forked from bartvdbraak/blender
d573e9c539
Added the method into the PyType so python knows about the methods (its supposed to work this way). This means in the future the api can use PyType_Ready() to store the methods in the types dictionary. Python3 removes Py_FindMethod and we should not be using it anyway since its not that efficient.
641 lines
20 KiB
C++
641 lines
20 KiB
C++
/**
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* Do translation/rotation actions
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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 "KX_ObjectActuator.h"
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#include "KX_GameObject.h"
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#include "KX_IPhysicsController.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_ObjectActuator::
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KX_ObjectActuator(
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SCA_IObject* gameobj,
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const MT_Vector3& force,
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const MT_Vector3& torque,
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const MT_Vector3& dloc,
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const MT_Vector3& drot,
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const MT_Vector3& linV,
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const MT_Vector3& angV,
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const short damping,
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const KX_LocalFlags& flag,
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PyTypeObject* T
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) :
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SCA_IActuator(gameobj,T),
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m_force(force),
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m_torque(torque),
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m_dloc(dloc),
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m_drot(drot),
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m_linear_velocity(linV),
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m_angular_velocity(angV),
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m_linear_length2(0.0),
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m_current_linear_factor(0.0),
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m_current_angular_factor(0.0),
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m_damping(damping),
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m_previous_error(0.0,0.0,0.0),
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m_error_accumulator(0.0,0.0,0.0),
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m_bitLocalFlag (flag),
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m_active_combined_velocity (false),
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m_linear_damping_active(false),
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m_angular_damping_active(false)
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{
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if (m_bitLocalFlag.ServoControl)
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{
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// in servo motion, the force is local if the target velocity is local
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m_bitLocalFlag.Force = m_bitLocalFlag.LinearVelocity;
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}
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UpdateFuzzyFlags();
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}
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bool KX_ObjectActuator::Update()
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{
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bool bNegativeEvent = IsNegativeEvent();
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RemoveAllEvents();
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KX_GameObject *parent = static_cast<KX_GameObject *>(GetParent());
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if (bNegativeEvent) {
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// If we previously set the linear velocity we now have to inform
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// the physics controller that we no longer wish to apply it and that
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// it should reconcile the externally set velocity with it's
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// own velocity.
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if (m_active_combined_velocity) {
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if (parent)
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parent->ResolveCombinedVelocities(
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m_linear_velocity,
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m_angular_velocity,
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(m_bitLocalFlag.LinearVelocity) != 0,
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(m_bitLocalFlag.AngularVelocity) != 0
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);
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m_active_combined_velocity = false;
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}
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m_linear_damping_active = false;
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m_angular_damping_active = false;
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m_error_accumulator.setValue(0.0,0.0,0.0);
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m_previous_error.setValue(0.0,0.0,0.0);
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return false;
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} else if (parent)
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{
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if (m_bitLocalFlag.ServoControl)
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{
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// In this mode, we try to reach a target speed using force
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// As we don't know the friction, we must implement a generic
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// servo control to achieve the speed in a configurable
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// v = current velocity
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// V = target velocity
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// e = V-v = speed error
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// dt = time interval since previous update
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// I = sum(e(t)*dt)
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// dv = e(t) - e(t-1)
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// KP, KD, KI : coefficient
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// F = KP*e+KI*I+KD*dv
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MT_Scalar mass = parent->GetMass();
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if (mass < MT_EPSILON)
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return false;
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MT_Vector3 v = parent->GetLinearVelocity(m_bitLocalFlag.LinearVelocity);
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MT_Vector3 e = m_linear_velocity - v;
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MT_Vector3 dv = e - m_previous_error;
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MT_Vector3 I = m_error_accumulator + e;
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m_force = m_torque.x()*e+m_torque.y()*I+m_torque.z()*dv;
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// to automatically adapt the PID coefficient to mass;
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m_force *= mass;
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if (m_bitLocalFlag.Torque)
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{
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if (m_force[0] > m_dloc[0])
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{
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m_force[0] = m_dloc[0];
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I[0] = m_error_accumulator[0];
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} else if (m_force[0] < m_drot[0])
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{
