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blender/source/gameengine/Ketsji/KX_ConstraintActuator.h

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Initial revision
2002-10-12 11:37:38 +00:00
/**
* KX_ConstraintActuator.h
*
* $Id$
*
Patch from GSR that a) fixes a whole bunch of GPL/BL license blocks that were previously missed; and b) greatly increase my ohloh stats!
2008-04-16 22:40:48 +00:00
* ***** BEGIN GPL LICENSE BLOCK *****
Initial revision
2002-10-12 11:37:38 +00:00
*
* 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
Patch from GSR that a) fixes a whole bunch of GPL/BL license blocks that were previously missed; and b) greatly increase my ohloh stats!
2008-04-16 22:40:48 +00:00
* of the License, or (at your option) any later version.
Initial revision
2002-10-12 11:37:38 +00:00
*
* 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.
*
Patch from GSR that a) fixes a whole bunch of GPL/BL license blocks that were previously missed; and b) greatly increase my ohloh stats!
2008-04-16 22:40:48 +00:00
* ***** END GPL LICENSE BLOCK *****
Initial revision
2002-10-12 11:37:38 +00:00
*/
#ifndef __KX_CONSTRAINTACTUATOR
#define __KX_CONSTRAINTACTUATOR
#include "SCA_IActuator.h"
#include "MT_Scalar.h"
BGE logic update: new servo control motion actuator, new distance constraint actuator, new orientation constraint actuator, new actuator sensor. General ======= - Removal of Damp option in motion actuator (replaced by Servo control motion). - No PyDoc at present, will be added soon. Generalization of the Lvl option ================================ A sensor with the Lvl option selected will always produce an event at the start of the game or when entering a state or at object creation. The event will be positive or negative depending of the sensor condition. A negative pulse makes sense when used with a NAND controller: it will be converted into an actuator activation. Servo control motion ==================== A new variant of the motion actuator allows to control speed with force. The control if of type "PID" (Propotional, Integral, Derivate): the force is automatically adapted to achieve the target speed. All the parameters of the servo controller are configurable. The result is a great variety of motion style: anysotropic friction, flying, sliding, pseudo Dloc... This actuator should be used in preference to Dloc and LinV as it produces more fluid movements and avoids the collision problem with Dloc. LinV : target speed as (X,Y,Z) vector in local or world coordinates (mostly useful in local coordinates). Limit: the force can be limited along each axis (in the same coordinates of LinV). No limitation means that the force will grow as large as necessary to achieve the target speed along that axis. Set a max value to limit the accelaration along an axis (slow start) and set a min value (negative) to limit the brake force. P: Proportional coefficient of servo controller, don't set directly unless you know what you're doing. I: Integral coefficient of servo controller. Use low value (<0.1) for slow reaction (sliding), high values (>0.5) for hard control. The P coefficient will be automatically set to 60 times the I coefficient (a reasonable value). D: Derivate coefficient. Leave to 0 unless you know what you're doing. High values create instability. Notes: - This actuator works perfectly in zero friction environment: the PID controller will simulate friction by applying force as needed. - This actuator is compatible with simple Drot motion actuator but not with LinV and Dloc motion. - (0,0,0) is a valid target speed. - All parameters are accessible through Python. Distance constraint actuator ============================ A new variant of the constraint actuator allows to set the distance and orientation relative to a surface. The controller uses a ray to detect the surface (or any object) and adapt the distance and orientation parallel to the surface. Damp: Time constant (in nb of frames) of distance and orientation control. Dist: Select to enable distance control and set target distance. The object will be position at the given distance of surface along the ray direction. Direction: chose a local axis as the ray direction. Range: length of ray. Objecgt within this distance will be detected. N : Select to enable orientation control. The actuator will change the orientation and the location of the object so that it is parallel to the surface at the vertical of the point of contact of the ray. M/P : Select to enable material detection. Default is property detection. Property/Material: name of property/material that the target of ray must have to be detected. If not set, property/ material filter is disabled and any collisioning object within range will be detected. PER : Select to enable persistent operation. Normally the actuator disables itself automatically if the ray does not reach a valid target. time : Maximum activation time of actuator. 0 : unlimited. >0: number of frames before automatic deactivation. rotDamp: Time constant (in nb of frame) of orientation control. 0 : use Damp parameter. >0: use a different time constant for orientation. Notes: - If neither N nor Dist options are set, the actuator does not change the position and orientation of the object; it works as a ray sensor. - The ray has no "X-ray" capability: if the first object hit does not have the required property/material, it returns no hit and the actuator disables itself unless PER option is enabled. - This actuator changes the position and orientation but not the speed of the object. This has an important implication in a gravity environment: the gravity will cause the speed to increase although the object seems to stay still (it is repositioned at each frame). The gravity must be compensated in one way or another. the new servo control motion actuator is the simplest way: set the target speed along the ray axis to 0 and the servo control will automatically compensate the gravity. - This actuator changes the orientation of the object and will conflict with Drot motion unless it is placed BEFORE the Drot motion actuator (the order of actuator is important) - All parameters are accessible through Python. Orientation constraint ====================== A new variant of the constraint actuator allows to align an object axis along a global direction. Damp : Time constant (in nb of frames) of orientation control. X,Y,Z: Global coordinates of reference direction. time : Maximum activation time of actuator. 0 : unlimited. >0: number of frames before automatic deactivation. Notes: - (X,Y,Z) = (0,0,0) is not a valid direction - This actuator changes the orientation of the object and will conflict with Drot motion unless it is placed BEFORE the Drot motion actuator (the order of actuator is important). - This actuator doesn't change the location and speed. It is compatible with gravity. - All parameters are accessible through Python. Actuator sensor =============== This sensor detects the activation and deactivation of actuators of the same object. The sensor generates a positive pulse when the corresponding sensor is activated and a negative pulse when it is deactivated (the contrary if the Inv option is selected). This is mostly useful to chain actions and to detect the loss of contact of the distance motion actuator. Notes: - Actuators are disabled at the start of the game; if you want to detect the On-Off transition of an actuator after it has been activated at least once, unselect the Lvl and Inv options and use a NAND controller. - Some actuators deactivates themselves immediately after being activated. The sensor detects this situation as an On-Off transition. - The actuator name can be set through Python.
2008-07-04 08:14:50 +00:00
#include "MT_Vector3.h"
#include "KX_ClientObjectInfo.h"
Initial revision
2002-10-12 11:37:38 +00:00
BGE patch: KX_GameObject::rayCast() improvements to have X-Ray option, return true face normal and hit polygon information. rayCast(to,from,dist,prop,face,xray,poly): The face paremeter determines the orientation of the normal: 0 or omitted => hit normal is always oriented towards the ray origin (as if you casted the ray from outside) 1 => hit normal is the real face normal (only for mesh object, otherwise face has no effect) The ray has X-Ray capability if xray parameter is 1, otherwise the first object hit (other than self object) stops the ray. The prop and xray parameters interact as follow: prop off, xray off: return closest hit or no hit if there is no object on the full extend of the ray. prop off, xray on : idem. prop on, xray off: return closest hit if it matches prop, no hit otherwise. prop on, xray on : return closest hit matching prop or no hit if there is no object matching prop on the full extend of the ray. if poly is 0 or omitted, returns a 3-tuple with object reference, hit point and hit normal or (None,None,None) if no hit. if poly is 1, returns a 4-tuple with in addition a KX_PolyProxy as 4th element. The KX_PolyProxy object holds information on the polygon hit by the ray: the index of the vertex forming the poylgon, material, etc. Attributes (read-only): matname: The name of polygon material, empty if no material. material: The material of the polygon texture: The texture name of the polygon. matid: The material index of the polygon, use this to retrieve vertex proxy from mesh proxy v1: vertex index of the first vertex of the polygon, use this to retrieve vertex proxy from mesh proxy v2: vertex index of the second vertex of the polygon, use this to retrieve vertex proxy from mesh proxy v3: vertex index of the third vertex of the polygon, use this to retrieve vertex proxy from mesh proxy v4: vertex index of the fourth vertex of the polygon, 0 if polygon has only 3 vertex use this to retrieve vertex proxy from mesh proxy visible: visible state of the polygon: 1=visible, 0=invisible collide: collide state of the polygon: 1=receives collision, 0=collision free. Methods: getMaterialName(): Returns the polygon material name with MA prefix getMaterial(): Returns the polygon material getTextureName(): Returns the polygon texture name getMaterialIndex(): Returns the material bucket index of the polygon. getNumVertex(): Returns the number of vertex of the polygon. isVisible(): Returns whether the polygon is visible or not isCollider(): Returns whether the polygon is receives collision or not getVertexIndex(vertex): Returns the mesh vertex index of a polygon vertex getMesh(): Returns a mesh proxy New methods of KX_MeshProxy have been implemented to retrieve KX_PolyProxy objects: getNumPolygons(): Returns the number of polygon in the mesh. getPolygon(index): Gets the specified polygon from the mesh. More details in PyDoc.
2008-08-27 19:34:19 +00:00
class KX_RayCast;
BGE patch: new force field constraint actuator A new type of constraint actuator is available: Force field. It provides a very similar service to the Fh material feature but with some specificities: - It is defined at the object level: each object can have different settings and you don't need to use material. - It can be applied in all 6 directions and not just -Z. - It can be enabled/disabled easily (it's an actuator). - You can have multiple force fields active at the same time on the same object in different direction (think of a space ship in a tunnel with a repulsive force field on each wall). - You can have a different damping for the rotation. Besides that it provides the same dynamic behavior and the parameters are self explanatory. It works by adapting the linear and angular velocity: the dynamic is independent of the mass. It is compatible with all other motion actuators. Note: linear and anysotropic friction is not yet implemented, the only friction will come from the object damping parameters. Support for friction will be added in a future revision.
2008-10-01 19:16:13 +00:00
class KX_GameObject;
BGE patch: KX_GameObject::rayCast() improvements to have X-Ray option, return true face normal and hit polygon information. rayCast(to,from,dist,prop,face,xray,poly): The face paremeter determines the orientation of the normal: 0 or omitted => hit normal is always oriented towards the ray origin (as if you casted the ray from outside) 1 => hit normal is the real face normal (only for mesh object, otherwise face has no effect) The ray has X-Ray capability if xray parameter is 1, otherwise the first object hit (other than self object) stops the ray. The prop and xray parameters interact as follow: prop off, xray off: return closest hit or no hit if there is no object on the full extend of the ray. prop off, xray on : idem. prop on, xray off: return closest hit if it matches prop, no hit otherwise. prop on, xray on : return closest hit matching prop or no hit if there is no object matching prop on the full extend of the ray. if poly is 0 or omitted, returns a 3-tuple with object reference, hit point and hit normal or (None,None,None) if no hit. if poly is 1, returns a 4-tuple with in addition a KX_PolyProxy as 4th element. The KX_PolyProxy object holds information on the polygon hit by the ray: the index of the vertex forming the poylgon, material, etc. Attributes (read-only): matname: The name of polygon material, empty if no material. material: The material of the polygon texture: The texture name of the polygon. matid: The material index of the polygon, use this to retrieve vertex proxy from mesh proxy v1: vertex index of the first vertex of the polygon, use this to retrieve vertex proxy from mesh proxy v2: vertex index of the second vertex of the polygon, use this to retrieve vertex proxy from mesh proxy v3: vertex index of the third vertex of the polygon, use this to retrieve vertex proxy from mesh proxy v4: vertex index of the fourth vertex of the polygon, 0 if polygon has only 3 vertex use this to retrieve vertex proxy from mesh proxy visible: visible state of the polygon: 1=visible, 0=invisible collide: collide state of the polygon: 1=receives collision, 0=collision free. Methods: getMaterialName(): Returns the polygon material name with MA prefix getMaterial(): Returns the polygon material getTextureName(): Returns the polygon texture name getMaterialIndex(): Returns the material bucket index of the polygon. getNumVertex(): Returns the number of vertex of the polygon. isVisible(): Returns whether the polygon is visible or not isCollider(): Returns whether the polygon is receives collision or not getVertexIndex(vertex): Returns the mesh vertex index of a polygon vertex getMesh(): Returns a mesh proxy New methods of KX_MeshProxy have been implemented to retrieve KX_PolyProxy objects: getNumPolygons(): Returns the number of polygon in the mesh. getPolygon(index): Gets the specified polygon from the mesh. More details in PyDoc.
