forked from bartvdbraak/blender
- added options to enable visualization for obstacle simulation and steering actuator
- added python attributes for parameters of steering actuator
This commit is contained in:
parent
219e9022b9
commit
0fbca1dc19
@ -557,7 +557,8 @@ class WORLD_PT_game_physics_obstacles(WorldButtonsPanel):
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layout.prop(gs, "obstacle_simulation", text = "Type")
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if gs.obstacle_simulation != 'None':
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layout.prop(gs, "level_height", text="Level height")
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layout.prop(gs, "level_height")
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layout.prop(gs, "show_obstacle_simulation")
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classes = [
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@ -121,7 +121,7 @@ void mid_v3_v3v3(float r[3], float a[3], float b[3]);
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MINLINE int is_zero_v3(float a[3]);
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MINLINE int is_one_v3(float a[3]);
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MINLINE int equals_v3v3(float a[3], float b[3]);
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MINLINE int equals_v3v3(const float a[3],const float b[3]);
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MINLINE int compare_v3v3(float a[3], float b[3], float limit);
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MINLINE int compare_len_v3v3(float a[3], float b[3], float limit);
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@ -404,7 +404,7 @@ MINLINE int is_one_v3(float *v)
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return (v[0] == 1 && v[1] == 1 && v[2] == 1);
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}
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MINLINE int equals_v3v3(float *v1, float *v2)
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MINLINE int equals_v3v3(const float *v1,const float *v2)
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{
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return ((v1[0]==v2[0]) && (v1[1]==v2[1]) && (v1[2]==v2[2]));
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}
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@ -4324,7 +4324,11 @@ static void draw_actuator_steering(uiLayout *layout, PointerRNA *ptr)
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row = uiLayoutRow(layout, 0);
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uiItemR(row, ptr, "selfterminated", 0, NULL, 0);
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if (RNA_enum_get(ptr, "mode")==ACT_STEERING_PATHFOLLOWING)
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{
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uiItemR(row, ptr, "updateperiod", 0, NULL, 0);
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row = uiLayoutRow(layout, 0);
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}
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uiItemR(row, ptr, "enablevisualization", 0, NULL, 0);
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}
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@ -522,6 +522,7 @@ typedef struct FreeCamera {
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#define ACT_STEERING_PATHFOLLOWING 2
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/* steeringactuator->flag */
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#define ACT_STEERING_SELFTERMINATED 1
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#define ACT_STEERING_ENABLEVISUALIZATION 2
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#endif
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@ -516,6 +516,7 @@ typedef struct GameData {
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#define GAME_GLSL_NO_EXTRA_TEX (1 << 11)
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#define GAME_IGNORE_DEPRECATION_WARNINGS (1 << 12)
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#define GAME_ENABLE_ANIMATION_RECORD (1 << 13)
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#define GAME_SHOW_OBSTACLE_SIMULATION (1 << 14)
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/* GameData.matmode */
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#define GAME_MAT_TEXFACE 0
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@ -1926,6 +1926,11 @@ static void rna_def_steering_actuator(BlenderRNA *brna)
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RNA_def_property_ui_text(prop, "Self terminated", "Terminate when target is reached");
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RNA_def_property_update(prop, NC_LOGIC, NULL);
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prop= RNA_def_property(srna, "enablevisualization", PROP_BOOLEAN, PROP_NONE);
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RNA_def_property_boolean_sdna(prop, NULL, "flag", ACT_STEERING_ENABLEVISUALIZATION);
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RNA_def_property_ui_text(prop, "Visualize", "Enable debug visualization");
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RNA_def_property_update(prop, NC_LOGIC, NULL);
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prop= RNA_def_property(srna, "updateperiod", PROP_INT, PROP_NONE);
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RNA_def_property_int_sdna(prop, NULL, "updateTime");
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RNA_def_property_ui_range(prop, -1, 100000, 1, 1);
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@ -1862,6 +1862,10 @@ static void rna_def_scene_game_data(BlenderRNA *brna)
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RNA_def_property_ui_text(prop, "Level height", "Max difference in heights of obstacles to enable their interaction");
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RNA_def_property_update(prop, NC_SCENE, NULL);
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prop= RNA_def_property(srna, "show_obstacle_simulation", PROP_BOOLEAN, PROP_NONE);
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RNA_def_property_boolean_sdna(prop, NULL, "flag", GAME_SHOW_OBSTACLE_SIMULATION);
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RNA_def_property_ui_text(prop, "Visualization", "Enable debug visualization for obstacle simulation");