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m_force[0] = m_drot[0];
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I[0] = m_error_accumulator[0];
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}
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}
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if (m_bitLocalFlag.DLoc)
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{
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if (m_force[1] > m_dloc[1])
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{
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m_force[1] = m_dloc[1];
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I[1] = m_error_accumulator[1];
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} else if (m_force[1] < m_drot[1])
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{
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m_force[1] = m_drot[1];
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I[1] = m_error_accumulator[1];
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}
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}
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if (m_bitLocalFlag.DRot)
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{
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if (m_force[2] > m_dloc[2])
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{
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m_force[2] = m_dloc[2];
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I[2] = m_error_accumulator[2];
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} else if (m_force[2] < m_drot[2])
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{
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m_force[2] = m_drot[2];
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I[2] = m_error_accumulator[2];
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}
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}
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m_previous_error = e;
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m_error_accumulator = I;
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parent->ApplyForce(m_force,(m_bitLocalFlag.LinearVelocity) != 0);
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} else
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{
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if (!m_bitLocalFlag.ZeroForce)
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{
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parent->ApplyForce(m_force,(m_bitLocalFlag.Force) != 0);
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}
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if (!m_bitLocalFlag.ZeroTorque)
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{
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parent->ApplyTorque(m_torque,(m_bitLocalFlag.Torque) != 0);
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}
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if (!m_bitLocalFlag.ZeroDLoc)
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{
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parent->ApplyMovement(m_dloc,(m_bitLocalFlag.DLoc) != 0);
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}
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if (!m_bitLocalFlag.ZeroDRot)
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{
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parent->ApplyRotation(m_drot,(m_bitLocalFlag.DRot) != 0);
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}
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if (!m_bitLocalFlag.ZeroLinearVelocity)
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{
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if (m_bitLocalFlag.AddOrSetLinV) {
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parent->addLinearVelocity(m_linear_velocity,(m_bitLocalFlag.LinearVelocity) != 0);
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} else {
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m_active_combined_velocity = true;
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if (m_damping > 0) {
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MT_Vector3 linV;
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if (!m_linear_damping_active) {
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// delta and the start speed (depends on the existing speed in that direction)
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linV = parent->GetLinearVelocity(m_bitLocalFlag.LinearVelocity);
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// keep only the projection along the desired direction
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m_current_linear_factor = linV.dot(m_linear_velocity)/m_linear_length2;
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m_linear_damping_active = true;
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}
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if (m_current_linear_factor < 1.0)
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m_current_linear_factor += 1.0/m_damping;
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if (m_current_linear_factor > 1.0)
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m_current_linear_factor = 1.0;
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linV = m_current_linear_factor * m_linear_velocity;
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parent->setLinearVelocity(linV,(m_bitLocalFlag.LinearVelocity) != 0);
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} else {
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parent->setLinearVelocity(m_linear_velocity,(m_bitLocalFlag.LinearVelocity) != 0);
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}
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}
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}
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if (!m_bitLocalFlag.ZeroAngularVelocity)
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{
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m_active_combined_velocity = true;
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if (m_damping > 0) {
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MT_Vector3 angV;
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if (!m_angular_damping_active) {
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// delta and the start speed (depends on the existing speed in that direction)
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angV = parent->GetAngularVelocity(m_bitLocalFlag.AngularVelocity);
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// keep only the projection along the desired direction
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m_current_angular_factor = angV.dot(m_angular_velocity)/m_angular_length2;
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m_angular_damping_active = true;
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}
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if (m_current_angular_factor < 1.0)
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m_current_angular_factor += 1.0/m_damping;
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if (m_current_angular_factor > 1.0)
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m_current_angular_factor = 1.0;
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angV = m_current_angular_factor * m_angular_velocity;
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parent->setAngularVelocity(angV,(m_bitLocalFlag.AngularVelocity) != 0);
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} else {
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parent->setAngularVelocity(m_angular_velocity,(m_bitLocalFlag.AngularVelocity) != 0);
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}
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}
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}
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}
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return true;
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}
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CValue* KX_ObjectActuator::GetReplica()
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{
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KX_ObjectActuator* replica = new KX_ObjectActuator(*this);//m_float,GetName());
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replica->ProcessReplica();
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// this will copy properties and so on...