2008-08-27 19:34:19 +00:00
Initial revision
2002-10-12 11:37:38 +00:00
class KX_ConstraintActuator : public SCA_IActuator
{
Py_Header;
Miscellaneous Fixes: Add Python Mapping method to CListValue Fix Bernoulli bool distribution python method for random actuator Fix Python IpoActuator methods setProperty and force acts local Make data objects private Better sort method for polygon materials - much easier to understand
2004-06-04 03:00:13 +00:00
protected:
Initial revision
2002-10-12 11:37:38 +00:00
// Damp time (int),
BGE logic update: new servo control motion actuator, new distance constraint actuator, new orientation constraint actuator, new actuator sensor. General ======= - Removal of Damp option in motion actuator (replaced by Servo control motion). - No PyDoc at present, will be added soon. Generalization of the Lvl option ================================ A sensor with the Lvl option selected will always produce an event at the start of the game or when entering a state or at object creation. The event will be positive or negative depending of the sensor condition. A negative pulse makes sense when used with a NAND controller: it will be converted into an actuator activation. Servo control motion ==================== A new variant of the motion actuator allows to control speed with force. The control if of type "PID" (Propotional, Integral, Derivate): the force is automatically adapted to achieve the target speed. All the parameters of the servo controller are configurable. The result is a great variety of motion style: anysotropic friction, flying, sliding, pseudo Dloc... This actuator should be used in preference to Dloc and LinV as it produces more fluid movements and avoids the collision problem with Dloc. LinV : target speed as (X,Y,Z) vector in local or world coordinates (mostly useful in local coordinates). Limit: the force can be limited along each axis (in the same coordinates of LinV). No limitation means that the force will grow as large as necessary to achieve the target speed along that axis. Set a max value to limit the accelaration along an axis (slow start) and set a min value (negative) to limit the brake force. P: Proportional coefficient of servo controller, don't set directly unless you know what you're doing. I: Integral coefficient of servo controller. Use low value (<0.1) for slow reaction (sliding), high values (>0.5) for hard control. The P coefficient will be automatically set to 60 times the I coefficient (a reasonable value). D: Derivate coefficient. Leave to 0 unless you know what you're doing. High values create instability. Notes: - This actuator works perfectly in zero friction environment: the PID controller will simulate friction by applying force as needed. - This actuator is compatible with simple Drot motion actuator but not with LinV and Dloc motion. - (0,0,0) is a valid target speed. - All parameters are accessible through Python. Distance constraint actuator ============================ A new variant of the constraint actuator allows to set the distance and orientation relative to a surface. The controller uses a ray to detect the surface (or any object) and adapt the distance and orientation parallel to the surface. Damp: Time constant (in nb of frames) of distance and orientation control. Dist: Select to enable distance control and set target distance. The object will be position at the given distance of surface along the ray direction. Direction: chose a local axis as the ray direction. Range: length of ray. Objecgt within this distance will be detected. N : Select to enable orientation control. The actuator will change the orientation and the location of the object so that it is parallel to the surface at the vertical of the point of contact of the ray. M/P : Select to enable material detection. Default is property detection. Property/Material: name of property/material that the target of ray must have to be detected. If not set, property/ material filter is disabled and any collisioning object within range will be detected. PER : Select to enable persistent operation. Normally the actuator disables itself automatically if the ray does not reach a valid target. time : Maximum activation time of actuator. 0 : unlimited. >0: number of frames before automatic deactivation. rotDamp: Time constant (in nb of frame) of orientation control. 0 : use Damp parameter. >0: use a different time constant for orientation. Notes: - If neither N nor Dist options are set, the actuator does not change the position and orientation of the object; it works as a ray sensor. - The ray has no "X-ray" capability: if the first object hit does not have the required property/material, it returns no hit and the actuator disables itself unless PER option is enabled. - This actuator changes the position and orientation but not the speed of the object. This has an important implication in a gravity environment: the gravity will cause the speed to increase although the object seems to stay still (it is repositioned at each frame). The gravity must be compensated in one way or another. the new servo control motion actuator is the simplest way: set the target speed along the ray axis to 0 and the servo control will automatically compensate the gravity. - This actuator changes the orientation of the object and will conflict with Drot motion unless it is placed BEFORE the Drot motion actuator (the order of actuator is important) - All parameters are accessible through Python. Orientation constraint ====================== A new variant of the constraint actuator allows to align an object axis along a global direction. Damp : Time constant (in nb of frames) of orientation control. X,Y,Z: Global coordinates of reference direction. time : Maximum activation time of actuator. 0 : unlimited. >0: number of frames before automatic deactivation. Notes: - (X,Y,Z) = (0,0,0) is not a valid direction - This actuator changes the orientation of the object and will conflict with Drot motion unless it is placed BEFORE the Drot motion actuator (the order of actuator is important). - This actuator doesn't change the location and speed. It is compatible with gravity. - All parameters are accessible through Python. Actuator sensor =============== This sensor detects the activation and deactivation of actuators of the same object. The sensor generates a positive pulse when the corresponding sensor is activated and a negative pulse when it is deactivated (the contrary if the Inv option is selected). This is mostly useful to chain actions and to detect the loss of contact of the distance motion actuator. Notes: - Actuators are disabled at the start of the game; if you want to detect the On-Off transition of an actuator after it has been activated at least once, unselect the Lvl and Inv options and use a NAND controller. - Some actuators deactivates themselves immediately after being activated. The sensor detects this situation as an On-Off transition. - The actuator name can be set through Python.
2008-07-04 08:14:50 +00:00
int m_posDampTime;
int m_rotDampTime;
// min (float)
Initial revision
2002-10-12 11:37:38 +00:00
float m_minimumBound;
BGE logic update: new servo control motion actuator, new distance constraint actuator, new orientation constraint actuator, new actuator sensor. General ======= - Removal of Damp option in motion actuator (replaced by Servo control motion). - No PyDoc at present, will be added soon. Generalization of the Lvl option ================================ A sensor with the Lvl option selected will always produce an event at the start of the game or when entering a state or at object creation. The event will be positive or negative depending of the sensor condition. A negative pulse makes sense when used with a NAND controller: it will be converted into an actuator activation. Servo control motion ==================== A new variant of the motion actuator allows to control speed with force. The control if of type "PID" (Propotional, Integral, Derivate): the force is automatically adapted to achieve the target speed. All the parameters of the servo controller are configurable. The result is a great variety of motion style: anysotropic friction, flying, sliding, pseudo Dloc... This actuator should be used in preference to Dloc and LinV as it produces more fluid movements and avoids the collision problem with Dloc. LinV : target speed as (X,Y,Z) vector in local or world coordinates (mostly useful in local coordinates). Limit: the force can be limited along each axis (in the same coordinates of LinV). No limitation means that the force will grow as large as necessary to achieve the target speed along that axis. Set a max value to limit the accelaration along an axis (slow start) and set a min value (negative) to limit the brake force. P: Proportional coefficient of servo controller, don't set directly unless you know what you're doing. I: Integral coefficient of servo controller. Use low value (<0.1) for slow reaction (sliding), high values (>0.5) for hard control. The P coefficient will be automatically set to 60 times the I coefficient (a reasonable value). D: Derivate coefficient. Leave to 0 unless you know what you're doing. High values create instability. Notes: - This actuator works perfectly in zero friction environment: the PID controller will simulate friction by applying force as needed. - This actuator is compatible with simple Drot motion actuator but not with LinV and Dloc motion. - (0,0,0) is a valid target speed. - All parameters are accessible through Python. Distance constraint actuator ============================ A new variant of the constraint actuator allows to set the distance and orientation relative to a surface. The controller uses a ray to detect the surface (or any object) and adapt the distance and orientation parallel to the surface. Damp: Time constant (in nb of frames) of distance and orientation control. Dist: Select to enable distance control and set target distance. The object will be position at the given distance of surface along the ray direction. Direction: chose a local axis as the ray direction. Range: length of ray. Objecgt within this distance will be detected. N : Select to enable orientation control. The actuator will change the orientation and the location of the object so that it is parallel to the surface at the vertical of the point of contact of the ray. M/P : Select to enable material detection. Default is property detection. Property/Material: name of property/material that the target of ray must have to be detected. If not set, property/ material filter is disabled and any collisioning object within range will be detected. PER : Select to enable persistent operation. Normally the actuator disables itself automatically if the ray does not reach a valid target. time : Maximum activation time of actuator. 0 : unlimited. >0: number of frames before automatic deactivation. rotDamp: Time constant (in nb of frame) of orientation control. 0 : use Damp parameter. >0: use a different time constant for orientation. Notes: - If neither N nor Dist options are set, the actuator does not change the position and orientation of the object; it works as a ray sensor. - The ray has no "X-ray" capability: if the first object hit does not have the required property/material, it returns no hit and the actuator disables itself unless PER option is enabled. - This actuator changes the position and orientation but not the speed of the object. This has an important implication in a gravity environment: the gravity will cause the speed to increase although the object seems to stay still (it is repositioned at each frame). The gravity must be compensated in one way or another. the new servo control motion actuator is the simplest way: set the target speed along the ray axis to 0 and the servo control will automatically compensate the gravity. - This actuator changes the orientation of the object and will conflict with Drot motion unless it is placed BEFORE the Drot motion actuator (the order of actuator is important) - All parameters are accessible through Python. Orientation constraint ====================== A new variant of the constraint actuator allows to align an object axis along a global direction. Damp : Time constant (in nb of frames) of orientation control. X,Y,Z: Global coordinates of reference direction. time : Maximum activation time of actuator. 0 : unlimited. >0: number of frames before automatic deactivation. Notes: - (X,Y,Z) = (0,0,0) is not a valid direction - This actuator changes the orientation of the object and will conflict with Drot motion unless it is placed BEFORE the Drot motion actuator (the order of actuator is important). - This actuator doesn't change the location and speed. It is compatible with gravity. - All parameters are accessible through Python. Actuator sensor =============== This sensor detects the activation and deactivation of actuators of the same object. The sensor generates a positive pulse when the corresponding sensor is activated and a negative pulse when it is deactivated (the contrary if the Inv option is selected). This is mostly useful to chain actions and to detect the loss of contact of the distance motion actuator. Notes: - Actuators are disabled at the start of the game; if you want to detect the On-Off transition of an actuator after it has been activated at least once, unselect the Lvl and Inv options and use a NAND controller. - Some actuators deactivates themselves immediately after being activated. The sensor detects this situation as an On-Off transition. - The actuator name can be set through Python.
