rotDampTime,
float minBound,
float maxBound,
float refDir[3],
int locrotxyz,
int time,
int option,
char *property,
PyTypeObject* T) :
SCA_IActuator(gameobj, T),
m_refDirVector(refDir),
m_currentTime(0)
{
m_refDirection[0] = refDir[0];
m_refDirection[1] = refDir[1];
m_refDirection[2] = refDir[2];
m_posDampTime = posDampTime;
m_rotDampTime = rotDampTime;
m_locrot = locrotxyz;
m_option = option;
m_activeTime = time;
if (property) {
m_property = property;
} else {
m_property = "";
}
/* The units of bounds are determined by the type of constraint. To */
/* make the constraint application easier and more transparent later on, */
/* I think converting the bounds to the applicable domain makes more */
/* sense. */
switch (m_locrot) {
case KX_ACT_CONSTRAINT_ORIX:
case KX_ACT_CONSTRAINT_ORIY:
case KX_ACT_CONSTRAINT_ORIZ:
{
MT_Scalar len = m_refDirVector.length();
if (MT_fuzzyZero(len)) {
// missing a valid direction
std::cout << "WARNING: Constraint actuator " << GetName() << ": There is no valid reference direction!" << std::endl;
m_locrot = KX_ACT_CONSTRAINT_NODEF;
} else {
m_refDirection[0] /= len;
m_refDirection[1] /= len;
m_refDirection[2] /= len;
m_refDirVector /= len;
}
m_minimumBound = cos(minBound);
m_maximumBound = cos(maxBound);
m_minimumSine = sin(minBound);
m_maximumSine = sin(maxBound);
}
break;
default:
m_minimumBound = minBound;
m_maximumBound = maxBound;
m_minimumSine = 0.f;
m_maximumSine = 0.f;
break;
}
} /* End of constructor */
KX_ConstraintActuator::~KX_ConstraintActuator()
{
// there's nothing to be done here, really....
} /* end of destructor */
bool KX_ConstraintActuator::RayHit(KX_ClientObjectInfo* client, KX_RayCast* result, void * const data)
{
m_hitObject = client->m_gameobject;
bool bFound = false;
if (m_property.IsEmpty())
{
bFound = true;
}
else
{
if (m_option & KX_ACT_CONSTRAINT_MATERIAL)
{
if (client->m_auxilary_info)
{
bFound = !strcmp(m_property.Ptr(), ((char*)client->m_auxilary_info));
}
}
else
{
bFound = m_hitObject->GetProperty(m_property) != NULL;
}
}
// update the hit status
result->m_hitFound = bFound;
// stop looking
return true;
}
/* this function is used to pre-filter the object before casting the ray on them.
This is useful for "X-Ray" option when we want to see "through" unwanted object.
*/
bool KX_ConstraintActuator::NeedRayCast(KX_ClientObjectInfo* client)
{
if (client->m_type > KX_ClientObjectInfo::ACTOR)
{
// Unknown type of object, skip it.
// Should not occur as the sensor objects are filtered in RayTest()
printf("Invalid client type %d found in ray casting\n", client->m_type);
return false;
}
// no X-Ray function yet
return true;
}
bool KX_ConstraintActuator::Update(double curtime, bool frame)
{
bool result = false;
bool bNegativeEvent = IsNegativeEvent();
RemoveAllEvents();
if (!bNegativeEvent) {
/* Constraint clamps the values to the specified range, with a sort of */
/* low-pass filtered time response, if the damp time is unequal to 0. */
/* Having to retrieve location/rotation and setting it afterwards may not */
/* be efficient enough... Somthing to look at later. */
KX_GameObject *obj = (KX_GameObject*) GetParent();
MT_Point3 position = obj->NodeGetWorldPosition();
MT_Point3 newposition;
MT_Vector3 normal, direction, refDirection;
MT_Matrix3x3 rotation = obj->NodeGetWorldOrientation();
MT_Scalar filter, newdistance, cosangle;
int axis, sign;
if (m_posDampTime) {
filter = m_posDampTime/(1.0+m_posDampTime);
} else {
filter = 0.0;
}
switch (m_locrot) {
case KX_ACT_CONSTRAINT_ORIX:
case KX_ACT_CONSTRAINT_ORIY:
case KX_ACT_CONSTRAINT_ORIZ:
switch (m_locrot) {
