forked from bartvdbraak/blender
6b9f3b5f5c
Remove the last of the odd C++/python wrapper code from http://www.python.org/doc/PyCPP.html (~1998) * Use python subclasses rather then having fake subclassing through get/set attributes calling parent types. * PyObject getset arrays are created while initializing the types, converted from our own attribute arrays. This way python deals with subclasses and we dont have to define getattro or setattro functions for each type. * GameObjects and Scenes no longer have attribute access to properties. only dictionary style access - ob['prop'] * remove each class's get/set/dir functions. * remove isA() methods, can use PyObject_TypeCheck() in C and issubclass() in python. * remove Parents[] array for each C++ class, was only used for isA() and wasnt correct in quite a few cases. * remove PyTypeObject that was being passed as the last argument to each class (the parent classes too). TODO - * Light and VertexProxy need to be converted to using attributes. * memory for getset arrays is never freed, not that bad since its will only allocates once.
246 lines
7.5 KiB
C++
246 lines
7.5 KiB
C++
/**
|
|
* Do translation/rotation actions
|
|
*
|
|
* $Id$
|
|
*
|
|
* ***** BEGIN GPL LICENSE BLOCK *****
|
|
*
|
|
* This program is free software; you can redistribute it and/or
|
|
* modify it under the terms of the GNU General Public License
|
|
* as published by the Free Software Foundation; either version 2
|
|
* of the License, or (at your option) any later version.
|
|
*
|
|
* This program is distributed in the hope that it will be useful,
|
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
* GNU General Public License for more details.
|
|
*
|
|
* You should have received a copy of the GNU General Public License
|
|
* along with this program; if not, write to the Free Software Foundation,
|
|
* Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
|
|
*
|
|
* The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
|
|
* All rights reserved.
|
|
*
|
|
* The Original Code is: all of this file.
|
|
*
|
|
* Contributor(s): none yet.
|
|
*
|
|
* ***** END GPL LICENSE BLOCK *****
|
|
*/
|
|
|
|
#ifndef __KX_OBJECTACTUATOR
|
|
#define __KX_OBJECTACTUATOR
|
|
|
|
#include "SCA_IActuator.h"
|
|
#include "MT_Vector3.h"
|
|
|
|
#ifdef USE_MATHUTILS
|
|
void KX_ObjectActuator_Mathutils_Callback_Init(void);
|
|
#endif
|
|
|
|
class KX_GameObject;
|
|
|
|
//
|
|
// Stores the flags for each CValue derived class
|
|
//
|
|
struct KX_LocalFlags {
|
|
KX_LocalFlags() :
|
|
Force(false),
|
|
Torque(false),
|
|
DRot(false),
|
|
DLoc(false),
|
|
LinearVelocity(false),
|
|
AngularVelocity(false),
|
|
AddOrSetLinV(false),
|
|
ZeroForce(false),
|
|
ZeroDRot(false),
|
|
ZeroDLoc(false),
|
|
ZeroLinearVelocity(false),
|
|
ZeroAngularVelocity(false)
|
|
{
|
|
}
|
|
|
|
bool Force;
|
|
bool Torque;
|
|
bool DRot;
|
|
bool DLoc;
|
|
bool LinearVelocity;
|
|
bool AngularVelocity;
|
|
bool AddOrSetLinV;
|
|
bool ServoControl;
|
|
bool ZeroForce;
|
|
bool ZeroTorque;
|
|
bool ZeroDRot;
|
|
bool ZeroDLoc;
|
|
bool ZeroLinearVelocity;
|
|
bool ZeroAngularVelocity;
|
|
};
|
|
|
|
class KX_ObjectActuator : public SCA_IActuator
|
|
{
|
|
Py_Header;
|
|
|
|
MT_Vector3 m_force;
|
|
MT_Vector3 m_torque;
|
|
MT_Vector3 m_dloc;
|
|
MT_Vector3 m_drot;
|
|
MT_Vector3 m_linear_velocity;
|
|
MT_Vector3 m_angular_velocity;
|
|
MT_Vector3 m_pid;
|
|
MT_Scalar m_linear_length2;
|
|
MT_Scalar m_angular_length2;
|
|
// used in damping
|
|
MT_Scalar m_current_linear_factor;
|
|
MT_Scalar m_current_angular_factor;
|
|
short m_damping;
|
|
// used in servo control
|
|
MT_Vector3 m_previous_error;
|
|
MT_Vector3 m_error_accumulator;
|
|
KX_LocalFlags m_bitLocalFlag;
|
|
KX_GameObject* m_reference;
|
|
// A hack bool -- oh no sorry everyone
|
|
// This bool is used to check if we have informed
|
|
// the physics object that we are no longer
|
|
// setting linear velocity.