2008-07-04 08:14:50 +00:00
// max (float)
Initial revision
2002-10-12 11:37:38 +00:00
float m_maximumBound;
BGE patch: Add min/max parameters to orientation constraint actuator The min/max parameters define a minimum/maximum angle that the object axis can have with the reference direction without being constrainted. The angle is expressed in degree and is limited to 0-180 range. The min/max parameters define a conical free zone around the reference direction. If the object axis is outside that free zone, the actuator will tend to put it back using as a temporary reference direction the vector that is exactly at min or max degree of the reference direction (depending if the axis angle is below the minimum or above the maximum) and is located in the plane formed by the axis and the reference direction. With a low damping value, this is equivalent to clamping the axis orientation within min/max degree of the reference direction. Backward compatibility corresponds to the absence of free zone: min = max = 0.
2008-07-22 23:05:06 +00:00
// sinus of minimum angle
float m_minimumSine;
// sinus of maximum angle
float m_maximumSine;
BGE logic update: new servo control motion actuator, new distance constraint actuator, new orientation constraint actuator, new actuator sensor. General ======= - Removal of Damp option in motion actuator (replaced by Servo control motion). - No PyDoc at present, will be added soon. Generalization of the Lvl option ================================ A sensor with the Lvl option selected will always produce an event at the start of the game or when entering a state or at object creation. The event will be positive or negative depending of the sensor condition. A negative pulse makes sense when used with a NAND controller: it will be converted into an actuator activation. Servo control motion ==================== A new variant of the motion actuator allows to control speed with force. The control if of type "PID" (Propotional, Integral, Derivate): the force is automatically adapted to achieve the target speed. All the parameters of the servo controller are configurable. The result is a great variety of motion style: anysotropic friction, flying, sliding, pseudo Dloc... This actuator should be used in preference to Dloc and LinV as it produces more fluid movements and avoids the collision problem with Dloc. LinV : target speed as (X,Y,Z) vector in local or world coordinates (mostly useful in local coordinates). Limit: the force can be limited along each axis (in the same coordinates of LinV). No limitation means that the force will grow as large as necessary to achieve the target speed along that axis. Set a max value to limit the accelaration along an axis (slow start) and set a min value (negative) to limit the brake force. P: Proportional coefficient of servo controller, don't set directly unless you know what you're doing. I: Integral coefficient of servo controller. Use low value (<0.1) for slow reaction (sliding), high values (>0.5) for hard control. The P coefficient will be automatically set to 60 times the I coefficient (a reasonable value). D: Derivate coefficient. Leave to 0 unless you know what you're doing. High values create instability. Notes: - This actuator works perfectly in zero friction environment: the PID controller will simulate friction by applying force as needed. - This actuator is compatible with simple Drot motion actuator but not with LinV and Dloc motion. - (0,0,0) is a valid target speed. - All parameters are accessible through Python. Distance constraint actuator ============================ A new variant of the constraint actuator allows to set the distance and orientation relative to a surface. The controller uses a ray to detect the surface (or any object) and adapt the distance and orientation parallel to the surface. Damp: Time constant (in nb of frames) of distance and orientation control. Dist: Select to enable distance control and set target distance. The object will be position at the given distance of surface along the ray direction. Direction: chose a local axis as the ray direction. Range: length of ray. Objecgt within this distance will be detected. N : Select to enable orientation control. The actuator will change the orientation and the location of the object so that it is parallel to the surface at the vertical of the point of contact of the ray. M/P : Select to enable material detection. Default is property detection. Property/Material: name of property/material that the target of ray must have to be detected. If not set, property/ material filter is disabled and any collisioning object within range will be detected. PER : Select to enable persistent operation. Normally the actuator disables itself automatically if the ray does not reach a valid target. time : Maximum activation time of actuator. 0 : unlimited. >0: number of frames before automatic deactivation. rotDamp: Time constant (in nb of frame) of orientation control. 0 : use Damp parameter. >0: use a different time constant for orientation. Notes: - If neither N nor Dist options are set, the actuator does not change the position and orientation of the object; it works as a ray sensor. - The ray has no "X-ray" capability: if the first object hit does not have the required property/material, it returns no hit and the actuator disables itself unless PER option is enabled. - This actuator changes the position and orientation but not the speed of the object. This has an important implication in a gravity environment: the gravity will cause the speed to increase although the object seems to stay still (it is repositioned at each frame). The gravity must be compensated in one way or another. the new servo control motion actuator is the simplest way: set the target speed along the ray axis to 0 and the servo control will automatically compensate the gravity. - This actuator changes the orientation of the object and will conflict with Drot motion unless it is placed BEFORE the Drot motion actuator (the order of actuator is important) - All parameters are accessible through Python. Orientation constraint ====================== A new variant of the constraint actuator allows to align an object axis along a global direction. Damp : Time constant (in nb of frames) of orientation control. X,Y,Z: Global coordinates of reference direction. time : Maximum activation time of actuator. 0 : unlimited. >0: number of frames before automatic deactivation. Notes: - (X,Y,Z) = (0,0,0) is not a valid direction - This actuator changes the orientation of the object and will conflict with Drot motion unless it is placed BEFORE the Drot motion actuator (the order of actuator is important). - This actuator doesn't change the location and speed. It is compatible with gravity. - All parameters are accessible through Python. Actuator sensor =============== This sensor detects the activation and deactivation of actuators of the same object. The sensor generates a positive pulse when the corresponding sensor is activated and a negative pulse when it is deactivated (the contrary if the Inv option is selected). This is mostly useful to chain actions and to detect the loss of contact of the distance motion actuator. Notes: - Actuators are disabled at the start of the game; if you want to detect the On-Off transition of an actuator after it has been activated at least once, unselect the Lvl and Inv options and use a NAND controller. - Some actuators deactivates themselves immediately after being activated. The sensor detects this situation as an On-Off transition. - The actuator name can be set through Python.
2008-07-04 08:14:50 +00:00
// reference direction
BGE API cleanup: ConstraintActuator.
2009-04-09 23:10:12 +00:00
float m_refDirection[3];
MT_Vector3 m_refDirVector; // same as m_refDirection
Initial revision
2002-10-12 11:37:38 +00:00
// locrotxyz choice (pick one): only one choice allowed at a time!
int m_locrot;
BGE logic update: new servo control motion actuator, new distance constraint actuator, new orientation constraint actuator, new actuator sensor. General ======= - Removal of Damp option in motion actuator (replaced by Servo control motion). - No PyDoc at present, will be added soon. Generalization of the Lvl option ================================ A sensor with the Lvl option selected will always produce an event at the start of the game or when entering a state or at object creation. The event will be positive or negative depending of the sensor condition. A negative pulse makes sense when used with a NAND controller: it will be converted into an actuator activation. Servo control motion ==================== A new variant of the motion actuator allows to control speed with force. The control if of type "PID" (Propotional, Integral, Derivate): the force is automatically adapted to achieve the target speed. All the parameters of the servo controller are configurable. The result is a great variety of motion style: anysotropic friction, flying, sliding, pseudo Dloc... This actuator should be used in preference to Dloc and LinV as it produces more fluid movements and avoids the collision problem with Dloc. LinV : target speed as (X,Y,Z) vector in local or world coordinates (mostly useful in local coordinates). Limit: the force can be limited along each axis (in the same coordinates of LinV). No limitation means that the force will grow as large as necessary to achieve the target speed along that axis. Set a max value to limit the accelaration along an axis (slow start) and set a min value (negative) to limit the brake force. P: Proportional coefficient of servo controller, don't set directly unless you know what you're doing. I: Integral coefficient of servo controller. Use low value (<0.1) for slow reaction (sliding), high values (>0.5) for hard control. The P coefficient will be automatically set to 60 times the I coefficient (a reasonable value). D: Derivate coefficient. Leave to 0 unless you know what you're doing. High values create instability. Notes: - This actuator works perfectly in zero friction environment: the PID controller will simulate friction by applying force as needed. - This actuator is compatible with simple Drot motion actuator but not with LinV and Dloc motion. - (0,0,0) is a valid target speed. - All parameters are accessible through Python. Distance constraint actuator ============================ A new variant of the constraint actuator allows to set the distance and orientation relative to a surface. The controller uses a ray to detect the surface (or any object) and adapt the distance and orientation parallel to the surface. Damp: Time constant (in nb of frames) of distance and orientation control. Dist: Select to enable distance control and set target distance. The object will be position at the given distance of surface along the ray direction. Direction: chose a local axis as the ray direction. Range: length of ray. Objecgt within this distance will be detected. N : Select to enable orientation control. The actuator will change the orientation and the location of the object so that it is parallel to the surface at the vertical of the point of contact of the ray. M/P : Select to enable material detection. Default is property detection. Property/Material: name of property/material that the target of ray must have to be detected. If not set, property/ material filter is disabled and any collisioning object within range will be detected. PER : Select to enable persistent operation. Normally the actuator disables itself automatically if the ray does not reach a valid target. time : Maximum activation time of actuator. 0 : unlimited. >0: number of frames before automatic deactivation. rotDamp: Time constant (in nb of frame) of orientation control. 0 : use Damp parameter. >0: use a different time constant for orientation. Notes: - If neither N nor Dist options are set, the actuator does not change the position and orientation of the object; it works as a ray sensor. - The ray has no "X-ray" capability: if the first object hit does not have the required property/material, it returns no hit and the actuator disables itself unless PER option is enabled. - This actuator changes the position and orientation but not the speed of the object. This has an important implication in a gravity environment: the gravity will cause the speed to increase although the object seems to stay still (it is repositioned at each frame). The gravity must be compensated in one way or another. the new servo control motion actuator is the simplest way: set the target speed along the ray axis to 0 and the servo control will automatically compensate the gravity. - This actuator changes the orientation of the object and will conflict with Drot motion unless it is placed BEFORE the Drot motion actuator (the order of actuator is important) - All parameters are accessible through Python. Orientation constraint ====================== A new variant of the constraint actuator allows to align an object axis along a global direction. Damp : Time constant (in nb of frames) of orientation control. X,Y,Z: Global coordinates of reference direction. time : Maximum activation time of actuator. 0 : unlimited. >0: number of frames before automatic deactivation. Notes: - (X,Y,Z) = (0,0,0) is not a valid direction - This actuator changes the orientation of the object and will conflict with Drot motion unless it is placed BEFORE the Drot motion actuator (the order of actuator is important). - This actuator doesn't change the location and speed. It is compatible with gravity. - All parameters are accessible through Python. Actuator sensor =============== This sensor detects the activation and deactivation of actuators of the same object. The sensor generates a positive pulse when the corresponding sensor is activated and a negative pulse when it is deactivated (the contrary if the Inv option is selected). This is mostly useful to chain actions and to detect the loss of contact of the distance motion actuator. Notes: - Actuators are disabled at the start of the game; if you want to detect the On-Off transition of an actuator after it has been activated at least once, unselect the Lvl and Inv options and use a NAND controller. - Some actuators deactivates themselves immediately after being activated. The sensor detects this situation as an On-Off transition. - The actuator name can be set through Python.