case KX_ACT_CONSTRAINT_ORIX:
direction[0] = rotation[0][0];
direction[1] = rotation[1][0];
direction[2] = rotation[2][0];
axis = 0;
break;
case KX_ACT_CONSTRAINT_ORIY:
direction[0] = rotation[0][1];
direction[1] = rotation[1][1];
direction[2] = rotation[2][1];
axis = 1;
break;
default:
direction[0] = rotation[0][2];
direction[1] = rotation[1][2];
direction[2] = rotation[2][2];
axis = 2;
break;
}
if ((m_maximumBound < (1.0f-FLT_EPSILON)) || (m_minimumBound < (1.0f-FLT_EPSILON))) {
// reference direction needs to be evaluated
// 1. get the cosine between current direction and target
cosangle = direction.dot(m_refDirVector);
if (cosangle >= (m_maximumBound-FLT_EPSILON) && cosangle <= (m_minimumBound+FLT_EPSILON)) {
// no change to do
result = true;
goto CHECK_TIME;
}
// 2. define a new reference direction
// compute local axis with reference direction as X and
// Y in direction X refDirection plane
MT_Vector3 zaxis = m_refDirVector.cross(direction);
if (MT_fuzzyZero2(zaxis.length2())) {
// direction and refDirection are identical,
// choose any other direction to define plane
if (direction[0] < 0.9999)
zaxis = m_refDirVector.cross(MT_Vector3(1.0,0.0,0.0));
else
zaxis = m_refDirVector.cross(MT_Vector3(0.0,1.0,0.0));
}
MT_Vector3 yaxis = zaxis.cross(m_refDirVector);
yaxis.normalize();
if (cosangle > m_minimumBound) {
// angle is too close to reference direction,
// choose a new reference that is exactly at minimum angle
refDirection = m_minimumBound * m_refDirVector + m_minimumSine * yaxis;
} else {
// angle is too large, choose new reference direction at maximum angle
refDirection = m_maximumBound * m_refDirVector + m_maximumSine * yaxis;
}
} else {
refDirection = m_refDirVector;
}
// apply damping on the direction
direction = filter*direction + (1.0-filter)*refDirection;
obj->AlignAxisToVect(direction, axis);
result = true;
goto CHECK_TIME;
case KX_ACT_CONSTRAINT_DIRPX:
case KX_ACT_CONSTRAINT_DIRPY:
case KX_ACT_CONSTRAINT_DIRPZ:
case KX_ACT_CONSTRAINT_DIRNX:
case KX_ACT_CONSTRAINT_DIRNY:
case KX_ACT_CONSTRAINT_DIRNZ:
switch (m_locrot) {
case KX_ACT_CONSTRAINT_DIRPX:
normal[0] = rotation[0][0];
normal[1] = rotation[1][0];
normal[2] = rotation[2][0];
axis = 0; // axis according to KX_GameObject::AlignAxisToVect()
sign = 0; // X axis will be parrallel to direction of ray
break;
case KX_ACT_CONSTRAINT_DIRPY:
normal[0] = rotation[0][1];
normal[1] = rotation[1][1];
normal[2] = rotation[2][1];
axis = 1;
sign = 0;
break;
case KX_ACT_CONSTRAINT_DIRPZ:
normal[0] = rotation[0][2];
normal[1] = rotation[1][2];
normal[2] = rotation[2][2];
axis = 2;
sign = 0;
break;
case KX_ACT_CONSTRAINT_DIRNX:
normal[0] = -rotation[0][0];
normal[1] = -rotation[1][0];
normal[2] = -rotation[2][0];
axis = 0;
sign = 1;
break;
case KX_ACT_CONSTRAINT_DIRNY:
normal[0] = -rotation[0][1];
normal[1] = -rotation[1][1];
normal[2] = -rotation[2][1];
axis = 1;
sign = 1;
break;
case KX_ACT_CONSTRAINT_DIRNZ:
normal[0] = -rotation[0][2];
normal[1] = -rotation[1][2];
normal[2] = -rotation[2][2];
axis = 2;
sign = 1;
break;
}
normal.normalize();
if (m_option & KX_ACT_CONSTRAINT_LOCAL) {
// direction of the ray is along the local axis
direction = normal;
} else {
switch (m_locrot) {
case KX_ACT_CONSTRAINT_DIRPX:
direction = MT_Vector3(1.0,0.0,0.0);
break;
case KX_ACT_CONSTRAINT_DIRPY:
direction = MT_Vector3(0.0,1.0,0.0);
break;
case KX_ACT_CONSTRAINT_DIRPZ:
direction = MT_Vector3(0.0,0.0,1.0);
break;
case KX_ACT_CONSTRAINT_DIRNX:
direction = MT_Vector3(-1.0,0.0,0.0);
break;
case KX_ACT_CONSTRAINT_DIRNY:
direction = MT_Vector3(0.0,-1.0,0.0);
break;