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CValue::AddDataToReplica(replica);
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return replica;
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}
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/* some 'standard' utilities... */
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bool KX_ObjectActuator::isValid(KX_ObjectActuator::KX_OBJECT_ACT_VEC_TYPE type)
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{
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bool res = false;
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res = (type > KX_OBJECT_ACT_NODEF) && (type < KX_OBJECT_ACT_MAX);
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return res;
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}
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/* ------------------------------------------------------------------------- */
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/* Python functions */
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/* ------------------------------------------------------------------------- */
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/* Integration hooks ------------------------------------------------------- */
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PyTypeObject KX_ObjectActuator::Type = {
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PyObject_HEAD_INIT(&PyType_Type)
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0,
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"KX_ObjectActuator",
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sizeof(KX_ObjectActuator),
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0,
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PyDestructor,
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0,
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__getattr,
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__setattr,
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0,
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__repr,
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0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
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Methods
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};
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PyParentObject KX_ObjectActuator::Parents[] = {
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&KX_ObjectActuator::Type,
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&SCA_IActuator::Type,
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&SCA_ILogicBrick::Type,
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&CValue::Type,
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NULL
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};
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PyMethodDef KX_ObjectActuator::Methods[] = {
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{"getForce", (PyCFunction) KX_ObjectActuator::sPyGetForce, METH_NOARGS},
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{"setForce", (PyCFunction) KX_ObjectActuator::sPySetForce, METH_VARARGS},
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{"getTorque", (PyCFunction) KX_ObjectActuator::sPyGetTorque, METH_NOARGS},
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{"setTorque", (PyCFunction) KX_ObjectActuator::sPySetTorque, METH_VARARGS},
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{"getDLoc", (PyCFunction) KX_ObjectActuator::sPyGetDLoc, METH_NOARGS},
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{"setDLoc", (PyCFunction) KX_ObjectActuator::sPySetDLoc, METH_VARARGS},
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{"getDRot", (PyCFunction) KX_ObjectActuator::sPyGetDRot, METH_NOARGS},
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{"setDRot", (PyCFunction) KX_ObjectActuator::sPySetDRot, METH_VARARGS},
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{"getLinearVelocity", (PyCFunction) KX_ObjectActuator::sPyGetLinearVelocity, METH_NOARGS},
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{"setLinearVelocity", (PyCFunction) KX_ObjectActuator::sPySetLinearVelocity, METH_VARARGS},
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{"getAngularVelocity", (PyCFunction) KX_ObjectActuator::sPyGetAngularVelocity, METH_NOARGS},
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{"setAngularVelocity", (PyCFunction) KX_ObjectActuator::sPySetAngularVelocity, METH_VARARGS},
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{"setDamping", (PyCFunction) KX_ObjectActuator::sPySetDamping, METH_VARARGS},
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{"getDamping", (PyCFunction) KX_ObjectActuator::sPyGetDamping, METH_NOARGS},
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{"setForceLimitX", (PyCFunction) KX_ObjectActuator::sPySetForceLimitX, METH_VARARGS},
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{"getForceLimitX", (PyCFunction) KX_ObjectActuator::sPyGetForceLimitX, METH_NOARGS},
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{"setForceLimitY", (PyCFunction) KX_ObjectActuator::sPySetForceLimitY, METH_VARARGS},
