forked from bartvdbraak/blender
627 lines
17 KiB
C++
627 lines
17 KiB
C++
/*
|
|
* Add steering behaviors
|
|
*
|
|
*
|
|
* ***** BEGIN GPL LICENSE BLOCK *****
|
|
*
|
|
* This program is free software; you can redistribute it and/or
|
|
* modify it under the terms of the GNU General Public License
|
|
* as published by the Free Software Foundation; either version 2
|
|
* of the License, or (at your option) any later version.
|
|
*
|
|
* This program is distributed in the hope that it will be useful,
|
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
* GNU General Public License for more details.
|
|
*
|
|
* You should have received a copy of the GNU General Public License
|
|
* along with this program; if not, write to the Free Software Foundation,
|
|
* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
|
|
*
|
|
* The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
|
|
* All rights reserved.
|
|
*
|
|
* The Original Code is: all of this file.
|
|
*
|
|
* Contributor(s): none yet.
|
|
*
|
|
* ***** END GPL LICENSE BLOCK *****
|
|
*/
|
|
|
|
#include "BLI_math.h"
|
|
#include "KX_SteeringActuator.h"
|
|
#include "KX_GameObject.h"
|
|
#include "KX_NavMeshObject.h"
|
|
#include "KX_ObstacleSimulation.h"
|
|
#include "KX_PythonInit.h"
|
|
#include "KX_PyMath.h"
|
|
#include "Recast.h"
|
|
|
|
/* ------------------------------------------------------------------------- */
|
|
/* Native functions */
|
|
/* ------------------------------------------------------------------------- */
|
|
|
|
KX_SteeringActuator::KX_SteeringActuator(SCA_IObject *gameobj,
|
|
int mode,
|
|
KX_GameObject *target,
|
|
KX_GameObject *navmesh,
|
|
float distance,
|
|
float velocity,
|
|
float acceleration,
|
|
float turnspeed,
|
|
bool isSelfTerminated,
|
|
int pathUpdatePeriod,
|
|
KX_ObstacleSimulation* simulation,
|
|
short facingmode,
|
|
bool normalup,
|
|
bool enableVisualization)
|
|
: SCA_IActuator(gameobj, KX_ACT_STEERING),
|
|
m_target(target),
|
|
m_mode(mode),
|
|
m_distance(distance),
|
|
m_velocity(velocity),
|
|
m_acceleration(acceleration),
|
|
m_turnspeed(turnspeed),
|
|
m_simulation(simulation),
|
|
m_updateTime(0),
|
|
m_obstacle(NULL),
|
|
m_isActive(false),
|
|
m_isSelfTerminated(isSelfTerminated),
|
|
m_enableVisualization(enableVisualization),
|
|
m_facingMode(facingmode),
|
|
m_normalUp(normalup),
|
|
m_pathLen(0),
|
|
m_pathUpdatePeriod(pathUpdatePeriod),
|
|
m_wayPointIdx(-1),
|
|
m_steerVec(MT_Vector3(0, 0, 0))
|
|
{
|
|
m_navmesh = static_cast<KX_NavMeshObject*>(navmesh);
|
|
if (m_navmesh)
|
|
m_navmesh->RegisterActuator(this);
|
|
if (m_target)
|
|
m_target->RegisterActuator(this);
|
|
|
|
if (m_simulation)
|
|
m_obstacle = m_simulation->GetObstacle((KX_GameObject*)gameobj);
|
|
KX_GameObject* parent = ((KX_GameObject*)gameobj)->GetParent();
|
|
if (m_facingMode>0 && parent)
|
|
{
|
|
m_parentlocalmat = parent->GetSGNode()->GetLocalOrientation();
|
|
}
|
|
else
|
|
m_parentlocalmat.setIdentity();
|
|