case KX_ACT_CONSTRAINT_DIRNZ:
direction = MT_Vector3(0.0,0.0,-1.0);
break;
}
}
{
MT_Point3 topoint = position + (m_maximumBound) * direction;
PHY_IPhysicsEnvironment* pe = obj->GetPhysicsEnvironment();
KX_IPhysicsController *spc = obj->GetPhysicsController();
if (!pe) {
std::cout << "WARNING: Constraint actuator " << GetName() << ": There is no physics environment!" << std::endl;
goto CHECK_TIME;
}
if (!spc) {
// the object is not physical, we probably want to avoid hitting its own parent
KX_GameObject *parent = obj->GetParent();
if (parent) {
spc = parent->GetPhysicsController();
parent->Release();
}
}
KX_RayCast::Callback<KX_ConstraintActuator> callback(this,spc);
result = KX_RayCast::RayTest(pe, position, topoint, callback);
if (result) {
MT_Vector3 newnormal = callback.m_hitNormal;
// compute new position & orientation
if ((m_option & (KX_ACT_CONSTRAINT_NORMAL|KX_ACT_CONSTRAINT_DISTANCE)) == 0) {
// if none option is set, the actuator does nothing but detect ray
// (works like a sensor)
goto CHECK_TIME;
}
if (m_option & KX_ACT_CONSTRAINT_NORMAL) {
MT_Scalar rotFilter;
// apply damping on the direction
if (m_rotDampTime) {
rotFilter = m_rotDampTime/(1.0+m_rotDampTime);
} else {
rotFilter = filter;
}
newnormal = rotFilter*normal - (1.0-rotFilter)*newnormal;
obj->AlignAxisToVect((sign)?-newnormal:newnormal, axis);
if (m_option & KX_ACT_CONSTRAINT_LOCAL) {
direction = newnormal;
direction.normalize();
}
}
if (m_option & KX_ACT_CONSTRAINT_DISTANCE) {
if (m_posDampTime) {
newdistance = filter*(position-callback.m_hitPoint).length()+(1.0-filter)*m_minimumBound;
} else {
newdistance = m_minimumBound;
}
// logically we should cancel the speed along the ray direction as we set the
// position along that axis
spc = obj->GetPhysicsController();
if (spc && spc->IsDyna()) {
MT_Vector3 linV = spc->GetLinearVelocity();
// cancel the projection along the ray direction
MT_Scalar fallspeed = linV.dot(direction);
if (!MT_fuzzyZero(fallspeed))
spc->SetLinearVelocity(linV-fallspeed*direction,false);
}
} else {
newdistance = (position-callback.m_hitPoint).length();
}
newposition = callback.m_hitPoint-newdistance*direction;
} else if (m_option & KX_ACT_CONSTRAINT_PERMANENT) {
// no contact but still keep running
result = true;
goto CHECK_TIME;
}
}
break;
case KX_ACT_CONSTRAINT_FHPX:
case KX_ACT_CONSTRAINT_FHPY:
case KX_ACT_CONSTRAINT_FHPZ:
case KX_ACT_CONSTRAINT_FHNX:
case KX_ACT_CONSTRAINT_FHNY:
case KX_ACT_CONSTRAINT_FHNZ:
switch (m_locrot) {
case KX_ACT_CONSTRAINT_FHPX:
normal[0] = -rotation[0][0];
normal[1] = -rotation[1][0];
normal[2] = -rotation[2][0];
direction = MT_Vector3(1.0,0.0,0.0);
break;
case KX_ACT_CONSTRAINT_FHPY:
normal[0] = -rotation[0][1];
normal[1] = -rotation[1][1];
normal[2] = -rotation[2][1];
direction = MT_Vector3(0.0,1.0,0.0);
break;
case KX_ACT_CONSTRAINT_FHPZ:
normal[0] = -rotation[0][2];
normal[1] = -rotation[1][2];
normal[2] = -rotation[2][2];
direction = MT_Vector3(0.0,0.0,1.0);
break;
case KX_ACT_CONSTRAINT_FHNX:
normal[0] = rotation[0][0];
normal[1] = rotation[1][0];
normal[2] = rotation[2][0];
direction = MT_Vector3(-1.0,0.0,0.0);
break;
case KX_ACT_CONSTRAINT_FHNY:
normal[0] = rotation[0][1];
normal[1] = rotation[1][1];
normal[2] = rotation[2][1];
direction = MT_Vector3(0.0,-1.0,0.0);
break;
case KX_ACT_CONSTRAINT_FHNZ:
normal[0] = rotation[0][2];
normal[1] = rotation[1][2];
normal[2] = rotation[2][2];
direction = MT_Vector3(0.0,0.0,-1.0);
break;
}
normal.normalize();
{
PHY_IPhysicsEnvironment* pe = obj->GetPhysicsEnvironment();
KX_IPhysicsController *spc = obj->GetPhysicsController();
if (!pe) {