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/* Recast Settings */
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prop= RNA_def_property(srna, "recast_data", PROP_POINTER, PROP_NONE);
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RNA_def_property_flag(prop, PROP_NEVER_NULL);
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@ -1058,11 +1058,12 @@ void BL_ConvertActuators(char* maggiename,
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}
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bool selfTerminated = (stAct->flag & ACT_STEERING_SELFTERMINATED) !=0;
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bool enableVisualization = (stAct->flag & ACT_STEERING_ENABLEVISUALIZATION) !=0;
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KX_SteeringActuator *tmpstact
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= new KX_SteeringActuator(gameobj, mode, targetob, navmeshob,stAct->dist,
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stAct->velocity, stAct->acceleration, stAct->turnspeed,
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selfTerminated, stAct->updateTime,
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scene->GetObstacleSimulation());
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scene->GetObstacleSimulation(), enableVisualization);
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baseact = tmpstact;
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break;
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}
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@ -446,6 +446,13 @@ bool KX_NavMeshObject::BuildVertIndArrays(RAS_MeshObject* meshobj, float *&verti
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bool KX_NavMeshObject::BuildNavMesh()
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{
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if (m_navMesh)
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{
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delete m_navMesh;
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m_navMesh = NULL;
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}
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if (GetMeshCount()==0)
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return false;
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@ -628,25 +635,23 @@ dtStatNavMesh* KX_NavMeshObject::GetNavMesh()
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return m_navMesh;
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}
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void KX_NavMeshObject::DrawNavMesh()
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void KX_NavMeshObject::DrawNavMesh(NavMeshRenderMode renderMode)
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{
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if (!m_navMesh)
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return;
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MT_Vector3 color(0.f, 0.f, 0.f);
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enum RenderMode {POLYS ,DETAILED_TRIS, WALLS};
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static const RenderMode renderMode = DETAILED_TRIS;// DETAILED_TRIS POLYS
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switch (renderMode)
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{
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case POLYS :
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case WALLS :
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case RM_POLYS :
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case RM_WALLS :
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for (int pi=0; pi<m_navMesh->getPolyCount(); pi++)
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{
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const dtStatPoly* poly = m_navMesh->getPoly(pi);
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for (int i = 0, j = (int)poly->nv-1; i < (int)poly->nv; j = i++)
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{
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if (poly->n[j] && renderMode==WALLS)
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if (poly->n[j] && renderMode==RM_WALLS)
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continue;
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const float* vif = m_navMesh->getVertex(poly->v[i]);
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const float* vjf = m_navMesh->getVertex(poly->v[j]);
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@ -658,7 +663,7 @@ void KX_NavMeshObject::DrawNavMesh()
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}
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}
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break;
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case DETAILED_TRIS :
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case RM_TRIS :
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for (int i = 0; i < m_navMesh->getPolyDetailCount(); ++i)
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{
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const dtStatPoly* p = m_navMesh->getPoly(i);
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@ -800,7 +805,7 @@ PyTypeObject KX_NavMeshObject::Type = {
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Methods,
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0,
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0,
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&CValue::Type,
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&KX_GameObject::Type,
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0,0,0,0,0,0,
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py_base_new
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};
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@ -814,6 +819,7 @@ PyMethodDef KX_NavMeshObject::Methods[] = {
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KX_PYMETHODTABLE(KX_NavMeshObject, findPath),
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KX_PYMETHODTABLE(KX_NavMeshObject, raycast),
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KX_PYMETHODTABLE(KX_NavMeshObject, draw),
