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blender/source/gameengine/Ketsji/KX_ConstraintActuator.cpp
Mitchell Stokes b90de0331d BGE: Cleaning up the BGE's physics code and removing KX_IPhysicsController and KX_BulletPhysicsController. Instead, we just use PHY_IPhysicsController, which removes a lot of duplicate code. 
This is a squashed commit of the following:
    BGE Physics Cleanup: Fix crashes with LibLoading and replication. Also fixing some memory leaks.
    BGE Physics Cleanup: Removing KX_IPhysicsController and KX_BulletPhysicsController.
    BGE Physics Cleanup: Moving the replication code outside of KX_BlenderBulletController and switching KX_ConvertPhysicsObjects to create a CcdPhysicsController instead of a KX_BlenderBulletController.
    BGE Physics Cleanup: Getting rid of an unsued KX_BulletPhysicsController.h include in KX_Scene.cpp.
    BGE Physics Cleanup: Removing unused KX_IPhysicsController and KX_BulletPhysicsController includes.
    BGE Physics Cleanup: Removing m_pPhysicsController1 and GetPhysicsController1() from KX_GameObject.
    BGE Physics Cleanup: Remove SetRigidBody() from KX_IPhysicsController and remove GetName() from CcdPhysicsController.
    BGE Physics Cleanup: Moving Add/RemoveCompoundChild() from KX_IPhysicsController to PHY_IPhysicsController.
    BGE Physics Cleanup: Removing GetLocalInertia() from KX_IPhysicsController.
    BGE Physics Cleanup: Making BlenderBulletCharacterController derive from PHY_ICharacter and removing CharacterWrapper from CcdPhysicsEnvironment.cpp. Also removing the character functions from KX_IPhysicsController.
    BGE Physics Cleanup: Removing GetOrientation(), SetOrientation(), SetPosition(), SetScaling(), and GetRadius() from KX_IPhysicsController.
    BGE Physics Cleanup: Removing GetReactionForce() since all implementations returned (0, 0, 0). The Python interface for KX_GameObject still has reaction force code, but it still also returns (0, 0, 0). This can probably be removed as well, but removing it can break scripts, so I'll leave it for now.
    BGE Physics Cleanup: Removing Get/SetLinVelocityMin() and Get/SetLinVelocityMax() from KX_IPhysicsController.
    BGE Physics Cleanup: Removing SetMargin(), RelativeTranslate(), and RelativeRotate() from KX_IPhysicsController.
    BGE Physics Cleanup: Using constant references for function arguments in PHY_IPhysicsController where appropriate.
    BGE Physics Cleanup: Removing ApplyImpulse() from KX_IPhysicsController.
    BGE Physics Cleanup: Removing ResolveCombinedVelocities() from KX_IPhysicsController.
    BGE Physics Cleanup: Accidently removed a return when cleaning up KX_GameObject::PyGetVelocity().
    BGE Physics Cleanup: Remove GetLinearVelocity(), GetAngularVelocity() and GetVelocity() from KX_IPhysicsController. The corresponding PHY_IPhysicsController functions now also take Moto types instead of scalars to match the KX_IPhysicsController interface.
    BGE Physics Cleanup: Moving SuspendDynamics, RestoreDynamics, SetMass, GetMass, and SetTransform from KX_IPhysicsController to PHY_IPhysicsController.
    BGE Physics Cleanup: PHY_IPhysicsEnvironment and derived classes now use the same naming scheme as PHY_IController.
    BGE Physics Cleanup: PHY_IMotionState and derived classes now use the same naming convention as PHY_IController.
    BGE Phsyics Cleanup: Making PHY_IController and its derived classes follow a consistent naming scheme for member functions. They now all start with capital letters (e.g., setWorldOrientation becomes SetWorldOrientation).
    BGE Physics Cleanup: Getting rid of KX_GameObject::SuspendDynamics() and KX_GameObject::RestoreDynamics(). Instead, use the functions from the physics controller.
    BGE: Some first steps in trying to cleanup the KX_IPhysicsController mess. KX_GameObject now has a GetPhysicsController() and a GetPhysicsController1(). The former returns a PHY_IPhysicsController* while the latter returns a KX_IPhysicsController. The goal is to get everything using GetPhysicsController() instead of GetPhysicsController1().
2013-11-04 19:22:47 +00:00

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/*
* Apply a constraint to a position or rotation value
*
*
* ***** BEGIN GPL LICENSE BLOCK *****
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* as published by the Free Software Foundation; either version 2
* of the License, or (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software Foundation,
* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
*
* The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
* All rights reserved.