std::cout << "WARNING: Constraint actuator " << GetName() << ": There is no physics environment!" << std::endl;
goto CHECK_TIME;
}
if (!spc || !spc->IsDyna()) {
// the object is not dynamic, it won't support setting speed
goto CHECK_TIME;
}
m_hitObject = NULL;
// distance of Fh area is stored in m_minimum
MT_Point3 topoint = position + (m_minimumBound+spc->GetRadius()) * direction;
KX_RayCast::Callback<KX_ConstraintActuator> callback(this,spc);
result = KX_RayCast::RayTest(pe, position, topoint, callback);
// we expect a hit object
if (!m_hitObject)
result = false;
if (result)
{
MT_Vector3 newnormal = callback.m_hitNormal;
// compute new position & orientation
MT_Scalar distance = (callback.m_hitPoint-position).length()-spc->GetRadius();
// estimate the velocity of the hit point
MT_Point3 relativeHitPoint;
relativeHitPoint = (callback.m_hitPoint-m_hitObject->NodeGetWorldPosition());
MT_Vector3 velocityHitPoint = m_hitObject->GetVelocity(relativeHitPoint);
MT_Vector3 relativeVelocity = spc->GetLinearVelocity() - velocityHitPoint;
MT_Scalar relativeVelocityRay = direction.dot(relativeVelocity);
MT_Scalar springExtent = 1.0 - distance/m_minimumBound;
// Fh force is stored in m_maximum
MT_Scalar springForce = springExtent * m_maximumBound;
// damping is stored in m_refDirection [0] = damping, [1] = rot damping
MT_Scalar springDamp = relativeVelocityRay * m_refDirVector[0];
MT_Vector3 newVelocity = spc->GetLinearVelocity()-(springForce+springDamp)*direction;
if (m_option & KX_ACT_CONSTRAINT_NORMAL)
{
newVelocity+=(springForce+springDamp)*(newnormal-newnormal.dot(direction)*direction);
}
spc->SetLinearVelocity(newVelocity, false);
if (m_option & KX_ACT_CONSTRAINT_DOROTFH)
{
MT_Vector3 angSpring = (normal.cross(newnormal))*m_maximumBound;
MT_Vector3 angVelocity = spc->GetAngularVelocity();
// remove component that is parallel to normal
angVelocity -= angVelocity.dot(newnormal)*newnormal;
MT_Vector3 angDamp = angVelocity * ((m_refDirVector[1]>MT_EPSILON)?m_refDirVector[1]:m_refDirVector[0]);
spc->SetAngularVelocity(spc->GetAngularVelocity()+(angSpring-angDamp), false);
}
} else if (m_option & KX_ACT_CONSTRAINT_PERMANENT) {
// no contact but still keep running
result = true;
}
// don't set the position with this constraint
goto CHECK_TIME;
}
break;
case KX_ACT_CONSTRAINT_LOCX:
case KX_ACT_CONSTRAINT_LOCY:
case KX_ACT_CONSTRAINT_LOCZ:
newposition = position = obj->GetSGNode()->GetLocalPosition();
switch (m_locrot) {
case KX_ACT_CONSTRAINT_LOCX:
Clamp(newposition[0], m_minimumBound, m_maximumBound);
break;
case KX_ACT_CONSTRAINT_LOCY:
Clamp(newposition[1], m_minimumBound, m_maximumBound);
break;
case KX_ACT_CONSTRAINT_LOCZ:
Clamp(newposition[2], m_minimumBound, m_maximumBound);
break;
}
result = true;
if (m_posDampTime) {
newposition = filter*position + (1.0-filter)*newposition;
}
obj->NodeSetLocalPosition(newposition);
goto CHECK_TIME;
}
if (result) {
// set the new position but take into account parent if any
obj->NodeSetWorldPosition(newposition);
}
CHECK_TIME:
if (result && m_activeTime > 0 ) {
if (++m_currentTime >= m_activeTime)
result = false;
}
}
if (!result) {
m_currentTime = 0;
}
return result;
} /* end of KX_ConstraintActuator::Update(double curtime,double deltatime) */
void KX_ConstraintActuator::Clamp(MT_Scalar &var,
float min,
float max) {
if (var < min) {
var = min;
} else if (var > max) {
var = max;
}
}
bool KX_ConstraintActuator::IsValidMode(KX_ConstraintActuator::KX_CONSTRAINTTYPE m)
{
bool res = false;
if ( (m > KX_ACT_CONSTRAINT_NODEF) && (m < KX_ACT_CONSTRAINT_MAX)) {
res = true;
}
return res;
}