}
|
|
|
|
KX_SteeringActuator::~KX_SteeringActuator()
|
|
{
|
|
if (m_navmesh)
|
|
m_navmesh->UnregisterActuator(this);
|
|
if (m_target)
|
|
m_target->UnregisterActuator(this);
|
|
}
|
|
|
|
CValue* KX_SteeringActuator::GetReplica()
|
|
{
|
|
KX_SteeringActuator* replica = new KX_SteeringActuator(*this);
|
|
// replication just copy the m_base pointer => common random generator
|
|
replica->ProcessReplica();
|
|
return replica;
|
|
}
|
|
|
|
void KX_SteeringActuator::ProcessReplica()
|
|
{
|
|
if (m_target)
|
|
m_target->RegisterActuator(this);
|
|
if (m_navmesh)
|
|
m_navmesh->RegisterActuator(this);
|
|
SCA_IActuator::ProcessReplica();
|
|
}
|
|
|
|
|
|
bool KX_SteeringActuator::UnlinkObject(SCA_IObject* clientobj)
|
|
{
|
|
if (clientobj == m_target)
|
|
{
|
|
m_target = NULL;
|
|
return true;
|
|
}
|
|
else if (clientobj == m_navmesh)
|
|
{
|
|
m_navmesh = NULL;
|
|
return true;
|
|
}
|
|
return false;
|
|
}
|
|
|
|
void KX_SteeringActuator::Relink(CTR_Map<CTR_HashedPtr, void*> *obj_map)
|
|
{
|
|
void **h_obj = (*obj_map)[m_target];
|
|
if (h_obj) {
|
|
if (m_target)
|
|
m_target->UnregisterActuator(this);
|
|
m_target = (KX_GameObject*)(*h_obj);
|
|
m_target->RegisterActuator(this);
|
|
}
|
|
|
|
h_obj = (*obj_map)[m_navmesh];
|
|
if (h_obj) {
|
|
if (m_navmesh)
|
|
m_navmesh->UnregisterActuator(this);
|
|
m_navmesh = (KX_NavMeshObject*)(*h_obj);
|
|
m_navmesh->RegisterActuator(this);
|
|
}
|
|
}
|
|
|
|
bool KX_SteeringActuator::Update(double curtime, bool frame)
|
|
{
|
|
if (frame)
|
|
{
|
|
double delta = curtime - m_updateTime;
|
|
m_updateTime = curtime;
|
|
|
|
if (m_posevent && !m_isActive)
|
|
{
|
|
delta = 0;
|
|
m_pathUpdateTime = -1;
|
|
m_updateTime = curtime;
|
|
m_isActive = true;
|
|
}
|
|
bool bNegativeEvent = IsNegativeEvent();
|
|
if (bNegativeEvent)
|
|
m_isActive = false;
|
|
|
|
RemoveAllEvents();
|
|
|
|
if (!delta)
|
|
return true;
|
|
|
|
if (bNegativeEvent || !m_target)
|
|
return false; // do nothing on negative events
|
|
|
|
KX_GameObject *obj = (KX_GameObject*) GetParent();
|
|
const MT_Point3& mypos = obj->NodeGetWorldPosition();
|
|
const MT_Point3& targpos = m_target->NodeGetWorldPosition();
|
|
MT_Vector3 vectotarg = targpos - mypos;
|
|
MT_Vector3 vectotarg2d = vectotarg;
|
|
vectotarg2d.z() = 0;
|
|
m_steerVec = MT_Vector3(0, 0, 0);
|
|
bool apply_steerforce = false;
|
|
bool terminate = true;
|
|
|
|
switch (m_mode) {
|
|
case KX_STEERING_SEEK:
|
|
if (vectotarg2d.length2()>m_distance*m_distance)
|
|
{
|
|
terminate = false;
|
|
m_steerVec = vectotarg;
|
|
m_steerVec.normalize();
|
|
apply_steerforce = true;
|
|
}
|
|
break;
|
|
case KX_STEERING_FLEE:
|
|
if (vectotarg2d.length2()<m_distance*m_distance)
|
|
{
|
|
terminate = false;
|
|
m_steerVec = -vectotarg;
|
|
m_steerVec.normalize();
|
|
apply_steerforce = true;
|
|
}
|
|
break;
|
|
case KX_STEERING_PATHFOLLOWING:
|
|
if (m_navmesh && vectotarg.length2()>m_distance*m_distance)
|
|
{
|
|
terminate = false;
|
|
|
|