2008-07-04 08:14:50 +00:00
// active time of actuator
int m_activeTime;
int m_currentTime;
// option
int m_option;
// property to check
BGE API cleanup: ConstraintActuator.
2009-04-09 23:10:12 +00:00
STR_String m_property;
BGE patch: new force field constraint actuator A new type of constraint actuator is available: Force field. It provides a very similar service to the Fh material feature but with some specificities: - It is defined at the object level: each object can have different settings and you don't need to use material. - It can be applied in all 6 directions and not just -Z. - It can be enabled/disabled easily (it's an actuator). - You can have multiple force fields active at the same time on the same object in different direction (think of a space ship in a tunnel with a repulsive force field on each wall). - You can have a different damping for the rotation. Besides that it provides the same dynamic behavior and the parameters are self explanatory. It works by adapting the linear and angular velocity: the dynamic is independent of the mass. It is compatible with all other motion actuators. Note: linear and anysotropic friction is not yet implemented, the only friction will come from the object damping parameters. Support for friction will be added in a future revision.
2008-10-01 19:16:13 +00:00
// hit object
KX_GameObject* m_hitObject;
Initial revision
2002-10-12 11:37:38 +00:00
/**
* Clamp <var> to <min>, <max>. Borders are included (in as far as
* float comparisons are good for equality...).
*/
void Clamp(MT_Scalar &var, float min, float max);
public:
BGE logic update: new servo control motion actuator, new distance constraint actuator, new orientation constraint actuator, new actuator sensor. General ======= - Removal of Damp option in motion actuator (replaced by Servo control motion). - No PyDoc at present, will be added soon. Generalization of the Lvl option ================================ A sensor with the Lvl option selected will always produce an event at the start of the game or when entering a state or at object creation. The event will be positive or negative depending of the sensor condition. A negative pulse makes sense when used with a NAND controller: it will be converted into an actuator activation. Servo control motion ==================== A new variant of the motion actuator allows to control speed with force. The control if of type "PID" (Propotional, Integral, Derivate): the force is automatically adapted to achieve the target speed. All the parameters of the servo controller are configurable. The result is a great variety of motion style: anysotropic friction, flying, sliding, pseudo Dloc... This actuator should be used in preference to Dloc and LinV as it produces more fluid movements and avoids the collision problem with Dloc. LinV : target speed as (X,Y,Z) vector in local or world coordinates (mostly useful in local coordinates). Limit: the force can be limited along each axis (in the same coordinates of LinV). No limitation means that the force will grow as large as necessary to achieve the target speed along that axis. Set a max value to limit the accelaration along an axis (slow start) and set a min value (negative) to limit the brake force. P: Proportional coefficient of servo controller, don't set directly unless you know what you're doing. I: Integral coefficient of servo controller. Use low value (<0.1) for slow reaction (sliding), high values (>0.5) for hard control. The P coefficient will be automatically set to 60 times the I coefficient (a reasonable value). D: Derivate coefficient. Leave to 0 unless you know what you're doing. High values create instability. Notes: - This actuator works perfectly in zero friction environment: the PID controller will simulate friction by applying force as needed. - This actuator is compatible with simple Drot motion actuator but not with LinV and Dloc motion. - (0,0,0) is a valid target speed. - All parameters are accessible through Python. Distance constraint actuator ============================ A new variant of the constraint actuator allows to set the distance and orientation relative to a surface. The controller uses a ray to detect the surface (or any object) and adapt the distance and orientation parallel to the surface. Damp: Time constant (in nb of frames) of distance and orientation control. Dist: Select to enable distance control and set target distance. The object will be position at the given distance of surface along the ray direction. Direction: chose a local axis as the ray direction. Range: length of ray. Objecgt within this distance will be detected. N : Select to enable orientation control. The actuator will change the orientation and the location of the object so that it is parallel to the surface at the vertical of the point of contact of the ray. M/P : Select to enable material detection. Default is property detection. Property/Material: name of property/material that the target of ray must have to be detected. If not set, property/ material filter is disabled and any collisioning object within range will be detected. PER : Select to enable persistent operation. Normally the actuator disables itself automatically if the ray does not reach a valid target. time : Maximum activation time of actuator. 0 : unlimited. >0: number of frames before automatic deactivation. rotDamp: Time constant (in nb of frame) of orientation control. 0 : use Damp parameter. >0: use a different time constant for orientation. Notes: - If neither N nor Dist options are set, the actuator does not change the position and orientation of the object; it works as a ray sensor. - The ray has no "X-ray" capability: if the first object hit does not have the required property/material, it returns no hit and the actuator disables itself unless PER option is enabled. - This actuator changes the position and orientation but not the speed of the object. This has an important implication in a gravity environment: the gravity will cause the speed to increase although the object seems to stay still (it is repositioned at each frame). The gravity must be compensated in one way or another. the new servo control motion actuator is the simplest way: set the target speed along the ray axis to 0 and the servo control will automatically compensate the gravity. - This actuator changes the orientation of the object and will conflict with Drot motion unless it is placed BEFORE the Drot motion actuator (the order of actuator is important) - All parameters are accessible through Python. Orientation constraint ====================== A new variant of the constraint actuator allows to align an object axis along a global direction. Damp : Time constant (in nb of frames) of orientation control. X,Y,Z: Global coordinates of reference direction. time : Maximum activation time of actuator. 0 : unlimited. >0: number of frames before automatic deactivation. Notes: - (X,Y,Z) = (0,0,0) is not a valid direction - This actuator changes the orientation of the object and will conflict with Drot motion unless it is placed BEFORE the Drot motion actuator (the order of actuator is important). - This actuator doesn't change the location and speed. It is compatible with gravity. - All parameters are accessible through Python. Actuator sensor =============== This sensor detects the activation and deactivation of actuators of the same object. The sensor generates a positive pulse when the corresponding sensor is activated and a negative pulse when it is deactivated (the contrary if the Inv option is selected). This is mostly useful to chain actions and to detect the loss of contact of the distance motion actuator. Notes: - Actuators are disabled at the start of the game; if you want to detect the On-Off transition of an actuator after it has been activated at least once, unselect the Lvl and Inv options and use a NAND controller. - Some actuators deactivates themselves immediately after being activated. The sensor detects this situation as an On-Off transition. - The actuator name can be set through Python.
2008-07-04 08:14:50 +00:00
// m_locrot
Initial revision
2002-10-12 11:37:38 +00:00
enum KX_CONSTRAINTTYPE {
KX_ACT_CONSTRAINT_NODEF = 0,
KX_ACT_CONSTRAINT_LOCX,
KX_ACT_CONSTRAINT_LOCY,
KX_ACT_CONSTRAINT_LOCZ,
KX_ACT_CONSTRAINT_ROTX,
KX_ACT_CONSTRAINT_ROTY,
KX_ACT_CONSTRAINT_ROTZ,
BGE logic update: new servo control motion actuator, new distance constraint actuator, new orientation constraint actuator, new actuator sensor. General ======= - Removal of Damp option in motion actuator (replaced by Servo control motion). - No PyDoc at present, will be added soon. Generalization of the Lvl option ================================ A sensor with the Lvl option selected will always produce an event at the start of the game or when entering a state or at object creation. The event will be positive or negative depending of the sensor condition. A negative pulse makes sense when used with a NAND controller: it will be converted into an actuator activation. Servo control motion ==================== A new variant of the motion actuator allows to control speed with force. The control if of type "PID" (Propotional, Integral, Derivate): the force is automatically adapted to achieve the target speed. All the parameters of the servo controller are configurable. The result is a great variety of motion style: anysotropic friction, flying, sliding, pseudo Dloc... This actuator should be used in preference to Dloc and LinV as it produces more fluid movements and avoids the collision problem with Dloc. LinV : target speed as (X,Y,Z) vector in local or world coordinates (mostly useful in local coordinates). Limit: the force can be limited along each axis (in the same coordinates of LinV). No limitation means that the force will grow as large as necessary to achieve the target speed along that axis. Set a max value to limit the accelaration along an axis (slow start) and set a min value (negative) to limit the brake force. P: Proportional coefficient of servo controller, don't set directly unless you know what you're doing. I: Integral coefficient of servo controller. Use low value (<0.1) for slow reaction (sliding), high values (>0.5) for hard control. The P coefficient will be automatically set to 60 times the I coefficient (a reasonable value). D: Derivate coefficient. Leave to 0 unless you know what you're doing. High values create instability. Notes: - This actuator works perfectly in zero friction environment: the PID controller will simulate friction by applying force as needed. - This actuator is compatible with simple Drot motion actuator but not with LinV and Dloc motion. - (0,0,0) is a valid target speed. - All parameters are accessible through Python. Distance constraint actuator ============================ A new variant of the constraint actuator allows to set the distance and orientation relative to a surface. The controller uses a ray to detect the surface (or any object) and adapt the distance and orientation parallel to the surface. Damp: Time constant (in nb of frames) of distance and orientation control. Dist: Select to enable distance control and set target distance. The object will be position at the given distance of surface along the ray direction. Direction: chose a local axis as the ray direction. Range: length of ray. Objecgt within this distance will be detected. N : Select to enable orientation control. The actuator will change the orientation and the location of the object so that it is parallel to the surface at the vertical of the point of contact of the ray. M/P : Select to enable material detection. Default is property detection. Property/Material: name of property/material that the target of ray must have to be detected. If not set, property/ material filter is disabled and any collisioning object within range will be detected. PER : Select to enable persistent operation. Normally the actuator disables itself automatically if the ray does not reach a valid target. time : Maximum activation time of actuator. 0 : unlimited. >0: number of frames before automatic deactivation. rotDamp: Time constant (in nb of frame) of orientation control. 0 : use Damp parameter. >0: use a different time constant for orientation. Notes: - If neither N nor Dist options are set, the actuator does not change the position and orientation of the object; it works as a ray sensor. - The ray has no "X-ray" capability: if the first object hit does not have the required property/material, it returns no hit and the actuator disables itself unless PER option is enabled. - This actuator changes the position and orientation but not the speed of the object. This has an important implication in a gravity environment: the gravity will cause the speed to increase although the object seems to stay still (it is repositioned at each frame). The gravity must be compensated in one way or another. the new servo control motion actuator is the simplest way: set the target speed along the ray axis to 0 and the servo control will automatically compensate the gravity. - This actuator changes the orientation of the object and will conflict with Drot motion unless it is placed BEFORE the Drot motion actuator (the order of actuator is important) - All parameters are accessible through Python. Orientation constraint ====================== A new variant of the constraint actuator allows to align an object axis along a global direction. Damp : Time constant (in nb of frames) of orientation control. X,Y,Z: Global coordinates of reference direction. time : Maximum activation time of actuator. 0 : unlimited. >0: number of frames before automatic deactivation. Notes: - (X,Y,Z) = (0,0,0) is not a valid direction - This actuator changes the orientation of the object and will conflict with Drot motion unless it is placed BEFORE the Drot motion actuator (the order of actuator is important). - This actuator doesn't change the location and speed. It is compatible with gravity. - All parameters are accessible through Python. Actuator sensor =============== This sensor detects the activation and deactivation of actuators of the same object. The sensor generates a positive pulse when the corresponding sensor is activated and a negative pulse when it is deactivated (the contrary if the Inv option is selected). This is mostly useful to chain actions and to detect the loss of contact of the distance motion actuator. Notes: - Actuators are disabled at the start of the game; if you want to detect the On-Off transition of an actuator after it has been activated at least once, unselect the Lvl and Inv options and use a NAND controller. - Some actuators deactivates themselves immediately after being activated. The sensor detects this situation as an On-Off transition. - The actuator name can be set through Python.