/* ------------------------------------------------------------------------- */
/* Python functions */
/* ------------------------------------------------------------------------- */
/* Integration hooks ------------------------------------------------------- */
PyTypeObject KX_ConstraintActuator::Type = {
PyObject_HEAD_INIT(NULL)
0,
"KX_ConstraintActuator",
sizeof(PyObjectPlus_Proxy),
0,
py_base_dealloc,
0,
0,
0,
0,
py_base_repr,
0,0,0,0,0,0,
py_base_getattro,
py_base_setattro,
0,0,0,0,0,0,0,0,0,
Methods
};
PyParentObject KX_ConstraintActuator::Parents[] = {
&KX_ConstraintActuator::Type,
&SCA_IActuator::Type,
&SCA_ILogicBrick::Type,
&CValue::Type,
NULL
};
PyMethodDef KX_ConstraintActuator::Methods[] = {
// Deprecated -->
{"setDamp", (PyCFunction) KX_ConstraintActuator::sPySetDamp, METH_VARARGS, (PY_METHODCHAR)SetDamp_doc},
{"getDamp", (PyCFunction) KX_ConstraintActuator::sPyGetDamp, METH_NOARGS, (PY_METHODCHAR)GetDamp_doc},
{"setRotDamp", (PyCFunction) KX_ConstraintActuator::sPySetRotDamp, METH_VARARGS, (PY_METHODCHAR)SetRotDamp_doc},
{"getRotDamp", (PyCFunction) KX_ConstraintActuator::sPyGetRotDamp, METH_NOARGS, (PY_METHODCHAR)GetRotDamp_doc},
{"setDirection", (PyCFunction) KX_ConstraintActuator::sPySetDirection, METH_VARARGS, (PY_METHODCHAR)SetDirection_doc},
{"getDirection", (PyCFunction) KX_ConstraintActuator::sPyGetDirection, METH_NOARGS, (PY_METHODCHAR)GetDirection_doc},
{"setOption", (PyCFunction) KX_ConstraintActuator::sPySetOption, METH_VARARGS, (PY_METHODCHAR)SetOption_doc},
{"getOption", (PyCFunction) KX_ConstraintActuator::sPyGetOption, METH_NOARGS, (PY_METHODCHAR)GetOption_doc},
{"setTime", (PyCFunction) KX_ConstraintActuator::sPySetTime, METH_VARARGS, (PY_METHODCHAR)SetTime_doc},
{"getTime", (PyCFunction) KX_ConstraintActuator::sPyGetTime, METH_NOARGS, (PY_METHODCHAR)GetTime_doc},
{"setProperty", (PyCFunction) KX_ConstraintActuator::sPySetProperty, METH_VARARGS, (PY_METHODCHAR)SetProperty_doc},
{"getProperty", (PyCFunction) KX_ConstraintActuator::sPyGetProperty, METH_NOARGS, (PY_METHODCHAR)GetProperty_doc},
{"setMin", (PyCFunction) KX_ConstraintActuator::sPySetMin, METH_VARARGS, (PY_METHODCHAR)SetMin_doc},
{"getMin", (PyCFunction) KX_ConstraintActuator::sPyGetMin, METH_NOARGS, (PY_METHODCHAR)GetMin_doc},
{"setDistance", (PyCFunction) KX_ConstraintActuator::sPySetMin, METH_VARARGS, (PY_METHODCHAR)SetDistance_doc},
{"getDistance", (PyCFunction) KX_ConstraintActuator::sPyGetMin, METH_NOARGS, (PY_METHODCHAR)GetDistance_doc},
{"setMax", (PyCFunction) KX_ConstraintActuator::sPySetMax, METH_VARARGS, (PY_METHODCHAR)SetMax_doc},
{"getMax", (PyCFunction) KX_ConstraintActuator::sPyGetMax, METH_NOARGS, (PY_METHODCHAR)GetMax_doc},
{"setRayLength", (PyCFunction) KX_ConstraintActuator::sPySetMax, METH_VARARGS, (PY_METHODCHAR)SetRayLength_doc},
{"getRayLength", (PyCFunction) KX_ConstraintActuator::sPyGetMax, METH_NOARGS, (PY_METHODCHAR)GetRayLength_doc},
{"setLimit", (PyCFunction) KX_ConstraintActuator::sPySetLimit, METH_VARARGS, (PY_METHODCHAR)SetLimit_doc},
{"getLimit", (PyCFunction) KX_ConstraintActuator::sPyGetLimit, METH_NOARGS, (PY_METHODCHAR)GetLimit_doc},
// <--
{NULL,NULL} //Sentinel
};
PyAttributeDef KX_ConstraintActuator::Attributes[] = {
KX_PYATTRIBUTE_INT_RW("damp",0,100,true,KX_ConstraintActuator,m_posDampTime),
KX_PYATTRIBUTE_INT_RW("rotDamp",0,100,true,KX_ConstraintActuator,m_rotDampTime),
KX_PYATTRIBUTE_FLOAT_ARRAY_RW_CHECK("direction",-MAXFLOAT,MAXFLOAT,KX_ConstraintActuator,m_refDirection,3,pyattr_check_direction),
KX_PYATTRIBUTE_INT_RW("option",0,0xFFFF,false,KX_ConstraintActuator,m_option),
