blender/source/gameengine/Ketsji/KX_ObjectActuator.h

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/*
* ***** BEGIN GPL LICENSE BLOCK *****
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*
* 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.
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*
* 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,
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* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
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*
* 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 *****
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*/
/** \file KX_ObjectActuator.h
* \ingroup ketsji
* \brief Do translation/rotation actions
*/
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#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;
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//
// Stores the flags for each CValue derived class
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//
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)
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{
}
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;
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};
class KX_ObjectActuator : public SCA_IActuator
{
Py_Header
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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;
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.
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// used in damping
MT_Scalar m_current_linear_factor;
MT_Scalar m_current_angular_factor;
short m_damping;
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.
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// used in servo control
MT_Vector3 m_previous_error;
MT_Vector3 m_error_accumulator;
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KX_LocalFlags m_bitLocalFlag;
KX_GameObject* m_reference;
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// 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;
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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,
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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
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);
~KX_ObjectActuator();
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CValue* GetReplica();
void ProcessReplica();
bool UnlinkObject(SCA_IObject* clientobj);
void Relink(CTR_Map<CTR_HashedPtr, void*> *obj_map);
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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();
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#ifdef WITH_PYTHON
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/* --------------------------------------------------------------------- */
/* 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 // WITH_PYTHON
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};
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#endif //__KX_OBJECTACTUATOR