2008-07-04 08:14:50 +00:00
KX_ACT_CONSTRAINT_DIRPX,
KX_ACT_CONSTRAINT_DIRPY,
KX_ACT_CONSTRAINT_DIRPZ,
BGE patch: Add PyDoc for new logic bricks, set exception message on Py error, remove args on Py functions that don't take any to save CPU time
2008-07-23 21:37:37 +00:00
KX_ACT_CONSTRAINT_DIRNX,
KX_ACT_CONSTRAINT_DIRNY,
KX_ACT_CONSTRAINT_DIRNZ,
BGE logic update: new servo control motion actuator, new distance constraint actuator, new orientation constraint actuator, new actuator sensor. General ======= - Removal of Damp option in motion actuator (replaced by Servo control motion). - No PyDoc at present, will be added soon. Generalization of the Lvl option ================================ A sensor with the Lvl option selected will always produce an event at the start of the game or when entering a state or at object creation. The event will be positive or negative depending of the sensor condition. A negative pulse makes sense when used with a NAND controller: it will be converted into an actuator activation. Servo control motion ==================== A new variant of the motion actuator allows to control speed with force. The control if of type "PID" (Propotional, Integral, Derivate): the force is automatically adapted to achieve the target speed. All the parameters of the servo controller are configurable. The result is a great variety of motion style: anysotropic friction, flying, sliding, pseudo Dloc... This actuator should be used in preference to Dloc and LinV as it produces more fluid movements and avoids the collision problem with Dloc. LinV : target speed as (X,Y,Z) vector in local or world coordinates (mostly useful in local coordinates). Limit: the force can be limited along each axis (in the same coordinates of LinV). No limitation means that the force will grow as large as necessary to achieve the target speed along that axis. Set a max value to limit the accelaration along an axis (slow start) and set a min value (negative) to limit the brake force. P: Proportional coefficient of servo controller, don't set directly unless you know what you're doing. I: Integral coefficient of servo controller. Use low value (<0.1) for slow reaction (sliding), high values (>0.5) for hard control. The P coefficient will be automatically set to 60 times the I coefficient (a reasonable value). D: Derivate coefficient. Leave to 0 unless you know what you're doing. High values create instability. Notes: - This actuator works perfectly in zero friction environment: the PID controller will simulate friction by applying force as needed. - This actuator is compatible with simple Drot motion actuator but not with LinV and Dloc motion. - (0,0,0) is a valid target speed. - All parameters are accessible through Python. Distance constraint actuator ============================ A new variant of the constraint actuator allows to set the distance and orientation relative to a surface. The controller uses a ray to detect the surface (or any object) and adapt the distance and orientation parallel to the surface. Damp: Time constant (in nb of frames) of distance and orientation control. Dist: Select to enable distance control and set target distance. The object will be position at the given distance of surface along the ray direction. Direction: chose a local axis as the ray direction. Range: length of ray. Objecgt within this distance will be detected. N : Select to enable orientation control. The actuator will change the orientation and the location of the object so that it is parallel to the surface at the vertical of the point of contact of the ray. M/P : Select to enable material detection. Default is property detection. Property/Material: name of property/material that the target of ray must have to be detected. If not set, property/ material filter is disabled and any collisioning object within range will be detected. PER : Select to enable persistent operation. Normally the actuator disables itself automatically if the ray does not reach a valid target. time : Maximum activation time of actuator. 0 : unlimited. >0: number of frames before automatic deactivation. rotDamp: Time constant (in nb of frame) of orientation control. 0 : use Damp parameter. >0: use a different time constant for orientation. Notes: - If neither N nor Dist options are set, the actuator does not change the position and orientation of the object; it works as a ray sensor. - The ray has no "X-ray" capability: if the first object hit does not have the required property/material, it returns no hit and the actuator disables itself unless PER option is enabled. - This actuator changes the position and orientation but not the speed of the object. This has an important implication in a gravity environment: the gravity will cause the speed to increase although the object seems to stay still (it is repositioned at each frame). The gravity must be compensated in one way or another. the new servo control motion actuator is the simplest way: set the target speed along the ray axis to 0 and the servo control will automatically compensate the gravity. - This actuator changes the orientation of the object and will conflict with Drot motion unless it is placed BEFORE the Drot motion actuator (the order of actuator is important) - All parameters are accessible through Python. Orientation constraint ====================== A new variant of the constraint actuator allows to align an object axis along a global direction. Damp : Time constant (in nb of frames) of orientation control. X,Y,Z: Global coordinates of reference direction. time : Maximum activation time of actuator. 0 : unlimited. >0: number of frames before automatic deactivation. Notes: - (X,Y,Z) = (0,0,0) is not a valid direction - This actuator changes the orientation of the object and will conflict with Drot motion unless it is placed BEFORE the Drot motion actuator (the order of actuator is important). - This actuator doesn't change the location and speed. It is compatible with gravity. - All parameters are accessible through Python. Actuator sensor =============== This sensor detects the activation and deactivation of actuators of the same object. The sensor generates a positive pulse when the corresponding sensor is activated and a negative pulse when it is deactivated (the contrary if the Inv option is selected). This is mostly useful to chain actions and to detect the loss of contact of the distance motion actuator. Notes: - Actuators are disabled at the start of the game; if you want to detect the On-Off transition of an actuator after it has been activated at least once, unselect the Lvl and Inv options and use a NAND controller. - Some actuators deactivates themselves immediately after being activated. The sensor detects this situation as an On-Off transition. - The actuator name can be set through Python.
2008-07-04 08:14:50 +00:00
KX_ACT_CONSTRAINT_ORIX,
KX_ACT_CONSTRAINT_ORIY,
KX_ACT_CONSTRAINT_ORIZ,
BGE patch: new force field constraint actuator A new type of constraint actuator is available: Force field. It provides a very similar service to the Fh material feature but with some specificities: - It is defined at the object level: each object can have different settings and you don't need to use material. - It can be applied in all 6 directions and not just -Z. - It can be enabled/disabled easily (it's an actuator). - You can have multiple force fields active at the same time on the same object in different direction (think of a space ship in a tunnel with a repulsive force field on each wall). - You can have a different damping for the rotation. Besides that it provides the same dynamic behavior and the parameters are self explanatory. It works by adapting the linear and angular velocity: the dynamic is independent of the mass. It is compatible with all other motion actuators. Note: linear and anysotropic friction is not yet implemented, the only friction will come from the object damping parameters. Support for friction will be added in a future revision.
2008-10-01 19:16:13 +00:00
KX_ACT_CONSTRAINT_FHPX,
KX_ACT_CONSTRAINT_FHPY,
KX_ACT_CONSTRAINT_FHPZ,
KX_ACT_CONSTRAINT_FHNX,
KX_ACT_CONSTRAINT_FHNY,
KX_ACT_CONSTRAINT_FHNZ,
Initial revision
2002-10-12 11:37:38 +00:00
KX_ACT_CONSTRAINT_MAX
};
BGE logic update: new servo control motion actuator, new distance constraint actuator, new orientation constraint actuator, new actuator sensor. General ======= - Removal of Damp option in motion actuator (replaced by Servo control motion). - No PyDoc at present, will be added soon. Generalization of the Lvl option ================================ A sensor with the Lvl option selected will always produce an event at the start of the game or when entering a state or at object creation. The event will be positive or negative depending of the sensor condition. A negative pulse makes sense when used with a NAND controller: it will be converted into an actuator activation. Servo control motion ==================== A new variant of the motion actuator allows to control speed with force. The control if of type "PID" (Propotional, Integral, Derivate): the force is automatically adapted to achieve the target speed. All the parameters of the servo controller are configurable. The result is a great variety of motion style: anysotropic friction, flying, sliding, pseudo Dloc... This actuator should be used in preference to Dloc and LinV as it produces more fluid movements and avoids the collision problem with Dloc. LinV : target speed as (X,Y,Z) vector in local or world coordinates (mostly useful in local coordinates). Limit: the force can be limited along each axis (in the same coordinates of LinV). No limitation means that the force will grow as large as necessary to achieve the target speed along that axis. Set a max value to limit the accelaration along an axis (slow start) and set a min value (negative) to limit the brake force. P: Proportional coefficient of servo controller, don't set directly unless you know what you're doing. I: Integral coefficient of servo controller. Use low value (<0.1) for slow reaction (sliding), high values (>0.5) for hard control. The P coefficient will be automatically set to 60 times the I coefficient (a reasonable value). D: Derivate coefficient. Leave to 0 unless you know what you're doing. High values create instability. Notes: - This actuator works perfectly in zero friction environment: the PID controller will simulate friction by applying force as needed. - This actuator is compatible with simple Drot motion actuator but not with LinV and Dloc motion. - (0,0,0) is a valid target speed. - All parameters are accessible through Python. Distance constraint actuator ============================ A new variant of the constraint actuator allows to set the distance and orientation relative to a surface. The controller uses a ray to detect the surface (or any object) and adapt the distance and orientation parallel to the surface. Damp: Time constant (in nb of frames) of distance and orientation control. Dist: Select to enable distance control and set target distance. The object will be position at the given distance of surface along the ray direction. Direction: chose a local axis as the ray direction. Range: length of ray. Objecgt within this distance will be detected. N : Select to enable orientation control. The actuator will change the orientation and the location of the object so that it is parallel to the surface at the vertical of the point of contact of the ray. M/P : Select to enable material detection. Default is property detection. Property/Material: name of property/material that the target of ray must have to be detected. If not set, property/ material filter is disabled and any collisioning object within range will be detected. PER : Select to enable persistent operation. Normally the actuator disables itself automatically if the ray does not reach a valid target. time : Maximum activation time of actuator. 0 : unlimited. >0: number of frames before automatic deactivation. rotDamp: Time constant (in nb of frame) of orientation control. 0 : use Damp parameter. >0: use a different time constant for orientation. Notes: - If neither N nor Dist options are set, the actuator does not change the position and orientation of the object; it works as a ray sensor. - The ray has no "X-ray" capability: if the first object hit does not have the required property/material, it returns no hit and the actuator disables itself unless PER option is enabled. - This actuator changes the position and orientation but not the speed of the object. This has an important implication in a gravity environment: the gravity will cause the speed to increase although the object seems to stay still (it is repositioned at each frame). The gravity must be compensated in one way or another. the new servo control motion actuator is the simplest way: set the target speed along the ray axis to 0 and the servo control will automatically compensate the gravity. - This actuator changes the orientation of the object and will conflict with Drot motion unless it is placed BEFORE the Drot motion actuator (the order of actuator is important) - All parameters are accessible through Python. Orientation constraint ====================== A new variant of the constraint actuator allows to align an object axis along a global direction. Damp : Time constant (in nb of frames) of orientation control. X,Y,Z: Global coordinates of reference direction. time : Maximum activation time of actuator. 0 : unlimited. >0: number of frames before automatic deactivation. Notes: - (X,Y,Z) = (0,0,0) is not a valid direction - This actuator changes the orientation of the object and will conflict with Drot motion unless it is placed BEFORE the Drot motion actuator (the order of actuator is important). - This actuator doesn't change the location and speed. It is compatible with gravity. - All parameters are accessible through Python. Actuator sensor =============== This sensor detects the activation and deactivation of actuators of the same object. The sensor generates a positive pulse when the corresponding sensor is activated and a negative pulse when it is deactivated (the contrary if the Inv option is selected). This is mostly useful to chain actions and to detect the loss of contact of the distance motion actuator. Notes: - Actuators are disabled at the start of the game; if you want to detect the On-Off transition of an actuator after it has been activated at least once, unselect the Lvl and Inv options and use a NAND controller. - Some actuators deactivates themselves immediately after being activated. The sensor detects this situation as an On-Off transition. - The actuator name can be set through Python.