KX_PYATTRIBUTE_INT_RW("time",0,1000,true,KX_ConstraintActuator,m_activeTime),
KX_PYATTRIBUTE_STRING_RW("property",0,32,true,KX_ConstraintActuator,m_property),
KX_PYATTRIBUTE_FLOAT_RW("min",-MAXFLOAT,MAXFLOAT,KX_ConstraintActuator,m_minimumBound),
KX_PYATTRIBUTE_FLOAT_RW("distance",-MAXFLOAT,MAXFLOAT,KX_ConstraintActuator,m_minimumBound),
KX_PYATTRIBUTE_FLOAT_RW("max",-MAXFLOAT,MAXFLOAT,KX_ConstraintActuator,m_maximumBound),
KX_PYATTRIBUTE_FLOAT_RW("rayLength",0,2000.f,KX_ConstraintActuator,m_maximumBound),
KX_PYATTRIBUTE_INT_RW("limit",KX_ConstraintActuator::KX_ACT_CONSTRAINT_NODEF+1,KX_ConstraintActuator::KX_ACT_CONSTRAINT_MAX-1,false,KX_ConstraintActuator,m_locrot),
{ NULL } //Sentinel
};
PyObject* KX_ConstraintActuator::py_getattro(PyObject *attr)
{
py_getattro_up(SCA_IActuator);
}
PyObject* KX_ConstraintActuator::py_getattro_dict() {
py_getattro_dict_up(SCA_IActuator);
}
int KX_ConstraintActuator::py_setattro(PyObject *attr, PyObject* value)
{
py_setattro_up(SCA_IActuator);
}
int KX_ConstraintActuator::pyattr_check_direction(void *self, const struct KX_PYATTRIBUTE_DEF *attrdef)
{
KX_ConstraintActuator* act = static_cast<KX_ConstraintActuator*>(self);
MT_Vector3 dir(act->m_refDirection);
MT_Scalar len = dir.length();
if (MT_fuzzyZero(len)) {
PyErr_SetString(PyExc_ValueError, "actuator.direction = vec: KX_ConstraintActuator, invalid direction");
return 1;
}
act->m_refDirVector = dir/len;
return 0;
}
/* 2. setDamp */
const char KX_ConstraintActuator::SetDamp_doc[] =
"setDamp(duration)\n"
"\t- duration: integer\n"
"\tSets the time constant of the orientation and distance constraint.\n"
"\tIf the duration is negative, it is set to 0.\n";
PyObject* KX_ConstraintActuator::PySetDamp(PyObject* args) {
ShowDeprecationWarning("setDamp()", "the damp property");
int dampArg;
if(!PyArg_ParseTuple(args, "i:setDamp", &dampArg)) {
return NULL;
}
m_posDampTime = dampArg;
if (m_posDampTime < 0) m_posDampTime = 0;
Py_RETURN_NONE;
}
/* 3. getDamp */
const char KX_ConstraintActuator::GetDamp_doc[] =
"getDamp()\n"
"\tReturns the damping parameter.\n";
PyObject* KX_ConstraintActuator::PyGetDamp(){
ShowDeprecationWarning("getDamp()", "the damp property");
return PyInt_FromLong(m_posDampTime);
}
/* 2. setRotDamp */
const char KX_ConstraintActuator::SetRotDamp_doc[] =
"setRotDamp(duration)\n"
"\t- duration: integer\n"
"\tSets the time constant of the orientation constraint.\n"
"\tIf the duration is negative, it is set to 0.\n";
PyObject* KX_ConstraintActuator::PySetRotDamp(PyObject* args) {
ShowDeprecationWarning("setRotDamp()", "the rotDamp property");
int dampArg;
if(!PyArg_ParseTuple(args, "i:setRotDamp", &dampArg)) {
return NULL;
}
m_rotDampTime = dampArg;
if (m_rotDampTime < 0) m_rotDampTime = 0;
Py_RETURN_NONE;
}
/* 3. getRotDamp */
const char KX_ConstraintActuator::GetRotDamp_doc[] =
"getRotDamp()\n"
"\tReturns the damping time for application of the constraint.\n";
PyObject* KX_ConstraintActuator::PyGetRotDamp(){
ShowDeprecationWarning("getRotDamp()", "the rotDamp property");
return PyInt_FromLong(m_rotDampTime);
}
/* 2. setDirection */
const char KX_ConstraintActuator::SetDirection_doc[] =
"setDirection(vector)\n"
"\t- vector: 3-tuple\n"
"\tSets the reference direction in world coordinate for the orientation constraint.\n";
PyObject* KX_ConstraintActuator::PySetDirection(PyObject* args) {
ShowDeprecationWarning("setDirection()", "the direction property");
float x, y, z;
MT_Scalar len;
MT_Vector3 dir;
if(!PyArg_ParseTuple(args, "(fff):setDirection", &x, &y, &z)) {
return NULL;
}
dir[0] = x;
dir[1] = y;
dir[2] = z;