*
* The Original Code is: all of this file.
*
* Contributor(s): none yet.
*
* ***** END GPL LICENSE BLOCK *****
*/
/** \file gameengine/Ketsji/KX_ConstraintActuator.cpp
* \ingroup ketsji
*/
#include "SCA_IActuator.h"
#include "KX_ConstraintActuator.h"
#include "SCA_IObject.h"
#include "MT_Point3.h"
#include "MT_Matrix3x3.h"
#include "KX_GameObject.h"
#include "KX_RayCast.h"
#include "KX_PythonInit.h" // KX_GetActiveScene
#include <stdio.h>
/* ------------------------------------------------------------------------- */
/* Native functions */
/* ------------------------------------------------------------------------- */
KX_ConstraintActuator::KX_ConstraintActuator(SCA_IObject *gameobj,
int posDampTime,
int rotDampTime,
float minBound,
float maxBound,
float refDir[3],
int locrotxyz,
int time,
int option,
char *property) :
SCA_IActuator(gameobj, KX_ACT_CONSTRAINT),
m_refDirVector(refDir),
m_currentTime(0)
{
m_refDirection[0] = refDir[0];
m_refDirection[1] = refDir[1];
m_refDirection[2] = refDir[2];
m_posDampTime = posDampTime;
m_rotDampTime = rotDampTime;
m_locrot = locrotxyz;
m_option = option;
m_activeTime = time;
if (property) {
m_property = property;
} else {
m_property = "";
}
/* The units of bounds are determined by the type of constraint. To */
/* make the constraint application easier and more transparent later on, */
/* I think converting the bounds to the applicable domain makes more */
/* sense. */
switch (m_locrot) {
case KX_ACT_CONSTRAINT_ORIX:
case KX_ACT_CONSTRAINT_ORIY:
case KX_ACT_CONSTRAINT_ORIZ:
{
MT_Scalar len = m_refDirVector.length();
if (MT_fuzzyZero(len)) {
// missing a valid direction
std::cout << "WARNING: Constraint actuator " << GetName() << ": There is no valid reference direction!" << std::endl;
m_locrot = KX_ACT_CONSTRAINT_NODEF;
} else {
m_refDirection[0] /= len;
m_refDirection[1] /= len;
m_refDirection[2] /= len;
m_refDirVector /= len;
}
m_minimumBound = cos(minBound);
m_maximumBound = cos(maxBound);
m_minimumSine = sin(minBound);
m_maximumSine = sin(maxBound);
}
break;
default:
m_minimumBound = minBound;
m_maximumBound = maxBound;
m_minimumSine = 0.f;
m_maximumSine = 0.f;
break;
}
} /* End of constructor */
KX_ConstraintActuator::~KX_ConstraintActuator()
{
// there's nothing to be done here, really....
} /* end of destructor */
bool KX_ConstraintActuator::RayHit(KX_ClientObjectInfo *client, KX_RayCast *result, void * const data)
{
m_hitObject = client->m_gameobject;
bool bFound = false;
if (m_property.IsEmpty())
{
bFound = true;
}
else
{
if (m_option & KX_ACT_CONSTRAINT_MATERIAL)
{
if (client->m_auxilary_info)
{
bFound = !strcmp(m_property.Ptr(), ((char*)client->m_auxilary_info));
}
}
else
{
bFound = m_hitObject->GetProperty(m_property) != NULL;
}
}
// update the hit status
result->m_hitFound = bFound;
// stop looking
return true;
}
/* This function is used to pre-filter the object before casting the ray on them.
* This is useful for "X-Ray" option when we want to see "through" unwanted object.
*/
bool KX_ConstraintActuator::NeedRayCast(KX_ClientObjectInfo *client)
{
if (client->m_type > KX_ClientObjectInfo::ACTOR)
{
// Unknown type of object, skip it.