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KX_PYMETHODTABLE(KX_NavMeshObject, rebuild),
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{NULL,NULL} //Sentinel
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};
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@ -854,10 +860,30 @@ KX_PYMETHODDEF_DOC(KX_NavMeshObject, raycast,
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return PyFloat_FromDouble(hit);
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}
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KX_PYMETHODDEF_DOC_NOARGS(KX_NavMeshObject, draw,
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"draw(): navigation mesh debug drawing\n")
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KX_PYMETHODDEF_DOC(KX_NavMeshObject, draw,
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"draw(mode): navigation mesh debug drawing\n"
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"mode: WALLS, POLYS, TRIS\n")
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{
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DrawNavMesh();
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char* mode;
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NavMeshRenderMode renderMode = RM_TRIS;
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if (PyArg_ParseTuple(args,"s:rebuild",&mode))
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{
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STR_String mode_str(mode);
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if (mode_str.IsEqualNoCase("WALLS"))
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renderMode = RM_WALLS;
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else if (mode_str.IsEqualNoCase("POLYS"))
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renderMode = RM_POLYS;
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else if (mode_str.IsEqualNoCase("TRIS"))
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renderMode = RM_TRIS;
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}
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DrawNavMesh(renderMode);
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Py_RETURN_NONE;
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}
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KX_PYMETHODDEF_DOC_NOARGS(KX_NavMeshObject, rebuild,
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"rebuild(): rebuild navigation mesh\n")
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{
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BuildNavMesh();
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Py_RETURN_NONE;
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}
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@ -60,7 +60,9 @@ public:
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dtStatNavMesh* GetNavMesh();
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int FindPath(const MT_Point3& from, const MT_Point3& to, float* path, int maxPathLen);
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float Raycast(const MT_Point3& from, const MT_Point3& to);
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void DrawNavMesh();
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enum NavMeshRenderMode {RM_WALLS, RM_POLYS, RM_TRIS};
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void DrawNavMesh(NavMeshRenderMode mode);
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void DrawPath(const float *path, int pathLen, const MT_Vector3& color);
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MT_Point3 TransformToLocalCoords(const MT_Point3& wpos);
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@ -72,7 +74,8 @@ public:
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KX_PYMETHOD_DOC(KX_NavMeshObject, findPath);
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KX_PYMETHOD_DOC(KX_NavMeshObject, raycast);
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KX_PYMETHOD_DOC_NOARGS(KX_NavMeshObject, draw);
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KX_PYMETHOD_DOC(KX_NavMeshObject, draw);
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KX_PYMETHOD_DOC_NOARGS(KX_NavMeshObject, rebuild);
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#endif
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};
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@ -166,8 +166,9 @@ static float interpolateToi(float a, const float* dir, const float* toi, const i
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return 0;
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}
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KX_ObstacleSimulation::KX_ObstacleSimulation(MT_Scalar levelHeight)
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KX_ObstacleSimulation::KX_ObstacleSimulation(MT_Scalar levelHeight, bool enableVisualization)
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: m_levelHeight(levelHeight)
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, m_enableVisualization(enableVisualization)
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{
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}
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@ -276,6 +277,8 @@ void KX_ObstacleSimulation::AdjustObstacleVelocity(KX_Obstacle* activeObst, KX_N
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void KX_ObstacleSimulation::DrawObstacles()
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{
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if (!m_enableVisualization)
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return;
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static const MT_Vector3 bluecolor(0,0,1);
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static const MT_Vector3 normal(0.,0.,1.);
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static const int SECTORS_NUM = 32;
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@ -341,8 +344,8 @@ bool KX_ObstacleSimulation::FilterObstacle(KX_Obstacle* activeObst, KX_NavMeshOb
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return true;
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}
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KX_ObstacleSimulationTOI::KX_ObstacleSimulationTOI(MT_Scalar levelHeight):
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KX_ObstacleSimulation(levelHeight),