len = dir.length();
if (MT_fuzzyZero(len)) {
std::cout << "Invalid direction" << std::endl;
return NULL;
}
m_refDirVector = dir/len;
m_refDirection[0] = x/len;
m_refDirection[1] = y/len;
m_refDirection[2] = z/len;
Py_RETURN_NONE;
}
/* 3. getDirection */
const char KX_ConstraintActuator::GetDirection_doc[] =
"getDirection()\n"
"\tReturns the reference direction of the orientation constraint as a 3-tuple.\n";
PyObject* KX_ConstraintActuator::PyGetDirection(){
ShowDeprecationWarning("getDirection()", "the direction property");
PyObject *retVal = PyList_New(3);
PyList_SET_ITEM(retVal, 0, PyFloat_FromDouble(m_refDirection[0]));
PyList_SET_ITEM(retVal, 1, PyFloat_FromDouble(m_refDirection[1]));
PyList_SET_ITEM(retVal, 2, PyFloat_FromDouble(m_refDirection[2]));
return retVal;
}
/* 2. setOption */
const char KX_ConstraintActuator::SetOption_doc[] =
"setOption(option)\n"
"\t- option: integer\n"
"\tSets several options of the distance constraint.\n"
"\tBinary combination of the following values:\n"
"\t\t 64 : Activate alignment to surface\n"
"\t\t128 : Detect material rather than property\n"
"\t\t256 : No deactivation if ray does not hit target\n"
"\t\t512 : Activate distance control\n";
PyObject* KX_ConstraintActuator::PySetOption(PyObject* args) {
ShowDeprecationWarning("setOption()", "the option property");
int option;
if(!PyArg_ParseTuple(args, "i:setOption", &option)) {
return NULL;
}
m_option = option;
Py_RETURN_NONE;
}
/* 3. getOption */
const char KX_ConstraintActuator::GetOption_doc[] =
"getOption()\n"
"\tReturns the option parameter.\n";
PyObject* KX_ConstraintActuator::PyGetOption(){
ShowDeprecationWarning("getOption()", "the option property");
return PyInt_FromLong(m_option);
}
/* 2. setTime */
const char KX_ConstraintActuator::SetTime_doc[] =
"setTime(duration)\n"
"\t- duration: integer\n"
"\tSets the activation time of the actuator.\n"
"\tThe actuator disables itself after this many frame.\n"
"\tIf set to 0 or negative, the actuator is not limited in time.\n";
PyObject* KX_ConstraintActuator::PySetTime(PyObject* args) {
ShowDeprecationWarning("setTime()", "the time property");
int t;
if(!PyArg_ParseTuple(args, "i:setTime", &t)) {
return NULL;
}
if (t < 0)
t = 0;
m_activeTime = t;
Py_RETURN_NONE;
}
/* 3. getTime */
const char KX_ConstraintActuator::GetTime_doc[] =
"getTime()\n"
"\tReturns the time parameter.\n";
PyObject* KX_ConstraintActuator::PyGetTime(){
ShowDeprecationWarning("getTime()", "the time property");
return PyInt_FromLong(m_activeTime);
}
/* 2. setProperty */
const char KX_ConstraintActuator::SetProperty_doc[] =
"setProperty(property)\n"
"\t- property: string\n"
"\tSets the name of the property or material for the ray detection of the distance constraint.\n"
"\tIf empty, the ray will detect any collisioning object.\n";
PyObject* KX_ConstraintActuator::PySetProperty(PyObject* args) {
ShowDeprecationWarning("setProperty()", "the 'property' property");
char *property;
if (!PyArg_ParseTuple(args, "s:setProperty", &property)) {
return NULL;
}
if (property == NULL) {
m_property = "";
} else {
m_property = property;
}
Py_RETURN_NONE;
}
/* 3. getProperty */
const char KX_ConstraintActuator::GetProperty_doc[] =
"getProperty()\n"
"\tReturns the property parameter.\n";
PyObject* KX_ConstraintActuator::PyGetProperty(){
ShowDeprecationWarning("getProperty()", "the 'property' property");
return PyString_FromString(m_property.Ptr());
}
/* 4. setDistance */
const char KX_ConstraintActuator::SetDistance_doc[] =
"setDistance(distance)\n"
"\t- distance: float\n"
"\tSets the target distance in distance constraint\n";