static const MT_Scalar WAYPOINT_RADIUS(0.25);
|
|
|
|
if (m_pathUpdateTime<0 || (m_pathUpdatePeriod>=0 &&
|
|
curtime - m_pathUpdateTime>((double)m_pathUpdatePeriod/1000)))
|
|
{
|
|
m_pathUpdateTime = curtime;
|
|
m_pathLen = m_navmesh->FindPath(mypos, targpos, m_path, MAX_PATH_LENGTH);
|
|
m_wayPointIdx = m_pathLen > 1 ? 1 : -1;
|
|
}
|
|
|
|
if (m_wayPointIdx>0)
|
|
{
|
|
MT_Vector3 waypoint(&m_path[3*m_wayPointIdx]);
|
|
if ((waypoint-mypos).length2()<WAYPOINT_RADIUS*WAYPOINT_RADIUS)
|
|
{
|
|
m_wayPointIdx++;
|
|
if (m_wayPointIdx>=m_pathLen)
|
|
{
|
|
m_wayPointIdx = -1;
|
|
terminate = true;
|
|
}
|
|
else
|
|
waypoint.setValue(&m_path[3*m_wayPointIdx]);
|
|
}
|
|
|
|
m_steerVec = waypoint - mypos;
|
|
apply_steerforce = true;
|
|
|
|
|
|
if (m_enableVisualization)
|
|
{
|
|
//debug draw
|
|
static const MT_Vector3 PATH_COLOR(1,0,0);
|
|
m_navmesh->DrawPath(m_path, m_pathLen, PATH_COLOR);
|
|
}
|
|
}
|
|
|
|
}
|
|
break;
|
|
}
|
|
|
|
if (apply_steerforce)
|
|
{
|
|
bool isdyna = obj->IsDynamic();
|
|
if (isdyna)
|
|
m_steerVec.z() = 0;
|
|
if (!m_steerVec.fuzzyZero())
|
|
m_steerVec.normalize();
|
|
MT_Vector3 newvel = m_velocity*m_steerVec;
|
|
|
|
//adjust velocity to avoid obstacles
|
|
if (m_simulation && m_obstacle /*&& !newvel.fuzzyZero()*/)
|
|
{
|
|
if (m_enableVisualization)
|
|
KX_RasterizerDrawDebugLine(mypos, mypos + newvel, MT_Vector3(1.,0.,0.));
|
|
m_simulation->AdjustObstacleVelocity(m_obstacle, m_mode!=KX_STEERING_PATHFOLLOWING ? m_navmesh : NULL,
|
|
newvel, m_acceleration*delta, m_turnspeed/180.0f*M_PI*delta);
|
|
if (m_enableVisualization)
|
|
KX_RasterizerDrawDebugLine(mypos, mypos + newvel, MT_Vector3(0.,1.,0.));
|
|
}
|
|
|
|
HandleActorFace(newvel);
|
|
if (isdyna)
|
|
{
|
|
//temporary solution: set 2D steering velocity directly to obj
|
|
//correct way is to apply physical force
|
|
MT_Vector3 curvel = obj->GetLinearVelocity();
|
|
newvel.z() = curvel.z();
|
|
obj->setLinearVelocity(newvel, false);
|
|
}
|
|
else
|
|
{
|
|
MT_Vector3 movement = delta*newvel;
|
|
obj->ApplyMovement(movement, false);
|
|
}
|
|
}
|
|
else
|
|
{
|
|
if (m_simulation && m_obstacle)
|
|
{
|
|
m_obstacle->dvel[0] = 0.f;
|
|
m_obstacle->dvel[1] = 0.f;
|
|
}
|
|
|
|
}
|
|
|
|
if (terminate && m_isSelfTerminated)
|
|
return false;
|
|
}
|
|
|
|
return true;
|
|
}
|
|
|
|
const MT_Vector3& KX_SteeringActuator::GetSteeringVec()
|
|
{
|
|
static MT_Vector3 ZERO_VECTOR(0, 0, 0);
|
|
if (m_isActive)
|
|
return m_steerVec;
|
|
else
|
|
return ZERO_VECTOR;
|
|
}
|
|
|
|
inline float vdot2(const float* a, const float* b)
|
|
{
|
|
return a[0]*b[0] + a[2]*b[2];
|
|
}
|
|
static bool barDistSqPointToTri(const float* p, const float* a, const float* b, const float* c)
|
|
{
|
|
float v0[3], v1[3], v2[3];
|
|
rcVsub(v0, c,a);
|
|
rcVsub(v1, b,a);
|
|
rcVsub(v2, p,a);
|
|
|
|
const float dot00 = vdot2(v0, v0);
|
|
const float dot01 = vdot2(v0, v1);
|
|
const float dot02 = vdot2(v0, v2);
|
|
const float dot11 = vdot2(v1, v1);