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KX_ObstacleSimulationTOI::KX_ObstacleSimulationTOI(MT_Scalar levelHeight, bool enableVisualization):
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KX_ObstacleSimulation(levelHeight, enableVisualization),
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m_avoidSteps(32),
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m_minToi(0.5f),
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m_maxToi(1.2f),
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@ -74,11 +74,12 @@ protected:
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std::vector<KX_Obstacle*> m_obstacles;
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MT_Scalar m_levelHeight;
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bool m_enableVisualization;
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virtual KX_Obstacle* CreateObstacle(KX_GameObject* gameobj);
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bool FilterObstacle(KX_Obstacle* activeObstacle, KX_NavMeshObject* activeNavMeshObj, KX_Obstacle* otherObstacle);
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public:
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KX_ObstacleSimulation(MT_Scalar levelHeight);
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KX_ObstacleSimulation(MT_Scalar levelHeight, bool enableVisualization);
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virtual ~KX_ObstacleSimulation();
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void DrawObstacles();
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@ -117,7 +118,7 @@ protected:
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std::vector<TOICircle*> m_toiCircles; // TOI circles (one per active agent)
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virtual KX_Obstacle* CreateObstacle(KX_GameObject* gameobj);
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public:
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KX_ObstacleSimulationTOI(MT_Scalar levelHeight);
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KX_ObstacleSimulationTOI(MT_Scalar levelHeight, bool enableVisualization);
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~KX_ObstacleSimulationTOI();
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virtual void AdjustObstacleVelocity(KX_Obstacle* activeObst, KX_NavMeshObject* activeNavMeshObj,
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MT_Vector3& velocity, MT_Scalar maxDeltaSpeed,MT_Scalar maxDeltaAngle);
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@ -210,11 +210,12 @@ KX_Scene::KX_Scene(class SCA_IInputDevice* keyboarddevice,
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m_rootnode = NULL;
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m_bucketmanager=new RAS_BucketManager();
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bool showObstacleSimulation = scene->gm.flag & GAME_SHOW_OBSTACLE_SIMULATION;
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switch (scene->gm.obstacleSimulation)
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{
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case OBSTSIMULATION_TOI:
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m_obstacleSimulation = new KX_ObstacleSimulationTOI((MT_Scalar)scene->gm.levelHeight);
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m_obstacleSimulation = new KX_ObstacleSimulationTOI((MT_Scalar)scene->gm.levelHeight, showObstacleSimulation);
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break;
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default:
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m_obstacleSimulation = NULL;
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@ -48,13 +48,14 @@ KX_SteeringActuator::KX_SteeringActuator(SCA_IObject *gameobj,
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int mode,
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KX_GameObject *target,
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KX_GameObject *navmesh,
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MT_Scalar distance,
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MT_Scalar velocity,
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MT_Scalar acceleration,
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MT_Scalar turnspeed,
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float distance,
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float velocity,
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float acceleration,
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float turnspeed,
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bool isSelfTerminated,
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int pathUpdatePeriod,
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KX_ObstacleSimulation* simulation) :
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KX_ObstacleSimulation* simulation,
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bool enableVisualization) :
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SCA_IActuator(gameobj, KX_ACT_STEERING),
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m_mode(mode),
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m_target(target),
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@ -67,6 +68,7 @@ KX_SteeringActuator::KX_SteeringActuator(SCA_IObject *gameobj,
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m_updateTime(0),
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m_isActive(false),
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m_simulation(simulation),
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m_enableVisualization(enableVisualization),
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m_obstacle(NULL),
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m_pathLen(0),
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m_wayPointIdx(-1)
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@ -111,13 +113,11 @@ bool KX_SteeringActuator::UnlinkObject(SCA_IObject* clientobj)
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{
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if (clientobj == m_target)
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{
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// this object is being deleted, we cannot continue to use it.