2008-07-04 08:14:50 +00:00
// match ACT_CONST_... values from BIF_interface.h
enum KX_CONSTRAINTOPT {
KX_ACT_CONSTRAINT_NORMAL = 64,
KX_ACT_CONSTRAINT_MATERIAL = 128,
KX_ACT_CONSTRAINT_PERMANENT = 256,
BGE patch: local/global flag to distance contraint actuator. Previously the distance constraint actuator was always working in local axis. The local flag allows to cast the ray along a world axis (when the flag is not selected). The N flag works differently in this case: only the object orientation is changed to be parallel to the normal at the hit point. The linear velocity is now changed so that the speed along the ray axis is null. This eliminates the need to compensate the gravity when casting along the Z axis.
2008-09-26 18:03:14 +00:00
KX_ACT_CONSTRAINT_DISTANCE = 512,
BGE patch: new force field constraint actuator A new type of constraint actuator is available: Force field. It provides a very similar service to the Fh material feature but with some specificities: - It is defined at the object level: each object can have different settings and you don't need to use material. - It can be applied in all 6 directions and not just -Z. - It can be enabled/disabled easily (it's an actuator). - You can have multiple force fields active at the same time on the same object in different direction (think of a space ship in a tunnel with a repulsive force field on each wall). - You can have a different damping for the rotation. Besides that it provides the same dynamic behavior and the parameters are self explanatory. It works by adapting the linear and angular velocity: the dynamic is independent of the mass. It is compatible with all other motion actuators. Note: linear and anysotropic friction is not yet implemented, the only friction will come from the object damping parameters. Support for friction will be added in a future revision.
2008-10-01 19:16:13 +00:00
KX_ACT_CONSTRAINT_LOCAL = 1024,
KX_ACT_CONSTRAINT_DOROTFH = 2048
BGE logic update: new servo control motion actuator, new distance constraint actuator, new orientation constraint actuator, new actuator sensor. General ======= - Removal of Damp option in motion actuator (replaced by Servo control motion). - No PyDoc at present, will be added soon. Generalization of the Lvl option ================================ A sensor with the Lvl option selected will always produce an event at the start of the game or when entering a state or at object creation. The event will be positive or negative depending of the sensor condition. A negative pulse makes sense when used with a NAND controller: it will be converted into an actuator activation. Servo control motion ==================== A new variant of the motion actuator allows to control speed with force. The control if of type "PID" (Propotional, Integral, Derivate): the force is automatically adapted to achieve the target speed. All the parameters of the servo controller are configurable. The result is a great variety of motion style: anysotropic friction, flying, sliding, pseudo Dloc... This actuator should be used in preference to Dloc and LinV as it produces more fluid movements and avoids the collision problem with Dloc. LinV : target speed as (X,Y,Z) vector in local or world coordinates (mostly useful in local coordinates). Limit: the force can be limited along each axis (in the same coordinates of LinV). No limitation means that the force will grow as large as necessary to achieve the target speed along that axis. Set a max value to limit the accelaration along an axis (slow start) and set a min value (negative) to limit the brake force. P: Proportional coefficient of servo controller, don't set directly unless you know what you're doing. I: Integral coefficient of servo controller. Use low value (<0.1) for slow reaction (sliding), high values (>0.5) for hard control. The P coefficient will be automatically set to 60 times the I coefficient (a reasonable value). D: Derivate coefficient. Leave to 0 unless you know what you're doing. High values create instability. Notes: - This actuator works perfectly in zero friction environment: the PID controller will simulate friction by applying force as needed. - This actuator is compatible with simple Drot motion actuator but not with LinV and Dloc motion. - (0,0,0) is a valid target speed. - All parameters are accessible through Python. Distance constraint actuator ============================ A new variant of the constraint actuator allows to set the distance and orientation relative to a surface. The controller uses a ray to detect the surface (or any object) and adapt the distance and orientation parallel to the surface. Damp: Time constant (in nb of frames) of distance and orientation control. Dist: Select to enable distance control and set target distance. The object will be position at the given distance of surface along the ray direction. Direction: chose a local axis as the ray direction. Range: length of ray. Objecgt within this distance will be detected. N : Select to enable orientation control. The actuator will change the orientation and the location of the object so that it is parallel to the surface at the vertical of the point of contact of the ray. M/P : Select to enable material detection. Default is property detection. Property/Material: name of property/material that the target of ray must have to be detected. If not set, property/ material filter is disabled and any collisioning object within range will be detected. PER : Select to enable persistent operation. Normally the actuator disables itself automatically if the ray does not reach a valid target. time : Maximum activation time of actuator. 0 : unlimited. >0: number of frames before automatic deactivation. rotDamp: Time constant (in nb of frame) of orientation control. 0 : use Damp parameter. >0: use a different time constant for orientation. Notes: - If neither N nor Dist options are set, the actuator does not change the position and orientation of the object; it works as a ray sensor. - The ray has no "X-ray" capability: if the first object hit does not have the required property/material, it returns no hit and the actuator disables itself unless PER option is enabled. - This actuator changes the position and orientation but not the speed of the object. This has an important implication in a gravity environment: the gravity will cause the speed to increase although the object seems to stay still (it is repositioned at each frame). The gravity must be compensated in one way or another. the new servo control motion actuator is the simplest way: set the target speed along the ray axis to 0 and the servo control will automatically compensate the gravity. - This actuator changes the orientation of the object and will conflict with Drot motion unless it is placed BEFORE the Drot motion actuator (the order of actuator is important) - All parameters are accessible through Python. Orientation constraint ====================== A new variant of the constraint actuator allows to align an object axis along a global direction. Damp : Time constant (in nb of frames) of orientation control. X,Y,Z: Global coordinates of reference direction. time : Maximum activation time of actuator. 0 : unlimited. >0: number of frames before automatic deactivation. Notes: - (X,Y,Z) = (0,0,0) is not a valid direction - This actuator changes the orientation of the object and will conflict with Drot motion unless it is placed BEFORE the Drot motion actuator (the order of actuator is important). - This actuator doesn't change the location and speed. It is compatible with gravity. - All parameters are accessible through Python. Actuator sensor =============== This sensor detects the activation and deactivation of actuators of the same object. The sensor generates a positive pulse when the corresponding sensor is activated and a negative pulse when it is deactivated (the contrary if the Inv option is selected). This is mostly useful to chain actions and to detect the loss of contact of the distance motion actuator. Notes: - Actuators are disabled at the start of the game; if you want to detect the On-Off transition of an actuator after it has been activated at least once, unselect the Lvl and Inv options and use a NAND controller. - Some actuators deactivates themselves immediately after being activated. The sensor detects this situation as an On-Off transition. - The actuator name can be set through Python.
2008-07-04 08:14:50 +00:00
};
Initial revision
2002-10-12 11:37:38 +00:00
bool IsValidMode(KX_CONSTRAINTTYPE m);
BGE patch: KX_GameObject::rayCast() improvements to have X-Ray option, return true face normal and hit polygon information. rayCast(to,from,dist,prop,face,xray,poly): The face paremeter determines the orientation of the normal: 0 or omitted => hit normal is always oriented towards the ray origin (as if you casted the ray from outside) 1 => hit normal is the real face normal (only for mesh object, otherwise face has no effect) The ray has X-Ray capability if xray parameter is 1, otherwise the first object hit (other than self object) stops the ray. The prop and xray parameters interact as follow: prop off, xray off: return closest hit or no hit if there is no object on the full extend of the ray. prop off, xray on : idem. prop on, xray off: return closest hit if it matches prop, no hit otherwise. prop on, xray on : return closest hit matching prop or no hit if there is no object matching prop on the full extend of the ray. if poly is 0 or omitted, returns a 3-tuple with object reference, hit point and hit normal or (None,None,None) if no hit. if poly is 1, returns a 4-tuple with in addition a KX_PolyProxy as 4th element. The KX_PolyProxy object holds information on the polygon hit by the ray: the index of the vertex forming the poylgon, material, etc. Attributes (read-only): matname: The name of polygon material, empty if no material. material: The material of the polygon texture: The texture name of the polygon. matid: The material index of the polygon, use this to retrieve vertex proxy from mesh proxy v1: vertex index of the first vertex of the polygon, use this to retrieve vertex proxy from mesh proxy v2: vertex index of the second vertex of the polygon, use this to retrieve vertex proxy from mesh proxy v3: vertex index of the third vertex of the polygon, use this to retrieve vertex proxy from mesh proxy v4: vertex index of the fourth vertex of the polygon, 0 if polygon has only 3 vertex use this to retrieve vertex proxy from mesh proxy visible: visible state of the polygon: 1=visible, 0=invisible collide: collide state of the polygon: 1=receives collision, 0=collision free. Methods: getMaterialName(): Returns the polygon material name with MA prefix getMaterial(): Returns the polygon material getTextureName(): Returns the polygon texture name getMaterialIndex(): Returns the material bucket index of the polygon. getNumVertex(): Returns the number of vertex of the polygon. isVisible(): Returns whether the polygon is visible or not isCollider(): Returns whether the polygon is receives collision or not getVertexIndex(vertex): Returns the mesh vertex index of a polygon vertex getMesh(): Returns a mesh proxy New methods of KX_MeshProxy have been implemented to retrieve KX_PolyProxy objects: getNumPolygons(): Returns the number of polygon in the mesh. getPolygon(index): Gets the specified polygon from the mesh. More details in PyDoc.