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{"getForceLimitY", (PyCFunction) KX_ObjectActuator::sPyGetForceLimitY, METH_NOARGS},
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{"setForceLimitZ", (PyCFunction) KX_ObjectActuator::sPySetForceLimitZ, METH_VARARGS},
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{"getForceLimitZ", (PyCFunction) KX_ObjectActuator::sPyGetForceLimitZ, METH_NOARGS},
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{"setPID", (PyCFunction) KX_ObjectActuator::sPyGetPID, METH_NOARGS},
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{"getPID", (PyCFunction) KX_ObjectActuator::sPySetPID, METH_VARARGS},
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{NULL,NULL} //Sentinel
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};
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PyAttributeDef KX_ObjectActuator::Attributes[] = {
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{ NULL } //Sentinel
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};
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PyObject* KX_ObjectActuator::_getattr(const char *attr) {
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_getattr_up(SCA_IActuator);
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};
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/* 1. set ------------------------------------------------------------------ */
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/* Removed! */
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/* 2. getForce */
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PyObject* KX_ObjectActuator::PyGetForce(PyObject* self)
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{
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PyObject *retVal = PyList_New(4);
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PyList_SetItem(retVal, 0, PyFloat_FromDouble(m_force[0]));
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PyList_SetItem(retVal, 1, PyFloat_FromDouble(m_force[1]));
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PyList_SetItem(retVal, 2, PyFloat_FromDouble(m_force[2]));
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PyList_SetItem(retVal, 3, BoolToPyArg(m_bitLocalFlag.Force));
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return retVal;
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}
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/* 3. setForce */
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PyObject* KX_ObjectActuator::PySetForce(PyObject* self,
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PyObject* args,
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PyObject* kwds)
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{
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float vecArg[3];
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int bToggle = 0;
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if (!PyArg_ParseTuple(args, "fffi", &vecArg[0], &vecArg[1],
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&vecArg[2], &bToggle)) {
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return NULL;
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}
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m_force.setValue(vecArg);
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m_bitLocalFlag.Force = PyArgToBool(bToggle);
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UpdateFuzzyFlags();
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Py_RETURN_NONE;
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}
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/* 4. getTorque */
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PyObject* KX_ObjectActuator::PyGetTorque(PyObject* self)
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{
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PyObject *retVal = PyList_New(4);
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PyList_SetItem(retVal, 0, PyFloat_FromDouble(m_torque[0]));
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PyList_SetItem(retVal, 1, PyFloat_FromDouble(m_torque[1]));
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PyList_SetItem(retVal, 2, PyFloat_FromDouble(m_torque[2]));
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PyList_SetItem(retVal, 3, BoolToPyArg(m_bitLocalFlag.Torque));
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return retVal;
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}
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/* 5. setTorque */
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PyObject* KX_ObjectActuator::PySetTorque(PyObject* self,
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PyObject* args,
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PyObject* kwds)
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{
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float vecArg[3];
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int bToggle = 0;
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if (!PyArg_ParseTuple(args, "fffi", &vecArg[0], &vecArg[1],