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m_target = NULL;
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return true;
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}
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else if (clientobj == m_navmesh)
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{
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// this object is being deleted, we cannot continue to useit.
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m_navmesh = NULL;
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return true;
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}
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@ -229,10 +229,13 @@ bool KX_SteeringActuator::Update(double curtime, bool frame)
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steervec = waypoint - mypos;
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apply_steerforce = true;
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if (m_enableVisualization)
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{
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//debug draw
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static const MT_Vector3 PATH_COLOR(1,0,0);
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m_navmesh->DrawPath(m_path, m_pathLen, PATH_COLOR);
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}
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}
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}
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@ -251,9 +254,11 @@ bool KX_SteeringActuator::Update(double curtime, bool frame)
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//adjust velocity to avoid obstacles
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if (m_simulation && m_obstacle && !newvel.fuzzyZero())
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{
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if (m_enableVisualization)
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KX_RasterizerDrawDebugLine(mypos, mypos + newvel, MT_Vector3(1.,0.,0.));
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m_simulation->AdjustObstacleVelocity(m_obstacle, m_mode!=KX_STEERING_PATHFOLLOWING ? m_navmesh : NULL,
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newvel, m_acceleration*delta, m_turnspeed/180.0f*M_PI*delta);
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if (m_enableVisualization)
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KX_RasterizerDrawDebugLine(mypos, mypos + newvel, MT_Vector3(0.,1.,0.));
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}
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@ -313,7 +318,16 @@ PyMethodDef KX_SteeringActuator::Methods[] = {
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};
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PyAttributeDef KX_SteeringActuator::Attributes[] = {
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KX_PYATTRIBUTE_INT_RW("bevaiour", KX_STEERING_NODEF+1, KX_STEERING_MAX-1, true, KX_SteeringActuator, m_mode),
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KX_PYATTRIBUTE_RW_FUNCTION("target", KX_SteeringActuator, pyattr_get_target, pyattr_set_target),
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KX_PYATTRIBUTE_RW_FUNCTION("navmesh", KX_SteeringActuator, pyattr_get_navmesh, pyattr_set_navmesh),
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KX_PYATTRIBUTE_FLOAT_RW("distance", 0.0f, 1000.0f, KX_SteeringActuator, m_distance),
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KX_PYATTRIBUTE_FLOAT_RW("velocity", 0.0f, 1000.0f, KX_SteeringActuator, m_velocity),
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KX_PYATTRIBUTE_FLOAT_RW("acceleration", 0.0f, 1000.0f, KX_SteeringActuator, m_acceleration),
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KX_PYATTRIBUTE_FLOAT_RW("turnspeed", 0.0f, 720.0f, KX_SteeringActuator, m_turnspeed),
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KX_PYATTRIBUTE_BOOL_RW("selfterminated", KX_SteeringActuator, m_isSelfTerminated),