/* 4. setMin */
const char KX_ConstraintActuator::SetMin_doc[] =
"setMin(lower_bound)\n"
"\t- lower_bound: float\n"
"\tSets the lower value of the interval to which the value\n"
"\tis clipped.\n";
PyObject* KX_ConstraintActuator::PySetMin(PyObject* args) {
ShowDeprecationWarning("setMin() or setDistance()", "the min or distance property");
float minArg;
if(!PyArg_ParseTuple(args, "f:setMin", &minArg)) {
return NULL;
}
switch (m_locrot) {
default:
m_minimumBound = minArg;
break;
case KX_ACT_CONSTRAINT_ROTX:
case KX_ACT_CONSTRAINT_ROTY:
case KX_ACT_CONSTRAINT_ROTZ:
m_minimumBound = MT_radians(minArg);
break;
}
Py_RETURN_NONE;
}
/* 5. getDistance */
const char KX_ConstraintActuator::GetDistance_doc[] =
"getDistance()\n"
"\tReturns the distance parameter \n";
/* 5. getMin */
const char KX_ConstraintActuator::GetMin_doc[] =
"getMin()\n"
"\tReturns the lower value of the interval to which the value\n"
"\tis clipped.\n";
PyObject* KX_ConstraintActuator::PyGetMin() {
ShowDeprecationWarning("getMin() or getDistance()", "the min or distance property");
return PyFloat_FromDouble(m_minimumBound);
}
/* 6. setRayLength */
const char KX_ConstraintActuator::SetRayLength_doc[] =
"setRayLength(length)\n"
"\t- length: float\n"
"\tSets the maximum ray length of the distance constraint\n";
/* 6. setMax */
const char KX_ConstraintActuator::SetMax_doc[] =
"setMax(upper_bound)\n"
"\t- upper_bound: float\n"
"\tSets the upper value of the interval to which the value\n"
"\tis clipped.\n";
PyObject* KX_ConstraintActuator::PySetMax(PyObject* args){
ShowDeprecationWarning("setMax() or setRayLength()", "the max or rayLength property");
float maxArg;
if(!PyArg_ParseTuple(args, "f:setMax", &maxArg)) {
return NULL;
}
switch (m_locrot) {
default:
m_maximumBound = maxArg;
break;
case KX_ACT_CONSTRAINT_ROTX:
case KX_ACT_CONSTRAINT_ROTY:
case KX_ACT_CONSTRAINT_ROTZ:
m_maximumBound = MT_radians(maxArg);
break;
}
Py_RETURN_NONE;
}
/* 7. getRayLength */
const char KX_ConstraintActuator::GetRayLength_doc[] =
"getRayLength()\n"
"\tReturns the length of the ray\n";
/* 7. getMax */
const char KX_ConstraintActuator::GetMax_doc[] =
"getMax()\n"
"\tReturns the upper value of the interval to which the value\n"
"\tis clipped.\n";
PyObject* KX_ConstraintActuator::PyGetMax() {
ShowDeprecationWarning("getMax() or getRayLength()", "the max or rayLength property");
return PyFloat_FromDouble(m_maximumBound);
}
/* This setter/getter probably for the constraint type */
/* 8. setLimit */
const char KX_ConstraintActuator::SetLimit_doc[] =
"setLimit(type)\n"
"\t- type: integer\n"
"\t 1 : LocX\n"
"\t 2 : LocY\n"
"\t 3 : LocZ\n"
"\t 7 : Distance along +X axis\n"
"\t 8 : Distance along +Y axis\n"
"\t 9 : Distance along +Z axis\n"
"\t 10 : Distance along -X axis\n"
"\t 11 : Distance along -Y axis\n"
"\t 12 : Distance along -Z axis\n"
"\t 13 : Align X axis\n"
"\t 14 : Align Y axis\n"
"\t 15 : Align Z axis\n"
"\tSets the type of constraint.\n";
PyObject* KX_ConstraintActuator::PySetLimit(PyObject* args) {
ShowDeprecationWarning("setLimit()", "the limit property");
int locrotArg;
if(!PyArg_ParseTuple(args, "i:setLimit", &locrotArg)) {
return NULL;
}
if (IsValidMode((KX_CONSTRAINTTYPE)locrotArg)) m_locrot = locrotArg;
Py_RETURN_NONE;
}
/* 9. getLimit */
const char KX_ConstraintActuator::GetLimit_doc[] =
"getLimit()\n"
"\tReturns the type of constraint.\n";
PyObject* KX_ConstraintActuator::PyGetLimit() {
ShowDeprecationWarning("setLimit()", "the limit property");
return PyInt_FromLong(m_locrot);
}
/* eof */
Reference in New Issue View Git Blame Copy Permalink