// Should not occur as the sensor objects are filtered in RayTest()
printf("Invalid client type %d found in ray casting\n", client->m_type);
return false;
}
// no X-Ray function yet
return true;
}
bool KX_ConstraintActuator::Update(double curtime, bool frame)
{
bool result = false;
bool bNegativeEvent = IsNegativeEvent();
RemoveAllEvents();
if (!bNegativeEvent) {
/* Constraint clamps the values to the specified range, with a sort of */
/* low-pass filtered time response, if the damp time is unequal to 0. */
/* Having to retrieve location/rotation and setting it afterwards may not */
/* be efficient enough... Something to look at later. */
KX_GameObject *obj = (KX_GameObject*) GetParent();
MT_Point3 position = obj->NodeGetWorldPosition();
MT_Point3 newposition;
MT_Vector3 normal, direction, refDirection;
MT_Matrix3x3 rotation = obj->NodeGetWorldOrientation();
MT_Scalar filter, newdistance, cosangle;
int axis, sign;
if (m_posDampTime) {
filter = m_posDampTime/(1.0+m_posDampTime);
} else {
filter = 0.0;
}
switch (m_locrot) {
case KX_ACT_CONSTRAINT_ORIX:
case KX_ACT_CONSTRAINT_ORIY:
case KX_ACT_CONSTRAINT_ORIZ:
switch (m_locrot) {
case KX_ACT_CONSTRAINT_ORIX:
direction[0] = rotation[0][0];
direction[1] = rotation[1][0];
direction[2] = rotation[2][0];
axis = 0;
break;
case KX_ACT_CONSTRAINT_ORIY:
direction[0] = rotation[0][1];
direction[1] = rotation[1][1];
direction[2] = rotation[2][1];
axis = 1;
break;
default:
direction[0] = rotation[0][2];
direction[1] = rotation[1][2];
direction[2] = rotation[2][2];
axis = 2;
break;
}
if ((m_maximumBound < (1.0f-FLT_EPSILON)) || (m_minimumBound < (1.0f-FLT_EPSILON))) {
// reference direction needs to be evaluated
// 1. get the cosine between current direction and target
cosangle = direction.dot(m_refDirVector);
if (cosangle >= (m_maximumBound-FLT_EPSILON) && cosangle <= (m_minimumBound+FLT_EPSILON)) {
// no change to do
result = true;
goto CHECK_TIME;
}
// 2. define a new reference direction
// compute local axis with reference direction as X and
// Y in direction X refDirection plane
MT_Vector3 zaxis = m_refDirVector.cross(direction);
if (MT_fuzzyZero2(zaxis.length2())) {
// direction and refDirection are identical,
// choose any other direction to define plane
if (direction[0] < 0.9999)
zaxis = m_refDirVector.cross(MT_Vector3(1.0,0.0,0.0));
else
zaxis = m_refDirVector.cross(MT_Vector3(0.0,1.0,0.0));
}
MT_Vector3 yaxis = zaxis.cross(m_refDirVector);
yaxis.normalize();
if (cosangle > m_minimumBound) {
// angle is too close to reference direction,
// choose a new reference that is exactly at minimum angle
refDirection = m_minimumBound * m_refDirVector + m_minimumSine * yaxis;
} else {
// angle is too large, choose new reference direction at maximum angle
refDirection = m_maximumBound * m_refDirVector + m_maximumSine * yaxis;
}
} else {
refDirection = m_refDirVector;
}
// apply damping on the direction
direction = filter*direction + (1.0-filter)*refDirection;
obj->AlignAxisToVect(direction, axis);
result = true;
goto CHECK_TIME;
case KX_ACT_CONSTRAINT_DIRPX:
case KX_ACT_CONSTRAINT_DIRPY:
case KX_ACT_CONSTRAINT_DIRPZ:
case KX_ACT_CONSTRAINT_DIRNX:
case KX_ACT_CONSTRAINT_DIRNY:
case KX_ACT_CONSTRAINT_DIRNZ:
switch (m_locrot) {
case KX_ACT_CONSTRAINT_DIRPX:
normal[0] = rotation[0][0];
normal[1] = rotation[1][0];
normal[2] = rotation[2][0];
axis = 0; // axis according to KX_GameObject::AlignAxisToVect()
sign = 0; // X axis will be parrallel to direction of ray
break;
case KX_ACT_CONSTRAINT_DIRPY:
normal[0] = rotation[0][1];
normal[1] = rotation[1][1];
normal[2] = rotation[2][1];
axis = 1;
sign = 0;
break;
case KX_ACT_CONSTRAINT_DIRPZ:
normal[0] = rotation[0][2];
normal[1] = rotation[1][2];
normal[2] = rotation[2][2];
axis = 2;
sign = 0;
break;
case KX_ACT_CONSTRAINT_DIRNX:
normal[0] = -rotation[0][0];
normal[1] = -rotation[1][0];
normal[2] = -rotation[2][0];
axis = 0;
sign = 1;
break;
case KX_ACT_CONSTRAINT_DIRNY:
normal[0] = -rotation[0][1];
normal[1] = -rotation[1][1];
normal[2] = -rotation[2][1];
axis = 1;
sign = 1;
break;
case KX_ACT_CONSTRAINT_DIRNZ:
normal[0] = -rotation[0][2];
normal[1] = -rotation[1][2];
normal[2] = -rotation[2][2];
axis = 2;
sign = 1;
break;
}
normal.normalize();
if (m_option & KX_ACT_CONSTRAINT_LOCAL) {
// direction of the ray is along the local axis
direction = normal;
} else {
switch (m_locrot) {
case KX_ACT_CONSTRAINT_DIRPX:
direction = MT_Vector3(1.0,0.0,0.0);
break;
case KX_ACT_CONSTRAINT_DIRPY:
direction = MT_Vector3(0.0,1.0,0.0);
break;
case KX_ACT_CONSTRAINT_DIRPZ:
direction = MT_Vector3(0.0,0.0,1.0);
break;
case KX_ACT_CONSTRAINT_DIRNX:
direction = MT_Vector3(-1.0,0.0,0.0);
break;
case KX_ACT_CONSTRAINT_DIRNY:
direction = MT_Vector3(0.0,-1.0,0.0);
break;
case KX_ACT_CONSTRAINT_DIRNZ:
direction = MT_Vector3(0.0,0.0,-1.0);
break;
}
}
{
MT_Point3 topoint = position + (m_maximumBound) * direction;
PHY_IPhysicsEnvironment* pe = KX_GetActiveScene()->GetPhysicsEnvironment();
PHY_IPhysicsController *spc = obj->GetPhysicsController();
if (!pe) {
std::cout << "WARNING: Constraint actuator " << GetName() << ": There is no physics environment!" << std::endl;
goto CHECK_TIME;
}
if (!spc) {
// the object is not physical, we probably want to avoid hitting its own parent
KX_GameObject *parent = obj->GetParent();
if (parent) {
spc = parent->GetPhysicsController();
parent->Release();
}
}
KX_RayCast::Callback<KX_ConstraintActuator> callback(this,dynamic_cast<PHY_IPhysicsController*>(spc));
result = KX_RayCast::RayTest(pe, position, topoint, callback);
if (result) {
MT_Vector3 newnormal = callback.m_hitNormal;
// compute new position & orientation
if ((m_option & (KX_ACT_CONSTRAINT_NORMAL|KX_ACT_CONSTRAINT_DISTANCE)) == 0) {
// if none option is set, the actuator does nothing but detect ray
// (works like a sensor)
goto CHECK_TIME;
}
if (m_option & KX_ACT_CONSTRAINT_NORMAL) {
MT_Scalar rotFilter;
// apply damping on the direction
if (m_rotDampTime) {
rotFilter = m_rotDampTime/(1.0+m_rotDampTime);
} else {
rotFilter = filter;
}
newnormal = rotFilter*normal - (1.0-rotFilter)*newnormal;
obj->AlignAxisToVect((sign)?-newnormal:newnormal, axis);
if (m_option & KX_ACT_CONSTRAINT_LOCAL) {
direction = newnormal;
direction.normalize();
}
}
if (m_option & KX_ACT_CONSTRAINT_DISTANCE) {
if (m_posDampTime) {
newdistance = filter*(position-callback.m_hitPoint).length()+(1.0-filter)*m_minimumBound;
} else {
newdistance = m_minimumBound;
}
// logically we should cancel the speed along the ray direction as we set the
// position along that axis
spc = obj->GetPhysicsController();
if (spc && spc->IsDynamic()) {
MT_Vector3 linV = spc->GetLinearVelocity();
// cancel the projection along the ray direction
MT_Scalar fallspeed = linV.dot(direction);
if (!MT_fuzzyZero(fallspeed))
spc->SetLinearVelocity(linV-fallspeed*direction,false);
}
} else {
newdistance = (position-callback.m_hitPoint).length();
}
newposition = callback.m_hitPoint-newdistance*direction;
} else if (m_option & KX_ACT_CONSTRAINT_PERMANENT) {
// no contact but still keep running
result = true;
goto CHECK_TIME;
}
}
break;
case KX_ACT_CONSTRAINT_FHPX:
case KX_ACT_CONSTRAINT_FHPY:
case KX_ACT_CONSTRAINT_FHPZ:
case KX_ACT_CONSTRAINT_FHNX:
case KX_ACT_CONSTRAINT_FHNY:
case KX_ACT_CONSTRAINT_FHNZ:
switch (m_locrot) {
case KX_ACT_CONSTRAINT_FHPX:
normal[0] = -rotation[0][0];
normal[1] = -rotation[1][0];
normal[2] = -rotation[2][0];
direction = MT_Vector3(1.0,0.0,0.0);
break;
case KX_ACT_CONSTRAINT_FHPY:
normal[0] = -rotation[0][1];
normal[1] = -rotation[1][1];
normal[2] = -rotation[2][1];
direction = MT_Vector3(0.0,1.0,0.0);
break;
case KX_ACT_CONSTRAINT_FHPZ:
normal[0] = -rotation[0][2];
normal[1] = -rotation[1][2];
normal[2] = -rotation[2][2];
direction = MT_Vector3(0.0,0.0,1.0);
break;
case KX_ACT_CONSTRAINT_FHNX:
normal[0] = rotation[0][0];
normal[1] = rotation[1][0];
normal[2] = rotation[2][0];
direction = MT_Vector3(-1.0,0.0,0.0);
break;
case KX_ACT_CONSTRAINT_FHNY:
normal[0] = rotation[0][1];
normal[1] = rotation[1][1];
normal[2] = rotation[2][1];
direction = MT_Vector3(0.0,-1.0,0.0);
break;
case KX_ACT_CONSTRAINT_FHNZ:
normal[0] = rotation[0][2];
normal[1] = rotation[1][2];
normal[2] = rotation[2][2];
direction = MT_Vector3(0.0,0.0,-1.0);
break;
}
normal.normalize();
{
PHY_IPhysicsEnvironment* pe = KX_GetActiveScene()->GetPhysicsEnvironment();
PHY_IPhysicsController *spc = obj->GetPhysicsController();
if (!pe) {
std::cout << "WARNING: Constraint actuator " << GetName() << ": There is no physics environment!" << std::endl;
goto CHECK_TIME;
}
if (!spc || !spc->IsDynamic()) {
// the object is not dynamic, it won't support setting speed
goto CHECK_TIME;
}
m_hitObject = NULL;
// distance of Fh area is stored in m_minimum
MT_Point3 topoint = position + (m_minimumBound+spc->GetRadius()) * direction;
KX_RayCast::Callback<KX_ConstraintActuator> callback(this, spc);
result = KX_RayCast::RayTest(pe, position, topoint, callback);
// we expect a hit object
if (!m_hitObject)
result = false;
if (result)
{
MT_Vector3 newnormal = callback.m_hitNormal;
// compute new position & orientation
MT_Scalar distance = (callback.m_hitPoint-position).length()-spc->GetRadius();
// estimate the velocity of the hit point
MT_Point3 relativeHitPoint;
relativeHitPoint = (callback.m_hitPoint-m_hitObject->NodeGetWorldPosition());
MT_Vector3 velocityHitPoint = m_hitObject->GetVelocity(relativeHitPoint);
MT_Vector3 relativeVelocity = spc->GetLinearVelocity() - velocityHitPoint;
MT_Scalar relativeVelocityRay = direction.dot(relativeVelocity);
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;
}
#ifdef WITH_PYTHON
/* ------------------------------------------------------------------------- */
/* Python functions */
/* ------------------------------------------------------------------------- */
/* Integration hooks ------------------------------------------------------- */
PyTypeObject KX_ConstraintActuator::Type = {
PyVarObject_HEAD_INIT(NULL, 0)
"KX_ConstraintActuator",
sizeof(PyObjectPlus_Proxy),
0,
py_base_dealloc,
0,
0,
0,
0,
py_base_repr,
0,0,0,0,0,0,0,0,0,
Py_TPFLAGS_DEFAULT | Py_TPFLAGS_BASETYPE,
0,0,0,0,0,0,0,
Methods,
0,
0,
&SCA_IActuator::Type,
0,0,0,0,0,0,
py_base_new
};
PyMethodDef KX_ConstraintActuator::Methods[] = {
{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",-FLT_MAX,FLT_MAX,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("propName",0,MAX_PROP_NAME,true,KX_ConstraintActuator,m_property),
KX_PYATTRIBUTE_FLOAT_RW("min",-FLT_MAX,FLT_MAX,KX_ConstraintActuator,m_minimumBound),
KX_PYATTRIBUTE_FLOAT_RW("distance",-FLT_MAX,FLT_MAX,KX_ConstraintActuator,m_minimumBound),
KX_PYATTRIBUTE_FLOAT_RW("max",-FLT_MAX,FLT_MAX,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
};
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, "actuator.direction = vec: KX_ConstraintActuator, invalid direction");
return 1;
}
act->m_refDirVector = dir/len;
return 0;
}
#endif
/* eof */
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