|
|
const float dot12 = vdot2(v1, v2);
|
|
|
|
// Compute barycentric coordinates
|
|
float invDenom = 1.0f / (dot00 * dot11 - dot01 * dot01);
|
|
float u = (dot11 * dot02 - dot01 * dot12) * invDenom;
|
|
float v = (dot00 * dot12 - dot01 * dot02) * invDenom;
|
|
|
|
float ud = u<0.f ? -u : (u>1.f ? u-1.f : 0.f);
|
|
float vd = v<0.f ? -v : (v>1.f ? v-1.f : 0.f);
|
|
return ud * ud + vd * vd;
|
|
}
|
|
|
|
inline void flipAxes(float* vec)
|
|
{
|
|
std::swap(vec[1],vec[2]);
|
|
}
|
|
|
|
static bool getNavmeshNormal(dtStatNavMesh* navmesh, const MT_Vector3& pos, MT_Vector3& normal)
|
|
{
|
|
static const float polyPickExt[3] = {2, 4, 2};
|
|
float spos[3];
|
|
pos.getValue(spos);
|
|
flipAxes(spos);
|
|
dtStatPolyRef sPolyRef = navmesh->findNearestPoly(spos, polyPickExt);
|
|
if (sPolyRef == 0)
|
|
return false;
|
|
const dtStatPoly* p = navmesh->getPoly(sPolyRef-1);
|
|
const dtStatPolyDetail* pd = navmesh->getPolyDetail(sPolyRef-1);
|
|
|
|
float distMin = FLT_MAX;
|
|
int idxMin = -1;
|
|
for (int i = 0; i < pd->ntris; ++i)
|
|
{
|
|
const unsigned char* t = navmesh->getDetailTri(pd->tbase+i);
|
|
const float* v[3];
|
|
for (int j = 0; j < 3; ++j)
|
|
{
|
|
if (t[j] < p->nv)
|
|
v[j] = navmesh->getVertex(p->v[t[j]]);
|
|
else
|
|
v[j] = navmesh->getDetailVertex(pd->vbase+(t[j]-p->nv));
|
|
}
|
|
float dist = barDistSqPointToTri(spos, v[0], v[1], v[2]);
|
|
if (dist<distMin)
|
|
{
|
|
distMin = dist;
|
|
idxMin = i;
|
|
}
|
|
}
|
|
|
|
if (idxMin>=0)
|
|
{
|
|
const unsigned char* t = navmesh->getDetailTri(pd->tbase+idxMin);
|
|
const float* v[3];
|
|
for (int j = 0; j < 3; ++j)
|
|
{
|
|
if (t[j] < p->nv)
|
|
v[j] = navmesh->getVertex(p->v[t[j]]);
|
|
else
|
|
v[j] = navmesh->getDetailVertex(pd->vbase+(t[j]-p->nv));
|
|
}
|
|
MT_Vector3 tri[3];
|
|
for (size_t j=0; j<3; j++)
|
|
tri[j].setValue(v[j][0],v[j][2],v[j][1]);
|
|
MT_Vector3 a,b;
|
|
a = tri[1]-tri[0];
|
|
b = tri[2]-tri[0];
|
|
normal = b.cross(a).safe_normalized();
|
|
return true;
|
|
}
|
|
|
|
return false;
|
|
}
|
|
|
|
void KX_SteeringActuator::HandleActorFace(MT_Vector3& velocity)
|
|
{
|
|
if (m_facingMode==0 && (!m_navmesh || !m_normalUp))
|
|
return;
|
|
KX_GameObject* curobj = (KX_GameObject*) GetParent();
|
|
MT_Vector3 dir = m_facingMode==0 ? curobj->NodeGetLocalOrientation().getColumn(1) : velocity;
|
|
if (dir.fuzzyZero())
|
|
return;
|
|
dir.normalize();
|
|
MT_Vector3 up(0,0,1);
|
|
MT_Vector3 left;
|
|
MT_Matrix3x3 mat;
|
|
|
|
if (m_navmesh && m_normalUp)
|
|
{
|
|
dtStatNavMesh* navmesh = m_navmesh->GetNavMesh();
|
|
MT_Vector3 normal;
|
|
MT_Vector3 trpos = m_navmesh->TransformToLocalCoords(curobj->NodeGetWorldPosition());
|
|
if (getNavmeshNormal(navmesh, trpos, normal))
|
|
{
|
|
|
|
left = (dir.cross(up)).safe_normalized();
|
|
dir = (-left.cross(normal)).safe_normalized();
|
|
up = normal;
|
|
}
|
|
}
|
|
|
|
switch (m_facingMode)
|
|
{
|
|
case 1: // TRACK X
|
|
{
|
|
left = dir.safe_normalized();
|
|
dir = -(left.cross(up)).safe_normalized();