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KX_PYATTRIBUTE_BOOL_RW("enableVisualization", KX_SteeringActuator, m_enableVisualization),
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KX_PYATTRIBUTE_INT_RW("pathUpdatePeriod", -1, 100000, true, KX_SteeringActuator, m_pathUpdatePeriod),
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{ NULL } //Sentinel
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};
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@ -345,6 +359,34 @@ int KX_SteeringActuator::pyattr_set_target(void *self, const struct KX_PYATTRIBU
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return PY_SET_ATTR_SUCCESS;
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}
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PyObject* KX_SteeringActuator::pyattr_get_navmesh(void *self, const struct KX_PYATTRIBUTE_DEF *attrdef)
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{
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KX_SteeringActuator* actuator = static_cast<KX_SteeringActuator*>(self);
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if (!actuator->m_navmesh)
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Py_RETURN_NONE;
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else
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return actuator->m_navmesh->GetProxy();
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}
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int KX_SteeringActuator::pyattr_set_navmesh(void *self, const struct KX_PYATTRIBUTE_DEF *attrdef, PyObject *value)
|
||||
{
|
||||
KX_SteeringActuator* actuator = static_cast<KX_SteeringActuator*>(self);
|
||||
KX_GameObject *gameobj;
|
||||
|
||||
if (!ConvertPythonToGameObject(value, &gameobj, true, "actuator.object = value: KX_SteeringActuator"))
|
||||
return PY_SET_ATTR_FAIL; // ConvertPythonToGameObject sets the error
|
||||
|
||||
if (actuator->m_navmesh != NULL)
|
||||
actuator->m_navmesh->UnregisterActuator(actuator);
|
||||
|
||||
actuator->m_navmesh = dynamic_cast<KX_NavMeshObject*>(gameobj);
|
||||
|
||||
if (actuator->m_navmesh)
|
||||
actuator->m_navmesh->RegisterActuator(actuator);
|
||||
|
||||
return PY_SET_ATTR_SUCCESS;
|
||||
}
|
||||
|
||||
#endif // DISABLE_PYTHON
|
||||
|
||||
/* eof */
|
||||
|
@ -53,16 +53,17 @@ class KX_SteeringActuator : public SCA_IActuator
|
||||
KX_GameObject *m_target;
|
||||
KX_NavMeshObject *m_navmesh;
|
||||
int m_mode;
|
||||
MT_Scalar m_distance;
|
||||
MT_Scalar m_velocity;
|
||||
MT_Scalar m_acceleration;
|
||||
MT_Scalar m_turnspeed;
|
||||
float m_distance;
|
||||
float m_velocity;
|
||||
float m_acceleration;
|
||||
float m_turnspeed;
|
||||
KX_ObstacleSimulation* m_simulation;
|
||||
|
||||
KX_Obstacle* m_obstacle;
|
||||
double m_updateTime;
|
||||
bool m_isActive;
|
||||
bool m_isSelfTerminated;
|
||||
bool m_enableVisualization;
|
||||
float m_path[MAX_PATH_LENGTH*3];
|
||||
int m_pathLen;
|
||||
int m_pathUpdatePeriod;
|
||||
@ -82,13 +83,14 @@ public:
|
||||
int mode,
|
||||
KX_GameObject *target,
|
||||
KX_GameObject *navmesh,
|
||||
MT_Scalar distance,
|
||||
MT_Scalar velocity,
|
||||
MT_Scalar acceleration,
|
||||
MT_Scalar turnspeed,
|
||||
float distance,
|
||||
float velocity,
|
||||
float acceleration,
|
||||
float turnspeed,
|
||||
bool isSelfTerminated,
|
||||
int pathUpdatePeriod,
|
||||
KX_ObstacleSimulation* simulation);
|
||||
KX_ObstacleSimulation* simulation,
|
||||
bool enableVisualization);
|
||||
virtual ~KX_SteeringActuator();
|
||||
virtual bool Update(double curtime, bool frame);
|
||||
|
||||
@ -106,6 +108,9 @@ public:
|
||||
/* These are used to get and set m_target */
|
||||
static PyObject* pyattr_get_target(void *self, const struct KX_PYATTRIBUTE_DEF *attrdef);
|
||||
static int pyattr_set_target(void *self, const struct KX_PYATTRIBUTE_DEF *attrdef, PyObject *value);
|
||||
static PyObject* pyattr_get_navmesh(void *self, const struct KX_PYATTRIBUTE_DEF *attrdef);
|
||||
static int pyattr_set_navmesh(void *self, const struct KX_PYATTRIBUTE_DEF *attrdef, PyObject *value);
|
||||
|
||||
|
||||
#endif // DISABLE_PYTHON
|
||||
|
||||
|
Loading…
Reference in New Issue
Block a user