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&vecArg[2], &bToggle)) {
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return NULL;
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}
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m_torque.setValue(vecArg);
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m_bitLocalFlag.Torque = PyArgToBool(bToggle);
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UpdateFuzzyFlags();
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Py_RETURN_NONE;
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}
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/* 6. getDLoc */
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PyObject* KX_ObjectActuator::PyGetDLoc(PyObject* self)
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{
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PyObject *retVal = PyList_New(4);
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PyList_SetItem(retVal, 0, PyFloat_FromDouble(m_dloc[0]));
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PyList_SetItem(retVal, 1, PyFloat_FromDouble(m_dloc[1]));
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PyList_SetItem(retVal, 2, PyFloat_FromDouble(m_dloc[2]));
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PyList_SetItem(retVal, 3, BoolToPyArg(m_bitLocalFlag.DLoc));
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return retVal;
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}
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/* 7. setDLoc */
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PyObject* KX_ObjectActuator::PySetDLoc(PyObject* self,
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PyObject* args,
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PyObject* kwds)
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{
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float vecArg[3];
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int bToggle = 0;
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if(!PyArg_ParseTuple(args, "fffi", &vecArg[0], &vecArg[1],
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&vecArg[2], &bToggle)) {
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return NULL;
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}
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m_dloc.setValue(vecArg);
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m_bitLocalFlag.DLoc = PyArgToBool(bToggle);
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UpdateFuzzyFlags();
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Py_RETURN_NONE;
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}
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/* 8. getDRot */
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PyObject* KX_ObjectActuator::PyGetDRot(PyObject* self)
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{
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PyObject *retVal = PyList_New(4);
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PyList_SetItem(retVal, 0, PyFloat_FromDouble(m_drot[0]));
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PyList_SetItem(retVal, 1, PyFloat_FromDouble(m_drot[1]));
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PyList_SetItem(retVal, 2, PyFloat_FromDouble(m_drot[2]));
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PyList_SetItem(retVal, 3, BoolToPyArg(m_bitLocalFlag.DRot));
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return retVal;
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}
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/* 9. setDRot */
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PyObject* KX_ObjectActuator::PySetDRot(PyObject* self,
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PyObject* args,
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PyObject* kwds)
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{
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float vecArg[3];
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int bToggle = 0;
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if (!PyArg_ParseTuple(args, "fffi", &vecArg[0], &vecArg[1],
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&vecArg[2], &bToggle)) {
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return NULL;
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}
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m_drot.setValue(vecArg);
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m_bitLocalFlag.DRot = PyArgToBool(bToggle);
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UpdateFuzzyFlags();
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Py_RETURN_NONE;
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}
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/* 10. getLinearVelocity */
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PyObject* KX_ObjectActuator::PyGetLinearVelocity(PyObject* self) {
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PyObject *retVal = PyList_New(4);
|
|
|
|
PyList_SetItem(retVal, 0, PyFloat_FromDouble(m_linear_velocity[0]));