|
|
|
|
bool m_active_combined_velocity;
|
|
bool m_linear_damping_active;
|
|
bool m_angular_damping_active;
|
|
|
|
public:
|
|
enum KX_OBJECT_ACT_VEC_TYPE {
|
|
KX_OBJECT_ACT_NODEF = 0,
|
|
KX_OBJECT_ACT_FORCE,
|
|
KX_OBJECT_ACT_TORQUE,
|
|
KX_OBJECT_ACT_DLOC,
|
|
KX_OBJECT_ACT_DROT,
|
|
KX_OBJECT_ACT_LINEAR_VELOCITY,
|
|
KX_OBJECT_ACT_ANGULAR_VELOCITY,
|
|
KX_OBJECT_ACT_MAX
|
|
};
|
|
|
|
/**
|
|
* Check whether this is a valid vector mode
|
|
*/
|
|
bool isValid(KX_OBJECT_ACT_VEC_TYPE type);
|
|
|
|
KX_ObjectActuator(
|
|
SCA_IObject* gameobj,
|
|
KX_GameObject* refobj,
|
|
const MT_Vector3& force,
|
|
const MT_Vector3& torque,
|
|
const MT_Vector3& dloc,
|
|
const MT_Vector3& drot,
|
|
const MT_Vector3& linV,
|
|
const MT_Vector3& angV,
|
|
const short damping,
|
|
const KX_LocalFlags& flag
|
|
);
|
|
~KX_ObjectActuator();
|
|
CValue* GetReplica();
|
|
void ProcessReplica();
|
|
bool UnlinkObject(SCA_IObject* clientobj);
|
|
void Relink(GEN_Map<GEN_HashedPtr, void*> *obj_map);
|
|
|
|
void SetForceLoc(const double force[3]) { /*m_force=force;*/ }
|
|
void UpdateFuzzyFlags()
|
|
{
|
|
m_bitLocalFlag.ZeroForce = MT_fuzzyZero(m_force);
|
|
m_bitLocalFlag.ZeroTorque = MT_fuzzyZero(m_torque);
|
|
m_bitLocalFlag.ZeroDLoc = MT_fuzzyZero(m_dloc);
|
|
m_bitLocalFlag.ZeroDRot = MT_fuzzyZero(m_drot);
|
|
m_bitLocalFlag.ZeroLinearVelocity = MT_fuzzyZero(m_linear_velocity);
|
|
m_linear_length2 = (m_bitLocalFlag.ZeroLinearVelocity) ? 0.0 : m_linear_velocity.length2();
|
|
m_bitLocalFlag.ZeroAngularVelocity = MT_fuzzyZero(m_angular_velocity);
|
|
m_angular_length2 = (m_bitLocalFlag.ZeroAngularVelocity) ? 0.0 : m_angular_velocity.length2();
|
|
}
|
|
virtual bool Update();
|
|
|
|
|
|
|
|
/* --------------------------------------------------------------------- */
|
|
/* Python interface ---------------------------------------------------- */
|
|
/* --------------------------------------------------------------------- */
|
|
|
|
KX_PYMETHOD_NOARGS(KX_ObjectActuator,GetForce);
|
|
KX_PYMETHOD_VARARGS(KX_ObjectActuator,SetForce);
|
|
KX_PYMETHOD_NOARGS(KX_ObjectActuator,GetTorque);
|
|
KX_PYMETHOD_VARARGS(KX_ObjectActuator,SetTorque);
|
|
KX_PYMETHOD_NOARGS(KX_ObjectActuator,GetDLoc);
|
|
KX_PYMETHOD_VARARGS(KX_ObjectActuator,SetDLoc);
|
|
KX_PYMETHOD_NOARGS(KX_ObjectActuator,GetDRot);
|
|
KX_PYMETHOD_VARARGS(KX_ObjectActuator,SetDRot);
|
|
KX_PYMETHOD_NOARGS(KX_ObjectActuator,GetLinearVelocity);
|
|
KX_PYMETHOD_VARARGS(KX_ObjectActuator,SetLinearVelocity);
|
|
KX_PYMETHOD_NOARGS(KX_ObjectActuator,GetAngularVelocity);
|
|
KX_PYMETHOD_VARARGS(KX_ObjectActuator,SetAngularVelocity);
|
|
KX_PYMETHOD_VARARGS(KX_ObjectActuator,SetDamping);
|
|
KX_PYMETHOD_NOARGS(KX_ObjectActuator,GetDamping);
|
|
