forked from bartvdbraak/blender
226 lines
6.4 KiB
C++
226 lines
6.4 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();
|
|
|
|
#ifndef DISABLE_PYTHON
|
|
|
|
/* --------------------------------------------------------------------- */
|
|
/* Python interface ---------------------------------------------------- */
|
|
/* --------------------------------------------------------------------- */
|
|
|
|
/* 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 // DISABLE_PYTHON
|
|
|
|
};
|
|
|
|
#endif //__KX_OBJECTACTUATOR
|
|
|