|
|
PyList_SetItem(retVal, 1, PyFloat_FromDouble(m_linear_velocity[1]));
|
|
PyList_SetItem(retVal, 2, PyFloat_FromDouble(m_linear_velocity[2]));
|
|
PyList_SetItem(retVal, 3, BoolToPyArg(m_bitLocalFlag.LinearVelocity));
|
|
|
|
return retVal;
|
|
}
|
|
|
|
/* 11. setLinearVelocity */
|
|
PyObject* KX_ObjectActuator::PySetLinearVelocity(PyObject* self,
|
|
PyObject* args,
|
|
PyObject* kwds) {
|
|
float vecArg[3];
|
|
int bToggle = 0;
|
|
if (!PyArg_ParseTuple(args, "fffi", &vecArg[0], &vecArg[1],
|
|
&vecArg[2], &bToggle)) {
|
|
return NULL;
|
|
}
|
|
m_linear_velocity.setValue(vecArg);
|
|
m_bitLocalFlag.LinearVelocity = PyArgToBool(bToggle);
|
|
UpdateFuzzyFlags();
|
|
Py_RETURN_NONE;
|
|
}
|
|
|
|
|
|
/* 12. getAngularVelocity */
|
|
PyObject* KX_ObjectActuator::PyGetAngularVelocity(PyObject* self) {
|
|
PyObject *retVal = PyList_New(4);
|
|
|
|
PyList_SetItem(retVal, 0, PyFloat_FromDouble(m_angular_velocity[0]));
|
|
PyList_SetItem(retVal, 1, PyFloat_FromDouble(m_angular_velocity[1]));
|
|
PyList_SetItem(retVal, 2, PyFloat_FromDouble(m_angular_velocity[2]));
|
|
PyList_SetItem(retVal, 3, BoolToPyArg(m_bitLocalFlag.AngularVelocity));
|
|
|
|
return retVal;
|
|
}
|
|
/* 13. setAngularVelocity */
|
|
PyObject* KX_ObjectActuator::PySetAngularVelocity(PyObject* self,
|
|
PyObject* args,
|
|
PyObject* kwds) {
|
|
float vecArg[3];
|
|
int bToggle = 0;
|
|
if (!PyArg_ParseTuple(args, "fffi", &vecArg[0], &vecArg[1],
|
|
&vecArg[2], &bToggle)) {
|
|
return NULL;
|
|
}
|
|
m_angular_velocity.setValue(vecArg);
|
|
m_bitLocalFlag.AngularVelocity = PyArgToBool(bToggle);
|
|
UpdateFuzzyFlags();
|
|
Py_RETURN_NONE;
|
|
}
|
|
|
|
/* 13. setDamping */
|
|
PyObject* KX_ObjectActuator::PySetDamping(PyObject* self,
|
|
PyObject* args,
|
|
PyObject* kwds) {
|
|
int damping = 0;
|
|
if (!PyArg_ParseTuple(args, "i", &damping) || damping < 0 || damping > 1000) {
|
|
return NULL;
|
|
}
|
|
m_damping = damping;
|
|
Py_RETURN_NONE;
|
|
}
|
|
|
|
/* 13. getVelocityDamping */
|
|
PyObject* KX_ObjectActuator::PyGetDamping(PyObject* self) {
|
|
return Py_BuildValue("i",m_damping);
|
|
}
|
|
/* 6. getForceLimitX */
|
|
PyObject* KX_ObjectActuator::PyGetForceLimitX(PyObject* self)
|
|
{
|
|
PyObject *retVal = PyList_New(3);
|
|
|
|
PyList_SetItem(retVal, 0, PyFloat_FromDouble(m_drot[0]));
|
|
PyList_SetItem(retVal, 1, PyFloat_FromDouble(m_dloc[0]));
|
|
PyList_SetItem(retVal, 2, BoolToPyArg(m_bitLocalFlag.Torque));
|
|
|
|
return retVal;
|
|
}
|
|
/* 7. setForceLimitX */
|
|
PyObject* KX_ObjectActuator::PySetForceLimitX(PyObject* self,
|
|
PyObject* args,
|
|
PyObject* kwds)
|
|
{
|
|
float vecArg[2];
|
|
int bToggle = 0;
|
|
if(!PyArg_ParseTuple(args, "ffi", &vecArg[0], &vecArg[1], &bToggle)) {
|
|
return NULL;
|
|
}
|
|
m_drot[0] = vecArg[0];
|
|
m_dloc[0] = vecArg[1];
|
|
m_bitLocalFlag.Torque = PyArgToBool(bToggle);
|
|
Py_RETURN_NONE;
|
|
}
|
|
|
|
/* 6. getForceLimitY */
|
|
PyObject* KX_ObjectActuator::PyGetForceLimitY(PyObject* self)
|
|
{
|
|
PyObject *retVal = PyList_New(3);
|
|
|
|
PyList_SetItem(retVal, 0, PyFloat_FromDouble(m_drot[1]));
|
|
PyList_SetItem(retVal, 1, PyFloat_FromDouble(m_dloc[1]));
|
|
PyList_SetItem(retVal, 2, BoolToPyArg(m_bitLocalFlag.DLoc));
|
|
|
|
return retVal;
|
|
}
|
|
/* 7. setForceLimitY */
|
|
PyObject* KX_ObjectActuator::PySetForceLimitY(PyObject* self,
|
|
PyObject* args,
|
|
PyObject* kwds)
|
|
{
|
|
float vecArg[2];
|
|
int bToggle = 0;
|
|
if(!PyArg_ParseTuple(args, "ffi", &vecArg[0], &vecArg[1], &bToggle)) {
|
|
return NULL;
|
|
}
|
|
m_drot[1] = vecArg[0];
|
|
m_dloc[1] = vecArg[1];
|
|
m_bitLocalFlag.DLoc = PyArgToBool(bToggle);
|
|
Py_RETURN_NONE;
|
|
}
|
|
|
|
/* 6. getForceLimitZ */
|
|
PyObject* KX_ObjectActuator::PyGetForceLimitZ(PyObject* self)
|
|
{
|
|
PyObject *retVal = PyList_New(3);
|
|
|
|
PyList_SetItem(retVal, 0, PyFloat_FromDouble(m_drot[2]));
|
|
PyList_SetItem(retVal, 1, PyFloat_FromDouble(m_dloc[2]));
|
|
PyList_SetItem(retVal, 2, BoolToPyArg(m_bitLocalFlag.DRot));
|
|
|
|
return retVal;
|
|
}
|
|
/* 7. setForceLimitZ */
|
|
PyObject* KX_ObjectActuator::PySetForceLimitZ(PyObject* self,
|
|
PyObject* args,
|
|
PyObject* kwds)
|
|
{
|
|
float vecArg[2];
|
|
int bToggle = 0;
|
|
if(!PyArg_ParseTuple(args, "ffi", &vecArg[0], &vecArg[1], &bToggle)) {
|
|
return NULL;
|
|
}
|
|
m_drot[2] = vecArg[0];
|
|
m_dloc[2] = vecArg[1];
|
|
m_bitLocalFlag.DRot = PyArgToBool(bToggle);
|
|
Py_RETURN_NONE;
|
|
}
|
|
|
|
/* 4. getPID */
|
|
PyObject* KX_ObjectActuator::PyGetPID(PyObject* self)
|
|
{
|
|
PyObject *retVal = PyList_New(3);
|
|
|
|
PyList_SetItem(retVal, 0, PyFloat_FromDouble(m_torque[0]));
|
|
PyList_SetItem(retVal, 1, PyFloat_FromDouble(m_torque[1]));
|
|
PyList_SetItem(retVal, 2, PyFloat_FromDouble(m_torque[2]));
|
|
|
|
return retVal;
|
|
}
|
|
/* 5. setPID */
|
|
PyObject* KX_ObjectActuator::PySetPID(PyObject* self,
|
|
PyObject* args,
|
|
PyObject* kwds)
|
|
{
|
|
float vecArg[3];
|
|
if (!PyArg_ParseTuple(args, "fff", &vecArg[0], &vecArg[1], &vecArg[2])) {
|
|
return NULL;
|
|
}
|
|
m_torque.setValue(vecArg);
|
|
Py_RETURN_NONE;
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
/* eof */
|