2008-08-27 19:34:19 +00:00
bool RayHit(KX_ClientObjectInfo* client, KX_RayCast* result, void * const data);
bool NeedRayCast(KX_ClientObjectInfo*);
Initial revision
2002-10-12 11:37:38 +00:00
KX_ConstraintActuator(SCA_IObject* gameobj,
BGE logic update: new servo control motion actuator, new distance constraint actuator, new orientation constraint actuator, new actuator sensor. General ======= - Removal of Damp option in motion actuator (replaced by Servo control motion). - No PyDoc at present, will be added soon. Generalization of the Lvl option ================================ A sensor with the Lvl option selected will always produce an event at the start of the game or when entering a state or at object creation. The event will be positive or negative depending of the sensor condition. A negative pulse makes sense when used with a NAND controller: it will be converted into an actuator activation. Servo control motion ==================== A new variant of the motion actuator allows to control speed with force. The control if of type "PID" (Propotional, Integral, Derivate): the force is automatically adapted to achieve the target speed. All the parameters of the servo controller are configurable. The result is a great variety of motion style: anysotropic friction, flying, sliding, pseudo Dloc... This actuator should be used in preference to Dloc and LinV as it produces more fluid movements and avoids the collision problem with Dloc. LinV : target speed as (X,Y,Z) vector in local or world coordinates (mostly useful in local coordinates). Limit: the force can be limited along each axis (in the same coordinates of LinV). No limitation means that the force will grow as large as necessary to achieve the target speed along that axis. Set a max value to limit the accelaration along an axis (slow start) and set a min value (negative) to limit the brake force. P: Proportional coefficient of servo controller, don't set directly unless you know what you're doing. I: Integral coefficient of servo controller. Use low value (<0.1) for slow reaction (sliding), high values (>0.5) for hard control. The P coefficient will be automatically set to 60 times the I coefficient (a reasonable value). D: Derivate coefficient. Leave to 0 unless you know what you're doing. High values create instability. Notes: - This actuator works perfectly in zero friction environment: the PID controller will simulate friction by applying force as needed. - This actuator is compatible with simple Drot motion actuator but not with LinV and Dloc motion. - (0,0,0) is a valid target speed. - All parameters are accessible through Python. Distance constraint actuator ============================ A new variant of the constraint actuator allows to set the distance and orientation relative to a surface. The controller uses a ray to detect the surface (or any object) and adapt the distance and orientation parallel to the surface. Damp: Time constant (in nb of frames) of distance and orientation control. Dist: Select to enable distance control and set target distance. The object will be position at the given distance of surface along the ray direction. Direction: chose a local axis as the ray direction. Range: length of ray. Objecgt within this distance will be detected. N : Select to enable orientation control. The actuator will change the orientation and the location of the object so that it is parallel to the surface at the vertical of the point of contact of the ray. M/P : Select to enable material detection. Default is property detection. Property/Material: name of property/material that the target of ray must have to be detected. If not set, property/ material filter is disabled and any collisioning object within range will be detected. PER : Select to enable persistent operation. Normally the actuator disables itself automatically if the ray does not reach a valid target. time : Maximum activation time of actuator. 0 : unlimited. >0: number of frames before automatic deactivation. rotDamp: Time constant (in nb of frame) of orientation control. 0 : use Damp parameter. >0: use a different time constant for orientation. Notes: - If neither N nor Dist options are set, the actuator does not change the position and orientation of the object; it works as a ray sensor. - The ray has no "X-ray" capability: if the first object hit does not have the required property/material, it returns no hit and the actuator disables itself unless PER option is enabled. - This actuator changes the position and orientation but not the speed of the object. This has an important implication in a gravity environment: the gravity will cause the speed to increase although the object seems to stay still (it is repositioned at each frame). The gravity must be compensated in one way or another. the new servo control motion actuator is the simplest way: set the target speed along the ray axis to 0 and the servo control will automatically compensate the gravity. - This actuator changes the orientation of the object and will conflict with Drot motion unless it is placed BEFORE the Drot motion actuator (the order of actuator is important) - All parameters are accessible through Python. Orientation constraint ====================== A new variant of the constraint actuator allows to align an object axis along a global direction. Damp : Time constant (in nb of frames) of orientation control. X,Y,Z: Global coordinates of reference direction. time : Maximum activation time of actuator. 0 : unlimited. >0: number of frames before automatic deactivation. Notes: - (X,Y,Z) = (0,0,0) is not a valid direction - This actuator changes the orientation of the object and will conflict with Drot motion unless it is placed BEFORE the Drot motion actuator (the order of actuator is important). - This actuator doesn't change the location and speed. It is compatible with gravity. - All parameters are accessible through Python. Actuator sensor =============== This sensor detects the activation and deactivation of actuators of the same object. The sensor generates a positive pulse when the corresponding sensor is activated and a negative pulse when it is deactivated (the contrary if the Inv option is selected). This is mostly useful to chain actions and to detect the loss of contact of the distance motion actuator. Notes: - Actuators are disabled at the start of the game; if you want to detect the On-Off transition of an actuator after it has been activated at least once, unselect the Lvl and Inv options and use a NAND controller. - Some actuators deactivates themselves immediately after being activated. The sensor detects this situation as an On-Off transition. - The actuator name can be set through Python.
2008-07-04 08:14:50 +00:00
int posDamptime,
int rotDampTime,
Initial revision
2002-10-12 11:37:38 +00:00
float min,
float max,
BGE logic update: new servo control motion actuator, new distance constraint actuator, new orientation constraint actuator, new actuator sensor. General ======= - Removal of Damp option in motion actuator (replaced by Servo control motion). - No PyDoc at present, will be added soon. Generalization of the Lvl option ================================ A sensor with the Lvl option selected will always produce an event at the start of the game or when entering a state or at object creation. The event will be positive or negative depending of the sensor condition. A negative pulse makes sense when used with a NAND controller: it will be converted into an actuator activation. Servo control motion ==================== A new variant of the motion actuator allows to control speed with force. The control if of type "PID" (Propotional, Integral, Derivate): the force is automatically adapted to achieve the target speed. All the parameters of the servo controller are configurable. The result is a great variety of motion style: anysotropic friction, flying, sliding, pseudo Dloc... This actuator should be used in preference to Dloc and LinV as it produces more fluid movements and avoids the collision problem with Dloc. LinV : target speed as (X,Y,Z) vector in local or world coordinates (mostly useful in local coordinates). Limit: the force can be limited along each axis (in the same coordinates of LinV). No limitation means that the force will grow as large as necessary to achieve the target speed along that axis. Set a max value to limit the accelaration along an axis (slow start) and set a min value (negative) to limit the brake force. P: Proportional coefficient of servo controller, don't set directly unless you know what you're doing. I: Integral coefficient of servo controller. Use low value (<0.1) for slow reaction (sliding), high values (>0.5) for hard control. The P coefficient will be automatically set to 60 times the I coefficient (a reasonable value). D: Derivate coefficient. Leave to 0 unless you know what you're doing. High values create instability. Notes: - This actuator works perfectly in zero friction environment: the PID controller will simulate friction by applying force as needed. - This actuator is compatible with simple Drot motion actuator but not with LinV and Dloc motion. - (0,0,0) is a valid target speed. - All parameters are accessible through Python. Distance constraint actuator ============================ A new variant of the constraint actuator allows to set the distance and orientation relative to a surface. The controller uses a ray to detect the surface (or any object) and adapt the distance and orientation parallel to the surface. Damp: Time constant (in nb of frames) of distance and orientation control. Dist: Select to enable distance control and set target distance. The object will be position at the given distance of surface along the ray direction. Direction: chose a local axis as the ray direction. Range: length of ray. Objecgt within this distance will be detected. N : Select to enable orientation control. The actuator will change the orientation and the location of the object so that it is parallel to the surface at the vertical of the point of contact of the ray. M/P : Select to enable material detection. Default is property detection. Property/Material: name of property/material that the target of ray must have to be detected. If not set, property/ material filter is disabled and any collisioning object within range will be detected. PER : Select to enable persistent operation. Normally the actuator disables itself automatically if the ray does not reach a valid target. time : Maximum activation time of actuator. 0 : unlimited. >0: number of frames before automatic deactivation. rotDamp: Time constant (in nb of frame) of orientation control. 0 : use Damp parameter. >0: use a different time constant for orientation. Notes: - If neither N nor Dist options are set, the actuator does not change the position and orientation of the object; it works as a ray sensor. - The ray has no "X-ray" capability: if the first object hit does not have the required property/material, it returns no hit and the actuator disables itself unless PER option is enabled. - This actuator changes the position and orientation but not the speed of the object. This has an important implication in a gravity environment: the gravity will cause the speed to increase although the object seems to stay still (it is repositioned at each frame). The gravity must be compensated in one way or another. the new servo control motion actuator is the simplest way: set the target speed along the ray axis to 0 and the servo control will automatically compensate the gravity. - This actuator changes the orientation of the object and will conflict with Drot motion unless it is placed BEFORE the Drot motion actuator (the order of actuator is important) - All parameters are accessible through Python. Orientation constraint ====================== A new variant of the constraint actuator allows to align an object axis along a global direction. Damp : Time constant (in nb of frames) of orientation control. X,Y,Z: Global coordinates of reference direction. time : Maximum activation time of actuator. 0 : unlimited. >0: number of frames before automatic deactivation. Notes: - (X,Y,Z) = (0,0,0) is not a valid direction - This actuator changes the orientation of the object and will conflict with Drot motion unless it is placed BEFORE the Drot motion actuator (the order of actuator is important). - This actuator doesn't change the location and speed. It is compatible with gravity. - All parameters are accessible through Python. Actuator sensor =============== This sensor detects the activation and deactivation of actuators of the same object. The sensor generates a positive pulse when the corresponding sensor is activated and a negative pulse when it is deactivated (the contrary if the Inv option is selected). This is mostly useful to chain actions and to detect the loss of contact of the distance motion actuator. Notes: - Actuators are disabled at the start of the game; if you want to detect the On-Off transition of an actuator after it has been activated at least once, unselect the Lvl and Inv options and use a NAND controller. - Some actuators deactivates themselves immediately after being activated. The sensor detects this situation as an On-Off transition. - The actuator name can be set through Python.