|
|
break;
|
|
};
|
|
case 2: // TRACK Y
|
|
{
|
|
left = (dir.cross(up)).safe_normalized();
|
|
break;
|
|
}
|
|
|
|
case 3: // track Z
|
|
{
|
|
left = up.safe_normalized();
|
|
up = dir.safe_normalized();
|
|
dir = left;
|
|
left = (dir.cross(up)).safe_normalized();
|
|
break;
|
|
}
|
|
|
|
case 4: // TRACK -X
|
|
{
|
|
left = -dir.safe_normalized();
|
|
dir = -(left.cross(up)).safe_normalized();
|
|
break;
|
|
};
|
|
case 5: // TRACK -Y
|
|
{
|
|
left = (-dir.cross(up)).safe_normalized();
|
|
dir = -dir;
|
|
break;
|
|
}
|
|
case 6: // track -Z
|
|
{
|
|
left = up.safe_normalized();
|
|
up = -dir.safe_normalized();
|
|
dir = left;
|
|
left = (dir.cross(up)).safe_normalized();
|
|
break;
|
|
}
|
|
}
|
|
|
|
mat.setValue (
|
|
left[0], dir[0],up[0],
|
|
left[1], dir[1],up[1],
|
|
left[2], dir[2],up[2]
|
|
);
|
|
|
|
|
|
|
|
KX_GameObject* parentObject = curobj->GetParent();
|
|
if (parentObject)
|
|
{
|
|
MT_Point3 localpos;
|
|
localpos = curobj->GetSGNode()->GetLocalPosition();
|
|
MT_Matrix3x3 parentmatinv;
|
|
parentmatinv = parentObject->NodeGetWorldOrientation ().inverse ();
|
|
mat = parentmatinv * mat;
|
|
mat = m_parentlocalmat * mat;
|
|
curobj->NodeSetLocalOrientation(mat);
|
|
curobj->NodeSetLocalPosition(localpos);
|
|
}
|
|
else
|
|
{
|
|
curobj->NodeSetLocalOrientation(mat);
|
|
}
|
|
|
|
}
|
|
|
|
#ifdef WITH_PYTHON
|
|
|
|
/* ------------------------------------------------------------------------- */
|
|
/* Python functions */
|
|
/* ------------------------------------------------------------------------- */
|
|
|
|
/* Integration hooks ------------------------------------------------------- */
|
|
PyTypeObject KX_SteeringActuator::Type = {
|
|
PyVarObject_HEAD_INIT(NULL, 0)
|
|
"KX_SteeringActuator",
|
|
sizeof(PyObjectPlus_Proxy),
|
|
0,
|
|
py_base_dealloc,
|
|
0,
|
|
0,
|
|
0,
|
|
0,
|
|
py_base_repr,
|
|
0,0,0,0,0,0,0,0,0,
|
|
Py_TPFLAGS_DEFAULT | Py_TPFLAGS_BASETYPE,
|
|
0,0,0,0,0,0,0,
|
|
Methods,
|
|
0,
|
|
0,
|
|
&SCA_IActuator::Type,
|
|
0,0,0,0,0,0,
|
|
py_base_new
|
|
};
|
|
|
|
PyMethodDef KX_SteeringActuator::Methods[] = {
|
|
{NULL,NULL} //Sentinel
|
|
};
|
|
|
|
PyAttributeDef KX_SteeringActuator::Attributes[] = {
|
|
KX_PYATTRIBUTE_INT_RW("behavior", KX_STEERING_NODEF+1, KX_STEERING_MAX-1, true, KX_SteeringActuator, m_mode),
|
|
KX_PYATTRIBUTE_RW_FUNCTION("target", KX_SteeringActuator, pyattr_get_target, pyattr_set_target),
|
|
KX_PYATTRIBUTE_RW_FUNCTION("navmesh", KX_SteeringActuator, pyattr_get_navmesh, pyattr_set_navmesh),
|
|
KX_PYATTRIBUTE_FLOAT_RW("distance", 0.0f, 1000.0f, KX_SteeringActuator, m_distance),
|
|
KX_PYATTRIBUTE_FLOAT_RW("velocity", 0.0f, 1000.0f, KX_SteeringActuator, m_velocity),
|
|
KX_PYATTRIBUTE_FLOAT_RW("acceleration", 0.0f, 1000.0f, KX_SteeringActuator, m_acceleration),
|
|
KX_PYATTRIBUTE_FLOAT_RW("turnspeed", 0.0f, 720.0f, KX_SteeringActuator, m_turnspeed),
|
|
KX_PYATTRIBUTE_BOOL_RW("selfterminated", KX_SteeringActuator, m_isSelfTerminated),