KX_PYMETHOD_NOARGS(KX_ObjectActuator,GetForceLimitX);
|
|
KX_PYMETHOD_VARARGS(KX_ObjectActuator,SetForceLimitX);
|
|
KX_PYMETHOD_NOARGS(KX_ObjectActuator,GetForceLimitY);
|
|
KX_PYMETHOD_VARARGS(KX_ObjectActuator,SetForceLimitY);
|
|
KX_PYMETHOD_NOARGS(KX_ObjectActuator,GetForceLimitZ);
|
|
KX_PYMETHOD_VARARGS(KX_ObjectActuator,SetForceLimitZ);
|
|
KX_PYMETHOD_NOARGS(KX_ObjectActuator,GetPID);
|
|
KX_PYMETHOD_VARARGS(KX_ObjectActuator,SetPID);
|
|
|
|
/* Attributes */
|
|
static PyObject* pyattr_get_forceLimitX(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef);
|
|
static int pyattr_set_forceLimitX(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef, PyObject *value);
|
|
static PyObject* pyattr_get_forceLimitY(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef);
|
|
static int pyattr_set_forceLimitY(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef, PyObject *value);
|
|
static PyObject* pyattr_get_forceLimitZ(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef);
|
|
static int pyattr_set_forceLimitZ(void *self_v, const KX_PYATTRIBUTE_DEF *attrdef, PyObject *value);
|
|
static PyObject* pyattr_get_reference(void *self, const struct KX_PYATTRIBUTE_DEF *attrdef);
|
|
static int pyattr_set_reference(void *self, const struct KX_PYATTRIBUTE_DEF *attrdef, PyObject *value);
|
|
|
|
#ifdef USE_MATHUTILS
|
|
static PyObject* pyattr_get_linV(void *self, const struct KX_PYATTRIBUTE_DEF *attrdef);
|
|
static int pyattr_set_linV(void *self, const struct KX_PYATTRIBUTE_DEF *attrdef, PyObject *value);
|
|
static PyObject* pyattr_get_angV(void *self, const struct KX_PYATTRIBUTE_DEF *attrdef);
|
|
static int pyattr_set_angV(void *self, const struct KX_PYATTRIBUTE_DEF *attrdef, PyObject *value);
|
|
#endif
|
|
|
|
// This lets the attribute macros use UpdateFuzzyFlags()
|
|
static int PyUpdateFuzzyFlags(void *self, const PyAttributeDef *attrdef)
|
|
{
|
|
KX_ObjectActuator* act = reinterpret_cast<KX_ObjectActuator*>(self);
|
|
act->UpdateFuzzyFlags();
|
|
return 0;
|
|
}
|
|
|
|
// This is the keep the PID values in check after they are assigned with Python
|
|
static int PyCheckPid(void *self, const PyAttributeDef *attrdef)
|
|
{
|
|
KX_ObjectActuator* act = reinterpret_cast<KX_ObjectActuator*>(self);
|
|
|
|
//P 0 to 200
|
|
if (act->m_pid[0] < 0) {
|
|
act->m_pid[0] = 0;
|
|
} else if (act->m_pid[0] > 200) {
|
|
act->m_pid[0] = 200;
|
|
}
|
|
|
|
//I 0 to 3
|
|
if (act->m_pid[1] < 0) {
|
|
act->m_pid[1] = 0;
|
|
} else if (act->m_pid[1] > 3) {
|
|
act->m_pid[1] = 3;
|
|
}
|
|
|
|
//D -100 to 100
|
|
if (act->m_pid[2] < -100) {
|
|
act->m_pid[2] = -100;
|
|
} else if (act->m_pid[2] > 100) {
|
|
act->m_pid[2] = 100;
|
|
}
|
|
|
|
return 0;
|
|
}
|
|
};
|
|
|
|
#endif //__KX_OBJECTACTUATOR
|
|
|