2008-07-04 08:14:50 +00:00
float refDir[3],
Initial revision
2002-10-12 11:37:38 +00:00
int locrot,
BGE logic update: new servo control motion actuator, new distance constraint actuator, new orientation constraint actuator, new actuator sensor. General ======= - Removal of Damp option in motion actuator (replaced by Servo control motion). - No PyDoc at present, will be added soon. Generalization of the Lvl option ================================ A sensor with the Lvl option selected will always produce an event at the start of the game or when entering a state or at object creation. The event will be positive or negative depending of the sensor condition. A negative pulse makes sense when used with a NAND controller: it will be converted into an actuator activation. Servo control motion ==================== A new variant of the motion actuator allows to control speed with force. The control if of type "PID" (Propotional, Integral, Derivate): the force is automatically adapted to achieve the target speed. All the parameters of the servo controller are configurable. The result is a great variety of motion style: anysotropic friction, flying, sliding, pseudo Dloc... This actuator should be used in preference to Dloc and LinV as it produces more fluid movements and avoids the collision problem with Dloc. LinV : target speed as (X,Y,Z) vector in local or world coordinates (mostly useful in local coordinates). Limit: the force can be limited along each axis (in the same coordinates of LinV). No limitation means that the force will grow as large as necessary to achieve the target speed along that axis. Set a max value to limit the accelaration along an axis (slow start) and set a min value (negative) to limit the brake force. P: Proportional coefficient of servo controller, don't set directly unless you know what you're doing. I: Integral coefficient of servo controller. Use low value (<0.1) for slow reaction (sliding), high values (>0.5) for hard control. The P coefficient will be automatically set to 60 times the I coefficient (a reasonable value). D: Derivate coefficient. Leave to 0 unless you know what you're doing. High values create instability. Notes: - This actuator works perfectly in zero friction environment: the PID controller will simulate friction by applying force as needed. - This actuator is compatible with simple Drot motion actuator but not with LinV and Dloc motion. - (0,0,0) is a valid target speed. - All parameters are accessible through Python. Distance constraint actuator ============================ A new variant of the constraint actuator allows to set the distance and orientation relative to a surface. The controller uses a ray to detect the surface (or any object) and adapt the distance and orientation parallel to the surface. Damp: Time constant (in nb of frames) of distance and orientation control. Dist: Select to enable distance control and set target distance. The object will be position at the given distance of surface along the ray direction. Direction: chose a local axis as the ray direction. Range: length of ray. Objecgt within this distance will be detected. N : Select to enable orientation control. The actuator will change the orientation and the location of the object so that it is parallel to the surface at the vertical of the point of contact of the ray. M/P : Select to enable material detection. Default is property detection. Property/Material: name of property/material that the target of ray must have to be detected. If not set, property/ material filter is disabled and any collisioning object within range will be detected. PER : Select to enable persistent operation. Normally the actuator disables itself automatically if the ray does not reach a valid target. time : Maximum activation time of actuator. 0 : unlimited. >0: number of frames before automatic deactivation. rotDamp: Time constant (in nb of frame) of orientation control. 0 : use Damp parameter. >0: use a different time constant for orientation. Notes: - If neither N nor Dist options are set, the actuator does not change the position and orientation of the object; it works as a ray sensor. - The ray has no "X-ray" capability: if the first object hit does not have the required property/material, it returns no hit and the actuator disables itself unless PER option is enabled. - This actuator changes the position and orientation but not the speed of the object. This has an important implication in a gravity environment: the gravity will cause the speed to increase although the object seems to stay still (it is repositioned at each frame). The gravity must be compensated in one way or another. the new servo control motion actuator is the simplest way: set the target speed along the ray axis to 0 and the servo control will automatically compensate the gravity. - This actuator changes the orientation of the object and will conflict with Drot motion unless it is placed BEFORE the Drot motion actuator (the order of actuator is important) - All parameters are accessible through Python. Orientation constraint ====================== A new variant of the constraint actuator allows to align an object axis along a global direction. Damp : Time constant (in nb of frames) of orientation control. X,Y,Z: Global coordinates of reference direction. time : Maximum activation time of actuator. 0 : unlimited. >0: number of frames before automatic deactivation. Notes: - (X,Y,Z) = (0,0,0) is not a valid direction - This actuator changes the orientation of the object and will conflict with Drot motion unless it is placed BEFORE the Drot motion actuator (the order of actuator is important). - This actuator doesn't change the location and speed. It is compatible with gravity. - All parameters are accessible through Python. Actuator sensor =============== This sensor detects the activation and deactivation of actuators of the same object. The sensor generates a positive pulse when the corresponding sensor is activated and a negative pulse when it is deactivated (the contrary if the Inv option is selected). This is mostly useful to chain actions and to detect the loss of contact of the distance motion actuator. Notes: - Actuators are disabled at the start of the game; if you want to detect the On-Off transition of an actuator after it has been activated at least once, unselect the Lvl and Inv options and use a NAND controller. - Some actuators deactivates themselves immediately after being activated. The sensor detects this situation as an On-Off transition. - The actuator name can be set through Python.
2008-07-04 08:14:50 +00:00
int time,
int option,
char *property,
Initial revision
2002-10-12 11:37:38 +00:00
PyTypeObject* T=&Type);
virtual ~KX_ConstraintActuator();
virtual CValue* GetReplica() {
KX_ConstraintActuator* replica = new KX_ConstraintActuator(*this);
replica->ProcessReplica();
return replica;
};
Switch fixed time system. Logic updates should now happen at 30Hz, physics at 60Hz. (By default, use Python to set.) Some actuators still run at framerate (IPO, Action) for nice smooth animation, and an excuse to buy high end hardware. Keyboard sensors can now hook escape key. Ctrl-Break can be used from within blender if you've forgotten an end game actuator. Fixed a stupid bug preventing some actuators working (like TrackTo).
2004-10-16 11:41:50 +00:00
virtual bool Update(double curtime, bool frame);
Initial revision
2002-10-12 11:37:38 +00:00
/* --------------------------------------------------------------------- */
/* Python interface ---------------------------------------------------- */
/* --------------------------------------------------------------------- */
Python BGE API - Initialize python types with PyType_Ready, which adds methods to the type dictionary. - use Pythons get/setattro (uses a python string for the attribute rather then char*). Using basic C strings seems nice but internally python converts them to python strings and discards them for most functions that accept char arrays. - Method lookups use the PyTypes dictionary (should be faster then Py_FindMethod) - Renamed __getattr -> py_base_getattro, _getattr -> py_getattro, __repr -> py_base_repr, py_delattro, py_getattro_self etc. From here is possible to put all the parent classes methods into each python types dictionary to avoid nested lookups (api has 4 levels of lookups in some places), tested this but its not ready yet. Simple tests for getting a method within a loop show this to be between 0.5 and 3.2x faster then using Py_FindMethod()
2009-04-03 14:51:06 +00:00
virtual PyObject* py_getattro(PyObject *attr);
BGE Python API Separate getting a normal attribute and getting __dict__, was having to do too a check for __dict__ on each class (multiple times per getattro call from python) when its not used that often.
2009-04-20 23:17:52 +00:00
virtual PyObject* py_getattro_dict();
BGE API cleanup: ConstraintActuator.
2009-04-09 23:10:12 +00:00
virtual int py_setattro(PyObject *attr, PyObject* value);
static int pyattr_check_direction(void *self, const struct KX_PYATTRIBUTE_DEF *attrdef);
static int pyattr_check_min(void *self, const struct KX_PYATTRIBUTE_DEF *attrdef);
Initial revision
2002-10-12 11:37:38 +00:00
BGE Python API removed redundant (PyObject *self) argument from python functions that are not exposed to python directly.
2009-04-19 17:29:07 +00:00
KX_PYMETHOD_DOC_VARARGS(KX_ConstraintActuator,SetDamp);
BGE patch: Add PyDoc for new logic bricks, set exception message on Py error, remove args on Py functions that don't take any to save CPU time
2008-07-23 21:37:37 +00:00
KX_PYMETHOD_DOC_NOARGS(KX_ConstraintActuator,GetDamp);
BGE Python API removed redundant (PyObject *self) argument from python functions that are not exposed to python directly.
2009-04-19 17:29:07 +00:00
KX_PYMETHOD_DOC_VARARGS(KX_ConstraintActuator,SetRotDamp);
BGE patch: Add PyDoc for new logic bricks, set exception message on Py error, remove args on Py functions that don't take any to save CPU time
2008-07-23 21:37:37 +00:00
KX_PYMETHOD_DOC_NOARGS(KX_ConstraintActuator,GetRotDamp);
BGE Python API removed redundant (PyObject *self) argument from python functions that are not exposed to python directly.
2009-04-19 17:29:07 +00:00
KX_PYMETHOD_DOC_VARARGS(KX_ConstraintActuator,SetDirection);
BGE patch: Add PyDoc for new logic bricks, set exception message on Py error, remove args on Py functions that don't take any to save CPU time
2008-07-23 21:37:37 +00:00
KX_PYMETHOD_DOC_NOARGS(KX_ConstraintActuator,GetDirection);
BGE Python API removed redundant (PyObject *self) argument from python functions that are not exposed to python directly.
2009-04-19 17:29:07 +00:00
KX_PYMETHOD_DOC_VARARGS(KX_ConstraintActuator,SetOption);
BGE patch: Add PyDoc for new logic bricks, set exception message on Py error, remove args on Py functions that don't take any to save CPU time
2008-07-23 21:37:37 +00:00
KX_PYMETHOD_DOC_NOARGS(KX_ConstraintActuator,GetOption);
BGE Python API removed redundant (PyObject *self) argument from python functions that are not exposed to python directly.
2009-04-19 17:29:07 +00:00
KX_PYMETHOD_DOC_VARARGS(KX_ConstraintActuator,SetTime);
BGE patch: Add PyDoc for new logic bricks, set exception message on Py error, remove args on Py functions that don't take any to save CPU time
2008-07-23 21:37:37 +00:00
KX_PYMETHOD_DOC_NOARGS(KX_ConstraintActuator,GetTime);
BGE Python API removed redundant (PyObject *self) argument from python functions that are not exposed to python directly.
2009-04-19 17:29:07 +00:00
KX_PYMETHOD_DOC_VARARGS(KX_ConstraintActuator,SetProperty);
BGE patch: Add PyDoc for new logic bricks, set exception message on Py error, remove args on Py functions that don't take any to save CPU time
2008-07-23 21:37:37 +00:00
KX_PYMETHOD_DOC_NOARGS(KX_ConstraintActuator,GetProperty);
BGE Python API removed redundant (PyObject *self) argument from python functions that are not exposed to python directly.
2009-04-19 17:29:07 +00:00
KX_PYMETHOD_DOC_VARARGS(KX_ConstraintActuator,SetMin);
BGE patch: Add PyDoc for new logic bricks, set exception message on Py error, remove args on Py functions that don't take any to save CPU time
2008-07-23 21:37:37 +00:00
KX_PYMETHOD_DOC_NOARGS(KX_ConstraintActuator,GetMin);
[#17600] char* -> const char* Thanks to Sean Bartell (wtachi), was causing many many warnings which distracted from the real problems.
2008-09-20 11:08:35 +00:00
static const char SetDistance_doc[];
static const char GetDistance_doc[];
BGE Python API removed redundant (PyObject *self) argument from python functions that are not exposed to python directly.
2009-04-19 17:29:07 +00:00
KX_PYMETHOD_DOC_VARARGS(KX_ConstraintActuator,SetMax);
BGE patch: Add PyDoc for new logic bricks, set exception message on Py error, remove args on Py functions that don't take any to save CPU time
2008-07-23 21:37:37 +00:00
KX_PYMETHOD_DOC_NOARGS(KX_ConstraintActuator,GetMax);
[#17600] char* -> const char* Thanks to Sean Bartell (wtachi), was causing many many warnings which distracted from the real problems.
2008-09-20 11:08:35 +00:00
static const char SetRayLength_doc[];
static const char GetRayLength_doc[];
BGE Python API removed redundant (PyObject *self) argument from python functions that are not exposed to python directly.
2009-04-19 17:29:07 +00:00
KX_PYMETHOD_DOC_VARARGS(KX_ConstraintActuator,SetLimit);
BGE patch: Add PyDoc for new logic bricks, set exception message on Py error, remove args on Py functions that don't take any to save CPU time
2008-07-23 21:37:37 +00:00
KX_PYMETHOD_DOC_NOARGS(KX_ConstraintActuator,GetLimit);
Initial revision
2002-10-12 11:37:38 +00:00
};
fixed spacing in the headers to get rid of some warnings and some other little minor spacing issues.
2002-10-30 02:07:20 +00:00
Initial revision
2002-10-12 11:37:38 +00:00
#endif //__KX_CONSTRAINTACTUATOR
fixed spacing in the headers to get rid of some warnings and some other little minor spacing issues.
2002-10-30 02:07:20 +00:00
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