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