|
|
KX_PYATTRIBUTE_BOOL_RW("enableVisualization", KX_SteeringActuator, m_enableVisualization),
|
|
KX_PYATTRIBUTE_RO_FUNCTION("steeringVec", KX_SteeringActuator, pyattr_get_steeringVec),
|
|
KX_PYATTRIBUTE_SHORT_RW("facingMode", 0, 6, true, KX_SteeringActuator, m_facingMode),
|
|
KX_PYATTRIBUTE_INT_RW("pathUpdatePeriod", -1, 100000, true, KX_SteeringActuator, m_pathUpdatePeriod),
|
|
{ NULL } //Sentinel
|
|
};
|
|
|
|
PyObject* KX_SteeringActuator::pyattr_get_target(void *self, const struct KX_PYATTRIBUTE_DEF *attrdef)
|
|
{
|
|
KX_SteeringActuator* actuator = static_cast<KX_SteeringActuator*>(self);
|
|
if (!actuator->m_target)
|
|
Py_RETURN_NONE;
|
|
else
|
|
return actuator->m_target->GetProxy();
|
|
}
|
|
|
|
int KX_SteeringActuator::pyattr_set_target(void *self, const struct KX_PYATTRIBUTE_DEF *attrdef, PyObject *value)
|
|
{
|
|
KX_SteeringActuator* actuator = static_cast<KX_SteeringActuator*>(self);
|
|
KX_GameObject *gameobj;
|
|
|
|
if (!ConvertPythonToGameObject(value, &gameobj, true, "actuator.object = value: KX_SteeringActuator"))
|
|
return PY_SET_ATTR_FAIL; // ConvertPythonToGameObject sets the error
|
|
|
|
if (actuator->m_target != NULL)
|
|
actuator->m_target->UnregisterActuator(actuator);
|
|
|
|
actuator->m_target = (KX_GameObject*) gameobj;
|
|
|
|
if (actuator->m_target)
|
|
actuator->m_target->RegisterActuator(actuator);
|
|
|
|
return PY_SET_ATTR_SUCCESS;
|
|
}
|
|
|
|
PyObject* KX_SteeringActuator::pyattr_get_navmesh(void *self, const struct KX_PYATTRIBUTE_DEF *attrdef)
|
|
{
|
|
KX_SteeringActuator* actuator = static_cast<KX_SteeringActuator*>(self);
|
|
if (!actuator->m_navmesh)
|
|
Py_RETURN_NONE;
|
|
else
|
|
return actuator->m_navmesh->GetProxy();
|
|
}
|
|
|
|
int KX_SteeringActuator::pyattr_set_navmesh(void *self, const struct KX_PYATTRIBUTE_DEF *attrdef, PyObject *value)
|
|
{
|
|
KX_SteeringActuator* actuator = static_cast<KX_SteeringActuator*>(self);
|
|
KX_GameObject *gameobj;
|
|
|
|
if (!ConvertPythonToGameObject(value, &gameobj, true, "actuator.object = value: KX_SteeringActuator"))
|
|
return PY_SET_ATTR_FAIL; // ConvertPythonToGameObject sets the error
|
|
|
|
if (!PyObject_TypeCheck(value, &KX_NavMeshObject::Type))
|
|
{
|
|
PyErr_Format(PyExc_TypeError, "KX_NavMeshObject is expected");
|
|
return PY_SET_ATTR_FAIL;
|
|
}
|
|
|
|
if (actuator->m_navmesh != NULL)
|
|
actuator->m_navmesh->UnregisterActuator(actuator);
|
|
|
|
actuator->m_navmesh = static_cast<KX_NavMeshObject*>(gameobj);
|
|
|
|
if (actuator->m_navmesh)
|
|
actuator->m_navmesh->RegisterActuator(actuator);
|
|
|
|
return PY_SET_ATTR_SUCCESS;
|
|
}
|
|
|
|
PyObject* KX_SteeringActuator::pyattr_get_steeringVec(void *self, const struct KX_PYATTRIBUTE_DEF *attrdef)
|
|
{
|
|
KX_SteeringActuator* actuator = static_cast<KX_SteeringActuator*>(self);
|
|
const MT_Vector3& steeringVec = actuator->GetSteeringVec();
|
|
return PyObjectFrom(steeringVec);
|
|
}
|
|
|
|
#endif // WITH_PYTHON
|
|
|
|
/* eof */
|
|
|